116 lines
3.1 KiB
C
116 lines
3.1 KiB
C
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#include "hall.h"
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/**
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* @brief 更新HALL状态
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* @param handle
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* @param new_state
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*/
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void calc_hall_angle(hall_handle_t *handle, uint8_t new_state)
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{
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switch (new_state)
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{
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case HALL_STATE_5:
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if (handle->state == HALL_STATE_4)
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{
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handle->Direction = POSITIVE;
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handle->MeasuredElAngle = handle->PhaseShift;
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}
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else if (handle->state == HALL_STATE_1)
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{
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handle->Direction = NEGATIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_60_PHASE_SHIFT);
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}
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else
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{
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}
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break;
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case HALL_STATE_1:
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if (handle->state == HALL_STATE_5)
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{
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handle->Direction = POSITIVE;
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handle->MeasuredElAngle = handle->PhaseShift + S16_60_PHASE_SHIFT;
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}
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else if (handle->state == HALL_STATE_3)
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{
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handle->Direction = NEGATIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT);
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}
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else
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{
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}
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break;
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case HALL_STATE_3:
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if (handle->state == HALL_STATE_1)
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{
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handle->Direction = POSITIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT);
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}
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else if (handle->state == HALL_STATE_2)
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{
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handle->Direction = NEGATIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT +
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S16_60_PHASE_SHIFT);
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}
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else
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{
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}
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break;
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case HALL_STATE_2:
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if (handle->state == HALL_STATE_3)
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{
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handle->Direction = POSITIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT + S16_60_PHASE_SHIFT);
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}
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else if (handle->state == HALL_STATE_6)
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{
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handle->Direction = NEGATIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_120_PHASE_SHIFT);
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}
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else
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{
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}
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break;
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case HALL_STATE_6:
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if (handle->state == HALL_STATE_2)
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{
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handle->Direction = POSITIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_120_PHASE_SHIFT);
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}
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else if (handle->state == HALL_STATE_4)
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{
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handle->Direction = NEGATIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_60_PHASE_SHIFT);
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}
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else
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{
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}
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break;
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case HALL_STATE_4:
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if (handle->state == HALL_STATE_6)
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{
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handle->Direction = POSITIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_60_PHASE_SHIFT);
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}
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else if (handle->state == HALL_STATE_5)
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{
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handle->Direction = NEGATIVE;
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handle->MeasuredElAngle = (int16_t)(handle->PhaseShift);
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}
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else
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{
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}
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break;
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default:
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/* Bad hall sensor configutarion so update the speed reliability */
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handle->SensorIsReliable = false;
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break;
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}
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}
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