Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

structs.h@49:7eac11914980, 2020-03-19 (annotated)

Committer:
Rushu
Date:
Thu Mar 19 03:48:24 2020 +0000
Revision:
49:7eac11914980
Parent:
48:1b51771c3647 
1)use DRV8323RH; 2)SPI to Joint sensor; 3)motor and joint position is combined.

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 37:c0f352d6e8e3 11 DigitalOut *led;
benkatz 20:bf9ea5125d52 12 FastPWM *pwm_u, *pwm_v, *pwm_w;
benkatz 20:bf9ea5125d52 13 } GPIOStruct;
benkatz 20:bf9ea5125d52 14
benkatz 20:bf9ea5125d52 15 typedef struct{
benkatz 20:bf9ea5125d52 16
benkatz 20:bf9ea5125d52 17 }COMStruct;
benkatz 20:bf9ea5125d52 18
benkatz 20:bf9ea5125d52 19 typedef struct{
benkatz 37:c0f352d6e8e3 20 int adc1_raw, adc2_raw, adc3_raw;
benkatz 20:bf9ea5125d52 21 float i_a, i_b, i_c;
benkatz 20:bf9ea5125d52 22 float v_bus;
benkatz 20:bf9ea5125d52 23 float theta_mech, theta_elec;
benkatz 34:51647c6c500d 24 float dtheta_mech, dtheta_elec, dtheta_elec_filt;
Rushu 49:7eac11914980 25 float theta_mech1, theta_elec1; //shaorui add for joint position read theta_joint_raw_pre
shaorui 48:1b51771c3647 26 float dtheta_mech1, dtheta_elec1, dtheta_elec_filt1; //shaorui add for joint position read
Rushu 49:7eac11914980 27 float theta_joint, theta_joint_raw, theta_joint_raw_pre,theta_joint_raw_fil; //hjb added
benkatz 34:51647c6c500d 28 float i_d, i_q, i_q_filt;
benkatz 20:bf9ea5125d52 29 float v_d, v_q;
benkatz 20:bf9ea5125d52 30 float dtc_u, dtc_v, dtc_w;
benkatz 20:bf9ea5125d52 31 float v_u, v_v, v_w;
benkatz 20:bf9ea5125d52 32 float d_int, q_int;
benkatz 20:bf9ea5125d52 33 int adc1_offset, adc2_offset;
benkatz 20:bf9ea5125d52 34 float i_d_ref, i_q_ref;
benkatz 22:60276ba87ac6 35 int loop_count;
benkatz 28:8c7e29f719c5 36 int timeout;
benkatz 22:60276ba87ac6 37 int mode;
benkatz 37:c0f352d6e8e3 38 int ovp_flag;
benkatz 26:2b865c00d7e9 39 float p_des, v_des, kp, kd, t_ff;
benkatz 23:2adf23ee0305 40 float cogging[128];
shaorui 48:1b51771c3647 41 float angle,angle1;//shaorui add for test
shaorui 48:1b51771c3647 42 float init1, init2,cha;
shaorui 48:1b51771c3647 43 int c,sidebct;
shaorui 48:1b51771c3647 44 int sidebct1;
Rushu 49:7eac11914980 45 int Ncycle;
Rushu 49:7eac11914980 46 float Ncycle_mod, Mech_mod;
benkatz 20:bf9ea5125d52 47 } ControllerStruct;
benkatz 20:bf9ea5125d52 48
benkatz 22:60276ba87ac6 49 typedef struct{
benkatz 37:c0f352d6e8e3 50 float theta_m, theta_est;
benkatz 37:c0f352d6e8e3 51 float thetadot_m, thetadot_est;
benkatz 37:c0f352d6e8e3 52 float i_d_m, i_d_est;
benkatz 37:c0f352d6e8e3 53 float i_q_m, i_q_est;
benkatz 37:c0f352d6e8e3 54 float i_d_dot, i_q_dot;
benkatz 37:c0f352d6e8e3 55 float e_d, e_q;
benkatz 37:c0f352d6e8e3 56 float e_d_int, e_q_int;
benkatz 37:c0f352d6e8e3 57 } ObserverStruct;
benkatz 22:60276ba87ac6 58
benkatz 20:bf9ea5125d52 59 #endif