AC-Motor-FU6815/System/FU68xx_5_MDU.h

#ifndef __FU68XX_5_MDU_H__
#define __FU68XX_5_MDU_H__

#include <FU68xx_5_MCU.h>

/**
 * @brief 运行SMDU且不等待运行结束
 *
 * @param  stan (0-3) 要启动的计算单元编号
 * @param  mode (0-7) 指定计算单元的模式, 可使用@see ETypeSMDUMode 作为计算模式的设置\n
 * @ref S1MUL   有符号乘法, 计算结果左移1位 \n
 * @ref SMUL    有符号乘法 \n
 * @ref UMUL    无符号乘法 \n
 * @ref DIV     32/16无符号除法 \n
 * @ref SIN_COS Sin/Cos \n
 * @ref ATAN    ATan \n
 * @ref LPF     低通 \n
 * @ref PI      PI \n
 */
 
 typedef enum
{
    S1MUL   = 0, /**< 有符号乘法, 计算结果左移1位 */
    SMUL    = 1, /**< 有符号乘法 */
    UMUL    = 2, /**< 无符号乘法 */
    DIV     = 3, /**< 32/16无符号除法 */
    SIN_COS = 4, /**< Sin/Cos */
    ATAN    = 5, /**< ATan */
    LPF     = 6, /**< 低通滤波 */
    PI      = 7  /**< PI */
} ETypeSMDUMode;
 
#define SMDU_RunNoBlock(stan, mode)   do                                                  \
                                      {                                                   \
                                          MDU_CR = MDUSTA0 << stan | (unsigned char)mode; \
                                      } while (0)

/**
 * @brief 运行SMDU且等待运行结束
 *
 * @param  stan (0-3) 要启动的计算单元编号
 * @param  mode (0-7) 指定计算单元的模式, 可使用@see ETypeSMDUMode 作为计算模式的设置\n
 * @ref S1MUL   有符号乘法, 计算结果左移1位 \n
 * @ref SMUL    有符号乘法 \n
 * @ref UMUL    无符号乘法 \n
 * @ref DIV     32/16无符号除法 \n
 * @ref SIN_COS Sin/Cos \n
 * @ref ATAN    ATan \n
 * @ref LPF     低通 \n
 * @ref PI      PI \n
 */
#define SMDU_RunBlock(stan, mode)   do                                       \
                                    {                                        \
                                        SMDU_RunNoBlock(stan, mode);         \
                                        while ((MDU_CR & MDUBSY) == MDUBSY); \
                                    } while (0);



#define MuiltS1_H_MDU(iA, iB, iCh)   do                                       \
                                    {                                        \
                                      MUL0_MA = iA;MUL0_MB = iB;  SMDU_RunBlock(0 , 0);   iCh =   MUL0_MCH;     \                                     
                                    } while (0);

                                  
 
#define SinCos_MDU(iCos0, iTheta, iSin0, iCos, iSin)        do     \
                                                               { \   
                                                                SCAT2_COS = iCos0;\
                                                                SCAT2_THE = iTheta;\
                                                                SCAT2_SIN = 0;  \ 
                                                                SMDU_RunBlock(2,4);\
                                                                iSin = SCAT2_RES2 ;\
                                                                iCos = SCAT2_RES1;\
                                                            } while (0);


#define LPF_MDU(iX, ucK, iYh, iYl)                          do { \
                                                                LPF3_K  = ucK;\
                                                                LPF3_X  = iX;\
                                                                LPF3_YH  = iYh;\
                                                                LPF3_YL  = iYl;\
                                                                SMDU_RunBlock(3,6);\
                                                                iYh    = LPF3_YH;\
                                                                iYl    = LPF3_YL;\
                                                            } while (0) ; 

#define SqrtI_alpbet(i_alp, i_bet, is)                          do { \
                                                                SCAT0_COS    =   i_alp;     \
                                                                SCAT0_SIN    =   i_bet;     \
                                                                SMDU_RunBlock(0,5);         \
                                                                is           = SCAT0_RES1; \
                                                            } while (0) ; 
#define SqrtU_alpbet(u_alp, u_bet, us)                      do{ \
                                                                SCAT1_COS    =   u_alp;     \
                                                                SCAT1_SIN    =   u_bet;     \
                                                                SMDU_RunBlock(1,5);         \
                                                                us           = SCAT1_RES1; \
                                                            } while (0) ; 


#endif