Alvee Ahmed / Mbed 2 deprecated Hobbyking_Cheetah_Compact_DRV8323_14bit

customizing code for Aliexpress 14 bit version with MA702

Dependencies:   mbed FastPWM3

structs.h@22:60276ba87ac6, 2017-03-31 (annotated)

Committer:
benkatz
Date:
Fri Mar 31 18:24:46 2017 +0000
Revision:
22:60276ba87ac6
Parent:
20:bf9ea5125d52
Child:
23:2adf23ee0305
Encoder autocalibration for dc offset and harmonics

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1 #ifndef STRUCTS_H
benkatz 20:bf9ea5125d52 2 #define STRUCTS_H
benkatz 20:bf9ea5125d52 3
benkatz 20:bf9ea5125d52 4 //#include "CANnucleo.h"
benkatz 20:bf9ea5125d52 5 #include "mbed.h"
benkatz 20:bf9ea5125d52 6 #include "FastPWM.h"
benkatz 20:bf9ea5125d52 7
benkatz 20:bf9ea5125d52 8
benkatz 20:bf9ea5125d52 9 typedef struct{
benkatz 20:bf9ea5125d52 10 DigitalOut *enable;
benkatz 20:bf9ea5125d52 11 FastPWM *pwm_u, *pwm_v, *pwm_w;
benkatz 22:60276ba87ac6 12 int phasing;
benkatz 20:bf9ea5125d52 13 } GPIOStruct;
benkatz 20:bf9ea5125d52 14
benkatz 20:bf9ea5125d52 15 typedef struct{
benkatz 20:bf9ea5125d52 16
benkatz 20:bf9ea5125d52 17 }COMStruct;
benkatz 20:bf9ea5125d52 18
benkatz 20:bf9ea5125d52 19 typedef struct{
benkatz 20:bf9ea5125d52 20 int adc1_raw, adc2_raw;
benkatz 20:bf9ea5125d52 21 float i_a, i_b, i_c;
benkatz 20:bf9ea5125d52 22 float v_bus;
benkatz 20:bf9ea5125d52 23 float theta_mech, theta_elec;
benkatz 20:bf9ea5125d52 24 float dtheta_mech, dtheta_elec;
benkatz 20:bf9ea5125d52 25 float i_d, i_q;
benkatz 20:bf9ea5125d52 26 float v_d, v_q;
benkatz 20:bf9ea5125d52 27 float dtc_u, dtc_v, dtc_w;
benkatz 20:bf9ea5125d52 28 float v_u, v_v, v_w;
benkatz 20:bf9ea5125d52 29 float d_int, q_int;
benkatz 20:bf9ea5125d52 30 int adc1_offset, adc2_offset;
benkatz 20:bf9ea5125d52 31 float i_d_ref, i_q_ref;
benkatz 22:60276ba87ac6 32 int loop_count;
benkatz 22:60276ba87ac6 33 int mode;
benkatz 20:bf9ea5125d52 34 } ControllerStruct;
benkatz 20:bf9ea5125d52 35
benkatz 22:60276ba87ac6 36 typedef struct{
benkatz 22:60276ba87ac6 37 float vel_1;
benkatz 22:60276ba87ac6 38 float vel_1_old;
benkatz 22:60276ba87ac6 39 float vel_1_est;
benkatz 22:60276ba87ac6 40 float vel_2;
benkatz 22:60276ba87ac6 41 float vel_2_old;
benkatz 22:60276ba87ac6 42 float vel_2_est;
benkatz 22:60276ba87ac6 43 float ts;
benkatz 22:60276ba87ac6 44 float est;
benkatz 22:60276ba87ac6 45 } VelocityEstimatorStruct;
benkatz 22:60276ba87ac6 46
benkatz 20:bf9ea5125d52 47 #endif