/**
******************************************************************************
* @file : main.h
* @brief : Header for main.c file.
* This file contains the common defines of the application.
******************************************************************************
** This notice applies to any and all portions of this file
* that are not between comment pairs USER CODE BEGIN and
* USER CODE END. Other portions of this file, whether
* inserted by the user or by software development tools
* are owned by their respective copyright owners.
*
* COPYRIGHT(c) 2019 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __MAIN_H__
#define __MAIN_H__
/* Includes ------------------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <arm_math.h>
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
#define Hall_1_Pin GPIO_PIN_0
#define Hall_1_GPIO_Port GPIOA
#define Hall_1_EXTI_IRQn EXTI0_IRQn
#define Hall_2_Pin GPIO_PIN_1
#define Hall_2_GPIO_Port GPIOA
#define Hall_2_EXTI_IRQn EXTI1_IRQn
#define Hall_3_Pin GPIO_PIN_2
#define Hall_3_GPIO_Port GPIOA
#define Hall_3_EXTI_IRQn EXTI2_IRQn
#define Throttle_Pin GPIO_PIN_3
#define Throttle_GPIO_Port GPIOA
#define Phase_Current1_Pin GPIO_PIN_4
#define Phase_Current1_GPIO_Port GPIOA
#define Phase_Current_2_Pin GPIO_PIN_5
#define Phase_Current_2_GPIO_Port GPIOA
#define Phase_Current_3_Pin GPIO_PIN_6
#define Phase_Current_3_GPIO_Port GPIOA
#define Temperature_Pin GPIO_PIN_1
#define Temperature_GPIO_Port GPIOB
#define LED_Pin GPIO_PIN_2
#define LED_GPIO_Port GPIOB
#define LIGHT_Pin GPIO_PIN_9
#define LIGHT_GPIO_Port GPIOB
#define BRAKE_LIGHT_Pin GPIO_PIN_10
#define BRAKE_LIGHT_GPIO_Port GPIOB
#define PAS_Pin GPIO_PIN_8
#define PAS_GPIO_Port GPIOB
#define Brake_Pin GPIO_PIN_11 // put a 15 here for new generation controllers!
#define Brake_GPIO_Port GPIOA
#define Speed_EXTI5_Pin GPIO_PIN_5
#define Speed_EXTI5_GPIO_Port GPIOB
#define Speed_EXTI5_EXTI_IRQn EXTI9_5_IRQn
#define PAS_EXTI8_Pin GPIO_PIN_8
#define PAS_EXTI8_GPIO_Port GPIOB
#define PAS_EXTI8_EXTI_IRQn EXTI9_5_IRQn
//#define NCTE
//#define LEGALFLAG
#define BATTERYVOLTAGE_MAX 53000
#define R_TEMP_PULLUP 0
#define INT_TEMP_25 0
#define TORQUE_OFFSET 850
//#define USE_FIX_POSITIONS 1
//Put values from the startup message after autodetect here, if you want to use fix positions. 32bit values for the hall angles!
/*
* i16_60deg_Hall_flag:
* bit 0: hallstate 0 detected
* bit 1: hallstate 7 detected
* bit 2: 60° hall configuration detected
* bit 3: hallstate 2 detected
* bit 4: hallstate 5 detected
* bit 5: 120° hall configuration detected
*/
#define KV 224
#define HALL_ORDER -1
#define HALL_45 1837291766
#define HALL_51 2565050131
#define HALL_13 3245086636
#define HALL_32 4032497326
#define HALL_26 417566535
#define HALL_64 1109533505
#define HALL_60_46 -1729917165
#define HALL_60_67 -978297870
#define HALL_60_73 -238609040
#define HALL_60_31 417566535
#define HALL_60_10 1169185830
#define HALL_60_4 1861152800
#define CONTROLLER_TEMPERATURE_THRESHOLD 70
#define CONTROLLER_TEMPERATURE_MAX 80
#define MOTOR_TEMPERATURE_THRESHOLD 100
#define MOTOR_TEMPERATURE_MAX 130
/* ########################## Assert Selection ############################## */
/**
* @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code
*/
/* #define USE_FULL_ASSERT 1U */
/* USER CODE BEGIN Private defines */
int32_t map (int32_t x, int32_t in_min, int32_t in_max, int32_t out_min, int32_t out_max);
void autodetect();
void runPIcontrol();
void kingmeter_update(void);
void No2_update(void);
extern uint16_t switchtime[3];
extern uint32_t ui32_tim1_counter;
extern uint32_t uint32_PAS_counter;
extern uint8_t throttle_is_set(void);
extern uint8_t brake_is_set(void);
extern void UART_IdleItCallback(void);
extern void get_internal_temp_offset(void);
typedef struct
{
int16_t gain_p;
int16_t gain_i;
int16_t limit_i;
int16_t limit_output;
int16_t recent_value;
int32_t setpoint;
int32_t integral_part;
int16_t max_step;
int32_t out;
int8_t shift;
}PI_control_t;
typedef struct
{
q31_t Voltage;
uint32_t Speed;
q31_t i_d;
q31_t i_q;
q31_t i_q_setpoint;
q31_t i_d_setpoint;
q31_t i_setpoint_abs;
int32_t i_q_setpoint_temp;
int32_t i_d_setpoint_temp;
q31_t u_d;
q31_t u_q;
q31_t u_abs;
q31_t Battery_Current;
uint8_t hall_angle_detect_flag;
uint8_t char_dyn_adc_state;
uint8_t assist_level;
uint8_t regen_level;
int16_t Температура;
int16_t int_Temperature;
int8_t system_state;
int8_t gear_state;
int8_t error_state;
int8_t angle_est;
int16_t KV_detect_flag;
}MotorState_t;
typedef struct
{
uint16_t wheel_cirumference;
uint16_t p_Iq;
uint16_t i_Iq;
uint16_t p_Id;
uint16_t i_Id;
uint16_t TS_coeff;
uint16_t PAS_timeout;
uint16_t ramp_end;
uint16_t throttle_offset;
uint16_t throttle_max;
uint16_t gear_ratio;
uint8_t speedLimit;
uint8_t pulses_per_revolution;
uint16_t phase_current_max;
int32_t battery_current_max;
}MotorParams_t;
/* Закрытое определение кода пользователя */
#ifdef __cplusplus
внешний "C" {
#endif
void _Error_Handler(char *, int);
#define Error_Handler() _Error_Handler(__FILE__, __LINE__)
#ifdef __cplusplus
}
#endif
#endif /* __MAIN_H__ */
/************************ (C) Авторские права принадлежат STMicroelectronics *****КОНЕЦ ФАЙЛА****/
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