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

#ifndef CMDGEN_H
#define CMDGEN_H

#include "typedefine.h"

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

#define CMD_GEN_OUT_DEFAULT     \
    {                           \
        0, 0, 0, 1, 1, Constant \
    } // Default value of CMD_GEN_OUT
#define CMD_GEN_COF_DEFAULT                                                                        \
    {                                                                                              \
        36864, 2730, 16384, 2730, 16384, 33408, 22272, 13344, 33408, 22272, 13344, 55924, 33554, 0 \
    } // Default value of CMD_GEN_COF

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

/**
 * @brief torque command input
 *
 */
typedef struct
{
    SLONG slRefRpm;   // unit: rpm
    SWORD swAccRpmps; // unit: rpm/s
} CMD_GEN_IN;

/**
 * @brief torque command coefficient input
 *
 */
typedef struct
{
    UWORD uwRefMaxRpm; // unit: rpm, 	Maximum speed

    UWORD uwAccSw1Rpm; // unit: rpm, 	Speed switch 1 in acceleration
    UWORD uwAccSw2Rpm; // unit: rpm,	Speed switch 2 in acceleration
    UWORD uwDecSw1Rpm; // unit: rpm,	Speed switch 1 in deceleration
    UWORD uwDecSw2Rpm; // unit: rpm,	Speed switch 2 in deceleration

    SWORD swAccLim1Rpmps; // unit: rpm/s,	Speed acceleration limit 1
    SWORD swAccLim2Rpmps; // unit: rpm/s,	Speed acceleration limit 2
    SWORD swAccLim3Rpmps; // unit: rpm/s,	Speed acceleration limit 3
    SWORD swDecLim1Rpmps; // unit: rpm/s,	Speed deceleration limit 1
    SWORD swDecLim2Rpmps; // unit: rpm/s,	Speed deceleration limit 2
    SWORD swDecLim3Rpmps; // unit: rpm/s,	Speed deceleration limit 3

    UWORD uwFTbsHz;  // unit: Hz , 	TBS freq
    UWORD uwBaseRpm; // unit: rpm , 	Speed base
} CMD_GEN_COFIN;

typedef enum CmdDpdSta
{
    Decelerate = 0,
    Accelerate = 1,
    Constant = 2
} CMD_SPD_STATUS;

/**
 * @brief  torque command output
 *
 */
typedef struct
{
    SWORD          swSpdCmdRefPu;  // Q15, Speed Pu reference from uart
    SWORD          swSpdRefPu;     // Q15, Speed reference output per tbs
    SLONG          slSpdRefPu;     // Q31, Speed reference output per tbs
    SWORD          swSpdCmdDir;    // speed command direction
    SWORD          swSpdRefDirNow; // Current speed reference direction
    CMD_SPD_STATUS enSpdStatus;    // Speed status
} CMD_GEN_OUT;

/**
 * @brief  torque command coefficient
 *
 */
typedef struct
{
    ULONG ulSpdRefMaxPu; // Q15, Maximum speed

    ULONG ulAccSpdSw1Pu; // Q15, Speed switch 1 in acceleration
    ULONG ulAccSpdSw2Pu; // Q15, Speed switch 2 in acceleration
    ULONG ulDecSpdSw1Pu; // Q15, Speed switch 1 in deceleration
    ULONG ulDecSpdSw2Pu; // Q15, Speed switch 2 in deceleration

    SLONG slAccLim1Pu; // Q31, Speed acceleration limit 1
    SLONG slAccLim2Pu; // Q31, Speed acceleration limit 2
    SLONG slAccLim3Pu; // Q31, Speed acceleration limit 3
    SLONG slDecLim1Pu; // Q31, Speed deceleration limit 1
    SLONG slDecLim2Pu; // Q31, Speed deceleration limit 2
    SLONG slDecLim3Pu; // Q31, Speed deceleration limit 3

    // UWORD uwFTbsHz; 			//unit: Hz , TBS freq
    UWORD uwFTbsHzInv;  // Q25, Tbs frequence inverse
    UWORD uwBaseRpmInv; // Q25, Speed base inverse
    UWORD uwBaseRpm;    // Q0,Speed base
} CMD_GEN_COF;

typedef struct
{
    CMD_GEN_COF Coef; ///< Coefficient of current PI controller
    CMD_GEN_OUT Out;  ///< Output of current PU controller
} CMD_CONTROL;

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

/****************************************
 *
 *           RAM ALLOCATION (N/A)
 *
 ****************************************/

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

/**
 * @brief
 *
 * @param in
 * @param coef
 * @param out
 */
void cmd_voCmdGen(CMD_GEN_IN *in, CMD_CONTROL *s);
void cmd_voCmdDirGen(CMD_GEN_IN *in, CMD_CONTROL *s);
void cmd_voCmdGenCoef(CMD_GEN_COFIN *in, CMD_CONTROL *s);
void cmd_voCmdGenInit(CMD_CONTROL *s);

#endif