motor_ctl-3/User/Inc/cadence_sensor.h

#ifndef __CADENCE_SENSOR_H
#define __CADENCE_SENSOR_H

#include "stm32f1xx_hal.h"

#define CADENCE_1_Pin GPIO_PIN_3
#define CADENCE_1_GPIO_Port GPIOB

#define CADENCE_2_Pin GPIO_PIN_15
#define CADENCE_2_GPIO_Port GPIOA

typedef enum
{
	MC_Cadence_Forward = 0x00,
	MC_Cadence_Backward = 0x01,
	MC_Cadence_Stop = 0x02
}MC_CadenceDir_Struct_t;

//踏频检测结果
typedef struct
{
	uint8_t Cadence_Data;                  //踏频值
	MC_CadenceDir_Struct_t Cadence_Dir;    //踏频方向
	TrueOrFalse_Flag_Struct_t IsStopFlag;  //踏频停止标志
	uint32_t TrigCount;                    //正向踩踏信号计数
}MC_CadenceResult_Struct_t;

//踏频传感器输出状态
typedef struct
{
  uint8_t HallGropuStatus;
	uint8_t HallGropuStatus_Old;
}MC_CadenceSensorStatus_Struct_t;

extern const uint8_t ForwardDir_EncoderData[4];
extern const uint8_t BackwardDir_EncoderData[4];

//踏频值滤波缓存
extern MC_CadenceResult_Struct_t MC_CadenceResult;
extern uint16_t MC_Cadence_Array[10];

extern uint16_t torqueByCadence_180;

extern uint8_t Cadence_ReadHallState(void);
extern void CadenceSensor_GPIO_Init(void);
extern void CadenceSensor_Process(MC_CadenceResult_Struct_t* p_MC_CadenceResult, uint16_t StopDelayTime, uint8_t StarCount, TrueOrFalse_Flag_Struct_t UpSlopeFlag);

#endif