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<a href="control_8c.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span> </div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="preprocessor">#include "<a class="code" href="control_8h.html">control.h</a>"</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span> </div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="control_8c.html#ae60ebaebea4fc4b654a86b285c7782a3"> 14</a></span><span class="preprocessor">#define CurrentGain 496.0f </span><span class="comment">//2048/4.125 (4.125 = 1.65/40/0.01)</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c"> 15</a></span><span class="preprocessor">#define FILTER_KP 0.07f</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="control_8c.html#a698d7a8cd2bed7746df64df16949f862"> 16</a></span><span class="preprocessor">#define FILTER_DQ 0.01f</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">//#define FILTER_ANGLE 0.9f</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="control_8c.html#a540c0ab11330e11c7d3ba348c3fadd04"> 18</a></span><span class="preprocessor">#define FILTER_SPEED 0.05f</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="control_8c.html#ab9d28c25441be1a993983e85d2b4de86"> 19</a></span><span class="preprocessor">#define Vector_coef (SQRT_3/mHandle->Vdc)</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="control_8c.html#abce71ea97a89b700325715cc6f68674a"> 20</a></span><span class="preprocessor">#define mod(x) ((x)>0?(x):-(x))</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span> </div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="keyword">extern</span> ADC_HandleTypeDef <a class="code hl_variable" href="control_8c.html#a22b804736f5648d52f639b2647d4ed13">hadc1</a>;</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="keyword">extern</span> ADC_HandleTypeDef <a class="code hl_variable" href="control_8c.html#acd9221f1aa19aebfe0b744947f2daf49">hadc2</a>;</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span> </div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b"> 25</a></span><span class="keywordtype">float</span> <a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>;</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e"> 26</a></span><span class="keywordtype">float</span> <a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a>;</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7"> 27</a></span><span class="keywordtype">float</span> <a class="code hl_variable" href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>;</div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="comment">//filter coefficient</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="comment">/*const float FilterCoeff[6] = {</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="comment"> 1.284488738e-17, 0.1729719192, 0.3270280957, 0.3270280957, 0.1729719192,</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="comment"> 1.284488738e-17</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="comment">};</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="comment">static float FIRcacheA[BLOCK_SIZE + NUM_TAPS - 1];</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="comment">static float FIRcacheB[BLOCK_SIZE + NUM_TAPS - 1];</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="comment">static float FIRcacheC[BLOCK_SIZE + NUM_TAPS - 1];</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="comment"> arm_fir_instance_f32 PhaseA;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="comment"> arm_fir_instance_f32 PhaseB;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="comment"> arm_fir_instance_f32 PhaseC;*/</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="control_8c.html#a10d4a5658201a6cb630bbe063d898472"> 41</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a10d4a5658201a6cb630bbe063d898472">MotorInit</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, ADC_HandleTypeDef hadc, TIM_HandleTypeDef hDriver, TIM_HandleTypeDef hEncoder, I2C_HandleTypeDef hIICEncoder, <a class="code hl_enumeration" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> mode){</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a801b68b4e2ff446330c2fb973a7a5a35">hMotorADC</a> = hadc;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a> = hDriver;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a5ffac741774414b0bee0b8e7d87400f3">hTimEncoder</a> = hEncoder;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a5222692e4ce396dc210789ad78e73f2e">hI2CEncoder</a> = hIICEncoder;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a3ed6c84fc54eaa26a6be1426ca449c74">Mode</a> = mode;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="comment">//HAL_GPIO_WritePin(EN_Gate_GPIO_Port,EN_Gate_Pin,GPIO_PIN_SET);</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="comment">//HAL_GPIO_WritePin(EN_Gate_GPIO_Port,EN_Gate_Pin,GPIO_PIN_RESET);</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> HAL_TIM_PWM_Start(&hDriver,TIM_CHANNEL_1);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> HAL_TIMEx_PWMN_Start(&hDriver,TIM_CHANNEL_1);</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> HAL_TIM_PWM_Start(&hDriver,TIM_CHANNEL_2);</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> HAL_TIMEx_PWMN_Start(&hDriver,TIM_CHANNEL_2);</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> HAL_TIM_PWM_Start(&hDriver,TIM_CHANNEL_3);</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> HAL_TIMEx_PWMN_Start(&hDriver,TIM_CHANNEL_3);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>}</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="control_8c.html#a9ca0cc7c05bfaf12c86799a2d71c8ede"> 59</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a9ca0cc7c05bfaf12c86799a2d71c8ede">ModeSelection</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle,<a class="code hl_enumeration" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> mode){</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a3ed6c84fc54eaa26a6be1426ca449c74">Mode</a> = mode;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span>}</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="control_8c.html#a503ae511083e4a1a1c330a01cd21cf1a"> 63</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a503ae511083e4a1a1c330a01cd21cf1a">UserAPPSelection</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle,<a class="code hl_enumeration" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a> app){</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a6ebfed80acf44488ab8e7d22a4ac4c71">APP</a> = app;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>}</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="control_8c.html#adab12f80393f46ebe1732964a965ffff"> 67</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#adab12f80393f46ebe1732964a965ffff">GainSelection</a>(<a class="code hl_enumeration" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a> gain){</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordflow">if</span>(gain == <a class="code hl_enumvalue" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fba30f3f2fba31dab5fa94c1979df5b3648">DRV_GAIN_10</a>){</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_RESET);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> }<span class="keywordflow">else</span>{</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> HAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, GPIO_PIN_SET);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> }</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span>}</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="control_8c.html#a30dcd27ff2cf483dd1a88773cff0084e"> 75</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a30dcd27ff2cf483dd1a88773cff0084e">EnableGate</a>(){</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> HAL_GPIO_WritePin(EN_Gate_GPIO_Port,EN_Gate_Pin, GPIO_PIN_SET);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span>}</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span><span class="comment">//called after gate enable</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="control_8c.html#a7eb418de90bcd7d3f2faf0075c9d88f3"> 79</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a7eb418de90bcd7d3f2faf0075c9d88f3">DC_Calibration</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="comment">//pull up the DC_CAL pins</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> HAL_GPIO_WritePin(DC_CAL1_GPIO_Port,DC_CAL1_Pin, GPIO_PIN_SET);</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> HAL_GPIO_WritePin(DC_CAL2_GPIO_Port,DC_CAL2_Pin, GPIO_PIN_SET);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> printf(<span class="stringliteral">"DC_offset calibrating...\n"</span>);</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> HAL_Delay(1000);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="comment">//sample the DC offset 10 times and take the average</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[0] = 0;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[1] = 0;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="comment">/*for(int i = 0; i<10; i++){</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span><span class="comment"> HAL_ADC_Start_DMA(&mHandle->hMotorADC, (uint32_t*)mHandle->ADC_DMA_RAW, 2);</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span><span class="comment"> //printf("Sampling: %d, %d\n", mHandle->ADC_DMA_RAW[0], mHandle->ADC_DMA_RAW[1]);</span></div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="comment"> }*/</span></div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0; i<10; i++){</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> HAL_ADC_Start_DMA(&mHandle-><a class="code hl_variable" href="struct_motor.html#a801b68b4e2ff446330c2fb973a7a5a35">hMotorADC</a>, (uint32_t*)mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>, 2);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[0] += mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[0];</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[1] += mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[1];</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> printf(<span class="stringliteral">"DC_offset calibrating: %d, %d\n"</span>, mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[0], mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[1]);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> }</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[0] /= 9;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[1] /= 9;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> printf(<span class="stringliteral">"DC_offset calibration finished: %d, %d\n"</span>, mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[0], mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[1]);</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="comment">//pull down the DC_CAL pins</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> HAL_GPIO_WritePin(DC_CAL1_GPIO_Port,DC_CAL1_Pin, GPIO_PIN_RESET);</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> HAL_GPIO_WritePin(DC_CAL2_GPIO_Port,DC_CAL2_Pin, GPIO_PIN_RESET);</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span>}</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="control_8c.html#a21066fe1f928c7c279fbcab34c8d094b"> 106</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a21066fe1f928c7c279fbcab34c8d094b">SetMotorParam</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, uint8_t DC_supply, uint8_t phase, uint8_t polePairs, <span class="keywordtype">float</span> MaxCurrent, <span class="keywordtype">float</span> MaxSpeed){</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a991a1f8c68f79e75a71471dfc90d602f">Vdc</a> = DC_supply;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> mHandle-><a class="code hl_variable" href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">nPhase</a> = phase;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a514da89140a829d5eb40403a1bf3fabe">nPolePairs</a> = polePairs;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a> = <a class="code hl_define" href="control_8c.html#ae60ebaebea4fc4b654a86b285c7782a3">CurrentGain</a>*MaxCurrent;</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a> = DC_supply/2*<a class="code hl_define" href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a>;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a4609df9c2a0c5cca737b725c39ad103a">SpeedLimit</a> = MaxSpeed;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span>}</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="control_8c.html#aa05889183d3dd27313d91a9f5c6105e9"> 115</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#aa05889183d3dd27313d91a9f5c6105e9">MotorCalibration</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="comment">//Calibration initialization</span></div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8718e12c63580137f1045c19563d91e8">nCalibrationFlag</a> = 0;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = 3;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> = 0;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_1, 0.7*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_2, 0.2*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_3, 0.2*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i=0;i<1000;i++){</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a403c3eddba3c7150f02374ac5681f9c0">Angle_offset</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a>;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <a class="code hl_function" href="control_8c.html#a121e9fcddd5f7811aeeccb023ab60751">getEangle</a>(mHandle);</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> printf(<span class="stringliteral">"Calibrated angle:%d,%d,%d\n"</span>,mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a>,mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>,mHandle-><a class="code hl_variable" href="struct_motor.html#a403c3eddba3c7150f02374ac5681f9c0">Angle_offset</a>);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="comment">//</span></div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> } </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="comment">/*__HAL_TIM_SetCompare(&mHandle->hTimDriver, TIM_CHANNEL_1, 0.2*mHandle->hTimDriver.Instance->ARR);</span></div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span><span class="comment"> __HAL_TIM_SetCompare(&mHandle->hTimDriver, TIM_CHANNEL_2, 0.7*mHandle->hTimDriver.Instance->ARR);</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span><span class="comment"> __HAL_TIM_SetCompare(&mHandle->hTimDriver, TIM_CHANNEL_3, 0.2*mHandle->hTimDriver.Instance->ARR);</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="comment">for(int i=0;i<10000;i++){</span></div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span><span class="comment"> getEangle(mHandle);</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span><span class="comment"> printf("Calibrated angle:%d,%.2f,%d\n",mHandle->M_angle,(float)mHandle->E_angle/4096*360,mHandle->Angle_offset);</span></div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span><span class="comment"> //</span></div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span><span class="comment">} __HAL_TIM_SetCompare(&mHandle->hTimDriver, TIM_CHANNEL_1, 0.2*mHandle->hTimDriver.Instance->ARR);</span></div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="comment"> __HAL_TIM_SetCompare(&mHandle->hTimDriver, TIM_CHANNEL_2, 0.2*mHandle->hTimDriver.Instance->ARR);</span></div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span><span class="comment"> __HAL_TIM_SetCompare(&mHandle->hTimDriver, TIM_CHANNEL_3, 0.7*mHandle->hTimDriver.Instance->ARR);</span></div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span><span class="comment">for(int i=0;i<10000;i++){</span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span><span class="comment"> getEangle(mHandle);</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span><span class="comment"> printf("Calibrated angle:%d,%.2f,%d\n",mHandle->M_angle,(float)mHandle->E_angle/4096*360,mHandle->Angle_offset);</span></div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span><span class="comment"> //</span></div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="comment">}*/</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8718e12c63580137f1045c19563d91e8">nCalibrationFlag</a> = 1;</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = 0;</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> </div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="comment">//filter initialization</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="comment">//arm_fir_init_f32(&PhaseA,NUM_TAPS,(float32_t*)&FilterCoeff[0],FIRcacheA,BLOCK_SIZE);</span></div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="comment">//arm_fir_init_f32(&PhaseB,NUM_TAPS,(float32_t*)&FilterCoeff[0],FIRcacheB,BLOCK_SIZE);</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="comment">//arm_fir_init_f32(&PhaseC,NUM_TAPS,(float32_t*)&FilterCoeff[0],FIRcacheC,BLOCK_SIZE);</span></div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span>}</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span><span class="comment">//Calibrated record M_E Angel difference</span></div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span><span class="comment">//void AngelAlignment(Motor* mHandle){</span></div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span><span class="comment">// //stop the timer, reset the M_angle counter</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span><span class="comment">// HAL_TIM_Base_Stop_IT(&htim1);</span></div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><span class="comment">// __HAL_TIM_SET_COUNTER(&htim3,0);</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span><span class="comment">// mHandle->nCalibrationFlag = 1;</span></div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="comment">// //mHandle->Angle_offset = mHandle->E_angle;</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span><span class="comment">// /*InvPark(&mHandle->Voltage, mHandle->E_angle);</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span><span class="comment">// SetSVPWM(mHandle);*/</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span><span class="comment">// //stop the motor</span></div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span><span class="comment">// //__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_1, mHandle->Ta*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="comment">// //__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_2, mHandle->Tb*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span><span class="comment">// //__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_3, mHandle->Tc*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span><span class="comment">// //__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_1, 0.7*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span><span class="comment">// //__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_2, 0.2*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span><span class="comment">// //__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_3, 0.2*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span><span class="comment">// //getAngle(mHandle);</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span><span class="comment">// //mHandle->Angle_offset = __HAL_TIM_GET_COUNTER(&htim3);// can not read??</span></div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span><span class="comment">// //printf("E_angle:%f\n",mTest.E_angle);</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span><span class="comment">// mHandle->Angle_offset = 77;</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span><span class="comment">// //for(int i = 0;i<10000000;i++){</span></div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span><span class="comment">// //mHandle->Angle_offset = mHandle->M_angle;</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span><span class="comment">// //}</span></div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span><span class="comment">// printf("Calibrated angle:%d,%d,%d\n",mHandle->M_angle,mHandle->E_angle,mHandle->Angle_offset);</span></div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span><span class="comment">// //restart the timer</span></div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span><span class="comment">// HAL_TIM_Base_Start_IT(&htim1);</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span><span class="comment">//}</span></div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span><span class="comment">//openloop rotate for calibration</span></div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="control_8c.html#a86ebf8db552e7de7117d19c4b32ce6af"> 184</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a86ebf8db552e7de7117d19c4b32ce6af">MotorOpenLoop</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a> + 1;<span class="comment">//0.0157f*UnitPulse;</span></div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="comment">/*if(mHandle->E_angle>=8*pi){</span></div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span><span class="comment"> mHandle->E_angle=0;</span></div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span><span class="comment"> }*/</span></div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="comment">//mHandle->E_angle = 0;</span></div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="comment">//printf("E_angle:%d,%d\n",mHandle->E_angle,n);</span></div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="comment">//getAngle(mHandle);</span></div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>>=<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>+mHandle-><a class="code hl_variable" href="struct_motor.html#a403c3eddba3c7150f02374ac5681f9c0">Angle_offset</a>){<span class="comment">//mHandle->E_angle>=8*pi+mHandle->Angle_offset</span></div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>=mHandle-><a class="code hl_variable" href="struct_motor.html#a403c3eddba3c7150f02374ac5681f9c0">Angle_offset</a>;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> }</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_function" href="control_8c.html#a7658aa110661b90ebb23f29cfbc73b92">InvPark</a>(&mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>);</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_function" href="control_8c.html#adf18f98940d1b08559520b06d6ff405c">SetSVPWM</a>(mHandle);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> </div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span>}</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span><span class="comment">//start adc sample once</span></div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"><a class="line" href="control_8c.html#a0b27b50e40405c6fc149078e10387372"> 201</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a0b27b50e40405c6fc149078e10387372">ADCSample</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> HAL_ADC_Start_DMA(&mHandle-><a class="code hl_variable" href="struct_motor.html#a801b68b4e2ff446330c2fb973a7a5a35">hMotorADC</a>, (uint32_t*)mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>, 2);</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">a</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[0] - mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[0];</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[1] - mHandle-><a class="code hl_variable" href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">DC_offset</a>[1];</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">c</a> = 0 - mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">a</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a>;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="comment">//printf("%d,%d,%d\n",mHandle->Current.a,mHandle->Current.b,mHandle->Current.c);</span></div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span>}</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span><span class="comment">//filter the adc value</span></div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="control_8c.html#a8a4f56dcb39e5926827ed0907e6a8459"> 209</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a8a4f56dcb39e5926827ed0907e6a8459">ADCFilter</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a4f836c05b4c50f280525806c7a8f5983">ADC_Filtered</a>[0] = mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[0] - 2048;</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a4f836c05b4c50f280525806c7a8f5983">ADC_Filtered</a>[1] = mHandle-><a class="code hl_variable" href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">ADC_DMA_RAW</a>[1] - 2048;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a4f836c05b4c50f280525806c7a8f5983">ADC_Filtered</a>[2] = 0 - mHandle-><a class="code hl_variable" href="struct_motor.html#a4f836c05b4c50f280525806c7a8f5983">ADC_Filtered</a>[0] - mHandle-><a class="code hl_variable" href="struct_motor.html#a4f836c05b4c50f280525806c7a8f5983">ADC_Filtered</a>[1];</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> <span class="comment">//printf("ADC:%d,%d,%d\n",mHandle->ADC_DMA_RAW[0],mHandle->ADC_DMA_RAW[1],mHandle->ADC_DMA_RAW[2]);</span></div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="comment">//printf("%d,%d,%d\n",mHandle->ADC_Filtered[0],mHandle->ADC_Filtered[1],mHandle->ADC_Filtered[2]);</span></div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="comment">/*mHandle->ADC_Filtered[0] = (int16_t)(FILTER_KP * (float)mHandle->ADC_Filtered[0] + (1-FILTER_KP) * (float)mHandle->ADC_lastValue[0]);</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span><span class="comment"> mHandle->ADC_lastValue[0] = mHandle->ADC_Filtered[0];</span></div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span><span class="comment"> mHandle->ADC_Filtered[1] = (int16_t)(FILTER_KP * (float)mHandle->ADC_Filtered[1] + (1-FILTER_KP) * (float)mHandle->ADC_lastValue[1]);</span></div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span><span class="comment"> mHandle->ADC_lastValue[1] = mHandle->ADC_Filtered[1];</span></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span><span class="comment"> mHandle->ADC_Filtered[2] = (int16_t)(FILTER_KP * (float)mHandle->ADC_Filtered[2] + (1-FILTER_KP) * (float)mHandle->ADC_lastValue[2]);</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span><span class="comment"> mHandle->ADC_lastValue[2] = mHandle->ADC_Filtered[2];*/</span></div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="comment">//printf("ADC:%d,%d,%d,%d,%d,%d\n",mHandle->ADC_DMA_RAW[0],mHandle->ADC_DMA_RAW[1],mHandle->ADC_DMA_RAW[2],mHandle->ADC_Filtered[0],mHandle->ADC_Filtered[1],mHandle->ADC_Filtered[2]); </span></div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="comment">//printf("ADC:%d,%d,%d\n",mHandle->ADC_Filtered[0],mHandle->ADC_Filtered[1],mHandle->ADC_Filtered[2]); </span></div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span>}</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> </div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"><a class="line" href="control_8c.html#a6907fe9118a5749f9ef88ccc2888fc5d"> 225</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a6907fe9118a5749f9ef88ccc2888fc5d">CurrentReconstruction</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> </div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> </div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">a</a> = (<a class="code hl_define" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">a</a> + (1-<a class="code hl_define" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a>) * mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[0]);</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[0] = mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">a</a>;</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a> = (<a class="code hl_define" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a> + (1-<a class="code hl_define" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a>) * mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[1]);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[1] = mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a>;</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">c</a> = (<a class="code hl_define" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">c</a> + (1-<a class="code hl_define" href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a>) * mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[2]);</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[2] = mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">c</a>;</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> </div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="comment">//printf("ADC:%f,%f,%f,%f,%f,%f\n",mHandle->ADC_Filtered[0] * 0.0100207f+8,mHandle->ADC_Filtered[1] * 0.0100207f+8,mHandle->ADC_Filtered[2] * 0.0100207f+8,mHandle->Current.a,mHandle->Current.b,mHandle->Current.c); </span></div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="comment">//printf("%d,%d,%d\n",mHandle->Current.a,mHandle->Current.b,mHandle->Current.c);</span></div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span>}</div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> </div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="control_8c.html#a121e9fcddd5f7811aeeccb023ab60751"> 240</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a121e9fcddd5f7811aeeccb023ab60751">getEangle</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a> = ((mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a403c3eddba3c7150f02374ac5681f9c0">Angle_offset</a>+<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>+1)*mHandle-><a class="code hl_variable" href="struct_motor.html#a514da89140a829d5eb40403a1bf3fabe">nPolePairs</a>)%(<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>+1);</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> <span class="comment">//mHandle->E_angle = FILTER_ANGLE * mHandle->E_angle + (1-FILTER_ANGLE) * mHandle->E_angle_pre;</span></div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> <span class="comment">//mHandle->E_angle_pre = mHandle->E_angle;</span></div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span>}</div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> </div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="control_8c.html#a3f371a9588ee8097b54b5893c53a310c"> 246</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a3f371a9588ee8097b54b5893c53a310c">getSpeed</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"> 247</span> </div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno"> 248</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a959161fa583c55e53eb1b708f81c5877">M_angle_pre</a> > 2000){</div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"> 249</span> mHandle-><a class="code hl_variable" href="struct_motor.html#aad92deaf7a5b8c4b060a1b3aa01236bb">lapCNT</a> --;</div>
<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"> 250</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a959161fa583c55e53eb1b708f81c5877">M_angle_pre</a> < -2000){</div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> mHandle-><a class="code hl_variable" href="struct_motor.html#aad92deaf7a5b8c4b060a1b3aa01236bb">lapCNT</a> ++;</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> }</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e751f80e20e54a66ba08973f9e9d3c1">SpeedCNT</a> = (mHandle-><a class="code hl_variable" href="struct_motor.html#aad92deaf7a5b8c4b060a1b3aa01236bb">lapCNT</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#ae70666c94f6dedcf20373509f86ef573">lapCNT_pre</a>)*4095 + mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a959161fa583c55e53eb1b708f81c5877">M_angle_pre</a>;</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae70666c94f6dedcf20373509f86ef573">lapCNT_pre</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aad92deaf7a5b8c4b060a1b3aa01236bb">lapCNT</a>;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="comment">//mHandle->speed = mHandle->SpeedCNT;</span></div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7f7e4724cf57d59513b39c5ecc81adc8">speed</a> = 2*(<span class="keywordtype">float</span>)mHandle-><a class="code hl_variable" href="struct_motor.html#a9e751f80e20e54a66ba08973f9e9d3c1">SpeedCNT</a>*(float)HAL_RCC_GetPCLK1Freq()/(float)(htim6.Init.Period+1)/(float)(htim6.Init.Prescaler+1)/(float)(<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>)*60.0f; <span class="comment">//rpm</span></div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7f7e4724cf57d59513b39c5ecc81adc8">speed</a> = <a class="code hl_define" href="control_8c.html#a540c0ab11330e11c7d3ba348c3fadd04">FILTER_SPEED</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a7f7e4724cf57d59513b39c5ecc81adc8">speed</a> + (1-<a class="code hl_define" href="control_8c.html#a540c0ab11330e11c7d3ba348c3fadd04">FILTER_SPEED</a>) * mHandle-><a class="code hl_variable" href="struct_motor.html#a6c5e12603b08b48bbe644498c18d696d">speed_pre</a>;</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a6c5e12603b08b48bbe644498c18d696d">speed_pre</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a7f7e4724cf57d59513b39c5ecc81adc8">speed</a>;</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="comment">//printf("speed:%f\n",mHandle->speed);</span></div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a959161fa583c55e53eb1b708f81c5877">M_angle_pre</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a>;</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span>}</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> </div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> </div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span><span class="comment">//set dq</span></div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><span class="comment">//void setDQ(Motor mHandle, double d, double q){</span></div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span><span class="comment">// mHandle.Voltage.d = d;</span></div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span><span class="comment">// mHandle.Voltage.q = q;</span></div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span><span class="comment">//}</span></div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span><span class="comment">//abc to alpha beta</span></div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="control_8c.html#a378d01f7b019cd1abfe5745c3c0c5e1f"> 270</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a378d01f7b019cd1abfe5745c3c0c5e1f">ClarkeTransform</a>(<a class="code hl_struct" href="struct_components.html">Coordinates</a>* pComponents){</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> pComponents-><a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a> = pComponents-><a class="code hl_variable" href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">a</a> - 0.5f*pComponents-><a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a>-0.5f*pComponents-><a class="code hl_variable" href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">c</a>;</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> pComponents-><a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a> = 0.5f*<a class="code hl_define" href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a>*pComponents-><a class="code hl_variable" href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">b</a> - 0.5f*<a class="code hl_define" href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a>*pComponents-><a class="code hl_variable" href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">c</a>;</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span>}</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> </div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span><span class="comment">//alpha beta to dq</span></div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"><a class="line" href="control_8c.html#a78b6d2cd4422b49b7ea838ce02d4bbcd"> 276</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a78b6d2cd4422b49b7ea838ce02d4bbcd">ParkTransform</a>(<a class="code hl_struct" href="struct_components.html">Coordinates</a>* pComponents, <span class="keywordtype">int</span> theta){</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">float</span> rad = (float)theta/(<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>+1)*2*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>;</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="comment">//original</span></div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="comment">//pComponents->d = pComponents->alpha*arm_cos_f32(rad) + pComponents->beta*arm_sin_f32(rad);</span></div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="comment">//pComponents->q = -pComponents->alpha*arm_sin_f32(rad) + pComponents->beta*arm_cos_f32(rad);</span></div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="comment">//modified</span></div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> pComponents-><a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = pComponents-><a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a>*arm_cos_f32(rad) + pComponents-><a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>*arm_sin_f32(rad);</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> pComponents-><a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> = pComponents-><a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a>*arm_sin_f32(rad) - pComponents-><a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>*arm_cos_f32(rad);</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> </div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span>}</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span><span class="comment">//dq to alpha beta</span></div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"><a class="line" href="control_8c.html#a7658aa110661b90ebb23f29cfbc73b92"> 288</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a7658aa110661b90ebb23f29cfbc73b92">InvPark</a>(<a class="code hl_struct" href="struct_components.html">Coordinates</a>* pComponents, <span class="keywordtype">int</span> theta){</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keywordtype">float</span> rad = (float)theta/(<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>+1)*2*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>;</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="comment">//original</span></div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="comment">//pComponents->alpha = pComponents->d*arm_cos_f32(rad) - pComponents->q*arm_sin_f32(rad);</span></div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="comment">//pComponents->beta = pComponents->d*arm_sin_f32(rad) + pComponents->q*arm_cos_f32(rad);</span></div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> <span class="comment">//modified</span></div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"> 294</span> pComponents-><a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a> = pComponents-><a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a>*arm_cos_f32(rad) + pComponents-><a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a>*arm_sin_f32(rad);</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> pComponents-><a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a> = pComponents-><a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a>*arm_sin_f32(rad) - pComponents-><a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a>*arm_cos_f32(rad);</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span> </div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> </div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="comment">//printf("alpha:%f,%f\n",pComponents->alpha,pComponents->beta);</span></div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span>}</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> </div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span><span class="comment">//GetSector</span></div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="control_8c.html#a96353709b0ece65a0f458f13f7ebd35b"> 302</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a96353709b0ece65a0f458f13f7ebd35b">GetSector</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span> uint8_t <a class="code hl_variable" href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e">a</a>, <a class="code hl_variable" href="control_8c.html#a83fc1af92e29717b4513d121b0c72c7d">b</a>, <a class="code hl_variable" href="control_8c.html#ae78103ab33f03590e84ff7bc735629d7">c</a>, N;</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> </div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab9b1e67e079f673b0c46489faf3278e6">Uref1</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>;</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> mHandle-><a class="code hl_variable" href="struct_motor.html#afbf3a9324aecc5e186da8706f2349812">Uref2</a> = (<a class="code hl_define" href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>)*0.5f;</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> mHandle-><a class="code hl_variable" href="struct_motor.html#adac9118b4a7b71d027512488c4ba7e9b">Uref3</a> = (-<a class="code hl_define" href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>)*0.5f;</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> </div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#ab9b1e67e079f673b0c46489faf3278e6">Uref1</a> > 0){</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <a class="code hl_variable" href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e">a</a> = 1;</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> }<span class="keywordflow">else</span>{</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <a class="code hl_variable" href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e">a</a> = 0;</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> }</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#afbf3a9324aecc5e186da8706f2349812">Uref2</a> > 0){</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <a class="code hl_variable" href="control_8c.html#a83fc1af92e29717b4513d121b0c72c7d">b</a> = 1;</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> }<span class="keywordflow">else</span>{</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <a class="code hl_variable" href="control_8c.html#a83fc1af92e29717b4513d121b0c72c7d">b</a> = 0;</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> }</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#adac9118b4a7b71d027512488c4ba7e9b">Uref3</a> > 0){</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <a class="code hl_variable" href="control_8c.html#ae78103ab33f03590e84ff7bc735629d7">c</a> = 1;</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> }<span class="keywordflow">else</span>{</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <a class="code hl_variable" href="control_8c.html#ae78103ab33f03590e84ff7bc735629d7">c</a> = 0;</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> }</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> </div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> N = 4*<a class="code hl_variable" href="control_8c.html#ae78103ab33f03590e84ff7bc735629d7">c</a> + 2*<a class="code hl_variable" href="control_8c.html#a83fc1af92e29717b4513d121b0c72c7d">b</a> + <a class="code hl_variable" href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e">a</a>;</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> </div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keywordflow">switch</span> (N) {</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keywordflow">case</span> 3:</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a> = 1;</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a> = 2;</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordflow">case</span> 5:</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a> = 3;</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordflow">case</span> 4:</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a> = 4;</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordflow">case</span> 6:</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a> = 5;</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keywordflow">case</span> 2:</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a> = 6;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> }</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span>}</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span><span class="comment">//</span></div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"><a class="line" href="control_8c.html#a16576dccb7e1137b80a15a0259b77eb6"> 349</a></span><span class="keywordtype">int</span> <a class="code hl_function" href="control_8c.html#a16576dccb7e1137b80a15a0259b77eb6">calcAngle</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> <span class="keywordtype">float</span> angle = atan2(mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>,mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a>);</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a><0){</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> angle = 2*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a> + angle;</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> }</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> angle = angle/(2*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>)*4096;</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keywordflow">return</span> angle;</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span>}</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span><span class="comment">//</span></div>
<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span><span class="comment">//modulation limit</span></div>
<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"><a class="line" href="control_8c.html#a39d7de953ea95e29b89b7294a304fca1"> 359</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a39d7de953ea95e29b89b7294a304fca1">ModulationLimit</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a>+mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> > 1){</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a>/(mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a>+mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>);</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>/(mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a>+mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>);</div>
<div class="line"><a id="l00363" name="l00363"></a><span class="lineno"> 363</span> }</div>
<div class="line"><a id="l00364" name="l00364"></a><span class="lineno"> 364</span>}</div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="control_8c.html#adf18f98940d1b08559520b06d6ff405c"> 365</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#adf18f98940d1b08559520b06d6ff405c">SetSVPWM</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <a class="code hl_function" href="control_8c.html#a96353709b0ece65a0f458f13f7ebd35b">GetSector</a>(mHandle);</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> <span class="keywordtype">float</span> X,Y,Z;</div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno"> 368</span> X = <a class="code hl_define" href="control_8c.html#ab9d28c25441be1a993983e85d2b4de86">Vector_coef</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#ab9b1e67e079f673b0c46489faf3278e6">Uref1</a>;</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno"> 369</span> Y = -<a class="code hl_define" href="control_8c.html#ab9d28c25441be1a993983e85d2b4de86">Vector_coef</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#adac9118b4a7b71d027512488c4ba7e9b">Uref3</a>;</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno"> 370</span> Z = -<a class="code hl_define" href="control_8c.html#ab9d28c25441be1a993983e85d2b4de86">Vector_coef</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#afbf3a9324aecc5e186da8706f2349812">Uref2</a>;</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno"> 371</span> <span class="keywordflow">switch</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>){</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno"> 372</span> <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno"> 373</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = Z; <span class="comment">//Z</span></div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"> 374</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = Y; <span class="comment">//Y</span></div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keywordflow">case</span> 2:</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = Y;</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = -X;</div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordflow">case</span> 3:</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = -Z;</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = X;</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> <span class="keywordflow">case</span> 4:</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = -X;</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = Z;</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <span class="keywordflow">case</span> 5:</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = X;</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = -Y;</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"> 391</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> <span class="keywordflow">case</span> 6:</div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"> 393</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> = -Y;</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"> 394</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = -Z;</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"> 396</span> }</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="comment">//modulation limit</span></div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <a class="code hl_function" href="control_8c.html#a39d7de953ea95e29b89b7294a304fca1">ModulationLimit</a>(mHandle);</div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a> = (1 - mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>)/4.0f;</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">T1</a>*0.5f;</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>*0.5f;</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keywordflow">switch</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>){</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a>;</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a>;</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a>;</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keywordflow">case</span> 2:</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a>;</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a>;</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a>;</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keywordflow">case</span> 3:</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a>;</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a>;</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a>;</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordflow">case</span> 4:</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a>;</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a>;</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a>;</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keywordflow">case</span> 5:</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a>;</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a>;</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a>;</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> <span class="keywordflow">case</span> 6:</div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Ty</a>;</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Tz</a>;</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Tx</a>;</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> }</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
<div class="line"><a id="l00435" name="l00435"></a><span class="lineno"> 435</span> <span class="comment">//printf("Ta=%f,Tb=%f,Tc=%f\n",mHandle->Ta,mHandle->Tb,mHandle->Tc);</span></div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno"> 436</span> <span class="comment">//printf("%f,%f,%f\n",mHandle->Ta,mHandle->Tb,mHandle->Tc);</span></div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno"> 437</span> <span class="comment">//printf("%f,%f,%f,%d,%d,%d\n",mHandle->Ta,mHandle->Tb,mHandle->Tc,mHandle->sector,calcAngle(mHandle),mHandle->E_angle/100);</span></div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"> 438</span> <span class="comment">//printf("%f,%f,%f\n",mHandle->T1,mHandle->T2,(1 - mHandle->T1 - mHandle->T2));</span></div>
<div class="line"><a id="l00439" name="l00439"></a><span class="lineno"> 439</span> </div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_1, mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_2, mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_3, mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> </div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> </div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span>}</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span><span class="comment">//</span></div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e"> 447</a></span><span class="keywordtype">float</span> <a class="code hl_variable" href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e">a</a>,<a class="code hl_variable" href="control_8c.html#a83fc1af92e29717b4513d121b0c72c7d">b</a>,<a class="code hl_variable" href="control_8c.html#ae78103ab33f03590e84ff7bc735629d7">c</a>;</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"><a class="line" href="control_8c.html#ae4de542701bd589dcf40374765b978a2"> 448</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#ae4de542701bd589dcf40374765b978a2">GetSVPWM</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="comment">//calculate sector</span></div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a>/mHandle-><a class="code hl_variable" href="struct_motor.html#a991a1f8c68f79e75a71471dfc90d602f">Vdc</a>;</div>
<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"> 451</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>/mHandle-><a class="code hl_variable" href="struct_motor.html#a991a1f8c68f79e75a71471dfc90d602f">Vdc</a>;<span class="comment">//Normallize</span></div>
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"> 452</span> </div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span> <a class="code hl_function" href="control_8c.html#a96353709b0ece65a0f458f13f7ebd35b">GetSector</a>(mHandle);</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span> <span class="comment">//printf("sector %d\n", mHandle->sector);</span></div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <span class="keywordtype">float</span> realVi = arm_cos_f32((mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>-1)*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>/mHandle-><a class="code hl_variable" href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">nPhase</a>);</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keywordtype">float</span> imagVi = arm_sin_f32((mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>-1)*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>/mHandle-><a class="code hl_variable" href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">nPhase</a>);</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> <span class="keywordtype">float</span> Vi[2] = {realVi, imagVi};</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keywordtype">float</span> realVj = arm_cos_f32((mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>)*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>/mHandle-><a class="code hl_variable" href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">nPhase</a>);</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="keywordtype">float</span> imagVj = arm_sin_f32((mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>)*<a class="code hl_define" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>/mHandle-><a class="code hl_variable" href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">nPhase</a>);</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <span class="keywordtype">float</span> Vj[2] = {realVj, imagVj};</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> </div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="comment">//printf("Vi %f,%f | Vj %f,%f\n", realVi,imagVi,realVj,imagVj);</span></div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> <span class="keywordtype">float</span> Vm[2] = {(realVi+realVj)/2, (imagVi+imagVj)/2};</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> <span class="comment">//complex double Vm = (Vi+Vj)/2;</span></div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> </div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> arm_cmplx_mag_f32(Vm, &<a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>, 1);</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="comment">//printf("Vm %f,%f Vmabs %f\n",Vm[0],Vm[1],Vmabs);</span></div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="comment">//double Vmabs = cabs(Vm);</span></div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> <span class="keywordtype">float</span> Vout[2] = {mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">alpha</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">beta</a>};</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> <span class="comment">//complex double Vout = mHandle->Voltage.alpha + _Complex_I*mHandle->Voltage.beta;</span></div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> <span class="keywordtype">float</span> Vout_para[2] = {Vm[0], -Vm[1]};</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span> arm_cmplx_mult_cmplx_f32(Vout, Vout_para, Vout_para, 1);</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> </div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="comment">//arm_cmplx_mag_f32(Vout_para, &Vout_para_abs, 1);</span></div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> <a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a> = Vout_para[0]/<a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>;</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="comment">//printf("Vout %f,%f Vout_para %f\n",Vout[0],Vout[1],Vout_para_abs);</span></div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="comment">//float Vout_para = creal(Vout * conj(Vm))/Vmabs;</span></div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> <span class="keywordflow">if</span> (<a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a> > <a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>){</div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span> <span class="comment">//Vout = Vout/Vout_para *Vmabs;</span></div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="comment">//Vout_para = Vmabs;</span></div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> Vout[0] = Vout[0]/<a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a>*<a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>;</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> Vout[1] = Vout[1]/<a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a>*<a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>;</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a> = <a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>;</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> }</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="comment">//printf("Vout %f,%f Vout_para %f\n",Vout[0],Vout[1],Vout_para_abs);</span></div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keywordtype">float</span> T0 = 1- <a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a> / <a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a>;</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="comment">//complex double Vom = Vout / Vout_para *Vmabs - Vm;</span></div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">float</span> Vom[2] = {Vout[0]/<a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a>*<a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a> - Vm[0], Vout[1]/<a class="code hl_variable" href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a>*<a class="code hl_variable" href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a> - Vm[1]};</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="comment">//double T2 = (creal(Vom/(Vj-Vi))+0.5) * (1-T0);</span></div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">float</span> Vtemp[2] = {Vj[0] - Vi[0], Vj[1] - Vi[1]};</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> Vtemp[0] = (Vom[0]*Vtemp[0] + Vom[1]*Vtemp[1])/(Vtemp[0]*Vtemp[0] + Vtemp[1]*Vtemp[1]);</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="comment">//Vtemp[1] = (Vom[1]*Vtemp[0] - Vom[0]*Vtemp[1])/(Vtemp[0]*Vtemp[0] + Vtemp[1]*Vtemp[1]);</span></div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="comment">//arm_cmplx_mag_f32(Vtemp, &T2, 1);</span></div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <a class="code hl_variable" href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a> = (Vtemp[0] + 0.5f) * (1.0f - T0);</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="keywordtype">float</span> T1 = 1-T0-<a class="code hl_variable" href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>;</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> uint8_t N = (mHandle-><a class="code hl_variable" href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">sector</a>-1)%(2*mHandle-><a class="code hl_variable" href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">nPhase</a>);</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="comment">//printf("Vom %f,%f\n",Vom[0],Vom[1]);</span></div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> <span class="comment">//printf("T0 %f,T2 %f,T1 %f,N %d\n",T0,T2,T1,N);</span></div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keywordtype">float</span> Tall[4] = {T0/4, T1/2+T0/4, <a class="code hl_variable" href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>/2+T0/4, T1/2+<a class="code hl_variable" href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a>/2+T0/4};</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> <span class="keywordflow">switch</span> (N){</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordflow">case</span> 0:</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = Tall[0];</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = Tall[1];</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = Tall[3];</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordflow">case</span> 1:</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = Tall[2];</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = Tall[0];</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = Tall[3];</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> <span class="keywordflow">case</span> 2:</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = Tall[3];</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = Tall[0];</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = Tall[1];</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> <span class="keywordflow">case</span> 3:</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = Tall[3];</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = Tall[2];</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = Tall[0];</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> <span class="keywordflow">case</span> 4:</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = Tall[1];</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = Tall[3];</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = Tall[0];</div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <span class="keywordflow">case</span> 5:</div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = Tall[0];</div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = Tall[3];</div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = Tall[2];</div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a> = 0;</div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a> = 0;</div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a> = 0;</div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> }</div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="comment">//printf("Ts=%f,Tm=%f,Tt=%f\n",mHandle->Ta,mHandle->Tb,mHandle->Tc);</span></div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <span class="comment">//float sum = mHandle->Ta+mHandle->Tb+mHandle->Tc;</span></div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="comment">//float avg = sum/3.0f;</span></div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> </div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="comment">//a = mHandle->Ta - avg;</span></div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="comment">//b = mHandle->Tb - avg;</span></div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="comment">//c = mHandle->Tc - avg;</span></div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="comment">//printf("%f,%f,%f\n",mHandle->Ta*2.0f,mHandle->Tb*2.0f,mHandle->Tc*2.0f);</span></div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="comment">//printf("%d,%f,%f\n",N,(float)mHandle->E_angle/4096*2*pi,(float)calcAngle(mHandle)/4096*2*pi);</span></div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="comment">//printf("%f,%f,%f\n",T1,T2,T0);</span></div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="comment">//printf("%f,%f,%f\n",a,b,c);</span></div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> </div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_1, mHandle-><a class="code hl_variable" href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Ta</a>*2.0f*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_2, mHandle-><a class="code hl_variable" href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Tb</a>*2.0f*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> __HAL_TIM_SetCompare(&mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>, TIM_CHANNEL_3, mHandle-><a class="code hl_variable" href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Tc</a>*2.0f*mHandle-><a class="code hl_variable" href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">hTimDriver</a>.Instance->ARR);</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> </div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> </div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span>}</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span><span class="comment">//你所不知的船新版本</span></div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span><span class="comment">//</span></div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"><a class="line" href="control_8c.html#a5cde34a6778b1b8e9d106a8b94405cd2"> 558</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a5cde34a6778b1b8e9d106a8b94405cd2">dq2SVPWM</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> <a class="code hl_function" href="control_8c.html#a121e9fcddd5f7811aeeccb023ab60751">getEangle</a>(mHandle);</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> </div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <a class="code hl_function" href="control_8c.html#a7658aa110661b90ebb23f29cfbc73b92">InvPark</a>(&mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>);</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> </div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <a class="code hl_function" href="control_8c.html#adf18f98940d1b08559520b06d6ff405c">SetSVPWM</a>(mHandle);</div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span>}</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> </div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"><a class="line" href="control_8c.html#a84d9a96ad0f0c9549bb4d32581957441"> 566</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a84d9a96ad0f0c9549bb4d32581957441">SetCurrentPID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> kp, <span class="keywordtype">float</span> ki, <span class="keywordtype">float</span> kd){</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> = kp;</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a> = ki;</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a> = kd;</div>
<div class="line"><a id="l00570" name="l00570"></a><span class="lineno"> 570</span> </div>
<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"> 571</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> = kp;</div>
<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a> = ki;</div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a> = kd;</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> </div>
<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span>}</div>
<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> </div>
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"><a class="line" href="control_8c.html#ac84226769ac245e2efd1ad7811489a68"> 577</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#ac84226769ac245e2efd1ad7811489a68">SetCurrentTarget</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> idTarget, <span class="keywordtype">float</span> iqTarget){</div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = idTarget;</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = iqTarget;</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span>}</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> </div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"><a class="line" href="control_8c.html#a412e84f409f4dc2bfbc19a3eccca4570"> 582</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a412e84f409f4dc2bfbc19a3eccca4570">IdPID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="comment">//filter</span></div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = (<a class="code hl_define" href="control_8c.html#a698d7a8cd2bed7746df64df16949f862">FILTER_DQ</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> + (1-<a class="code hl_define" href="control_8c.html#a698d7a8cd2bed7746df64df16949f862">FILTER_DQ</a>) * mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[3]);</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[3] = mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a>;</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="comment">//pid calc</span></div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a>;</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> += mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>;</div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="comment">//integral limiter</span></div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"> 592</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> }</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="comment">//mHandle->Voltage.d = mHandle->idPID.target;</span></div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a>;</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> </div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">d</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> }</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span>}</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> </div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"><a class="line" href="control_8c.html#a2773bdccd83bd5da909b5578439d569b"> 605</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a2773bdccd83bd5da909b5578439d569b">IqPID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> = (<a class="code hl_define" href="control_8c.html#a698d7a8cd2bed7746df64df16949f862">FILTER_DQ</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> + (1-<a class="code hl_define" href="control_8c.html#a698d7a8cd2bed7746df64df16949f862">FILTER_DQ</a>) * mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[4]);</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Current_lastValue</a>[4] = mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a>;</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a>;</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> += mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>;</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="comment">//integral limiter</span></div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> }</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> <span class="comment">//mHandle->Voltage.q = mHandle->iqPID.target;</span></div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a>;</div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> </div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> </div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>){</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>.<a class="code hl_variable" href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">q</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">VoltageLimit</a>;</div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> }</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> </div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span>}</div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"><a class="line" href="control_8c.html#a9c1255dcaf68017b30f5d2132e2a5a6d"> 628</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a9c1255dcaf68017b30f5d2132e2a5a6d">SetSpeedPID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> kp, <span class="keywordtype">float</span> ki, <span class="keywordtype">float</span> kd, <span class="keywordtype">float</span> outMax){</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> = kp;</div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a> = ki;</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"> 631</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a> = kd;</div>
<div class="line"><a id="l00632" name="l00632"></a><span class="lineno"> 632</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a4609df9c2a0c5cca737b725c39ad103a">SpeedLimit</a> = outMax;</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"> 633</span>}</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="control_8c.html#aa16906f85af7a938b4cecb1b76953762"> 635</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#aa16906f85af7a938b4cecb1b76953762">SetSpeedTarget</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> Target){</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> <span class="keywordflow">if</span>(Target > mHandle-><a class="code hl_variable" href="struct_motor.html#a4609df9c2a0c5cca737b725c39ad103a">SpeedLimit</a>){</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a4609df9c2a0c5cca737b725c39ad103a">SpeedLimit</a>;</div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> }</div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"> 639</span> <span class="keywordflow">else</span> <span class="keywordflow">if</span>(Target < -mHandle->SpeedLimit){</div>
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#a4609df9c2a0c5cca737b725c39ad103a">SpeedLimit</a>;</div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"> 641</span> }<span class="keywordflow">else</span></div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = Target;</div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"> 643</span>}</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> </div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"><a class="line" href="control_8c.html#a7d7728f0aacb1fbae2a6accff6ae7f09"> 645</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a7d7728f0aacb1fbae2a6accff6ae7f09">SpeedPID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00646" name="l00646"></a><span class="lineno"> 646</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a7f7e4724cf57d59513b39c5ecc81adc8">speed</a>;</div>
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"> 647</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> += mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>;</div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span> </div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <span class="comment">//integral limiter</span></div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>){</div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>;</div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>){</div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>;</div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> }</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> </div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#afaa5762f885189bc07c5702d0e9ff140">err_pre</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a>;</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a>*mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a>*(mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#afaa5762f885189bc07c5702d0e9ff140">err_pre</a>);</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = 0;</div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> </div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"> 661</span> </div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>){</div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>;</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>){</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>;</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> }</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> </div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span>}</div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> </div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"><a class="line" href="control_8c.html#a06324f7942b9d7b3b74ce9eae71dad39"> 670</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a06324f7942b9d7b3b74ce9eae71dad39">AnglePID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a>;</div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> > <a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>/2){</div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> -= <a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>;</div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span> }</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> < -<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>/2){</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> += <a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>;</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> }</div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> += mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>;</div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> <span class="comment">//integral limiter</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> > mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>){</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>;</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> }<span class="keywordflow">else</span> <span class="keywordflow">if</span>(mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> < -mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>){</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> = -mHandle-><a class="code hl_variable" href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">CurrentLimit</a>;</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span> }</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> </div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#afaa5762f885189bc07c5702d0e9ff140">err_pre</a> = mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a>;</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> </div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"> 689</span> <span class="comment">//mHandle->iqPID.target = mHandle->anglePID.kp * mHandle->anglePID.err + mHandle->anglePID.err_sum;</span></div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> <span class="comment">//mHandle->idPID.target = 0;</span></div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span> <span class="comment">//mHandle->speedPID.target = mHandle->anglePID.kp * mHandle->anglePID.err + mHandle->anglePID.err_sum + mHandle->anglePID.kd*(mHandle->anglePID.err - mHandle->anglePID.err_pre);</span></div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> <span class="keywordtype">float</span> target = mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> * mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">err_sum</a> + mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a>*(mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">err</a> - mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#afaa5762f885189bc07c5702d0e9ff140">err_pre</a>);</div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> </div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> <a class="code hl_function" href="control_8c.html#aa16906f85af7a938b4cecb1b76953762">SetSpeedTarget</a>(mHandle, target);</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span><span class="comment">// if(mHandle->iqPID.target > mHandle->CurrentLimit){</span></div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"> 696</span><span class="comment">// mHandle->iqPID.target = mHandle->CurrentLimit;</span></div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"> 697</span><span class="comment">// }else if(mHandle->iqPID.target < -mHandle->CurrentLimit){</span></div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span><span class="comment">// mHandle->iqPID.target = -mHandle->CurrentLimit;</span></div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span><span class="comment">// }</span></div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span>}</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> </div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"><a class="line" href="control_8c.html#a88ae85a44012b8f171bd1fcd4064ace0"> 702</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a88ae85a44012b8f171bd1fcd4064ace0">SetAnglePID</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> kp, <span class="keywordtype">float</span> ki, <span class="keywordtype">float</span> kd){</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a> = kp;</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a> = ki;</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">kd</a> = kd;</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span>}</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> </div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"><a class="line" href="control_8c.html#ad5d2a006a653c2eb76f455b9277d8729"> 708</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#ad5d2a006a653c2eb76f455b9277d8729">SetAngleTarget</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> Target){</div>
<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"> 709</span> <span class="keywordflow">if</span>(Target < 0){</div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"> 710</span> Target = - Target;</div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span> }</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> <span class="keywordflow">if</span>(Target>4096){</div>
<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"> 713</span> Target = (int)Target %4096;</div>
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"> 714</span> }</div>
<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"> 715</span> mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a> = Target;</div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"> 716</span>}</div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"> 717</span> </div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"><a class="line" href="control_8c.html#a8db1fd960af01c3aa2bfb514e1def9d5"> 718</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a8db1fd960af01c3aa2bfb514e1def9d5">SetIncrementAngle</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle, <span class="keywordtype">float</span> Target){</div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> Target += mHandle-><a class="code hl_variable" href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">M_angle</a>;</div>
<div class="line"><a id="l00720" name="l00720"></a><span class="lineno"> 720</span> Target = (int)Target%<a class="code hl_define" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>;</div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"> 721</span> <a class="code hl_function" href="control_8c.html#ad5d2a006a653c2eb76f455b9277d8729">SetAngleTarget</a>(mHandle,Target);</div>
<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span>}</div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> </div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span><span class="comment">//float ab;</span></div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"><a class="line" href="control_8c.html#a3833cbec98df3e6c130c4841b8401d70"> 725</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a3833cbec98df3e6c130c4841b8401d70">FOC</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <a class="code hl_function" href="control_8c.html#a121e9fcddd5f7811aeeccb023ab60751">getEangle</a>(mHandle);</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> </div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> <a class="code hl_function" href="control_8c.html#a6907fe9118a5749f9ef88ccc2888fc5d">CurrentReconstruction</a>(mHandle);</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> <span class="comment">//abc to alpha beta</span></div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> <a class="code hl_function" href="control_8c.html#a378d01f7b019cd1abfe5745c3c0c5e1f">ClarkeTransform</a>(&mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>);</div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> <span class="comment">//mHandle->E_angle = calcAngle(mHandle);</span></div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> <span class="comment">//alpha beta to dq</span></div>
<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"> 733</span> <a class="code hl_function" href="control_8c.html#a78b6d2cd4422b49b7ea838ce02d4bbcd">ParkTransform</a>(&mHandle-><a class="code hl_variable" href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Current</a>,mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>);</div>
<div class="line"><a id="l00734" name="l00734"></a><span class="lineno"> 734</span> <span class="comment">//printf("%f,%f,%d,%d,%d\n",mHandle->Current.alpha, mHandle->Current.beta,calcAngle(mHandle),mHandle->M_angle,mHandle->E_angle);</span></div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"> 735</span> <span class="comment">//PID</span></div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span> <span class="keywordflow">switch</span> (mHandle-><a class="code hl_variable" href="struct_motor.html#a3ed6c84fc54eaa26a6be1426ca449c74">Mode</a>){</div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"> 737</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcba2891de101c03df22f3bf8137f8622908">Speed</a>:</div>
<div class="line"><a id="l00738" name="l00738"></a><span class="lineno"> 738</span> <a class="code hl_function" href="control_8c.html#a7d7728f0aacb1fbae2a6accff6ae7f09">SpeedPID</a>(mHandle);</div>
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"> 739</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno"> 740</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcba0ca2444163688098d8e674e31fb11397">Position</a>:</div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"> 741</span> <a class="code hl_function" href="control_8c.html#a06324f7942b9d7b3b74ce9eae71dad39">AnglePID</a>(mHandle);</div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> <a class="code hl_function" href="control_8c.html#a7d7728f0aacb1fbae2a6accff6ae7f09">SpeedPID</a>(mHandle);</div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"> 743</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"> 744</span> <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcbaa1ffbb212863410b17ce950709b7caa1">Torque</a>:</div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"> 745</span> <span class="comment">//AnglePID(mHandle);</span></div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno"> 746</span> <span class="comment">//SpeedPID(mHandle);</span></div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"> 747</span> <a class="code hl_function" href="control_8c.html#a5cde34a6778b1b8e9d106a8b94405cd2">dq2SVPWM</a>(mHandle);</div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span> <span class="keywordflow">return</span>;</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span> <span class="keywordflow">default</span>:</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> <span class="comment">//SpeedPID(mHandle);</span></div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> <span class="keywordflow">break</span>;</div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> }</div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> </div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> <a class="code hl_function" href="control_8c.html#a412e84f409f4dc2bfbc19a3eccca4570">IdPID</a>(mHandle);</div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> <a class="code hl_function" href="control_8c.html#a2773bdccd83bd5da909b5578439d569b">IqPID</a>(mHandle);</div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> <span class="comment">//printf("%.2f\n",mHandle->speed);</span></div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> <span class="comment">//printf("%d,%f\n",mHandle->M_angle,mHandle->anglePID.target);</span></div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="comment">//printf("%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\n",mHandle->Current.d,mHandle->idPID.target,mHandle->Current.q,mHandle->iqPID.target,mHandle->speed,mHandle->speedPID.err,mHandle->Voltage.d,mHandle->Voltage.q);</span></div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> <span class="comment">//printf("%.2f,%.2f,%.2f,%.2f,%d,%.2f,%.2f,%.2f\n",mHandle->Current.d,mHandle->idPID.target,mHandle->Current.q,mHandle->iqPID.target,mHandle->M_angle,mHandle->anglePID.target,mHandle->Voltage.d,mHandle->Voltage.q);</span></div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> <span class="comment">//printf("%f,%f,%f,%f,%d,%d,%f,%f\n",mHandle->Current.d,mHandle->idPID.target,mHandle->Current.q,mHandle->iqPID.target,mHandle->speed, mHandle->E_angle/1000 + 30,mHandle->Voltage.d,mHandle->Voltage.q);</span></div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> <span class="comment">//printf("%f,%f,%f,%f,%f,%d,%f,%f,%f,%f\n",mHandle->Current.d,mHandle->idPID.target,mHandle->Current.q,mHandle->iqPID.target,mHandle->speed/100+1, mHandle->E_angle,mHandle->Voltage.d,mHandle->Voltage.q,</span></div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> <span class="comment">//ab,atanf(mHandle->Current.alpha/mHandle->Current.beta) );</span></div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> <span class="comment">//printf("%f,%f,%f,%f\n",mHandle->idPID.err,mHandle->iqPID.err,mHandle->Voltage.d,mHandle->Voltage.q);</span></div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> <span class="comment">//dq to alpha beta</span></div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> <span class="comment">//int theta = 1333;</span></div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> <a class="code hl_function" href="control_8c.html#a7658aa110661b90ebb23f29cfbc73b92">InvPark</a>(&mHandle-><a class="code hl_variable" href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Voltage</a>,mHandle-><a class="code hl_variable" href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">E_angle</a>);</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"> 767</span> <span class="comment">//mHandle->Voltage.alpha = 10;</span></div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> <span class="comment">//mHandle->Voltage.beta = 0;</span></div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno"> 769</span> <span class="comment">//int theta = calcAngle(mHandle);</span></div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno"> 770</span> <span class="comment">//ParkTransform(&mHandle->Voltage,mHandle->E_angle);</span></div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno"> 771</span> <span class="comment">//printf("%d,%d,%f,%f\n",mHandle->M_angle,mHandle->E_angle,mHandle->Voltage.d,mHandle->Voltage.q);</span></div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"> 772</span> <a class="code hl_function" href="control_8c.html#adf18f98940d1b08559520b06d6ff405c">SetSVPWM</a>(mHandle);</div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> <span class="comment">//printf("%f\n",mHandle->speed);</span></div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> <span class="comment">//mHandle->Voltage.d = 0;</span></div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> <span class="comment">//mHandle->Voltage.q = 1;</span></div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <span class="comment">//for(int i = 0;i<4000;i++){</span></div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="comment">//mTest.Voltage.d = i;</span></div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> <span class="comment">//mTest.Voltage.q = i;</span></div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span> <span class="comment">//float theta = i;</span></div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"> 780</span> <span class="comment">//InvPark(&mHandle->Voltage,i);</span></div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> <span class="comment">//mHandle->Voltage.alpha = arm_cos_f32((float)i/4000*(2*pi));</span></div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"> 782</span> <span class="comment">//mHandle->Voltage.beta = arm_sin_f32((float)i/4000*(2*pi));</span></div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> <span class="comment">//ParkTransform(&mTest.Voltage,i);</span></div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"> 784</span> <span class="comment">//GetSVPWM(mHandle);</span></div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> <span class="comment">//printf("%f,%f,%f,%f\n",a,b,c,(float)i/40000);</span></div>
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"> 786</span> <span class="comment">//GetSVPWM(mHandle);</span></div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"> 787</span> <span class="comment">//}</span></div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> </div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"> 789</span> <span class="comment">//__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_1, 0.1*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> <span class="comment">//__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_2, 0.7*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"> 791</span> <span class="comment">//__HAL_TIM_SetCompare(&htim1, TIM_CHANNEL_3, 0.7*htim1.Instance->ARR);</span></div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> </div>
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"> 793</span>}</div>
<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"> 794</span> </div>
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"><a class="line" href="control_8c.html#a8d782bbdb4cf49779abe695b1bc32b43"> 795</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="control_8c.html#a8d782bbdb4cf49779abe695b1bc32b43">FOCcheck</a>(<a class="code hl_struct" href="struct_motor.html">Motor</a>* mHandle){</div>
<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> printf(<span class="stringliteral">"idPID kp %.4f,ki %.4f, target %.4f\n"</span>, mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a>);</div>
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"> 797</span> printf(<span class="stringliteral">"iqPID kp %.4f,ki %.4f, target %.4f\n"</span>, mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">iqPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">idPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a>);</div>
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> printf(<span class="stringliteral">"speedPID kp %.4f,ki %.4f, target %.4f\n"</span>, mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">speedPID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a>);</div>
<div class="line"><a id="l00799" name="l00799"></a><span class="lineno"> 799</span> printf(<span class="stringliteral">"anglePID kp %.4f,ki %.4f, target %.4f\n"</span>, mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">kp</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">ki</a>, mHandle-><a class="code hl_variable" href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">anglePID</a>.<a class="code hl_variable" href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">target</a>);</div>
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"> 800</span>}</div>
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"> 801</span> </div>
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"> 802</span> </div>
<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"> 803</span> </div>
<div class="ttc" id="acontrol_8c_html_a06324f7942b9d7b3b74ce9eae71dad39"><div class="ttname"><a href="control_8c.html#a06324f7942b9d7b3b74ce9eae71dad39">AnglePID</a></div><div class="ttdeci">void AnglePID(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00670">control.c:670</a></div></div>
<div class="ttc" id="acontrol_8c_html_a0b27b50e40405c6fc149078e10387372"><div class="ttname"><a href="control_8c.html#a0b27b50e40405c6fc149078e10387372">ADCSample</a></div><div class="ttdeci">void ADCSample(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00201">control.c:201</a></div></div>
<div class="ttc" id="acontrol_8c_html_a0dbc9b6e908dbabd894b4fb61132c68e"><div class="ttname"><a href="control_8c.html#a0dbc9b6e908dbabd894b4fb61132c68e">Vout_para_abs</a></div><div class="ttdeci">float Vout_para_abs</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00026">control.c:26</a></div></div>
<div class="ttc" id="acontrol_8c_html_a10d4a5658201a6cb630bbe063d898472"><div class="ttname"><a href="control_8c.html#a10d4a5658201a6cb630bbe063d898472">MotorInit</a></div><div class="ttdeci">void MotorInit(Motor *mHandle, ADC_HandleTypeDef hadc, TIM_HandleTypeDef hDriver, TIM_HandleTypeDef hEncoder, I2C_HandleTypeDef hIICEncoder, ControlMode mode)</div><div class="ttdoc">: Motor initialization function</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00041">control.c:41</a></div></div>
<div class="ttc" id="acontrol_8c_html_a121e9fcddd5f7811aeeccb023ab60751"><div class="ttname"><a href="control_8c.html#a121e9fcddd5f7811aeeccb023ab60751">getEangle</a></div><div class="ttdeci">void getEangle(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00240">control.c:240</a></div></div>
<div class="ttc" id="acontrol_8c_html_a16576dccb7e1137b80a15a0259b77eb6"><div class="ttname"><a href="control_8c.html#a16576dccb7e1137b80a15a0259b77eb6">calcAngle</a></div><div class="ttdeci">int calcAngle(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00349">control.c:349</a></div></div>
<div class="ttc" id="acontrol_8c_html_a1d59cc82eae3deb872d63dbad2694f6c"><div class="ttname"><a href="control_8c.html#a1d59cc82eae3deb872d63dbad2694f6c">FILTER_KP</a></div><div class="ttdeci">#define FILTER_KP</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00015">control.c:15</a></div></div>
<div class="ttc" id="acontrol_8c_html_a21066fe1f928c7c279fbcab34c8d094b"><div class="ttname"><a href="control_8c.html#a21066fe1f928c7c279fbcab34c8d094b">SetMotorParam</a></div><div class="ttdeci">void SetMotorParam(Motor *mHandle, uint8_t DC_supply, uint8_t phase, uint8_t polePairs, float MaxCurrent, float MaxSpeed)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00106">control.c:106</a></div></div>
<div class="ttc" id="acontrol_8c_html_a22b804736f5648d52f639b2647d4ed13"><div class="ttname"><a href="control_8c.html#a22b804736f5648d52f639b2647d4ed13">hadc1</a></div><div class="ttdeci">ADC_HandleTypeDef hadc1</div></div>
<div class="ttc" id="acontrol_8c_html_a2773bdccd83bd5da909b5578439d569b"><div class="ttname"><a href="control_8c.html#a2773bdccd83bd5da909b5578439d569b">IqPID</a></div><div class="ttdeci">void IqPID(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00605">control.c:605</a></div></div>
<div class="ttc" id="acontrol_8c_html_a30dcd27ff2cf483dd1a88773cff0084e"><div class="ttname"><a href="control_8c.html#a30dcd27ff2cf483dd1a88773cff0084e">EnableGate</a></div><div class="ttdeci">void EnableGate()</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00075">control.c:75</a></div></div>
<div class="ttc" id="acontrol_8c_html_a378d01f7b019cd1abfe5745c3c0c5e1f"><div class="ttname"><a href="control_8c.html#a378d01f7b019cd1abfe5745c3c0c5e1f">ClarkeTransform</a></div><div class="ttdeci">void ClarkeTransform(Coordinates *pComponents)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00270">control.c:270</a></div></div>
<div class="ttc" id="acontrol_8c_html_a3833cbec98df3e6c130c4841b8401d70"><div class="ttname"><a href="control_8c.html#a3833cbec98df3e6c130c4841b8401d70">FOC</a></div><div class="ttdeci">void FOC(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00725">control.c:725</a></div></div>
<div class="ttc" id="acontrol_8c_html_a39d7de953ea95e29b89b7294a304fca1"><div class="ttname"><a href="control_8c.html#a39d7de953ea95e29b89b7294a304fca1">ModulationLimit</a></div><div class="ttdeci">void ModulationLimit(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00359">control.c:359</a></div></div>
<div class="ttc" id="acontrol_8c_html_a3f371a9588ee8097b54b5893c53a310c"><div class="ttname"><a href="control_8c.html#a3f371a9588ee8097b54b5893c53a310c">getSpeed</a></div><div class="ttdeci">void getSpeed(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00246">control.c:246</a></div></div>
<div class="ttc" id="acontrol_8c_html_a412e84f409f4dc2bfbc19a3eccca4570"><div class="ttname"><a href="control_8c.html#a412e84f409f4dc2bfbc19a3eccca4570">IdPID</a></div><div class="ttdeci">void IdPID(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00582">control.c:582</a></div></div>
<div class="ttc" id="acontrol_8c_html_a4aec1a5be9d9a4a394a2e49e9744286e"><div class="ttname"><a href="control_8c.html#a4aec1a5be9d9a4a394a2e49e9744286e">a</a></div><div class="ttdeci">float a</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00447">control.c:447</a></div></div>
<div class="ttc" id="acontrol_8c_html_a503ae511083e4a1a1c330a01cd21cf1a"><div class="ttname"><a href="control_8c.html#a503ae511083e4a1a1c330a01cd21cf1a">UserAPPSelection</a></div><div class="ttdeci">void UserAPPSelection(Motor *mHandle, UserAPP app)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00063">control.c:63</a></div></div>
<div class="ttc" id="acontrol_8c_html_a540c0ab11330e11c7d3ba348c3fadd04"><div class="ttname"><a href="control_8c.html#a540c0ab11330e11c7d3ba348c3fadd04">FILTER_SPEED</a></div><div class="ttdeci">#define FILTER_SPEED</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00018">control.c:18</a></div></div>
<div class="ttc" id="acontrol_8c_html_a5cde34a6778b1b8e9d106a8b94405cd2"><div class="ttname"><a href="control_8c.html#a5cde34a6778b1b8e9d106a8b94405cd2">dq2SVPWM</a></div><div class="ttdeci">void dq2SVPWM(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00558">control.c:558</a></div></div>
<div class="ttc" id="acontrol_8c_html_a6907fe9118a5749f9ef88ccc2888fc5d"><div class="ttname"><a href="control_8c.html#a6907fe9118a5749f9ef88ccc2888fc5d">CurrentReconstruction</a></div><div class="ttdeci">void CurrentReconstruction(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00225">control.c:225</a></div></div>
<div class="ttc" id="acontrol_8c_html_a698d7a8cd2bed7746df64df16949f862"><div class="ttname"><a href="control_8c.html#a698d7a8cd2bed7746df64df16949f862">FILTER_DQ</a></div><div class="ttdeci">#define FILTER_DQ</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00016">control.c:16</a></div></div>
<div class="ttc" id="acontrol_8c_html_a7658aa110661b90ebb23f29cfbc73b92"><div class="ttname"><a href="control_8c.html#a7658aa110661b90ebb23f29cfbc73b92">InvPark</a></div><div class="ttdeci">void InvPark(Coordinates *pComponents, int theta)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00288">control.c:288</a></div></div>
<div class="ttc" id="acontrol_8c_html_a78b6d2cd4422b49b7ea838ce02d4bbcd"><div class="ttname"><a href="control_8c.html#a78b6d2cd4422b49b7ea838ce02d4bbcd">ParkTransform</a></div><div class="ttdeci">void ParkTransform(Coordinates *pComponents, int theta)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00276">control.c:276</a></div></div>
<div class="ttc" id="acontrol_8c_html_a7d7728f0aacb1fbae2a6accff6ae7f09"><div class="ttname"><a href="control_8c.html#a7d7728f0aacb1fbae2a6accff6ae7f09">SpeedPID</a></div><div class="ttdeci">void SpeedPID(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00645">control.c:645</a></div></div>
<div class="ttc" id="acontrol_8c_html_a7eb418de90bcd7d3f2faf0075c9d88f3"><div class="ttname"><a href="control_8c.html#a7eb418de90bcd7d3f2faf0075c9d88f3">DC_Calibration</a></div><div class="ttdeci">void DC_Calibration(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00079">control.c:79</a></div></div>
<div class="ttc" id="acontrol_8c_html_a7ef8354b4de76dd7f6a12fc8f545aeb7"><div class="ttname"><a href="control_8c.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">T2</a></div><div class="ttdeci">float T2</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00027">control.c:27</a></div></div>
<div class="ttc" id="acontrol_8c_html_a83fc1af92e29717b4513d121b0c72c7d"><div class="ttname"><a href="control_8c.html#a83fc1af92e29717b4513d121b0c72c7d">b</a></div><div class="ttdeci">float b</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00447">control.c:447</a></div></div>
<div class="ttc" id="acontrol_8c_html_a84d9a96ad0f0c9549bb4d32581957441"><div class="ttname"><a href="control_8c.html#a84d9a96ad0f0c9549bb4d32581957441">SetCurrentPID</a></div><div class="ttdeci">void SetCurrentPID(Motor *mHandle, float kp, float ki, float kd)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00566">control.c:566</a></div></div>
<div class="ttc" id="acontrol_8c_html_a86ebf8db552e7de7117d19c4b32ce6af"><div class="ttname"><a href="control_8c.html#a86ebf8db552e7de7117d19c4b32ce6af">MotorOpenLoop</a></div><div class="ttdeci">void MotorOpenLoop(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00184">control.c:184</a></div></div>
<div class="ttc" id="acontrol_8c_html_a88ae85a44012b8f171bd1fcd4064ace0"><div class="ttname"><a href="control_8c.html#a88ae85a44012b8f171bd1fcd4064ace0">SetAnglePID</a></div><div class="ttdeci">void SetAnglePID(Motor *mHandle, float kp, float ki, float kd)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00702">control.c:702</a></div></div>
<div class="ttc" id="acontrol_8c_html_a8a4f56dcb39e5926827ed0907e6a8459"><div class="ttname"><a href="control_8c.html#a8a4f56dcb39e5926827ed0907e6a8459">ADCFilter</a></div><div class="ttdeci">void ADCFilter(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00209">control.c:209</a></div></div>
<div class="ttc" id="acontrol_8c_html_a8d782bbdb4cf49779abe695b1bc32b43"><div class="ttname"><a href="control_8c.html#a8d782bbdb4cf49779abe695b1bc32b43">FOCcheck</a></div><div class="ttdeci">void FOCcheck(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00795">control.c:795</a></div></div>
<div class="ttc" id="acontrol_8c_html_a8db1fd960af01c3aa2bfb514e1def9d5"><div class="ttname"><a href="control_8c.html#a8db1fd960af01c3aa2bfb514e1def9d5">SetIncrementAngle</a></div><div class="ttdeci">void SetIncrementAngle(Motor *mHandle, float Target)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00718">control.c:718</a></div></div>
<div class="ttc" id="acontrol_8c_html_a96353709b0ece65a0f458f13f7ebd35b"><div class="ttname"><a href="control_8c.html#a96353709b0ece65a0f458f13f7ebd35b">GetSector</a></div><div class="ttdeci">void GetSector(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00302">control.c:302</a></div></div>
<div class="ttc" id="acontrol_8c_html_a9c1255dcaf68017b30f5d2132e2a5a6d"><div class="ttname"><a href="control_8c.html#a9c1255dcaf68017b30f5d2132e2a5a6d">SetSpeedPID</a></div><div class="ttdeci">void SetSpeedPID(Motor *mHandle, float kp, float ki, float kd, float outMax)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00628">control.c:628</a></div></div>
<div class="ttc" id="acontrol_8c_html_a9ca0cc7c05bfaf12c86799a2d71c8ede"><div class="ttname"><a href="control_8c.html#a9ca0cc7c05bfaf12c86799a2d71c8ede">ModeSelection</a></div><div class="ttdeci">void ModeSelection(Motor *mHandle, ControlMode mode)</div><div class="ttdoc">: Mode selection function</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00059">control.c:59</a></div></div>
<div class="ttc" id="acontrol_8c_html_aa05889183d3dd27313d91a9f5c6105e9"><div class="ttname"><a href="control_8c.html#aa05889183d3dd27313d91a9f5c6105e9">MotorCalibration</a></div><div class="ttdeci">void MotorCalibration(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00115">control.c:115</a></div></div>
<div class="ttc" id="acontrol_8c_html_aa16906f85af7a938b4cecb1b76953762"><div class="ttname"><a href="control_8c.html#aa16906f85af7a938b4cecb1b76953762">SetSpeedTarget</a></div><div class="ttdeci">void SetSpeedTarget(Motor *mHandle, float Target)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00635">control.c:635</a></div></div>
<div class="ttc" id="acontrol_8c_html_ab9d28c25441be1a993983e85d2b4de86"><div class="ttname"><a href="control_8c.html#ab9d28c25441be1a993983e85d2b4de86">Vector_coef</a></div><div class="ttdeci">#define Vector_coef</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00019">control.c:19</a></div></div>
<div class="ttc" id="acontrol_8c_html_ac84226769ac245e2efd1ad7811489a68"><div class="ttname"><a href="control_8c.html#ac84226769ac245e2efd1ad7811489a68">SetCurrentTarget</a></div><div class="ttdeci">void SetCurrentTarget(Motor *mHandle, float idTarget, float iqTarget)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00577">control.c:577</a></div></div>
<div class="ttc" id="acontrol_8c_html_acd9221f1aa19aebfe0b744947f2daf49"><div class="ttname"><a href="control_8c.html#acd9221f1aa19aebfe0b744947f2daf49">hadc2</a></div><div class="ttdeci">ADC_HandleTypeDef hadc2</div></div>
<div class="ttc" id="acontrol_8c_html_ad5d2a006a653c2eb76f455b9277d8729"><div class="ttname"><a href="control_8c.html#ad5d2a006a653c2eb76f455b9277d8729">SetAngleTarget</a></div><div class="ttdeci">void SetAngleTarget(Motor *mHandle, float Target)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00708">control.c:708</a></div></div>
<div class="ttc" id="acontrol_8c_html_adab12f80393f46ebe1732964a965ffff"><div class="ttname"><a href="control_8c.html#adab12f80393f46ebe1732964a965ffff">GainSelection</a></div><div class="ttdeci">void GainSelection(DRV_GAIN gain)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00067">control.c:67</a></div></div>
<div class="ttc" id="acontrol_8c_html_adf18f98940d1b08559520b06d6ff405c"><div class="ttname"><a href="control_8c.html#adf18f98940d1b08559520b06d6ff405c">SetSVPWM</a></div><div class="ttdeci">void SetSVPWM(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00365">control.c:365</a></div></div>
<div class="ttc" id="acontrol_8c_html_ae4de542701bd589dcf40374765b978a2"><div class="ttname"><a href="control_8c.html#ae4de542701bd589dcf40374765b978a2">GetSVPWM</a></div><div class="ttdeci">void GetSVPWM(Motor *mHandle)</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00448">control.c:448</a></div></div>
<div class="ttc" id="acontrol_8c_html_ae60ebaebea4fc4b654a86b285c7782a3"><div class="ttname"><a href="control_8c.html#ae60ebaebea4fc4b654a86b285c7782a3">CurrentGain</a></div><div class="ttdeci">#define CurrentGain</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00014">control.c:14</a></div></div>
<div class="ttc" id="acontrol_8c_html_ae78103ab33f03590e84ff7bc735629d7"><div class="ttname"><a href="control_8c.html#ae78103ab33f03590e84ff7bc735629d7">c</a></div><div class="ttdeci">float c</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00447">control.c:447</a></div></div>
<div class="ttc" id="acontrol_8c_html_ae93437d7843de4a069a15d56e00eb69b"><div class="ttname"><a href="control_8c.html#ae93437d7843de4a069a15d56e00eb69b">Vmabs</a></div><div class="ttdeci">float Vmabs</div><div class="ttdef"><b>Definition:</b> <a href="control_8c_source.html#l00025">control.c:25</a></div></div>
<div class="ttc" id="acontrol_8h_html"><div class="ttname"><a href="control_8h.html">control.h</a></div></div>
<div class="ttc" id="acontrol_8h_html_a1daf785e3f68d293c7caa1c756d5cb74"><div class="ttname"><a href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a></div><div class="ttdeci">#define pi</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00029">control.h:29</a></div></div>
<div class="ttc" id="acontrol_8h_html_a4c7cca717941f9eb5c7f90f44ac8746b"><div class="ttname"><a href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a></div><div class="ttdeci">#define SQRT_3</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00030">control.h:30</a></div></div>
<div class="ttc" id="acontrol_8h_html_a4fe62c345b7ce33aac126a260c5a82fb"><div class="ttname"><a href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a></div><div class="ttdeci">DRV_GAIN</div><div class="ttdoc">DRV8302 amplification gain enumerator.</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00073">control.h:74</a></div></div>
<div class="ttc" id="acontrol_8h_html_a4fe62c345b7ce33aac126a260c5a82fba30f3f2fba31dab5fa94c1979df5b3648"><div class="ttname"><a href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fba30f3f2fba31dab5fa94c1979df5b3648">DRV_GAIN_10</a></div><div class="ttdeci">@ DRV_GAIN_10</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00074">control.h:74</a></div></div>
<div class="ttc" id="acontrol_8h_html_ab8fd4796026dfcd8e06f047989acb66a"><div class="ttname"><a href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a></div><div class="ttdeci">UserAPP</div><div class="ttdoc">UserAPP enumerator.</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00066">control.h:67</a></div></div>
<div class="ttc" id="acontrol_8h_html_aec2a4da8c1ff32ae0a52daebe3fe6d00"><div class="ttname"><a href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a></div><div class="ttdeci">#define UnitPulse</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00031">control.h:31</a></div></div>
<div class="ttc" id="acontrol_8h_html_aee3ea37f4f505980157cf93a84687bcb"><div class="ttname"><a href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a></div><div class="ttdeci">ControlMode</div><div class="ttdoc">ControlMode enumerator.</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00059">control.h:60</a></div></div>
<div class="ttc" id="acontrol_8h_html_aee3ea37f4f505980157cf93a84687bcba0ca2444163688098d8e674e31fb11397"><div class="ttname"><a href="control_8h.html#aee3ea37f4f505980157cf93a84687bcba0ca2444163688098d8e674e31fb11397">Position</a></div><div class="ttdeci">@ Position</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00060">control.h:60</a></div></div>
<div class="ttc" id="acontrol_8h_html_aee3ea37f4f505980157cf93a84687bcba2891de101c03df22f3bf8137f8622908"><div class="ttname"><a href="control_8h.html#aee3ea37f4f505980157cf93a84687bcba2891de101c03df22f3bf8137f8622908">Speed</a></div><div class="ttdeci">@ Speed</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00060">control.h:60</a></div></div>
<div class="ttc" id="acontrol_8h_html_aee3ea37f4f505980157cf93a84687bcbaa1ffbb212863410b17ce950709b7caa1"><div class="ttname"><a href="control_8h.html#aee3ea37f4f505980157cf93a84687bcbaa1ffbb212863410b17ce950709b7caa1">Torque</a></div><div class="ttdeci">@ Torque</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00060">control.h:60</a></div></div>
<div class="ttc" id="astruct_components_html"><div class="ttname"><a href="struct_components.html">Components</a></div><div class="ttdoc">Coordinates components structure.</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00039">control.h:40</a></div></div>
<div class="ttc" id="astruct_components_html_a070cc5ce80d6538c54c390304e858ebe"><div class="ttname"><a href="struct_components.html#a070cc5ce80d6538c54c390304e858ebe">Components::b</a></div><div class="ttdeci">int16_t b</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00041">control.h:41</a></div></div>
<div class="ttc" id="astruct_components_html_a0a19a0620af7373e3ddba0ce4e1058e1"><div class="ttname"><a href="struct_components.html#a0a19a0620af7373e3ddba0ce4e1058e1">Components::q</a></div><div class="ttdeci">float q</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00043">control.h:43</a></div></div>
<div class="ttc" id="astruct_components_html_a3fbbd8a3959e76a2bc3455d3bade52dc"><div class="ttname"><a href="struct_components.html#a3fbbd8a3959e76a2bc3455d3bade52dc">Components::d</a></div><div class="ttdeci">float d</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00043">control.h:43</a></div></div>
<div class="ttc" id="astruct_components_html_aa773d9a6c0ccefaa0fc9ab66fec68ec1"><div class="ttname"><a href="struct_components.html#aa773d9a6c0ccefaa0fc9ab66fec68ec1">Components::beta</a></div><div class="ttdeci">float beta</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00042">control.h:42</a></div></div>
<div class="ttc" id="astruct_components_html_ab1551d8043c2aa4410fb7dbb1fe3be7b"><div class="ttname"><a href="struct_components.html#ab1551d8043c2aa4410fb7dbb1fe3be7b">Components::alpha</a></div><div class="ttdeci">float alpha</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00042">control.h:42</a></div></div>
<div class="ttc" id="astruct_components_html_ad23c91bdeebe3f7ce86956114696b462"><div class="ttname"><a href="struct_components.html#ad23c91bdeebe3f7ce86956114696b462">Components::c</a></div><div class="ttdeci">int16_t c</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00041">control.h:41</a></div></div>
<div class="ttc" id="astruct_components_html_ae5e8b4d32e434ec0360c3d06d4fa7219"><div class="ttname"><a href="struct_components.html#ae5e8b4d32e434ec0360c3d06d4fa7219">Components::a</a></div><div class="ttdeci">int16_t a</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00041">control.h:41</a></div></div>
<div class="ttc" id="astruct_motor_html"><div class="ttname"><a href="struct_motor.html">Motor</a></div><div class="ttdoc">Motor parameter structure.</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00079">control.h:80</a></div></div>
<div class="ttc" id="astruct_motor_html_a16eb202373e014b9a1b5e8ee5477a0eb"><div class="ttname"><a href="struct_motor.html#a16eb202373e014b9a1b5e8ee5477a0eb">Motor::Tz</a></div><div class="ttdeci">float Tz</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00115">control.h:115</a></div></div>
<div class="ttc" id="astruct_motor_html_a22e1179371b98f23e756984bc5e9ba95"><div class="ttname"><a href="struct_motor.html#a22e1179371b98f23e756984bc5e9ba95">Motor::Tc</a></div><div class="ttdeci">float Tc</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00116">control.h:116</a></div></div>
<div class="ttc" id="astruct_motor_html_a36e10e934636a4c529d3e721fc662201"><div class="ttname"><a href="struct_motor.html#a36e10e934636a4c529d3e721fc662201">Motor::DC_offset</a></div><div class="ttdeci">uint16_t DC_offset[2]</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00119">control.h:119</a></div></div>
<div class="ttc" id="astruct_motor_html_a3ed6c84fc54eaa26a6be1426ca449c74"><div class="ttname"><a href="struct_motor.html#a3ed6c84fc54eaa26a6be1426ca449c74">Motor::Mode</a></div><div class="ttdeci">ControlMode Mode</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00086">control.h:86</a></div></div>
<div class="ttc" id="astruct_motor_html_a403c3eddba3c7150f02374ac5681f9c0"><div class="ttname"><a href="struct_motor.html#a403c3eddba3c7150f02374ac5681f9c0">Motor::Angle_offset</a></div><div class="ttdeci">uint16_t Angle_offset</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00107">control.h:107</a></div></div>
<div class="ttc" id="astruct_motor_html_a4609df9c2a0c5cca737b725c39ad103a"><div class="ttname"><a href="struct_motor.html#a4609df9c2a0c5cca737b725c39ad103a">Motor::SpeedLimit</a></div><div class="ttdeci">float SpeedLimit</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00110">control.h:110</a></div></div>
<div class="ttc" id="astruct_motor_html_a49609d8014cc2f172f982aa34a0abced"><div class="ttname"><a href="struct_motor.html#a49609d8014cc2f172f982aa34a0abced">Motor::iqPID</a></div><div class="ttdeci">PID_para iqPID</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00093">control.h:93</a></div></div>
<div class="ttc" id="astruct_motor_html_a4f836c05b4c50f280525806c7a8f5983"><div class="ttname"><a href="struct_motor.html#a4f836c05b4c50f280525806c7a8f5983">Motor::ADC_Filtered</a></div><div class="ttdeci">int16_t ADC_Filtered[3]</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00120">control.h:120</a></div></div>
<div class="ttc" id="astruct_motor_html_a50351efee76ac59cbfddc319a43f0081"><div class="ttname"><a href="struct_motor.html#a50351efee76ac59cbfddc319a43f0081">Motor::Ta</a></div><div class="ttdeci">float Ta</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00116">control.h:116</a></div></div>
<div class="ttc" id="astruct_motor_html_a514da89140a829d5eb40403a1bf3fabe"><div class="ttname"><a href="struct_motor.html#a514da89140a829d5eb40403a1bf3fabe">Motor::nPolePairs</a></div><div class="ttdeci">uint8_t nPolePairs</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00100">control.h:100</a></div></div>
<div class="ttc" id="astruct_motor_html_a5222692e4ce396dc210789ad78e73f2e"><div class="ttname"><a href="struct_motor.html#a5222692e4ce396dc210789ad78e73f2e">Motor::hI2CEncoder</a></div><div class="ttdeci">I2C_HandleTypeDef hI2CEncoder</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00084">control.h:84</a></div></div>
<div class="ttc" id="astruct_motor_html_a592212da4a52fdaa5fa9484176076347"><div class="ttname"><a href="struct_motor.html#a592212da4a52fdaa5fa9484176076347">Motor::E_angle</a></div><div class="ttdeci">int16_t E_angle</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00105">control.h:105</a></div></div>
<div class="ttc" id="astruct_motor_html_a5c73e4801b04f509ab15b0939cf51019"><div class="ttname"><a href="struct_motor.html#a5c73e4801b04f509ab15b0939cf51019">Motor::CurrentLimit</a></div><div class="ttdeci">float CurrentLimit</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00110">control.h:110</a></div></div>
<div class="ttc" id="astruct_motor_html_a5ffac741774414b0bee0b8e7d87400f3"><div class="ttname"><a href="struct_motor.html#a5ffac741774414b0bee0b8e7d87400f3">Motor::hTimEncoder</a></div><div class="ttdeci">TIM_HandleTypeDef hTimEncoder</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00083">control.h:83</a></div></div>
<div class="ttc" id="astruct_motor_html_a6c5e12603b08b48bbe644498c18d696d"><div class="ttname"><a href="struct_motor.html#a6c5e12603b08b48bbe644498c18d696d">Motor::speed_pre</a></div><div class="ttdeci">float speed_pre</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00109">control.h:109</a></div></div>
<div class="ttc" id="astruct_motor_html_a6ebfed80acf44488ab8e7d22a4ac4c71"><div class="ttname"><a href="struct_motor.html#a6ebfed80acf44488ab8e7d22a4ac4c71">Motor::APP</a></div><div class="ttdeci">UserAPP APP</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00087">control.h:87</a></div></div>
<div class="ttc" id="astruct_motor_html_a75cc7805bfd0f3ad0c48a5d1542c9c85"><div class="ttname"><a href="struct_motor.html#a75cc7805bfd0f3ad0c48a5d1542c9c85">Motor::sector</a></div><div class="ttdeci">uint8_t sector</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00112">control.h:112</a></div></div>
<div class="ttc" id="astruct_motor_html_a7adb1ec60b36b079779994003a1c8224"><div class="ttname"><a href="struct_motor.html#a7adb1ec60b36b079779994003a1c8224">Motor::idPID</a></div><div class="ttdeci">PID_para idPID</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00092">control.h:92</a></div></div>
<div class="ttc" id="astruct_motor_html_a7ef8354b4de76dd7f6a12fc8f545aeb7"><div class="ttname"><a href="struct_motor.html#a7ef8354b4de76dd7f6a12fc8f545aeb7">Motor::T2</a></div><div class="ttdeci">float T2</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00115">control.h:115</a></div></div>
<div class="ttc" id="astruct_motor_html_a7efe7dfc0d85ca33ea9903e552104c59"><div class="ttname"><a href="struct_motor.html#a7efe7dfc0d85ca33ea9903e552104c59">Motor::Current_lastValue</a></div><div class="ttdeci">int16_t Current_lastValue[5]</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00122">control.h:122</a></div></div>
<div class="ttc" id="astruct_motor_html_a7f7e4724cf57d59513b39c5ecc81adc8"><div class="ttname"><a href="struct_motor.html#a7f7e4724cf57d59513b39c5ecc81adc8">Motor::speed</a></div><div class="ttdeci">float speed</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00109">control.h:109</a></div></div>
<div class="ttc" id="astruct_motor_html_a801b68b4e2ff446330c2fb973a7a5a35"><div class="ttname"><a href="struct_motor.html#a801b68b4e2ff446330c2fb973a7a5a35">Motor::hMotorADC</a></div><div class="ttdeci">ADC_HandleTypeDef hMotorADC</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00081">control.h:81</a></div></div>
<div class="ttc" id="astruct_motor_html_a848e7f0227cdb284ae2e733510c80493"><div class="ttname"><a href="struct_motor.html#a848e7f0227cdb284ae2e733510c80493">Motor::Voltage</a></div><div class="ttdeci">Coordinates Voltage</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00089">control.h:89</a></div></div>
<div class="ttc" id="astruct_motor_html_a8718e12c63580137f1045c19563d91e8"><div class="ttname"><a href="struct_motor.html#a8718e12c63580137f1045c19563d91e8">Motor::nCalibrationFlag</a></div><div class="ttdeci">uint8_t nCalibrationFlag</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00097">control.h:97</a></div></div>
<div class="ttc" id="astruct_motor_html_a8a0b87e43a6e0286720ed497c8b9bd4c"><div class="ttname"><a href="struct_motor.html#a8a0b87e43a6e0286720ed497c8b9bd4c">Motor::Tx</a></div><div class="ttdeci">float Tx</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00115">control.h:115</a></div></div>
<div class="ttc" id="astruct_motor_html_a8c9772f89af80dbb285c149a0374172c"><div class="ttname"><a href="struct_motor.html#a8c9772f89af80dbb285c149a0374172c">Motor::speedPID</a></div><div class="ttdeci">PID_para speedPID</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00094">control.h:94</a></div></div>
<div class="ttc" id="astruct_motor_html_a959161fa583c55e53eb1b708f81c5877"><div class="ttname"><a href="struct_motor.html#a959161fa583c55e53eb1b708f81c5877">Motor::M_angle_pre</a></div><div class="ttdeci">uint16_t M_angle_pre</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00104">control.h:104</a></div></div>
<div class="ttc" id="astruct_motor_html_a991a1f8c68f79e75a71471dfc90d602f"><div class="ttname"><a href="struct_motor.html#a991a1f8c68f79e75a71471dfc90d602f">Motor::Vdc</a></div><div class="ttdeci">uint8_t Vdc</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00098">control.h:98</a></div></div>
<div class="ttc" id="astruct_motor_html_a9e1b1632eb525d17b7377f974c3095a8"><div class="ttname"><a href="struct_motor.html#a9e1b1632eb525d17b7377f974c3095a8">Motor::Current</a></div><div class="ttdeci">Coordinates Current</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00090">control.h:90</a></div></div>
<div class="ttc" id="astruct_motor_html_a9e751f80e20e54a66ba08973f9e9d3c1"><div class="ttname"><a href="struct_motor.html#a9e751f80e20e54a66ba08973f9e9d3c1">Motor::SpeedCNT</a></div><div class="ttdeci">int16_t SpeedCNT</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00102">control.h:102</a></div></div>
<div class="ttc" id="astruct_motor_html_aa09b6a3c9ddd083b8712980ca29e3f2a"><div class="ttname"><a href="struct_motor.html#aa09b6a3c9ddd083b8712980ca29e3f2a">Motor::ADC_DMA_RAW</a></div><div class="ttdeci">uint16_t ADC_DMA_RAW[3]</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00118">control.h:118</a></div></div>
<div class="ttc" id="astruct_motor_html_aa3983d97c6cca1ba09c7d32165ba717c"><div class="ttname"><a href="struct_motor.html#aa3983d97c6cca1ba09c7d32165ba717c">Motor::VoltageLimit</a></div><div class="ttdeci">float VoltageLimit</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00110">control.h:110</a></div></div>
<div class="ttc" id="astruct_motor_html_aad92deaf7a5b8c4b060a1b3aa01236bb"><div class="ttname"><a href="struct_motor.html#aad92deaf7a5b8c4b060a1b3aa01236bb">Motor::lapCNT</a></div><div class="ttdeci">int32_t lapCNT</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00111">control.h:111</a></div></div>
<div class="ttc" id="astruct_motor_html_ab670caa75d08f1acf0768f0bc4333326"><div class="ttname"><a href="struct_motor.html#ab670caa75d08f1acf0768f0bc4333326">Motor::Tb</a></div><div class="ttdeci">float Tb</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00116">control.h:116</a></div></div>
<div class="ttc" id="astruct_motor_html_ab9b1e67e079f673b0c46489faf3278e6"><div class="ttname"><a href="struct_motor.html#ab9b1e67e079f673b0c46489faf3278e6">Motor::Uref1</a></div><div class="ttdeci">float Uref1</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00113">control.h:113</a></div></div>
<div class="ttc" id="astruct_motor_html_ac4c7ec6bf2a7b0636c00216576186d68"><div class="ttname"><a href="struct_motor.html#ac4c7ec6bf2a7b0636c00216576186d68">Motor::T1</a></div><div class="ttdeci">float T1</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00115">control.h:115</a></div></div>
<div class="ttc" id="astruct_motor_html_acb4618d69b8a7c34c416c427bbc842a4"><div class="ttname"><a href="struct_motor.html#acb4618d69b8a7c34c416c427bbc842a4">Motor::M_angle</a></div><div class="ttdeci">uint16_t M_angle</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00103">control.h:103</a></div></div>
<div class="ttc" id="astruct_motor_html_adac9118b4a7b71d027512488c4ba7e9b"><div class="ttname"><a href="struct_motor.html#adac9118b4a7b71d027512488c4ba7e9b">Motor::Uref3</a></div><div class="ttdeci">float Uref3</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00113">control.h:113</a></div></div>
<div class="ttc" id="astruct_motor_html_adf004c0e8eda4c9b4b2ad809d0740664"><div class="ttname"><a href="struct_motor.html#adf004c0e8eda4c9b4b2ad809d0740664">Motor::Ty</a></div><div class="ttdeci">float Ty</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00115">control.h:115</a></div></div>
<div class="ttc" id="astruct_motor_html_ae42e7244616d6d75ce0e711a945a30a9"><div class="ttname"><a href="struct_motor.html#ae42e7244616d6d75ce0e711a945a30a9">Motor::anglePID</a></div><div class="ttdeci">PID_para anglePID</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00095">control.h:95</a></div></div>
<div class="ttc" id="astruct_motor_html_ae70666c94f6dedcf20373509f86ef573"><div class="ttname"><a href="struct_motor.html#ae70666c94f6dedcf20373509f86ef573">Motor::lapCNT_pre</a></div><div class="ttdeci">int32_t lapCNT_pre</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00111">control.h:111</a></div></div>
<div class="ttc" id="astruct_motor_html_af3f1c7d958554a481027e6d53acf02d7"><div class="ttname"><a href="struct_motor.html#af3f1c7d958554a481027e6d53acf02d7">Motor::nPhase</a></div><div class="ttdeci">uint8_t nPhase</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00099">control.h:99</a></div></div>
<div class="ttc" id="astruct_motor_html_af44336d6087385213b2da6b874c8d0c9"><div class="ttname"><a href="struct_motor.html#af44336d6087385213b2da6b874c8d0c9">Motor::hTimDriver</a></div><div class="ttdeci">TIM_HandleTypeDef hTimDriver</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00082">control.h:82</a></div></div>
<div class="ttc" id="astruct_motor_html_afbf3a9324aecc5e186da8706f2349812"><div class="ttname"><a href="struct_motor.html#afbf3a9324aecc5e186da8706f2349812">Motor::Uref2</a></div><div class="ttdeci">float Uref2</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00113">control.h:113</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_a050993b7ca6c97e62c1020017f716b91"><div class="ttname"><a href="struct_p_i_d__para.html#a050993b7ca6c97e62c1020017f716b91">PID_para::ki</a></div><div class="ttdeci">float ki</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00051">control.h:51</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_a16676aeaa8bf988301616be3eca67dfe"><div class="ttname"><a href="struct_p_i_d__para.html#a16676aeaa8bf988301616be3eca67dfe">PID_para::err_sum</a></div><div class="ttdeci">float err_sum</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00052">control.h:52</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_a1f7add0f84d583bc2eceb290d6c4cc06"><div class="ttname"><a href="struct_p_i_d__para.html#a1f7add0f84d583bc2eceb290d6c4cc06">PID_para::kp</a></div><div class="ttdeci">float kp</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00051">control.h:51</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_a5bc58d43105d723b774621219125aeb1"><div class="ttname"><a href="struct_p_i_d__para.html#a5bc58d43105d723b774621219125aeb1">PID_para::err</a></div><div class="ttdeci">float err</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00052">control.h:52</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_ae7a5c6018507bb1361fcca170e069b9c"><div class="ttname"><a href="struct_p_i_d__para.html#ae7a5c6018507bb1361fcca170e069b9c">PID_para::kd</a></div><div class="ttdeci">float kd</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00051">control.h:51</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_af0df2177301e4061ab72ade2ea437bcd"><div class="ttname"><a href="struct_p_i_d__para.html#af0df2177301e4061ab72ade2ea437bcd">PID_para::target</a></div><div class="ttdeci">float target</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00052">control.h:52</a></div></div>
<div class="ttc" id="astruct_p_i_d__para_html_afaa5762f885189bc07c5702d0e9ff140"><div class="ttname"><a href="struct_p_i_d__para.html#afaa5762f885189bc07c5702d0e9ff140">PID_para::err_pre</a></div><div class="ttdeci">float err_pre</div><div class="ttdef"><b>Definition:</b> <a href="control_8h_source.html#l00052">control.h:52</a></div></div>
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