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

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            brake.h
 Partner Filename:    brake.c
 Description:         The header file of brake.c
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           GD32F3x0
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):
WLBDM_M4_SR_201809071-new FSM1.1, by mz, create this file;
************************************************************************/
#include "typedefine.h"
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef BRAKE_H
#define BRAKE_H
/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _BRAKE_C_
#define BRAKE_EXT
#else
#define BRAKE_EXT extern
#endif


/************************************************************************
 Definitions & Macros
*************************************************************************/
#define BRAKE_COF_DEFAULT                                        \
    {                                                            \
        20154, 20400, 237, 8704, -320, -4480, 2048, 10, 10, 1365 \
    } // Default value of DBC_CALC_COF (410V,390V,Q14(0.15),Q14(1),Q14(6.8),Q14(0.25),Q14(3.5))
#define BRAKE_OUT_DEFAULT \
    {                     \
        0, 0, 0, 0, FALSE \
    } // Default value of DBC_CALC_OUT (Q14(0),Q14(0),FALSE)

/************************************************************************
             Typedefs & Structure Defines
*************************************************************************/
typedef struct // Input of " cvb_stBrakeCoef "
{
    UWORD uwVdcCvbVt;   // Real Value, unit:0.1V,	Voltage to keep for constant voltage braking
    SWORD swIqRefMaxAp; // Real Value, unit:0.01A,	Iq limit max value
    SWORD swIdRefMaxAp; // Real Value, unit:0.01A,	Id reference max value
    SWORD swIdRefMinAp; // Real Value, unit:0.01A,	Id reference min value
    UWORD uwVBaseVt;    // Real Value, unit:0.1V,	Voltage Base
    UWORD uwIBaseAp;    // Real Value, unit:0.01A,	Current Base
    UWORD uwFBaseHz;    // Real Value, unit:Hz,	Frequence Base
    UWORD uwMotorPairs; // Real Value, unit:1,	    Motor Pairs
    UWORD uwLowSpdRpm;  // Real Value, unit:rpm,	Low speed without Id
} BRAKE_COFIN;

typedef struct // Input of " cvb_stBrakeOut "
{
    UWORD uwVdcLpfPu;    // Q14, unit:Pu,		DC bus voltage
    SWORD swSpdPu;       // Q15, unit:Pu,		Current speed
    UWORD uwSpdLpfAbsPu; // Q15, unit:Pu,		Abs of Current speed feedback
    SWORD swIqRefPu;     // Q14, unit:Pu,		Current Iq Reference
    SWORD swIdRefPu;     // Q14, unit:Pu,		Current Id Reference
    SWORD uwAngelPu;     // Q15, unit:Pu,		Obs angle
    UWORD uwSpdState;
} BRAKE_IN;

typedef struct // Input of " cvb_stBrakeOut "
{
    UWORD uwVdcCvbPu;      // Q14, unit:Pu,		Voltage to keep for constant voltage braking
    UWORD uwVdcLagAngelPu; // Q14, unit:Pu,		Voltage to lag angle constant voltage braking
    UWORD uwVdcStartCvbPu; // Q14, unit:Pu,		Voltage to start iq limit of constant voltage braking
    UWORD uwKAnglePu;      // Q8, unit:Pu,		Coefficient of delta Angle
    SWORD swIqLimMaxPu;    // Q14, unit:Pu,		Iq limit max value
    SWORD swIdRefMaxPu;    // Q14, unit:Pu,		Id reference max value
    SWORD swIdRefMinPu;    // Q14, unit:Pu,		Id reference min value
    SWORD swKcvb;          // Q14, unit:Pu,		Constant voltage braking cofficient
    SWORD swIdDrpPu;       // Q14, unit:Pu,     delta Id drop
    SWORD swIdRcyPu;       // Q14, unit:Pu,     delta Id recovery
    UWORD uwLowSpdPu;      // Q15, unit:Pu,		Low speed without Id
} BRAKE_COF;

typedef struct // Output of " cvb_stBrakeOut "
{
    SWORD swIqRefPu; // Q14, unit:Pu,		Q axis current reference
    SWORD swIqLimPu; // Q14, unit:Pu,		Q axis current limit
    SWORD swIdRefPu; // Q14, unit:Pu,		D axis current reference
    SWORD uwAngelPu; // Q15, unit:Pu,		Obs angle after brake lag
    BOOL  blCvbFlg;  // Bool, constant voltage braking flag
} BRAKE_OUT;

/************************************************************************
 Exported Variables
*************************************************************************/
#ifdef _BRAKE_C_
BRAKE_EXT BRAKE_COF cvb_stBrakeCoef = BRAKE_COF_DEFAULT;
BRAKE_EXT BRAKE_OUT cvb_stBrakeOut = BRAKE_OUT_DEFAULT;
#else
BRAKE_EXT BRAKE_COF cvb_stBrakeCoef;
BRAKE_EXT BRAKE_OUT cvb_stBrakeOut;
#endif

/************************************************************************
 RAM ALLOCATION (N/A)
*************************************************************************/
#define cvb_stBrakeIn     (*(BRAKE_IN *)TBC_BUFFER)
#define cvb_stBrakeCoefIn (*(BRAKE_COFIN *)MN_BUFFER)
/************************************************************************
 Exported Function Call Prototypes
*************************************************************************/
#ifdef _BRAKE_C_
BRAKE_EXT void cvb_voBrake(BRAKE_IN *in, BRAKE_COF *coef, BRAKE_OUT *out);
BRAKE_EXT void cvb_voBrakeCoef(BRAKE_COFIN *in, BRAKE_COF *out);
BRAKE_EXT void cvb_voBrakeInit();
#else
BRAKE_EXT void cvb_voBrake(BRAKE_IN *in, BRAKE_COF *coef, BRAKE_OUT *out);
BRAKE_EXT void cvb_voBrakeCoef(BRAKE_COFIN *in, BRAKE_COF *out);
BRAKE_EXT void cvb_voBrakeInit();
#endif

/************************************************************************
 Local Function Call Prototypes (N/A)
*************************************************************************/

/************************************************************************
 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!
*************************************************************************/