SLIP

Data Structures
struct	_SLIP_Obj_
	Defines the slip object. More...

Typedefs
typedef struct _SLIP_Obj_	SLIP_Obj
	Defines the slip object. More...
typedef struct _SLIP_Handle_ *	SLIP_Handle
	Defines the slip handle. More...

Functions
_iq	SLIP_getMagneticAngle (SLIP_Handle slipHandle)
	Returns the current magnetic angle. More...
SLIP_Handle	SLIP_init (void *pMemory, const size_t numBytes)
	Initializes the encoder object. More...
void	SLIP_run (SLIP_Handle slipHandle)
	Based on the electrical angle and the incremental slip, calculates the magnetic angle. More...
void	SLIP_setElectricalAngle (SLIP_Handle slipHandle, _iq electricalAngle)
	Set the electrical angle. More...
void	SLIP_setSlipVelocity (SLIP_Handle slipHandle, _iq slipVelocity)
	Set the amount of slip velocity and calculates the incremental slip. More...
void	SLIP_setup (SLIP_Handle slipHandle, _iq sampleTime)
	Initializes slip object parameters. More...

Detailed Description

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Data Structure Documentation

struct _SLIP_Obj_

Defines the slip object.

Definition at line 68 of file slip.h.

Data Fields
int32_t	enc_elec_angle	current electrical angle from encoder
int32_t	enc_magnetic_angle	current magnetic angle in Q24
int32_t	enc_slip_angle	amount of total slip in Q24
int32_t	incremental_slip	incremental amount of slip per sample time
_iq	sample_time	sample time of the SLIP module

Typedef Documentation

typedef struct _SLIP_Handle_* SLIP_Handle

Defines the slip handle.

Definition at line 80 of file slip.h.

typedef struct _SLIP_Obj_ SLIP_Obj

Defines the slip object.

Function Documentation

_iq SLIP_getMagneticAngle ( SLIP_Handle  slipHandle )

inline

Returns the current magnetic angle.

Parameters

[in]

slipHandle

Handle to the SLIP object

Returns

Magnetic angle in Q24

Definition at line 90 of file slip.h.

References _SLIP_Obj_::enc_magnetic_angle.

SLIP_Handle SLIP_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the encoder object.

Parameters

[in]	pMemory	Memory pointer to object
[in]	numBytes	Object size

Returns

Object handle

Definition at line 56 of file slip.c.

void SLIP_run

(

SLIP_Handle

slipHandle

)

Based on the electrical angle and the incremental slip, calculates the magnetic angle.

Parameters

[in]

slipHandle

Handle to the SLIP object

Returns

Nothing

Definition at line 90 of file slip.c.

References _SLIP_Obj_::enc_elec_angle, _SLIP_Obj_::enc_magnetic_angle, _SLIP_Obj_::enc_slip_angle, and _SLIP_Obj_::incremental_slip.

void SLIP_setElectricalAngle ( SLIP_Handle  slipHandle, _iq  electricalAngle  )

inline

Set the electrical angle.

Parameters

[in]	slipHandle	Handle to the SLIP object
[in]	electricalAngle	Current electrical angle in Q24

Returns

Nothing

Definition at line 114 of file slip.h.

References _SLIP_Obj_::enc_elec_angle.

void SLIP_setSlipVelocity ( SLIP_Handle  slipHandle, _iq  slipVelocity  )

inline

Set the amount of slip velocity and calculates the incremental slip.

Parameters

[in]	slipHandle	Handle to the SLIP object
[in]	slipVelocity	Velocity of the slip in ELectrical Revolutions per second

Returns

Nothing

Definition at line 128 of file slip.h.

References _IQmpy, _SLIP_Obj_::incremental_slip, and _SLIP_Obj_::sample_time.

void SLIP_setup	(	SLIP_Handle	slipHandle,
		_iq	sampleTime
	)

Initializes slip object parameters.

Parameters

[in]	slipHandle	Handle to the SLIP object
[in]	sampleTime	Sample time that the SLIP object is being called at

Returns

Nothing

Definition at line 70 of file slip.c.

References _SLIP_Obj_::enc_elec_angle, _SLIP_Obj_::enc_magnetic_angle, _SLIP_Obj_::enc_slip_angle, _SLIP_Obj_::incremental_slip, and _SLIP_Obj_::sample_time.