Applications/app/app.c

@@ -194,6 +194,25 @@ static void plot_smo_angle(void) {
 	delta = fast_atan2(s, c)/PI*180.0f;
 	can_plot3(mot_angle, smo_angle, delta);
 }
+
+#ifdef CONFIG_USE_ENCODER_HALL
+static void plot_hall_angle(void) {
+	u32 mask = cpu_enter_critical();
+	float hall_angle = hall_get_elec_angle();
+	float mot_angle = foc()->in.mot_angle;
+	if (mot_contrl()->if_ctl.b_ena) {
+		mot_angle += 90;
+	}
+	norm_angle_deg(mot_angle);
+	cpu_exit_critical(mask);
+	float delta = hall_angle - mot_angle;
+	float s, c;
+	arm_sin_cos(delta, &s, &c);
+	delta = fast_atan2(s, c)/PI*180.0f;
+	can_plot3(mot_angle, hall_angle, delta);
+}
+#endif
+
 static u32 app_plot_task(void * args) {
 	if (plot_type == 1) {
 		s16 plot_arg1 = mot_contrl()->ramp_vel_lim.interpolation;

Applications/autogen_config.h

@@ -11,9 +11,8 @@
 #define CONFIG_Motor_PLLBand  200
 #define CONFIG_Motor_EpmPLL  400
 #define CONFIG_Motor_PosPLL  500
-#define CONFIG_Motor_VehicleW  190
-#define CONFIG_Motor_WheelC  145
-#define CONFIG_Motor_GearRatio  6.25f
+#define CONFIG_Motor_FwEnable  1
+#define CONFIG_Motor_FwDutyStart  90
 #define CONFIG_Motor_MaxFwDCurr  100
 #define CONFIG_Motor_MaxTorque  200
 #define CONFIG_Motor_EncOffset  -103

Applications/bsp/gd32/board_mc105_v3.h

@@ -224,9 +224,6 @@
 #define W_VOL_ADC_RCU 	RCU_GPIOA
 #define W_VOL_ADC_MODE 	GPIO_MODE_AIN
 
-#define PHASE_VOL_R (40*1000.0f)
-#define PHASE_VOL_R1 (1*1000.0f)
-#define PHASE_VOL_C1 (470e-9f) //470nF
 #define PHASE_VOL_Gain  ((PHASE_VOL_R + PHASE_VOL_R1)/PHASE_VOL_R1)
 #define Phase_Vol_LPF_R  ((PHASE_VOL_R * PHASE_VOL_R1)/(PHASE_VOL_R + PHASE_VOL_R1))
 #define PHASE_VOL_LPF_BAND  (1/(2*3.14F*Phase_Vol_LPF_R*PHASE_VOL_C1))

Applications/bsp/gd32/bsp.h

@@ -43,18 +43,26 @@
 #define CONFIG_CURRENT_SENSOR_CEOF 0.303F
 #define CONFIG_BOARD_MAX_VOLTAGE 120.0f
 #define CONFIG_BOARD_MIN_VOLTAGE 50.0f
+#define PHASE_VOL_R (40*1000.0f)
+#define PHASE_VOL_R1 (1*1000.0f)
+#define PHASE_VOL_C1 (10e-9f) //10nF
 #include "bsp/gd32/board_mc105_v3.h"
 #define CONFIG_BOARD_MCXXX
 #define CONFIG_BOARD_NAME "MC105"
 #define CONFIG_MC105_HW_VERSION 3
+#define CONFIG_MOT_IND_USE_PHASE_SAMPLE 0 //电机参数离线识别使用采集的相电压
 
 #elif defined (CONFIG_BOARD_MC124)
 #define CONFIG_CURRENT_SENSOR_CEOF 0.313F
 #define CONFIG_BOARD_MAX_VOLTAGE 90.0f
 #define CONFIG_BOARD_MIN_VOLTAGE 40.0f
+#define PHASE_VOL_R (40*1000.0f)
+#define PHASE_VOL_R1 (1*1000.0f)
+#define PHASE_VOL_C1 (470e-9f) //470nF
 #include "bsp/gd32/board_mc105_v3.h"
 #define CONFIG_BOARD_MCXXX
 #define CONFIG_BOARD_NAME "MCXXX"
 #define CONFIG_MC105_HW_VERSION 3
+#define CONFIG_MOT_IND_USE_PHASE_SAMPLE 1 //电机参数离线识别使用采集的相电压
 #endif
 #endif /* __BSP_GD32_H__ */

Applications/foc/core/controller.c

@@ -168,7 +168,7 @@ u8 mot_contrl_mode(mot_contrl_t *ctrl) {
 			line_ramp_set_time(&ctrl->ramp_input_torque, ctrl->torque_dec_time);
 			line_ramp_set_target(&ctrl->ramp_input_torque, 0);//先把扭矩快速减小到0
 		}else if ((preMode == CTRL_MODE_EBRAKE) && (ctrl->mode_running == CTRL_MODE_SPD)) {
-			PI_Controller_Reset(&ctrl->pi_vel, F_get_air());
+			PI_Controller_Reset(&ctrl->pi_vel, 0);
 		}
 	}
 	if (ctrl->mode_running == CTRL_MODE_OPEN) {
@@ -337,15 +337,26 @@ bool mot_contrl_update(mot_contrl_t *ctrl) {
 	LowPass_Filter(ctrl->out_vdq_filterd.q, foc->out.vol_dq.q ,lowpass/1.5f);
 
 	/* 计算母线电流 */
+#if (CONFIG_IBUS_CALC_SAMPLED_V)
+	float v_alpha = ctrl->phase_v_ab.a;
+	float v_beta = ctrl->phase_v_ab.b;
+	float i_alpha = foc->in.curr_ab.a;
+	float i_beta = foc->in.curr_ab.b;
+#else
 	float vd = ctrl->out_vdq_filterd.d;
 	float vq = ctrl->out_vdq_filterd.q;
 	float id = ctrl->out_idq_filterd.d;
 	float iq = ctrl->out_idq_filterd.q;
+#endif
     /*
 		根据公式（等幅值变换，功率不等）:
-		iDC x vDC = 3/2(iq x vq + id x vd);
+		iDC x vDC = 3/2(iq x vq + id x vd) = 3/2(i_alpha * v_alpha + i_beta * v_beta);
 	*/
+#if (CONFIG_IBUS_CALC_SAMPLED_V)
+	float m_pow = (v_alpha * i_alpha + v_beta * i_beta);
+#else
 	float m_pow = (vd * id + vq * iq);
+#endif
 	float raw_idc = 0.0f;
 	float v_dc = get_vbus_float();
 	if (v_dc != 0.0f) {

Applications/foc/foc_config.h

@@ -65,8 +65,7 @@
 #define CONFIG_CONTRL_FW_START_DUTY 0.9F
 
 #define CONFIG_ENABLE_IAB_REC 1   // for phase current/voltage debug
-
-#define CONFIG_MOT_IND_USE_PHASE_SAMPLE 1 //电机参数离线识别使用采集的相电压
+#define CONFIG_IBUS_CALC_SAMPLED_V 1
 
 #ifdef CONFIG_SPEED_LADRC
 	#define CONFIG_LADRC_Wo  200.0F

Applications/foc/mc_config.c

@@ -187,9 +187,8 @@ void mc_conf_default(void) {
 	conf.m.nor_pll_band = CONFIG_Motor_PLLBand;
 	conf.m.epm_pll_band = CONFIG_Motor_EpmPLL;
 	conf.m.pos_pll_band = CONFIG_Motor_PosPLL;
-	conf.m.vehicle_w = CONFIG_Motor_VehicleW;
-	conf.m.wheel_c = CONFIG_Motor_WheelC;
-	conf.m.gear_ratio = CONFIG_Motor_GearRatio;
+	conf.m.fw_enable = CONFIG_Motor_FwEnable;
+	conf.m.fw_duty_start = CONFIG_Motor_FwDutyStart;
 	conf.m.max_fw_id = CONFIG_Motor_MaxFwDCurr;
 	conf.m.max_torque = CONFIG_Motor_MaxTorque;
 	conf.m.encoder_offset = CONFIG_Motor_EncOffset;
@@ -236,6 +235,10 @@ void mc_conf_default(void) {
 	conf.c.pid[PID_IDCLim_ID].ki = CONFIG_Foc_PID_IDCLim_Ki;
 	conf.c.pid[PID_IDCLim_ID].kd = CONFIG_Foc_PID_IDCLim_Kd;
 
+	conf.c.epm_pid.kp = CONFIG_Foc_PID_EPM_Kp;
+	conf.c.epm_pid.ki = CONFIG_Foc_PID_EPM_Ki;
+	conf.c.epm_pid.kd = CONFIG_Foc_PID_EPM_Kd;
+
 	conf.s.auto_hold = CONFIG_Settings_AutoHold;
 	conf.s.brk_shut_power = CONFIG_Settings_BrkShutPower;
 	conf.s.tcs_enable = CONFIG_Settings_TcsEnable;
@@ -302,12 +305,14 @@ int mc_conf_decode_motor(u8 *buff) {
 	conf.m.nor_pll_band = (float)decode_u16(buff); buff += 2;
 	conf.m.epm_pll_band = (float)decode_u16(buff); buff += 2;
 	conf.m.pos_pll_band = (float)decode_u16(buff); buff += 2;
-	conf.m.vehicle_w = decode_u16(buff);buff += 2;
-	conf.m.wheel_c = decode_u16(buff);buff += 2;
-	conf.m.gear_ratio = decode_float(buff);buff += 4;
+	conf.m.fw_enable = decode_u8(buff);buff += 1;
+	conf.m.fw_duty_start = decode_u8(buff);buff += 1;
 	conf.m.max_fw_id = decode_u16(buff); buff += 2;
 	conf.m.max_torque = decode_u16(buff); buff += 2;
 	conf.m.encoder_offset = decode_s16(buff); buff += 2;
+	if (conf.m.fw_duty_start > 100) {
+		conf.m.fw_duty_start = 100;
+	}
 	return buff - ori;
 }
 
@@ -321,9 +326,8 @@ int mc_conf_encode_motor(u8 *buff) {
 	encode_u16(buff, (u16)conf.m.nor_pll_band); buff += 2;
 	encode_u16(buff, (u16)conf.m.epm_pll_band); buff += 2;
 	encode_u16(buff, (u16)conf.m.pos_pll_band); buff += 2;
-	encode_u16(buff, conf.m.vehicle_w);buff += 2;
-	encode_u16(buff, conf.m.wheel_c);buff += 2;
-	encode_float(buff, conf.m.gear_ratio);buff += 4;
+	encode_u8(buff, (u8)conf.m.fw_enable);buff += 1;
+	encode_u8(buff, conf.m.fw_duty_start);buff += 1;
 	encode_u16(buff, conf.m.max_fw_id); buff += 2;
 	encode_u16(buff, conf.m.max_torque); buff += 2;
 	encode_s16(buff, conf.m.encoder_offset); buff += 2;

Applications/foc/mc_config.h

@@ -2,8 +2,13 @@
 #define _MC_CONFIG_H__
 
 #include "os/os_types.h"
+#ifdef CONFIG_Motor_R1_Encoder
+#include "configs/autogen_config_R1_enc.h"
+#elif defined CONFIG_Motor_Z100_Encoder
+#include "configs/autogen_config_z100_enc.h"
+#else
 #include "autogen_config.h"
-
+#endif
 #define CONFIG_MAX_GEARS 4
 #define CONFIG_TEMP_PROT_NUM 3
 #define CONFIG_GEAR_SPEED_TRQ_NUM 10
@@ -30,9 +35,8 @@ typedef struct
 	float nor_pll_band;
 	float epm_pll_band;
 	float pos_pll_band;
-	int vehicle_w;
-	int wheel_c;
-	float gear_ratio;
+	bool  fw_enable;
+	u8  fw_duty_start; //0-100
 	u16	max_fw_id;
 	u16 max_torque;
 	s16 encoder_offset;

Applications/foc/motor/mot_params_ind.c

@@ -100,7 +100,7 @@ static void _rs_ind_timer_handler(shark_timer_t *t) {
 		}
 		break;
 	case 3: {
-		float dtc = ((float)CONFIG_HW_DeadTime/(float)FOC_PWM_period) * motor.controller.foc.in.dc_vol * TWO_BY_THREE;
+		float dtc = ((float)CONFIG_HW_DeadTime/(float)FOC_PWM_period) * motor.controller.foc.in.dc_vol;
 		float vd = rs_vd_now * TWO_BY_THREE - dtc;
 		float id = motor.controller.foc.out.curr_dq.d;
 		float rs = vd / (id + 0.0001f);

Applications/foc/motor/motor.c

@@ -1714,8 +1714,6 @@ void Sched_MC_mTask(void) {
 
 	throttle_detect(motor.b_start);
 
-	F_all_Calc();
-
 #ifdef CONFIG_CRUISE_ENABLE_ACCL
 	mc_process_curise();
 #endif

Applications/foc/motor/motor_param.c

@@ -373,11 +373,10 @@ void motor_mpta_fw_lookup(float rpm, float torque, dq_t *dq_out) {
 		}
 	}
 #else
-#if CONFIG_CONTRL_FW_ENABLE
-	if ((mot_contrl()->duty_filterd >= CONFIG_CONTRL_FW_START_DUTY) && (CONFIG_CONTRL_FW_START_DUTY < CONFIG_SVM_MODULATION)) {
-		d = -f_map(mot_contrl()->duty_filterd, CONFIG_CONTRL_FW_START_DUTY, CONFIG_SVM_MODULATION, 0, mc_conf()->m.max_fw_id);
+	float fw_start_duty = (float)mc_conf()->m.fw_duty_start/100.0f;
+	if (mc_conf()->m.fw_enable && (mot_contrl()->duty_filterd >= fw_start_duty)) {
+		d = -f_map(mot_contrl()->duty_filterd, fw_start_duty, CONFIG_SVM_MODULATION, 0, mc_conf()->m.max_fw_id);
 	}
-#endif
 	q = torque;
 #endif
  	step_towards(&dq_out->d, d, 10.0f);

Project/MC105_V3.uvoptx

@@ -406,18 +406,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Applications\foc\core\F_Calc.c</PathWithFileName>
-      <FilenameWithoutPath>F_Calc.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>15</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>..\Applications\foc\core\etcs.c</PathWithFileName>
       <FilenameWithoutPath>etcs.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -425,7 +413,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -437,7 +425,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -457,7 +445,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -469,7 +457,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -481,7 +469,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -493,7 +481,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -505,7 +493,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -517,7 +505,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -529,7 +517,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -541,7 +529,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -561,7 +549,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -573,7 +561,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -585,7 +573,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -605,7 +593,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -617,7 +605,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -629,7 +617,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -641,7 +629,7 @@
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     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -661,7 +649,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -673,7 +661,7 @@
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     <File>
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-      <FileNumber>34</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -685,7 +673,7 @@
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     <File>
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-      <FileNumber>35</FileNumber>
+      <FileNumber>34</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -697,7 +685,7 @@
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     <File>
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-      <FileNumber>36</FileNumber>
+      <FileNumber>35</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -709,7 +697,7 @@
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     <File>
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-      <FileNumber>37</FileNumber>
+      <FileNumber>36</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -721,7 +709,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -733,7 +721,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -745,7 +733,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -757,7 +745,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -769,7 +757,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -781,7 +769,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -793,7 +781,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -805,7 +793,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -825,7 +813,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -837,7 +825,7 @@
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -849,7 +837,7 @@
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     <File>
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+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -861,7 +849,7 @@
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     <File>
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-      <FileNumber>49</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -873,7 +861,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -893,7 +881,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -905,7 +893,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -917,7 +905,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -937,7 +925,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -949,7 +937,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -961,7 +949,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -973,7 +961,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -985,7 +973,7 @@
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     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -997,7 +985,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1009,7 +997,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1021,7 +1009,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1033,7 +1021,7 @@
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     <File>
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-      <FileNumber>62</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1045,7 +1033,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1057,7 +1045,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1069,7 +1057,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1081,7 +1069,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1093,7 +1081,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1105,7 +1093,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1117,7 +1105,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1137,7 +1125,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1149,7 +1137,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1161,7 +1149,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

Project/MC105_V3.uvprojx

@@ -337,9 +337,9 @@
             <v6Rtti>0</v6Rtti>
             <VariousControls>
               <MiscControls>--gnu</MiscControls>
-              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,CONFIG_MC105_HW_V3,CONFIG_CAN_IAP</Define>
+              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,CONFIG_MC105_HW_V3,CONFIG_CAN_IAP,CONFIG_Motor_Z100_Encoder</Define>
               <Undefine></Undefine>
-              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\Simulink\PMSM_Controller_ert_rtw</IncludePath>
+              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\</IncludePath>
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           </Cads>
           <Aads>
@@ -453,11 +453,6 @@
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               <FilePath>..\Applications\foc\core\ladrc_observer.c</FilePath>
             </File>
-            <File>
-              <FileName>F_Calc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Applications\foc\core\F_Calc.c</FilePath>
-            </File>
             <File>
               <FileName>etcs.c</FileName>
               <FileType>1</FileType>

Project/MC124.uvoptx

@@ -73,7 +73,7 @@
         <LExpSel>0</LExpSel>
       </OPTXL>
       <OPTFL>
-        <tvExp>0</tvExp>
+        <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
         <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
@@ -227,7 +227,7 @@
 
   <Group>
     <GroupName>Foc</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -346,18 +346,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Applications\foc\core\F_Calc.c</PathWithFileName>
-      <FilenameWithoutPath>F_Calc.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
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-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>15</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>..\Applications\foc\core\etcs.c</PathWithFileName>
       <FilenameWithoutPath>etcs.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -365,7 +353,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -377,7 +365,7 @@
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     <File>
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-      <FileNumber>17</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -391,13 +379,13 @@
 
   <Group>
     <GroupName>Motor</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -409,7 +397,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -421,7 +409,7 @@
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     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -433,7 +421,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -445,7 +433,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -457,7 +445,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -469,7 +457,7 @@
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     <File>
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-      <FileNumber>24</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -481,7 +469,7 @@
     </File>
     <File>
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-      <FileNumber>25</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -501,7 +489,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -513,7 +501,7 @@
     </File>
     <File>
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-      <FileNumber>27</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -525,7 +513,7 @@
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     <File>
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+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -545,7 +533,7 @@
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     <File>
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-      <FileNumber>29</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -557,7 +545,7 @@
     </File>
     <File>
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-      <FileNumber>30</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -569,7 +557,7 @@
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     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -581,7 +569,7 @@
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     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -601,7 +589,7 @@
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     <File>
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-      <FileNumber>33</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -613,7 +601,7 @@
     </File>
     <File>
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+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -625,7 +613,7 @@
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     <File>
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+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -637,7 +625,7 @@
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     <File>
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-      <FileNumber>36</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -649,7 +637,7 @@
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     <File>
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-      <FileNumber>37</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -661,7 +649,7 @@
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     <File>
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+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -673,7 +661,7 @@
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     <File>
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+      <FileNumber>38</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -685,7 +673,7 @@
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     <File>
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+      <FileNumber>39</FileNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
@@ -697,7 +685,7 @@
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     <File>
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-      <FileNumber>41</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -709,7 +697,7 @@
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     <File>
       <GroupNumber>6</GroupNumber>
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+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -721,7 +709,7 @@
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     <File>
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+      <FileNumber>42</FileNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
@@ -733,7 +721,7 @@
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     <File>
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-      <FileNumber>44</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -745,7 +733,7 @@
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     <File>
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+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -765,7 +753,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -777,7 +765,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -789,7 +777,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -801,7 +789,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -813,7 +801,7 @@
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     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -833,7 +821,7 @@
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     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -845,7 +833,7 @@
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     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -857,7 +845,7 @@
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     <File>
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-      <FileNumber>53</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -877,7 +865,7 @@
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     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -889,7 +877,7 @@
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     <File>
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+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -901,7 +889,7 @@
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     <File>
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+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -913,7 +901,7 @@
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     <File>
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+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -925,7 +913,7 @@
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+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -937,7 +925,7 @@
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     <File>
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+      <FileNumber>58</FileNumber>
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       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -949,7 +937,7 @@
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     <File>
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-      <FileNumber>60</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -961,7 +949,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -973,7 +961,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -985,7 +973,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -997,7 +985,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1009,7 +997,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1021,7 +1009,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1033,7 +1021,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1045,7 +1033,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1057,7 +1045,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1077,7 +1065,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1089,7 +1077,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1101,7 +1089,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

Project/MC124.uvprojx

@@ -337,9 +337,9 @@
             <v6Rtti>0</v6Rtti>
             <VariousControls>
               <MiscControls>--gnu</MiscControls>
-              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,CONFIG_BOARD_MC124,CONFIG_CAN_IAP</Define>
+              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,CONFIG_BOARD_MC124,CONFIG_CAN_IAP,CONFIG_Motor_R1_Encoder</Define>
               <Undefine></Undefine>
-              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\Simulink\PMSM_Controller_ert_rtw</IncludePath>
+              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -453,11 +453,6 @@
               <FileType>1</FileType>
               <FilePath>..\Applications\foc\core\ladrc_observer.c</FilePath>
             </File>
-            <File>
-              <FileName>F_Calc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Applications\foc\core\F_Calc.c</FilePath>
-            </File>
             <File>
               <FileName>etcs.c</FileName>
               <FileType>1</FileType>

configs/autogen_config_R1_enc.h

@@ -0,0 +1,220 @@
+/* auto gen 2024/2/19 10:04:23*/
+#ifndef _AUTOGEN_CONFIG_H__
+#define _AUTOGEN_CONFIG_H__
+
+#define CONFIG_Version 1
+#define CONFIG_Motor_Poles  5
+#define CONFIG_Motor_Ld  5.4E-05f
+#define CONFIG_Motor_Lq  7E-05
+#define CONFIG_Motor_Rs  0.015f
+#define CONFIG_Motor_Flux  0.018f
+#define CONFIG_Motor_PLLBand  200
+#define CONFIG_Motor_EpmPLL  400
+#define CONFIG_Motor_PosPLL  500
+#define CONFIG_Motor_FwEnable  1
+#define CONFIG_Motor_FwDutyStart  90
+#define CONFIG_Motor_MaxFwDCurr  100
+#define CONFIG_Motor_MaxTorque  350
+#define CONFIG_Motor_EncOffset  -2
+#define CONFIG_Foc_MaxDCVol  90
+#define CONFIG_Foc_MinDCVol  40
+#define CONFIG_Foc_MaxPhaseCurr  350
+#define CONFIG_Foc_MaxRPM  9000
+#define CONFIG_Foc_MaxEPMRPM  300
+#define CONFIG_Foc_MaxEPMTorque  100
+#define CONFIG_Foc_MaxEPMRPMBk  170
+#define CONFIG_Foc_MaxEPMTorqueBk  80
+#define CONFIG_Foc_MaxTorque  350
+#define CONFIG_Foc_MaxEbrkTorque  40
+#define CONFIG_Foc_MaxIDC  200
+#define CONFIG_Foc_MaxAutoHoldTorque  100
+#define CONFIG_Foc_ThroStartVol  0.9f
+#define CONFIG_Foc_ThroEndVol  4
+#define CONFIG_Foc_ThroMinVol  0.4f
+#define CONFIG_Foc_ThroMaxVol  4.6f
+#define CONFIG_Foc_CurrCtrlBandWith  400
+#define CONFIG_Foc_ThroDecTime  50
+#define CONFIG_Foc_PID_VelLim_Kp 0.15f
+#define CONFIG_Foc_PID_VelLim_Ki 2.5f
+#define CONFIG_Foc_PID_VelLim_Kd 0
+#define CONFIG_Foc_PID_VelCtrl_Kp 0.2f
+#define CONFIG_Foc_PID_VelCtrl_Ki 0.02f
+#define CONFIG_Foc_PID_VelCtrl_Kd 0
+#define CONFIG_Foc_PID_Autohold_Kp 0.01f
+#define CONFIG_Foc_PID_Autohold_Ki 0.2f
+#define CONFIG_Foc_PID_Autohold_Kd 0
+#define CONFIG_Foc_PID_IDCLim_Kp 0
+#define CONFIG_Foc_PID_IDCLim_Ki 5
+#define CONFIG_Foc_PID_IDCLim_Kd 0
+#define CONFIG_Foc_PID_EPM_Kp 0.2f
+#define CONFIG_Foc_PID_EPM_Ki 7.5f
+#define CONFIG_Foc_PID_EPM_Kd 0
+#define CONFIG_Settings_AutoHold  1
+#define CONFIG_Settings_BrkShutPower  1
+#define CONFIG_Settings_TcsEnable  0
+#define CONFIG_Gear0_MaxSpeed 3500
+#define CONFIG_Gear0_MaxTorque 250
+#define CONFIG_Gear0_MaxIdc 30
+#define CONFIG_Gear0_ZeroAccl 300
+#define CONFIG_Gear0_NormalAccl 1000
+#define CONFIG_Gear0_Torque0 100
+#define CONFIG_Gear0_Torque1 100
+#define CONFIG_Gear0_Torque2 100
+#define CONFIG_Gear0_Torque3 80
+#define CONFIG_Gear0_Torque4 20
+#define CONFIG_Gear0_Torque5 0
+#define CONFIG_Gear0_Torque6 0
+#define CONFIG_Gear0_Torque7 0
+#define CONFIG_Gear0_Torque8 0
+#define CONFIG_Gear0_Torque9 0
+#define CONFIG_Gear1_MaxSpeed 4500
+#define CONFIG_Gear1_MaxTorque 250
+#define CONFIG_Gear1_MaxIdc 45
+#define CONFIG_Gear1_ZeroAccl 300
+#define CONFIG_Gear1_NormalAccl 500
+#define CONFIG_Gear1_Torque0 100
+#define CONFIG_Gear1_Torque1 100
+#define CONFIG_Gear1_Torque2 100
+#define CONFIG_Gear1_Torque3 80
+#define CONFIG_Gear1_Torque4 60
+#define CONFIG_Gear1_Torque5 50
+#define CONFIG_Gear1_Torque6 50
+#define CONFIG_Gear1_Torque7 0
+#define CONFIG_Gear1_Torque8 0
+#define CONFIG_Gear1_Torque9 0
+#define CONFIG_Gear2_MaxSpeed 5500
+#define CONFIG_Gear2_MaxTorque 300
+#define CONFIG_Gear2_MaxIdc 60
+#define CONFIG_Gear2_ZeroAccl 500
+#define CONFIG_Gear2_NormalAccl 250
+#define CONFIG_Gear2_Torque0 100
+#define CONFIG_Gear2_Torque1 100
+#define CONFIG_Gear2_Torque2 100
+#define CONFIG_Gear2_Torque3 90
+#define CONFIG_Gear2_Torque4 80
+#define CONFIG_Gear2_Torque5 70
+#define CONFIG_Gear2_Torque6 50
+#define CONFIG_Gear2_Torque7 0
+#define CONFIG_Gear2_Torque8 0
+#define CONFIG_Gear2_Torque9 0
+#define CONFIG_Gear3_MaxSpeed 7000
+#define CONFIG_Gear3_MaxTorque 300
+#define CONFIG_Gear3_MaxIdc 150
+#define CONFIG_Gear3_ZeroAccl 500
+#define CONFIG_Gear3_NormalAccl 100
+#define CONFIG_Gear3_Torque0 100
+#define CONFIG_Gear3_Torque1 100
+#define CONFIG_Gear3_Torque2 100
+#define CONFIG_Gear3_Torque3 90
+#define CONFIG_Gear3_Torque4 80
+#define CONFIG_Gear3_Torque5 70
+#define CONFIG_Gear3_Torque6 70
+#define CONFIG_Gear3_Torque7 50
+#define CONFIG_Gear3_Torque8 50
+#define CONFIG_Gear3_Torque9 0
+#define CONFIG_GearLow0_MaxSpeed 1000
+#define CONFIG_GearLow0_MaxTorque 100
+#define CONFIG_GearLow0_MaxIdc 30
+#define CONFIG_GearLow0_ZeroAccl 500
+#define CONFIG_GearLow0_NormalAccl 100
+#define CONFIG_GearLow0_Torque0 100
+#define CONFIG_GearLow0_Torque1 100
+#define CONFIG_GearLow0_Torque2 100
+#define CONFIG_GearLow0_Torque3 100
+#define CONFIG_GearLow0_Torque4 100
+#define CONFIG_GearLow0_Torque5 100
+#define CONFIG_GearLow0_Torque6 100
+#define CONFIG_GearLow0_Torque7 100
+#define CONFIG_GearLow0_Torque8 0
+#define CONFIG_GearLow0_Torque9 0
+#define CONFIG_GearLow1_MaxSpeed 1000
+#define CONFIG_GearLow1_MaxTorque 100
+#define CONFIG_GearLow1_MaxIdc 30
+#define CONFIG_GearLow1_ZeroAccl 500
+#define CONFIG_GearLow1_NormalAccl 100
+#define CONFIG_GearLow1_Torque0 100
+#define CONFIG_GearLow1_Torque1 100
+#define CONFIG_GearLow1_Torque2 100
+#define CONFIG_GearLow1_Torque3 100
+#define CONFIG_GearLow1_Torque4 100
+#define CONFIG_GearLow1_Torque5 100
+#define CONFIG_GearLow1_Torque6 100
+#define CONFIG_GearLow1_Torque7 100
+#define CONFIG_GearLow1_Torque8 0
+#define CONFIG_GearLow1_Torque9 0
+#define CONFIG_GearLow2_MaxSpeed 1000
+#define CONFIG_GearLow2_MaxTorque 100
+#define CONFIG_GearLow2_MaxIdc 30
+#define CONFIG_GearLow2_ZeroAccl 500
+#define CONFIG_GearLow2_NormalAccl 100
+#define CONFIG_GearLow2_Torque0 100
+#define CONFIG_GearLow2_Torque1 100
+#define CONFIG_GearLow2_Torque2 100
+#define CONFIG_GearLow2_Torque3 100
+#define CONFIG_GearLow2_Torque4 100
+#define CONFIG_GearLow2_Torque5 100
+#define CONFIG_GearLow2_Torque6 100
+#define CONFIG_GearLow2_Torque7 100
+#define CONFIG_GearLow2_Torque8 0
+#define CONFIG_GearLow2_Torque9 0
+#define CONFIG_GearLow3_MaxSpeed 1000
+#define CONFIG_GearLow3_MaxTorque 100
+#define CONFIG_GearLow3_MaxIdc 30
+#define CONFIG_GearLow3_ZeroAccl 500
+#define CONFIG_GearLow3_NormalAccl 100
+#define CONFIG_GearLow3_Torque0 100
+#define CONFIG_GearLow3_Torque1 100
+#define CONFIG_GearLow3_Torque2 100
+#define CONFIG_GearLow3_Torque3 100
+#define CONFIG_GearLow3_Torque4 100
+#define CONFIG_GearLow3_Torque5 100
+#define CONFIG_GearLow3_Torque6 100
+#define CONFIG_GearLow3_Torque7 100
+#define CONFIG_GearLow3_Torque8 0
+#define CONFIG_GearLow3_Torque9 0
+#define CONFIG_Protect_Motor_Level0_Entry 130
+#define CONFIG_Protect_Motor_Level0_Exit 120
+#define CONFIG_Protect_Motor_Level0_Value 0
+#define CONFIG_Protect_Motor_Level1_Entry 120
+#define CONFIG_Protect_Motor_Level1_Exit 110
+#define CONFIG_Protect_Motor_Level1_Value 34
+#define CONFIG_Protect_Motor_Level2_Entry 100
+#define CONFIG_Protect_Motor_Level2_Exit 90
+#define CONFIG_Protect_Motor_Level2_Value 66
+#define CONFIG_Protect_MosFet_Level0_Entry 100
+#define CONFIG_Protect_MosFet_Level0_Exit 95
+#define CONFIG_Protect_MosFet_Level0_Value 0
+#define CONFIG_Protect_MosFet_Level1_Entry 95
+#define CONFIG_Protect_MosFet_Level1_Exit 90
+#define CONFIG_Protect_MosFet_Level1_Value 34
+#define CONFIG_Protect_MosFet_Level2_Entry 90
+#define CONFIG_Protect_MosFet_Level2_Exit 85
+#define CONFIG_Protect_MosFet_Level2_Value 66
+#define CONFIG_Protect_Voltage_Level0_Entry 40
+#define CONFIG_Protect_Voltage_Level0_Exit 42
+#define CONFIG_Protect_Voltage_Level0_Value 0
+#define CONFIG_EnergyRecovery_Level0_Torque 0
+#define CONFIG_EnergyRecovery_Level0_Time 600
+#define CONFIG_EnergyRecovery_Level1_Torque 10
+#define CONFIG_EnergyRecovery_Level1_Time 500
+#define CONFIG_EnergyRecovery_Level2_Torque 15
+#define CONFIG_EnergyRecovery_Level2_Time 400
+#define CONFIG_EnergyRecovery_Level3_Torque 20
+#define CONFIG_EnergyRecovery_Level3_Time 300
+#define CONFIG_EnergyRecovery_Level4_Torque 35
+#define CONFIG_EnergyRecovery_Level4_Time 200
+#define CONFIG_EnergyRecovery_Level5_Torque 40
+#define CONFIG_EnergyRecovery_Level5_Time 200
+#define CONFIG_EnergyRecovery_Level6_Torque 40
+#define CONFIG_EnergyRecovery_Level6_Time 200
+#define CONFIG_EnergyRecovery_Level7_Torque 40
+#define CONFIG_EnergyRecovery_Level7_Time 200
+#define CONFIG_EnergyRecovery_Level8_Torque 40
+#define CONFIG_EnergyRecovery_Level8_Time 200
+#define CONFIG_EnergyRecovery_Level9_Torque 40
+#define CONFIG_EnergyRecovery_Level9_Time 200
+#define CONFIG_CrossZero_Low  2
+#define CONFIG_CrossZero_High  7
+#define CONFIG_CrossZero_MinStep  0.1f
+#define CONFIG_CrossZero_NorStep  5
+#endif /* _AUTOGEN_CONFIG_H__ */ 

configs/autogen_config_z100_enc.h

@@ -0,0 +1,220 @@
+/* auto gen 2024/2/19 16:25:38*/
+#ifndef _AUTOGEN_CONFIG_H__
+#define _AUTOGEN_CONFIG_H__
+
+#define CONFIG_Version 1
+#define CONFIG_Motor_Poles  5
+#define CONFIG_Motor_Ld  5E-05
+#define CONFIG_Motor_Lq  6.9E-05f
+#define CONFIG_Motor_Rs  0.015f
+#define CONFIG_Motor_Flux  0.019f
+#define CONFIG_Motor_PLLBand  200
+#define CONFIG_Motor_EpmPLL  400
+#define CONFIG_Motor_PosPLL  500
+#define CONFIG_Motor_FwEnable  1
+#define CONFIG_Motor_FwDutyStart  90
+#define CONFIG_Motor_MaxFwDCurr  100
+#define CONFIG_Motor_MaxTorque  350
+#define CONFIG_Motor_EncOffset  0
+#define CONFIG_Foc_MaxDCVol  110
+#define CONFIG_Foc_MinDCVol  70
+#define CONFIG_Foc_MaxPhaseCurr  400
+#define CONFIG_Foc_MaxRPM  9000
+#define CONFIG_Foc_MaxEPMRPM  300
+#define CONFIG_Foc_MaxEPMTorque  100
+#define CONFIG_Foc_MaxEPMRPMBk  170
+#define CONFIG_Foc_MaxEPMTorqueBk  80
+#define CONFIG_Foc_MaxTorque  350
+#define CONFIG_Foc_MaxEbrkTorque  40
+#define CONFIG_Foc_MaxIDC  100
+#define CONFIG_Foc_MaxAutoHoldTorque  100
+#define CONFIG_Foc_ThroStartVol  0.85f
+#define CONFIG_Foc_ThroEndVol  4.15f
+#define CONFIG_Foc_ThroMinVol  0.4f
+#define CONFIG_Foc_ThroMaxVol  4.6f
+#define CONFIG_Foc_CurrCtrlBandWith  400
+#define CONFIG_Foc_ThroDecTime  10
+#define CONFIG_Foc_PID_VelLim_Kp 0.2f
+#define CONFIG_Foc_PID_VelLim_Ki 1.5f
+#define CONFIG_Foc_PID_VelLim_Kd 0
+#define CONFIG_Foc_PID_VelCtrl_Kp 0.2f
+#define CONFIG_Foc_PID_VelCtrl_Ki 1.5f
+#define CONFIG_Foc_PID_VelCtrl_Kd 0
+#define CONFIG_Foc_PID_Autohold_Kp 0.01f
+#define CONFIG_Foc_PID_Autohold_Ki 0.2f
+#define CONFIG_Foc_PID_Autohold_Kd 0
+#define CONFIG_Foc_PID_IDCLim_Kp 5
+#define CONFIG_Foc_PID_IDCLim_Ki 15
+#define CONFIG_Foc_PID_IDCLim_Kd 0
+#define CONFIG_Foc_PID_EPM_Kp 0.1f
+#define CONFIG_Foc_PID_EPM_Ki 1
+#define CONFIG_Foc_PID_EPM_Kd 0
+#define CONFIG_Settings_AutoHold  1
+#define CONFIG_Settings_BrkShutPower  1
+#define CONFIG_Settings_TcsEnable  0
+#define CONFIG_Gear0_MaxSpeed 3000
+#define CONFIG_Gear0_MaxTorque 200
+#define CONFIG_Gear0_MaxIdc 45
+#define CONFIG_Gear0_ZeroAccl 500
+#define CONFIG_Gear0_NormalAccl 100
+#define CONFIG_Gear0_Torque0 100
+#define CONFIG_Gear0_Torque1 100
+#define CONFIG_Gear0_Torque2 100
+#define CONFIG_Gear0_Torque3 100
+#define CONFIG_Gear0_Torque4 100
+#define CONFIG_Gear0_Torque5 100
+#define CONFIG_Gear0_Torque6 100
+#define CONFIG_Gear0_Torque7 100
+#define CONFIG_Gear0_Torque8 0
+#define CONFIG_Gear0_Torque9 0
+#define CONFIG_Gear1_MaxSpeed 4500
+#define CONFIG_Gear1_MaxTorque 200
+#define CONFIG_Gear1_MaxIdc 55
+#define CONFIG_Gear1_ZeroAccl 500
+#define CONFIG_Gear1_NormalAccl 100
+#define CONFIG_Gear1_Torque0 100
+#define CONFIG_Gear1_Torque1 100
+#define CONFIG_Gear1_Torque2 100
+#define CONFIG_Gear1_Torque3 100
+#define CONFIG_Gear1_Torque4 100
+#define CONFIG_Gear1_Torque5 100
+#define CONFIG_Gear1_Torque6 100
+#define CONFIG_Gear1_Torque7 100
+#define CONFIG_Gear1_Torque8 0
+#define CONFIG_Gear1_Torque9 0
+#define CONFIG_Gear2_MaxSpeed 6000
+#define CONFIG_Gear2_MaxTorque 300
+#define CONFIG_Gear2_MaxIdc 65
+#define CONFIG_Gear2_ZeroAccl 500
+#define CONFIG_Gear2_NormalAccl 100
+#define CONFIG_Gear2_Torque0 100
+#define CONFIG_Gear2_Torque1 100
+#define CONFIG_Gear2_Torque2 100
+#define CONFIG_Gear2_Torque3 100
+#define CONFIG_Gear2_Torque4 100
+#define CONFIG_Gear2_Torque5 100
+#define CONFIG_Gear2_Torque6 100
+#define CONFIG_Gear2_Torque7 100
+#define CONFIG_Gear2_Torque8 0
+#define CONFIG_Gear2_Torque9 0
+#define CONFIG_Gear3_MaxSpeed 7500
+#define CONFIG_Gear3_MaxTorque 350
+#define CONFIG_Gear3_MaxIdc 80
+#define CONFIG_Gear3_ZeroAccl 500
+#define CONFIG_Gear3_NormalAccl 100
+#define CONFIG_Gear3_Torque0 100
+#define CONFIG_Gear3_Torque1 100
+#define CONFIG_Gear3_Torque2 100
+#define CONFIG_Gear3_Torque3 100
+#define CONFIG_Gear3_Torque4 100
+#define CONFIG_Gear3_Torque5 100
+#define CONFIG_Gear3_Torque6 100
+#define CONFIG_Gear3_Torque7 100
+#define CONFIG_Gear3_Torque8 50
+#define CONFIG_Gear3_Torque9 0
+#define CONFIG_GearLow0_MaxSpeed 1000
+#define CONFIG_GearLow0_MaxTorque 100
+#define CONFIG_GearLow0_MaxIdc 30
+#define CONFIG_GearLow0_ZeroAccl 500
+#define CONFIG_GearLow0_NormalAccl 100
+#define CONFIG_GearLow0_Torque0 100
+#define CONFIG_GearLow0_Torque1 100
+#define CONFIG_GearLow0_Torque2 100
+#define CONFIG_GearLow0_Torque3 100
+#define CONFIG_GearLow0_Torque4 100
+#define CONFIG_GearLow0_Torque5 100
+#define CONFIG_GearLow0_Torque6 100
+#define CONFIG_GearLow0_Torque7 100
+#define CONFIG_GearLow0_Torque8 0
+#define CONFIG_GearLow0_Torque9 0
+#define CONFIG_GearLow1_MaxSpeed 1000
+#define CONFIG_GearLow1_MaxTorque 100
+#define CONFIG_GearLow1_MaxIdc 30
+#define CONFIG_GearLow1_ZeroAccl 500
+#define CONFIG_GearLow1_NormalAccl 100
+#define CONFIG_GearLow1_Torque0 100
+#define CONFIG_GearLow1_Torque1 100
+#define CONFIG_GearLow1_Torque2 100
+#define CONFIG_GearLow1_Torque3 100
+#define CONFIG_GearLow1_Torque4 100
+#define CONFIG_GearLow1_Torque5 100
+#define CONFIG_GearLow1_Torque6 100
+#define CONFIG_GearLow1_Torque7 100
+#define CONFIG_GearLow1_Torque8 0
+#define CONFIG_GearLow1_Torque9 0
+#define CONFIG_GearLow2_MaxSpeed 1000
+#define CONFIG_GearLow2_MaxTorque 100
+#define CONFIG_GearLow2_MaxIdc 30
+#define CONFIG_GearLow2_ZeroAccl 500
+#define CONFIG_GearLow2_NormalAccl 100
+#define CONFIG_GearLow2_Torque0 100
+#define CONFIG_GearLow2_Torque1 100
+#define CONFIG_GearLow2_Torque2 100
+#define CONFIG_GearLow2_Torque3 100
+#define CONFIG_GearLow2_Torque4 100
+#define CONFIG_GearLow2_Torque5 100
+#define CONFIG_GearLow2_Torque6 100
+#define CONFIG_GearLow2_Torque7 100
+#define CONFIG_GearLow2_Torque8 0
+#define CONFIG_GearLow2_Torque9 0
+#define CONFIG_GearLow3_MaxSpeed 1000
+#define CONFIG_GearLow3_MaxTorque 100
+#define CONFIG_GearLow3_MaxIdc 30
+#define CONFIG_GearLow3_ZeroAccl 500
+#define CONFIG_GearLow3_NormalAccl 100
+#define CONFIG_GearLow3_Torque0 100
+#define CONFIG_GearLow3_Torque1 100
+#define CONFIG_GearLow3_Torque2 100
+#define CONFIG_GearLow3_Torque3 100
+#define CONFIG_GearLow3_Torque4 100
+#define CONFIG_GearLow3_Torque5 100
+#define CONFIG_GearLow3_Torque6 100
+#define CONFIG_GearLow3_Torque7 100
+#define CONFIG_GearLow3_Torque8 0
+#define CONFIG_GearLow3_Torque9 0
+#define CONFIG_Protect_Motor_Level0_Entry 130
+#define CONFIG_Protect_Motor_Level0_Exit 120
+#define CONFIG_Protect_Motor_Level0_Value 0
+#define CONFIG_Protect_Motor_Level1_Entry 120
+#define CONFIG_Protect_Motor_Level1_Exit 110
+#define CONFIG_Protect_Motor_Level1_Value 34
+#define CONFIG_Protect_Motor_Level2_Entry 110
+#define CONFIG_Protect_Motor_Level2_Exit 100
+#define CONFIG_Protect_Motor_Level2_Value 66
+#define CONFIG_Protect_MosFet_Level0_Entry 100
+#define CONFIG_Protect_MosFet_Level0_Exit 95
+#define CONFIG_Protect_MosFet_Level0_Value 0
+#define CONFIG_Protect_MosFet_Level1_Entry 95
+#define CONFIG_Protect_MosFet_Level1_Exit 90
+#define CONFIG_Protect_MosFet_Level1_Value 34
+#define CONFIG_Protect_MosFet_Level2_Entry 90
+#define CONFIG_Protect_MosFet_Level2_Exit 80
+#define CONFIG_Protect_MosFet_Level2_Value 66
+#define CONFIG_Protect_Voltage_Level0_Entry 60
+#define CONFIG_Protect_Voltage_Level0_Exit 70
+#define CONFIG_Protect_Voltage_Level0_Value 0
+#define CONFIG_EnergyRecovery_Level0_Torque 0
+#define CONFIG_EnergyRecovery_Level0_Time 1000
+#define CONFIG_EnergyRecovery_Level1_Torque 10
+#define CONFIG_EnergyRecovery_Level1_Time 500
+#define CONFIG_EnergyRecovery_Level2_Torque 15
+#define CONFIG_EnergyRecovery_Level2_Time 400
+#define CONFIG_EnergyRecovery_Level3_Torque 20
+#define CONFIG_EnergyRecovery_Level3_Time 300
+#define CONFIG_EnergyRecovery_Level4_Torque 35
+#define CONFIG_EnergyRecovery_Level4_Time 200
+#define CONFIG_EnergyRecovery_Level5_Torque 40
+#define CONFIG_EnergyRecovery_Level5_Time 200
+#define CONFIG_EnergyRecovery_Level6_Torque 40
+#define CONFIG_EnergyRecovery_Level6_Time 200
+#define CONFIG_EnergyRecovery_Level7_Torque 40
+#define CONFIG_EnergyRecovery_Level7_Time 200
+#define CONFIG_EnergyRecovery_Level8_Torque 40
+#define CONFIG_EnergyRecovery_Level8_Time 200
+#define CONFIG_EnergyRecovery_Level9_Torque 40
+#define CONFIG_EnergyRecovery_Level9_Time 200
+#define CONFIG_CrossZero_Low  1
+#define CONFIG_CrossZero_High  7
+#define CONFIG_CrossZero_MinStep  0.03f
+#define CONFIG_CrossZero_NorStep  5
+#endif /* _AUTOGEN_CONFIG_H__ */ 

configs/mc124_R1_V2.yml

@@ -10,9 +10,8 @@ Motor:
   PLLBand: 200
   EpmPLL: 400
   PosPLL: 500
-  VehicleW: 190
-  WheelC: 145
-  GearRatio: 6.25
+  FwEnable: 1
+  FwDutyStart: 90
   MaxFwDCurr: 100
   MaxTorque: 350
   EncOffset: -2

configs/mc_servo.yml

@@ -10,9 +10,8 @@ Motor:
   PLLBand: 200
   EpmPLL: 400
   PosPLL: 500
-  VehicleW: 190
-  WheelC: 145
-  GearRatio: 6.25
+  FwEnable: 0
+  FwDutyStart: 0
   MaxFwDCurr: 100
   MaxTorque: 300
   EncOffset: -103

configs/mc_zd100.yml

@@ -1,31 +1,30 @@
-##### "配置文件自动生成，不要手动修改!!"
+##### 配置文件自动生成，不要手动修改!! 2024/2/19 16:25:15
 Version: 1
 CheckCrc: 0
 Motor:
   Poles: 5
-  Ld: 0.000045
-  Lq: 0.000096
-  Rs: 0.008
+  Ld: 5E-05
+  Lq: 6.9E-05
+  Rs: 0.015
   Flux: 0.019
   PLLBand: 200
   EpmPLL: 400
   PosPLL: 500
-  VehicleW: 190  #kg
-  WheelC: 145  #cm
-  GearRatio: 6.25 # 1:6.25
+  FwEnable: 1
+  FwDutyStart: 90
   MaxFwDCurr: 100
-  MaxTorque: 200 #根据控制方式不同，可能是相电流，可能是真实扭矩
+  MaxTorque: 350
   EncOffset: 0
 Foc:
   MaxDCVol: 110
   MinDCVol: 70
-  MaxPhaseCurr: 300
+  MaxPhaseCurr: 400
   MaxRPM: 9000
   MaxEPMRPM: 300
   MaxEPMTorque: 100
   MaxEPMRPMBk: 170
   MaxEPMTorqueBk: 80
-  MaxTorque: 300
+  MaxTorque: 350
   MaxEbrkTorque: 40
   MaxIDC: 100
   MaxAutoHoldTorque: 100
@@ -33,211 +32,211 @@ Foc:
   ThroEndVol: 4.15
   ThroMinVol: 0.4
   ThroMaxVol: 4.6
-  CurrCtrlBandWith: 200
+  CurrCtrlBandWith: 400
   ThroDecTime: 10
-  PID:  #pid controller
+  PID:
     VelLim:
-      Kp: 0.5
-      Ki: 2.5
-      Kd: 0.0
+      Kp: 0.2
+      Ki: 1.5
+      Kd: 0
     VelCtrl:
-      Kp: 0.1
-      Ki: 3.5
-      Kd: 0.0
+      Kp: 0.2
+      Ki: 1.5
+      Kd: 0
     Autohold:
       Kp: 0.01
       Ki: 0.2
-      Kd: 0.0
+      Kd: 0
     IDCLim:
-      Kp: 5.0
-      Ki: 15.0
-      Kd: 0.0
+      Kp: 5
+      Ki: 15
+      Kd: 0
     EPM:
-      Kp: 0.2
-      Ki: 7.5
+      Kp: 0.1
+      Ki: 1
       Kd: 0
 Settings:
   AutoHold: 1
   BrkShutPower: 1
   TcsEnable: 0
 Gear:
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
+- MaxSpeed: 3000
+  MaxTorque: 200
+  MaxIdc: 45
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 4500
+  MaxTorque: 200
+  MaxIdc: 55
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 6000
+  MaxTorque: 300
+  MaxIdc: 65
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 7500
+  MaxTorque: 350
+  MaxIdc: 80
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 50
+  - 0
 GearLow:
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
 Protect:
   Motor:
-    - Entry: 130
-      Exit: 120
-      Value: 0
-    - Entry: 120
-      Exit: 110
-      Value: 34
-    - Entry: 110
-      Exit: 100
-      Value: 66
+  - Entry: 130
+    Exit: 120
+    Value: 0
+  - Entry: 120
+    Exit: 110
+    Value: 34
+  - Entry: 110
+    Exit: 100
+    Value: 66
   MosFet:
-    - Entry: 100
-      Exit: 95
-      Value: 0
-    - Entry: 95
-      Exit: 90
-      Value: 34
-    - Entry: 90
-      Exit: 80
-      Value: 66
+  - Entry: 100
+    Exit: 95
+    Value: 0
+  - Entry: 95
+    Exit: 90
+    Value: 34
+  - Entry: 90
+    Exit: 80
+    Value: 66
   Voltage:
-    - Entry: 60
-      Exit:  70
-      Value: 0
-EnergyRecovery:  # Braking Energy Recovery
-  - Torque: 0
-    Time:   1000
-  - Torque: 10
-    Time:   500
-  - Torque: 15
-    Time:   400  
-  - Torque: 20
-    Time:   300  
-  - Torque: 35
-    Time:   200  
-  - Torque: 40
-    Time:   200  
-  - Torque: 45
-    Time:   200  
-  - Torque: 50
-    Time:   200  
-  - Torque: 55
-    Time:   200  
-  - Torque: 60
-    Time:   200
-CrossZero: #扭矩过零处理
+  - Entry: 60
+    Exit: 70
+    Value: 0
+EnergyRecovery:
+- Torque: 0
+  Time: 1000
+- Torque: 10
+  Time: 500
+- Torque: 15
+  Time: 400
+- Torque: 20
+  Time: 300
+- Torque: 35
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+CrossZero:
   Low: 1
   High: 7
   MinStep: 0.03
-  NorStep: 5
+  NorStep: 5