MC100/Applications/foc/core/e_ctrl.h

#ifndef EBRAKE_CTRL_H__
#define EBRAKE_CTRL_H__
#include "os/os_types.h"
#include "foc/core/ramp_ctrl.h"


typedef struct {
	u16  ebrk_time; //能量回收，时间越短，刹车性能或者回收越好
	u16  accl_time; //加速时间（ms），时间越短，加速性能越好
	bool hw_brake;
	u64  brake_ts;//检测到刹车开始时间
	ramp_t torque_ramp;
	ramp_t speed_ramp;
}e_Ctrl;

void eCtrl_init(u16 ebrk_time, u16 accl_time);
void eCtrl_brake_signal(bool hw_brake);
void eCtrl_set_TrqCurrent(float c);
void eCtrl_set_TargetSpeed(float s);
float eCtrl_get_RefSpd(void);
float eCtrl_get_RefTorque(void);
float eCtrl_get_FinalSpd(void);
float eCtrl_get_FinalTorque(void);

#endif /* EBRAKE_CTRL_H__ */