Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
FOC/foc.h
- Committer:
- saloutos
- Date:
- 2020-11-05
- Revision:
- 63:10604c39666f
- Parent:
- 55:c4c9fec8539c
- Child:
- 66:3947255b18c5
File content as of revision 63:10604c39666f:
#ifndef FOC_H #define FOC_H #include "../structs.h" #include "PositionSensor.h" #include "mbed.h" #include "hw_config.h" #include "math.h" #include "../math_ops.h" #include "motor_config_U10.h" #include "current_controller_config.h" #include "FastMath.h" #include "user_config.h" void abc(float theta, float d, float q, float *a, float *b, float *c); void dq0(float theta, float a, float b, float c, float *d, float *q); void svm(float v_bus, float u, float v, float w, int current_sector, float *dtc_u, float *dtc_v, float *dtc_w); void zero_current(int *offset_1, int *offset_2); void reset_foc(ControllerStruct *controller); void reset_observer(ObserverStruct *observer); void init_controller_params(ControllerStruct *controller); void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta); void torque_control(ControllerStruct *controller); void limit_current_ref (ControllerStruct *controller); void update_observer(ControllerStruct *controller, ObserverStruct *observer); void field_weaken(ControllerStruct *controller); float linearize_dtc(ControllerStruct *controller, float dtc); #endif