v1.3增加一个简单的越障模式

v1.3/lib/Simple_FOC/src/current_sense/GenericCurrentSense.h

@@ -0,0 +1,41 @@
+#ifndef GENERIC_CS_LIB_H
+#define GENERIC_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/lowpass_filter.h"
+#include "hardware_api.h"
+
+
+class GenericCurrentSense: public CurrentSense{
+  public:
+    /**
+      GenericCurrentSense class constructor
+    */
+    GenericCurrentSense(PhaseCurrent_s (*readCallback)() = nullptr, void (*initCallback)() = nullptr);
+
+    // CurrentSense interface implementing functions 
+    void init() override;
+    PhaseCurrent_s getPhaseCurrents() override;
+    int driverSync(BLDCDriver *driver) override;
+    int driverAlign(BLDCDriver *driver, float voltage) override;
+
+
+    PhaseCurrent_s (*readCallback)() = nullptr; //!< function pointer to sensor reading
+    void (*initCallback)() = nullptr; //!< function pointer to sensor initialisation
+
+  private:
+    /**
+     *  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