61 lines
2.0 KiB
C
61 lines
2.0 KiB
C
//############################################################
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// FILE: ThreeHall.h
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// Created on: 2017年1月15日
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// Author: XQ
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// summary: Header file and definition
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//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
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//版权所有，盗版必究
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//DSP/STM32电机控制开发板
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//硕历电子
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//网址: https://shuolidianzi.taobao.com
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//Author-QQ: 616264123
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//电机控制QQ群：314306105
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//############################################################
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#ifndef ThreeHall_H
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#define ThreeHall_H
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#include "stm32f10x.h"
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#include "IQ_math.h"
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typedef struct {
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uint8_t HallUVW[3]; //读取三个霍尔的对应状态
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uint8_t Hall_State; //当前霍尔状态
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uint8_t OldHall_State; //历史霍尔状态
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int32_t step_angle_error; //步进角度误差
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int32_t step_angle ; //步进角度
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int32_t step_angleFitter ; //步进角度 滤波值
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uint16_t Speed_count; //速度计数值
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uint16_t Speed_countFitter; //速度计数滤波值
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uint16_t Speed_count_old; //速度计数历史值
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uint32_t speed_coeff; //速度系数
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uint8_t Poles; //电机极对数
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uint8_t Move_State; //电机旋转状态
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uint16_t Speed_RPM; //电机旋转速度
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uint16_t Speed_RPMF; //电机旋转滤波速度
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} Hall;
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#define Hall_DEFAULTS {0,0,0,0,0,0,0,0,0,0,4,0,0,0} // 参数初始化
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//#define Hall_num1 0x5 //无刷电机旋转霍尔变换顺序
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//#define Hall_num2 0x1
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//#define Hall_num3 0x3
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//#define Hall_num4 0x2
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//#define Hall_num5 0x6
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//#define Hall_num6 0x4
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#define Hall_num1 0x4 //无刷电机旋转霍尔变换顺序
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#define Hall_num2 0x5
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#define Hall_num3 0x1
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#define Hall_num4 0x3
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#define Hall_num5 0x2
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#define Hall_num6 0x6
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void ThreeHallPara_init(void); //三霍尔参数初始化
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void ThreeHall_huanxkz(void); //根据三霍尔切换PWM驱动MOS
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#endif /* ThreeHall_H_*/
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//===========================================================================
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// End of file.
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//===========================================================================
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