foc/src/Foc/hall.c

#include "hall.h"

/**
 * @brief 更新HALL状态
 * @param handle
 * @param new_state
 */
void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
{
    switch (new_state)
    {
    case HALL_STATE_5:
        if (handle->state == HALL_STATE_4)
        {
            handle->direction = POSITIVE;
            handle->measure_elec_angle = handle->phase_shift;
        }
        else if (handle->state == HALL_STATE_1)
        {
            handle->direction = NEGATIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_60_PHASE_SHIFT);
        }
        else
        {
        }
        break;

    case HALL_STATE_1:
        if (handle->state == HALL_STATE_5)
        {
            handle->direction = POSITIVE;
            handle->measure_elec_angle = handle->phase_shift + S16_60_PHASE_SHIFT;
        }
        else if (handle->state == HALL_STATE_3)
        {
            handle->direction = NEGATIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT);
        }
        else
        {
        }
        break;

    case HALL_STATE_3:
        if (handle->state == HALL_STATE_1)
        {
            handle->direction = POSITIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT);
        }
        else if (handle->state == HALL_STATE_2)
        {
            handle->direction = NEGATIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT +
                                                   S16_60_PHASE_SHIFT);
        }
        else
        {
        }

        break;

    case HALL_STATE_2:
        if (handle->state == HALL_STATE_3)
        {
            handle->direction = POSITIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift + S16_120_PHASE_SHIFT + S16_60_PHASE_SHIFT);
        }
        else if (handle->state == HALL_STATE_6)
        {
            handle->direction = NEGATIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_120_PHASE_SHIFT);
        }
        else
        {
        }
        break;

    case HALL_STATE_6:
        if (handle->state == HALL_STATE_2)
        {
            handle->direction = POSITIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_120_PHASE_SHIFT);
        }
        else if (handle->state == HALL_STATE_4)
        {
            handle->direction = NEGATIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_60_PHASE_SHIFT);
        }
        else
        {
        }
        break;

    case HALL_STATE_4:
        if (handle->state == HALL_STATE_6)
        {
            handle->direction = POSITIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift - S16_60_PHASE_SHIFT);
        }
        else if (handle->state == HALL_STATE_5)
        {
            handle->direction = NEGATIVE;
            handle->measure_elec_angle = (int16_t)(handle->phase_shift);
        }
        else
        {
        }
        break;

    default:
        /* Bad hall sensor configutarion so update the speed reliability */
        // handle->SensorIsReliable = 0;

        break;
    }
    handle->state = new_state;
}