Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
structs.h
- Committer:
- elijahsj
- Date:
- 2021-02-10
- Revision:
- 69:ba1c89835a54
- Parent:
- 63:10604c39666f
File content as of revision 69:ba1c89835a54:
#ifndef STRUCTS_H #define STRUCTS_H #include "mbed.h" #include "FastPWM.h" typedef struct{ DigitalOut *enable; DigitalOut *led; FastPWM *pwm_u, *pwm_v, *pwm_w; } GPIOStruct; typedef struct{ }COMStruct; typedef struct{ int adc1_raw, adc2_raw, adc3_raw; // Raw ADC Values float i_a, i_b, i_c; // Phase currents float v_bus; // DC link voltage float theta_mech, theta_elec; // Rotor mechanical and electrical angle float dtheta_mech, dtheta_elec, dtheta_elec_filt; // Rotor mechanical and electrical angular velocit float i_d, i_q, i_q_filt, i_d_filt; // D/Q currents float v_d, v_q; // D/Q voltages float dtc_u, dtc_v, dtc_w; // Terminal duty cycles float v_u, v_v, v_w; // Terminal voltages float k_d, k_q, ki_d, ki_q, alpha; // Current loop gains, current reference filter coefficient float d_int, q_int; // Current error integrals int adc1_offset, adc2_offset; // ADC offsets float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt; // Current references int loop_count; // Degubbing counter int timeout; // Watchdog counter int mode; int ovp_flag; // Over-voltage flag float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque float v_ref, fw_int; // output voltage magnitude, field-weakening integral float cogging[128]; int current_sector; int otw_flag; // Over-temp warning float i_max; float inverter_tab[128]; float velocity_sum; int oc_flag; } ControllerStruct; typedef struct{ double temperature; // Estimated temperature float temp_measured; float q_in, q_out; float resistance; float k; float trust; float delta_t; } ObserverStruct; #endif