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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>miniFOC: algorithm/foc.c File Reference</title>
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<div id="projectname">miniFOC<span id="projectnumber"> 1.0.3</span>
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<div id="projectbrief">This open-source project aims to accomplish a FOC(Field Oriented Control) scheme that is operatable with minimum costs in China.</div>
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<div class="header">
<div class="summary">
<a href="#func-members">Functions</a> |
<a href="#var-members">Variables</a> </div>
<div class="headertitle"><div class="title">foc.c File Reference</div></div>
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<p>this document is mainly the code implementation of motor phase sequence correction and FOC algorithm.
<a href="#details">More...</a></p>
<div class="textblock"><code>#include "<a class="el" href="foc_8h_source.html">foc.h</a>"</code><br />
<code>#include "<a class="el" href="config_8h_source.html">config.h</a>"</code><br />
<code>#include "<a class="el" href="fast__math_8h_source.html">fast_math.h</a>"</code><br />
<code>#include "<a class="el" href="encoder_8h_source.html">encoder.h</a>"</code><br />
<code>#include "<a class="el" href="system_8h_source.html">system.h</a>"</code><br />
<code>#include "<a class="el" href="timer_8h_source.html">timer.h</a>"</code><br />
</div>
<p><a href="foc_8c_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a85fbd426ff2859593ed2b1ecd4a35d4b"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="foc_8c.html#a85fbd426ff2859593ed2b1ecd4a35d4b">foc_calibrate_phase</a> (void)</td></tr>
<tr class="memdesc:a85fbd426ff2859593ed2b1ecd4a35d4b"><td class="mdescLeft"> </td><td class="mdescRight">automatic phase sequence detection and correction <a href="foc_8c.html#a85fbd426ff2859593ed2b1ecd4a35d4b">More...</a><br /></td></tr>
<tr class="separator:a85fbd426ff2859593ed2b1ecd4a35d4b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a2ee2669a464e17cfaab4e084e78c4fe1"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="foc_8c.html#a2ee2669a464e17cfaab4e084e78c4fe1">foc_calculate_dutycycle</a> (float elect_angle, float d, float q, float *u, float *v, float *w)</td></tr>
<tr class="memdesc:a2ee2669a464e17cfaab4e084e78c4fe1"><td class="mdescLeft"> </td><td class="mdescRight">calculate the corresponding three-phase PWM duty cycle under the current electrical angle <a href="foc_8c.html#a2ee2669a464e17cfaab4e084e78c4fe1">More...</a><br /></td></tr>
<tr class="separator:a2ee2669a464e17cfaab4e084e78c4fe1"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="var-members" name="var-members"></a>
Variables</h2></td></tr>
<tr class="memitem:a6c9e1e8356380a4129a3a59d52ee1ec4"><td class="memItemLeft" align="right" valign="top">volatile <a class="el" href="struct_f_o_c___structure__t.html">FOC_Structure_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="foc_8c.html#a6c9e1e8356380a4129a3a59d52ee1ec4">FOC_Struct</a></td></tr>
<tr class="memdesc:a6c9e1e8356380a4129a3a59d52ee1ec4"><td class="mdescLeft"> </td><td class="mdescRight">FOC handler. <a href="foc_8c.html#a6c9e1e8356380a4129a3a59d52ee1ec4">More...</a><br /></td></tr>
<tr class="separator:a6c9e1e8356380a4129a3a59d52ee1ec4"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ad335385ea3909d9485703d97735b34ca"><td class="memItemLeft" align="right" valign="top">volatile unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="foc_8c.html#ad335385ea3909d9485703d97735b34ca">phase_sequence</a> = 0</td></tr>
<tr class="memdesc:ad335385ea3909d9485703d97735b34ca"><td class="mdescLeft"> </td><td class="mdescRight">motor phase sequence flag variable <a href="foc_8c.html#ad335385ea3909d9485703d97735b34ca">More...</a><br /></td></tr>
<tr class="separator:ad335385ea3909d9485703d97735b34ca"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:a418bbe3f3019eaefea9f904a87cf0a05"><td class="memItemLeft" align="right" valign="top">unsigned char </td><td class="memItemRight" valign="bottom"><a class="el" href="foc_8c.html#a418bbe3f3019eaefea9f904a87cf0a05">foc_parameter_available_flag</a> = 1</td></tr>
<tr class="memdesc:a418bbe3f3019eaefea9f904a87cf0a05"><td class="mdescLeft"> </td><td class="mdescRight">flag variable for FOC parameter availability <a href="foc_8c.html#a418bbe3f3019eaefea9f904a87cf0a05">More...</a><br /></td></tr>
<tr class="separator:a418bbe3f3019eaefea9f904a87cf0a05"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p >this document is mainly the code implementation of motor phase sequence correction and FOC algorithm. </p>
<dl class="section author"><dt>Author</dt><dd>Lao·Zhu </dd></dl>
<dl class="section version"><dt>Version</dt><dd>V1.0.3 </dd></dl>
<dl class="section date"><dt>Date</dt><dd>1. August 2023 </dd></dl>
<p class="definition">Definition in file <a class="el" href="foc_8c_source.html">foc.c</a>.</p>
</div><h2 class="groupheader">Function Documentation</h2>
<a id="a2ee2669a464e17cfaab4e084e78c4fe1" name="a2ee2669a464e17cfaab4e084e78c4fe1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2ee2669a464e17cfaab4e084e78c4fe1">◆ </a></span>foc_calculate_dutycycle()</h2>
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<td class="memname">void foc_calculate_dutycycle </td>
<td>(</td>
<td class="paramtype">float </td>
<td class="paramname"><em>elect_angle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>d</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float </td>
<td class="paramname"><em>q</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>u</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>v</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float * </td>
<td class="paramname"><em>w</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div><div class="memdoc">
<p>calculate the corresponding three-phase PWM duty cycle under the current electrical angle </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">elect_angle</td><td>electrical angle of motor rotor, in radian system </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">d</td><td>expected field strength in the direct axis direction of the motor </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">q</td><td>expected field strength in the quadrature axis direction of the motor </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">u</td><td>calculation results of U-phase duty cycle </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">v</td><td>calculation results of V-phase duty cycle </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">w</td><td>calculation results of W-phase duty cycle </td></tr>
</table>
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="foc_8c_source.html#l00099">99</a> of file <a class="el" href="foc_8c_source.html">foc.c</a>.</p>
<p class="reference">References <a class="el" href="fast__math_8h_source.html#l00027">fast_cos</a>, <a class="el" href="fast__math_8c_source.html#l00072">fast_sin()</a>, and <a class="el" href="config_8h_source.html#l00013">VBUS</a>.</p>
<p class="reference">Referenced by <a class="el" href="encoder_8c_source.html#l00119">encoder_zeroing()</a>, <a class="el" href="foc_8c_source.html#l00033">foc_calibrate_phase()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00104">TIMER2_IRQHandler()</a>.</p>
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</div>
<a id="a85fbd426ff2859593ed2b1ecd4a35d4b" name="a85fbd426ff2859593ed2b1ecd4a35d4b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a85fbd426ff2859593ed2b1ecd4a35d4b">◆ </a></span>foc_calibrate_phase()</h2>
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<td class="memname">void foc_calibrate_phase </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
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</table>
</div><div class="memdoc">
<p>automatic phase sequence detection and correction </p>
<p class="definition">Definition at line <a class="el" href="foc_8c_source.html#l00033">33</a> of file <a class="el" href="foc_8c_source.html">foc.c</a>.</p>
<p class="reference">References <a class="el" href="config_8h_source.html#l00019">CALI_TORQUE</a>, <a class="el" href="system_8c_source.html#l00030">delayms()</a>, <a class="el" href="encoder_8c_source.html#l00076">encoder_get_mechanical_angle()</a>, <a class="el" href="foc_8c_source.html#l00099">foc_calculate_dutycycle()</a>, <a class="el" href="foc_8c_source.html#l00024">phase_sequence</a>, and <a class="el" href="timer_8c_source.html#l00020">update_pwm_dutycycle()</a>.</p>
<p class="reference">Referenced by <a class="el" href="main_8c_source.html#l00139">main()</a>.</p>
</div>
</div>
<h2 class="groupheader">Variable Documentation</h2>
<a id="a418bbe3f3019eaefea9f904a87cf0a05" name="a418bbe3f3019eaefea9f904a87cf0a05"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a418bbe3f3019eaefea9f904a87cf0a05">◆ </a></span>foc_parameter_available_flag</h2>
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<td class="memname">unsigned char foc_parameter_available_flag = 1</td>
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</table>
</div><div class="memdoc">
<p>flag variable for FOC parameter availability </p>
<p class="definition">Definition at line <a class="el" href="foc_8c_source.html#l00028">28</a> of file <a class="el" href="foc_8c_source.html">foc.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="flash_8c_source.html#l00046">flash_read_parameters()</a>, <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>, and <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>.</p>
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<a id="a6c9e1e8356380a4129a3a59d52ee1ec4" name="a6c9e1e8356380a4129a3a59d52ee1ec4"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6c9e1e8356380a4129a3a59d52ee1ec4">◆ </a></span>FOC_Struct</h2>
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<td class="memname">volatile <a class="el" href="struct_f_o_c___structure__t.html">FOC_Structure_t</a> FOC_Struct</td>
</tr>
</table>
</div><div class="memdoc">
<p>FOC handler. </p>
<p class="definition">Definition at line <a class="el" href="foc_8c_source.html#l00020">20</a> of file <a class="el" href="foc_8c_source.html">foc.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="encoder_8c_source.html#l00093">encoder_get_electronic_angle()</a>, <a class="el" href="encoder_8c_source.html#l00106">encoder_update_speed()</a>, <a class="el" href="main_8c_source.html#l00028">mdtp_callback_handler()</a>, <a class="el" href="report_8c_source.html#l00069">report_angle_speed()</a>, <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>, <a class="el" href="gd32f1x0__it_8c_source.html#l00124">TIMER13_IRQHandler()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00104">TIMER2_IRQHandler()</a>.</p>
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<a id="ad335385ea3909d9485703d97735b34ca" name="ad335385ea3909d9485703d97735b34ca"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad335385ea3909d9485703d97735b34ca">◆ </a></span>phase_sequence</h2>
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<td class="memname">volatile unsigned char phase_sequence = 0</td>
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<p>motor phase sequence flag variable </p>
<p class="definition">Definition at line <a class="el" href="foc_8c_source.html#l00024">24</a> of file <a class="el" href="foc_8c_source.html">foc.c</a>.</p>
<p class="reference">Referenced by <a class="el" href="flash_8c_source.html#l00046">flash_read_parameters()</a>, <a class="el" href="flash_8c_source.html#l00026">flash_write_parameters()</a>, <a class="el" href="foc_8c_source.html#l00033">foc_calibrate_phase()</a>, <a class="el" href="report_8c_source.html#l00015">report_local_variable()</a>, and <a class="el" href="gd32f1x0__it_8c_source.html#l00104">TIMER2_IRQHandler()</a>.</p>
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