ipd_hfi.h

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#ifndef _IPD_HFI_H_
#define _IPD_HFI_H_



// **************************************************************************
// the includes

// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/iqmath/src/32b/IQmathLib.h"

#include "sw/modules/filter/src/32b/filter_fo.h"
#include "sw/modules/math/src/32b/math.h"
#include "sw/modules/park/src/32b/park.h"
#include "sw/modules/pid/src/32b/pid.h"




// Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h


// **************************************************************************
// the typedefs


typedef enum
{
  IPD_HFI_State_Error = 0,     
  IPD_HFI_State_Idle = 1,      
  IPD_HFI_State_Coarse = 2,    
  IPD_HFI_State_Fine = 3,      
  IPD_HFI_State_OnLine = 4,    
  IPD_HFI_State_NumStates = 5  
} IPD_HFI_State_e;


typedef enum
{
  IPD_HFI_TRAJ_State_Idle = 0,      
  IPD_HFI_TRAJ_State_Coarse = 1,    
  IPD_HFI_TRAJ_State_Fine = 2,      
  IPD_HFI_TRAJ_State_NumStates = 3  
} IPD_HFI_TRAJ_State_e;


typedef struct IPD_HFI_Obj  *IPD_HFI_Handle;


// **************************************************************************
// the globals


// **************************************************************************
// the functions


static inline void IPD_HFI_computePhasor(const _iq angle_pu,MATH_vec2 *pPhasor)
{

  pPhasor->value[0] = _IQcosPU(angle_pu);
  pPhasor->value[1] = _IQsinPU(angle_pu);

  return;
} // end of IPD_HFI_computePhasor() function


extern void IPD_HFI_disable(IPD_HFI_Handle handle);


extern void IPD_HFI_enable(IPD_HFI_Handle handle);


extern _iq IPD_HFI_getAngle_pu(IPD_HFI_Handle handle);


extern _iq IPD_HFI_getKspd_pu(IPD_HFI_Handle handle);


extern _iq IPD_HFI_getSpeed_pu(IPD_HFI_Handle handle);


extern _iq IPD_HFI_getSpeed_lp_pu(IPD_HFI_Handle handle);



extern IPD_HFI_State_e IPD_HFI_getState(IPD_HFI_Handle handle);


extern _iq IPD_HFI_getVdValue(IPD_HFI_Handle handle);


extern IPD_HFI_Handle IPD_HFI_init(void);


extern bool IPD_HFI_isEnabled(IPD_HFI_Handle handle);


extern bool IPD_HFI_isOnLine(IPD_HFI_Handle handle);


extern void IPD_HFI_run(IPD_HFI_Handle handle,const MATH_vec2 *pIab_pu);


extern void IPD_HFI_setAngle_pu(IPD_HFI_Handle handle,const _iq angle_pu);


void IPD_HFI_setFlag_motorSpinning(IPD_HFI_Handle handle,const bool value);


extern void IPD_HFI_setHpf_Idq_Params(IPD_HFI_Handle handle,
                                      const _iq b0,const _iq b1,const _iq a1,
                                      const _iq x1,const _iq y1);


extern void IPD_HFI_setId_sum(IPD_HFI_Handle handle,const _iq Id_sum_pu);                                                                         


extern void IPD_HFI_setKspd_pu(IPD_HFI_Handle handle,const _iq Kspd_pu);


extern void IPD_HFI_setLpf_spd_Params(IPD_HFI_Handle handle,
                                      const _iq b0,const _iq b1,const _iq a1,
                                      const _iq x1,const _iq y1);
                                                                          
                                                                          
extern void IPD_HFI_setParams(IPD_HFI_Handle handle,
                              float_t estFreq_Hz,
                              float_t excFreq_Hz,
                              float_t lpFilterCutOffFreq_Hz,
                              float_t hpFilterCutOffFreq_Hz,
                              float_t iqFullScaleFreq_Hz,
                              float_t Kspd,
                              float_t excMag_coarse_pu,
                              float_t excMag_fine_pu,
                              float_t waitTime_coarse_sec,
                              float_t waitTime_fine_sec);

                                                          
extern void IPD_HFI_setSpeed_pu(IPD_HFI_Handle handle,const _iq speed_pu);                                                        
                                                          

extern void IPD_HFI_setSpeed_lp_pu(IPD_HFI_Handle handle,const _iq speed_lp_pu);


extern void IPD_HFI_setTrajMags(IPD_HFI_Handle handle,const _iq *pMags);


extern void IPD_HFI_setTrajParams(IPD_HFI_Handle handle,
                                  const uint_least32_t period,const uint_least32_t targetPeriod,
                                  const _iq *pTrajMags,const uint_least32_t *pTrajPeriods);


extern void IPD_HFI_setTrajPeriods(IPD_HFI_Handle handle,const uint_least32_t *pPeriods);                                                                 


extern void IPD_HFI_setWaitTimes(IPD_HFI_Handle handle,const uint_least32_t *pWaitTimes);


extern void IPD_HFI_updateState(IPD_HFI_Handle handle);

                                                          
// end of file

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


#endif // end of _IPD_HFI_H_ definition