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motor_ctl-4


			
				
					
						
						
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							/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            uart_appl.h
 Partner Filename:    uart_appl.c
 Description:         The header file of uart_appl.c
 Complier:            IAR Embedded Workbench for ARM 7.80.4
 CPU TYPE :           GD32F30x
*************************************************************************
 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 UART_APPL_H
#define UART_APPL_H
/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _UART_APPL_C_
#define _UART_APPL_C_EXT
#else
#define _UART_APPL_C_EXT extern
#endif
/************************************************************************
 Definitions & Macros
*************************************************************************/
#define UART_ACK_BUFFER_SIZE    24
#define UART_HOST_TIMEOUT_COUNT 6000 // Timeout == 6sec
#define UART_ACK_BUFFER_DEFAULT                                                      \
    {                                                                                \
        0xB2, 0x01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    } // Default value of UART_ACK_BUFFER
/************************************************************************
 TypeDefs & Structure defines (N/A)
*************************************************************************/

/************************************************************************
 Exported Variables
*************************************************************************/
#ifdef _UART_APPL_C_
//******************************* Data Interface ***************************************************
_UART_APPL_C_EXT BOOL uart_commandEN =
    FALSE; // LittleSwan protocol stipulates that when the correct Ping commmand(motorNum !=0) is received then other command can be reponsed.
_UART_APPL_C_EXT BOOL       uart_FCTcommandEN = FALSE; // ly180403
_UART_APPL_C_EXT FlagStatus uart_blDrumTestOkFlg = RESET;
_UART_APPL_C_EXT UWORD      uart_uwDrumTestEn = 0;
_UART_APPL_C_EXT FlagStatus uart_blTimeoutFlg = RESET;   // when Ping command receied, enable timeout count.
_UART_APPL_C_EXT UWORD      uart_uwTimeoutCnts = 0;      // reset timeout counter everytime any commmand received.
_UART_APPL_C_EXT SWORD      uart_swDrumSpdAbsNowRpm = 0; // present effected drum speed command mirror
_UART_APPL_C_EXT SWORD      uart_swDrumSpdAbsPreRpm = 0; // previous effected drum speed commmand mirror
//----------- ACK(response) value Interface ------------
_UART_APPL_C_EXT SWORD uart_swDrumSpdNowRpm = 0; // present effected drum speed command
_UART_APPL_C_EXT SWORD uart_swDrumSpdPreRpm = 0; // previous effected drum speed commmand
_UART_APPL_C_EXT UWORD uart_uwSoftwareVer = 0x0000;
_UART_APPL_C_EXT UBYTE uart_ubMotorID = 0x00;
_UART_APPL_C_EXT UBYTE uart_ubMotorTemp = 0x00;
_UART_APPL_C_EXT SBYTE uart_sbIPMtemp = 0x00;
_UART_APPL_C_EXT UWORD uart_uwFaultCode = 0x0000;
_UART_APPL_C_EXT SWORD uart_swDrumSpdRpm = -100;
_UART_APPL_C_EXT SBYTE uart_sbPhaseUCurrentA = 0;
_UART_APPL_C_EXT UWORD uart_uwBusVoltageV = 310;
//----------- Command value Interface ------------
_UART_APPL_C_EXT SWORD uart_swDrumSpdCmdRpm = 0;
_UART_APPL_C_EXT SWORD uart_swDrumSpdCmdPreRpm = 0;
_UART_APPL_C_EXT UBYTE uart_ubAckBuffer[UART_ACK_BUFFER_SIZE] = UART_ACK_BUFFER_DEFAULT;
_UART_APPL_C_EXT UBYTE uart_ubData1 = 0; // Reserved
_UART_APPL_C_EXT UBYTE uart_ubPlatform = 0x00;
_UART_APPL_C_EXT UWORD uart_uwLoadTested = 0;
_UART_APPL_C_EXT UWORD uart_uwLoadDef = 0;
_UART_APPL_C_EXT UWORD *uart_ptuwLoad = &uart_uwLoadDef;
_UART_APPL_C_EXT UWORD  uart_uwACCtimeTs = 10;
_UART_APPL_C_EXT UWORD  uart_uwACCtimePreTs = 10;
_UART_APPL_C_EXT SWORD  uart_swDrumACCRpmps = 130;
_UART_APPL_C_EXT SWORD  uart_swMotorACCRpmps = 1500;
_UART_APPL_C_EXT BOOL   uart_bCommOvrTmFlg = FALSE;
_UART_APPL_C_EXT SWORD  uart_swMotorStopCnt = 0;

_UART_APPL_C_EXT UWORD uart_uwFTbsHz = 4000;
_UART_APPL_C_EXT SLONG uart_slSpdRefRpm = 0;
_UART_APPL_C_EXT SWORD uart_swTorqRefNm = 0;
#else
_UART_APPL_C_EXT BOOL uart_commandEN; // LittleSwan protocol stipulates that when the correct Ping commmand(motorNum !=0) is received then other
                                      // command can be reponsed.
_UART_APPL_C_EXT FlagStatus uart_blDrumTestOkFlg;
_UART_APPL_C_EXT UBYTE      uart_ubPlatform;
_UART_APPL_C_EXT UWORD      uart_uwLoadTested;
_UART_APPL_C_EXT UWORD      uart_uwLoadDef;
_UART_APPL_C_EXT UWORD *    uart_ptuwLoad;
_UART_APPL_C_EXT SWORD      uart_swDrumSpdAbsNowRpm;
_UART_APPL_C_EXT SWORD      uart_swDrumSpdAbsPreRpm;
_UART_APPL_C_EXT UWORD      uart_uwDrumTestEn;
_UART_APPL_C_EXT UWORD      uart_uwACCtimeTs;
_UART_APPL_C_EXT UWORD      uart_uwACCtimePreTs;
_UART_APPL_C_EXT FlagStatus uart_blTimeoutFlg;
_UART_APPL_C_EXT UWORD      uart_uwTimeoutCnts;
_UART_APPL_C_EXT BOOL       uart_bCommOvrTmFlg;
_UART_APPL_C_EXT SWORD      uart_swMotorStopCnt;
_UART_APPL_C_EXT SWORD      uart_swDrumSpdNowRpm; // present effected drum speed command
_UART_APPL_C_EXT SWORD      uart_swDrumSpdPreRpm; // previous effected drum speed commmand
_UART_APPL_C_EXT UWORD      uart_uwSoftwareVer;
_UART_APPL_C_EXT UBYTE      uart_ubMotorID;
_UART_APPL_C_EXT UBYTE      uart_ubMotorTemp;
_UART_APPL_C_EXT SBYTE      uart_sbIPMtemp;
_UART_APPL_C_EXT UWORD      uart_uwFaultCode;
_UART_APPL_C_EXT SWORD      uart_swDrumSpdRpm;
_UART_APPL_C_EXT SBYTE      uart_sbPhaseUCurrentA;
_UART_APPL_C_EXT UWORD      uart_uwBusVoltageV;
_UART_APPL_C_EXT SWORD      uart_swDrumSpdCmdRpm;
_UART_APPL_C_EXT UBYTE      uart_ubAckBuffer[UART_ACK_BUFFER_SIZE];
_UART_APPL_C_EXT UBYTE      uart_ubData1;
_UART_APPL_C_EXT SWORD      uart_swDrumACCRpmps;  // 0821
_UART_APPL_C_EXT SWORD      uart_swMotorACCRpmps; // 0821
_UART_APPL_C_EXT UWORD      uart_uwFTbsHz;
_UART_APPL_C_EXT SLONG      uart_slSpdRefRpm;
_UART_APPL_C_EXT SWORD      uart_swTorqRefNm;
_UART_APPL_C_EXT SWORD      uart_swDrumSpdCmdPreRpm;
#endif
//------------------------------------------------------------------------

/************************************************************************
 Exported Function Call Prototypes
*************************************************************************/
#ifdef _UART_APPL_C_
_UART_APPL_C_EXT BOOL  uart_bSwanDecoder(UBYTE *ptubBuffer, UWORD Num, UBYTE **ptptubACKbuffer, UWORD *ACKnum);
_UART_APPL_C_EXT UWORD uart_uwCRCCcitt(const UBYTE ptubBuf[], UWORD length);
#else
_UART_APPL_C_EXT BOOL  uart_bSwanDecoder(UBYTE *ptubBuffer, UWORD Num, UBYTE **ptptubACKbuffer, UWORD *ACKnum);
_UART_APPL_C_EXT UWORD uart_uwCRCCcitt(const UBYTE ptubBuf[], UWORD length);
#endif
#endif
/*>>>>>>>>>>>>>>>>>>>>>>>> End of Header File Inclusion Protection <<<<<<<<<<<<<<<<<<<<<<<*/
/****************************************************************************************
End of this File (EOF).     Do not put anything after this line.
****************************************************************************************/