28 lines
893 B
C
28 lines
893 B
C
#ifndef __FOC_H
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#define __FOC_H
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#define _constrain(amt, low, high) ((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
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// 如果amt小于low返回low，如果amt大于high则返回high，否则返回amt本身，限制在low和high范围内。
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#include "usart.h"
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void Systick_CountMode(void);
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float _electricalAngle(void);
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float _normalizeAngle(float angle);
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void setPWM(float Ua, float Ub, float Uc);
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void setTorque(float Uq, float angle_el);
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void FOC_Init(float power_supply);
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void FOC_AS5600_Init(int _PP, int _DIR);
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void Set_Angle(float Angle);
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void Set_Speed(float Speed);
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void Ratchet_Wheel(float Angle);
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void Boundary_Moment_limitation(float angle_range);
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void calibrateOffsets(void);
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void Current_Loop(float Uq, float angle_el);
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void Current_Speed(float Uq,float speed);
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void Open_Loop_Control(float Uq, float speed);
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void Feedback_Current(void);
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void Send_ADC1_Values(UART_HandleTypeDef *huart);
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#endif
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