101 lines
2.1 KiB
C
101 lines
2.1 KiB
C
/*
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* vector.h
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*
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* Created on: 20 ñåíò. 2023 ã.
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* Author: seklyuts
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*/
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#ifndef SRC_VECTOR_H_
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#define SRC_VECTOR_H_
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#include "pi.h"
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#include "pwm_init.h"
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#define sng(x) ((x)?((x>0)?1:(-1)):(0))
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#define max(a,b) ((a>b)?a:b)
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#define min(a,b) ((a<b)?a:b)
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#define rsh(x,n) ( (x>=0)?(x>>n):( -((-x)>>n) ))
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#define abs(x) (x>0?x:-x)
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#define saturate(x,a,b) ((x>b)?b:((x<a)?a:x))
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#define FRAC16(x) ((int16_t)((x) < 1 ? ((x) >= -1 ? ((int16_t)((x)*0x8000)) : ((int16_t)0x8000)) : ((int16_t)0x7FFF)))
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//#define FRAC16(x) ((int16_t)((x)*0x7FFF))
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#define FRAC32(x) ((int32_t)((x) < 1 ? ((x) >= -1 ? ((int32_t)((x)*0x80000000)) : ((int32_t)0x80000000)) : ((int32_t)0x7FFFFFFF)))
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#define SQRT3 1.7320508
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#define ONE_DIV_SQRT3 FRAC16(1/SQRT3)
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#define HALF_SQRT3 FRAC16(SQRT3/2)
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#define ANGLE_PI_DIVIDE_2_F16 16384
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#define SIN_INDEX_SHIFT 6
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#define SIN_LENGTH_TABLE 256
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#define VOLT_MAX_PROC 94.0
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#define VOLT_MAX_FACTOR VOLT_MAX_PROC/100.0
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#define PI_REG_I_PROPOR 30.0
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#define PI_REG_I_INTEGR 0.04
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#define CURRENT_MAX 40.0 //A
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#define ZERO_LVL 0.00001f
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typedef struct
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{
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float q;
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float d;
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}Tvector2dq;
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typedef struct
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{
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float Alfa;
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float Beta;
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}Tvector2ph;
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typedef struct
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{
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float a;
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float b;
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float c;
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}Tvector3abc;
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typedef struct
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{
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int16_t Angle;
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float sin;
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float cos;
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}TvectorSinCos;
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typedef struct
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{
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float CurrentLimit; //A
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PI_CONTROLLER piIq;
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PI_CONTROLLER piId;
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}TvectorCurrentLoop;
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typedef enum
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{
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OffMode, //Ìîòîð îñòàíîâëåí
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StepMode, //
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StayMode,
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CurrentRegTune,
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VectorModeU,
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VectorModeI
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}TMode;
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int16_t vector_mcsinPIxLUT(int16_t Value, int16_t *psinTable);
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void vector_inversion(void);
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void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, int16_t CurrentC);
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void vectorInitCurrLoop(void);
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void vectorControl(int16_t CurrentA, int16_t CurrentB, int16_t CurrentC, int16_t sdfmUdc);
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void vectorFault(void);
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float my_sqrtf(float x);
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void vectorResCurrLoop(void);
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#endif /* SRC_VECTOR_H_ */
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