Diff: IO_define.h

Revision:

0:faa58403944a

Child:

1:333d2cdd26d0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IO_define.h	Sun Feb 17 02:58:08 2019 +0000
@@ -0,0 +1,98 @@
+Serial pc(USBTX,USBRX);
+
+PwmOut PWM_IN1_U(PA_8); 
+PwmOut PWM_IN2_V(PA_9); 
+PwmOut PWM_IN3_W(PA_10);
+
+DigitalOut EN1_U(PC_10);
+DigitalOut EN2_V(PC_11);
+DigitalOut EN3_W(PC_12);
+
+DigitalIn  HALL_U(PA_15); 
+DigitalIn  HALL_V(PB_3);
+DigitalIn  HALL_W(PB_10);
+
+/*DigitalIn  HALL_U(PC_8); 
+DigitalIn  HALL_V(PC_6);
+DigitalIn  HALL_W(PC_10);*/
+
+
+/*InterruptIn  HALL_Ui(PC_8);
+InterruptIn  HALL_Vi(PC_6);
+InterruptIn  HALL_Wi(PC_5);*/
+
+InterruptIn  HALL_Ui(PA_15);
+InterruptIn  HALL_Vi(PB_3);
+InterruptIn  HALL_Wi(PB_10);
+
+AnalogIn V_adc(PC_2); // gaibu Volume
+//AnalogIn V_adc(PB_1); //On Board Volume 
+AnalogIn Curr_ui(PA_0);
+AnalogIn Curr_vi(PC_1);
+AnalogIn Curr_wi(PC_0); 
+
+AnalogOut aout(PA_4);
+
+float Vr_adc,Vr_adc_i;
+
+unsigned short SH,frd=1,q;
+short f1=0,a1=0,f1c=0,a1c=0;
+float kido=0.5,START=10.0,STOP=1.0,power;
+float y,ay,Speed;
+ 
+float ut1=0,ut2=0,usi=0;
+float vt1=0,vt2=0,vsi=0;
+float wt1=0,wt2=0,wsi=0; 
+float ut1c=0,ut2c=0,usic=0;
+
+float tau=50; //drone 50
+float zint=tau*1E-6;
+ 
+Timer uT;
+Timer vT;
+Timer wT;
+Timer uTc;
+  
+Ticker zt;
+Ticker ztc;
+Ticker cnt;
+
+float Curr_u=0,Curr_uf=0,iu;
+float Curr_v=0,Curr_vf=0,iv;
+float Curr_w=0,Curr_wf=0,iw;
+
+short uz[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2 
+short vz[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2 
+short wz[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2
+
+short uc[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2
+
+float PI=3.141592;
+float ia=0,iaf=0,ib=0,ibf=0,iq=0,iqf=0,id=0,idf=0;
+float th;
+
+float zet=sqrt(2.0f/3.0f),cos23=cos((2.0f/3.0f)*PI);
+float cos43=cos((4.0f/3.0f)*PI),sin23=sin((2.0f/3.0f)*PI),sin43=sin((4.0f/3.0f)*PI);
+     
+float sinth,costh;
+float id_diff,id_p,iq_diff,iq_p;
+float s_ki_id, ki_id,kp_id, s_ki_iq ,ki_iq,kp_iq;
+
+float Vd,Vq;
+float Wz,s_ki_errth,s_kp_errth,derrth;
+float therr,dth,eth,phm;
+float sq32=sqrt(3.0f/2.0f);
+float sq23=2.0f/sqrt(3.0f);
+float sq3=1.0f/sqrt(3.0f);
+float Vdlink=0.6; //3.0f/5.0f;  0.45
+float aVa;
+float a3Vb;
+
+float W,Ed;
+float errth,vst;
+
+float z=0.5;//0.7
+float Va,Vb;
+float d1,d2,d3,d4,d5,d6,d07;
+float du,dv,dw;
+