*

ODrive-fw-v0.5.6/Firmware/MotorControl/acim_estimator.hpp

@@ -0,0 +1,36 @@
+#ifndef __ACIM_ESTIMATOR_HPP
+#define __ACIM_ESTIMATOR_HPP
+
+#include <component.hpp>
+#include <cmath>
+#include <autogen/interfaces.hpp>
+
+class AcimEstimator : public ComponentBase {
+public:
+    struct Config_t {
+        float slip_velocity = 14.706f; // [rad/s electrical] = 1/rotor_tau
+    };
+
+    void update(uint32_t timestamp) final;
+
+    // Config
+    Config_t config_;
+
+    // Inputs
+    InputPort<float> rotor_phase_src_;
+    InputPort<float> rotor_phase_vel_src_;
+    InputPort<float2D> idq_src_;
+
+    // State variables
+    bool active_ = false;
+    uint32_t last_timestamp_ = 0;
+    float rotor_flux_ = 0.0f; // [A]
+    float phase_offset_ = 0.0f; // [A]
+
+    // Outputs
+    OutputPort<float> slip_vel_ = 0.0f; // [rad/s electrical]
+    OutputPort<float> stator_phase_vel_ = 0.0f; // [rad/s] rotor flux angular velocity estimate
+    OutputPort<float> stator_phase_ = 0.0f; // [rad] rotor flux phase angle estimate
+};
+
+#endif // __ACIM_ESTIMATOR_HPP