File content as of revision 0:fa432f8ea1a6:

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);

DigitalOut Vector(PC_4);

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;
unsigned int ui=0,vi=0,wi=0,et=0;
int r=0,i=0,s=0;
float Xin,Xout;

float thave,th,thu,thv,thw,Ed,Vd,Vq,Vqi,West,Wz,Wo,Icom,Wcom;
float vst=0,vstt=0,vsti=0,vstf=0,Edw=0;
float iso=0,Vqp;
//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;
float iuvw[3];
float iab[2],Vab[2];
float idq[2],idqi[2],idqo[2];

float Idin,Vdout,Iqin,Vqout,Xsi;

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
short vc[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2
short wc[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 Wnon,Ednon,W,PLL;
//float Vd,Vq;
float 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; //0.6
float aVa;
float a3Vb;

float errth;
float su=0,sv=0,sw=0,suv=0,svv=0,swv=0;

float z=0.3;//0.5
float Va,Vb;
float d1,d2,d3,d4,d5,d6,d07;
float du,dv,dw;