MC100/Applications/foc/motor/encoder.h

#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;
	float pwm_angle;
	u32   pwm_count;
	float abi_angle;
	float interpolation;
	float pll_bandwidth_shadow;
	float pll_bandwidth;
	PLL_t est_pll;
	bool  b_timer_ov;
	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;

#define ENC_MAX_RES  4096
/*min. 490 Hz, max 603 Hz*/
#define ENC_PWM_Max_P (1.0f/490.0f)
#define ENC_PWM_Min_P (1.0f/603.0f)

#define ENC_PWM_MAX_RES 4119.0F
#define ENC_PWM_INIT_WIDTH 12.0F //PWM 起始宽度
#define ENC_PWM_ERROR_WIDTH 4.0f //PWM 指示错误的宽度
#define ENC_PWM_END_WIDTH   0.0F
#define ENC_PWM_Error_P (ENC_PWM_INIT_WIDTH/ENC_PWM_MAX_RES)
#define ENC_PWM_MIN_duty ((ENC_PWM_INIT_WIDTH + ENC_PWM_ERROR_WIDTH + ENC_PWM_END_WIDTH)/ENC_PWM_MAX_RES)

#define ENC_Duty_2_Pluse_Nr(duty) (duty * ENC_PWM_MAX_RES - (ENC_PWM_INIT_WIDTH + ENC_PWM_ERROR_WIDTH + ENC_PWM_END_WIDTH)) //通过占空比计算有几个脉冲
#define ENC_Pluse_Nr_2_angle(Nr) (360.0f/(float)ENC_MAX_RES * (Nr))


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);
void encoder_set_direction(s8 direction);

#endif /* _Encoder_H__ */