完成定时器驱动
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@ -10,8 +10,8 @@
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<TargetName>stm32f407_template</TargetName>
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<TargetName>stm32f407_template</TargetName>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetNumber>0x4</ToolsetNumber>
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<ToolsetName>ARM-ADS</ToolsetName>
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<ToolsetName>ARM-ADS</ToolsetName>
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<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
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<pCCUsed>6150000::V6.15::ARMCLANG</pCCUsed>
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<uAC6>0</uAC6>
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<uAC6>1</uAC6>
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<TargetOption>
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<TargetOption>
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<TargetCommonOption>
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<TargetCommonOption>
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<Device>STM32F407ZGTx</Device>
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<Device>STM32F407ZGTx</Device>
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@ -313,7 +313,7 @@
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</ArmAdsMisc>
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</ArmAdsMisc>
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<Cads>
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<Cads>
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<interw>1</interw>
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<interw>1</interw>
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<Optim>4</Optim>
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<Optim>2</Optim>
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<oTime>0</oTime>
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<oTime>0</oTime>
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<SplitLS>0</SplitLS>
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<SplitLS>0</SplitLS>
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<OneElfS>1</OneElfS>
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<OneElfS>1</OneElfS>
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@ -328,7 +328,7 @@
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<uC99>1</uC99>
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<uC99>1</uC99>
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<uGnu>0</uGnu>
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<uGnu>0</uGnu>
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<useXO>0</useXO>
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<useXO>0</useXO>
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<v6Lang>5</v6Lang>
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<v6Lang>3</v6Lang>
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<v6LangP>3</v6LangP>
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<v6LangP>3</v6LangP>
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<vShortEn>1</vShortEn>
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<vShortEn>1</vShortEn>
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<vShortWch>1</vShortWch>
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<vShortWch>1</vShortWch>
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@ -478,6 +478,11 @@
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<FileType>1</FileType>
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<FileType>1</FileType>
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<FilePath>..\..\src\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c</FilePath>
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<FilePath>..\..\src\STM32F4xx_HAL_Driver\Src\stm32f4xx_hal_uart.c</FilePath>
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</File>
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</File>
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<File>
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<FileName>stm32f4xx_ll_tim.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\..\src\STM32F4xx_HAL_Driver\Src\stm32f4xx_ll_tim.c</FilePath>
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</File>
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</Files>
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</Files>
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</Group>
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</Group>
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<Group>
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<Group>
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@ -513,6 +518,11 @@
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<FileType>1</FileType>
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<FileType>1</FileType>
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<FilePath>..\..\src\Bsp\stm32f4xx_it.c</FilePath>
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<FilePath>..\..\src\Bsp\stm32f4xx_it.c</FilePath>
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</File>
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</File>
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<File>
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<FileName>timer.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\..\src\Bsp\timer.c</FilePath>
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</File>
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</Files>
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</Files>
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</Group>
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</Group>
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</Groups>
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</Groups>
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@ -39,7 +39,7 @@ void SystemClock_Config(void)
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = 8;
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RCC_OscInitStruct.PLL.PLLM = 25;
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RCC_OscInitStruct.PLL.PLLN = 336;
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RCC_OscInitStruct.PLL.PLLN = 336;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = 4;
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RCC_OscInitStruct.PLL.PLLQ = 4;
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@ -42,11 +42,11 @@ void led_ctrl(uint8_t cmd)
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{
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{
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if (cmd)
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if (cmd)
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{
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{
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HAL_GPIO_WritePin(LED1_GPIO_Port, LED0_Pin, GPIO_PIN_SET);
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HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_SET);
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}
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}
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else
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else
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{
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{
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HAL_GPIO_WritePin(LED1_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
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HAL_GPIO_WritePin(LED0_GPIO_Port, LED0_Pin, GPIO_PIN_RESET);
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}
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}
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}
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}
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@ -18,7 +18,7 @@ extern "C"
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/* Includes ------------------------------------------------------------------*/
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/* Includes ------------------------------------------------------------------*/
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#include "main.h"
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#include "stm32f4xx_hal.h"
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#define LED0_Pin GPIO_PIN_15
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#define LED0_Pin GPIO_PIN_15
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#define LED0_GPIO_Port GPIOA
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#define LED0_GPIO_Port GPIOA
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@ -62,7 +62,7 @@
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/* #define HAL_SD_MODULE_ENABLED */
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/* #define HAL_SD_MODULE_ENABLED */
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/* #define HAL_MMC_MODULE_ENABLED */
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/* #define HAL_MMC_MODULE_ENABLED */
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/* #define HAL_SPI_MODULE_ENABLED */
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/* #define HAL_SPI_MODULE_ENABLED */
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/* #define HAL_TIM_MODULE_ENABLED */
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#define HAL_TIM_MODULE_ENABLED
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#define HAL_UART_MODULE_ENABLED
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#define HAL_UART_MODULE_ENABLED
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/* #define HAL_USART_MODULE_ENABLED */
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/* #define HAL_USART_MODULE_ENABLED */
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/* #define HAL_IRDA_MODULE_ENABLED */
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/* #define HAL_IRDA_MODULE_ENABLED */
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282
src/Bsp/timer.c
Normal file
282
src/Bsp/timer.c
Normal file
@ -0,0 +1,282 @@
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/**
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* @file timer.c
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* @author jimingqing
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* @date 2023-08-14
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* @version 0.0.1
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* @copyright XiazhiTech Copyright (c) 2023
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*
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* @brief
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*/
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/* Includes ------------------------------------------------------------------*/
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#include "timer.h"
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#include "board.h"
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#include "stm32f4xx_ll_tim.h"
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TIM_HandleTypeDef htim1;
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TIM_HandleTypeDef htim3;
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/**
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* @brief TIM1 Initialization Function
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* @param None
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* @retval None
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*/
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void MX_TIM1_Init(void)
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{
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TIM_SlaveConfigTypeDef sSlaveConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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TIM_OC_InitTypeDef sConfigOC = {0};
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TIM_BreakDeadTimeConfigTypeDef sBreakDeadTimeConfig = {0};
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/**
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* 定时器主频84M 不分频
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*/
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htim1.Instance = TIM1;
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htim1.Init.Prescaler = 0;
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htim1.Init.CounterMode = TIM_COUNTERMODE_CENTERALIGNED1;
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htim1.Init.Period = (84 * 1000000 / 16000);
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV2;
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htim1.Init.RepetitionCounter = 1;
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htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_Init(&htim1) != HAL_OK)
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{
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Error_Handler();
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}
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sSlaveConfig.SlaveMode = TIM_SLAVEMODE_TRIGGER;
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sSlaveConfig.InputTrigger = TIM_TS_ITR1;
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if (HAL_TIM_SlaveConfigSynchro(&htim1, &sSlaveConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM1;
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sConfigOC.Pulse = 0;
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sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
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sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
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sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
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sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
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sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_1) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_2) != HAL_OK)
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{
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Error_Handler();
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}
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_3) != HAL_OK)
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{
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Error_Handler();
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}
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sConfigOC.OCMode = TIM_OCMODE_PWM2;
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sConfigOC.Pulse = ((84 * 1000000 / 16000) - 1);
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if (HAL_TIM_PWM_ConfigChannel(&htim1, &sConfigOC, TIM_CHANNEL_4) != HAL_OK)
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{
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Error_Handler();
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}
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sBreakDeadTimeConfig.OffStateRunMode = TIM_OSSR_ENABLE;
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sBreakDeadTimeConfig.OffStateIDLEMode = TIM_OSSI_ENABLE;
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sBreakDeadTimeConfig.LockLevel = TIM_LOCKLEVEL_1;
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// sBreakDeadTimeConfig.DeadTime = ((DEAD_TIME_COUNTS) / 2);
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sBreakDeadTimeConfig.DeadTime = 100;
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sBreakDeadTimeConfig.BreakState = TIM_BREAK_DISABLE;
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sBreakDeadTimeConfig.BreakPolarity = TIM_BREAKPOLARITY_LOW;
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sBreakDeadTimeConfig.AutomaticOutput = TIM_AUTOMATICOUTPUT_DISABLE;
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if (HAL_TIMEx_ConfigBreakDeadTime(&htim1, &sBreakDeadTimeConfig) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief TIM3 Initialization Function
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* @param None
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* @retval None
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*/
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void MX_TIM3_Init(void)
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{
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TIM_ClockConfigTypeDef sClockSourceConfig = {0};
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TIM_HallSensor_InitTypeDef sConfig = {0};
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TIM_MasterConfigTypeDef sMasterConfig = {0};
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htim3.Instance = TIM3;
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htim3.Init.Prescaler = 0;
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htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim3.Init.Period = 65535;
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htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
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if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
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{
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Error_Handler();
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}
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sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
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if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
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sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
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sConfig.IC1Filter = 11;
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sConfig.Commutation_Delay = 0;
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if (HAL_TIMEx_HallSensor_Init(&htim3, &sConfig) != HAL_OK)
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{
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Error_Handler();
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}
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sMasterConfig.MasterOutputTrigger = TIM_TRGO_OC2REF;
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sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
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if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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}
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/**
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* @brief TIM_Base MSP Initialization
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* This function configures the hardware resources used in this example
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* @param htim_base: TIM_Base handle pointer
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* @retval None
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*/
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void HAL_TIM_Base_MspInit(TIM_HandleTypeDef *htim_base)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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if (htim_base->Instance == TIM1)
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{
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/* Peripheral clock enable */
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__HAL_RCC_TIM1_CLK_ENABLE();
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__HAL_RCC_GPIOA_CLK_ENABLE();
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__HAL_RCC_GPIOB_CLK_ENABLE();
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/**TIM1 GPIO Configuration
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PA10 ------> TIM1_CH3
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PA9 ------> TIM1_CH2
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PA8 ------> TIM1_CH1
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PB13 ------> TIM1_CH1N
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PB14 ------> TIM1_CH2N
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PB15 ------> TIM1_CH3N
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_8 | GPIO_PIN_9 | GPIO_PIN_10;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
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HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_PULLDOWN;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
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HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
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}
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else if (htim_base->Instance == TIM3)
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{
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/* Peripheral clock enable */
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__HAL_RCC_TIM3_CLK_ENABLE();
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__HAL_RCC_GPIOC_CLK_ENABLE();
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/**TIM3 GPIO Configuration
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PC8 ------> TIM3_CH3
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PC7 ------> TIM3_CH2
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PC6 ------> TIM3_CH1
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*/
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GPIO_InitStruct.Pin = GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
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HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
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}
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}
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/**
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* @brief TIM_Base MSP De-Initialization
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* This function freeze the hardware resources used in this example
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* @param htim_base: TIM_Base handle pointer
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* @retval None
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*/
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void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef *htim_base)
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{
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if (htim_base->Instance == TIM1)
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{
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/* Peripheral clock disable */
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__HAL_RCC_TIM1_CLK_DISABLE();
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/* TIM1 interrupt DeInit */
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HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn);
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HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
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}
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else if (htim_base->Instance == TIM3)
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{
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/* Peripheral clock disable */
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__HAL_RCC_TIM3_CLK_DISABLE();
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/**TIM3 GPIO Configuration
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PC8 ------> TIM3_CH3
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PC7 ------> TIM3_CH2
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PC6 ------> TIM3_CH1
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*/
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HAL_GPIO_DeInit(GPIOC, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_8);
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/* TIM3 interrupt DeInit */
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HAL_NVIC_DisableIRQ(TIM3_IRQn);
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}
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}
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/**
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* @brief This function handles first motor TIMx Update interrupt request.
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* @param None
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* @retval None
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*/
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||||||
|
void TIM1_UP_TIM10_IRQHandler(void)
|
||||||
|
{
|
||||||
|
// LL_TIM_ClearFlag_UPDATE(PWM_Handle_M1.pParams_str->TIMx);
|
||||||
|
// R3_2_TIMx_UP_IRQHandler(&PWM_Handle_M1);
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function handles first motor BRK interrupt.
|
||||||
|
* @param None
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void TIM1_BRK_TIM9_IRQHandler(void)
|
||||||
|
{
|
||||||
|
// if (LL_TIM_IsActiveFlag_BRK(PWM_Handle_M1.pParams_str->TIMx))
|
||||||
|
// {
|
||||||
|
// LL_TIM_ClearFlag_BRK(PWM_Handle_M1.pParams_str->TIMx);
|
||||||
|
// R3_2_BRK_IRQHandler(&PWM_Handle_M1);
|
||||||
|
// }
|
||||||
|
// /* Systick is not executed due low priority so is necessary to call MC_Scheduler here.*/
|
||||||
|
// MC_Scheduler();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function handles TIMx global interrupt request for M1 Speed Sensor.
|
||||||
|
* @param None
|
||||||
|
* @retval None
|
||||||
|
*/
|
||||||
|
void TIM3_IRQHandler(void)
|
||||||
|
{
|
||||||
|
/* HALL Timer Update IT always enabled, no need to check enable UPDATE state */
|
||||||
|
if (LL_TIM_IsActiveFlag_UPDATE(TIM3))
|
||||||
|
{
|
||||||
|
LL_TIM_ClearFlag_UPDATE(TIM3);
|
||||||
|
// HALL_TIMx_UP_IRQHandler(&HALL_M1);
|
||||||
|
}
|
||||||
|
|
||||||
|
/* HALL Timer CC1 IT always enabled, no need to check enable CC1 state */
|
||||||
|
if (LL_TIM_IsActiveFlag_CC1(TIM3))
|
||||||
|
{
|
||||||
|
LL_TIM_ClearFlag_CC1(TIM3);
|
||||||
|
// HALL_TIMx_CC_IRQHandler(&HALL_M1);
|
||||||
|
}
|
||||||
|
}
|
||||||
30
src/Bsp/timer.h
Normal file
30
src/Bsp/timer.h
Normal file
@ -0,0 +1,30 @@
|
|||||||
|
/**
|
||||||
|
* @file gpio.h
|
||||||
|
* @author jimingqing
|
||||||
|
* @date 2023-08-14
|
||||||
|
* @version 0.0.1
|
||||||
|
* @copyright XiazhiTech Copyright (c) 2023
|
||||||
|
*
|
||||||
|
* @brief
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef __TIMER_H__
|
||||||
|
#define __TIMER_H__
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C"
|
||||||
|
{
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Includes ------------------------------------------------------------------*/
|
||||||
|
|
||||||
|
#include "stm32f4xx_hal.h"
|
||||||
|
|
||||||
|
void MX_TIM1_Init(void);
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
#endif /*__ __TIMER_H__ */
|
||||||
|
|
||||||
|
/* END OF FILE ---------------------------------------------------------------*/
|
||||||
116
src/Foc/hall.c
Normal file
116
src/Foc/hall.c
Normal file
@ -0,0 +1,116 @@
|
|||||||
|
#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->MeasuredElAngle = handle->PhaseShift;
|
||||||
|
}
|
||||||
|
else if (handle->state == HALL_STATE_1)
|
||||||
|
{
|
||||||
|
handle->Direction = NEGATIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_60_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case HALL_STATE_1:
|
||||||
|
if (handle->state == HALL_STATE_5)
|
||||||
|
{
|
||||||
|
handle->Direction = POSITIVE;
|
||||||
|
handle->MeasuredElAngle = handle->PhaseShift + S16_60_PHASE_SHIFT;
|
||||||
|
}
|
||||||
|
else if (handle->state == HALL_STATE_3)
|
||||||
|
{
|
||||||
|
handle->Direction = NEGATIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case HALL_STATE_3:
|
||||||
|
if (handle->state == HALL_STATE_1)
|
||||||
|
{
|
||||||
|
handle->Direction = POSITIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else if (handle->state == HALL_STATE_2)
|
||||||
|
{
|
||||||
|
handle->Direction = NEGATIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT +
|
||||||
|
S16_60_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
case HALL_STATE_2:
|
||||||
|
if (handle->state == HALL_STATE_3)
|
||||||
|
{
|
||||||
|
handle->Direction = POSITIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift + S16_120_PHASE_SHIFT + S16_60_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else if (handle->state == HALL_STATE_6)
|
||||||
|
{
|
||||||
|
handle->Direction = NEGATIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_120_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case HALL_STATE_6:
|
||||||
|
if (handle->state == HALL_STATE_2)
|
||||||
|
{
|
||||||
|
handle->Direction = POSITIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_120_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else if (handle->state == HALL_STATE_4)
|
||||||
|
{
|
||||||
|
handle->Direction = NEGATIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_60_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case HALL_STATE_4:
|
||||||
|
if (handle->state == HALL_STATE_6)
|
||||||
|
{
|
||||||
|
handle->Direction = POSITIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift - S16_60_PHASE_SHIFT);
|
||||||
|
}
|
||||||
|
else if (handle->state == HALL_STATE_5)
|
||||||
|
{
|
||||||
|
handle->Direction = NEGATIVE;
|
||||||
|
handle->MeasuredElAngle = (int16_t)(handle->PhaseShift);
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
/* Bad hall sensor configutarion so update the speed reliability */
|
||||||
|
handle->SensorIsReliable = false;
|
||||||
|
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
44
src/Foc/hall.h
Normal file
44
src/Foc/hall.h
Normal file
@ -0,0 +1,44 @@
|
|||||||
|
/**
|
||||||
|
* @file hall.h
|
||||||
|
* @author jimingqing
|
||||||
|
* @date 2023-05-25
|
||||||
|
* @version 0.0.1
|
||||||
|
* @copyright XiazhiTech Copyright (c) 2023
|
||||||
|
*
|
||||||
|
* @brief
|
||||||
|
*/
|
||||||
|
#include "stm32f407xx.h"
|
||||||
|
|
||||||
|
#define HALL_STATE_0 (uint8_t)0
|
||||||
|
#define HALL_STATE_1 (uint8_t)1
|
||||||
|
#define HALL_STATE_2 (uint8_t)2
|
||||||
|
#define HALL_STATE_3 (uint8_t)3
|
||||||
|
#define HALL_STATE_4 (uint8_t)4
|
||||||
|
#define HALL_STATE_5 (uint8_t)5
|
||||||
|
#define HALL_STATE_6 (uint8_t)6
|
||||||
|
#define HALL_STATE_7 (uint8_t)7
|
||||||
|
|
||||||
|
#define S16_120_PHASE_SHIFT (int16_t)(65536 / 3)
|
||||||
|
#define S16_60_PHASE_SHIFT (int16_t)(65536 / 6)
|
||||||
|
|
||||||
|
enum
|
||||||
|
{
|
||||||
|
NEGATIVE = -1,
|
||||||
|
POSITIVE = 1,
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
// |||
|
||||||
|
// |||
|
||||||
|
// |||
|
||||||
|
uint8_t state; // 霍尔状态真值表
|
||||||
|
|
||||||
|
int16_t phase_shift; // 同步电角度
|
||||||
|
|
||||||
|
int8_t direction; // 转子方向
|
||||||
|
int16_t measure_elec_angle; // 测量转子电角度
|
||||||
|
int16_t control_elec_angle; // 控制转子电角度
|
||||||
|
|
||||||
|
} hall_handle_t;
|
||||||
11
src/Foc/main.c
Normal file
11
src/Foc/main.c
Normal file
@ -0,0 +1,11 @@
|
|||||||
|
|
||||||
|
|
||||||
|
int main()
|
||||||
|
{
|
||||||
|
/**
|
||||||
|
* 开环控制
|
||||||
|
* 1. 计算电角度
|
||||||
|
* 2.
|
||||||
|
*/
|
||||||
|
|
||||||
|
}
|
||||||
110
src/Foc/math.c
Normal file
110
src/Foc/math.c
Normal file
@ -0,0 +1,110 @@
|
|||||||
|
#include "math.h"
|
||||||
|
|
||||||
|
#define SIN_MASK 0x0300u
|
||||||
|
#define U0_90 0x0200u
|
||||||
|
#define U90_180 0x0300u
|
||||||
|
#define U180_270 0x0000u
|
||||||
|
#define U270_360 0x0100u
|
||||||
|
|
||||||
|
const int16_t hSin_Cos_Table[256] = {
|
||||||
|
0x0000, 0x00C9, 0x0192, 0x025B, 0x0324, 0x03ED, 0x04B6, 0x057F,
|
||||||
|
0x0648, 0x0711, 0x07D9, 0x08A2, 0x096A, 0x0A33, 0x0AFB, 0x0BC4,
|
||||||
|
0x0C8C, 0x0D54, 0x0E1C, 0x0EE3, 0x0FAB, 0x1072, 0x113A, 0x1201,
|
||||||
|
0x12C8, 0x138F, 0x1455, 0x151C, 0x15E2, 0x16A8, 0x176E, 0x1833,
|
||||||
|
0x18F9, 0x19BE, 0x1A82, 0x1B47, 0x1C0B, 0x1CCF, 0x1D93, 0x1E57,
|
||||||
|
0x1F1A, 0x1FDD, 0x209F, 0x2161, 0x2223, 0x22E5, 0x23A6, 0x2467,
|
||||||
|
0x2528, 0x25E8, 0x26A8, 0x2767, 0x2826, 0x28E5, 0x29A3, 0x2A61,
|
||||||
|
0x2B1F, 0x2BDC, 0x2C99, 0x2D55, 0x2E11, 0x2ECC, 0x2F87, 0x3041,
|
||||||
|
0x30FB, 0x31B5, 0x326E, 0x3326, 0x33DF, 0x3496, 0x354D, 0x3604,
|
||||||
|
0x36BA, 0x376F, 0x3824, 0x38D9, 0x398C, 0x3A40, 0x3AF2, 0x3BA5,
|
||||||
|
0x3C56, 0x3D07, 0x3DB8, 0x3E68, 0x3F17, 0x3FC5, 0x4073, 0x4121,
|
||||||
|
0x41CE, 0x427A, 0x4325, 0x43D0, 0x447A, 0x4524, 0x45CD, 0x4675,
|
||||||
|
0x471C, 0x47C3, 0x4869, 0x490F, 0x49B4, 0x4A58, 0x4AFB, 0x4B9D,
|
||||||
|
0x4C3F, 0x4CE0, 0x4D81, 0x4E20, 0x4EBF, 0x4F5D, 0x4FFB, 0x5097,
|
||||||
|
0x5133, 0x51CE, 0x5268, 0x5302, 0x539B, 0x5432, 0x54C9, 0x5560,
|
||||||
|
0x55F5, 0x568A, 0x571D, 0x57B0, 0x5842, 0x58D3, 0x5964, 0x59F3,
|
||||||
|
0x5A82, 0x5B0F, 0x5B9C, 0x5C28, 0x5CB3, 0x5D3E, 0x5DC7, 0x5E4F,
|
||||||
|
0x5ED7, 0x5F5D, 0x5FE3, 0x6068, 0x60EB, 0x616E, 0x61F0, 0x6271,
|
||||||
|
0x62F1, 0x6370, 0x63EE, 0x646C, 0x64E8, 0x6563, 0x65DD, 0x6656,
|
||||||
|
0x66CF, 0x6746, 0x67BC, 0x6832, 0x68A6, 0x6919, 0x698B, 0x69FD,
|
||||||
|
0x6A6D, 0x6ADC, 0x6B4A, 0x6BB7, 0x6C23, 0x6C8E, 0x6CF8, 0x6D61,
|
||||||
|
0x6DC9, 0x6E30, 0x6E96, 0x6EFB, 0x6F5E, 0x6FC1, 0x7022, 0x7083,
|
||||||
|
0x70E2, 0x7140, 0x719D, 0x71F9, 0x7254, 0x72AE, 0x7307, 0x735E,
|
||||||
|
0x73B5, 0x740A, 0x745F, 0x74B2, 0x7504, 0x7555, 0x75A5, 0x75F3,
|
||||||
|
0x7641, 0x768D, 0x76D8, 0x7722, 0x776B, 0x77B3, 0x77FA, 0x783F,
|
||||||
|
0x7884, 0x78C7, 0x7909, 0x794A, 0x7989, 0x79C8, 0x7A05, 0x7A41,
|
||||||
|
0x7A7C, 0x7AB6, 0x7AEE, 0x7B26, 0x7B5C, 0x7B91, 0x7BC5, 0x7BF8,
|
||||||
|
0x7C29, 0x7C59, 0x7C88, 0x7CB6, 0x7CE3, 0x7D0E, 0x7D39, 0x7D62,
|
||||||
|
0x7D89, 0x7DB0, 0x7DD5, 0x7DFA, 0x7E1D, 0x7E3E, 0x7E5F, 0x7E7E,
|
||||||
|
0x7E9C, 0x7EB9, 0x7ED5, 0x7EEF, 0x7F09, 0x7F21, 0x7F37, 0x7F4D,
|
||||||
|
0x7F61, 0x7F74, 0x7F86, 0x7F97, 0x7FA6, 0x7FB4, 0x7FC1, 0x7FCD,
|
||||||
|
0x7FD8, 0x7FE1, 0x7FE9, 0x7FF0, 0x7FF5, 0x7FF9, 0x7FFD, 0x7FFE};
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function transforms stator voltage qVq and qVd, that belong to
|
||||||
|
* a rotor flux synchronous rotating frame, to a stationary reference
|
||||||
|
* frame, so as to obtain qValpha and qVbeta:
|
||||||
|
* Valfa= Vq*Cos(theta)+ Vd*Sin(theta)
|
||||||
|
* Vbeta=-Vq*Sin(theta)+ Vd*Cos(theta)
|
||||||
|
* @param Input: stator voltage Vq and Vd in qd_t format
|
||||||
|
* @param Theta: rotating frame angular position in q1.15 format
|
||||||
|
* @retval Stator voltage Valpha and Vbeta in qd_t format
|
||||||
|
*/
|
||||||
|
alphabeta_t math_rev_park(qd_t input, int16_t theta)
|
||||||
|
{
|
||||||
|
alphabeta_t output;
|
||||||
|
int32_t alpha_tmp1, alpha_tmp2, beta_tmp1, beta_tmp2;
|
||||||
|
|
||||||
|
int32_t shindex;
|
||||||
|
uint16_t uhindex;
|
||||||
|
int16_t hSin = 0, hCos = 0;
|
||||||
|
|
||||||
|
/* 10 bit index computation */
|
||||||
|
shindex = ((int32_t)32768 + (int32_t)theta);
|
||||||
|
uhindex = (uint16_t)shindex;
|
||||||
|
uhindex = uhindex >> 6;
|
||||||
|
// uhindex /= (uint16_t)64;
|
||||||
|
|
||||||
|
/**
|
||||||
|
| hAngle | angle | std |
|
||||||
|
| (0,16384] | U0_90 | (0,0.5] |
|
||||||
|
| (16384,32767] | U90_180 | (0.5,0.99] |
|
||||||
|
| (-16384,-1] | U270_360 | (0,-0.5] |
|
||||||
|
| (-16384,-32768] | U180_270 | (-0.5,-1) |
|
||||||
|
*/
|
||||||
|
switch ((uint16_t)(uhindex)&SIN_MASK)
|
||||||
|
{
|
||||||
|
case U0_90:
|
||||||
|
hSin = hSin_Cos_Table[(uint8_t)(uhindex)];
|
||||||
|
hCos = hSin_Cos_Table[(uint8_t)(0xFFu - (uint8_t)(uhindex))];
|
||||||
|
break;
|
||||||
|
|
||||||
|
case U90_180:
|
||||||
|
hSin = hSin_Cos_Table[(uint8_t)(0xFFu - (uint8_t)(uhindex))];
|
||||||
|
hCos = -hSin_Cos_Table[(uint8_t)(uhindex)];
|
||||||
|
break;
|
||||||
|
|
||||||
|
case U180_270:
|
||||||
|
hSin = -hSin_Cos_Table[(uint8_t)(uhindex)];
|
||||||
|
hCos = -hSin_Cos_Table[(uint8_t)(0xFFu - (uint8_t)(uhindex))];
|
||||||
|
break;
|
||||||
|
|
||||||
|
case U270_360:
|
||||||
|
hSin = -hSin_Cos_Table[(uint8_t)(0xFFu - (uint8_t)(uhindex))];
|
||||||
|
hCos = hSin_Cos_Table[(uint8_t)(uhindex)];
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
/*No overflow guaranteed*/
|
||||||
|
alpha_tmp1 = input.q * (int32_t)hCos;
|
||||||
|
alpha_tmp2 = input.d * (int32_t)hSin;
|
||||||
|
output.alpha = (int16_t)(((alpha_tmp1) + (alpha_tmp2)) >> 15);
|
||||||
|
|
||||||
|
beta_tmp1 = input.q * (int32_t)hSin;
|
||||||
|
beta_tmp2 = input.d * (int32_t)hCos;
|
||||||
|
output.beta = (int16_t)((beta_tmp2 - beta_tmp1) >> 15);
|
||||||
|
|
||||||
|
return (output);
|
||||||
|
}
|
||||||
53
src/Foc/math.h
Normal file
53
src/Foc/math.h
Normal file
@ -0,0 +1,53 @@
|
|||||||
|
#include "type.h"
|
||||||
|
|
||||||
|
#define SQRT_2 1.4142
|
||||||
|
#define SQRT_3 1.732
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Macro to compute logarithm of two
|
||||||
|
*/
|
||||||
|
#define LOG2(x) \
|
||||||
|
((x) == 65535 ? 16 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 15 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 14 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 13 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 12 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 11 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 10 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 9 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 8 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 * 2 ? 7 : ((x) == 2 * 2 * 2 * 2 * 2 * 2 ? 6 : ((x) == 2 * 2 * 2 * 2 * 2 ? 5 : ((x) == 2 * 2 * 2 * 2 ? 4 : ((x) == 2 * 2 * 2 ? 3 : ((x) == 2 * 2 ? 2 : ((x) == 2 ? 1 : ((x) == 1 ? 0 : -1)))))))))))))))))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function transforms stator currents Ia and qIb (which are
|
||||||
|
* directed along axes each displaced by 120 degrees) into currents
|
||||||
|
* Ialpha and Ibeta in a stationary qd reference frame.
|
||||||
|
* Ialpha = Ia
|
||||||
|
* Ibeta = -(2*Ib+Ia)/sqrt(3)
|
||||||
|
* @param Curr_Input: stator current Ia and Ib in ab_t format
|
||||||
|
* @retval Stator current Ialpha and Ibeta in alphabeta_t format
|
||||||
|
*/
|
||||||
|
alphabeta_t math_clarke(ab_t Input);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function transforms stator values alpha and beta, which
|
||||||
|
* belong to a stationary qd reference frame, to a rotor flux
|
||||||
|
* synchronous reference frame (properly oriented), so as Iq and Id.
|
||||||
|
* Id= Ialpha *sin(theta)+qIbeta *cos(Theta)
|
||||||
|
* Iq=qIalpha *cos(Theta)-qIbeta *sin(Theta)
|
||||||
|
* @param Curr_Input: stator values alpha and beta in alphabeta_t format
|
||||||
|
* @param Theta: rotating frame angular position in q1.15 format
|
||||||
|
* @retval Stator current q and d in qd_t format
|
||||||
|
*/
|
||||||
|
qd_t math_park(alphabeta_t Input, int16_t Theta);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief This function transforms stator voltage qVq and qVd, that belong to
|
||||||
|
* a rotor flux synchronous rotating frame, to a stationary reference
|
||||||
|
* frame, so as to obtain qValpha and qVbeta:
|
||||||
|
* Valfa= Vq*Cos(theta)+ Vd*Sin(theta)
|
||||||
|
* Vbeta=-Vq*Sin(theta)+ Vd*Cos(theta)
|
||||||
|
* @param Curr_Input: stator voltage Vq and Vd in qd_t format
|
||||||
|
* @param Theta: rotating frame angular position in q1.15 format
|
||||||
|
* @retval Stator values alpha and beta in alphabeta_t format
|
||||||
|
*/
|
||||||
|
alphabeta_t math_rev_park(qd_t Input, int16_t Theta);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief It calculates the square root of a non-negative s32. It returns 0
|
||||||
|
* for negative s32.
|
||||||
|
* @param Input int32_t number
|
||||||
|
* @retval int32_t Square root of Input (0 if Input<0)
|
||||||
|
*/
|
||||||
|
int32_t math_sqrt(int32_t wInput);
|
||||||
87
src/Foc/svpwm.c
Normal file
87
src/Foc/svpwm.c
Normal file
@ -0,0 +1,87 @@
|
|||||||
|
#include "svpwm.h"
|
||||||
|
void svpwm(int16_t alpha, int16_t beta)
|
||||||
|
{
|
||||||
|
int32_t wX, wY, wZ, wUAlpha, wUBeta, wTimePhA, wTimePhB, wTimePhC;
|
||||||
|
|
||||||
|
wUAlpha = alpha * (int32_t)pHandle->hT_Sqrt3;
|
||||||
|
wUBeta = -(beta * (int32_t)(pHandle->PWMperiod)) * 2;
|
||||||
|
|
||||||
|
wX = wUBeta;
|
||||||
|
wY = (wUBeta + wUAlpha) / 2;
|
||||||
|
wZ = (wUBeta - wUAlpha) / 2;
|
||||||
|
|
||||||
|
/* Sector calculation from wX, wY, wZ */
|
||||||
|
if (wY < 0)
|
||||||
|
{
|
||||||
|
if (wZ < 0)
|
||||||
|
{
|
||||||
|
pHandle->Sector = SECTOR_5;
|
||||||
|
wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wZ) / (int32_t)262144);
|
||||||
|
wTimePhB = wTimePhA + wZ / 131072;
|
||||||
|
wTimePhC = wTimePhA - wY / 131072;
|
||||||
|
pHandle->lowDuty = wTimePhC;
|
||||||
|
pHandle->midDuty = wTimePhA;
|
||||||
|
pHandle->highDuty = wTimePhB;
|
||||||
|
}
|
||||||
|
else /* wZ >= 0 */
|
||||||
|
if (wX <= 0)
|
||||||
|
{
|
||||||
|
pHandle->Sector = SECTOR_4;
|
||||||
|
wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wX - wZ) / (int32_t)262144);
|
||||||
|
wTimePhB = wTimePhA + wZ / 131072;
|
||||||
|
wTimePhC = wTimePhB - wX / 131072;
|
||||||
|
pHandle->lowDuty = wTimePhC;
|
||||||
|
pHandle->midDuty = wTimePhB;
|
||||||
|
pHandle->highDuty = wTimePhA;
|
||||||
|
}
|
||||||
|
else /* wX > 0 */
|
||||||
|
{
|
||||||
|
pHandle->Sector = SECTOR_3;
|
||||||
|
wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wX) / (int32_t)262144);
|
||||||
|
wTimePhC = wTimePhA - wY / 131072;
|
||||||
|
wTimePhB = wTimePhC + wX / 131072;
|
||||||
|
pHandle->lowDuty = wTimePhB;
|
||||||
|
pHandle->midDuty = wTimePhC;
|
||||||
|
pHandle->highDuty = wTimePhA;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else /* wY > 0 */
|
||||||
|
{
|
||||||
|
if (wZ >= 0)
|
||||||
|
{
|
||||||
|
pHandle->Sector = SECTOR_2;
|
||||||
|
wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wZ) / (int32_t)262144);
|
||||||
|
wTimePhB = wTimePhA + wZ / 131072;
|
||||||
|
wTimePhC = wTimePhA - wY / 131072;
|
||||||
|
pHandle->lowDuty = wTimePhB;
|
||||||
|
pHandle->midDuty = wTimePhA;
|
||||||
|
pHandle->highDuty = wTimePhC;
|
||||||
|
}
|
||||||
|
else /* wZ < 0 */
|
||||||
|
if (wX <= 0)
|
||||||
|
{
|
||||||
|
pHandle->Sector = SECTOR_6;
|
||||||
|
wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wY - wX) / (int32_t)262144);
|
||||||
|
wTimePhC = wTimePhA - wY / 131072;
|
||||||
|
wTimePhB = wTimePhC + wX / 131072;
|
||||||
|
pHandle->lowDuty = wTimePhA;
|
||||||
|
pHandle->midDuty = wTimePhC;
|
||||||
|
pHandle->highDuty = wTimePhB;
|
||||||
|
}
|
||||||
|
else /* wX > 0 */
|
||||||
|
{
|
||||||
|
pHandle->Sector = SECTOR_1;
|
||||||
|
wTimePhA = (int32_t)(pHandle->PWMperiod) / 4 + ((wX - wZ) / (int32_t)262144);
|
||||||
|
wTimePhB = wTimePhA + wZ / 131072;
|
||||||
|
wTimePhC = wTimePhB - wX / 131072;
|
||||||
|
pHandle->lowDuty = wTimePhA;
|
||||||
|
pHandle->midDuty = wTimePhB;
|
||||||
|
pHandle->highDuty = wTimePhC;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pHandle->CntPhA = (uint16_t)wTimePhA;
|
||||||
|
pHandle->CntPhB = (uint16_t)wTimePhB;
|
||||||
|
pHandle->CntPhC = (uint16_t)wTimePhC;
|
||||||
|
|
||||||
|
}
|
||||||
18
src/Foc/svpwm.h
Normal file
18
src/Foc/svpwm.h
Normal file
@ -0,0 +1,18 @@
|
|||||||
|
/**
|
||||||
|
* @file svpwm.h
|
||||||
|
* @author jimingqing
|
||||||
|
* @date 2023-05-30
|
||||||
|
* @version 0.0.1
|
||||||
|
* @copyright XiazhiTech Copyright (c) 2023
|
||||||
|
*
|
||||||
|
* @brief
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "stm32f407xx.h"
|
||||||
|
|
||||||
|
#define SECTOR_1 0u
|
||||||
|
#define SECTOR_2 1u
|
||||||
|
#define SECTOR_3 2u
|
||||||
|
#define SECTOR_4 3u
|
||||||
|
#define SECTOR_5 4u
|
||||||
|
#define SECTOR_6 5u
|
||||||
26
src/Foc/type.h
Normal file
26
src/Foc/type.h
Normal file
@ -0,0 +1,26 @@
|
|||||||
|
#include "stm32f407xx.h"
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Two components q, d type definition
|
||||||
|
*/
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
int16_t q;
|
||||||
|
int16_t d;
|
||||||
|
} qd_t;
|
||||||
|
/**
|
||||||
|
* @brief Two components a,b type definition
|
||||||
|
*/
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
int16_t a;
|
||||||
|
int16_t b;
|
||||||
|
} ab_t;
|
||||||
|
/**
|
||||||
|
* @brief Two components alpha, beta type definition
|
||||||
|
*/
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
int16_t alpha;
|
||||||
|
int16_t beta;
|
||||||
|
} alphabeta_t;
|
||||||
Loading…
Reference in New Issue
Block a user