2024-05-08 03:04:20 +08:00
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//
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// Created by ZK on 2023/3/14.
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//
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#ifndef BOOOOMFOC_STSPIN32G4_EVB_CONTROLLER_H
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#define BOOOOMFOC_STSPIN32G4_EVB_CONTROLLER_H
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2024-05-17 00:43:58 +08:00
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#include "arm_math.h"
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2024-05-10 02:39:53 +08:00
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typedef struct sFOC
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{
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bool is_armed;
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float v_bus, v_bus_filt, i_a, i_b, i_c;
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float i_q, i_q_filt, i_d, i_d_filt, i_bus, i_bus_filt, power_filt;
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float dtc_a, dtc_b, dtc_c;
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float current_ctrl_p_gain, current_ctrl_i_gain;
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float current_ctrl_integral_d, current_ctrl_integral_q;
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} tFOC;
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extern tFOC FOC;
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2024-05-17 00:43:58 +08:00
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extern void SpeedControl(float32_t target,float32_t angleVal);
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extern bool FOC_current(float Id_set, float Iq_set, float Theta, float bw);
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2024-05-10 02:39:53 +08:00
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2024-05-08 03:04:20 +08:00
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#endif //BOOOOMFOC_STSPIN32G4_EVB_CONTROLLER_H
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