motor_ctl-4/User project/2.MotorDrive/Include/spdctrmode.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            spdctrmode.c
 Partner Filename:    spdctrmode.c
 Description:         The header file of spdctrmode.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):

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

/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef SPDCTRMODE_H
#define SPDCTRMODE_H
#include "spdctrFSM.h"
#include "mathtool.h"
#include "asr.h"

#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _SPDCTRMODE_C_
#define _SPDCTRMODE_EXT
#else
#define _SPDCTRMODE_EXT extern
#endif

/************************************************************************
 Definitions & Macros
*************************************************************************/
#define LPF_OUT_DEFAULT \
    {                   \
        0, 0            \
    } // Default value of LPF_OUT

/************************************************************************
 TypeDefs & Structure defines (N/A)
*************************************************************************/

/************************************************************************
Constant Table
*************************************************************************/

/************************************************************************
 Exported Function Call Prototypes
*************************************************************************/

_SPDCTRMODE_EXT void scm_voSpdCtrMdInit(void);
_SPDCTRMODE_EXT void scm_voSpdCtrMdCoef(void);
_SPDCTRMODE_EXT void scm_voSpdCtrMdTbs(void);
_SPDCTRMODE_EXT void scm_voSpdCtrMdUpTbc(void);
_SPDCTRMODE_EXT void scm_voSpdCtrMdDownTbc(void);
_SPDCTRMODE_EXT void scm_voTorqCtrMdTbs(void);
_SPDCTRMODE_EXT void scm_voLimit_Power(UWORD uwBikeGear, UWORD *uwCurLim, UBYTE *ucCurrentGain);
/************************************************************************
 Exported Variables
*************************************************************************/

#ifdef _SPDCTRMODE_C_

_SPDCTRMODE_EXT SWORD          swCurRefrompu = 0;
_SPDCTRMODE_EXT SPD_STATE_HOOK curSpeed_state;

_SPDCTRMODE_EXT UWORD scm_uwCradleEn = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleThetaPu = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleThetaCnt = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleThetaPuZ1 = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleThetaErrPu = 0;
_SPDCTRMODE_EXT SLONG scm_slCradleThetaPu = 0;
_SPDCTRMODE_EXT SLONG scm_slCradleSpdRef = 0;

_SPDCTRMODE_EXT SWORD scm_swCradleTurns = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleTurns0 = 11;
_SPDCTRMODE_EXT SWORD scm_swCradleTurns1 = 3;
_SPDCTRMODE_EXT UWORD scm_uwCradleTheta0 = 0;
_SPDCTRMODE_EXT UWORD scm_uwCradleTheta1 = 0;
_SPDCTRMODE_EXT SLONG scm_slCradleTheta1Pu = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleDrumTheta = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleDrumThetaMax = -1000;
_SPDCTRMODE_EXT SWORD scm_swCradleDrumThetaMin = 1000;
_SPDCTRMODE_EXT SWORD scm_swCradleDrumTheta1 = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleDrumThetaAve = 0;
_SPDCTRMODE_EXT UWORD scm_uwCradleCnt = 0;
_SPDCTRMODE_EXT UWORD scm_uwCradleFlag = 0;
_SPDCTRMODE_EXT SWORD scm_swCradleSpdRef = 0;
_SPDCTRMODE_EXT UWORD scm_uwCradleStep = 0;
_SPDCTRMODE_EXT UWORD scm_uwCradleCnt1 = 0;

_SPDCTRMODE_EXT UWORD   scm_uwAcrLimCof = 0x93CD; // Q15,Q15(2/(sqrt(3))-->0x93CD
_SPDCTRMODE_EXT UWORD   scm_uwUdcpLimCof = 18918; // 0x5555; //Q15,Q15(2/3)-->0x5555
_SPDCTRMODE_EXT UWORD   scm_uwLqPu = 0;
_SPDCTRMODE_EXT SWORD   scm_swSpdRefPu = 0;
_SPDCTRMODE_EXT SWORD   scm_swUalphaPu = 0;               // Q14
_SPDCTRMODE_EXT SWORD   scm_swUbetaPu = 0;                // Q14
_SPDCTRMODE_EXT SWORD   scm_swSpdFbkCompPu = 0;
_SPDCTRMODE_EXT LPF_OUT scm_stIqLoadLpf = LPF_OUT_DEFAULT; 
_SPDCTRMODE_EXT LPF_OUT scm_stIdFbkLpf = LPF_OUT_DEFAULT; // Id feedback LPF
_SPDCTRMODE_EXT LPF_OUT scm_stIqFbkLpf = LPF_OUT_DEFAULT; // Iq feedback LPF
_SPDCTRMODE_EXT SWORD   scm_swIdFdbLpfPu = 0;
_SPDCTRMODE_EXT SWORD   scm_swIqFdbLpfPu = 0;
_SPDCTRMODE_EXT SLONG   scm_slIdRefPu = 0;     // Q29
_SPDCTRMODE_EXT SLONG   scm_slIqRefPu = 0;     // Q29
_SPDCTRMODE_EXT SWORD   scm_swIdRefPu = 0;     // Q14
_SPDCTRMODE_EXT SWORD   scm_swIqRefPu = 0;     // Q14
_SPDCTRMODE_EXT UWORD   scm_uwAngRefPu = 0;    // Q15
_SPDCTRMODE_EXT UWORD   scm_uwAngParkPu = 0;   // Q15
_SPDCTRMODE_EXT UWORD   scm_uwAngIParkPu = 0;  // Q15
_SPDCTRMODE_EXT SWORD   scm_swRotateDir = 0;   // Direction of motor rotate                                    //Iq feedback LPF

_SPDCTRMODE_EXT UWORD   scm_uwAngManuPu = 0; // Q15, Angle given manually
_SPDCTRMODE_EXT SLONG   scm_slAngManuPu = 0;
_SPDCTRMODE_EXT SLONG   scm_slDragSpdPu = 0;                  // Q15, Drag speed
_SPDCTRMODE_EXT SLONG   scm_slDragSpdRefPu = 0;               // Q29, intermediate Drag speed
_SPDCTRMODE_EXT BOOL    scm_blCurSwitchOvrFlg = FALSE;        // Current switch over flag
_SPDCTRMODE_EXT BOOL    scm_blAngSwitchOvrFlg = FALSE;        // Angle switch over flag
_SPDCTRMODE_EXT UWORD   scm_uwAngSwitchK = 0;                 // Angle switch weight value
_SPDCTRMODE_EXT SWORD   scm_swMotorPwrInWt = 0;               // unit: w, Input power of motor
_SPDCTRMODE_EXT BOOL    scm_blCoefUpdateFlg = FALSE;          // Coefficient update flag
_SPDCTRMODE_EXT LPF_OUT scm_stSpdFbkLpf = LPF_OUT_DEFAULT;    // Speed feedback LPF
_SPDCTRMODE_EXT UWORD   scm_uwSpdFbkLpfAbsPu = 0;             // Q15, Speed feedback LPF absolute
_SPDCTRMODE_EXT SWORD   scm_swMotorPwrInPu = 0;               // Q15, Input power of motor
_SPDCTRMODE_EXT LPF_OUT scm_stMotoPwrInLpf = LPF_OUT_DEFAULT; // Input power of motor after LPF
_SPDCTRMODE_EXT LPF_OUT scm_stPCBTempLpf = LPF_OUT_DEFAULT; // Input power of motor after LPF
_SPDCTRMODE_EXT SWORD   scm_swMotorPwrInLpfWt = 0;            // unit: 0.1w, Input power of motor after LPF
_SPDCTRMODE_EXT UWORD   scm_uwMotorPwrInAvgPu = 0;            // Q15, Input power of motor after average filter
_SPDCTRMODE_EXT BOOL    scm_blDtcEnFlg = FALSE;               // Dead band compansation enable flag
_SPDCTRMODE_EXT BOOL    scm_blOobEnFlg = FALSE;               // OOB calculate enable flag

_SPDCTRMODE_EXT SWORD scm_swUdRefPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUqRefPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUalphaFbkPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUbetaFbkPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUalphaRefPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUbetaRefPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUalphaCompPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUbetaCompPu = 0;

_SPDCTRMODE_EXT UWORD scm_uwHfiAngZ1Pu = 0;
_SPDCTRMODE_EXT SLONG scm_slAngSumPu = 0;
_SPDCTRMODE_EXT BOOL  scm_blAngSumOvrFlg = FALSE;
_SPDCTRMODE_EXT UWORD scm_uwStartMdSw = 0;
_SPDCTRMODE_EXT UWORD scm_uwStartMd = 0;
_SPDCTRMODE_EXT UWORD scm_uwInitPosMd = 0;
_SPDCTRMODE_EXT UWORD scm_uwInitPosMdSw = 0;

_SPDCTRMODE_EXT SWORD scm_swUdPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUqPu = 0;

_SPDCTRMODE_EXT SWORD scm_swMcPgCW = 0;
_SPDCTRMODE_EXT SWORD scm_swMcPgCWPre = 0;
_SPDCTRMODE_EXT UWORD scm_uwZSAEn = 0;
_SPDCTRMODE_EXT UWORD scm_uwStupThetaPu = 0;
_SPDCTRMODE_EXT UWORD scm_uwHfiOvrCnt = 0;
_SPDCTRMODE_EXT SWORD scm_swVsLimPu = 0;
_SPDCTRMODE_EXT SWORD scm_swVsDcpLimPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUdLimPu = 0;
_SPDCTRMODE_EXT SWORD scm_swUqLimPu = 0;
_SPDCTRMODE_EXT ULONG scm_ulCloseCt = 0;

_SPDCTRMODE_EXT BOOL  scm_blCVBFlg = FALSE;
_SPDCTRMODE_EXT BOOL  scm_blCVBIdFlg = FALSE;
_SPDCTRMODE_EXT UWORD scm_uwRunMdSw = 0;
_SPDCTRMODE_EXT ULONG scm_ulRunMdSwCt = 0;

_SPDCTRMODE_EXT BOOL scm_StartUpOvrFlg = FALSE; // Start up over flag

_SPDCTRMODE_EXT SWORD scm_swStopPWMOffFlag = 0;
_SPDCTRMODE_EXT SLONG scm_slAngErrPu = 0;
#else

_SPDCTRMODE_EXT SWORD          swCurRefrompu;
_SPDCTRMODE_EXT SPD_STATE_HOOK curSpeed_state;

_SPDCTRMODE_EXT UWORD scm_uwCradleEn;

_SPDCTRMODE_EXT UWORD   scm_uwLqPu;
_SPDCTRMODE_EXT SWORD   scm_swSpdRefPu;
_SPDCTRMODE_EXT SWORD   scm_swUalphaPu;
_SPDCTRMODE_EXT SWORD   scm_swUbetaPu;
_SPDCTRMODE_EXT SWORD   scm_swSpdFbkCompPu;
_SPDCTRMODE_EXT LPF_OUT scm_stIqLoadLpf;
_SPDCTRMODE_EXT LPF_OUT scm_stIdFbkLpf;
_SPDCTRMODE_EXT LPF_OUT scm_stIqFbkLpf;
_SPDCTRMODE_EXT SWORD   scm_swIdFdbLpfPu;
_SPDCTRMODE_EXT SWORD   scm_swIqFdbLpfPu;
_SPDCTRMODE_EXT SLONG   scm_slIdRefPu;
_SPDCTRMODE_EXT SLONG   scm_slIqRefPu;
_SPDCTRMODE_EXT SWORD   scm_swIdRefPu;
_SPDCTRMODE_EXT SWORD   scm_swIqRefPu;
_SPDCTRMODE_EXT UWORD   scm_uwAngRefPu;
_SPDCTRMODE_EXT UWORD   scm_uwAngParkPu;
_SPDCTRMODE_EXT UWORD   scm_uwAngIParkPu;
_SPDCTRMODE_EXT SWORD   scm_swRotateDir;
_SPDCTRMODE_EXT UWORD   scm_uwAngManuPu;
_SPDCTRMODE_EXT SLONG   scm_slAngManuPu;
_SPDCTRMODE_EXT SLONG   scm_slDragSpdPu;
_SPDCTRMODE_EXT SLONG   scm_slDragSpdRefPu;
_SPDCTRMODE_EXT BOOL    scm_blCurSwitchOvrFlg;
_SPDCTRMODE_EXT BOOL    scm_blAngSwitchOvrFlg;
_SPDCTRMODE_EXT UWORD   scm_uwAngSwitchK;
_SPDCTRMODE_EXT SWORD   scm_swMotorPwrInWt;
_SPDCTRMODE_EXT BOOL    scm_blCoefUpdateFlg;
_SPDCTRMODE_EXT LPF_OUT scm_stSpdFbkLpf;
_SPDCTRMODE_EXT UWORD   scm_uwSpdFbkLpfAbsPu;
_SPDCTRMODE_EXT SWORD   scm_swMotorPwrInPu;
_SPDCTRMODE_EXT LPF_OUT scm_stMotoPwrInLpf;
_SPDCTRMODE_EXT LPF_OUT scm_stPCBTempLpf;
_SPDCTRMODE_EXT SWORD   scm_swMotorPwrInLpfWt;
_SPDCTRMODE_EXT UWORD   scm_uwMotorPwrInAvgPu;
_SPDCTRMODE_EXT BOOL    scm_blDtcEnFlg;
_SPDCTRMODE_EXT BOOL    scm_blOobEnFlg;

_SPDCTRMODE_EXT SWORD scm_swUdRefPu;
_SPDCTRMODE_EXT SWORD scm_swUqRefPu;
_SPDCTRMODE_EXT SWORD scm_swUalphaFbkPu;
_SPDCTRMODE_EXT SWORD scm_swUbetaFbkPu;
_SPDCTRMODE_EXT SWORD scm_swUalphaRefPu;
_SPDCTRMODE_EXT SWORD scm_swUbetaRefPu;
_SPDCTRMODE_EXT SWORD scm_swUalphaCompPu;
_SPDCTRMODE_EXT SWORD scm_swUbetaCompPu;

_SPDCTRMODE_EXT UWORD scm_uwHfiAngZ1Pu;
_SPDCTRMODE_EXT SLONG scm_slAngSumPu;
_SPDCTRMODE_EXT BOOL  scm_blAngSumOvrFlg;
_SPDCTRMODE_EXT UWORD scm_uwStartMdSw;
_SPDCTRMODE_EXT UWORD scm_uwStartMd;
_SPDCTRMODE_EXT UWORD scm_uwInitPosMd;
_SPDCTRMODE_EXT UWORD scm_uwInitPosMdSw;

_SPDCTRMODE_EXT SWORD scm_swUdPu;
_SPDCTRMODE_EXT SWORD scm_swUqPu;

_SPDCTRMODE_EXT SWORD scm_swMcPgCW;
_SPDCTRMODE_EXT SWORD scm_swMcPgCWPre;
_SPDCTRMODE_EXT UWORD scm_uwZSAEn;
_SPDCTRMODE_EXT UWORD scm_uwStupThetaPu;
_SPDCTRMODE_EXT UWORD scm_uwHfiOvrCnt;
_SPDCTRMODE_EXT SWORD scm_swVsLimPu;
_SPDCTRMODE_EXT SWORD scm_swVsDcpLimPu;
_SPDCTRMODE_EXT SWORD scm_swUdLimPu;
_SPDCTRMODE_EXT SWORD scm_swUqLimPu;
_SPDCTRMODE_EXT ULONG scm_ulCloseCt;

_SPDCTRMODE_EXT BOOL scm_blCVBFlg;
_SPDCTRMODE_EXT BOOL scm_blCVBIdFlg;

_SPDCTRMODE_EXT BOOL scm_StartUpOvrFlg; // Start up over flag

_SPDCTRMODE_EXT SWORD scm_swStopPWMOffFlag;
#endif

/************************************************************************
 RAM ALLOCATION (N/A)
*************************************************************************/

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

/************************************************************************
 Flag Define (N/A)
*************************************************************************/
#ifdef __cplusplus
}
#endif // __cplusplus

#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!
*************************************************************************/