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- #ifndef _Encoder_H__
- #define _Encoder_H__
- #include "bsp/enc_intf.h"
- #include "foc/core/PI_Controller.h"
- typedef struct {
- bool b_index_found; //I 对齐
- float enc_offset;
- u8 motor_poles;
- float pwm_angle;
- u32 pwm_count;
- float abi_angle;
- float interpolation;
- float pll_bandwidth_shadow;
- float pll_bandwidth;
- float postion;
- PLL_t est_pll;
- bool b_timer_ov;
- bool b_lock_pos;
- u32 cpr;
- u32 last_cnt;
- u32 b_index_cnt;
- u32 last_us;
- s8 enc_dir; //encoder count dir UP or DOWN
- s8 direction; //motor running dir, 逆时针 正，顺时针负
- u16 p_dir_cnt;
- u16 n_dir_cnt;
- float est_vel_counts; //每秒多少个计数
- float est_angle_counts;
- float rpm;
- }encoder_t;
- void encoder_init(void);
- void encoder_init_clear(s8 direction);
- float encoder_get_theta(void);
- float encoder_get_speed(void);
- void encoder_detect_offset(float angle, bool r);
- void encoder_set_direction(s8 direction);
- float encoder_get_vel_count(void);
- void encoder_lock_position(bool enable);
- float encoder_detect_finish(bool r);
- float encoder_get_pwm_angle(void);
- void encoder_detect_off_finished(void);
- #endif /* _Encoder_H__ */
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