motor_ctl-1/3.BasicFunction/Include/uart_TORG4BBSensor.h

/**
  ******************************************************************************
  * @file    uart_TORG4BBSensor.h
  * @author
  * @version V1.0.0
  * @date    05-02-2025
  * @brief   TORG4BBSensor function.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
  *
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  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */

/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __UART_TORG4BBSENSOR_H
#define __UART_TORG4BBSENSOR_H
/* Includes ------------------------------------------------------------------*/
#include "usart.h"

#define TORG4BBCADENCE_LPF_GAIN                 80
#define TORG4BBTORQUE_TIMEOUT_UNIT               10  //ms
#define TORG4BBTORQUE_TIMEOUT_TIME               100  //ms
/* Define to variables declare---------------------------------------------------*/
//先发送低位后高位
typedef struct
{
    UBYTE ucTemp;//温度
    UWORD uwTorqueReg;//力矩
    UWORD uwTorqueRegLast;//力矩
    UBYTE ucForwardCnt; //踏频速度
    UBYTE ucForwardCntLast; //踏频速度
    UWORD uwMotorSpeed;//电机转速
} TORG4BBInfo_Struct_t;

typedef struct
{
    UWORD uwTorqueRegOffset;//力矩零点
    UWORD uwTorqueReg2Pu;
    UWORD uwTorqueLPFgain;
    UWORD uwMaxTimeOutCnt;

    UWORD uwTimeOutCnt;
    UWORD uwTorquePu;//力矩
    UWORD uwTorqueLPFPu;
    UWORD uwTorqueLPFPuLast;
} TORG4BB_OUT;

/* Public variables declare---------------------------------------------------*/

/*Private function declare---------------------------------------------------*/
void TORG4BB_Init(void);
void TORG4BB_USART_DataProcess(USART_Buf_TypeDef* ptUartTx, UBYTE* Data);
void TORG4BB_USART_RxData_Process(USART_Buf_TypeDef* ptUartTx, UBYTE* buf, UWORD dataCount);
void TORG4BB_Torque_Handler(void);
uint32_t TORG4BB_Get_CAD_PORT(void);

#endif

/*---------------------------- file end -------------------------------------*/