写一个基于stm32f4的有感foc代码

以下是一个基于STM32F4的有感FOC代码的示例。本示例使用了STM32F4 Discovery开发板和HAL库。

首先，需要包含必要的头文件：

#include "stm32f4xx_hal.h"
#include "arm_math.h"
#include "math.h"

接下来，定义一些常量和变量：

#define PWM_FREQUENCY 20000
#define PWM_PERIOD (SystemCoreClock / PWM_FREQUENCY)
#define ADC_RESOLUTION 4096
#define VBUS_VOLTAGE 12

float32_t phase_a_current;
float32_t phase_b_current;
float32_t phase_c_current;
float32_t phase_a_voltage;
float32_t phase_b_voltage;
float32_t phase_c_voltage;
float32_t alpha;
float32_t beta;
float32_t d;
float32_t q;
float32_t theta_elec;
float32_t theta_mech;
float32_t position;
float32_t speed;
float32_t target_speed;
float32_t torque;
float32_t pid_output;
float32_t adc_offset;
float32_t v_bus;
float32_t v_alpha;
float32_t v_beta;
float32_t v_d;
float32_t v_q;
float32_t i_d;
float32_t i_q;
float32_t flux;
float32_t id_ref;
float32_t iq_ref;
float32_t speed_ref;
float32_t pid_error;
float32_t pid_error_prev;
float32_t pid_integral;
float32_t pid_derivative;
float32_t pid_kp;
float32_t pid_ki;
float32_t pid_kd;
float32_t pid_dt;
float32_t pid_max_integral;
float32_t pid_max_output;
float32_t pid_min_output;
float32_t phase_shift;
float32_t sin_theta;
float32_t cos_theta;
float32_t sin_theta_prev;
float32_t cos_theta_prev;
float32_t sin_theta_error;
float32_t cos_theta_error;
float32_t sin_theta_integral;
float32_t cos_theta_integral;
float32_t sin_theta_derivative;
float32_t cos_theta_derivative;
float32_t sin_theta_kp;
float32_t sin_theta_ki;
float32_t sin_theta_kd;
float32_t cos_theta_kp;
float32_t cos_theta_ki;
float32_t cos_theta_kd;
float32_t sin_theta_max_integral;
float32_t cos_theta_max_integral;
float32_t sin_theta_max_output;
float32_t cos_theta_max_output;
float32_t sin_theta_min_output;
float32_t cos_theta_min_output;
float32_t sin_theta_output;
float32_t cos_theta_output;
float32_t v_alpha_error;
float32_t v_beta_error;
float32_t v_alpha_integral;
float32_t v_beta_integral;
float32_t v_alpha_derivative;
float32_t v_beta_derivative;
float32_t v_alpha_kp;
float32_t v_alpha_ki;
float32_t v_alpha_kd;
float32_t v_beta_kp;
float32_t v_beta_ki;
float32_t v_beta_kd;
float32_t v_alpha_max_integral;
float32_t v_beta_max_integral;
float32_t v_alpha_max_output;
float32_t v_beta_max_output;
float32_t v_alpha_min_output;
float32_t v_beta_min_output;
float32_t v_alpha_output;
float32_t v_beta_output;
float32_t i_alpha;
float32_t i_beta;
float32_t i_alpha_error;
float32_t i_beta_error;
float32_t i_alpha_integral;
float32_t i_beta_integral;
float32_t i_alpha_derivative;
float32_t i_beta_derivative;
float32_t i_alpha_kp;
float32_t i_alpha_ki;
float32_t i_alpha_kd;
float32_t i_beta_kp;
float32_t i_beta_ki;
float32_t i_beta_kd;
float32_t i_alpha_max_integral;
float32_t i_beta_max_integral;
float32_t i_alpha_max_output;
float32_t i_beta_max_output;
float32_t i_alpha_min_output;
float32_t i_beta_min_output;
float32_t i_alpha_output;
float32_t i_beta_output;

uint32_t adc_raw;
uint32_t pwm_duty_cycle;

TIM_HandleTypeDef htim1;
TIM_HandleTypeDef htim8;
ADC_HandleTypeDef hadc1;
UART_HandleTypeDef huart2;

接下来，定义一些函数：

- `MX_GPIO_Init()` 初始化GPIO
- `MX_TIM1_Init()` 初始化TIM1，用于PWM输出
- `MX_TIM8_Init()` 初始化TIM8，用于计算机电位置和速度
- `MX_ADC1_Init()` 初始化ADC1，用于读取电流传感器值
- `MX_USART2_UART_Init()` 初始化USART2，用于调试信息输出
- `HAL_TIM_PeriodElapsedCallback()` 定时器中断处理函数，每个计数器周期都会触发一次

以下是示例代码：