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motor.c 25.5 KB
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#include "motor.h"

#include "FOC.h"
#include "math_utils.h"
#include "MGE_Hal.h"
// #include "PID.h"

#include "string.h"

#include "MOT_Dev_Config.h"
#include "Motor_Manage.h"
#include "BMCL_ParaLoadF1.h"
#include "BMCL_Config.h"
#include "buzzer.h"


#if MOT_DEV_TARGET == STM32_TARGET_A12_F4
#include "T_SpeedShape.h"
#include "OBS_Gen.h"
#endif

// KFP kfp_vel = {0.02, 0, 0, 0, 0.005, 20.0};
KFP kfp_vel = {0};

// KFP kfp_ang = {0.02, 0, 0, 0, 0.0001, 0.01};
KFP kfp_ang = {0};

float offset_Temp;
float mge_direction_Temp;
float zeroElectricAngleOffset_Temp;

/*================== Motor Setting ===================*/
static int8_t motor_PP = 7; // 极对数
static float mot_LimitAngle_B= 90;//上限位
static float mot_LimitAngle_S = -30;//下限位

// MOTOR_IMU_DIRECTION mot_Imu_dir = MOTOR_IMU_DIRECTION_CW;
// CALIBRATION_STATE calibration_State = 0; //校准状态

/*=============== Motor Runtime Setting ==============*/
float Set_Velocity = 0.0f; // Target Vel - available in Close Vel Control
float actual_Velocity;

float Target_Angle = 0.0f; // Target Angle - available in Close Angle Control
float actual_Angle;

/*==================== PID Config ===================*/
// PID_Typedef velocity_PID; // vel PID - Simple Ver
// PID_Typedef angle_PID;    // angle PID - Simgle Ver
static GenPID_s velGenPID = {0};
static GenPID_s angGenPID = {0};


/*********************************  Motor Init ***************************************************/

void motor_InitALL(void)
{
}

// CUT##     电机属性初始化

int8_t motor_SetPP(uint8_t PP)
{
    if (PP <= 0)
    {
        return -1;
    }
    else
    {
        motor_PP = PP;
        return 0;
    }
}

int8_t motor_GetPP()
{
    return motor_PP;
}

int8_t motor_SetUpLimit(float AngLimit)
{
    if (AngLimit < 0)
    {
        return -1;
    }
    else
    {
        mot_LimitAngle_B = AngLimit;
        return 0;
    }
}

float motor_GetUpLimit()
{
    return mot_LimitAngle_B;
}


int8_t motor_SetDownLimit(float AngLimit)
{
    if (AngLimit > 0)
    {
        return -1;
    }
    else
    {
        mot_LimitAngle_S = AngLimit;
        return 0;
    }
}

float motor_GetDownLimit()
{
    return mot_LimitAngle_S;
}



// CUT##     PID初始化相关

// GenPID_CONFIG motor_angGenPID_Get()
// {
//     return angGenPID.config;
// }

// int motor_angGenPID_Get_Needle(GenPID_CONFIG *config)
// {
//     *config = velGenPID.config;
//     return 0;
// }

// int motor_angGenPID_Set(GenPID_CONFIG config)
// {
//     return GenPID_Set(&angGenPID, config);
// }

// int motor_angGenPID_Set_Needle(GenPID_CONFIG *config)
// {
//     return GenPID_Set_Needle(&angGenPID, config);
// }

// GenPID_CONFIG motor_velGenPID_Get()
// {
//     return velGenPID.config;
// }

// int motor_velGenPID_Get_Needle(GenPID_CONFIG *config)
// {
//     *config = velGenPID.config;
//     return 0;
// }

// int motor_velGenPID_Set(GenPID_CONFIG config)
// {
//     return GenPID_Set(&velGenPID, config);
// }

// int motor_velGenPID_Set_Needle(GenPID_CONFIG *config)
// {
//     return GenPID_Set_Needle(&velGenPID, config);
// }

int motor_GenPID_Get_Needle(__MOTOR_GENPID_INDEX index, GenPID_CONFIG *config)
{
    int status = 0;
    switch (index)
    {
    case __MOTOR_GENPID_INDEX_VEL:
        *config = velGenPID.config;
        break;
    case __MOTOR_GENPID_INDEX_ANG:
        *config = angGenPID.config;
        break;
    default:
        status = -1;
        break;
    }
    return status;
}

int motor_GenPID_Set_Needle(__MOTOR_GENPID_INDEX index, GenPID_CONFIG *config)
{
    int status = 0;
    switch (index)
    {
    case __MOTOR_GENPID_INDEX_VEL:
        GenPID_Set_Needle(&velGenPID, config);
        break;
    case __MOTOR_GENPID_INDEX_ANG:
        GenPID_Set_Needle(&angGenPID, config);
        break;
    default:
        status = -1;
        break;
    }
    return status;
}

// CUT##     速度角度滤波初始化相关
KFP_CONFIG motor_velKFP_Get(void)
{
    return kfp_vel.config;
}

KFP_CONFIG motor_angKFP_Get(void)
{
    return kfp_ang.config;
}

int motor_velKFP_Set(KFP_CONFIG config)
{
    return kalmanFilter_Init(&kfp_vel, config);
}

int motor_angKFP_Set(KFP_CONFIG config)
{
    return kalmanFilter_Init(&kfp_ang, config);
}


/*********************************  PID Config ***************************************************/




/*********************************  EAngle *******************************************************/

// one of the zeroElectAngle : 5.12464619
static float zeroElectricAngleOffset = 0.0f;
static float zeroElectricLoopAngleOffset = 0.0f;

float motor_getElectricalAngleLoop(void)
{
    return _normalizeAngle(motor_PP * mge_hal_GetAngle() - zeroElectricLoopAngleOffset);
}

float motor_getElectricalAngleABS(void)
{
    return _normalizeAngle(motor_PP * mge_hal_GetAbsAngle() - zeroElectricAngleOffset);
}

// float motor_getElectricalAngleABS_LP(void)
// {
//     return _normalizeAngle(motor_PP * mge_hal_GetAbsAngle_withFilter() - zeroElectricAngleOffset);
// }

float motor_getElectricalAngleABS_LP_AngIn(float angle)
{
    return _normalizeAngle(motor_PP * _normalizeAngle(angle + mge_Get_abOffset()) - zeroElectricAngleOffset);
}

void motor_Set_ZeroEAngleOffset(float offset)
{
    zeroElectricAngleOffset = offset;
}

float motor_Get_ZeroEAngleOffset()
{
    return zeroElectricAngleOffset;
}

float motor_Get_ZeroEAngleLoopOffset()
{
    return zeroElectricLoopAngleOffset;
}

void motor_Set_ZeroEAngleLoopOffset(float offset)
{
    zeroElectricLoopAngleOffset = offset;
}


/*********************************  Motor Align ***************************************************/


#if MOT_DEV_TARGET == STM32_TARGET_A12_F4 
// Motor Align
void motor_AutoCalibration()
{
    if (workMode == WORK_MODE_0||workMode == WORK_MODE_1||workMode == WORK_MODE_2)
    {
        
        do
        {
            mode_Switch(0xBB, WORK_MODE_3);
            osDelay(1);
        } while (operationResult == 0);
        operationResult = 0;

        do
        {
            mode_Switch(0xCC, WORK_MODE_3);
            osDelay(1);
        } while (operationResult == 0);
        operationResult = 0;

        workModePer = workMode;
        workMode = WORK_MODE_3;

        // motor_Align_Sensor(&imu_AHRS_result);

        // do
        // {
        //     motor_Calibration_Start(0xBB, PROTOCOL_F_SROUTE_0X51_SR_0X1A); // 开始roll电机校准
        //     osDelay(1);
        // } while (operationResult == 0);
        // operationResult = 0;

        // do
        // {
        //     motor_Calibration_Status_Checks(0xBB, PROTOCOL_F_SROUTE_0X52_SR_0X2A);
        //     osDelay(2);
        // } while (CalibrationCmplete == 0);
        // // 判断通用回复正常并且是否校准完成
        // generalResult = 0;
        // CalibrationCmplete = 0;

        // do
        // {
        //     motor_Calibration_Start(0xCC, PROTOCOL_F_SROUTE_0X51_SR_0X1A); // 开始yaw电机校准
        //     osDelay(1);
        // } while (operationResult == 0);
        // operationResult = 0;

    }
    else
    {
        do
        {
            mode_Switch(0xBB, WORK_MODE_1);
            osDelay(1);
        } while (operationResult == 0);
        operationResult = 0;

        do
        {
            mode_Switch(0xCC, WORK_MODE_1);
            osDelay(1);
        } while (operationResult == 0);
        operationResult = 0;

        workMode = workModePer;
    }

        // do
        // {
        //     motor_Calibration_Status_Checks(0XBB, PROTOCOL_F_SROUTE_0X02_SR_0X11);
        //     HAL_Delay(500);
        // } while (generalResult == 0 || Gen_dataResult.rawdata_8t[2] != __PARAMGE_DEF_MOT_CALI_STA_S1); // 判断通用回复正常并且是否校准完成
        // generalResult = 0;
        // Gen_dataResult.rawdata_8t[2] = __PARAMGE_DEF_MOT_CALI_STA_BAD;

        // do
        // {
        //     motor_Calibration_Status_Checks(0xCC, PROTOCOL_F_SROUTE_0X02_SR_0X11);
        //     osDelay(1);
        // } while (generalResult == 0 || Gen_dataResult.rawdata_8t[2] != __PARAMGE_DEF_MOT_CALI_STA_S1); // 判断通用回复正常并且是否校准完成
        // generalResult = 0;
        // Gen_dataResult.rawdata_8t[2] = __PARAMGE_DEF_MOT_CALI_STA_BAD;

        // if (workMode == WORK_MODE_1)
        // {
        //     do
        //     {
        //         mode_Switch(0xBB, WORK_MODE_3);
        //         osDelay(1);
        //     } while (operationResult == 0);
        //     operationResult = 0;

        //     do
        //     {
        //         mode_Switch(0xCC, WORK_MODE_3);
        //         osDelay(1);
        //     } while (operationResult == 0);
        //     operationResult = 0;

        //     workMode = WORK_MODE_3;
        // }
        // else
        // {
        //     do
        //     {
        //         mode_Switch(0xBB, WORK_MODE_1);
        //         osDelay(1);
        //     } while (operationResult == 0);
        //     operationResult = 0;

        //     do
        //     {
        //         mode_Switch(0xCC, WORK_MODE_1);
        //         osDelay(1);
        //     } while (operationResult == 0);
        //     operationResult = 0;

        //     workMode = WORK_MODE_1;
        // }
    }

void gimbal_Axisalign(void)
{
    if (workMode != WORK_MODE_4)
    {
        workModePer = workMode;
        workMode = WORK_MODE_4;
    }
    else
    {
        pitchCenterOffset = gen_OBS.vaule[7] / 57.2957795130f;
        rollCenterOffset += gen_OBS.vaule[5] / 57.2957795130f;
        yawCenterOffset += gen_OBS.vaule[6] / 57.2957795130f;

        BMCL_mot_Calibration = BMCL_CONFIG_MOT_CAL_STA_CALS2;
        mge_Set_abOffset(mge_Get_abOffset()+pitchCenterOffset);
        BMCL_PL_WriteAll2ParaMge();
        paraMge_SaveALL();

        workMode = workModePer;
    }

}


void gimbal_Horizontalalign(void)//云台水平对齐
{
    //进入自稳模式，可手动调整外框各电机角度至中间位置，同时如果imu位置不准时,\
     可手动将imu调整到水平位置(改变目标姿态即可)
    // if (workMode == WORK_MODE_1)
    // {
    //     do
    //     {
    //         mode_Switch(0xBB, WORK_MODE_3);
    //         osDelay(1);
    //     } while (operationResult == 0);
    //     operationResult = 0;

    //     do
    //     {
    //         mode_Switch(0xCC, WORK_MODE_3);
    //         osDelay(1);
    //     } while (operationResult == 0);
    //     operationResult = 0;

    //     workMode = WORK_MODE_3;

    //     osDelay(500);

    pitchCenterOffset += gen_OBS.vaule[7] / 57.2957795130f;
    rollCenterOffset += gen_OBS.vaule[5] / 57.2957795130f;

    // 手动将imu调整到水平位置(改变目标姿态即可)
    osDelay(1);

    yawCenterOffset += gen_OBS.vaule[6] / 57.2957795130f;

    // }
    // else
    // {
    //     do
    //     {
    //         mode_Switch(0xBB, WORK_MODE_1);
    //         osDelay(1);
    //     } while (operationResult == 0);
    //     operationResult = 0;

    //     do
    //     {
    //         mode_Switch(0xCC, WORK_MODE_1);
    //         osDelay(1);
    //     } while (operationResult == 0);
    //     operationResult = 0;

    //     workMode = WORK_MODE_1;
    // }
}

#endif


uint8_t motor_start_SelfTest(void)
{
    int i;
    float Uq;
    float angle;
    float mid_angle, end_angle;
    float moved;

    int stop_Count = 0;
    float pre_Angle, cur_Angle;
    float Up_Angle, Down_Angle;
    // float imu_Up_Angle, imu_Down_Angle;

//    HAL_Delay(500);

    for (i = 0; i <= 1000; i++)//缓存作用
    {
        Uq = 4*i / 1000.0;
        setPhaseVoltage(Uq, 0, _3PI_2);
        HAL_Delay(1);
    }
    /*============= Sensor Zero Position Move  =========*/
    /* Obtain the operating range of the motor and offset the zero position of the sensor to an inaccessible place */

    int checkTime = 0;

    // Up moving
    pre_Angle = mge_hal_GetAngle();
    for (i = 0; i <= 2000; i++)
    {
        angle = _3PI_2 + _2PI * motor_PP * i / 2000.0;
        setPhaseVoltage(3.0f, 0, angle);
        cur_Angle = mge_hal_GetAngle();
        if (checkTime > 5)
        {
            if (fabsf(cur_Angle - pre_Angle) < 0.005f)
            {
                stop_Count++;
            }
            else
            {
                stop_Count = 0;
            }
            if (stop_Count > 10)
            {
                break;
            }
            pre_Angle = cur_Angle;
            checkTime = 0;
        }
        checkTime++;
        delay_us(700);
    }
    HAL_Delay(100);//延时以保证读取准确
    Up_Angle = mge_hal_GetAngle();
    // imu_Up_Angle = imu_Angle_Process(&current_axis_data);

    stop_Count = 0;
    checkTime = 0;

    // Pre Moving
    for (i = 1000; i >= 0; i--)
    {
        angle = _3PI_2 + _2PI * i / 1000.0;
        setPhaseVoltage(3.0f, 0, angle);
        delay_us(700);
    }
    // Down moving
    pre_Angle = mge_hal_GetAngle();
		
		 // Down moving
    pre_Angle = mge_hal_GetAngle();
    for (i = 2000; i >= 0; i--)
    {
        angle = _3PI_2 + _2PI * motor_PP * i / 2000.0;
        setPhaseVoltage(3.0f, 0, angle);
        cur_Angle = mge_hal_GetAngle();
        if (checkTime > 5)
        {
            if (fabsf(cur_Angle - pre_Angle) < 0.005f)
            {
                stop_Count++;
            }
            else
            {
                stop_Count = 0;
            }
            if (stop_Count > 10)
            {
                break;
            }
            pre_Angle = cur_Angle;
            checkTime = 0;
        }
        checkTime++;
        delay_us(700);
    }
    HAL_Delay(100);//延时以保证读取准确
    Down_Angle = mge_hal_GetAngle();
    // imu_Down_Angle = imu_Angle_Process(&current_axis_data);
    
    moved = Up_Angle - Down_Angle;
    // imu_moved = imu_Up_Angle - imu_Down_Angle;
		
		for (i = 0; i <= 2000; i++)
    {
        // Uq = 5*i / 1000.0;
        angle = _3PI_2 + _2PI * 2* i / 2000.0;
        setPhaseVoltage(3.0f, 0, angle);
        delay_us(700);
    }

    if (fabs(moved) < _PI) // 未达到正常限位范围
    {
			return 1; // 开机自检异常
    }
		return 0;
}



/*********************************  Motor Align ***************************************************/


__PARAMGE_DEF_MOT_CALI_STA motor_Align_Sensor(void)
{
#if MOTOR_DEBUG_SENSOR_ALIGN == PROJECT_CONFIG_ENABLE
    int i;
    float Uq;
    float angle;
    float mid_angle, end_angle;
    float moved;

    int stop_Count = 0;
    float pre_Angle, cur_Angle;
    float Up_Angle, Down_Angle;
    // float imu_Up_Angle, imu_Down_Angle;

    HAL_Delay(500);

    motor_Calibration_Status = __PARAMGE_DEF_MOT_CALI_STA_CALIBRATING;//校准中

    for (i = 0; i <= 1000; i++)//缓存作用
    {
        Uq = 4*i / 1000.0;
        setPhaseVoltage(Uq, 0, _3PI_2);
        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }
        HAL_Delay(1);
    }
    /*============= Sensor Zero Position Move  =========*/
    /* Obtain the operating range of the motor and offset the zero position of the sensor to an inaccessible place */

    int checkTime = 0;

    // Up moving
    pre_Angle = mge_hal_GetAngle();
    for (i = 0; i <= 2000; i++)
    {
        angle = _3PI_2 + _2PI * motor_PP * i / 2000.0;
        setPhaseVoltage(3.0f, 0, angle);
        cur_Angle = mge_hal_GetAngle();
        if (checkTime > 5)
        {
            if (fabsf(cur_Angle - pre_Angle) < 0.005f)
            {
                stop_Count++;
            }
            else
            {
                stop_Count = 0;
            }
            if (stop_Count > 10)
            {
                break;
            }
            pre_Angle = cur_Angle;
            checkTime = 0;
        }
        checkTime++;

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }
    HAL_Delay(100);//延时以保证读取准确
    Up_Angle = mge_hal_GetAngle();
    // imu_Up_Angle = imu_Angle_Process(&current_axis_data);

    stop_Count = 0;
    checkTime = 0;

    // Pre Moving
    for (i = 1000; i >= 0; i--)
    {
        angle = _3PI_2 + _2PI * i / 1000.0;
        setPhaseVoltage(3.0f, 0, angle);

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }

    // Down moving
    pre_Angle = mge_hal_GetAngle();
    for (i = 2000; i >= 0; i--)
    {
        angle = _3PI_2 + _2PI * motor_PP * i / 2000.0;
        setPhaseVoltage(3.0f, 0, angle);
        cur_Angle = mge_hal_GetAngle();
        if (checkTime > 5)
        {
            if (fabsf(cur_Angle - pre_Angle) < 0.005f)
            {
                stop_Count++;
            }
            else
            {
                stop_Count = 0;
            }
            if (stop_Count > 10)
            {
                break;
            }
            pre_Angle = cur_Angle;
            checkTime = 0;
        }
        checkTime++;

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }
    HAL_Delay(100);//延时以保证读取准确
    Down_Angle = mge_hal_GetAngle();
    // imu_Down_Angle = imu_Angle_Process(&current_axis_data);
    
    moved = Up_Angle - Down_Angle;
    // imu_moved = imu_Up_Angle - imu_Down_Angle;

    if (fabs(moved) < _PI) // 未达到正常限位范围
    {
        motor_Calibration_Status = __PARAMGE_DEF_MOT_CALI_STA_ODD; // 基本校准异常
        return motor_Calibration_Status;
    }

    // //电机旋转方向与imu方向判断
    // if(moved*imu_moved>0){
    //     mot_Imu_dir = MOTOR_IMU_DIRECTION_CW;
    // } else{
    //     mot_Imu_dir = MOTOR_IMU_DIRECTION_CCW;
    // }

    offset_Temp = mge_hal_calculateArcMidpointAngleBTP(Up_Angle, Down_Angle);


       /*============= Motor electrical and  direction  calibration  =========*/

    // Pre Moving
    for (i = 0; i <= 1000; i++)
    {
        // Uq = 5*i / 1000.0;
        angle = _3PI_2 + _2PI * i / 1000.0;
        setPhaseVoltage(5.0f, 0, angle);

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }

    for (i = 0; i <= 1000; i++)
    {
        angle = _3PI_2 + _2PI * i / 1000.0;
        setPhaseVoltage(5.0f, 0, angle);

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }

    for (i = 0; i <= 1000; i++)
    {
        angle = _3PI_2 + _2PI * i / 1000.0;
        setPhaseVoltage(3.0f, 0, angle);

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }
    HAL_Delay(100);//延时以保证读取准确
    mid_angle = mge_hal_GetAngle();

    for (i = 1000; i >= 0; i--)
    {
        angle = _3PI_2 + _2PI * i / 1000.0;
        setPhaseVoltage(3.0f, 0, angle);

        if (motor_Calibration_Status == 0)
        {
            goto motor_Calibration_Jump;
        }

        HAL_Delay(1);
    }
    HAL_Delay(100);//延时以保证读取准确
    end_angle = mge_hal_GetAngle();

    moved = fabs(mid_angle - end_angle);
    if ((mid_angle == end_angle) || (moved < 0.5)) // 相等或者小于一个电角度周期角度
    {
        motor_Calibration_Status = __PARAMGE_DEF_MOT_CALI_STA_ODD; // 基本校准异常
        return motor_Calibration_Status;
    }
    else if (mid_angle < end_angle)
    {
        mge_direction_Temp = MGE_DIRECTION_CCW;
    }
    else
    {
        mge_direction_Temp = MGE_DIRECTION_CW;
    }
    // 电角度零位标定
    setPhaseVoltage(5.0f, 0.0f, _3PI_2);
    HAL_Delay(1000);

    zeroElectricAngleOffset_Temp = _normalizeAngle(mge_direction_Temp * motor_PP * mge_hal_GetAngle());

    if (mge_direction_Temp == MGE_DIRECTION_CCW)
    {
        offset_Temp = -offset_Temp;
    }

    motor_Calibration_Status = __PARAMGE_DEF_MOT_CALI_STA_GOOD; // 基本校准已完成
    setPhaseVoltage(0.0f, 0.0f, _3PI_2);
    return motor_Calibration_Status;

    motor_Calibration_Jump:
    motor_Calibration_Stop = 1;
    return motor_Calibration_Status;

#else

// #if MOTOR_BOARD_SELECT_AXIS == MOTOR_HOLDER_AXIS_ROLL
//     mge_direction = CW;
//     mge_set_abOffset(0.787124157f);
//     zeroElectricAngleOffset = 4.4036727f;
// #endif

// #if MOTOR_BOARD_SELECT_AXIS == MOTOR_HOLDER_AXIS_YAW
//     mge_direction = CCW;
//     mge_set_abOffset(5.60535765f);
//     zeroElectricAngleOffset = 2.32839298f;
// #endif

#endif
}


/*********************************  Openloop Control  ********************************************/

// 开环运行测试1，模拟电角度
void motor_OpenVelocity1(float target)
{
    const float voltageLimit = 1.0f;    // 开环电压限制
    static float _estimateAngle = 0.0f; // 开环虚拟机械角度
    const float deltaT = 0.002f;        // 开环运行时间间隔
    _estimateAngle = _normalizeAngle((_estimateAngle + target * deltaT) * 7);
    setPhaseVoltage(voltageLimit, 0.0f, _estimateAngle);
}

// 开环速度控制测试，使用MT6701反馈的电角度
void motor_OpenVelocity2(float Uq)
{
    float el_Angle = motor_getElectricalAngleLoop();
    setPhaseVoltage(Uq, 0.0f, el_Angle);
}

/**********************************  Closeloop Control SimpleVer *********************************/



/*======================================== Close Control With GenPID ===========================*/


float CACG_CurAngle = 0;
static float CACG_CurVelocity = 0;
// LowPassFSTD_s velLP_Config = {0};

// void velLP_Configuration(void)
// {
//     LowPassFilterSTD_Init(&velLP_Config, 0.0001f);
// }

#if MOT_DEV_TARGET == STM32_TARGET_A12_F4

extern TRAP_CURVE_s pitchANGPlan;
extern float pitchANGPlan_Time;
extern TimeRec_s pitchANGPlan_TimeS;

void MOT_Pitch_AngleControl_WithTCurve_GenPID(state_t *imu_AHRS_result)
{
    static float set_Velocity = 0;
    CACG_CurAngle = mge_hal_GetAbsAngle_withFilter();
    CACG_CurVelocity = mge_hal_GetVel_ExtAngle(CACG_CurAngle);

    // Vel Filter
    //  CACG_CurVelocity = LowPassFilterSTD_Process(&velLP_Config , CACG_CurVelocity );
    float CACG_CurVelocity_KFP = kalmanFilter(&kfp_vel, CACG_CurVelocity);

    // Angle PID Process
    if (imu_AHRS_result != NULL)
    {
        pitchANGPlan_Time += TimeFlash(&pitchANGPlan_TimeS);
        float angle_traget = trap_Curve_Update(&pitchANGPlan, pitchANGPlan_Time);
        set_Velocity = GenPID_ProcessSTD(&angGenPID, angle_traget / 57.2957795130f, imu_AHRS_result->attitude.pitch / 57.2957795130f, &angGenPID_obs); // 角度换PID控制，输出转速
        // set_Velocity = GenPID_Process(&angGenPID, angleIMU_traget, imu_AHRS_result->attitude.pitch, &angGenPID_obs);
    }

    // Vel PID Process
    //  float Uq = GenPID_ProcessSTD_LPIn(&velGenPID,set_Velocity,CACG_CurVelocity,CACG_CurVelocity_KFP,&velGenPID_obs);
    float Uq = mot_Imu_dir*GenPID_ProcessSTD(&velGenPID, set_Velocity, CACG_CurVelocity_KFP, &velGenPID_obs);

    float el_Angle = motor_getElectricalAngleABS_LP();

    setPhaseVoltage(Uq, 0.0f, el_Angle);

    /*############## Observation Add ############*/
    motor_obs.actual_Angle = CACG_CurAngle;
    motor_obs.actual_Velocity = CACG_CurVelocity;
    motor_obs.actual_Velocity_KPF = CACG_CurVelocity_KFP;
    motor_obs.Set_Angle = Set_Angle;
    motor_obs.Set_Velocity = set_Velocity;
    motor_obs.el_Angle = el_Angle;
    motor_obs.Uq = Uq;
}
#endif

#if MOT_DEV_TARGET == STM32_TARGET_A2_F1

void MOT_YandR_VelControl_Direct_GenPID_ErrIn(float err)
{
    static float set_Velocity = 0;

    // #if MOTOR_BOARD_DEBUG_OR_TEST == PROJECT_CONFIG_ENABLE

    // #endif
    set_Velocity = err;

    CACG_CurAngle = mge_hal_GetAbsAngle_withFilter();
    CACG_CurVelocity = mge_hal_GetVel_ExtAngle(CACG_CurAngle);

    // Vel Filter
    //  CACG_CurVelocity = LowPassFilterSTD_Process(&velLP_Config , CACG_CurVelocity );
    float CACG_CurVelocity_KFP = kalmanFilter(&kfp_vel, CACG_CurVelocity);

    // Vel PID Process
    //  float Uq = GenPID_ProcessSTD_LPIn(&velGenPID,set_Velocity,CACG_CurVelocity,CACG_CurVelocity_KFP,&velGenPID_obs);
    float Uq = GenPID_ProcessSTD(&velGenPID, set_Velocity, CACG_CurVelocity_KFP, &velGenPID_obs);

    float el_Angle = motor_getElectricalAngleABS_LP_AngIn(CACG_CurAngle);

    setPhaseVoltage(Uq, 0.0f, el_Angle);

    /*############## Observation Add ############*/
    motor_obs.actual_Angle = CACG_CurAngle;
    motor_obs.actual_Velocity = CACG_CurVelocity;
    motor_obs.actual_Velocity_KPF = CACG_CurVelocity_KFP;
    motor_obs.Set_Angle = Target_Angle;
    motor_obs.Set_Velocity = set_Velocity;
    motor_obs.el_Angle = el_Angle;
    motor_obs.Uq = Uq;

    // motor_obs.errPIDOut = err;
    // motor_obs.errPIDOut1 = err1;
    motor_obs.Set_Velocity = set_Velocity;
}

#endif


//! 注意，该函数使用了电机所在轴的宏判断，如需使用，则需要修改
void close_Angle_Control_GenPID(float Target_Angle)//目标角度闭环控制
{
    float CACG_CurAngle_KFP;
    CACG_CurAngle = mge_hal_GetAbsAngle_withFilter();
    CACG_CurAngle_KFP = kalmanFilter(&kfp_ang, CACG_CurAngle);
    CACG_CurVelocity = mge_hal_GetVel_ExtAngle(CACG_CurAngle_KFP); // get vel
    // Vel Filter
    // CACG_CurVelocity = LowPassFilterSTD_Process(&velLP_Config, CACG_CurVelocity);
    float CACG_CurVelocity_KFP = kalmanFilter(&kfp_vel, CACG_CurVelocity);

    // Angle PID Process
    float set_Velocity = GenPID_ProcessSTD(&angGenPID, Target_Angle, CACG_CurAngle_KFP, &angGenPID_obs); // 角度换PID控制，输出转速

    // Vel PID Process
    float Uq = GenPID_ProcessSTD_LPIn(&velGenPID, set_Velocity, CACG_CurVelocity, CACG_CurVelocity_KFP, &velGenPID_obs);

    float el_Angle = motor_getElectricalAngleABS_LP_AngIn(CACG_CurAngle_KFP);

    setPhaseVoltage(Uq, Ud, el_Angle);

    /*############## Observation Add ############*/
    motor_obs.actual_Angle = CACG_CurAngle_KFP;
    motor_obs.actual_Velocity = CACG_CurVelocity;
    motor_obs.actual_Velocity_KPF = CACG_CurVelocity_KFP;
    motor_obs.Set_Angle = Target_Angle;
    motor_obs.Set_Velocity = set_Velocity;
    motor_obs.el_Angle = el_Angle;
    motor_obs.Uq = Uq;
}