/**
 * @copyright None
 * @file      VaribleDef.h
 * @author    Comment Vivre
 * @date      2024-08-26
 * @brief     None
 */
#ifndef __VARIBLE_DEF_H_
#define __VARIBLE_DEF_H_

/* ------------------------------------------- 运行 ------------------------------------------------------------- */

/**
    @brief 电机运行状态定义
*/
typedef enum
{
    mcReady     = 0,    ///< 准备状态,该状态电机空闲，等待控制命令
    mcInit      = 1,    ///< 初始化,该状态进行启动前的变量初始化
    mcCharge    = 2,    ///< 预充电,电机启动前给自举电容充电，一般用于高压驱动，低压驱动一般不需要
    mcTailWind  = 3,    ///< 顺逆风检测,该状态下电机进行顺逆风检测
    mcPosiCheck = 4,    ///< 初始位置检测
    mcAlign     = 5,    ///< 预定位
    mcStart     = 6,    ///< 启动，用于配置启动代码
    mcRun       = 7,    ///< 运行，
    mcStop      = 8,    ///< 停止
    mcFault     = 9,    ///< 故障状态
    mcBrake     = 10,   ///< 刹车
} MotStateType;

/**
    @brief 配置相关标志位定义
*/
typedef union
{
    uint8 SetMode; ///< 整个配置模式使能位
    struct
    {
        uint8 CalibFlag        : 1; ///< 电流校准的标志位
        uint8 ChargeSetFlag    : 1; ///< 预充电配置标志位
        uint8 AlignSetFlag     : 1; ///< 预定位配置标志位
        uint8 TailWindSetFlag  : 1; ///< 顺逆风配置标志位
        uint8 StartSetFlag     : 1; ///< 启动配置标志位
        uint8 PosiCheckSetFlag : 1; ///< 位置检测配置标志位
        uint8 Break            : 1; ////</ 刹车配置标志位
    } SetFlag;
} MotStaM;

extern MotStateType data mcState;
extern MotStaM    McStaSet;

/**
    @brief 偏置电压定义
*/
typedef struct
{
    int16   IuOffset;       //Iu的偏置电压
    int32   IuOffsetSum;    //Iu的偏置电压总和
    int16   IvOffset;       //Iv的偏置电压
    int32   IvOffsetSum;    //Iv的偏置电压总和
    int16   Iw_busOffset;   //Iw或Ibus的偏置电压
    int32   Iw_busOffsetSum;//Iw或Ibus的偏置电压总和
    int16   OffsetCount;    //偏置电压采集计数
    int8    OffsetFlag;     //偏置电压结束标志位
} CurrentOffset;

extern CurrentOffset xdata mcCurOffset;
/* ------------------------------------------- 功能 ------------------------------------------------------------- */
/**
    @brief RSD定义
*/
typedef struct
{
    uint16 StepTime[4];              ///< 一个脉冲的周期值
    uint8  Times;                    ///< 进入RSD中断次数
    
    uint16 Period;                   ///< 电周期值,除数不能超过16位
    int16  Count;                    ///< 当前脉冲数
    int16  CountPre;                 ///< 上一个状态脉冲数
    int16  State;                    ///< RSD的状态
    int16  Speed;                    ///< RSD的速度
    
    uint8  SpeedUpdate;              ///< 速度更新标志
    uint8  HighSpdStart;
    
    
    uint32 RSDSpeedBase;                ///< RSD的速度基准
    uint16 RSDCCWSBRCnt;                ///< RSD反转后启动前刹车计数
    uint8  RSDStep;                     ///< 速度捕获计数
    
    uint8 SetFR;
    uint8 Status;
    uint8 ArrCnt;
    
} MotorRSDTypeDef;

extern MotorRSDTypeDef   mcRsd;

#define     RSDSpeedCalBase             (uint32)(32767*TIM2_Fre*15/Pole_Pairs/MOTOR_SPEED_BASE)
#define     RSDSpeedCalMaxSpeed         (uint16)(TIM2_Fre*15/Pole_Pairs/MOTOR_SPEED_BASE)+1

#define     FORWARD                     (1)
#define     REVERSE                     (2)
#define     STATIC                      (3)
#define     DETECTING                   (0)


/**
    @brief BMEF顺逆风
*/
#define BEMF_FR_CCW                           (0xA0)
#define BEMF_FR_CW                            (0xB0)
#define BEMF_FR_ERR                           (0xC0)

#define  BEMF_FORWARD                           (1)
#define  BEMF_REVERSE                           (2)
#define  BEMF_STATIC                            (3)
#define  BEMF_DETECTING                         (0)

#define BEMFSpeedCalBase                        (int32)(32767.0 / 8.0 * (TIM2_Fre * 60 / Pole_Pairs / MOTOR_SPEED_BASE))
#define BEMFSpeedCalMinPeriod                   (int32)(1.0/8.0 * (TIM2_Fre * 60 / Pole_Pairs / MOTOR_SPEED_BASE)) + 1

//定义使用BEMF启动时ATO_BW值
#define ATO_BW_BEMF_START               (400.0)

#define OBSW_KP_GAIN_BEMF_START         _Q12(2 * _2PI * ATT_COEF * ATO_BW_BEMF_START / BASE_FREQ)
#define OBSW_KI_GAIN_BEMF_START         _Q12(_2PI * ATO_BW_BEMF_START * ATO_BW_BEMF_START * TPWM_VALUE / BASE_FREQ)

//定义使用BEMF启动时DKI QKI值
#define DKI_BEMF_START                  _Q12(1.0)
#define QKI_BEMF_START                  _Q12(1.0)

//定义使用BEMF启动最低转速,ROM
#define BEMFMotorStartSpeed             _Q15(2500.0 / MOTOR_SPEED_BASE)
#define BEMFMotorStartSpeedHigh         _Q15(12000.0 / MOTOR_SPEED_BASE)


typedef struct
{
    int16 BEMFSpeed;                   //反电动势检测的速度
    uint32 BEMFSpeedBase;               //反电动势检测的速度基准
    uint8  Status;                      // bemf检测状态
    
    
    uint8 FR_SET;
    uint8  FR ;                         // 当前转向
    uint8  FRPre;                       // 上一次转向
    int8   FRCount;                       // 正确转向计数，正数为CW，负数为CCW
    
    uint8  SpeedUpdate;              ///< 速度更新标志
    uint8  HighSpdStart;
    
    uint16 PeriodTime;                  //转一圈的周期计数值/8,因除数只能是16位的
    uint16 SectorTime[6];               // 60度扇区时间
    
} BEMFDetect_TypeDef;

extern BEMFDetect_TypeDef xdata mcBemf;

/**
    @brief 弱磁
*/
typedef struct
{
    int16   WeakenRunUq;
    int16   WeakenRunUd;
    uint16  WeakenUsRef;
    uint16  WeakenUsFed;
    int16   ThetaOutmin;
    int16   ThetaOutmax;
    int16   WeakenTheta;
    int16   udFlt;
    int16   uqFlt;
    int16   mcIsref;
    int16   IdRef;
    int16   IqRef;
    
} FieldWeakeningTypeDef;
extern  FieldWeakeningTypeDef xdata mcFiledWeaken;

/**
    @brief 电压补偿
*/
typedef union
{
    int32 s32;
    int16 s16[2];
} s32tos16;
typedef struct
{
    uint16 mcDcbusFlt1;
    uint16 AverageVoltageValue;
    uint16 AverageVoltageValue1;
    s32tos16 mcDcbusFlt2Sum;
    s32tos16 UQVALUESum;
    s32tos16 UDVALUESum;
    int16    UQVALUEAVERAGE;
    int16    UDVALUEAVERAGE;
    uint16 mcDcbusFlt2cnt;
    uint16 cpscnt;
    uint16 Uqcps;
    uint16 Udcps;
    uint16 testUq;
    uint16 testUq1;
    uint16 testUq2;
    uint16 testUq3;
    int16 testUq4;
    int16 testUd;
    uint16 testUd2;
    int16 testUd3;
    uint16 testUd4;
    uint8 segmentationcnt;
    
    int16 SPIVar1;
    int16   SPIVar2;
    int16   SPIVar3;
    
    uint8 Undervoltage_flag;
    
    uint16 IncVoltage;
    int16  LineAngel;
    int16  LineAngelMax;
    int16  LineAngelMin;
    uint16 VCDelayCnt;
    int16 UdValueAveragehigh;
    uint16 ADC22222;
} VOLCOMP;
extern VOLCOMP  data VoltageComp;



/* ------------------------------------------- 保护 ------------------------------------------------------------- */
/**
    @brief 故障定义
*/
typedef enum
{
    FaultNoSource           = 0,  ///< 无故障
    FaultHardOVCurrent      = 1,  ///< 硬件过流
    FaultSoftOVCurrent      = 2,  ///< 软件过流
    FaultOverVoltageDC      = 3,  ///< 过压
    FaultUnderVoltageDC     = 4,  ///< 欠压
    FaultPhaseLost          = 5,  ///< 缺相
    FaultStall              = 6,  ///< 堵转
    FaultNtcOTErr           = 7,  ///< NTC过温
    FaultMotorOTErr         = 8,  ///< 电机过温
    FaultTSD                = 9,  ///< MCU内部过温
    FaultOTWarning          = 10, ///< IPM高温预警
    FaultUartLost           = 11, ///< 通信丢失
    FaultPOST               = 12, ///< FCT自检故障
    FaultLVW                = 13, ///< LVW
    FaultGetOffset          = 14,       // 偏置电压保护
    FaultOverPowerErr       = 15,  ///<功率保护
} FaultStateType;
extern FaultStateType data mcFaultSource;

typedef struct
{
    uint8 SWOC_DectTimeCnt;
    int16 Is;
    uint8 HWOC_Times;
    uint8 HWOC_DectTimeCnt;
} FaultCurrentVarible;


typedef struct
{
    uint16 DetecCnt;
    uint16 WarningDetecCnt;
    uint8  WarningFlag;
} FaultTemperatureVarible;


typedef struct
{
    uint16 DectDealyCnt;
    uint16 DectCycleCnt;
    uint16 ALossCnt ;
    uint16 BLossCnt ;
    uint16 CLossCnt ;
    uint16 ABCLossCnt;
    uint16 mcLossPHRecCount;
    
    uint16 Max_ia;
    uint16 Max_ib;
    uint16 Max_ic;
} FaultPhaseLossVarible;


typedef struct
{
    uint16 OverVoltDetecCnt;
    uint16 UnderVoltDetecCnt;
    uint16 VoltRecoverCnt;
    uint16 BusVoltDetecCnt;
    uint16 DectDealyCnt;
    uint16 VoltDetecBraketCount;
    uint8  FlagBrakeInit;
    uint16 VoltDetecBraketDuty;
} FaultVoltageVarible;
typedef struct
{
    uint16 EsValue;
    
    uint16 Mode0DectCnt;
    
    int16  SpeedErr;
    uint16 DeviSpeedCnt;
    
    uint16 EsDectCnt;
    uint16 SpeedDectCnt;
    uint16 SpeedMinCnt;
    
    uint16 DectDealyCnt;
    uint8  Type;
} FaultStallTypedef;

typedef struct
{
    uint16 OverPowerDetecCnt;        ///< 过功率检测次数
} FaultOverPower;


typedef struct
{
    uint16 DC_DelayTcnt;
    uint16 LP_DelayTcnt;
    uint16 OT_DelayTcnt;
    uint16 SWOC_DelayTcnt;
    uint16 Stall_DealyTcnt;
    uint16 OverPower_DealyTcnt;
    uint8  OV_Times;
    uint8  OT_Times;
    uint8  LP_Times;
    uint8  SWOC_Times;
    uint8  Stall_Times;
    uint8 OverPower_Times;
} FaultRecoverTypedef;

typedef struct
{
    FaultCurrentVarible         Current;
    FaultPhaseLossVarible       PhaseLoss;
    FaultVoltageVarible         Voltage;
    FaultStallTypedef           Stall;
    FaultTemperatureVarible     Temperature;
    FaultOverPower              Power;
} FaultVarible;

typedef struct
{
    uint8  CheckCount;                 //
    uint8 TSD_Enable_Flag;             //    温度检测使能标志位
    uint8 TSD_Trigger_Flag;            //    温度检测触发标志位
    
    uint8 ActualTemper;               //
    uint16 Trigger_Value;              //
    uint16 TSD_Dec_Time;               //    温度检测时间计数
    
} MCUTemperature;

extern MCUTemperature xdata TSDTemperature;

extern FaultVarible                 xdata   fault;
extern FaultCurrentVarible          idata   mcCurVarible;
extern FaultRecoverTypedef          xdata   Restart;


typedef struct
{
    unsigned char	CtrlMode;			// 控制模式
    unsigned char	ChargeStep;			// 预充电的步骤
    unsigned char	Start_Mode;			// 启动方式
	
    unsigned char	FR_SET;
    unsigned char	FR;
    unsigned char	Flg_ATORampEnd;
    
    short			Ref;				// 控制目标给定
    short			IqRef;				// Q轴给定电流
    short			IdRef;				// D轴给定电流
    short			IqSpeedRef;			// Q轴速度给定电流
	unsigned short	LoopCalcInValue;
	short			LoopCalcOutValue;
    
    short			ExtDec;
    short			LimitIqOut;			// 限制功率输出
    unsigned short	PowerLimitValue;	// 功率限制的值
    
    unsigned char	Mode0HoldCnt;		// MODE0切MODE1延迟时间计数
    unsigned short	EMFsquare;			// 当前FOC_ESQU滤波后的值
    unsigned short	RunStateCnt;		// 运行状态计数
    unsigned char	LoopTime;			// 外环控制周期计数
    unsigned short	State_Count;		// 电机各个状态的时间计数
    short			mcPosCheckAngle;	// 位置检测的角度
    short			Angle;				// 弱磁角度
    
    unsigned short	mcDcbusFlt;			// 母线电压
    short			Power;				// 当前功率
    short			SpeedFlt;			// 当前速度滤波后的值
    short			UqFlt;				// Q轴电压
    short			UdFlt;				// D轴电压
    short			NTCValue;
    unsigned char	MCU_TEMP;			// MCU超过70°后，读取当前温度值
    short			Is;					// 母线电流
    short			SREFValue;
} FOCCTRL;
extern FOCCTRL xdata mcFocCtrl;

/**
    @brief 环路输入参数爬坡定义
*/
typedef struct
{
    int16 In;
    float Out;
    float Inc;
    float Dec;
} RefRamp;
extern RefRamp data LoopRefRamp;

/**
    @brief 脉宽计算定义
*/
typedef struct
{
    uint16 Compare;             // 比较值
    uint16 Period;              // 周期值
    uint16 TimerDR;
    uint16 TimerDROld;
    uint16 TimerARR;            // 周期值
    uint16 TimerARROld;         // 周期值
    uint16 Duty;                // PWM占空比，Q15格式
    uint16 Freq;                // PWM频率
    uint8  isUpdate;            // PWM新的duty更新
} PWMINPUTCAL;
extern PWMINPUTCAL          xdata mcPwmInput;

extern bit isCtrlPowOn;


/**
    @brief 启停定义
*/
typedef struct
{
    uint32 Times; // 启停次数
    uint16 TimeCnt; // 运行时间计数
    uint8  State; // 启停状态
} debugONOFFTypeDef;
extern debugONOFFTypeDef    xdata debug_ONOFFTest;

#endif