单片机无感FOC驱动之高频任务

单片机 STM32F407开发板DMF407电机开发板平台keil V5.31HSE 为8MHZHSI为16MHZ1、观察器输入参数STOthe state observerObserver_Inputs_t STO_Inputs;typedef struct{alphabeta_t Valfa_beta;alphabeta_t Ialfa_beta;uint16_t Vbus;} Observer_Inputs_t;STO_Inputs.Valfa_beta FOCVars[M1].Valphabeta;STO_Inputs.Ialfa_beta FOCVars[M1].Ialphabeta;STO_Inputs.Vbus VBS_GetAvBusVoltage_d((pBusSensorM1-_Super));STO_PLL_CalcElAngle (STO_PLL_M1, STO_Inputs);STO_PLL_CalcAvrgElSpeedDpp (STO_PLL_M1);2、电机状态uint16_t hState;hState STM_GetState(STM[M1]);if((hState START) || (hState SWITCH_OVER) || (hState START_RUN)){int16_t hObsAngle SPD_GetElAngle(STO_PLL_M1._Super);VSS_CalcElAngle(VirtualSpeedSensorM1,hObsAngle);}在特定电机状态计算电角度3、FOC返回值uint16_t hFOCreturn;hFOCreturn FOC_CurrControllerM1();4、是否到达加速阶段bool IsAccelerationStageReached RUC_FirstAccelerationStageReached(RevUpControlM1);