变更

BoooomCTL/Data/Angle/Angle.c

@@ -0,0 +1,31 @@
+//
+// Created by ZK on 2023/3/14.
+//
+
+#include "Angle.h"
+
+
+//#define EncoderName MT6816
+float32_t getAngle_MT6816() {
+//    printf("Test");
+
+    return M_PI;
+}
+
+float32_t getAngle_AS5600() {
+//    printf("Test");
+
+    return 0.0f;
+}
+
+bool Data_Init(tData *data) {
+    switch (data->Angle.EncoderModel) {
+        case MT6816:
+            data->Angle.getAngle = getAngle_MT6816;
+            break;
+        case AS5600:
+            data->Angle.getAngle = getAngle_AS5600;
+            break;
+    }
+    return 0;
+}

BoooomCTL/Data/Angle/Angle.h

@@ -0,0 +1,66 @@
+//
+// Created by ZK on 2023/3/14.
+//
+
+#ifndef BOOOOMFOC_STSPIN32G4_EVB_ANGLE_H
+#define BOOOOMFOC_STSPIN32G4_EVB_ANGLE_H
+
+#include "APP_Main.h"
+
+typedef enum {
+    MT6816,
+    AS5600
+} tEncoderModel;
+
+typedef struct {
+    tEncoderModel EncoderModel;
+
+    float32_t (*getAngle)();
+} tAngle;
+
+typedef struct {
+    tAngle Angle;
+
+    float32_t (*Angle_Init)();
+} tData;
+
+float32_t getAngle_MT6816();
+
+float32_t getAngle_AS5600();
+
+bool Data_Init(tData *data);
+
+
+typedef struct sMT6825 {
+    bool no_mag;
+    bool over_speed;
+    uint32_t angle;
+
+    uint8_t rx_err_count;
+    uint8_t check_err_count;
+} tMT6825;
+
+typedef struct sEncoder {
+    int raw;
+    int count_in_cpr;
+    int count_in_cpr_prev;
+
+    int64_t shadow_count;
+
+    // pll use
+    float pos_cpr_counts;
+    float vel_estimate_counts;
+
+    float pos;
+    float vel;
+
+    float phase;
+    float phase_vel;
+
+    float pll_kp;
+    float pll_ki;
+    float interpolation;
+    float snap_threshold;
+} tEncoder;
+
+#endif //BOOOOMFOC_STSPIN32G4_EVB_ANGLE_H

BoooomCTL/Data/Angle/MT6816/MT6816.c

@@ -0,0 +1,5 @@
+//
+// Created by ZK on 2023/3/14.
+//
+
+#include "MT6816.h"

BoooomCTL/Data/Angle/MT6816/MT6816.h

@@ -0,0 +1,8 @@
+//
+// Created by ZK on 2023/3/14.
+//
+
+#ifndef BOOOOMFOC_STSPIN32G4_EVB_MT6816_H
+#define BOOOOMFOC_STSPIN32G4_EVB_MT6816_H
+
+#endif //BOOOOMFOC_STSPIN32G4_EVB_MT6816_H