motor_ctl-2/User/Inc/torque_sensor.h

#ifndef __TORQUE_SENSOR_H
#define __TORQUE_SENSOR_H

#include "stm32f1xx_hal.h"
#include "adc.h"
#include "var.h"

//力矩传感器启动值默认值
#define TORQUE_SENSOR_STARTDATA 368

//力矩传感器历史零点值，占用空间24bytes
typedef struct
{
  uint16_t Data[9];
	uint16_t MaxData;
	uint16_t MinData;
	uint16_t PresentData;
}TorqueOffSetData_Struct_t;

//传感器属性
typedef struct
{
  TorqueOffSetData_Struct_t Torque_OffSetData;//零点历史值
	uint8_t Torque_Cal_K;//标定系数
}TorqueSensor_Param_Struct_t;

//线性校正系数
typedef struct
{
	uint16_t Torque_Measure;// N.m * 28
	uint8_t Torque_Load;   // N.m
	uint8_t Correction_K;  // * 128
}TorqueSensor_LinearCorrectionParam_Struct_t;

//传感器故障状态
typedef union
{
  struct
	{
	  uint8_t Sensor1 :1;  //传感器1故障状态位
		uint8_t Sensor2 :1;  //传感器2故障状态位
		uint8_t Sensor3 :1;  //传感器3故障状态位
		uint8_t RS      :5;
	}FaultBit;
	uint8_t  FaultStatusCode;
}TorsueSensorFaultStatus_Struct_t;

//全局变量声明
extern TorqueSensor_Param_Struct_t TorqueSensor_1_Param;
extern TorqueSensor_Param_Struct_t TorqueSensor_2_Param;
extern TorqueSensor_Param_Struct_t TorqueSensor_3_Param;

extern TorsueSensorFaultStatus_Struct_t TorsueSensorFaultStatus;

extern uint16_t TorqueSensorStartData;
extern TrueOrFalse_Flag_Struct_t IsTorqueOffSetUpdateEnable;

extern TorqueSensor_LinearCorrectionParam_Struct_t TorqueSensor_LinearCorrectionParam[15];

//全局变量定义
extern void TorqueSensor_ParamSetDefaultData_Init(TorqueSensor_Param_Struct_t* p_TorqueSensor_Param, uint16_t AdcData);
extern void TorqueOffSetData_Process(TorqueOffSetData_Struct_t* p_TorqueOffSetData, uint16_t AdcData);
extern void TorqueOffSetData_Present_Update1(uint16_t* PresentData, uint16_t AdcData, uint8_t Cal_K, MC_ErrorCode_Struct_t* p_MC_ErrorCode);
extern void TorqueOffSetData_Present_Update2(uint16_t* PresentData, uint16_t AdcData, uint8_t Cal_K, MC_ErrorCode_Struct_t* p_MC_ErrorCode);
extern void TorqueOffSetData_Present_Update3(uint16_t* PresentData, uint16_t AdcData, uint8_t Cal_K, MC_ErrorCode_Struct_t* p_MC_ErrorCode);

#endif