Diff: structs.h

Revision:

54:4c9415402628

Parent:

49:7eac11914980

--- a/structs.h	Tue Sep 15 08:59:03 2020 +0000
+++ b/structs.h	Thu Sep 17 07:49:27 2020 +0000
@@ -25,19 +25,26 @@
     float theta_mech1, theta_elec1;                       //shaorui add for joint position read theta_joint_raw_pre
     float dtheta_mech1, dtheta_elec1, dtheta_elec_filt1;  //shaorui add for joint position read
     float theta_joint, theta_joint_raw, theta_joint_raw_pre,theta_joint_raw_fil; //hjb added
-    float i_d, i_q, i_q_filt;
-    float v_d, v_q;
-    float dtc_u, dtc_v, dtc_w;
-    float v_u, v_v, v_w;
-    float d_int, q_int;
-    int adc1_offset, adc2_offset;
-    float i_d_ref, i_q_ref;
-    int loop_count;
-    int timeout;
+    float i_d, i_q, i_q_filt, i_d_filt;                               // D/Q currents
+    float v_d, v_q;                                         // D/Q voltages
+    float dtc_u, dtc_v, dtc_w;                              // Terminal duty cycles
+    float v_u, v_v, v_w;                                    // Terminal voltages
+    float k_d, k_q, ki_d, ki_q, alpha;                      // Current loop gains, current reference filter coefficient
+    float d_int, q_int;                                     // Current error integrals
+    int adc1_offset, adc2_offset;                           // ADC offsets
+    float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt;     // Current references
+    int loop_count;                                         // Degubbing counter
+    int timeout;                                            // Watchdog counter
     int mode;
-    int ovp_flag;
-    float p_des, v_des, kp, kd, t_ff;
+    int ovp_flag;                                           // Over-voltage flag
+    float p_des, v_des, kp, kd, t_ff;                       // Desired position, velocity, gians, torque   
+    float v_ref, fw_int;                                     // output voltage magnitude, field-weakening integral
     float cogging[128];
+    int current_sector;
+    int otw_flag;                                           // Over-temp warning
+    float i_max;
+    float inverter_tab[128];
+    int oc_flag;
     float angle,angle1;//shaorui add  for test
     float init1, init2,cha;  
     int c,sidebct; 
@@ -47,6 +54,14 @@
     } ControllerStruct;
 
 typedef struct{
+    double temperature;                                              // Estimated temperature
+    float temp_measured;
+    float q_in, q_out;
+    float resistance;
+    float k;
+    float trust;
+    float delta_t;
+    
     float theta_m, theta_est;
     float thetadot_m, thetadot_est;
     float i_d_m, i_d_est;