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

/**
 * @file bikethrottle.h
 * @author Wang, Zhiyu(wangzy49@midea.com)
 * @brief Throttle 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 TORQUESENSOR_H
#define TORQUESENSOR_H
//#include "user.h"
#include "typedefine.h"
#include "mathtool.h"
typedef _Bool  BOOL;
/****************************************
 *
 *          Definitions & Macros
 *
 ****************************************/
#define TORSENSOR_USEEE       0  //存储器零点
#define TORSENSOR_USEDEFAULT  1  //默认零点
#define TORSENSOR_USEAUTOZERO 2  //自动零点
#define TORSENSOR_USEMOL      TORSENSOR_USEAUTOZERO

#define TORSENSOR3NUM  //三力矩标识

#define TORQUE_MAX_RANGE           1000         // MAX TORQUE 0.1Nm
#define TORQUE_MIN_RANGE           5            // MIN TOEQUE 0.1Nm
#define TORQUE_VOLTAGE_MAX_RANGE   3000         // MAX voltage mV
#define TORQUE_VOLTAGE_MIN_RANGE   1000         // MIN voltage mV
#define TORQUE_VOLTAGE_SEN2MCUGAIN 100 * 1 / 1  // gain of sensor output to Mcu ADC   0.01
#define TORQUE_VOLTAGE_PER_NM      5            // 5mV/Nm
#define TORQUE_SENSOR_LPF_FRQ      100          // Hz
#define TORQUE_LPF_DISCRETEHZ      1000         // Hz   T=1/f,T is used in discreting LPF s function

#define TORQ_OFFSET_NUM 7

#define TORQUESENSOR_OUT_DEFAULT    \
    {                               \
        0, 0, 0, 0, 0, FALSE, FALSE \
    } // Default value of CADENCE_OUT
#define TORQUESENSOR_COF_DEFAULT                                         \
    {                                                                    \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, FALSE, FALSE, 1,1,2,2,3,3,4,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0 \
    } // Default value of CADENCE_OUT

#define TORQUESENSITIVE_COF_DEFAULT                                         \
    {                                                                    \
       2976, -6948, 6410, 6021 \
    } // Default value of CADENCE_OUT
/***************************************
 *
 *          Type  Definations
 *
 ***************************************/

/**
 * @brief torquesensor out
 *
 */
typedef struct
{                           // Output of " torquesensor "
    UWORD uwTorqueReg;      // register data of torque
    UWORD uwTorquePu;       // Q14 Torque Pu
    UWORD uwTorqueLPFPu;    // Q14 Torque after LPF Pu
    UWORD uwTorqueErrorCnt; // Error Cnt
    UWORD uwTorquePercent;  // Q14 Throttle voltage in output range  %
    BOOL  blTorqueCaliFlg;  // Flg of wether finished Calibration or not
    BOOL  blTorqueErrorFlg; // Flg of torque sensor error
} TORQUESENSOR_OUT;

/**
 * @brief torquesensor coef
 *
 */
typedef struct
{

    UWORD uwMaxSensorTorquePu;    // 0.1Nm,the max torque of sensor output
    UWORD uwMinSensorTorquePu;    // 0.1Nm,the min torque of sensor output
    UWORD uwMaxSensorVolOutputPu; // mV,the max voltage of sensor output
    UWORD uwMinSensorVolOutputPu; // mV,the min voltage of sensor output
    UWORD uwTorVolLPFDisFrq;      // Hz,used in discreting LPF s function
    UWORD uwTorSensorLPFFrq;      // Hz,LPF bandwidth

    UWORD uwTorqueOffsetPowerUp;
    UWORD uwTorqueOffsetOrign; //
    UWORD uwTorqueOffsetNow1;
    UWORD uwTorqueOffsetNow2;
    UWORD uwTorqueOffsetNow3;
    UWORD uwTorqueOffsetNow4;
    UWORD uwTorqueOffset; // offset of register
    BOOL uwTorqueOffsetConfirmFlg;
    BOOL uwTorqueNowAllHasValueFlg;

    UWORD uwBikeTorStep1RealNm;
    UWORD uwBikeTorStep1ADC;
    UWORD uwBikeTorStep2RealNm;
    UWORD uwBikeTorStep2ADC;
    UWORD uwBikeTorStep3RealNm;
    UWORD uwBikeTorStep3ADC;
    UWORD uwBikeTorStep4RealNm;
    UWORD uwBikeTorStep4ADC;
    
    UWORD uwBikeTorStep1NmPu;
    UWORD uwBikeTorStep2NmPu;
    UWORD uwBikeTorStep3NmPu;
    UWORD uwBikeTorStep4NmPu;

    UWORD uwSensorVolPerTorqDefault;
    UWORD uwSensorVolPerTorq1; // mV/Nm,the output gain1
    UWORD uwSensorVolPerTorq2; // mV/Nm,the output gain2
    UWORD uwSensorVolPerTorq3; // mV/Nm,the output gain3
    UWORD uwSensorVolPerTorq4; // mV/Nm,the output gain4

    ULONG uwTorqueReg2PuDefault;
    ULONG uwTorqueReg2Pu1; // Gain1 of register to Pu
    ULONG uwTorqueReg2Pu2; // Gain2 of register to Pu
    ULONG uwTorqueReg2Pu3; // Gain3 of register to Pu
    ULONG uwTorqueReg2Pu4; // Gain4 of register to Pu
    
} TORQUESENSOR_COF;

typedef struct
{
  SLONG SensorFltSum1;
  SLONG SensorFltSum2;
  SLONG SensorFltSum3;
  UWORD SensorFlt1;
  UWORD SensorFlt2;
  UWORD SensorFlt3;
  UWORD SensorPer1;
  UWORD SensorPer2;
  UWORD SensorPer3;
} TORQUESENSOR_REG_FLT;

/****************************************
 *
 *           Exported variable
 *
 ****************************************/
extern TORQUESENSOR_OUT torsensor_stTorSensorOut;
extern TORQUESENSOR_COF torsensor_stTorSensorCof;
extern TORQUESENSOR_REG_FLT TorqueSensorRegFlt;

/***************************************
 *
 *          Function  Definations
 *
 ***************************************/
void torsensor_voTorSensorCof(void);
void torsensor_voTorSensorInit(void);
void torsensor_voTorADC(void);
UWORD torsensor_uwTorqOffsetCal(SWORD Temp); 
UWORD torsensor_uwTorqSencitiveCal(SWORD Temp, SWORD T0);
void TorqueSensorRegFltCal(void);
void TorqueSensorOffSetAuto(void);

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