1
Dependencies: mbed-dev-f303 FastPWM3
Diff: structs.h
- Revision:
- 54:4c9415402628
- Parent:
- 49:7eac11914980
- Child:
- 55:d614e29c60c5
--- a/structs.h Tue Sep 15 08:59:03 2020 +0000 +++ b/structs.h Thu Sep 17 07:49:27 2020 +0000 @@ -25,19 +25,26 @@ float theta_mech1, theta_elec1; //shaorui add for joint position read theta_joint_raw_pre float dtheta_mech1, dtheta_elec1, dtheta_elec_filt1; //shaorui add for joint position read float theta_joint, theta_joint_raw, theta_joint_raw_pre,theta_joint_raw_fil; //hjb added - float i_d, i_q, i_q_filt; - float v_d, v_q; - float dtc_u, dtc_v, dtc_w; - float v_u, v_v, v_w; - float d_int, q_int; - int adc1_offset, adc2_offset; - float i_d_ref, i_q_ref; - int loop_count; - int timeout; + float i_d, i_q, i_q_filt, i_d_filt; // D/Q currents + float v_d, v_q; // D/Q voltages + float dtc_u, dtc_v, dtc_w; // Terminal duty cycles + float v_u, v_v, v_w; // Terminal voltages + float k_d, k_q, ki_d, ki_q, alpha; // Current loop gains, current reference filter coefficient + float d_int, q_int; // Current error integrals + int adc1_offset, adc2_offset; // ADC offsets + float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt; // Current references + int loop_count; // Degubbing counter + int timeout; // Watchdog counter int mode; - int ovp_flag; - float p_des, v_des, kp, kd, t_ff; + int ovp_flag; // Over-voltage flag + float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque + float v_ref, fw_int; // output voltage magnitude, field-weakening integral float cogging[128]; + int current_sector; + int otw_flag; // Over-temp warning + float i_max; + float inverter_tab[128]; + int oc_flag; float angle,angle1;//shaorui add for test float init1, init2,cha; int c,sidebct; @@ -47,6 +54,14 @@ } ControllerStruct; typedef struct{ + double temperature; // Estimated temperature + float temp_measured; + float q_in, q_out; + float resistance; + float k; + float trust; + float delta_t; + float theta_m, theta_est; float thetadot_m, thetadot_est; float i_d_m, i_d_est;