control.h

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#ifndef __CONTROL_H
#define __CONTROL_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#ifdef __cplusplus
}
#endif
 
 
#include "stm32f4xx_hal.h"
#include "arm_math.h"
#include "tim.h"
#include "stdio.h"
 
#define pi 3.14159265359f
#define SQRT_3 1.7320508f
#define UnitPulse 4096 //pulses from encoder per cycle(2pi)
//#define BLOCK_SIZE 1        
//#define NUM_TAPS 6
 
typedef struct Components
{
    int16_t a, b, c;        
    float alpha, beta;  
    float d, q;                 
}Coordinates;
 
typedef struct PID_para{
    float kp, ki, kd;                                           
    float target, err, err_pre, err_sum;    
}PID_para;
 
typedef enum ControlMode
{   Idle = 0, Speed, Position, Torque }ControlMode;
 
typedef enum UserAPP
{   Drag = 1, ForceFeedback, Switch, SpaceWalk }UserAPP;
 
typedef enum DRV_GAIN
{   DRV_GAIN_10 = 0, DRV_GAIN_40}DRV_GAIN;
typedef struct
{
    ADC_HandleTypeDef hMotorADC;        
    TIM_HandleTypeDef hTimDriver;       
    TIM_HandleTypeDef hTimEncoder;  
    I2C_HandleTypeDef hI2CEncoder;  
    ControlMode Mode;                               
    UserAPP APP;                                        
    Coordinates Voltage;                        
    Coordinates Current;                        
    PID_para idPID;                                 
    PID_para iqPID;                                 
    PID_para speedPID;                          
    PID_para anglePID;                          
    uint8_t nCalibrationFlag;               
    uint8_t Vdc;                                        
    uint8_t nPhase;                                 
    uint8_t nPolePairs;                         
    int16_t SpeedCNT;                               
    uint16_t M_angle;                               
    uint16_t M_angle_pre;                       
    int16_t E_angle;                                
    int16_t E_angle_pre;                        
    uint16_t Angle_offset;                  
    float speed, speed_pre;                 
    float CurrentLimit, VoltageLimit, SpeedLimit;   
    int32_t lapCNT,lapCNT_pre;          
    uint8_t sector;                                 
    float Uref1, Uref2, Uref3;          
    float X, Y, Z;                                  
    float T1,T2,Tx,Ty,Tz;                       
    float Ta, Tb, Tc;                               
    uint16_t ADC_DMA_RAW[3];                
    uint16_t DC_offset[2];                  
    int16_t ADC_Filtered[3];                
    //int16_t ADC_lastValue[3];         
    int16_t Current_lastValue[5];       
}Motor;
 
 
void MotorInit(Motor* mHandle,ADC_HandleTypeDef hadc,TIM_HandleTypeDef hDriver, TIM_HandleTypeDef hEncoder, I2C_HandleTypeDef hIICEncoder, ControlMode mode);
 
void ModeSelection(Motor* mHandle,ControlMode mode);
 
 
void UserAPPSelection(Motor* mHandle,UserAPP app);
 
void EnableGate(void);
 
void GainSelection(DRV_GAIN gain);
 
void DC_Calibration(Motor* mHandle);
 
void SetMotorParam(Motor* mHandle,uint8_t DC_supply, uint8_t phase, uint8_t polePairs, float MaxCurrent, float MaxSpeed);
 
int calcAngle(Motor* mHandle);
 
void MotorCalibration(Motor* mHandle);
 
//void AngelAlignment(Motor* mHandle);
 
void MotorOpenLoop(Motor* mHandle);
 
void ADCSample(Motor* mHandle);
 
void ADCFilter(Motor* mHandle);
 
void CurrentReconstruction(Motor* mHandle);
 
void getEangle(Motor* mHandle);
 
void getSpeed(Motor* mHandle);
//void setDQ(Motor mHandle, double d, double q);
 
void ClarkeTransform(Coordinates* pComponents);
 
void ParkTransform(Coordinates* pComponents, int theta);
 
void InvPark(Coordinates* pComponents, int theta);
 
void GetSector(Motor* mHandle);
 
void ModulationLimit(Motor* mHandle);
 
void SetSVPWM(Motor* mHandle);
 
void dq2SVPWM(Motor* mHandle);
 
void SetCurrentPID(Motor* mHandle, float kp, float ki, float kd);
 
void SetSpeedPID(Motor* mHandle, float kp, float ki, float kd, float outMax);
 
void SetCurrentTarget(Motor* mHandle, float idTarget, float iqTarget);
 
void SetSpeedTarget(Motor* mHandle, float Target);
 
void IdPID(Motor* mHandle);
 
void IqPID(Motor* mHandle);
 
void SpeedPID(Motor* mHandle);
 
void AnglePID(Motor* mHandle);
 
void SetAnglePID(Motor* mHandle, float kp, float ki, float kd);
 
void SetAngleTarget(Motor* mHandle, float Target);
 
void SetIncrementAngle(Motor* mHandle, float Target);
 
void FOC(Motor* mHandle);
 
void FOCcheck(Motor* mHandle);
 
void GetSVPWM(Motor* mHandle);
 
#endif /* __CONTROL_H */