Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_F334

f334

Dependencies:   CANnucleo FastPWM3 mbed

Fork of Hobbyking_Cheetah_Compact by Ben Katz

structs.h@23:db1263aae417, 2017-11-02 (annotated)

Committer:
benkatz
Date:
Thu Nov 02 22:28:25 2017 +0000
Revision:
23:db1263aae417
Parent:
22:c8a1f2071bb0 
derp;

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 22:c8a1f2071bb0 11 PwmOut *pwm_u, *pwm_v, *pwm_w;
benkatz 20:bf9ea5125d52 12 } GPIOStruct;
benkatz 20:bf9ea5125d52 13
benkatz 20:bf9ea5125d52 14 typedef struct{
benkatz 20:bf9ea5125d52 15
benkatz 20:bf9ea5125d52 16 }COMStruct;
benkatz 20:bf9ea5125d52 17
benkatz 20:bf9ea5125d52 18 typedef struct{
benkatz 20:bf9ea5125d52 19 int adc1_raw, adc2_raw;
benkatz 20:bf9ea5125d52 20 float i_a, i_b, i_c;
benkatz 20:bf9ea5125d52 21 float v_bus;
benkatz 20:bf9ea5125d52 22 float theta_mech, theta_elec;
benkatz 20:bf9ea5125d52 23 float dtheta_mech, dtheta_elec;
benkatz 20:bf9ea5125d52 24 float i_d, i_q;
benkatz 20:bf9ea5125d52 25 float v_d, v_q;
benkatz 20:bf9ea5125d52 26 float dtc_u, dtc_v, dtc_w;
benkatz 20:bf9ea5125d52 27 float v_u, v_v, v_w;
benkatz 20:bf9ea5125d52 28 float d_int, q_int;
benkatz 20:bf9ea5125d52 29 int adc1_offset, adc2_offset;
benkatz 20:bf9ea5125d52 30 float i_d_ref, i_q_ref;
benkatz 22:c8a1f2071bb0 31 int loop_count;
benkatz 20:bf9ea5125d52 32 } ControllerStruct;
benkatz 20:bf9ea5125d52 33
benkatz 22:c8a1f2071bb0 34 typedef struct{
benkatz 22:c8a1f2071bb0 35 float vel_1;
benkatz 22:c8a1f2071bb0 36 float vel_1_old;
benkatz 22:c8a1f2071bb0 37 float vel_1_est;
benkatz 22:c8a1f2071bb0 38 float vel_2;
benkatz 22:c8a1f2071bb0 39 float vel_2_old;
benkatz 22:c8a1f2071bb0 40 float vel_2_est;
benkatz 22:c8a1f2071bb0 41 float ts;
benkatz 22:c8a1f2071bb0 42 float est;
benkatz 22:c8a1f2071bb0 43 } VelocityEstimatorStruct;
benkatz 22:c8a1f2071bb0 44
benkatz 20:bf9ea5125d52 45 #endif