BMCL_ParaLoadF1.c
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#include "BMCL_ParaLoadF1.h"
#include "BMCL_Config.h"
#include "ParaMge_F1.h"
#include "motor.h"
#include "math_utils.h"
#include "FOC.h"
#include "stdlib.h"
#include "string.h"
void BMCL_PL_PreLoadALL(void)
{
BMCL_motorSetting_PreLoad();
BMCL_motorPID_PreLoad();
BMCL_filter_PreLoad();
}
int BMCL_PL_LoadPID4ParaMge(void)
{
__PARAMGE_TEMP_GENPID *pidConfig = malloc(sizeof(__PARAMGE_TEMP_GENPID));
memset(pidConfig, 0x00, sizeof(__PARAMGE_TEMP_GENPID));
paraMge_GetGenPID(__PARAMGE_INDEX_GENPID_ANGPID, pidConfig);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_ANG,&(pidConfig->config));
memset(pidConfig, 0x00, sizeof(__PARAMGE_TEMP_GENPID));
paraMge_GetGenPID(__PARAMGE_INDEX_GENPID_VELPID, pidConfig);
motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX_VEL,&(pidConfig->config));
free(pidConfig);
}
int BMCL_PL_WritePID2ParaMge(void)
{
__PARAMGE_TEMP_GENPID *pidConfig = malloc(sizeof(__PARAMGE_TEMP_GENPID));
memset(pidConfig, 0x00, sizeof(__PARAMGE_TEMP_GENPID));
motor_GenPID_Get_Needle(__MOTOR_GENPID_INDEX_ANG,&(pidConfig->config));
paraMge_WriteGenPID(__PARAMGE_INDEX_GENPID_ANGPID,pidConfig);
memset(pidConfig, 0x00, sizeof(__PARAMGE_TEMP_GENPID));
motor_GenPID_Get_Needle(__MOTOR_GENPID_INDEX_VEL,&(pidConfig->config));
paraMge_WriteGenPID(__PARAMGE_INDEX_GENPID_VELPID,pidConfig);
free(pidConfig);
}
int BMCL_PL_LoadFilter4ParaMge(void)
{
__PARAMGE_TEMP_KPF kfpConfig = {0};
paraMge_GetKPF(__PARAMGE_INDEX_KPF_VEL, &kfpConfig);
motor_velKFP_Set(kfpConfig.config);
memset(&kfpConfig, 0x00, sizeof(__PARAMGE_TEMP_KPF));
paraMge_GetKPF(__PARAMGE_INDEX_KPF_ANG, &kfpConfig);
motor_angKFP_Set(kfpConfig.config);
__PARAMGE_TEMP_INTF intfConfig = {0};
paraMge_GetINIF(__PARAMGE_INDEX_INTF_0, &intfConfig);
inter_filter_SetRange((uint16_t)intfConfig.inter_Range);
memset(&intfConfig, 0x00, sizeof(__PARAMGE_TEMP_INTF));
paraMge_GetINIF(__PARAMGE_INDEX_INTF_1, &intfConfig);
inter_filterC1_SetRange((uint16_t)intfConfig.inter_Range);
}
int BMCL_PL_WriteFilter2ParaMge(void)
{
__PARAMGE_TEMP_KPF kfpConfig = {0};
kfpConfig.config = motor_velKFP_Get();//速度
paraMge_WriteGenKPF(__PARAMGE_INDEX_KPF_VEL, &kfpConfig);
memset(&kfpConfig, 0x00, sizeof(__PARAMGE_TEMP_KPF));
kfpConfig.config = motor_angKFP_Get();//角度
paraMge_WriteGenKPF(__PARAMGE_INDEX_KPF_ANG, &kfpConfig);
__PARAMGE_TEMP_INTF intfConfig = {0};
intfConfig.inter_Range = inter_filter_GetRange();
paraMge_WriteINIF(__PARAMGE_INDEX_INTF_0, &intfConfig);
memset(&intfConfig, 0x00, sizeof(__PARAMGE_TEMP_INTF));
intfConfig.inter_Range = inter_filterC1_GetRange();
paraMge_WriteINIF(__PARAMGE_INDEX_INTF_1, &intfConfig);
}
int BMCL_PL_LoadMot4ParaMge(void)
{
__PARAMGE_TEMP_MOT *motConfig = malloc(sizeof(__PARAMGE_TEMP_MOT));
memset(motConfig, 0x00, sizeof(__PARAMGE_TEMP_MOT));
paraMge_GetMOT(motConfig);
motor_Set_ZeroEAngleOffset(motConfig->mge_mot_eleAngleOffset);
motor_SetPP(motConfig->mot_FOC_PP);
mge_Set_abOffset(motConfig->mge_absOffset);
mge_Set_direction(motConfig->mge_direction);
motor_SetUpLimit(motConfig->mot_LimitAngle_B);
motor_SetDownLimit(motConfig->mot_LimitAngle_S);
FOC_PARA focConfig = {0};
focConfig.foc_Udc = motConfig->mot_FOC_Udc;
focConfig.foc_ULimit = motConfig->mot_FOC_ULimitOnUdc;
foc_para_Set(focConfig);
free(motConfig);
}
int BMCL_PL_WriteMot2ParaMge(void)
{
__PARAMGE_TEMP_MOT *motConfig = malloc(sizeof(__PARAMGE_TEMP_MOT));
memset(motConfig, 0x00, sizeof(__PARAMGE_TEMP_MOT));
motConfig->mge_Calibration = BMCL_mot_Calibration;
motConfig->mge_mot_eleAngleOffset = motor_Get_ZeroEAngleOffset();
motConfig->mot_FOC_PP = motor_GetPP();
motConfig->mge_absOffset = mge_Get_abOffset();
motConfig->mge_direction = mge_Get_direction();
motConfig->mot_LimitAngle_B = motor_GetUpLimit();
motConfig->mot_LimitAngle_S = motor_GetDownLimit();
FOC_PARA focConfig = {0};
focConfig = foc_para_Get();
motConfig->mot_FOC_Udc = focConfig.foc_Udc;
motConfig->mot_FOC_ULimitOnUdc = focConfig.foc_ULimit;
paraMge_WriteMOT(motConfig);
free(motConfig);
}
int BMCL_PL_LoadAll4ParaMge(void)
{
// CUT## 加载PID
BMCL_PL_LoadPID4ParaMge();
// CUT## 加载滤波器
BMCL_PL_LoadFilter4ParaMge();
// CUT## 加载电机
BMCL_PL_LoadMot4ParaMge();
}
int BMCL_PL_WriteAll2ParaMge(void)
{
// CUT## 写入PID
BMCL_PL_WritePID2ParaMge();
// CUT## 写入滤波器
BMCL_PL_WriteFilter2ParaMge();
// CUT## 写入电机
BMCL_PL_WriteMot2ParaMge();
}