/********************?（C）?COPYRIGHT?2007?STMicroelectronics?********************
*?File?Name??????????:?MC_State_Observer.c
*?Author?????????????:?IMS?Systems?Lab?
*?Date?First?Issued??:?21/11/07
*?Description????????:?This?module?implements?the?State?Observer?of?
*??????????????????????the?PMSM?B-EMF?thus?identifying?rotor?speed?and?position
*
********************************************************************************
*?History:
*?21/11/07?v1.0
********************************************************************************
*?THE?PRESENT?SOFTWARE?WHICH?IS?FOR?GUIDANCE?ONLY?AIMS?AT?PROVIDING?CUSTOMERS
*?WITH?CODING?INFORMATION?REGARDING?THEIR?PRODUCTS?IN?ORDER?FOR?THEM?TO?SAVE?TIME.
*?AS?A?RESULT?STMICROELECTRONICS?SHALL?NOT?BE?HELD?LIABLE?FOR?ANY?DIRECT
*?INDIRECT?OR?CONSEQUENTIAL?DAMAGES?WITH?RESPECT?TO?ANY?CLAIMS?ARISING?FROM?THE
*?CONTENT?OF?SUCH?SOFTWARE?AND/OR?THE?USE?MADE?BY?CUSTOMERS?OF?THE?CODING
*?INFORMATION?CONTAINED?HEREIN?IN?CONNECTION?WITH?THEIR?PRODUCTS.
*******************************************************************************/

/*?Includes?------------------------------------------------------------------*/

#include?“stm32f10x_type.h“
#include?“MC_type.h“
#include?“MC_State_Observer.h“

/*?Private?define?------------------------------------------------------------*/
#define?BUFFER_SIZE?（u8）64

/*?Private?variables?---------------------------------------------------------*/
static?s32?wIalfa_estwIbeta_est;
static?s32?wBemf_alfa_est?wBemf_beta_est;
static?s32?wSpeed_PI_integral_sum;
static?s16?hBemf_alfa_esthBemf_beta_est;

static?s16?hSpeed_Buffer[BUFFER_SIZE];
static?s16?hRotor_El_Angle;
static?s16?hRotor_Speed_dpp;


static?bool?Max_Speed_Out?Min_Speed_Out?Is_Speed_Reliable;
static?u8?bSpeed_Buffer_Index;

extern?const?s16?hSin_Cos_Table[256];

static?volatile?s16?hC2?hC4;
static?s16?hF1?hF2?hF3?hC1?hC3hC5?hC6;

static?volatile?s16?hSpeed_P_Gain?hSpeed_I_Gain;
static?s32?wMotorMaxSpeed_dpp;
static?u16?hPercentageFactor;

/*?Private?function?prototypes?-----------------------------------------------*/
s16?Calc_Rotor_Speed（s16?s16）;
s16?Speed_PI（s16?s16）;
void?Store_Rotor_Speed（s16）;

//function?of?MC_Clarke_Park.c
Trig_Components?Trig_Functions（s16）;

/*******************************************************************************
*?Function?Name?:?STO_Calc_Rotor_Angle??角度
*?Description?:?This?function?implements?the?State?Observer?of?a
*???????	PMSM?back-emfs.?Thus?motor?speed?and?rotor?angle?are?calculated
*	????????and?stored?in?the?variables?hRotor_SpeedhRotor_El_Angle.
*?Input?:?Stator?voltage?reference?values?Valpha?Vbeta?（as?provided?by?RevPark
*?????????through?variable?Stat_Volt_alfa_beta）
*	??Stator?current?values?IalphaIbeta?（as?provided?by?Clark?trasformation
*	??through?variable?Stat_Curr_alfa_beta）??DC?bus?voltage.??????????????????????????//?定子的電壓與電流有關
*?Output?:?None
*?Return?:?None
***************************