/*
 * var.c
 *
 *  Created on: 2023年5月17日
 *      Author: wangd
 */
#include "var.h"   // DSP2803x Examples Include File
#ifndef TRUE
#define FALSE 0
#define TRUE  1
#endif


union FAULTFLAG_UNI FaultFlag;
Uint16 DCbus_voltage=0;
Uint32 IsrTime = 0;
_iq test =0;
int16 test2 =0;
int16 Tmotor = 0;
PI_CONTROLLER pid1_idc = PI_CONTROLLER_DEFAULTS;
PI_CONTROLLER pid1_spd = PI_CONTROLLER_DEFAULTS;
RMPCNTL rc1 = RMPCNTL_DEFAULTS;

int32 pwmlimit = 32768;
_iq SpeedRef=_IQ(0.0);//初始速度
int16 Direction = 1;
_iq BemfA=0;
_iq BemfB=0;
_iq BemfC=0;
_iq Iphase=0;
_iq DC_current_real = 0;
_iq DC_current_filer = 0;
int32 DC_current_avr = 0;
int32 DC_current_filter_avr = 0;
int16 Tvot = 0;
_iq CurrentSet = _IQ(0.0);
Uint16 Fault_clear = 0;
int32 XintTime = 60000000;
volatile Uint16 EnableFlag = FALSE;
void InitVar(void){
    FaultFlag.all = 0;
    // Initialize the PI module for dc-bus current
    pid1_idc.Kp = _IQ(0.05);
    pid1_idc.Ki   = _IQ(0.0002);
    pid1_idc.Umax = _IQ((float)pwmlimit/32767);
    pid1_idc.Umin = _IQ((float)(-pwmlimit)/32767);
    // Initialize the PI module for speed
    pid1_spd.Kp   = _IQ(1.0);
    pid1_spd.Ki   = 360;//_IQ(0.0002);
    pid1_spd.Umax = _IQ(1.0);
    pid1_spd.Umin = _IQ(0.0);

    // Initialize RMPCNTL module
    rc1.RampDelayMax = 5;
    rc1.RampLowLimit = _IQ(-1.0);
    rc1.RampHighLimit = _IQ(1.0);



}
void FaultTreat(void){
    OverVoltage();
    OverMotorRpm();
    OverMotCtrTemp();
}

void OverVoltage(void)
{

    static int16 i = 0;
    static int16 j = 0;

    if (DCbus_voltage >= 360)
    {
        i = 20000;
        FaultFlag.bit.OverVolFlag = 1;
    }
    else if (DCbus_voltage <= 200)  //80
    {
        j = 10000;
        FaultFlag.bit.LowVolFlag = 1;
    }
    else
    {
        if (FaultFlag.bit.OverVolFlag == 1)
        {
            i--;
            if (i <= 0)
            {
                i = 0;
                FaultFlag.bit.OverVolFlag = 0;
            }
        }
        else
        {
            i = 0;
        }

        if (FaultFlag.bit.LowVolFlag == 1)
        {
            j--;
            if (j <= 0)
            {
                j = 0;
                FaultFlag.bit.LowVolFlag = 0;
            }
        }
        else
        {
            j = 0;
        }
    }
}
void OverMotorRpm(void)
{
    if (speed1.BaseRpm >= 3800)
    {
        FaultFlag.bit.OverRpmFlag = 1;
    }
    else if (speed1.BaseRpm < 100)
    {
        FaultFlag.bit.OverRpmFlag = 0;
    }
}
void OverMotCtrTemp(void)
{

    if (Tmotor >= 85)
    {
        FaultFlag.bit.OverMotTempFlag = 1;
    }
    else if (Tmotor < 50)
    {
        FaultFlag.bit.OverMotTempFlag = 0;
    }
    if (Tvot >= 85)
    {
        FaultFlag.bit.IgbtTempFaultFlag = 1;
    }
    else if (Tvot < 50)
    {
        FaultFlag.bit.IgbtTempFaultFlag = 0;
    }

}