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

/**
 * @file Cadence.h
 * @author Wang, Zhiyu(wangzy49@midea.com)
 * @brief Cadence of ebike
 * @version 0.1
 * @date 2021-09-29
 *
 * @copyright Copyright (c) 2021
 *
 */
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef CADENCE_H
#define CADENCE_H
#include "user.h"
#include "typedefine.h"
/****************************************
 *
 *          Definitions & Macros
 *
 ****************************************/
//#if (ASSIST_MODE == TORQUE_ASSIST)
//力矩相关参数
#define TORQUE_NUMBERS_PULSES           60  //24   //24 48 64(350W-bike)          //numbers of pulses per cycles
#define TORQUE_START_INTERVALTIME_MS    1000 // 250     //interveal time of detect valid pulses to start, ms
#define TORQUE_NUMBERS_VALIDPULSE2START  1    // numbers of valid pulses that needed to start
#define TORQUE_LF_RECORDTIME_MS         500  // time of Recording pulses per cycle, ms
#define TORQUE_LF_MINFRE                25   // Min frequency of human foot in Low frequency method, 0.01Hz
#define TORQUE_HF_MAXTIME_MS            150  // 3000             //Min time of valid pulses, ms
#define TORQUE_ERROR_RESETTIME_MS       5000 // TIMER PERIOD,ms
#define TORQUE_TIM_TIMERUNIT_US         ((SLONG)100000/FTBS_HZ)   //25   // TIMER PERIOD,ms    us
#define TORQUE_LPF_GAIN                 80   //%
#define TORQUE_MAX_FREQUENCY            5    // Hz, human foot
//#elif (ASSIST_MODE == CADENCE_ASSIST)
//踏频相关参数
#define CADENCE_NUMBERS_PULSES           60   //24 48 64(350W-bike)          //numbers of pulses per cycles
#define CADENCE_START_INTERVALTIME_MS    5000 // 250     //interveal time of detect valid pulses to start, ms
#define CADENCE_NUMBERS_VALIDPULSE2START 1    // numbers of valid pulses that needed to start
#define CADENCE_LF_RECORDTIME_MS         500  // time of Recording pulses per cycle, ms
#define CADENCE_LF_MINFRE                25   // Min frequency of human foot in Low frequency method, 0.01Hz
#define CADENCE_HF_MAXTIME_MS            ((800*12)/CADENCE_NUMBERS_PULSES)  // 3000             //Min time of valid pulses, ms
#define CADENCE_ERROR_RESETTIME_MS       5000 // TIMER PERIOD,ms
#define CADENCE_TIM_TIMERUNIT_US         ((SLONG)100000/FTBS_HZ)   //25   // TIMER PERIOD,ms    us
#define CADENCE_LPF_GAIN                 80   //%
#define CADENCE_MAX_FREQUENCY            5    // Hz, human foot
//#endif



#define CADENCE_COF_DEFAULT       \
    {                             \
        0, 0, 0, 0, 0, 0, 0, 0, 0 \
    }
#define CADENCE_OUT_DEFAULT                                               \
    {                                                                     \
        0, 0, 0, 0, 0, 0, 0, FALSE, FALSE, CADENCE_DIR_IDLE, CADENCE_IDLE \
    } // Default value of CADENCE_OUT

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

/**
 * @brief Cadence FSM
 *
 */
typedef enum
{
    CADENCE_IDLE = 0,
    CADENCE_LFreWork = 1,
    CADENCE_HFreWork = 2,
    CADENCE_BACKWOR = 3,
    CADENCE_ERROR = 4
} CADENCE_FSM;

/**
 * @brief Cadence Direction
 *
 */
typedef enum
{
    CADENCE_DIR_FORWARD = 0,
    CADENCE_DIR_BACKWARD = 1,
    CADENCE_DIR_IDLE = 2,
    CADENCE_DIR_ERROR = 3
} CADENCE_DIR;

/**
 * @brief Cadence coefficient
 *
 */
typedef struct
{
    UWORD uwNumbersPulses;          //公共使用脉冲数
    UWORD uwTorque_NumbersPulses;  // numbers of Torque pulses per cycles
    UWORD uwCad_NumbersPulses;      //numbers of cad pulses per cycles
    UWORD uwSartIntervalTimeCnt;     // interveal time of detect valid pulses, ms
    UWORD uwNumbersValidPulse2Start; // numbers of valid pulses that needed to start
    UWORD uwLfRecordTimeCnt;         // time of Recording pulses per cycle, ms
    UWORD uwLfMinFrePu;              // Min frequency of human foot in Low frequency method, 0.01Hz
    UWORD uwHfMaxTimeCnt;            // Min time of valid pulses, ms
    UWORD uwErrorResetCnt;           // Min time of ERROR reset, ms
    UWORD uwTimerUnit;               // TIMER PERIOD, ms
    UWORD uwCadenceLPFgain;          // Hz,LPF bandwidth
    UWORD uwMaxCadenceFre;
} CADENCE_COF;

/**
 * @brief Cadence output
 *
 */
typedef struct
{                                        // Output of " cadence_voFreGet "
    ULONG       ulTimer2CntErr;
    ULONG       ulCaputureCntErr;
    UWORD       uwFrequencyPu;           // Q20, Real value of Cadence frequecy result (human foot)
    UWORD       uwCntErrLast;           // Q20, Real value of Cadence frequecy result (human foot)
    UWORD       uwFrequencyLastPu;       // Q20, Real value of Cadence frequecy result (human foot)
    UWORD       uwLPFFrequencyPu;        // Q20, Real value of Cadence frequecy result (human foot)
    SWORD       uwLPFFrequencyPuLast;    // Q20, Real value of Cadence frequecy result (human foot)
    UWORD       uwCaputure1Cnt;          // The cnt of the first pulse
    UWORD       uwCaputure2Cnt;          // The cnt of the second pulse
    UWORD       uwCaputureNumCnt;        // The current sequece of the pulse
    UWORD       uwCaputureErrorCnt;      // The current sequece of the pulse
    UWORD       uwCaputureOverflowCnt;   // number of TIM4 CNT Overflow between two capture
    BOOL        blCadenceSensorErrorFlg; // The falg of sensor error
    BOOL        blCadenceCalStartState;  // TRUE = START   FALSE = STOP
    CADENCE_DIR cadence_dir;             // Direction of cadence
    CADENCE_FSM cadence_fsm;
    UWORD       uwFreqPercent; // Q14;
    UWORD       uwForwardCnt;  // Q14;
    UWORD       uwTaPinPortSta;
} CADENCE_OUT;

typedef struct
{
    UWORD uwIqCurLimitMax;
    UWORD uwIqCurLimitMin;
    UWORD uwbikespeedCal;
    UWORD uwBikeSpdThresHold1;
    UWORD uwBikeSpdThresHold2;
    UWORD uwLimitdSpeed_S[6];
    UWORD uwAssistLimitSpdStart[6];
    UWORD uwAssistLimitSpdStop[6];
    UWORD uwLimitdSpeed_E[6];

}CADPOWER_STRUCT;

typedef struct
{
    UWORD  uwPortHightcnt;
    UWORD  uwPortLowcnt;
    UWORD  uwPortSta;


}CADDIR_STRUCT;

#define CAD_IS_MIN_AP    500           //

/****************************************
 *
 *           Exported variable
 *
 ****************************************/
extern CADENCE_OUT cadence_stFreGetOut;

/***************************************
 *
 *          Function  Definations
 *
 ***************************************/
void cadence_voCadenceInit(void);
void cadence_voCadenceCof(void);
void cadence_voCadenceCal(UWORD source);

/************************************************************************/

#endif
/************************************************************************
 End of this File (EOF):
 Do not put anything after this part!
*************************************************************************/