Shao Rui / Joint_control_2AS5147_DRV8323RH_HKC_FOC_2020_9_17

1

Dependencies:   mbed-dev-f303 FastPWM3

structs.h@55:489f01927025, 2021-05-12 (annotated)

Committer:
shaorui
Date:
Wed May 12 12:41:39 2021 +0000
Revision:
55:489f01927025
Parent:
54:4c9415402628 
1

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
Rushu 54:4c9415402628 28 float i_d, i_q, i_q_filt, i_d_filt; // D/Q currents
Rushu 54:4c9415402628 29 float v_d, v_q; // D/Q voltages
Rushu 54:4c9415402628 30 float dtc_u, dtc_v, dtc_w; // Terminal duty cycles
Rushu 54:4c9415402628 31 float v_u, v_v, v_w; // Terminal voltages
Rushu 54:4c9415402628 32 float k_d, k_q, ki_d, ki_q, alpha; // Current loop gains, current reference filter coefficient
Rushu 54:4c9415402628 33 float d_int, q_int; // Current error integrals
Rushu 54:4c9415402628 34 int adc1_offset, adc2_offset; // ADC offsets
Rushu 54:4c9415402628 35 float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt; // Current references
Rushu 54:4c9415402628 36 int loop_count; // Degubbing counter
Rushu 54:4c9415402628 37 int timeout; // Watchdog counter
benkatz 22:60276ba87ac6 38 int mode;
Rushu 54:4c9415402628 39 int ovp_flag; // Over-voltage flag
Rushu 54:4c9415402628 40 float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque
Rushu 54:4c9415402628 41 float v_ref, fw_int; // output voltage magnitude, field-weakening integral
benkatz 23:2adf23ee0305 42 float cogging[128];
Rushu 54:4c9415402628 43 int current_sector;
Rushu 54:4c9415402628 44 int otw_flag; // Over-temp warning
Rushu 54:4c9415402628 45 float i_max;
Rushu 54:4c9415402628 46 float inverter_tab[128];
Rushu 54:4c9415402628 47 int oc_flag;
shaorui 48:1b51771c3647 48 float angle,angle1;//shaorui add for test
shaorui 48:1b51771c3647 49 float init1, init2,cha;
shaorui 48:1b51771c3647 50 int c,sidebct;
shaorui 48:1b51771c3647 51 int sidebct1;
Rushu 49:7eac11914980 52 int Ncycle;
Rushu 49:7eac11914980 53 float Ncycle_mod, Mech_mod;
benkatz 20:bf9ea5125d52 54 } ControllerStruct;
benkatz 20:bf9ea5125d52 55
benkatz 22:60276ba87ac6 56 typedef struct{
Rushu 54:4c9415402628 57 double temperature; // Estimated temperature
Rushu 54:4c9415402628 58 float temp_measured;
Rushu 54:4c9415402628 59 float q_in, q_out;
Rushu 54:4c9415402628 60 float resistance;
Rushu 54:4c9415402628 61 float k;
Rushu 54:4c9415402628 62 float trust;
Rushu 54:4c9415402628 63 float delta_t;
Rushu 54:4c9415402628 64
benkatz 37:c0f352d6e8e3 65 float theta_m, theta_est;
benkatz 37:c0f352d6e8e3 66 float thetadot_m, thetadot_est;
benkatz 37:c0f352d6e8e3 67 float i_d_m, i_d_est;
benkatz 37:c0f352d6e8e3 68 float i_q_m, i_q_est;
benkatz 37:c0f352d6e8e3 69 float i_d_dot, i_q_dot;
benkatz 37:c0f352d6e8e3 70 float e_d, e_q;
benkatz 37:c0f352d6e8e3 71 float e_d_int, e_q_int;
benkatz 37:c0f352d6e8e3 72 } ObserverStruct;
benkatz 22:60276ba87ac6 73
benkatz 20:bf9ea5125d52 74 #endif