150 lines
3.6 KiB
C
150 lines
3.6 KiB
C
/*
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* @Author: mypx
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* @Date: 2025-08-11 08:30:53
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* @LastEditTime: 2025-09-24 16:10:18
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* @LastEditors: mypx mypx_coder@163.com
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* @Description:
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*/
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#ifndef __PM_MEAS_H__
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#define __PM_MEAS_H__
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#include "et_goertzel.h"
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#include "et_zero_cross.h"
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#include "etk_pid.h"
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#include "etk_slope.h"
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#include "pm_common.h"
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#define FZ_CALI_MAX_COUNT 10
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#define ZC_COUNT_STABLE_TIMES 5
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#define ZERO_POS_THRESHOLD 0.5f
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#define PID_TARGET_ZERO_POS_VAL 0.0f
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#define RUN_OFFSET_ANGLE_RPM (1000)
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#define FZ_UNKNOWN_STAGE_RPM 1000
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#define FZ_SATURATED_STAGE_RPM 1000
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#define FZ_WAVE_ENTER_STAGE_RPM 1000
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#define FZ_PREPARE_STAGE_RPM 1000
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#define FZ_FAST_CLOSE_STAGE_RPM 700
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#define FZ_PRECISE_ADJUST_MIN_RPM (0.6f * MOTOR_TO_ENCODER_FACTOR) // 0.6rpm->0.001
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#define FZ_SATURATED_POWER_MAX 5.0f
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#define FZ_SATURATED_SLOPE_MAX 50.0f
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#define FZ_FAST_CLOSE_ENTER_FREQ_MIN 48.0f
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#define FZ_FAST_CLOSE_ENTER_FREQ_MAX 52.0f
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#define FZ_PRECISE_ADJUST_LEAVE_POWER_MAX FZ_PRECISE_ADJUST_ENTER_POWER_MAX
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#define FZ_PREPARE_LEAVE_SLOPE_MIN -100000
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#define FZ_PREPARE_LEAVE_FREQ_MIN 48.0f
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#define FZ_PREPARE_LEAVE_FREQ_MAX 52.0f
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extern bool fsm_state;
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typedef enum
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{
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TREND_UNKNOWN = 0, // 未知（首次调用，无历史数据）
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TREND_STABLE, // 稳定（无连续6次升/降，或当前值与上次相等）
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TREND_INCREASE, // 上升（连续6次大于上次值）
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TREND_DECREASE // 下降（连续6次小于上次值）
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} TrendStatus;
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#define TREND_MAX_CNT 20
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typedef enum
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{
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ZF_UNKNOWN_STAGE = 0,
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ZF_SATURATED_STAGE,
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ZF_WAVE_ENTER_STAGE, // little magnitude 50hz wave detected
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ZF_PREPARE_ENTER_STAGE, // big magnitude 50hz wave detected
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ZF_FAST_CLOSE_STAGE, // near zero, fast close
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ZF_ZERO_STAGE, // zero found, and judgement next setup
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ZF_FAST_LEAVE_STAGE,
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ZF_PREPARE_LEAVE_STAGE, // ZF_PREPARE_ENTER_STAGE->ZF_WAVE_ENTER_STAGE or ZF_WAVE_ENTER_STAGE->ZF_SATURATED_STAGE
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ZF_WAVE_LEAVE_STAGE,
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ZF_STATE_MAX,
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} ZeroFindState;
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typedef enum
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{
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PM_FSM_STOP = 0,
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PM_FSM_RUNNING,
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} FzFsmState;
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typedef struct
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{
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double last_val;
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uint8_t inc_cnt;
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uint8_t dec_cnt;
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} trend_handle_t;
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typedef enum
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{
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STAGE_RESULT_NO,
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STAGE_RESULT_OK,
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STAGE_RESULT_UNDETERMINED,
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} StageResult;
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typedef struct
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{
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uint8_t is_updated : 1;
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uint8_t is_print : 1;
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float angle;
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double p50;
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float slope;
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float freq;
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uint32_t time; // enter time(ms)
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} fz_stage_t;
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typedef struct
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{
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uint32_t start_time; // ms
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uint32_t end_time; // ms
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float angle; // zero pos
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float target_angle;
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float power;
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float cali_angle;
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int8_t m_dir;
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} calib_info_t;
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typedef struct
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{
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ZeroFindState state;
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fz_stage_t stage_info[ZF_STATE_MAX];
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uint8_t calib_cnt;
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int target_dir; // 1: forward, -1: backward
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calib_info_t calib_info[FZ_CALI_MAX_COUNT];
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uint8_t zero_stable_count;
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et_zero_cross_t zc;
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et_goertzel_config_t cfg;
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etk_pos_pid_t pid;
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double p50;
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float freq;
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etk_slope_t slope_handle;
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float slope;
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double last_p50_slope;
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TrendStatus trend;
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trend_handle_t trend_handle;
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} pm_meas_t;
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typedef struct
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{
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FzFsmState fz_fsm_state;
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pm_meas_t meas;
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PmMeasMode meas_mode;
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} pm_fsm_t;
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ZeroFindState get_find_zero_state(pm_meas_t *fz);
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void trend_handle_init(trend_handle_t *handle);
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int find_zero_process(pm_meas_t *fz, const uint16_t *adc_val, uint32_t len);
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int pm_fsm_init(pm_fsm_t *fsm);
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#endif
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