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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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<meta name="generator" content="Doxygen 1.9.5"/>
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<title>MasterFOC: control.h File Reference</title>
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<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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<table cellspacing="0" cellpadding="0">
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<tr id="projectrow">
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<div id="projectname">MasterFOC<span id="projectnumber"> 0.0.1</span>
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<li><a href="annotated.html"><span>Data Structures</span></a></li>
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<li><a href="files.html"><span>File List</span></a></li>
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</div>
</div><!-- top -->
<div class="header">
<div class="summary">
<a href="#nested-classes">Data Structures</a> |
<a href="#define-members">Macros</a> |
<a href="#typedef-members">Typedefs</a> |
<a href="#enum-members">Enumerations</a> |
<a href="#func-members">Functions</a> </div>
<div class="headertitle"><div class="title">control.h File Reference</div></div>
</div><!--header-->
<div class="contents">
<div class="textblock"><code>#include "stm32f4xx_hal.h"</code><br />
<code>#include "arm_math.h"</code><br />
<code>#include "tim.h"</code><br />
<code>#include "stdio.h"</code><br />
</div>
<p><a href="control_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_components.html">Components</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">Coordinates components structure. <a href="struct_components.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_p_i_d__para.html">PID_para</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight">PID parameter structure. <a href="struct_p_i_d__para.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="struct_motor.html">Motor</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="struct_motor.html" title="Motor parameter structure.">Motor</a> parameter structure. <a href="struct_motor.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="define-members" name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:a1daf785e3f68d293c7caa1c756d5cb74"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a1daf785e3f68d293c7caa1c756d5cb74">pi</a>   3.14159265359f</td></tr>
<tr class="separator:a1daf785e3f68d293c7caa1c756d5cb74"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4c7cca717941f9eb5c7f90f44ac8746b"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a4c7cca717941f9eb5c7f90f44ac8746b">SQRT_3</a>   1.7320508f</td></tr>
<tr class="separator:a4c7cca717941f9eb5c7f90f44ac8746b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aec2a4da8c1ff32ae0a52daebe3fe6d00"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#aec2a4da8c1ff32ae0a52daebe3fe6d00">UnitPulse</a>   4096</td></tr>
<tr class="separator:aec2a4da8c1ff32ae0a52daebe3fe6d00"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="typedef-members" name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr class="memitem:a646bef2e4e0d58c4b2a1c3d3037475a4"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_components.html">Components</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a></td></tr>
<tr class="memdesc:a646bef2e4e0d58c4b2a1c3d3037475a4"><td class="mdescLeft"> </td><td class="mdescRight">Coordinates components structure. <a href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">More...</a><br /></td></tr>
<tr class="separator:a646bef2e4e0d58c4b2a1c3d3037475a4"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7381bd99b9f8d665d55ffc97eedc9e9d"><td class="memItemLeft" align="right" valign="top">typedef struct <a class="el" href="struct_p_i_d__para.html">PID_para</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a7381bd99b9f8d665d55ffc97eedc9e9d">PID_para</a></td></tr>
<tr class="memdesc:a7381bd99b9f8d665d55ffc97eedc9e9d"><td class="mdescLeft"> </td><td class="mdescRight">PID parameter structure. <a href="control_8h.html#a7381bd99b9f8d665d55ffc97eedc9e9d">More...</a><br /></td></tr>
<tr class="separator:a7381bd99b9f8d665d55ffc97eedc9e9d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a7041679f372ba53525b1eaed6001e67a"><td class="memItemLeft" align="right" valign="top">typedef enum <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a7041679f372ba53525b1eaed6001e67a">ControlMode</a></td></tr>
<tr class="memdesc:a7041679f372ba53525b1eaed6001e67a"><td class="mdescLeft"> </td><td class="mdescRight">ControlMode enumerator. <a href="control_8h.html#a7041679f372ba53525b1eaed6001e67a">More...</a><br /></td></tr>
<tr class="separator:a7041679f372ba53525b1eaed6001e67a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a05445b981aabc15fe58b2aa04cc007be"><td class="memItemLeft" align="right" valign="top">typedef enum <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a05445b981aabc15fe58b2aa04cc007be">UserAPP</a></td></tr>
<tr class="memdesc:a05445b981aabc15fe58b2aa04cc007be"><td class="mdescLeft"> </td><td class="mdescRight">UserAPP enumerator. <a href="control_8h.html#a05445b981aabc15fe58b2aa04cc007be">More...</a><br /></td></tr>
<tr class="separator:a05445b981aabc15fe58b2aa04cc007be"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:aa7c4fecf4e12490cdae6a6a0abd3959e"><td class="memItemLeft" align="right" valign="top">typedef enum <a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#aa7c4fecf4e12490cdae6a6a0abd3959e">DRV_GAIN</a></td></tr>
<tr class="memdesc:aa7c4fecf4e12490cdae6a6a0abd3959e"><td class="mdescLeft"> </td><td class="mdescRight">DRV8302 amplification gain enumerator. <a href="control_8h.html#aa7c4fecf4e12490cdae6a6a0abd3959e">More...</a><br /></td></tr>
<tr class="separator:aa7c4fecf4e12490cdae6a6a0abd3959e"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="enum-members" name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:aee3ea37f4f505980157cf93a84687bcb"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> { <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcbad3fa9ae9431d6cb1772f9d9df48cab19">Idle</a> = 0
, <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcba2891de101c03df22f3bf8137f8622908">Speed</a>
, <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcba0ca2444163688098d8e674e31fb11397">Position</a>
, <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcbaa1ffbb212863410b17ce950709b7caa1">Torque</a>
}</td></tr>
<tr class="memdesc:aee3ea37f4f505980157cf93a84687bcb"><td class="mdescLeft"> </td><td class="mdescRight">ControlMode enumerator. <a href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">More...</a><br /></td></tr>
<tr class="separator:aee3ea37f4f505980157cf93a84687bcb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ab8fd4796026dfcd8e06f047989acb66a"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a> { <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66aacc842255ac43e600deac25fefd0fdb0a">Drag</a> = 1
, <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66aa436ecffb0346b444ef8e03489844ebf3">ForceFeedback</a>
, <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66aaab57132cff95cd4bb6b65a486c127dfb">Switch</a>
, <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66aae72db1ad60dbc5ad7dbcb42d6035038f">SpaceWalk</a>
}</td></tr>
<tr class="memdesc:ab8fd4796026dfcd8e06f047989acb66a"><td class="mdescLeft"> </td><td class="mdescRight">UserAPP enumerator. <a href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">More...</a><br /></td></tr>
<tr class="separator:ab8fd4796026dfcd8e06f047989acb66a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a4fe62c345b7ce33aac126a260c5a82fb"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a> { <a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fba30f3f2fba31dab5fa94c1979df5b3648">DRV_GAIN_10</a> = 0
, <a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fba003ad48d1b5cdccf078d183a8ebb6660">DRV_GAIN_40</a>
}</td></tr>
<tr class="memdesc:a4fe62c345b7ce33aac126a260c5a82fb"><td class="mdescLeft"> </td><td class="mdescRight">DRV8302 amplification gain enumerator. <a href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">More...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a10d4a5658201a6cb630bbe063d898472"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a10d4a5658201a6cb630bbe063d898472">MotorInit</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, ADC_HandleTypeDef hadc, TIM_HandleTypeDef hDriver, TIM_HandleTypeDef hEncoder, I2C_HandleTypeDef hIICEncoder, <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> mode)</td></tr>
<tr class="memdesc:a10d4a5658201a6cb630bbe063d898472"><td class="mdescLeft"> </td><td class="mdescRight">: <a class="el" href="struct_motor.html" title="Motor parameter structure.">Motor</a> initialization function <a href="control_8h.html#a10d4a5658201a6cb630bbe063d898472">More...</a><br /></td></tr>
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<tr class="memitem:a9ca0cc7c05bfaf12c86799a2d71c8ede"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a9ca0cc7c05bfaf12c86799a2d71c8ede">ModeSelection</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> mode)</td></tr>
<tr class="memdesc:a9ca0cc7c05bfaf12c86799a2d71c8ede"><td class="mdescLeft"> </td><td class="mdescRight">: Mode selection function <a href="control_8h.html#a9ca0cc7c05bfaf12c86799a2d71c8ede">More...</a><br /></td></tr>
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<tr class="memitem:a503ae511083e4a1a1c330a01cd21cf1a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a503ae511083e4a1a1c330a01cd21cf1a">UserAPPSelection</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a> app)</td></tr>
<tr class="memdesc:a503ae511083e4a1a1c330a01cd21cf1a"><td class="mdescLeft"> </td><td class="mdescRight">: user application selection function <a href="control_8h.html#a503ae511083e4a1a1c330a01cd21cf1a">More...</a><br /></td></tr>
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<tr class="memitem:a74b8d54f398d5cace9878611ddda252b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a74b8d54f398d5cace9878611ddda252b">EnableGate</a> (void)</td></tr>
<tr class="memdesc:a74b8d54f398d5cace9878611ddda252b"><td class="mdescLeft"> </td><td class="mdescRight">: Pull up the ENGATE pin of the DRV8302 to activate the gate <a href="control_8h.html#a74b8d54f398d5cace9878611ddda252b">More...</a><br /></td></tr>
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<tr class="memitem:adab12f80393f46ebe1732964a965ffff"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#adab12f80393f46ebe1732964a965ffff">GainSelection</a> (<a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a> gain)</td></tr>
<tr class="memdesc:adab12f80393f46ebe1732964a965ffff"><td class="mdescLeft"> </td><td class="mdescRight">: Select the gain of the buit-in amplifier of DRV8302 If GAIN = LOW, the internal current shunt amplifiers have a gain of 10V/V. If GAIN = HIGH, the current shunt amplifiers have a gain of 40V/V <a href="control_8h.html#adab12f80393f46ebe1732964a965ffff">More...</a><br /></td></tr>
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<tr class="memitem:a7eb418de90bcd7d3f2faf0075c9d88f3"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a7eb418de90bcd7d3f2faf0075c9d88f3">DC_Calibration</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a7eb418de90bcd7d3f2faf0075c9d88f3"><td class="mdescLeft"> </td><td class="mdescRight">: Calibrate the DC offset of the current shunt amplifier should be called after <a class="el" href="control_8h.html#a74b8d54f398d5cace9878611ddda252b" title=": Pull up the ENGATE pin of the DRV8302 to activate the gate">EnableGate()</a> <a href="control_8h.html#a7eb418de90bcd7d3f2faf0075c9d88f3">More...</a><br /></td></tr>
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<tr class="memitem:a21066fe1f928c7c279fbcab34c8d094b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a21066fe1f928c7c279fbcab34c8d094b">SetMotorParam</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, uint8_t DC_supply, uint8_t phase, uint8_t polePairs, float MaxCurrent, float MaxSpeed)</td></tr>
<tr class="memdesc:a21066fe1f928c7c279fbcab34c8d094b"><td class="mdescLeft"> </td><td class="mdescRight">: Set motor parameters <a href="control_8h.html#a21066fe1f928c7c279fbcab34c8d094b">More...</a><br /></td></tr>
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<tr class="memitem:a16576dccb7e1137b80a15a0259b77eb6"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a16576dccb7e1137b80a15a0259b77eb6">calcAngle</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a16576dccb7e1137b80a15a0259b77eb6"><td class="mdescLeft"> </td><td class="mdescRight">: [Auxiliary Debug Function] calculate electric angle from Valpha and Vbeta <a href="control_8h.html#a16576dccb7e1137b80a15a0259b77eb6">More...</a><br /></td></tr>
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<tr class="memitem:aa05889183d3dd27313d91a9f5c6105e9"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#aa05889183d3dd27313d91a9f5c6105e9">MotorCalibration</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:aa05889183d3dd27313d91a9f5c6105e9"><td class="mdescLeft"> </td><td class="mdescRight">: Calibrate motor when power on Measure the angle offset between encoder 0 deg and motor electrical 0 deg(phase a 100%) Angle_E = (Angle_M - Offset)*nPolePairs <a href="control_8h.html#aa05889183d3dd27313d91a9f5c6105e9">More...</a><br /></td></tr>
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<tr class="memitem:a86ebf8db552e7de7117d19c4b32ce6af"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a86ebf8db552e7de7117d19c4b32ce6af">MotorOpenLoop</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a86ebf8db552e7de7117d19c4b32ce6af"><td class="mdescLeft"> </td><td class="mdescRight">: openloop drag control <a href="control_8h.html#a86ebf8db552e7de7117d19c4b32ce6af">More...</a><br /></td></tr>
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<tr class="memitem:a0b27b50e40405c6fc149078e10387372"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a0b27b50e40405c6fc149078e10387372">ADCSample</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a0b27b50e40405c6fc149078e10387372"><td class="mdescLeft"> </td><td class="mdescRight">: Current sampling function, once called, retrieve one set of sampled data from DMA Data stored in mHandle->Current called in timer callback function every control period <a href="control_8h.html#a0b27b50e40405c6fc149078e10387372">More...</a><br /></td></tr>
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<tr class="memitem:a8a4f56dcb39e5926827ed0907e6a8459"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a8a4f56dcb39e5926827ed0907e6a8459">ADCFilter</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a8a4f56dcb39e5926827ed0907e6a8459"><td class="mdescLeft"> </td><td class="mdescRight">: Filter the sampled current <a href="control_8h.html#a8a4f56dcb39e5926827ed0907e6a8459">More...</a><br /></td></tr>
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<tr class="memitem:a6907fe9118a5749f9ef88ccc2888fc5d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a6907fe9118a5749f9ef88ccc2888fc5d">CurrentReconstruction</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a6907fe9118a5749f9ef88ccc2888fc5d"><td class="mdescLeft"> </td><td class="mdescRight">: Reconstruct the sampled current from 2 phases to three phases <a href="control_8h.html#a6907fe9118a5749f9ef88ccc2888fc5d">More...</a><br /></td></tr>
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<tr class="memitem:a121e9fcddd5f7811aeeccb023ab60751"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a121e9fcddd5f7811aeeccb023ab60751">getEangle</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a121e9fcddd5f7811aeeccb023ab60751"><td class="mdescLeft"> </td><td class="mdescRight">: Calculate electric angle from mechanical angle, store in mHandle->E_angle <a href="control_8h.html#a121e9fcddd5f7811aeeccb023ab60751">More...</a><br /></td></tr>
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<tr class="memitem:a3f371a9588ee8097b54b5893c53a310c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a3f371a9588ee8097b54b5893c53a310c">getSpeed</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a3f371a9588ee8097b54b5893c53a310c"><td class="mdescLeft"> </td><td class="mdescRight">: Calculate the motor speed in rpm, store in mHandle->speed <a href="control_8h.html#a3f371a9588ee8097b54b5893c53a310c">More...</a><br /></td></tr>
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<tr class="memitem:a378d01f7b019cd1abfe5745c3c0c5e1f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a378d01f7b019cd1abfe5745c3c0c5e1f">ClarkeTransform</a> (<a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a> *pComponents)</td></tr>
<tr class="memdesc:a378d01f7b019cd1abfe5745c3c0c5e1f"><td class="mdescLeft"> </td><td class="mdescRight">: Clarke Transformation function, convert abc to alpha beta <a href="control_8h.html#a378d01f7b019cd1abfe5745c3c0c5e1f">More...</a><br /></td></tr>
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<tr class="memitem:a78b6d2cd4422b49b7ea838ce02d4bbcd"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a78b6d2cd4422b49b7ea838ce02d4bbcd">ParkTransform</a> (<a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a> *pComponents, int theta)</td></tr>
<tr class="memdesc:a78b6d2cd4422b49b7ea838ce02d4bbcd"><td class="mdescLeft"> </td><td class="mdescRight">: Park Transformation function, convert alpha, beta to d, q Original park: q leads d axis by 90 deg Modified park: d leads q axis by 90 deg <a href="control_8h.html#a78b6d2cd4422b49b7ea838ce02d4bbcd">More...</a><br /></td></tr>
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<tr class="memitem:a7658aa110661b90ebb23f29cfbc73b92"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a7658aa110661b90ebb23f29cfbc73b92">InvPark</a> (<a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a> *pComponents, int theta)</td></tr>
<tr class="memdesc:a7658aa110661b90ebb23f29cfbc73b92"><td class="mdescLeft"> </td><td class="mdescRight">: Inverse Park Transformation function, convert d, q to alpha, beta Original park: q leads d axis by 90 deg Modified park: d leads q axis by 90 deg <a href="control_8h.html#a7658aa110661b90ebb23f29cfbc73b92">More...</a><br /></td></tr>
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<tr class="memitem:a96353709b0ece65a0f458f13f7ebd35b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a96353709b0ece65a0f458f13f7ebd35b">GetSector</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a96353709b0ece65a0f458f13f7ebd35b"><td class="mdescLeft"> </td><td class="mdescRight">: Calculate the sector of the target space voltage vector <a href="control_8h.html#a96353709b0ece65a0f458f13f7ebd35b">More...</a><br /></td></tr>
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<tr class="memitem:a39d7de953ea95e29b89b7294a304fca1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a39d7de953ea95e29b89b7294a304fca1">ModulationLimit</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a39d7de953ea95e29b89b7294a304fca1"><td class="mdescLeft"> </td><td class="mdescRight">: Overmodulation limiting function, prevent overmodulation <a href="control_8h.html#a39d7de953ea95e29b89b7294a304fca1">More...</a><br /></td></tr>
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<tr class="memitem:adf18f98940d1b08559520b06d6ff405c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#adf18f98940d1b08559520b06d6ff405c">SetSVPWM</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:adf18f98940d1b08559520b06d6ff405c"><td class="mdescLeft"> </td><td class="mdescRight">: MOSFET dwelling time calculation function, to generate SVPWM <a href="control_8h.html#adf18f98940d1b08559520b06d6ff405c">More...</a><br /></td></tr>
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<tr class="memitem:a5cde34a6778b1b8e9d106a8b94405cd2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a5cde34a6778b1b8e9d106a8b94405cd2">dq2SVPWM</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a5cde34a6778b1b8e9d106a8b94405cd2"><td class="mdescLeft"> </td><td class="mdescRight">: Generate SVPWM directly from dq voltage <a href="control_8h.html#a5cde34a6778b1b8e9d106a8b94405cd2">More...</a><br /></td></tr>
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<tr class="memitem:a84d9a96ad0f0c9549bb4d32581957441"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a84d9a96ad0f0c9549bb4d32581957441">SetCurrentPID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float kp, float ki, float kd)</td></tr>
<tr class="memdesc:a84d9a96ad0f0c9549bb4d32581957441"><td class="mdescLeft"> </td><td class="mdescRight">: Set PID parameters of both d,q current loop <a href="control_8h.html#a84d9a96ad0f0c9549bb4d32581957441">More...</a><br /></td></tr>
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<tr class="memitem:a9c1255dcaf68017b30f5d2132e2a5a6d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a9c1255dcaf68017b30f5d2132e2a5a6d">SetSpeedPID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float kp, float ki, float kd, float outMax)</td></tr>
<tr class="memdesc:a9c1255dcaf68017b30f5d2132e2a5a6d"><td class="mdescLeft"> </td><td class="mdescRight">: Set speed loop PID parameters and the speed limit <a href="control_8h.html#a9c1255dcaf68017b30f5d2132e2a5a6d">More...</a><br /></td></tr>
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<tr class="memitem:ac84226769ac245e2efd1ad7811489a68"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#ac84226769ac245e2efd1ad7811489a68">SetCurrentTarget</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float idTarget, float iqTarget)</td></tr>
<tr class="memdesc:ac84226769ac245e2efd1ad7811489a68"><td class="mdescLeft"> </td><td class="mdescRight">: Set target id, iq <a href="control_8h.html#ac84226769ac245e2efd1ad7811489a68">More...</a><br /></td></tr>
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<tr class="memitem:aa16906f85af7a938b4cecb1b76953762"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#aa16906f85af7a938b4cecb1b76953762">SetSpeedTarget</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float Target)</td></tr>
<tr class="memdesc:aa16906f85af7a938b4cecb1b76953762"><td class="mdescLeft"> </td><td class="mdescRight">: Set target motor speed, with over speed limit <a href="control_8h.html#aa16906f85af7a938b4cecb1b76953762">More...</a><br /></td></tr>
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<tr class="memitem:a412e84f409f4dc2bfbc19a3eccca4570"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a412e84f409f4dc2bfbc19a3eccca4570">IdPID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a412e84f409f4dc2bfbc19a3eccca4570"><td class="mdescLeft"> </td><td class="mdescRight">: Current loop Id PID calculation, calculate target Vd from Id with current kalman filter, integral limiter, and over voltage limiter <a href="control_8h.html#a412e84f409f4dc2bfbc19a3eccca4570">More...</a><br /></td></tr>
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<tr class="memitem:a2773bdccd83bd5da909b5578439d569b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a2773bdccd83bd5da909b5578439d569b">IqPID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a2773bdccd83bd5da909b5578439d569b"><td class="mdescLeft"> </td><td class="mdescRight">: Current loop Iq PID calculation, calculate target Vq from Iq with current kalman filter, integral limiter, and over voltage limiter <a href="control_8h.html#a2773bdccd83bd5da909b5578439d569b">More...</a><br /></td></tr>
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<tr class="memitem:a7d7728f0aacb1fbae2a6accff6ae7f09"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a7d7728f0aacb1fbae2a6accff6ae7f09">SpeedPID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a7d7728f0aacb1fbae2a6accff6ae7f09"><td class="mdescLeft"> </td><td class="mdescRight">: Speed loop PID calculation, set target Id = 0, calculate target Iq from speed with integral limiter, and over current limiter <a href="control_8h.html#a7d7728f0aacb1fbae2a6accff6ae7f09">More...</a><br /></td></tr>
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<tr class="memitem:a06324f7942b9d7b3b74ce9eae71dad39"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a06324f7942b9d7b3b74ce9eae71dad39">AnglePID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a06324f7942b9d7b3b74ce9eae71dad39"><td class="mdescLeft"> </td><td class="mdescRight">: Angle loop PID calculation, calculate target speed with integral limiter <a href="control_8h.html#a06324f7942b9d7b3b74ce9eae71dad39">More...</a><br /></td></tr>
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<tr class="memitem:a88ae85a44012b8f171bd1fcd4064ace0"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a88ae85a44012b8f171bd1fcd4064ace0">SetAnglePID</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float kp, float ki, float kd)</td></tr>
<tr class="memdesc:a88ae85a44012b8f171bd1fcd4064ace0"><td class="mdescLeft"> </td><td class="mdescRight">: Set angle loop PID parameters <a href="control_8h.html#a88ae85a44012b8f171bd1fcd4064ace0">More...</a><br /></td></tr>
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<tr class="memitem:ad5d2a006a653c2eb76f455b9277d8729"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#ad5d2a006a653c2eb76f455b9277d8729">SetAngleTarget</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float Target)</td></tr>
<tr class="memdesc:ad5d2a006a653c2eb76f455b9277d8729"><td class="mdescLeft"> </td><td class="mdescRight">: Set absolute target angle, only single-turn (0-360 deg) <a href="control_8h.html#ad5d2a006a653c2eb76f455b9277d8729">More...</a><br /></td></tr>
<tr class="separator:ad5d2a006a653c2eb76f455b9277d8729"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8db1fd960af01c3aa2bfb514e1def9d5"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a8db1fd960af01c3aa2bfb514e1def9d5">SetIncrementAngle</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle, float Target)</td></tr>
<tr class="memdesc:a8db1fd960af01c3aa2bfb514e1def9d5"><td class="mdescLeft"> </td><td class="mdescRight">: Set increment target angle, the incremental angle is also restricted in (0-360 deg) <a href="control_8h.html#a8db1fd960af01c3aa2bfb514e1def9d5">More...</a><br /></td></tr>
<tr class="separator:a8db1fd960af01c3aa2bfb514e1def9d5"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a3833cbec98df3e6c130c4841b8401d70"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a3833cbec98df3e6c130c4841b8401d70">FOC</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a3833cbec98df3e6c130c4841b8401d70"><td class="mdescLeft"> </td><td class="mdescRight">: FOC loop funtion, including electric angle conversion, phase current filtering, Clarke/Park transformation, PID calculation, and SVPWM generation Called in ADC_DMA callback every control period <a href="control_8h.html#a3833cbec98df3e6c130c4841b8401d70">More...</a><br /></td></tr>
<tr class="separator:a3833cbec98df3e6c130c4841b8401d70"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a8d782bbdb4cf49779abe695b1bc32b43"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#a8d782bbdb4cf49779abe695b1bc32b43">FOCcheck</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:a8d782bbdb4cf49779abe695b1bc32b43"><td class="mdescLeft"> </td><td class="mdescRight">: [Auxiliary Debug Function] call to print FOC PID parameters <a href="control_8h.html#a8d782bbdb4cf49779abe695b1bc32b43">More...</a><br /></td></tr>
<tr class="separator:a8d782bbdb4cf49779abe695b1bc32b43"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ae4de542701bd589dcf40374765b978a2"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="control_8h.html#ae4de542701bd589dcf40374765b978a2">GetSVPWM</a> (<a class="el" href="struct_motor.html">Motor</a> *mHandle)</td></tr>
<tr class="memdesc:ae4de542701bd589dcf40374765b978a2"><td class="mdescLeft"> </td><td class="mdescRight">: Original SVPWM calculation function using complex numbers, slow <a href="control_8h.html#ae4de542701bd589dcf40374765b978a2">More...</a><br /></td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a1daf785e3f68d293c7caa1c756d5cb74">◆ </a></span>pi</h2>
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<td class="memname">#define pi   3.14159265359f</td>
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<p class="definition">Definition at line <a class="el" href="control_8h_source.html#l00029">29</a> of file <a class="el" href="control_8h_source.html">control.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4c7cca717941f9eb5c7f90f44ac8746b">◆ </a></span>SQRT_3</h2>
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<td class="memname">#define SQRT_3   1.7320508f</td>
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<p class="definition">Definition at line <a class="el" href="control_8h_source.html#l00030">30</a> of file <a class="el" href="control_8h_source.html">control.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aec2a4da8c1ff32ae0a52daebe3fe6d00">◆ </a></span>UnitPulse</h2>
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<td class="memname">#define UnitPulse   4096</td>
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<p class="definition">Definition at line <a class="el" href="control_8h_source.html#l00031">31</a> of file <a class="el" href="control_8h_source.html">control.h</a>.</p>
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<h2 class="groupheader">Typedef Documentation</h2>
<a id="a7041679f372ba53525b1eaed6001e67a" name="a7041679f372ba53525b1eaed6001e67a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7041679f372ba53525b1eaed6001e67a">◆ </a></span>ControlMode</h2>
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<td class="memname">typedef enum <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a> <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a></td>
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<p>ControlMode enumerator. </p>
<p >to set the operation mode of the FOC driver </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a646bef2e4e0d58c4b2a1c3d3037475a4">◆ </a></span>Coordinates</h2>
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<td class="memname">typedef struct <a class="el" href="struct_components.html">Components</a> <a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a></td>
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<p>Coordinates components structure. </p>
<p >abc, alpha/beta, d/q </p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa7c4fecf4e12490cdae6a6a0abd3959e">◆ </a></span>DRV_GAIN</h2>
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<td class="memname">typedef enum <a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a> <a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a></td>
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<p>DRV8302 amplification gain enumerator. </p>
<p >10V/V or 40V/V </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7381bd99b9f8d665d55ffc97eedc9e9d">◆ </a></span>PID_para</h2>
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<td class="memname">typedef struct <a class="el" href="struct_p_i_d__para.html">PID_para</a> <a class="el" href="struct_p_i_d__para.html">PID_para</a></td>
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<p>PID parameter structure. </p>
<p >pid parameters and target, error, previous error, and sum of error </p>
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<h2 class="memtitle"><span class="permalink"><a href="#a05445b981aabc15fe58b2aa04cc007be">◆ </a></span>UserAPP</h2>
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<td class="memname">typedef enum <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a> <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a></td>
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<p>UserAPP enumerator. </p>
<p >to set different user applications of the FOC driver </p>
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<h2 class="groupheader">Enumeration Type Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aee3ea37f4f505980157cf93a84687bcb">◆ </a></span>ControlMode</h2>
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<td class="memname">enum <a class="el" href="control_8h.html#aee3ea37f4f505980157cf93a84687bcb">ControlMode</a></td>
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<p>ControlMode enumerator. </p>
<p >to set the operation mode of the FOC driver </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="aee3ea37f4f505980157cf93a84687bcbad3fa9ae9431d6cb1772f9d9df48cab19" name="aee3ea37f4f505980157cf93a84687bcbad3fa9ae9431d6cb1772f9d9df48cab19"></a>Idle </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aee3ea37f4f505980157cf93a84687bcba2891de101c03df22f3bf8137f8622908" name="aee3ea37f4f505980157cf93a84687bcba2891de101c03df22f3bf8137f8622908"></a>Speed </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aee3ea37f4f505980157cf93a84687bcba0ca2444163688098d8e674e31fb11397" name="aee3ea37f4f505980157cf93a84687bcba0ca2444163688098d8e674e31fb11397"></a>Position </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="aee3ea37f4f505980157cf93a84687bcbaa1ffbb212863410b17ce950709b7caa1" name="aee3ea37f4f505980157cf93a84687bcbaa1ffbb212863410b17ce950709b7caa1"></a>Torque </td><td class="fielddoc"></td></tr>
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<p class="definition">Definition at line <a class="el" href="control_8h_source.html#l00059">59</a> of file <a class="el" href="control_8h_source.html">control.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4fe62c345b7ce33aac126a260c5a82fb">◆ </a></span>DRV_GAIN</h2>
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<td class="memname">enum <a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a></td>
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<p>DRV8302 amplification gain enumerator. </p>
<p >10V/V or 40V/V </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a4fe62c345b7ce33aac126a260c5a82fba30f3f2fba31dab5fa94c1979df5b3648" name="a4fe62c345b7ce33aac126a260c5a82fba30f3f2fba31dab5fa94c1979df5b3648"></a>DRV_GAIN_10 </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="a4fe62c345b7ce33aac126a260c5a82fba003ad48d1b5cdccf078d183a8ebb6660" name="a4fe62c345b7ce33aac126a260c5a82fba003ad48d1b5cdccf078d183a8ebb6660"></a>DRV_GAIN_40 </td><td class="fielddoc"></td></tr>
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<p class="definition">Definition at line <a class="el" href="control_8h_source.html#l00073">73</a> of file <a class="el" href="control_8h_source.html">control.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab8fd4796026dfcd8e06f047989acb66a">◆ </a></span>UserAPP</h2>
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<td class="memname">enum <a class="el" href="control_8h.html#ab8fd4796026dfcd8e06f047989acb66a">UserAPP</a></td>
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<p>UserAPP enumerator. </p>
<p >to set different user applications of the FOC driver </p>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="ab8fd4796026dfcd8e06f047989acb66aacc842255ac43e600deac25fefd0fdb0a" name="ab8fd4796026dfcd8e06f047989acb66aacc842255ac43e600deac25fefd0fdb0a"></a>Drag </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ab8fd4796026dfcd8e06f047989acb66aa436ecffb0346b444ef8e03489844ebf3" name="ab8fd4796026dfcd8e06f047989acb66aa436ecffb0346b444ef8e03489844ebf3"></a>ForceFeedback </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ab8fd4796026dfcd8e06f047989acb66aaab57132cff95cd4bb6b65a486c127dfb" name="ab8fd4796026dfcd8e06f047989acb66aaab57132cff95cd4bb6b65a486c127dfb"></a>Switch </td><td class="fielddoc"></td></tr>
<tr><td class="fieldname"><a id="ab8fd4796026dfcd8e06f047989acb66aae72db1ad60dbc5ad7dbcb42d6035038f" name="ab8fd4796026dfcd8e06f047989acb66aae72db1ad60dbc5ad7dbcb42d6035038f"></a>SpaceWalk </td><td class="fielddoc"></td></tr>
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<p class="definition">Definition at line <a class="el" href="control_8h_source.html#l00066">66</a> of file <a class="el" href="control_8h_source.html">control.h</a>.</p>
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<h2 class="groupheader">Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a8a4f56dcb39e5926827ed0907e6a8459">◆ </a></span>ADCFilter()</h2>
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<td class="memname">void ADCFilter </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
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<p>: Filter the sampled current </p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a0b27b50e40405c6fc149078e10387372">◆ </a></span>ADCSample()</h2>
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<td class="memname">void ADCSample </td>
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<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
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<p>: Current sampling function, once called, retrieve one set of sampled data from DMA Data stored in mHandle->Current called in timer callback function every control period </p>
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<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a06324f7942b9d7b3b74ce9eae71dad39">◆ </a></span>AnglePID()</h2>
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<td class="memname">void AnglePID </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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<p>: Angle loop PID calculation, calculate target speed with integral limiter </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>SetSpeedTarget(mHandle, target) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 Bug fixed by Alfred John (Zzx) on 04-Sept-2022 used 'SetSpeedTarget(mHandle, target);' instead of directly assign target speed to prevent over speed. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a16576dccb7e1137b80a15a0259b77eb6">◆ </a></span>calcAngle()</h2>
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<td class="memname">int calcAngle </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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<p>: [Auxiliary Debug Function] calculate electric angle from Valpha and Vbeta </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td><br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: electric angle [range 0-4096] </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a378d01f7b019cd1abfe5745c3c0c5e1f">◆ </a></span>ClarkeTransform()</h2>
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<td class="memname">void ClarkeTransform </td>
<td>(</td>
<td class="paramtype"><a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a> * </td>
<td class="paramname"><em>pComponents</em></td><td>)</td>
<td></td>
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<p>: Clarke Transformation function, convert abc to alpha beta </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>pComponents coordinates pointer (pComponents->a, pComponents->b, pComponents->c) </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>pComponents coordinates pointer (pComponents->alpha, pComponents->beta) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a6907fe9118a5749f9ef88ccc2888fc5d">◆ </a></span>CurrentReconstruction()</h2>
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<td class="memname">void CurrentReconstruction </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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<p>: Reconstruct the sampled current from 2 phases to three phases </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td><br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a7eb418de90bcd7d3f2faf0075c9d88f3">◆ </a></span>DC_Calibration()</h2>
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<td class="memname">void DC_Calibration </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
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<p>: Calibrate the DC offset of the current shunt amplifier should be called after <a class="el" href="control_8h.html#a74b8d54f398d5cace9878611ddda252b" title=": Pull up the ENGATE pin of the DRV8302 to activate the gate">EnableGate()</a> </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td><br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: electric angle [range 0-4096] </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 04-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a5cde34a6778b1b8e9d106a8b94405cd2">◆ </a></span>dq2SVPWM()</h2>
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<td class="memname">void dq2SVPWM </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
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<p>: Generate SVPWM directly from dq voltage </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td><br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a74b8d54f398d5cace9878611ddda252b">◆ </a></span>EnableGate()</h2>
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<td class="memname">void EnableGate </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
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<p>: Pull up the ENGATE pin of the DRV8302 to activate the gate </p>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a3833cbec98df3e6c130c4841b8401d70">◆ </a></span>FOC()</h2>
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<td class="memname">void FOC </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
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<p>: FOC loop funtion, including electric angle conversion, phase current filtering, Clarke/Park transformation, PID calculation, and SVPWM generation Called in ADC_DMA callback every control period </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td><br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a8d782bbdb4cf49779abe695b1bc32b43">◆ </a></span>FOCcheck()</h2>
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<td class="memname">void FOCcheck </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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<p>: [Auxiliary Debug Function] call to print FOC PID parameters </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>mHandle->idPID, mHandle->iqPID, mHandle->speedPID, mHandle->anglePID </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#adab12f80393f46ebe1732964a965ffff">◆ </a></span>GainSelection()</h2>
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<td class="memname">void GainSelection </td>
<td>(</td>
<td class="paramtype"><a class="el" href="control_8h.html#a4fe62c345b7ce33aac126a260c5a82fb">DRV_GAIN</a> </td>
<td class="paramname"><em>gain</em></td><td>)</td>
<td></td>
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<p>: Select the gain of the buit-in amplifier of DRV8302 If GAIN = LOW, the internal current shunt amplifiers have a gain of 10V/V. If GAIN = HIGH, the current shunt amplifiers have a gain of 40V/V </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>gain DRV_GAIN_10, DRV_GAIN_40 <br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a121e9fcddd5f7811aeeccb023ab60751">◆ </a></span>getEangle()</h2>
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<td class="memname">void getEangle </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
</tr>
</table>
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<p>: Calculate electric angle from mechanical angle, store in mHandle->E_angle </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>mHandle->E_angle </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a96353709b0ece65a0f458f13f7ebd35b">◆ </a></span>GetSector()</h2>
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<td class="memname">void GetSector </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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<p>: Calculate the sector of the target space voltage vector </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle->Voltage.alpha, mHandle->Voltage.beta </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>mHandle->sector </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a3f371a9588ee8097b54b5893c53a310c">◆ </a></span>getSpeed()</h2>
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<td class="memname">void getSpeed </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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</table>
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<p>: Calculate the motor speed in rpm, store in mHandle->speed </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>mHandle->speed </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ae4de542701bd589dcf40374765b978a2">◆ </a></span>GetSVPWM()</h2>
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<td class="memname">void GetSVPWM </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
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<p>: Original SVPWM calculation function using complex numbers, slow </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td><br />
</td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td><br />
</td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a412e84f409f4dc2bfbc19a3eccca4570">◆ </a></span>IdPID()</h2>
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<td class="memname">void IdPID </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
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<p>: Current loop Id PID calculation, calculate target Vd from Id with current kalman filter, integral limiter, and over voltage limiter </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>mHandle->Voltage.d </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a7658aa110661b90ebb23f29cfbc73b92">◆ </a></span>InvPark()</h2>
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<td class="memname">void InvPark </td>
<td>(</td>
<td class="paramtype"><a class="el" href="control_8h.html#a646bef2e4e0d58c4b2a1c3d3037475a4">Coordinates</a> * </td>
<td class="paramname"><em>pComponents</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>theta</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<p>: Inverse Park Transformation function, convert d, q to alpha, beta Original park: q leads d axis by 90 deg Modified park: d leads q axis by 90 deg </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>pComponents coordinates pointer (pComponents->d, pComponents->q) </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>pComponents coordinates pointer (pComponents->alpha, pComponents->beta) </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>: </dd></dl>
<dl class="section user"><dt>Change logs</dt><dd>Created by Alfred John (Zzx) on 03-Sept-2022 </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a2773bdccd83bd5da909b5578439d569b">◆ </a></span>IqPID()</h2>
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<td class="memname">void IqPID </td>
<td>(</td>
<td class="paramtype"><a class="el" href="struct_motor.html">Motor</a> * </td>
<td class="paramname"><em>mHandle</em></td><td>)</td>
<td></td>
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</table>
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<p>: Current loop Iq PID calculation, calculate target Vq from Iq with current kalman filter, integral limiter, and over voltage limiter </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname"></td><td>mHandle motor instance handler </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname"></td><td>mHandle->Voltage.q </td></tr>
</table>
</dd>
</dl>