/**
 * @file cmd_torque_gen.h
 * @author Zhang, Kai(zhangkai71@midea.com)
 * @brief Time task control
 * @version 0.1
 * @date 2021-09-27
 *
 * @copyright Copyright (c) 2021
 *
 */

#ifndef CMD_TORQUE_GEN_H
#define CMD_TORQUE_GEN_H

#include "typedefine.h"

/****************************************
 *
 *          Definitions & Macros
 *
 ****************************************/

/***************************************
 *
 *          Type  Definations
 *
 ***************************************/

/**
 * @brief torque command input
 *
 */
typedef struct
{
    SWORD swTorqCmdRpm;
    SWORD swTorqNowPu;
} CMD_TORQ_IN;

/**
 * @brief torque command coefficient input
 *
 */
typedef struct
{
    ULONG ulAccelPu;
    ULONG ulDecelPu;
    SWORD swBrakeSpdDeltaPu;
} CMD_TORQ_COF_IN;

/**
 * @brief  torque command output
 *
 */
typedef struct
{
    SWORD      swNewTorqRefPu;
    SWORD      swOldTorqRefPu;
    SWORD      swNewCmdDir;
    SWORD      swOldCmdDir;
   // FlagStatus blConsVolBrakeFlg;
    BOOL blConsVolBrakeFlg;
    SWORD      swIntRefPu; // Q14, command pu ,(electrical value)
    SLONG      slIntRefPu;
    SWORD      swMotorDir;
} CMD_TORQ_OUT;

/**
 * @brief  torque command coefficient
 *
 */
typedef struct
{
    ULONG ulAccelPu;
    ULONG ulDecelPu;
    SWORD swBrakeSpdDeltaPu;
} CMD_TORQ_COF;

typedef struct
{
    CMD_TORQ_COF Coef; ///< Coefficient of current PI controller
    CMD_TORQ_OUT Out;  ///< Output of current PU controller
} CMD_TORQ_CONTROL;

/****************************************
 *
 *           Exported variable
 *
 ****************************************/

/***************************************
 *
 *          Function  Definations
 *
 ***************************************/

/**
 * @brief Process when switching state from Ready to Run
 *
 */
void cmd_voTorqInit(void);

/**
 * @brief Process of FSM during SysInit state
 *
 */
void cmd_voTorqOut(void);

/**
 * @brief Process of FSM during SysRdy state
 *
 */
void cmd_voTorqCoef(void);

#endif