motor_ctl-4/User project/3.BasicFunction/Include/bikespeed.h

/**
 * @file Bikespeed.h
 * @author Wang, Zhiyu(wangzy49@midea.com)
 * @brief Speed of ebike wheel
 * @version 0.1
 * @date 2021-10-09
 *
 * @copyright Copyright (c) 2021
 *
 */
/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef BIKESPEED_H
#define BIKESPEED_H

#include "typedefine.h"
#include "mathtool.h"

#ifdef __cplusplus
extern "C" {
#endif // __cplusplus
/****************************************
 *
 *          Definitions & Macros
 *
 ****************************************/
#define BIKESPEED_NUMBERS_PULSES           1     // numbers of pulses per cycles
#define BIKESPEED_START_INTERVALTIME       8000 //10000 // interveal time of detect valid pulses, ms
#define BIKESPEED_NUMBERS_VALIDPULSE2START 1     // numbers of valid pulses that needed to start
#define BIKESPEED_HF_MINTIME               8000 //4000  //3000  // Min time of valid pulses, ms
#define BIKESPEED_ERROR_RESETTIME          5000  // TIMER PERIOD,ms
#define BIKESPEED_TIM_TIMERUNIT            25    // TIMER PERIOD,ms
#define BIKESPEED_LPF_GAIN                 80    //%
#define BIKESPEED_MAX_FREQUENCY            20    // Hz, ebike wheel

#define BIKESPEED_POWER_ERROR_VOLTAGE_UP   60   // 0.1v
#define BIKESPEED_POWER_ERROR_VOLTAGE_DOWN 40   // 0.1v
#define BIKESPEED_POWER_ERROR_DETECT       4000 // ms
#define BIKESPEED_POWER_ERROR_RECOVER      4000 // ms
#define BIKESPEED_POWER_ERROR_TIMEUNIT     200  // ms
#define BIKESPEED_KMPERH2FREQPU            190  // 1km/h to FreqPu : 1/(FBASE * ass_stParaCong.uwWheelPerimeter * 36 /1000 >> 20)  
   
#define BIKESPEED_COF_DEFAULT  \
    {                          \
        0, 0, 0, 0, 0, 0, 0, 0 \
    }
#define BIKESPEED_OUT_DEFAULT                                          \
    {                                                                  \
        0, 0, 0, 0, 0, 0, 0, 0, 0, FALSE, FALSE, FALSE, BIKESPEED_IDLE \
    } // Default value of BIKESPEED_OUT

/***************************************
 *
 *          Type  Definations
 *
 ***************************************/

/**
 * @brief Bikespeed FSM
 *
 */
typedef enum
{
    BIKESPEED_IDLE = 0,
    BIKESPEED_WORK = 1,
    BIKESPEED_ERROR = 3
} BIKESPEED_FSM;

/**
 * @brief Bikespeed COF
 *
 */
typedef struct
{
    UWORD uwNumbersPulses;           // numbers of pulses per cycles
    UWORD uwSartIntervalTimeCnt;     // interveal time of detect valid pulses, ms
    UWORD uwNumbersValidPulse2Start; // numbers of valid pulses that needed to start
    UWORD uwHfMinTimeCnt;            // Min time of valid pulses, ms
    UWORD uwErrorResetCnt;           // Min time of ERROR reset, ms
    UWORD uwTimerUnit;               // Timer , ms
    UWORD uwBikeSpeedLPFGain;        // Hz,LPF bandwidth
    UWORD uwMaxBikeSpeedFre;         //

    UWORD uwBikespeedPwrErrorCnt;           // Cnt of detect GPIO low voltage
    UWORD uwBikespeedPwrRecoverCnt;         // Cnt of detect GPIO high voltage
    UWORD uwBikespeedPwrErrorVoltagePuDown; // flag of light error
    UWORD uwBikespeedPwrErrorVoltagePuUp;   // flag of light error

    UWORD uwWheelPerimeter;   // the back wheel Diameter 0.1 cm
    UWORD uwMinTriptoUpdate; // the minimum trip to update m
} BIKESPEED_COF;

/**
 * @brief Bikespeed OUT
 *
 */
typedef struct
{                                // Output of " cadence_voFreGet "
    UWORD uwFrequencyPu;         // Q20, Real value of Bike speed frequecy result
    UWORD uwLPFFrequencyPu;      // Q20, Real value of Bike speed frequecy result
    UWORD uwCaputure1Cnt;        // The cnt of the first pulse
    UWORD uwCaputure2Cnt;        // The cnt of the second pulse
    UWORD uwCaputureNumCnt;      // The current sequece of the pulse
    UWORD uwCaputureOverflowCnt; // number of TIM4 CNT Overflow between two capture
    UWORD uwCaputureErrorCnt;    // number of ERROR

    UWORD uwBikespeedPwrErrorCnt;   // Cnt of detect GPIO low voltage
    UWORD uwBikespeedPwrRecoverCnt; // Cnt of detect GPIO high voltage

    BOOL          blBikeSpeedSensorErrorFlg;    // The falg of sensor error
    BOOL          blBikeSpeedSensorPwrErrorFlg; // The falg of sensor error
    BOOL          blBikeSpeedCalStartState;     // TRUE = START   FALSE = STOP
    BIKESPEED_FSM bikespeed_fsm;
    
    UWORD uwCaputureOverflowMinCnt;
    UWORD uwCaputureOverflowMinCntTest;
    UWORD uwBikeForwardCnt;   // Count number to calculate trip
    BOOL  blUpdateTripCntFlg; // Unit the same as BIKESPEED_COF.uwMinTriptoUpdate ��need clear after update trip.
    UWORD uwOverflowfirst;
} BIKESPEED_OUT;


typedef struct // Input of "BikeSpdREFPI"
{
    SLONG slSpdRefPu;  //  bikeSpeed reference,Q0
    SLONG slSpdFdkPu; //  bikeSpeed feedback,Q0
    SWORD swIqMaxPu;
    SWORD swIqMinPu;  
} BIKESPDPI_IN;

typedef struct
{
   SLONG slErrorZ1;
   SLONG slIqRefPu;
   SWORD swIqRefPu;
} BIKESPDPI_OUT;

typedef struct
{
    UWORD  uwKpPu;
    UWORD  uwKiPu;
}BIKESPDPI_COF;

/****************************************
 *
 *           Exported variable
 *
 ****************************************/
extern BIKESPEED_COF bikespeed_stFreGetCof;
extern BIKESPDPI_OUT bikespeed_stPIOut;
extern BIKESPDPI_IN  bikespeed_stPIIn;
extern BIKESPEED_OUT bikespeed_stFreGetOut;
extern LPF_OUT bike_pvt_stCurLpf;
/***************************************
 *
 *          Function  Definations
 *
 ***************************************/
void bikespeed_voBikeSpeedInit(void); // interface function
void bikespeed_voBikeSpeedCof(void);
void bikespeed_voBikeSpeedCal(UWORD source);
void bikespeed_voGetBikeSpeedPwrError(UWORD BikeSpeedPwrVolPu);
void bikespeed_votempTripCal(void);
void bikespeed_voPIInit(void);
void bikespeed_voPICoef(void);
void bikespeed_voPI(const BIKESPDPI_IN *in, BIKESPDPI_OUT *out);
/************************************************************************
 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!
*************************************************************************/