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Mike Etek Controller
Diff: structs.h
- Revision:
- 1:94193b31f0ee
- Parent:
- 0:9edd6ec0f56a
--- a/structs.h Sat May 20 21:42:20 2017 +0000 +++ b/structs.h Sat Apr 06 02:16:12 2019 +0000 @@ -1,48 +1,28 @@ #ifndef STRUCTS_H #define STRUCTS_H -//#include "CANnucleo.h" #include "mbed.h" -#include "FastPWM.h" - -typedef struct{ - DigitalOut *enable; - FastPWM *pwm_ul, *pwm_vl, *pwm_wl, *pwm_uh, *pwm_vh, *pwm_wh; - int phasing; - } GPIOStruct; - -typedef struct{ - - }COMStruct; typedef struct{ - int adc1_raw, adc2_raw; - float i_a, i_b, i_c; + + float i_motor; float v_bus; - float theta_mech, theta_elec; - float dtheta_mech, dtheta_elec; - float i_d, i_q; - float v_d, v_q; - float dtc_u, dtc_v, dtc_w; - float v_u, v_v, v_w; - float d_int, q_int; - int adc1_offset, adc2_offset; - float i_d_ref, i_q_ref; + float v_output; int loop_count; int mode; - float cogging[128]; - } ControllerStruct; + } HardwareStruct; + + + + typedef struct{ - float vel_1; - float vel_1_old; - float vel_1_est; - float vel_2; - float vel_2_old; - float vel_2_est; - float ts; - float est; - } VelocityEstimatorStruct; + int can_dead_count; + float throttle_frac; + int status; + } CommandStruct; + + #endif