v1.2版本改为通过xbox系列手柄进行遥控,并增加智能模式和手动模式

v1.2/Shibo-main-TOMMY/lib/Simple_FOC/src/current_sense/LowsideCurrentSense.h

@@ -0,0 +1,66 @@
+#ifndef LOWSIDE_CS_LIB_H
+#define LOWSIDE_CS_LIB_H
+
+#include "Arduino.h"
+#include "../common/foc_utils.h"
+#include "../common/time_utils.h"
+#include "../common/defaults.h"
+#include "../common/base_classes/CurrentSense.h"
+#include "../common/base_classes/FOCMotor.h"
+#include "../common/lowpass_filter.h"
+#include "hardware_api.h"
+
+
+class LowsideCurrentSense: public CurrentSense{
+  public:
+    /**
+      LowsideCurrentSense class constructor
+      @param shunt_resistor shunt resistor value
+      @param gain current-sense op-amp gain
+      @param phA A phase adc pin
+      @param phB B phase adc pin
+      @param phC C phase adc pin (optional)
+    */
+    LowsideCurrentSense(float shunt_resistor, float gain, int pinA, int pinB, int pinC = NOT_SET);
+
+    // CurrentSense interface implementing functions
+    void init() override;
+    PhaseCurrent_s getPhaseCurrents() override;
+    int driverSync(BLDCDriver *driver) override;
+    int driverAlign(BLDCDriver *driver, float voltage) override;
+
+    // ADC measuremnet gain for each phase
+    // support for different gains for different phases of more commonly - inverted phase currents
+    // this should be automated later
+    float gain_a; //!< phase A gain
+    float gain_b; //!< phase B gain
+    float gain_c; //!< phase C gain
+
+    // // per phase low pass fileters
+    // LowPassFilter lpf_a{DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf}; //!<  current A low pass filter
+    // LowPassFilter lpf_b{DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf}; //!<  current B low pass filter
+    // LowPassFilter lpf_c{DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf}; //!<  current C low pass filter
+
+  private:
+
+    // hardware variables
+  	int pinA; //!< pin A analog pin for current measurement
+  	int pinB; //!< pin B analog pin for current measurement
+  	int pinC; //!< pin C analog pin for current measurement
+
+    // gain variables
+    float shunt_resistor; //!< Shunt resistor value
+    float amp_gain; //!< amp gain value
+    float volts_to_amps_ratio; //!< Volts to amps ratio
+
+    /**
+     *  Function finding zero offsets of the ADC
+     */
+    void calibrateOffsets();
+    float offset_ia; //!< zero current A voltage value (center of the adc reading)
+    float offset_ib; //!< zero current B voltage value (center of the adc reading)
+    float offset_ic; //!< zero current C voltage value (center of the adc reading)
+
+};
+
+#endif