/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            asr.h
 Partner Filename:    asr.c
 Description:         The header file of asr.c
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           GD32F3x0
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):

************************************************************************/
#include "typedefine.h"
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef ASR_H
#define ASR_H

/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _ASR_C_
#define _ASR_EXT
#else
#define _ASR_EXT extern
#endif
/************************************************************************
 Definitions & Macros (#define ...)
*************************************************************************/
#define ASR_SPDPI_COF_DEFAULT \
    {                         \
        0, 0, 0               \
    } // Default value of ASR_SPDPI_COF
#define ASR_SPDPI_OUT_DEFAULT \
    {                         \
        0, 0, 0, 0            \
    } // Default value of ASR_SPDPI_OUT
#define MOTOR_SPEED_OUT_DEFAULT \
    {                           \
        0,0                     \
    }// Default value of MOTOR_SPEED_OUT
#define MOTOR_SPEED_IN_DEFAULT \
    {                          \
      0,0,5000,5000            \
    } // Default value of MOTOR_SPEED_IN
/************************************************************************
 global varibles Macros (#define ...)
*************************************************************************/

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/
typedef struct // Input of "asr_voSpdPI"
{
    SWORD swSpdRefPu; // Q15, Speed reference
    SWORD swSpdFdbPu; // Q15, Speed feedback
    SWORD swIqMaxPu;  // Q14, Iq output maximum limit
    SWORD swIqMinPu;  // Q14, Iq output minimum limit
} ASR_SPDPI_IN;
typedef struct // Output of "asr_voSpdPI"
{
    SLONG slIqiPu;   // Q30, Integration of previous step
    SLONG slIqSumPu; // Q21, PI output before limitation
    SLONG slIqRefPu; // Q21, PI output after limitation
    SWORD swIqRefPu; // Q14, PI output after limitation
    SWORD swErrZ1Pu; // Q15, Error recorder
} ASR_SPDPI_OUT;
typedef struct // Input of "asr_voSpdPI"
{
    UWORD uwKpPu;  // Q4,  Kp
    UWORD uwKitPu; // Q15, Kit
    UWORD uwKbPu;  // Q8,  Kb
} ASR_SPDPI_COF;

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/
typedef struct
{
    UWORD uwRatioJm; // Q0,  Ratio of load inertia and motor inertia
    UWORD uwMcoef;   // Q0,  Damping factor
    UWORD uwMtJm;    // Motor rotational inertia
    UWORD uwMtFlxWb; // unit: 0.01mWb, Flux linkage
    UWORD uwUbVt;    // unit: 0.1V, Voltage base
    UWORD uwIbAp;    // unit: 0.01A, Current base
    UWORD uwFbHz;    // unit: Hz, Frequency base
    UWORD uwFTbsHz;  // TBS frequency
    UWORD uwPairs;   // Pole pairs base
    UWORD uwWvcHz;   // unit: Hz, Speed loop bandwidth
} ASR_SPDPI_COFIN;

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/

/************************************************************************
Constant Table
*************************************************************************/

/************************************************************************
 Exported Variables:
*************************************************************************/
#ifdef _ASR_C_
_ASR_EXT ASR_SPDPI_OUT asr_stSpdPIOut = ASR_SPDPI_OUT_DEFAULT;
_ASR_EXT ASR_SPDPI_COF asr_stSpdPICoef = ASR_SPDPI_COF_DEFAULT;

#else
_ASR_EXT ASR_SPDPI_OUT asr_stSpdPIOut;
_ASR_EXT ASR_SPDPI_COF asr_stSpdPICoef;
#endif
/************************************************************************
 RAM ALLOCATION:
*************************************************************************/
#define asr_stSpdPICoefIn (*(ASR_SPDPI_COFIN *)MN_BUFFER)
#define asr_stSpdPIIn     (*(ASR_SPDPI_IN *)TBS_BUFFER)
/************************************************************************
 Exported Function Call Prototypes (N/A)
*************************************************************************/
#ifdef _ASR_C_
_ASR_EXT void asr_voSpdPI(ASR_SPDPI_IN *in, ASR_SPDPI_COF *coef, ASR_SPDPI_OUT *out);
_ASR_EXT void asr_voSpdPICoef(ASR_SPDPI_COFIN *in, ASR_SPDPI_COF *out);
_ASR_EXT void asr_voSpdPIInit(void);
#else
_ASR_EXT void asr_voSpdPI(ASR_SPDPI_IN *in, ASR_SPDPI_COF *coef, ASR_SPDPI_OUT *out);
_ASR_EXT void asr_voSpdPICoef(ASR_SPDPI_COFIN *in, ASR_SPDPI_COF *out);
_ASR_EXT void asr_voSpdPIInit(void);
#endif

/************************************************************************
 Flag Define (N/A)
*************************************************************************/
#endif

/************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/