motor_ctl-1/2.MotorDrive/Include/flxwkn.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            flxwkn.h
 Partner Filename:    flxwkn.c
 Description:         The header file of flxwkn.c
 Complier:            IAR Embedded Workbench for ARM 7.80.4
 CPU TYPE :           GD32F3x0
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
 Revising History (ECL of this file):
 Fjy create this file;
************************************************************************/
#include "typedefine.h"
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef FLXWKN_H
#define FLXWKN_H

/************************************************************************
 Compiler Directives (N/A)
************************************************************************/
#ifdef _FLXWKN_C_
#define _FLXWKN_EXT
#else
#define _FLXWKN_EXT extern
#endif

/************************************************************************
 Definitions & Macros
************************************************************************/
#define FW_CTRL_COEF_DEFAULT                        \
    {                                               \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    } // Default value of FW_CTRL_COEF
#define FW_CTRL_OUT_DEFAULT \
    {                       \
        0, 0, 0, 0          \
    } // Default value of FW_CTRL_OUT

/************************************************************************
 TypeDefs & Structure Defines
************************************************************************/
typedef struct
{
    UWORD uwPWMDutyMax;         // Q0, Max modulation ratio in flux weakening
    UWORD uwIdRegKpPu;          // Q16, Kp for d axis current
    UWORD uwIdRegKiPu;          // Q16, Ki for d axis current
    SWORD swIdPIOutMinAp;       // Q0, Min Id of PI out
    UWORD uwVdcMinCalcTmMs;     // Q0, period of Vdc fluctuate
    UWORD uwVdcLpfFreqHz;       // Q0, Frequency of Vdc LPF
    UWORD uwCharCurDampRatio;   // Q0, Charactoristic current Damping Ratio
    UWORD uwCharCurCrossFreqHz; // Q0, Charactoristic current Cross Frequence
    UWORD uwFwCurLimAp;         // Q0, Current Limit
    UWORD uwIdMinLimRatio;      // Q0, Ratio of Min d axis current (Charactoristic current)
    SWORD swIdMaxAp;            // Q0, Max d axis current
    SWORD swIdMinAp;            // Q0, Min d axis current (Charactoristic current)
    UWORD uwRsOhm;              // Q0, Phase resistance
    UWORD uwFreqTbcHz;          // Q0, TBC freq
    UWORD uwIBaseAp;            // Q0, Base Current
    UWORD uwFBaseHz;            // Q0, Base Frequency
    UWORD uwUbVt;               // Q0, Voltage base
} FW_CTRL_COEFIN;

typedef struct
{
    UWORD uwVdcPu;    // Q14, DC bus Voltage
    SWORD swUalphaPu; // Q14, alpha-axis Voltage
    SWORD swUbetaPu;  // Q14, beta-axis Voltage
    SWORD swIqRefPu;  // Q14, q-axis Current
    SWORD swUqRefPu;  // Q14, q-axis Voltage
} FW_CTRL_IN;

typedef struct
{
    UWORD uwVdcRatioPu;    // Q14, Vdc ration
    UWORD uwIdRegKpPu;     // Q16, d-axis Current regulation Kp
    UWORD uwIdRegKitPu;    // Q16, d-axis Current regulation Kit
    UWORD uwIqRegKpPu;     // Q15, q-axis Current regulation Kp
    SWORD swIqLimMaxPu;    // Q14, q-axis Currentlimit value used for speed loop out
    SLONG slIdMaxPu;       // Q30, d-axis Current max
    SLONG slIdMinPu;       // Q30, d-axis Current min
    SLONG slIdMinLimPu;    // Q30, d-axis Current min limit
    UWORD uwVdcAvgLpfCoef; // Q15, DC bus Voltage LowPass filter coefficient
    UWORD uwVdcMinCalcTm;  // Q0, period of Vdc fluctuate
    SLONG slIdPIOutMinPu;  // Q30, Min Id of PI out
    UWORD uwKpPu;          // Q16, Estimate Min d-axis Current regulation Kp
    SLONG slKitPu;         // Q25, Estimate Min d-axis Current regulation Kit
    UWORD uwFwCurLimPu;    // Q14, Current Limit
    UWORD uwRsPu;          // Q15, Motor phase resistance
} FW_CTRL_COEF;

typedef struct
{
    SLONG slIdSumPu;    // Q30, d-axis Current PI regulation output before limitation
    SWORD swIqLimPu;    // Q14, q-axis Currentlimit value used for speed loop out
    SWORD swIdRefPu;    // Q14, d-axis Current reference value used for current loop regulation
    SLONG slIdMinEstPu; // Q30, d-axis Current Estimate Min
} FW_CTRL_OUT;

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

/************************************************************************
 Exported Variables
************************************************************************/
#ifdef _FLXWKN_C_
_FLXWKN_EXT FW_CTRL_OUT  flx_stCtrlOut = FW_CTRL_OUT_DEFAULT;
_FLXWKN_EXT FW_CTRL_COEF flx_stCtrlCoef = FW_CTRL_COEF_DEFAULT;
#else
_FLXWKN_EXT FW_CTRL_OUT  flx_stCtrlOut;
_FLXWKN_EXT FW_CTRL_COEF flx_stCtrlCoef;
#endif

/************************************************************************
 RAM ALLOCATION
************************************************************************/
#define flx_stCtrlIn     (*(FW_CTRL_IN *)TBC_BUFFER)
#define flx_stCtrlCoefIn (*(FW_CTRL_COEFIN *)MN_BUFFER)

/************************************************************************
 Exported Function Call Prototypes
************************************************************************/
#ifdef _FLXWKN_C_
_FLXWKN_EXT void flx_voInit(void);
_FLXWKN_EXT void flx_voCoef(FW_CTRL_COEFIN *in, FW_CTRL_COEF *out);
_FLXWKN_EXT void flx_voCtrl(FW_CTRL_IN *in, FW_CTRL_COEF *coef, FW_CTRL_OUT *out);
#else
_FLXWKN_EXT void flx_voInit(void);
_FLXWKN_EXT void flx_voCoef(FW_CTRL_COEFIN *in, FW_CTRL_COEF *out);
_FLXWKN_EXT void flx_voCtrl(FW_CTRL_IN *in, FW_CTRL_COEF *coef, FW_CTRL_OUT *out);
#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!
************************************************************************/