main.c File Reference

miniFOC main source file, The relevant operations and main function after unpacking of medium capacity transmission protocol are implemented in this document. More...

#include "main.h"

Go to the source code of this file.

Functions
void	mdtp_callback_handler (unsigned char pid, const unsigned char *data)
	user callback function for unpacking completion of medium capacity transport protocol More...
int	main (void)
	main function More...

Variables
static volatile unsigned char	minifoc_fsm_state = 0
	used to indicate the current status of miniFOC More...

Detailed Description

miniFOC main source file, The relevant operations and main function after unpacking of medium capacity transmission protocol are implemented in this document.

Author

Lao·Zhu

Version

V1.0.2

Date

29. October 2021

Definition in file main.c.

Function Documentation

main()

int main

(

void

)

main function

Definition at line 139 of file main.c.

References delayms(), encoder_zeroing(), filter_config(), flash_read_parameters(), flash_write_parameters(), foc_calibrate_phase(), led_config, led_toggle, minifoc_fsm_state, pid_config(), pid_control_mode_flag, pwm_config(), report_angle_speed(), report_local_variable(), spi_config(), systick_config(), timer13_config(), timer13_disable(), timer2_config(), timer2_disable(), TORQUE_LOOP_CONTROL, and uart_config().

mdtp_callback_handler()

void mdtp_callback_handler	(	unsigned char	pid,
		const unsigned char *	data
	)

user callback function for unpacking completion of medium capacity transport protocol

Parameters

[in]	pid	medium capacity transport protocol package id
[in]	data	received data array of size 8 bytes

Definition at line 28 of file main.c.

References ANGLE_LOOP_CONTROL, angle_pid_handler, PID_Structure_t::expect, foc_parameter_available_flag, FOC_Struct, int32_to_float(), PID_Structure_t::kd, PID_Structure_t::ki, PID_Structure_t::kp, minifoc_fsm_state, pid_config(), pid_control_mode_flag, pid_parameter_available_flag, SPEED_LOOP_CONTROL, speed_pid_handler, PID_Structure_t::sum_maximum, TORQUE_LOOP_CONTROL, and FOC_Structure_t::user_expect.

Referenced by mdtp_receive_handler().

Variable Documentation

minifoc_fsm_state

volatile unsigned char minifoc_fsm_state = 0

static

used to indicate the current status of miniFOC

Parameters

1	calibrate motor phase and sensor offset 2 enable the motor 3 disable the motor 4 return current parameters

Definition at line 21 of file main.c.

Referenced by main(), and mdtp_callback_handler().