//-------------------------------------------------------//
//        Project Code : CodeLibrary
//           File Name : HarRes.h
//          Created on : 2022. 11. 5.
//         Description : 고조파 제어기
//              Author : KimJeongWoo
//  Last modified Date :
//-------------------------------------------------------//

#ifndef DIGITALCTRL_HARRES_H_
#define DIGITALCTRL_HARRES_H_

#ifdef __cplusplus
extern "C" {
#endif


//Resonant Control(SNU)
struct sLeadCompensator
{
	float WTcomp, SinComp, CosComp, ZT, PT, Kc;
	float k1, k2, k3;
	float inPrev, outPrev;
	float out;

	float Run(float in);
};

struct sIinvHarRes
{
    float Rc;
	float Wcc, Kr;
	float Cr1, Cr2, Cr3, Wr;
	float WeRate;
	float Kr1, Kr2;
	float Idr, Idr1, Idr2, Iqr, Iqr1, Iqr2;
	float Vdr1, Vdr2, Vqr1, Vqr2;
	float VdssRef, VqssRef;
	float VdssLead;
	float VqssLead;
	float delay, order;

	float Tsamp;
	float ThetaRes;


	void Init(float mRc, float mOrder, float mWcc, float mWeRate, float mTsamp);
	void UpdateGain(float mWe_hat);
	void Run(float mIds, float mIqs);
	void Reset();

	struct sLeadCompensator LeadCompd;
	struct sLeadCompensator LeadCompq;
	void LeadCompUpdateGain();

};





#ifdef __cplusplus
}
#endif /* extern "C" */

#endif /* COMMON_RESOURCE_CODELIBRARY_HARRES_HARRES_H_ */