STM32F4无刷FOC电机驱动源码

基于STM32F4开发的FOC算法无刷电机驱动源码，有C和C++代码，能直接用于项目。//进入转矩模式
void enter_torque_mode(void){
drv.enable_gd();
//gpio.enable->write(1);
controller.ovp_flag = 0;
reset_foc(&controller); // Tesets integrators, and other control loop parameters
wait(.001);
controller.i_d_ref = 0;
controller.i_q_ref = 0; // Current Setpoints
gpio.led->write(1); // Turn on status LED
state_change = 0;
printf("\n\r Entering Motor Mode \n\r");
}

//校准编码器位置
void calibrate(void){
drv.enable_gd();
//gpio.enable->write(1);
gpio.led->write(1); // Turn on status LED
order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
gpio.led->write(0);; // Turn off status LED
wait(.2);
printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
drv.disable_gd();
//gpio.enable->write(0);
state_change = 0;
}