slip.h

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#ifndef _SLIP_H_
#define _SLIP_H_



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



#ifdef __cplusplus
extern "C" {
#endif


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


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


typedef struct _SLIP_Obj_
{
  _iq     sample_time;          
  int32_t enc_elec_angle;               
  int32_t incremental_slip;     
  int32_t enc_slip_angle;       
  int32_t enc_magnetic_angle;   
} SLIP_Obj;


typedef struct _SLIP_Handle_ *SLIP_Handle;


// **************************************************************************
// the function prototypes


inline _iq SLIP_getMagneticAngle(SLIP_Handle slipHandle) {
        SLIP_Obj *slip = (SLIP_Obj *) slipHandle;

        return slip->enc_magnetic_angle;
}


extern SLIP_Handle SLIP_init(void *pMemory,const size_t numBytes);


extern void SLIP_run(SLIP_Handle slipHandle);


inline void SLIP_setElectricalAngle(SLIP_Handle slipHandle, _iq electricalAngle) {
        SLIP_Obj *slip = (SLIP_Obj *) slipHandle;

        // set the electrical angle
        slip->enc_elec_angle = electricalAngle;

        return;
}


inline void SLIP_setSlipVelocity(SLIP_Handle slipHandle, _iq slipVelocity) {
        SLIP_Obj *slip = (SLIP_Obj *) slipHandle;

        // Calcaulte the amount of incremental slip based on the slip velocity & sample time
        slip->incremental_slip = _IQmpy(slipVelocity, slip->sample_time);

        return;
}


extern void SLIP_setup(SLIP_Handle slipHandle, _iq sampleTime);


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

#endif // end of _SLIP_H_ definition