motor_ctl-4/User project/4.BasicHardwSoftwLayer/2.BasicSoftwLayer/Include/user.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            user.h
 Partner Filename:    Null
 Description:         User parameters
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           STM32F30x
*************************************************************************
 Copyright (c) 2019 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
 Revising History (ECL of this file):
************************************************************************/
#ifndef USER_H
#define USER_H
/************************************************************************
 Compiler Directives
*************************************************************************/
#include "typedefine.h"

#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
/************************************************************************
 Definitions & Macros
*************************************************************************/
/*======================================================================*
Update Time
2021-06-21  13:47:04
*=======================================================================*/

/*======================================================================*
    Software version
*=======================================================================*/
#define SOFTWARE_VERSION         0x1C10
#define SOFTWARE_VERSION_WELLING 0x0001

/*======================================================================*
    Motor Parameters
*=======================================================================*/
/*======================================================================*
   Motor Number Selection
*=======================================================================*/
#define MOTOR_WELLING_CITY_36V 0x20
#define MOTOR_WELLING_MTB_36V  0x21
#define MOTOR_WELLING_CITY_48V 0x30
#define MOTOR_WELLING_MTB_48V  0x31

#define MOTOR_ID_SEL      MOTOR_WELLING_MTB_48V
#define GEARSENSOR_ENABLE 1 // 0-Uart,1-GearSensor

// #define TEST  //only use for testing

/*======================================================================*
   ADC Maximum Value
*=======================================================================*/
//#if (MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V || MOTOR_ID_SEL == MOTOR_WELLING_CITY_36V)
//#define ADC_IPHASE_CUR_MAX_AP 15600
//#define ADC_IPHASE_CUR_OVER_K 780 // SWORD最大电流/采样最大电流=120A/156A=0.769=787(Q10)
//#elif (MOTOR_ID_SEL == MOTOR_WELLING_MTB_48V)
//#define ADC_IPHASE_CUR_MAX_AP 16500
//#define ADC_IPHASE_CUR_OVER_K 1024
//#else
//#define ADC_IPHASE_CUR_MAX_AP 10355
//#define ADC_IPHASE_CUR_OVER_K 1024
//#endif
#if (MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V)
#define ADC_IPHASE_CUR_MAX_AP 15600
#define ADC_IPHASE_CUR_OVER_K 780 // SWORD最大电流/采样最大电流=120A/156A=0.769=787(Q10)
#else
#define ADC_IPHASE_CUR_MAX_AP 16500
#define ADC_IPHASE_CUR_OVER_K 1024
#endif
  
/*======================================================================*
巡航Bike Cruise
 //指拨巡航功能   0xAA-指拨维持不动维持8秒，进入巡航功能，仪表出线巡航图标，刹车，0档，有助力踏频，重新调速，有故障会退出,else-无巡航功能
*=======================================================================*/
#define  THOTTLECRUISE_EN             0x00      //0xAA-enable,else-disable
/*======================================================================*
  NOT ZERO Ssart
   //0xAA-速度非零起动，速度大于3KM/H，转把才有效 ；else-车速为零可以转把启动
*=======================================================================*/
#define  THOTTLE_STARTRUNATSPEED      0x00      //0xAA-enable,else-disable
/*======================================================================*
   //转把分档
*=======================================================================*/  
#define THROTTLEGEAR_ENABLE           0xAA      //转把分档 0xAA-enable，else-disable
/*======================================================================*
    Motor Parameters
*=======================================================================*/
#if (MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V)
#define M_POLE_PAIRS        7       // unit:Null,Pole pairs
#define M_RS_OHM            170     // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al      // unit:Null
#define M_LD_NOLOAD_MH      11000   // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      11500   // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    5000    // unit: 0.01A,
#define M_LD_TURN1_LD_MH    11000   // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700     // unit: 0.01A,
#define M_LD_TURN2_LD_MH    11000   // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         11000   // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200     // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    11500   // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700     // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    11500   // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         11500   // unit: 0.01uH,Q axis inductance
#define M_JD                2500    // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite // unit:Null
#define M_FLUX_WB           5360    // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0       //-25      // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -300    // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    5000        //5500    // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600     // unit: W, Max power
#define M_R_SPD_RPM         5000    // unit: r/min, rate spd
#define M_R_PWR_WT          250     // unit: W, rate power
#define M_R_IRMS_A          2500    // unit: 0.01A, rate Irms
#define M_R_UDC_v           360     // unit: 0.1V, rate Udc
#define M_MAX_TOR_NM        30      // unit: 0.1Nm, Max tor

#elif (MOTOR_ID_SEL == MOTOR_WELLING_MTB_48V)
#define M_POLE_PAIRS        7       // unit:Null,Pole pairs
#define M_RS_OHM            345     // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al      // unit:Null
#define M_LD_NOLOAD_MH      22250   // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      23000   // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    5000    // unit: 0.01A,
#define M_LD_TURN1_LD_MH    22250   // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700     // unit: 0.01A,
#define M_LD_TURN2_LD_MH    22250   // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         22250   // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200     // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    23000   // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700     // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    23000   // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         23000   // unit: 0.01uH,Q axis inductance
#define M_JD                2500    // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite // unit:Null
#define M_FLUX_WB           8920    // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0       //-25      // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -600    // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    3800    // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600     // unit: W, Max power
#define M_R_SPD_RPM         5000    // unit: r/min, rate spd
#define M_R_PWR_WT          250     // unit: W, rate power
#define M_R_IRMS_A          2500    // unit: 0.01A, rate Irms
#define M_R_UDC_v           480     // unit: 0.1V, rate Udc
#define M_MAX_TOR_NM        30      // unit: 0.1Nm, Max tor

#elif (MOTOR_ID_SEL == MOTOR_WELLING_CITY_36V)
#define M_POLE_PAIRS        7       // unit:Null,Pole pairs
#define M_RS_OHM            297     // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al      // unit:Null
#define M_LD_NOLOAD_MH      16000    // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      16750   // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    5000    // unit: 0.01A,
#define M_LD_TURN1_LD_MH    16000    // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700     // unit: 0.01A,
#define M_LD_TURN2_LD_MH    16000    // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         16000    // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200     // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    16750   // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700     // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    16750   // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         16750   // unit: 0.01uH,Q axis inductance
#define M_JD                2500    // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite // unit:Null
#define M_FLUX_WB           7336    // 5056    // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0       //-25      // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -600    // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    3600    // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600     // unit: W, Max power
#define M_R_SPD_RPM         5000    // unit: r/min, rate spd
#define M_R_PWR_WT          250     // unit: W, rate power
#define M_R_IRMS_A          2500    // unit: 0.01A, rate Irms
#define M_R_UDC_v           360     // unit: 0.1V, rate Udc
#define M_MAX_TOR_NM        30      // unit: 0.1Nm, Max tor

#elif (MOTOR_ID_SEL == MOTOR_WELLING_CITY_48V)
#define M_POLE_PAIRS        7       // unit:Null,Pole pairs
#define M_RS_OHM            297     // unit: 0.1mOhm, Phase resistance
#define M_MATERIAL          Al      // unit:Null
#define M_LD_NOLOAD_MH      16000    // unit: 0.01uH, D axis inductance
#define M_LQ_NOLOAD_MH      16750   // unit: 0.01uH, Q axis inductance
#define M_LD_TURN1_ID_AP    5000    // unit: 0.01A,
#define M_LD_TURN1_LD_MH    16000    // unit: 0.01uH,D axis inductance
#define M_LD_TURN2_ID_AP    700     // unit: 0.01A,
#define M_LD_TURN2_LD_MH    16000    // unit: 0.01uH,D axis inductance
#define M_LD_MIN_MH         16000    // unit: 0.01uH,D axis inductance
#define M_LQ_TURN1_IQ_AP    200     // unit: 0.01A,
#define M_LQ_TURN1_LQ_MH    16750   // unit: 0.01uH,Q axis inductance
#define M_LQ_TURN2_IQ_AP    700     // unit: 0.01A,
#define M_LQ_TURN2_LQ_MH    16750   // unit: 0.01uH,Q axis inductance
#define M_LQ_MIN_MH         16750   // unit: 0.01uH,Q axis inductance
#define M_JD                2500    // unit: 10-7Kg*m2, Rotational inertia
#define M_MAGNETIC_MATERIAL Ferrite // unit:Null
#define M_FLUX_WB           7336    // 5056    // unit: 0.001mWb, Flux linkage
#define M_ID_MAX_AP         0       //-25      // unit: 0.01A, Max d axis current
#define M_ID_MIN_AP         -600    // unit: 0.01A, Min d axis current
#define M_IS_PEAK_MAX_AP    3600    // unit: 0.01A, Max phase current(below base speed)
#define M_POWER_MAX_WT      600     // unit: W, Max power
#define M_R_SPD_RPM         5000    // unit: r/min, rate spd
#define M_R_PWR_WT          250     // unit: W, rate power
#define M_R_IRMS_A          2500    // unit: 0.01A, rate Irms
#define M_R_UDC_v           480     // unit: 0.1V, rate Udc
#define M_MAX_TOR_NM        30      // unit: 0.1Nm, Max tor

#endif

/*======================================================================*
   IPM Paremeters
*=======================================================================*/
/* SL IPM */
#define IPM_TURN_ON_TM_NS  300  // 86      // unit:ns
#define IPM_TURN_OFF_TM_NS 300  // 105      // unit:ns
#define IPM_DEAD_TM_NS     1000 // unit:ns

#define IPM_HVIC_CHRG_TM 20 // unit: ms,Bootstrap capacitor charge time

/*======================================================================*
   Alarm threshold value & time of duration define
*=======================================================================*/
/* Over current */
#define ALM_OVR_CNT_VAL 6400 // unit: 0.01A, Threshold value
#define ALM_OVR_CNT_TM  500  // unit: us, Time of duration(TBC)
/* Phase loss */
#define ALM_PHS_LOSS_VAL 50 // unit: 0.01A, Threshold value
#define ALM_PHS_LOSS_TM  5  // unit: s, Time of duration(TBC)
/* Rotor lock */
#define ALM_ROTOR_LOCK_SPD_K  30   // unit: %, Q10, Ratio of resistance power and motor input power
#define ALM_ROTOR_LOCK_TM     3    // unit: s, Time of duration(TBC)
#define ALM_ROTOR_LOCK_IQ_ABS 4500 // unit: 0.01A, Threshold value
#define ALM_ROTOR_LOCK_SPD    100  // unit: rpm, Threshold value

#if ((MOTOR_ID_SEL == MOTOR_WELLING_CITY_36V) || (MOTOR_ID_SEL == MOTOR_WELLING_MTB_36V))
/* Over voltage */
#define ALM_OVR_VLT_LVL1_VAL 450 // unit: 0.1V, Threshold value level1
#define ALM_OVR_VLT_LVL1_TM  2   // unit: s, Time of duration level1(TBS)
#define ALM_OVR_VLT_LVL2_VAL 460 // unit: 0.1V, Threshold value level2
#define ALM_OVR_VLT_LVL2_TM  100 // unit: ms, Time of duration level2(TBS)
#define ALM_OVR_VLT_LVL3_VAL 470 // unit: 0.1V, Threshold value level3
#define ALM_OVR_VLT_LVL3_TM  5   // unit: ms, Time of duration level3(TBS)
/* Under voltage */
#define ALM_UNDR_VLT_LVL1_VAL 300 // unit: 0.1V, Threshold value level1
#define ALM_UNDR_VLT_LVL1_TM  2   // unit: s, Time of duration level1(TBS)
#define ALM_UNDR_VLT_LVL2_VAL 280 // unit: 0.1V, Threshold value level2
#define ALM_UNDR_VLT_LVL2_TM  2   // unit: ms, Time of duration level2(TBS)

#elif ((MOTOR_ID_SEL == MOTOR_WELLING_CITY_48V) || (MOTOR_ID_SEL == MOTOR_WELLING_MTB_48V))
/* Over voltage */
#define ALM_OVR_VLT_LVL1_VAL  585 // unit: 0.1V, Threshold value level1
#define ALM_OVR_VLT_LVL1_TM   2   // unit: s, Time of duration level1(TBS)
#define ALM_OVR_VLT_LVL2_VAL  598 // unit: 0.1V, Threshold value level2
#define ALM_OVR_VLT_LVL2_TM   100 // unit: ms, Time of duration level2(TBS)
#define ALM_OVR_VLT_LVL3_VAL  611 // unit: 0.1V, Threshold value level3
#define ALM_OVR_VLT_LVL3_TM   5   // unit: ms, Time of duration level3(TBS)
/* Under voltage */
#define ALM_UNDR_VLT_LVL1_VAL 390 // unit: 0.1V, Threshold value level1
#define ALM_UNDR_VLT_LVL1_TM  2   // unit: s, Time of duration level1(TBS)
#define ALM_UNDR_VLT_LVL2_VAL 364 // unit: 0.1V, Threshold value level2
#define ALM_UNDR_VLT_LVL2_TM  2   // unit: ms, Time of duration level2(TBS)

#endif

/* Over speed */
#define ALM_OVR_SPD_VAL 6000 // unit: rpm, Threshold value
#define ALM_OVR_SPD_TM  100  // unit: ms, Time of duration(TBS)
/* ADC self detecting */
#define ALM_ADC_DETE_LOW_VAL 155 // unit: 0.01V, ADC offset Voltage min
#define ALM_ADC_DETE_HIG_VAL 175 // unit: 0.01V, ADC offset Voltage max
/* IPM over heat */
#define ALM_IPM_OVR_HEAT_VAL 105 // 50 //105 // unit: Ce, Threshold value
#define ALM_IPM_OVR_TM       2   // unit: s, Time of duration(TBS)

/* Stop time of three phase short force  */
#define ALM_THR_PHS_SHRT_FRC_TM 200 // unit: ms, Time of duration(TBC)
/* Stop time of pwm off */
#define ALM_PWM_OFF_TM         200 // unit: ms, Time of duration(TBC)
#define ALM_PWMOFF_SHRT1_SW_TM 100 // unit: ms, Time of duration(TBC)
/* Stop time of three phase short */
#define ALM_THR_PHS_SHRT_NORM_TM 100 // unit: ms, Time of duration(TBC)
#define ALM_SHRT_PWMOFF_SW_TM    100 // unit: ms, Time of duration(TBC)
/* Stop Minimum Current */
#define ALM_STOP_IPM_OVER_CUR_TM 100 // unit: ms, Time of duration(TBC)

/* Recover time of global */
#define ALM_REC_ALL_TM 5000 // unit: ms, Time of duration(TBC)
/* Recover time of IPM OC */
#define ALM_IPM_OC_REC_TM 200 // unit: ms, Time of duration(TBC)
/* Recover value of over voltage and under voltage error*/
#define ALM_VLT_REC_ERRVAL 30 // unit: 0.1V
/* Recover time & value of over voltage */
#define ALM_OVR_VLT_REC_VAL (ALM_OVR_VLT_LVL1_VAL - ALM_VLT_REC_ERRVAL) // unit: 0.1V
#define ALM_OVR_VLT_REC_TM  100                         // unit: ms, Time of duration(TBC)
#define ALM_OVR_VLT_REC_TM1 150                         // unit: ms, Time of duration(TBC)
/* Recover time & value of under voltage */
#define ALM_UNDR_VLT_REC_VAL (ALM_UNDR_VLT_LVL1_VAL + ALM_VLT_REC_ERRVAL) // unit: 0.1V
#define ALM_UNDR_VLT_REC_TM  200                          // unit: ms, Time of duration(TBC)
#define ALM_UNDR_VLT_REC_TM1 400                          // unit: ms, Time of duration(TBC)
/* Recover time & value of IPM over heat */
#define ALM_IPM_OVR_HEAT_REC_VAL 90  // unit: Ce, Threshold value
#define ALM_IPM_OVR_REC_TM       60  // unit: s, Time of duration(TBC)
#define ALM_IPM_OVR_REC_TM1      120 // unit: s, Time of duration(TBC)

/* Ebike sensor fault detect*/
#define ALM_MOTORSPD_MIN_RPM 50 // unit: rpm
#define ALM_BIKESPD_FLT_TS   10 // unit: s
#define ALM_CADENCE_FLT_TS   10 // unit: s
#define ALM_TORQ_MAX_VOL     30 // unit: 0.1V
#define ALM_TORQ_MIN_VOL     1  // unit: 0.1V
#define ALM_TORQ_FLT_TS      1  // unit: s
#define ALM_THROTTLE_MAX_VOL 30 // unit: 0.1V
#define ALM_THROTTLE_MIN_VOL 0  //1  // unit: 0.1V
#define ALM_THROTTLE_FLT_TS  1  // unit: s
#define ALM_NTC_MAX_VOL      32 // unit: 0.1V
#define ALM_NTC_MIN_VOL      3  // unit: 0.1V
#define ALM_MOTORNTC_FLT_TS  1  // unit: s
#define ALM_PCBNTC_FLT_TS    1  // unit: s
/* Ebike sensor fault recover*/
#define ALM_BIKE_REC_ALL_TM 1000 // unit: ms
#define ALM_BIKESPD_REC_TM  200  // unit: ms
#define ALM_CADENCE_REC_TM  200  // unit: ms
#define ALM_TORQ_REC_TM     200  // unit: ms
#define ALM_THROTTLE_REC_TM 200  // unit: ms
#define ALM_MOTORNTC_REC_TM 200  // unit: ms
#define ALM_PCBNTC_REC_TM   200  // unit: ms
/*======================================================================*
   Motor start
*=======================================================================*/
/* Start mode */
#define START_ALIGN 0           // Motor start with three stage
#define START_MODE  START_ALIGN // Motor start mode
/* InitPosDet mode */
#define INITPOS_ALIGN 0             // Motor start with three stage
#define INITPOS_MODE  INITPOS_ALIGN // Motor initposdet mode
/* Park time & current */
#define ALIGN_CUR_AP     1000 // unit: 0.01A, Park current value
#define ALIGN_RAMP_TM_MS 500  // unit: ms, Time of current ramp
#define ALIGN_HOLD_TM_MS 2000 // unit: ms, Time of current hold
#define ALIGN_ANG_INIT   0    // unit: deg, Park angle init, can not be 90deg

/* Drag speed & current */
#define DRAG_CUR_AP         1000 // 1500 //100 Huawei      // unit: 0.01A, Drag current value
#define DRAG_VOL_AP         10   // 0.1v
#define DRAG_SPD_HZ         20   // unit: Hz, Final speed of drag
#define DRAG_SPD_RAMP_TM_MS 4000 // unit: ms, Time of speed from 0Hz to target Hz
/* Open to close */
#define OPEN2CLZ_CUR_RAMP_TM_MS 5000 // 5000//1000 Huawei      // unit: ms, Time of current from drag value to 0
/* Close loop */
/* stop loop */
#define STOP_SPD_REF_RPM 100 // unit: rpm, Speed reference value when status go to stop
/*======================================================================*
   Flux observer
*=======================================================================*/
#define OBS_SPD_PLL_M            2   // Flux observer m coefficient
#define OBS_SPD_PLL_BANDWIDTH_HZ 150 // Flux observer PLL bandwidth
#define OBS_FLUX_PI_DAMPRATIO    10  // unit:0.1, Flux observer PI regulator dampratio
#define OBS_FLUX_PI_CROSSFREQ_HZ 10  // unit:Hz, Flux observer PI regulator crossfrequency

/*======================================================================*
   Current loop PI regulation
*=======================================================================*/
#define ACR_PI_BANDWIDTH_FLX    300   // unit: Hz, Current loop bandwidth when flux observer run
#define ACR_CUR_FLX_FBK_LPF_FRQ 8000  // unit: Hz, Frequency of current feedback LPF when flux observer run
#define ACR_CUR_OUT_LIM         37837 // Q15, 2/sqrt(3)*Vdc for current output limit  //18919
#define ACR_RA_COEF             1     // Coefficient of Active Resistance
#define ACR_UDCP_OUT_LIM        18918 // Q15, 2/3*Vdc for Udcp output limit   //18918  //21845   //10923

/*======================================================================*
   Speed loop PI regulation
*=======================================================================*/
#define ASR_PI_BANDWIDTH    3  // unit: Hz, Speed loop bandwidth
#define ASR_PI_M            4  //
#define ASR_SPD_FBK_LPF_FRQ 50 //
#define ASR_SPD_INER_RATE   1  //
/*=====================================================================*
   PWM generation
*=======================================================================*/
#define PWM_MAX_DUTY_CYLE_IPM     880                        // 890                        // 938      // unit: 0.1%,Max duty cyle for compare value
#define PWM_7SVM_TO_5SVM_DUTY_IPM 700                        // unit: 0.1%, Switch ratio from 7 to 5 svpwm
#define PWM_MIN_SAMPLE_DUTY1_IPM  5 * 10000 / PWM_PERIOD_US  // unit: 0.1%, 5us TWO MIN ZERO VECTOR = two sample current steady time
#define PWM_MIN_SAMPLE_DUTY2_IPM  10 * 10000 / PWM_PERIOD_US // unit: 0.1%, 10us TWO (one sample current steady time + one sample time)
#define PWM_MIN_SAMPLE_DUTY3_IPM \
    ((ULONG)6 * 10000 / PWM_PERIOD_US) // unit: 0.1%, 6 us TWO (one Singel Resistance sample current steady time + one sample time)
#define PWM_SAMPLE_TOSTEADY_IPM    ((ULONG)8 * 10000 / PWM_PERIOD_US) // unit: 0.1%, 4us TWO sample current to steady time
#define PWM_SAMPLE_SINGELRESIS_IPM ((ULONG)1 * 10000 / PWM_PERIOD_US) // unit: 0.1%, 1us TWO singel Resistance sample time
#define PWM_1ST_SAMPLE_CTS_IPM     25  // 43                        // 25       // unit: Null, first current sample counts
#define PWM_2ND_SAMPLE_CTS_IPM     220 // 280                       // 220      // unit: Null, second current sample counts
#define PWM_MIN_EFF_VECTOR_CTS_IPM 245 // 323                       // unit: Null, Min effective vector counts
#define PWM_MIN_EFF_VECTOR_PU_IPM  892 // 1176                       // 600      // unit: Q14, Min effective vector pu

#define PWM_OVR_MDL_MIN_PHS 0                   // SVPWM over modulation: min phase error
#define PWM_OVR_MDL_MIN_AMP 1                   // SVPWM over modulation: min amplitude error
#define PWM_OVR_MDL_OPTIMUM 2                   // SVPWM over modulation: amplitude and phase optimum
#define PWM_OVR_MDL_SEL     PWM_OVR_MDL_MIN_PHS //

/*======================================================================*
   Flux Weakening
*=======================================================================*/
#define FW_VDC_MIN_CALC_TM       20   // unit: ms,50Hz=>20ms, period of Vdc fluctuate
#define FW_VDC_LPF_FRQ           50   // unit: Hz, Frequency of Vdc LPF
#define FW_PWM_MAX_DUTY_CYLE_IPM 880  // unit: 0.1%,PWM max duty cyle for flux weakening
#define FW_ID_PI_OUT_MIN         1000 // unit: 0.01A, Min Id of PI outunit: 0.01A, Current Limit
#define FW_ID_MIN_LIM_RATIO      80   // Q0:1%, Ratio of Min d axis current (Charactoristic current)
#define FW_ID_KP_PU              10   // Q16, Kp for d axis current
#define FW_ID_KI_PU              5    // Q16, Ki for d axis current
#define FW_CHAR_CUR_CROSS_FREQ   2    // Q0,unit: SQRT(1/2piR)
#define FW_CHAR_CUR_DAMP_RATIO   2    // Q0,unit: SQRT(pi/2R)

/*======================================================================*
   Constant Voltage Braking Parameter define
*=======================================================================*/
#define CVB_CONSTANT_VOL_BRAKE_ERRV 30 // unit:0.1V,Voltage limit of Constant Voltage Brake
#define CVB_CONSTANT_VOL_BRAKE_V (ALM_OVR_VLT_LVL1_VAL - CVB_CONSTANT_VOL_BRAKE_ERRV) // unit:0.1V,Voltage limit of Constant Voltage Brake
#define CVB_CONSTANT_SPD_LOW_RPM 4500                        // unit:rpm,

/*======================================================================*
   Power limit
*=======================================================================*/
#define PWRLIM_VAL                  6500 // unit: 0.1w, Power limit value
#define PWRLIM_ERR                  500  // unit: 0.1w, Start power limit when "VAL - ERR"
#define PWRLIM_LPF_FRQ              8000 // unit: Hz, Frequency of LPF in input power of motor
#define PWR_IQ_LIMIT_KP_PU          20   // Q15
#define PWR_IQ_LIMIT_KI_PU          3000 // Q15
#define PWRLIM_START_THRESHOLD_TEMP 90   // Ce
/*======================================================================*
   Deadband compensation
*=======================================================================*/
#define DBC_K_COEF 300 // unit:0.1V/A    Deadband compensation slope coefficient

/*======================================================================*
   Communication type define
*=======================================================================*/
#define UART_MONITOR 0         //
#define UART_HOST    1         //
#define UART_TYPE    UART_HOST //

/*==============================================================================
                       Speed & Acc Constant parameters define
==============================================================================*/
#define USER_MOTOR_45RPM2PU        SPD_RPM2PU(45) // 45rpm,Q15
#define USER_MOTOR_100RPM2PU       SPD_RPM2PU(100)
#define USER_MOTOR_200RPM2PU       SPD_RPM2PU(200)
#define USER_MOTOR_300RPM2PU       SPD_RPM2PU(300)
#define USER_MOTOR_400RPM2PU       SPD_RPM2PU(400)
#define USER_MOTOR_600RPM2PU       SPD_RPM2PU(600)  // 600rpm,Q15
#define USER_MOTOR_800RPM2PU       SPD_RPM2PU(800)  // 800rpm,Q15
#define USER_MOTOR_1000RPM2PU      SPD_RPM2PU(1000) // 1000rpm,Q15
#define USER_MOTOR_1500RPM2PU      SPD_RPM2PU(1500) // 6000rpm,Q15
#define USER_MOTOR_4000RPM2PU      SPD_RPM2PU(4000) // 6000rpm,Q15
#define USER_MOTOR_5500RPM2PU      SPD_RPM2PU(5500)
#define USER_MOTOR_100RPMPS2PU_Q29 SPD_ACC_RPM2PU(100) // 100rpm/s,(0x40000000/FTBS_Hz/cof_uwVbRpm*100)
/*=======================================================================
                      TBS&TBC Time Cnts Define
=======================================================================*/
#define TBCCNT_500us    (((ULONG)500 * FTBC_HZ) / 1000000)
#define TBCCNT_1ms      (((ULONG)1 * FTBC_HZ) / 1000)
#define TBCCNT_5ms      (((ULONG)5 * FTBC_HZ) / 1000)
#define TBCCNT_10ms     (((ULONG)10 * FTBC_HZ) / 1000)
#define TBCCNT_50ms     (((ULONG)50 * FTBC_HZ) / 1000)
#define TBCCNT_32ms     (((ULONG)32 * FTBC_HZ) / 1000)
#define TBCCNT_60ms     (((ULONG)60 * FTBC_HZ) / 1000)
#define TBCCNT_100ms    (((ULONG)100 * FTBC_HZ) / 1000)
#define TBCCNT_150ms    (((ULONG)150 * FTBC_HZ) / 1000)
#define TBCCNT_200ms    (((ULONG)200 * FTBC_HZ) / 1000)
#define TBCCNT_250ms    (((ULONG)250 * FTBC_HZ) / 1000)
#define TBCCNT_300ms    (((ULONG)300 * FTBC_HZ) / 1000)
#define TBCCNT_400ms    (((ULONG)400 * FTBC_HZ) / 1000)
#define TBCCNT_500ms    (((ULONG)500 * FTBC_HZ) / 1000)
#define TBCCNT_100ms    (((ULONG)100 * FTBC_HZ) / 1000)
#define EVE1MSCNT_1ms   (((ULONG)1 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_5ms   (((ULONG)5 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_10ms  (((ULONG)10 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_20ms  (((ULONG)20 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_50ms  (((ULONG)50 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_100ms (((ULONG)100 * EVENT_1MS_HZ) / 1000)
#define EVE1MSCNT_200ms (((ULONG)200 * EVENT_1MS_HZ) / 1000)
#define EVE10MSCNT_3s   ((ULONG)3 * EVENT_1MS_HZ / 10)
#define EVE10MSCNT_5s   ((ULONG)5 * EVENT_1MS_HZ / 10)
#define EVE10MSCNT_10s  ((ULONG)10 * EVENT_1MS_HZ / 10)

/************************************************************************
 Comment Table
*************************************************************************/
// /*======================================================================*
//    High Frequency Signal Injection
// *=======================================================================*/
// #define HFI_FREQ1_HZ                           1200      // unit: Hz, Inject signal frequency 1
// #define HFI_AMP1_VT                            600      // unit: 0.1v, Inject signal voltage 1
// #define HFI_FREQ2_HZ                           1400      // unit: Hz, Inject signal frequency 2
// #define HFI_AMP2_VT                            700      // unit: 0.1v, Inject signal voltage 2
// #define HFI_TM_INIPOS_MS                       60      // unit: ms, Initial position detection time
// #define HFI_WAITTM_INIPOS_MS                   6      // unit: ms, Wait time after initial position detection
// #define HFI_AMP_POR_VT                         700      // unit: 0.1v, Polarity detection voltage amplitude
// #define HFI_TM_POR_PULS_MS                     1      // unit: ms, Polarity detection voltage pulse time
// #define HFI_WAITTM_POR_PULS_MS                 12      // Wunit: ms, ait time after voltage pulse
// #define HFI_DELTA_CUR_MAG_POR_OK_AP            20      // unit: 0.01A, delta current for polarity detection ok
// #define HFI_CUR_LPF_HZ                         500      // unit: Hz, Cut-off frequency of current lpf
// #define HFI_CUR_HPF_HZ                         50      // unit: Hz, Cut-off frequency of current hpf
// #define HFI_PLL_DAMPING_RATIO                  35      // unit: Null, Pll damping ratio
// #define HFI_PLL_CROSS_FREQ_HZ                  20      // unit: Hz, Pll cross frequency
// #define HFI_SPD_LPF_HZ                         8      // unit: Hz, Cut-off frequency of spd lpf
// #define HFI_MAG_SATR_AP                        240      // unit: 0.01A, Magnetic saturation current
/*==============================================================================
                      Deadband Compensation parameters define
==============================================================================*/
/* Api Device Index Definations */
#define ADC_IA_CH 0
#define ADC_IB_CH 1
#define ADC_IC_CH 2

#define ADC_IDC_CH 0

#define ADC_UDC_CH  0
#define ADC_TEMP_CH 1
#define ADC_UAC_CH  2

#define GPIO_LED_PIN 0
#define GPIO_CAP_PIN 1
/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/

/************************************************************************
 Exported Variables:
*************************************************************************/

/************************************************************************
 RAM ALLOCATION:
*************************************************************************/

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

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

/************************************************************************
 Head files (N/A)
*************************************************************************/
// #include <stdlib.h>
#include "typedefine.h"
#include "CodePara.h"
#include "classB.h"
#include "hwsetup.h"
#include "board_config.h"
#include "mathtool.h"
#include "main.h"
#include "spdctrFSM.h"
#include "glbcof.h"
#include "crdnt.h"
#include "tbc.h"
#include "tbs.h"
#include "tbt.h"
#include "alarm.h"
#include "adc.h"
#include "spi_master.h"
#include "i2c_master.h"
#include "spdctrmode.h"
#include "acr.h"
#include "asr.h"
#include "torqobs.h"
#include "obs.h"
#include "dbc.h"
#include "flxwkn.h"
#include "pwm.h"
#include "hfinj.h"
#include "pwrlim.h"
#include "bootloader.h"
#include "brake.h"
#include "uart_monitor.h"
#include "macroequ.h"
#include "alignstartup.h"
#include "switchhall.h"
/************************************************************************
 Flag Define (N/A)
*************************************************************************/
#ifdef __cplusplus
}
#endif // __cplusplus

#endif
/*************************************************************************
 Copyright (c) 2019 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/