foc.h

00001 #ifndef FOC_H
00002 #define FOC_H
00003 
00004 #include "structs.h"
00005 #include "PositionSensor.h"
00006 #include "mbed.h"
00007 #include "hw_config.h"
00008 #include "math.h"
00009 #include "math_ops.h"
00010 #include "motor_config.h"
00011 #include "current_controller_config.h"
00012 #include "FastMath.h"
00013 #include "user_config.h"
00014 
00015 void abc(float theta, float d, float q, float *a, float *b, float *c);
00016 void dq0(float theta, float a, float b, float c, float *d, float *q);
00017 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w);
00018 void zero_current(int *offset_1, int *offset_2);
00019 void reset_foc(ControllerStruct *controller);
00020 void commutate(ControllerStruct *controller, ObserverStruct *observer, GPIOStruct *gpio, float theta);
00021 void torque_control(ControllerStruct *controller);
00022 #endif