/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            alignstartup.h
 Partner Filename:    alignstartup.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 ALIGN_H
#define ALIGN_H

/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _ALIGN_C_
#define _ALIGN_EXT
#else
#define _ALIGN_EXT extern
#endif

/************************************************************************
 Definitions & Macros (#define ...)
*************************************************************************/
#define ALIGN_COF_DEFAULT \
    {                     \
        0, 0, 0           \
    } // Default value of ASR_SPDPI_COF
#define ALIGN_OUT_DEFAULT \
    {                     \
        0, 0, 0, 0        \
    } // Default value of ASR_SPDPI_OUT
/************************************************************************
 global varibles Macros (#define ...)
*************************************************************************/

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/
typedef struct
{                        // Input of " acr_voCurPI "
    ULONG ulStatCt;      // Q14, Current reference
    SWORD swRotateDir;   // Q14, Current feedback
    SWORD swCurRefrompu; // Q12, Voltage output maximum limit
    UWORD uwObsElecThetaPu;
} ALIGN_IN;
typedef struct
{                   // Output of " acr_voCurPI "
    ULONG ulStatCt; // Q14, Output voltage feedback
    UWORD uwAngSwitchK;
    SLONG slIdRefPu; // Q26, Output voltage feedback
    SWORD swIdRefPu; // Q14, Error recorder
    SLONG slIqRefPu; // Q26, Output voltage feedback
    SWORD swIqRefPu; // Q14, Error recorder
    SLONG slDragSpdRefPu;
    SLONG slDragSpdPu;
    SLONG slAngManuPu;
    UWORD uwAngManuPu;
    UWORD uwAngRefPu;
    BOOL  blStartUpOvrFlg;
    BOOL  blCurSwitchOvrFlg;
    BOOL  blAngSwitchOvrFlg;
} ALIGN_OUT;
typedef struct
{ // Input of " acr_voCurPI "
    UWORD uwAlignCurPu;
    ULONG ulAlignRampTbcCt; // Q12, Current coefficient of proportion
    ULONG ulAlignHoldTbcCt;
    ULONG ulAlignCurIncPerTbcPu; // Q15, Current coefficient of Integral
    UWORD uwDragCurPu;           // Q15, Active Resistance
    ULONG ulDragSpdIncPerTbcPu;
    ULONG ulOpen2ClzCurIncPerTbcPu;
    ULONG ulDragSpdRampTbcCt;
    SLONG uwDragSpdPu;
    SLONG slAlignAngInit;
    ULONG ulOpen2ClzCurRampTbcCt;
    UWORD uwSPIreadOnceCt;
} ALIGN_COF;

/************************************************************************
 Exported Variables:
*************************************************************************/
#ifdef _ALIGN_C_
_ALIGN_EXT ALIGN_COF align_stCoef = ALIGN_COF_DEFAULT;
_ALIGN_EXT ALIGN_OUT align_stOut = ALIGN_OUT_DEFAULT;
#else
_ALIGN_EXT ALIGN_COF align_stCoef;
_ALIGN_EXT ALIGN_OUT align_stOut;
#endif

/************************************************************************
 RAM ALLOCATION:
*************************************************************************/
#define align_stIn (*(ALIGN_IN *)TBC_BUFFER)
/************************************************************************
 Exported Function Call Prototypes (N/A)
*************************************************************************/
#ifdef _ALIGN_C_
_ALIGN_EXT void align_voInitPos(ALIGN_IN *in, ALIGN_COF *coef, ALIGN_OUT *out);
_ALIGN_EXT void align_voStartUp(ALIGN_IN *in, ALIGN_COF *coef, ALIGN_OUT *out);
_ALIGN_EXT void align_voOpen2Clz(ALIGN_IN *in, ALIGN_COF *coef, ALIGN_OUT *out);
_ALIGN_EXT void align_voCoef();
_ALIGN_EXT void align_voInit(void);
#else
_ALIGN_EXT void align_voInitPos(ALIGN_IN *in, ALIGN_COF *coef, ALIGN_OUT *out);
_ALIGN_EXT void align_voStartUp(ALIGN_IN *in, ALIGN_COF *coef, ALIGN_OUT *out);
_ALIGN_EXT void align_voOpen2Clz(ALIGN_IN *in, ALIGN_COF *coef, ALIGN_OUT *out);
_ALIGN_EXT void align_voCoef();
_ALIGN_EXT void align_voInit(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!
*************************************************************************/