/*
 * var.h
 *
 *  Created on: 2023Äê5ÔÂ17ÈÕ
 *      Author: wangd
 */

#ifndef USERSOURCE_VAR_H_
#define USERSOURCE_VAR_H_

#include "IQmathLib.h"
#include "DSP2803x_Device.h"      // DSP2803x Headerfile Include File
#include "pi.h"         // Include header for the PIDREG3 object
#include "speed_pr.h"           // Include header for the SPEED_MEAS_REV object
#include "rmp_cntl.h"           // Include header for the RMPCNTL object
#include "f2803xbldcpwmstruct.h"
#include "f2803xhall_gpio_struct.h"    // Include header for the HALL object
#define PIXHAWK 1
//#define DEBUG_CAN 1
#define ESC_NUMBER 0x08
#define SPEEDCLOSED 1

//#define MOTORLEFT 1

#ifndef DSP28_DATA_TYPES
#define DSP28_DATA_TYPES
typedef int             int16;
typedef long            int32;
typedef unsigned int    Uint16;
typedef unsigned long   Uint32;
typedef float           float32;
typedef long double     float64;
#endif

#define SOFTCURlIMIT 8 //A
#define MAINLOOPRATE 8 //Khz
#define MAINLOOPTIME 125 //US
#define VOLTAGEUP 370 //V
#define VOLTAGELOW 250 //V
#define SPEEDUP 4200 //RPM

#define MOTORTEMPLIMIT 70 //
#define MOTORTEMPOVER 85 //
#define IGBTTEMPOVER 65 //

#define MAINLOOPFREQ 8000
struct FAULTFLAG_STR
{
    Uint16 OverMotTempFlag:1;
    Uint16 IgbtTempFaultFlag:1;
    Uint16 LowVolFlag:1;
    Uint16 SoftOverCurFlag:1;
    Uint16 LimitMotTempFlag:1;
    Uint16 rsv1:3;

    Uint16 OverVolFlag:1;
    Uint16 CanErrFlag:1;
    Uint16 OverCurFlag:1;
    Uint16 Ipmfault:1;
    Uint16 OverRpmFlag:1;
    Uint16 HallFlag:1;
    Uint16 rsv2:2;


};

union FAULTFLAG_UNI
{
    Uint16                 all;
    struct FAULTFLAG_STR bit;
};
extern union FAULTFLAG_UNI FaultFlag;
extern int16 PwmSet ;
extern Uint32 startuptimer;
extern Uint32 IsrTime;
extern _iq test ;
extern int16 test2;
extern int16 test3;
extern int16 test4;
extern int16 test5;
extern int16 test7;
extern int16 Tmotor;
extern PI_CONTROLLER pid1_idc;
extern PI_CONTROLLER pid1_spd;
extern RMPCNTL rc1;
extern PWMGEN pwm1;
extern SPEED_MEAS_CAP speed1;
extern HALL3 hall1;
extern int32 pwmlimit;
extern _iq SpeedRef;
extern int16 Direction;

extern _iq BemfA;
extern _iq BemfB;
extern _iq BemfC;
extern _iq Iphase;
extern Uint16 DCbus_voltage;
extern _iq12 DC_current_real ;
extern _iq DC_current_filer;
extern int16 Tvot ;
extern int16 Tmotor ;
extern _iq CurrentSet;
extern int32 DC_current_avr;
extern int32 DC_current_filter_avr;
extern Uint16 Fault_clear;
extern int32 XintTime;
extern int16 t4;
extern volatile Uint16 EnableFlag;
extern volatile Uint16 Enable_ALLOW;
extern void InitVar(void);
extern void OverVoltage(void);
extern void FaultTreat(void);
extern void OverMotCtrTemp(void);
extern void OverMotorRpm(void);
extern void OpenPwm(void);
extern void Fault_clear_fuc(void);
extern int16 LimitMotCtrTemp(int32 period);
extern void SoftOverCurFlag(void);
extern void speed_cal_filter(void);
extern void carveData2();
#endif /* USERSOURCE_VAR_H_ */