slip.c

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

#include "sw/modules/slip/src/32b/slip.h"


// **************************************************************************
// the defines


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


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

SLIP_Handle SLIP_init(void *pMemory,const size_t numBytes)
{
  SLIP_Handle slipHandle;
  
  if(numBytes < sizeof(SLIP_Obj))
    return((SLIP_Handle)NULL);

  // assign the handle
  slipHandle = (SLIP_Handle)pMemory;
  
  return(slipHandle);
} // end of SLIP_init() function


void SLIP_setup(SLIP_Handle slipHandle, _iq sampleTime)
{
  SLIP_Obj *slip;
 
  // create an object pointer for manipulation
  slip = (SLIP_Obj *) slipHandle;
  
  // set the sample time
  slip->sample_time = sampleTime;

  // initialize all other values to 0
  slip->enc_elec_angle = 0;
  slip->enc_magnetic_angle = 0;
  slip->enc_slip_angle = 0;
  slip->incremental_slip = 0;
  
  return;
} // end of SLIP_setup() function


void SLIP_run(SLIP_Handle slipHandle)
{
  SLIP_Obj *slip;
  uint32_t temp;
        
  // create an object pointer for manipulation
  slip = (SLIP_Obj *) slipHandle;

  // update the slip angle
  slip->enc_slip_angle = slip->enc_slip_angle + slip->incremental_slip;
  // wrap around 1.0 (Q24)
  slip->enc_slip_angle &= ((uint32_t) 0x00ffffff);
  // add in compensation for slip
  temp = slip->enc_elec_angle + slip->enc_slip_angle;
  // wrap around 1.0 (Q24)
  temp &= ((uint32_t) 0x00ffffff);
  // store encoder magnetic angle
  slip->enc_magnetic_angle = (_iq)temp;
  
  return;
} // end of SLIP_run() function


// end of file