/*!
    Copyright 2017 	АО "НИИЭТ" и ООО "НПФ ВЕКТОР"

   Licensed under the Apache License, Version 2.0 (the "License");
   you may not use this file except in compliance with the License.
   You may obtain a copy of the License at

       http://www.apache.org/licenses/LICENSE-2.0

   Unless required by applicable law or agreed to in writing, software
   distributed under the License is distributed on an "AS IS" BASIS,
   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   See the License for the specific language governing permissions and
   limitations under the License.

 \file      main.h
 \brief     Главный заголовочный файл проекта. 
Подключает в себе все заголовочные файлы всех модулей,
Содержит объявления (extern) всех наиболее важных
глобальных структур и переменных.

 \author    ООО "НПФ Вектор". http://motorcontrol.ru
 \version   v 2.0 25/03/2016

 \defgroup  MAIN Главный файл проекта

@{*/

#ifndef MAIN_H
#define MAIN_H

#ifdef __cplusplus
extern "C" {
#endif


#include "DSP.h"
#include "build.h"
#include "V_common.h"
#include <stdlib.h> //для labs
#include "V_IQmath.h"
#include "SM_Sys.h"
#include "SM_Net.h"
#include "co_ODvars.h"
#include "CANOpen_drv.h"
#include "V_data_log.h"
#include "SM_Protect.h"
#include "V_bits_to_enum_numbers.h"
#include "SM_Ctrl.h"
#include "SM_CmdLogic.h"
#include "V_RTC_Clock.h"
#include "clarke.h"
#include "park.h"
#include "ipark.h"
#include "V_pid_reg3.h"
#include "V_pid_reg3_pos.h"
#include "V_rmp_ctrl.h"
#include "V_adc.h"
#include "V_PWM_Module.h"
#include "V_CurPar.h"
#include "V_hzprof.h"
#include "V_DPR_eCAP.h"
#include "V_QEP.h"
#include "V_led.h"
#include "DRV8301_SPI.h"
#include "V_AutoOffset.h"
#include "V_CANtoRS.h"
#include "V_SSI_Encoder.h"
#include "V_MotorModel.h"
#include "V_UserMemory.h"
#include "V_rotor_observer.h"
#include "V_relay_reg.h"
#include "V_ModBus.h"
#include "V_MBVarsConv.h"
#include "V_excitation.h"
#include "X_CANFlashProgData.h"
#include "X_CANFlashProgStarter.h"
#include "CANBlockTransferInterface.h"
#include "DRV_INTERFACE.h"
#include "V_event_log.h"
#include "Global_time.h"
#include "V_UdControl.h"
#include "V_DIO.h"
#include "V_fifo.h"
#include "V_usblib.h"
#include "V_Fan.h"
#include "V_watchdog.h"
#include "V_TMU.h"

extern TClarke 		clarke;
#if defined (PARK_IPARK_IQMATH)
extern TPark        park;
extern TIPark       ipark;
#elif defined (PARK_IPARK_TMU)
extern TTMUPark     park;
extern TTMUIPark    ipark;
#endif
extern TPidReg3 	pid_id;
extern TPidReg3 	pid_iq;
extern TPidReg3 	pid_ia;
extern TPidReg3 	pid_spd;
extern TPidReg3_pos pid_pos;
extern TRelayReg    i_a_reg;
extern TRelayReg    i_b_reg;
extern TRelayReg    i_c_reg;
extern TSM_Sys 		sm_sys;
extern Uint16       disp_group_number;
extern TDataLog     dlog;
extern TSM_Protect  sm_prot;
extern TCmd	        cmd;
extern TDrvStatus   drv_status;
extern TBitsToEnumNums pult_faults_lister;
extern TSM_Ctrl     sm_ctrl;
extern TSM_CmdLogic sm_cmd_logic;
extern TRefs        refs;
extern TSM_Net      sm_net;
extern TRMPCtrl     rmp;
extern TDrvParams   drv_params;
extern TAdcDrv      adc;
extern TPWM_Module  pwm;
extern TCurPar      cur_par;
extern TVhzProf     vhz;
extern TDPReCAP	    DPReCAP;
extern TposspeedEqep   posspeedEqep;
extern TRTCClock	RTCclock;
extern TAutoOffset  AutoOffset;
extern TSSI_Encoder SSI_Encoder;
extern TMotorModel  model;
extern Tmotor       motor;
extern TRotorObserver RotorObserver;
extern TCANtoRS     CANtoRS;
extern TModBus      ModBus;
extern TMBVarsConv  MBVarsConv;
extern Texcitation  pwm_ex;
extern TDrvInterface drv_interface;
extern TLogger		FaultLog;
extern TGlobalTime  global_time;
extern TUdControl   udControl;
extern TFanControl  FanControl;
extern TTMU         tmu;

extern Uint16 msCounter;
extern Uint16 FastCounter;
extern Uint16 LoopCounter;
extern Uint16 TIsr10;
extern Uint16 TIsr1;
extern int drv_status_code;
extern Uint32 VendorToken;

volatile extern long Debug1;
volatile extern long Debug2;
volatile extern Uint16 Debug3;
volatile extern Uint16 Debug4;
volatile extern long DebugW1;
volatile extern long DebugW2;
volatile extern long DebugW3;
volatile extern long DebugW4;
volatile extern float DebugF1;
volatile extern float DebugF2;
volatile extern float DebugF3;
volatile extern float DebugF4;

//Счетчики прерываний модуля захвата
extern Uint16 CounterCAP_isr;
extern Uint16 cap0_counter;
extern Uint16 cap1_counter;
extern Uint16 cap2_counter;

extern unsigned long CpuTimerIsr1;
extern TSysSwitches   sw;

extern TUserMemory 		UserMem;
extern Tled leds;
extern Tdrv8301interface drv8301;
extern TCanBTInterface  Can1BTInterface;
extern TCanBTInterface  Can2BTInterface;
extern TCANSpeedTableOptions canSpeedTable;

void callback_dlog(Uint16 par, Uint16 tag_CANnum);
void callback_RTC(Uint16 par, Uint16 tag_CANnum);

// Объявление ISR-ов. В CodeMaster-ском и GCC-шном стартапе они назиываются по-разному
#if defined (__GNUC__)
void TIM1_IRQHandler(void);
void TIM0_IRQHandler(void);
void EPWM_TZ_0_IRQHandler(void);
void ECAP0_IRQHandler(void);
void ECAP1_IRQHandler(void);
void ECAP2_IRQHandler(void);
void EQEP1_IRQHandler(void);
#elif defined (__CMCPPARM__)
void TIM1_IRQHandler(void);
void TIM0_IRQHandler(void);
void PWM0_TZ_IRQHandler(void);
void CAP0_IRQHandler(void);
void CAP1_IRQHandler(void);
void CAP2_IRQHandler(void);
void QEP1_IRQHandler(void);
#endif

#if defined(TRUE) && (TRUE != 1)
#error "TRUE previously defined not equal to 1"
#endif
#if defined(FALSE) && (FALSE != 0)
#error "FALSE previously defined not equal to 0"
#endif
#ifndef TRUE
#define TRUE  (1)
#endif
#ifndef FALSE
#define FALSE (0)
#endif

// Функция ограничения переменной
inline float __fsat (float input, float max, float min) {
	if (input > max) return max;
	else if (input < min) return min;
	else return input;
}

#ifdef __cplusplus
}
#endif

#endif
/*@}*/