FOC_TEST/motor/motor_define.h

#ifndef __MOTOR_DEFINE_H
#define __MOTOR_DEFINE_H


typedef enum{
	MOTOR_CW  = 0,
	MOTOR_CCW = 1,
	
}MotorDirection;

typedef enum{
	MOTOR_SENSOR_LESS = 0,
	MOTOR_SENSOR_HALL = 1,
	MOTOR_SENSOR_ENCODER = 2,
}MotorSensor;

// 状态枚举
typedef enum {
    CTRL_STATE_IDLE = 0,
    CTRL_STATE_STARTUP_RAMP = 1 ,        // 启动电流斜坡
    CTRL_STATE_OPENLOOP_RUN = 2,        // 开环运行等待达到速度
    CTRL_STATE_ALIGNMENT = 3,           // 角度对齐阶段
    CTRL_STATE_TRANSITION_BLENDING = 4, // 过渡融合阶段
    CTRL_STATE_HALL_CLOSED_LOOP = 5,    // 霍尔闭环运行
    CTRL_STATE_STOPPING = 6             // 停车处理
} ControlState_e;


typedef struct{
	MotorDirection direction; // 电机旋转方向 0 CW 1 CCW
	unsigned char poles; // 电机极数
	MotorSensor sensor; // 传感器类型 0 无感 1 霍尔 2 编码器
	float eleangle; // 电机当前电角度
	ControlState_e ctrl_state; // 当前电机状态
	
}MotorParam_t;

extern MotorParam_t* get_motor(void);

#endif