#include "hal_obj.h"
#include "sw/modules/svgen/src/32b/svgen_current.h"

Macros
#define	DRV8301_SPI
	Defines that a DRV8301 chip SPI port is used on the board. More...

#define	Device_cal (void (*)(void))0x3D7C80

#define	FP_SCALE 32768
	Defines used in oscillator calibration functions. More...

#define	FP_ROUND FP_SCALE/2
	Defines the quantity added to Q15 numbers before converting to integer to round the number. More...

#define	OSC_POSTRIM 32
	Defines the amount to add to Q16.15 fixed point number to shift from a fine trim range of. More...

#define	OSC_POSTRIM_OFF FP_SCALE*OSC_POSTRIM

#define	getOsc1FineTrimSlope() ((int16_t ()(void))0x3D7E90)()
	The following functions return reference values stored in OTP. More...

#define	getOsc1FineTrimOffset() ((int16_t ()(void))0x3D7E93)()
	Defines the oscillator 1 fine trim at high temp. More...

#define	getOsc1CoarseTrim() ((int16_t ()(void))0x3D7E96)()
	Defines the oscillator 1 coarse trim. More...

#define	getOsc2FineTrimSlope() ((int16_t ()(void))0x3D7E99)()
	Defines the slope used to compensate oscillator 2 (fine trim steps / ADC code). Stored. More...

#define	getOsc2FineTrimOffset() ((int16_t ()(void))0x3D7E9C)()
	Defines the oscillator 2 fine trim at high temp. More...

#define	getOsc2CoarseTrim() ((int16_t ()(void))0x3D7E9F)()
	Defines the oscillator 2 coarse trim. More...

#define	getRefTempOffset() ((int16_t ()(void))0x3D7EA2)()
	Defines the ADC reading of temperature sensor at reference temperature for compensation. More...

#define	HAL_PWM_DBFED_CNT 1
	Defines the PWM deadband falling edge delay count (system clocks) More...

#define	HAL_PWM_DBRED_CNT 1
	Defines the PWM deadband rising edge delay count (system clocks) More...

#define	HAL_turnLedOff HAL_setGpioLow
	Defines the function to turn LEDs off. More...

#define	HAL_turnLedOn HAL_setGpioHigh
	Defines the function to turn LEDs on. More...

#define	HAL_toggleLed HAL_toggleGpio
	Defines the function to turn LEDs on. More...

#define	HAL_GPIO_SW1 GPIO_Number_9
	Defines the GPIO pin number for drv8301kit_revD Switch 1. More...

#define	HAL_GPIO_SW2 GPIO_Number_7
	Defines the GPIO pin number for drv8301kit_revD Switch 2. More...

Enumerations
enum	HAL_QepSelect_e { HAL_Qep_QEP1 =0, HAL_Qep_QEP2 =1, HAL_Qep_QEP1 =0, HAL_Qep_QEP2 =1, HAL_Qep_QEP1 =0, HAL_Qep_QEP2 =1, HAL_Qep_QEP1 =0, HAL_Qep_QEP2 =1, HAL_Qep_QEP1 =0, HAL_Qep_QEP2 =1 }
	Enumeration for the QEP setup. More...

enum	HAL_LedNumber_e { HAL_Gpio_LED2 =GPIO_Number_34, HAL_Gpio_LED3 =GPIO_Number_39, HAL_Gpio_LED2 =GPIO_Number_34, HAL_Gpio_LED3 =GPIO_Number_39, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34 }
	Enumeration for the LED numbers. More...

enum	HAL_SensorType_e { HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage }
	Enumeration for the sensor types. More...

Functions
interrupt void	mainISR (void)

static void	HAL_acqAdcInt (HAL_Handle handle, const ADC_IntNumber_e intNumber)
	Acknowledges an interrupt from the ADC so that another ADC interrupt can happen again. More...

static void	HAL_acqPwmInt (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Acknowledges an interrupt from the PWM so that another PWM interrupt can happen again. More...

static void	HAL_acqTimer0Int (HAL_Handle handle)
	Acknowledges an interrupt from Timer 0 so that another Timer 0 interrupt can happen again. More...

void	HAL_cal (HAL_Handle handle)
	Executes calibration routines. More...

void	HAL_disableGlobalInts (HAL_Handle handle)
	Disables global interrupts. More...

void	HAL_disableWdog (HAL_Handle handle)
	Disables the watch dog. More...

static void	HAL_disablePwm (HAL_Handle handle)
	Disables the PWM device. More...

void	HAL_enableAdcInts (HAL_Handle handle)
	Enables the ADC interrupts. More...

void	HAL_enableDebugInt (HAL_Handle handle)
	Enables the debug interrupt. More...

void	HAL_enableGlobalInts (HAL_Handle handle)
	Enables global interrupts. More...

void	HAL_enableDrv (HAL_Handle handle)
	Enables the 8301 device. More...

static void	HAL_enablePwm (HAL_Handle handle)
	Enables the PWM devices. More...

void	HAL_enablePwmInt (HAL_Handle handle)
	Enables the PWM interrupt. More...

void	HAL_enableTimer0Int (HAL_Handle handle)
	Enables the Timer 0 interrupt. More...

static ADC_SocSampleDelay_e	HAL_getAdcSocSampleDelay (HAL_Handle handle, const ADC_SocNumber_e socNumber)
	Gets the ADC delay value. More...

static _iq	HAL_getBias (HAL_Handle handle, const HAL_SensorType_e sensorType, uint_least8_t sensorNumber)
	Gets the ADC bias value. More...

static _iq	HAL_getCurrentScaleFactor (HAL_Handle handle)
	Gets the current scale factor. More...

static uint_least8_t	HAL_getNumCurrentSensors (HAL_Handle handle)
	Gets the number of current sensors. More...

static uint_least8_t	HAL_getNumVoltageSensors (HAL_Handle handle)
	Gets the number of voltage sensors. More...

static _iq	HAL_getOffsetBeta_lp_pu (HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber)
	Gets the value used to set the low pass filter pole for offset estimation. More...

static _iq	HAL_getOffsetValue (HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber)
	Gets the offset value. More...

static _iq	HAL_getVoltageScaleFactor (HAL_Handle handle)
	Gets the voltage scale factor. More...

void	HAL_setupFaults (HAL_Handle handle)
	Configures the fault protection logic. More...

HAL_Handle	HAL_init (void *pMemory, const size_t numBytes)
	Initializes the hardware abstraction layer (HAL) object. More...

static void	HAL_initIntVectorTable (HAL_Handle handle)
	Initializes the interrupt vector table. More...

static void	HAL_readAdcData (HAL_Handle handle, HAL_AdcData_t *pAdcData)
	Reads the ADC data. More...

static void	HAL_readAdcDataWithOffsets (HAL_Handle handle, HAL_AdcData_t *pAdcData)
	Reads the ADC data. More...

static uint32_t	HAL_readTimerCnt (HAL_Handle handle, const uint_least8_t timerNumber)
	Reads the timer count. More...

static void	HAL_reloadTimer (HAL_Handle handle, const uint_least8_t timerNumber)
	Reloads the timer. More...

void	HAL_setupGate (HAL_Handle handle)
	Sets up the GATE object. More...

static void	HAL_startTimer (HAL_Handle handle, const uint_least8_t timerNumber)
	Starts the timer. More...

static void	HAL_stopTimer (HAL_Handle handle, const uint_least8_t timerNumber)
	Stops the timer. More...

static void	HAL_setTimerPeriod (HAL_Handle handle, const uint_least8_t timerNumber, const uint32_t period)
	Sets the timer period. More...

static uint32_t	HAL_getTimerPeriod (HAL_Handle handle, const uint_least8_t timerNumber)
	Gets the timer period. More...

static void	HAL_setAdcSocSampleDelay (HAL_Handle handle, const ADC_SocNumber_e socNumber, const ADC_SocSampleDelay_e sampleDelay)
	Sets the ADC SOC sample delay value. More...

static void	HAL_setBias (HAL_Handle handle, const HAL_SensorType_e sensorType, uint_least8_t sensorNumber, const _iq bias)
	Sets the ADC bias value. More...

static void	HAL_setGpioHigh (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Sets the GPIO pin high. More...

static bool	HAL_readGpio (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Reads the specified GPIO pin. More...

static void	HAL_toggleGpio (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Toggles the GPIO pin. More...

static void	HAL_setGpioLow (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Sets the GPIO pin low. More...

static void	HAL_setCurrentScaleFactor (HAL_Handle handle, const _iq current_sf)
	Sets the current scale factor in the hardware abstraction layer. More...

static void	HAL_setNumCurrentSensors (HAL_Handle handle, const uint_least8_t numCurrentSensors)
	Sets the number of current sensors. More...

static void	HAL_setNumVoltageSensors (HAL_Handle handle, const uint_least8_t numVoltageSensors)
	Sets the number of voltage sensors. More...

static void	HAL_setOffsetBeta_lp_pu (HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber, const _iq beta_lp_pu)
	Sets the value used to set the low pass filter pole for offset estimation. More...

static void	HAL_setOffsetInitCond (HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber, const _iq initCond)
	Sets the offset initial condition value for offset estimation. More...

static void	HAL_setOffsetValue (HAL_Handle handle, const HAL_SensorType_e sensorType, const uint_least8_t sensorNumber, const _iq value)
	Sets the initial offset value for offset estimation. More...

static void	HAL_setVoltageScaleFactor (HAL_Handle handle, const _iq voltage_sf)
	Sets the voltage scale factor in the hardware abstraction layer. More...

void	HAL_setParams (HAL_Handle handle, const USER_Params *pUserParams)
	Sets the hardware abstraction layer parameters. More...

void	HAL_setupAdcs (HAL_Handle handle)
	Sets up the ADCs (Analog to Digital Converters) More...

void	HAL_setupClks (HAL_Handle handle)
	Sets up the clocks. More...

void	HAL_setupFlash (HAL_Handle handle)
	Sets up the FLASH. More...

void	HAL_setupGpios (HAL_Handle handle)
	Sets up the GPIO (General Purpose I/O) pins. More...

void	HAL_setupPeripheralClks (HAL_Handle handle)
	Sets up the peripheral clocks. More...

void	HAL_setupPie (HAL_Handle handle)
	Sets up the PIE (Peripheral Interrupt Expansion) More...

void	HAL_setupPll (HAL_Handle handle, const PLL_ClkFreq_e clkFreq)
	Sets up the PLL (Phase Lock Loop) More...

void	HAL_setupPwms (HAL_Handle handle, const float_t systemFreq_MHz, const float_t pwmPeriod_usec, const uint_least16_t numPwmTicksPerIsrTick)
	Sets up the PWMs (Pulse Width Modulators) More...

void	HAL_setupPwmDacs (HAL_Handle handle)
	Sets up the PWM DACs (Pulse Width Modulator Digital to Analof Converters) More...

void	HAL_setupQEP (HAL_Handle handle, HAL_QepSelect_e qep)
	Sets up the QEP peripheral. More...

void	HAL_setupSpiA (HAL_Handle handle)
	Sets up the spiA peripheral. More...

void	HAL_setupSpiB (HAL_Handle handle)
	Sets up the spiB peripheral. More...

void	HAL_setupTimers (HAL_Handle handle, const float_t systemFreq_MHz)
	Sets up the timers. More...

static void	HAL_updateAdcBias (HAL_Handle handle)
	Updates the ADC bias values. More...

static void	HAL_writeDacData (HAL_Handle handle, HAL_DacData_t *pDacData)
	Writes DAC data to the PWM comparators for DAC (digital-to-analog conversion) output. More...

static void	HAL_writePwmData (HAL_Handle handle, HAL_PwmData_t *pPwmData)
	Writes PWM data to the PWM comparators for motor control. More...

static uint16_t	HAL_readPwmCmpA (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Reads PWM compare register A. More...

static uint16_t	HAL_readPwmCmpAM (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Reads PWM compare mirror register A. More...

static uint16_t	HAL_readPwmCmpB (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Reads PWM compare register B. More...

static uint16_t	HAL_readPwmPeriod (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Reads PWM period register. More...

static void	HAL_setTrigger (HAL_Handle handle, const SVGENCURRENT_IgnoreShunt_e ignoreShunt, const int16_t minwidth, const int16_t cmpOffset)

void	HAL_AdcCalChanSelect (HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
	Selects the analog channel used for calibration. More...

uint16_t	HAL_AdcCalConversion (HAL_Handle handle)
	Reads the converted value from the selected calibration channel. More...

void	HAL_AdcOffsetSelfCal (HAL_Handle handle)
	Executes the offset calibration of the ADC. More...

uint16_t	HAL_getOscTrimValue (int16_t coarse, int16_t fine)
	Converts coarse and fine oscillator trim values into a single 16bit word value. More...

void	HAL_OscTempComp (HAL_Handle handle)
	Executes the oscillator 1 and 2 calibration functions. More...

void	HAL_osc1Comp (HAL_Handle handle, const int16_t sensorSample)
	Executes the oscillator 1 calibration based on input sample. More...

void	HAL_osc2Comp (HAL_Handle handle, const int16_t sensorSample)
	Executes the oscillator 2 calibration based on input sample. More...

void	HAL_writeDrvData (HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
	Writes data to the driver. More...

void	HAL_readDrvData (HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
	Reads data from the driver. More...

void	HAL_setupDrvSpi (HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
	Sets up the SPI interface for the driver. More...

Function Documentation

static void HAL_acqAdcInt	(	HAL_Handle	handle,
		const ADC_IntNumber_e	intNumber
	)

inlinestatic

Acknowledges an interrupt from the ADC so that another ADC interrupt can happen again.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	intNumber	The interrupt number

Definition at line 191 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::adcHandle, and _HAL_Obj_::pieHandle.

static void HAL_acqPwmInt	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Acknowledges an interrupt from the PWM so that another PWM interrupt can happen again.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Definition at line 211 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pieHandle, and _HAL_Obj_::pwmHandle.

static void HAL_acqTimer0Int ( HAL_Handle handle )

inlinestatic

Acknowledges an interrupt from Timer 0 so that another Timer 0 interrupt can happen again.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 234 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pieHandle, and _HAL_Obj_::timerHandle.

static void HAL_disablePwm ( HAL_Handle handle )

inlinestatic

Disables the PWM device.

Turns off the outputs of the EPWM peripherals which will put the power switches into a high impedance state.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 272 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pwmHandle.

static void HAL_enablePwm ( HAL_Handle handle )

inlinestatic

Enables the PWM devices.

Turns on the outputs of the EPWM peripheral which will allow the power switches to be controlled.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 314 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pwmHandle.

static ADC_SocSampleDelay_e HAL_getAdcSocSampleDelay	(	HAL_Handle	handle,
		const ADC_SocNumber_e	socNumber
	)

inlinestatic

Gets the ADC delay value.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	socNumber	The ADC SOC number

Returns: The ADC delay value

Definition at line 340 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::adcHandle.

static _iq HAL_getBias	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		uint_least8_t	sensorNumber
	)

inlinestatic

Gets the ADC bias value.

The ADC bias contains the feedback circuit's offset and bias. Bias is the mathematical offset used when a bi-polar signal is read into a uni-polar ADC.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number

Returns: The ADC bias value

Definition at line 357 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ, _HAL_Obj_::adcBias, HAL_SensorType_Current, HAL_SensorType_Voltage, _HAL_AdcData_t_::I, _HAL_AdcData_t_::V, and _MATH_vec3_::value.

Referenced by HAL_updateAdcBias().

static _iq HAL_getCurrentScaleFactor ( HAL_Handle handle )

inlinestatic

Gets the current scale factor.

The current scale factor is defined as USER_ADC_FULL_SCALE_CURRENT_A/USER_IQ_FULL_SCALE_CURRENT_A. This scale factor is not used when converting between PU amps and real amps.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The current scale factor

Definition at line 384 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::current_sf.

Referenced by HAL_readAdcData(), and HAL_readAdcDataWithOffsets().

static uint_least8_t HAL_getNumCurrentSensors ( HAL_Handle handle )

inlinestatic

Gets the number of current sensors.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The number of current sensors

Definition at line 395 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::numCurrentSensors.

Referenced by HAL_updateAdcBias().

static uint_least8_t HAL_getNumVoltageSensors ( HAL_Handle handle )

inlinestatic

Gets the number of voltage sensors.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The number of voltage sensors

Definition at line 407 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::numVoltageSensors.

Referenced by HAL_updateAdcBias().

static _iq HAL_getOffsetBeta_lp_pu	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		const uint_least8_t	sensorNumber
	)

inlinestatic

Gets the value used to set the low pass filter pole for offset estimation.

An IIR single pole low pass filter is used to find the feedback circuit's offsets. This function returns the value of that pole.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number

Returns: The value used to set the low pass filter pole, pu

Definition at line 423 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ, HAL_SensorType_Current, HAL_SensorType_Voltage, OFFSET_getBeta(), _HAL_Obj_::offsetHandle_I, and _HAL_Obj_::offsetHandle_V.

static _iq HAL_getOffsetValue	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		const uint_least8_t	sensorNumber
	)

inlinestatic

Gets the offset value.

The offsets that are calculated during the feedback circuits calibrations are returned from the IIR filter object.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number

Returns: The offset value

Definition at line 451 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ, HAL_SensorType_Current, HAL_SensorType_Voltage, OFFSET_getOffset(), _HAL_Obj_::offsetHandle_I, and _HAL_Obj_::offsetHandle_V.

static uint32_t HAL_getTimerPeriod	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber
	)

inlinestatic

Gets the timer period.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2

Returns: The timer period

Definition at line 715 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::timerHandle.

static _iq HAL_getVoltageScaleFactor ( HAL_Handle handle )

inlinestatic

Gets the voltage scale factor.

The voltage scale factor is defined as USER_ADC_FULL_SCALE_VOLTAGE_V/USER_IQ_FULL_SCALE_VOLTAGE_V. This scale factor is not used when converting between PU volts and real volts.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The voltage scale factor

Definition at line 479 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::voltage_sf.

Referenced by HAL_readAdcData(), and HAL_readAdcDataWithOffsets().

static void HAL_initIntVectorTable ( HAL_Handle handle )

inlinestatic

Initializes the interrupt vector table.

Points ADCINT1 to mainISR

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 508 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References mainISR(), and _HAL_Obj_::pieHandle.

static void HAL_readAdcData	(	HAL_Handle	handle,
		HAL_AdcData_t *	pAdcData
	)

inlinestatic

Reads the ADC data.

Reads in the ADC result registers, adjusts for offsets, and scales the values according to the settings in user.h. The structure gAdcData holds three phase voltages, three line currents, and one DC bus voltage.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pAdcData	A pointer to the ADC data buffer

Definition at line 531 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ12mpy, _HAL_Obj_::adcBias, _HAL_Obj_::adcHandle, _HAL_AdcData_t_::dcBus, HAL_getCurrentScaleFactor(), HAL_getVoltageScaleFactor(), _HAL_AdcData_t_::I, _HAL_AdcData_t_::V, and _MATH_vec3_::value.

static void HAL_readAdcDataWithOffsets	(	HAL_Handle	handle,
		HAL_AdcData_t *	pAdcData
	)

inlinestatic

Reads the ADC data.

Reads in the ADC result registers, and scales the values according to the settings in user.h. The structure gAdcData holds three phase voltages, three line currents, and one DC bus voltage.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pAdcData	A pointer to the ADC data buffer

Definition at line 587 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ12mpy, _HAL_Obj_::adcHandle, _HAL_AdcData_t_::dcBus, HAL_getCurrentScaleFactor(), HAL_getVoltageScaleFactor(), _HAL_AdcData_t_::I, _HAL_AdcData_t_::V, and _MATH_vec3_::value.

static bool HAL_readGpio	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Reads the specified GPIO pin.

Takes in the enumeration GPIO_Number_e and reads that GPIO

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 788 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::gpioHandle.

static uint16_t HAL_readPwmCmpA	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Reads PWM compare register A.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Returns: The PWM compare value

Definition at line 1151 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pwmHandle.

static uint16_t HAL_readPwmCmpAM	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Reads PWM compare mirror register A.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Returns: The PWM compare value

Definition at line 1168 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pwmHandle.

static uint16_t HAL_readPwmCmpB	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Reads PWM compare register B.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Returns: The PWM compare value

Definition at line 1185 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pwmHandle.

static uint16_t HAL_readPwmPeriod	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Reads PWM period register.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Returns: The PWM period value

Definition at line 1202 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::pwmHandle.

static uint32_t HAL_readTimerCnt	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber
	)

inlinestatic

Reads the timer count.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2

Returns: The timer count

Definition at line 640 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::timerHandle.

static void HAL_reloadTimer	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber
	)

inlinestatic

Reloads the timer.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2

Definition at line 652 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::timerHandle.

static void HAL_setAdcSocSampleDelay	(	HAL_Handle	handle,
		const ADC_SocNumber_e	socNumber,
		const ADC_SocSampleDelay_e	sampleDelay
	)

inlinestatic

Sets the ADC SOC sample delay value.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	socNumber	The SOC number
[in]	sampleDelay	The delay value for the ADC

Definition at line 729 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::adcHandle.

static void HAL_setBias	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		uint_least8_t	sensorNumber,
		const _iq	bias
	)

inlinestatic

Sets the ADC bias value.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number
[in]	bias	The ADC bias value

Definition at line 746 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::adcBias, HAL_SensorType_Current, HAL_SensorType_Voltage, _HAL_AdcData_t_::I, _HAL_AdcData_t_::V, and _MATH_vec3_::value.

Referenced by HAL_updateAdcBias().

static void HAL_setCurrentScaleFactor	(	HAL_Handle	handle,
		const _iq	current_sf
	)

inlinestatic

Sets the current scale factor in the hardware abstraction layer.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	current_sf	The current scale factor

Definition at line 834 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::current_sf.

static void HAL_setGpioHigh	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Sets the GPIO pin high.

Takes in the enumeration GPIO_Number_e and sets that GPIO pin high.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 772 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::gpioHandle.

static void HAL_setGpioLow	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Sets the GPIO pin low.

Takes in the enumeration GPIO_Number_e and clears that GPIO pin low.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 819 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::gpioHandle.

static void HAL_setNumCurrentSensors	(	HAL_Handle	handle,
		const uint_least8_t	numCurrentSensors
	)

inlinestatic

Sets the number of current sensors.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	numCurrentSensors	The number of current sensors

Definition at line 848 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::numCurrentSensors.

static void HAL_setNumVoltageSensors	(	HAL_Handle	handle,
		const uint_least8_t	numVoltageSensors
	)

inlinestatic

Sets the number of voltage sensors.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	numVoltageSensors	The number of voltage sensors

Definition at line 862 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::numVoltageSensors.

static void HAL_setOffsetBeta_lp_pu	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		const uint_least8_t	sensorNumber,
		const _iq	beta_lp_pu
	)

inlinestatic

Sets the value used to set the low pass filter pole for offset estimation.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number
[in]	beta_lp_pu	The value used to set the low pass filter pole, pu

Definition at line 878 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References HAL_SensorType_Current, HAL_SensorType_Voltage, OFFSET_setBeta(), _HAL_Obj_::offsetHandle_I, and _HAL_Obj_::offsetHandle_V.

static void HAL_setOffsetInitCond	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		const uint_least8_t	sensorNumber,
		const _iq	initCond
	)

inlinestatic

Sets the offset initial condition value for offset estimation.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number
[in]	initCond	The initial condition value

Definition at line 903 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References HAL_SensorType_Current, HAL_SensorType_Voltage, OFFSET_setInitCond(), _HAL_Obj_::offsetHandle_I, and _HAL_Obj_::offsetHandle_V.

static void HAL_setOffsetValue	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		const uint_least8_t	sensorNumber,
		const _iq	value
	)

inlinestatic

Sets the initial offset value for offset estimation.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number
[in]	value	The initial offset value

Definition at line 928 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References HAL_SensorType_Current, HAL_SensorType_Voltage, OFFSET_setOffset(), _HAL_Obj_::offsetHandle_I, and _HAL_Obj_::offsetHandle_V.

static void HAL_setTimerPeriod	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber,
		const uint32_t	period
	)

inlinestatic

Sets the timer period.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2
[in]	period	The timer period

Definition at line 700 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::timerHandle.

static void HAL_setTrigger	(	HAL_Handle	handle,
		const SVGENCURRENT_IgnoreShunt_e	ignoreShunt,
		const int16_t	minwidth,
		const int16_t	cmpOffset
	)

inlinestatic

Definition at line 1215 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References ignore_a, ignore_ab, ignore_ac, ignore_b, ignore_c, _HAL_Obj_::pwmHandle, and use_all.

static void HAL_setVoltageScaleFactor	(	HAL_Handle	handle,
		const _iq	voltage_sf
	)

inlinestatic

Sets the voltage scale factor in the hardware abstraction layer.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	voltage_sf	The voltage scale factor

Definition at line 951 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::voltage_sf.

static void HAL_startTimer	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber
	)

inlinestatic

Starts the timer.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2

Definition at line 671 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::timerHandle.

static void HAL_stopTimer	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber
	)

inlinestatic

Stops the timer.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2

Definition at line 685 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::timerHandle.

static void HAL_toggleGpio	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Toggles the GPIO pin.

Takes in the enumeration GPIO_Number_e and toggles that GPIO pin.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 802 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _HAL_Obj_::gpioHandle.

static void HAL_updateAdcBias ( HAL_Handle handle )

inlinestatic

Updates the ADC bias values.

This function is called before the motor is started. It sets the voltage and current measurement offsets.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 1050 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References HAL_getBias(), HAL_getNumCurrentSensors(), HAL_getNumVoltageSensors(), HAL_SensorType_Current, HAL_SensorType_Voltage, HAL_setBias(), OFFSET_getOffset(), _HAL_Obj_::offsetHandle_I, and _HAL_Obj_::offsetHandle_V.

static void HAL_writeDacData	(	HAL_Handle	handle,
		HAL_DacData_t *	pDacData
	)

inlinestatic

Writes DAC data to the PWM comparators for DAC (digital-to-analog conversion) output.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pDacData	The pointer to the DAC data

Definition at line 1085 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ, _IQmpy, _IQsat, _HAL_Obj_::pwmDacHandle, and _HAL_DacData_t_::value.

static void HAL_writePwmData	(	HAL_Handle	handle,
		HAL_PwmData_t *	pPwmData
	)

inlinestatic

Writes PWM data to the PWM comparators for motor control.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pPwmData	The pointer to the PWM data

Definition at line 1117 of file drv8301kit_revD/f28x/f2806x/src/hal.h.

References _IQ, _IQmpy, _IQsat, _HAL_Obj_::pwmHandle, _HAL_PwmData_t_::Tabc, and _MATH_vec3_::value.

Macros

Enumerations

Functions

Function Documentation