File content as of revision 2:f23351f7af0b:

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);

unsigned int UP,VP,WP;
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=5.0,STOP=1.0,power;//START=10.0
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=80; //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 su,sv,sw;

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;