//############################################################
// FILE:  ThreeHall.h
// Created on: 2017年1月15日
// Author: XQ
// summary: Header file  and definition
//本程序只供学习使用，未经作者许可，不得用于其它任何用途
//版权所有，盗版必究
//DSP/STM32电机控制开发板
//硕历电子
//网址: https://shuolidianzi.taobao.com
//Author-QQ: 616264123
//电机控制QQ群：314306105
//############################################################

#ifndef ThreeHall_H
#define ThreeHall_H
#include "stm32f10x.h"
#include "IQ_math.h"
 
typedef struct {
	    uint8_t       HallUVW[3]; 				//读取三个霍尔的对应状态
	    uint8_t       Hall_State; 				//当前霍尔状态
	    uint8_t       OldHall_State; 			//历史霍尔状态
			int32_t       step_angle_error;  	//步进角度误差
	    int32_t       step_angle ;  			//步进角度 
			int32_t       step_angleFitter ; 	//步进角度 滤波值
	    uint16_t      Speed_count;   			//速度计数值
	    uint16_t      Speed_countFitter; 	//速度计数滤波值
      uint16_t      Speed_count_old;  	//速度计数历史值
			uint32_t      speed_coeff;    		//速度系数
	    uint8_t       Poles;    					//电机极对数
	    uint8_t       Move_State;       	//电机旋转状态
      uint16_t      Speed_RPM;     			//电机旋转速度 
      uint16_t      Speed_RPMF;	   			//电机旋转滤波速度 
	   } Hall;

#define  Hall_DEFAULTS {0,0,0,0,0,0,0,0,0,0,4,0,0,0} // 参数初始化

//#define   Hall_num1   0x5     //无刷电机旋转霍尔变换顺序
//#define   Hall_num2   0x1
//#define   Hall_num3   0x3
//#define   Hall_num4   0x2
//#define   Hall_num5   0x6
//#define   Hall_num6   0x4

#define   Hall_num1   0x4     //无刷电机旋转霍尔变换顺序
#define   Hall_num2   0x5
#define   Hall_num3   0x1
#define   Hall_num4   0x3
#define   Hall_num5   0x2
#define   Hall_num6   0x6

 	
void ThreeHallPara_init(void);  //三霍尔参数初始化
void ThreeHall_huanxkz(void);   //根据三霍尔切换PWM驱动MOS

#endif /* ThreeHall_H_*/
//===========================================================================
// End of file.
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