spintac_pos_conv.h

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#ifndef __SPINTAC_POS_CONV_H__
#define __SPINTAC_POS_CONV_H__
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 * Copyright (c) 2012, Texas Instruments Incorporated
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#include "spintac_version.h"

typedef enum
{
  ST_POS_CONV_IDLE=0,   
  ST_POS_CONV_INIT,             
  ST_POS_CONV_BUSY              
} ST_PosConvStatus_e;

typedef struct {
  _iq24 T_sec;                            
  _iq24 ROMax_erev;                       
  _iq24 ROMin_erev;                       
  _iq24 erev_TO_pu_ps;            
  _iq24 PolePairs;                        
  _iq24 ROMax_mrev;                       
  int16_t LpfTime_tick;           
  // These values are only required for ACIM motors
  _iq24 SampleTimeOverTimeConst;  
  _iq24 OneOverFreqTimeConst;     
} ST_PosConvCfg_t;                

typedef struct {
  /* Configuration variables */
  ST_PosConvCfg_t cfg;
  /* Input variables */
  _iq24 Pos_erev;                         
  _iq24 Id;                   
  _iq24 Iq;                   
  // Control bits
  bool  ENB;                          
  /* Output variables */
  _iq24 Vel;                              
  _iq24 VelLpf;                           
  _iq24 Pos_mrev;                         
  int32_t PosROCounts;            
  _iq24 SlipVel;              
  // Information variables
  ST_PosConvStatus_e STATUS;  
  uint16_t      ERR_ID;                   
  /* Internal Variables */
  uint32_t s0[19];
} ST_PosConv_t;         // Structure for SpinTAC Position Converter

typedef struct _ST_POSCONV_Handle_ *ST_POSCONV_Handle; // SpinTAC Position Converter Handle

static inline void STPOSCONV_setSampleTime_sec(ST_POSCONV_Handle handle, _iq24 sampleTime) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        if(obj->STATUS == ST_POS_CONV_IDLE) {
                obj->cfg.T_sec = sampleTime;
        }

        return;
} // end of STPOSCONV_setSampleTime_sec function

static inline void STPOSCONV_setERevMaximums_erev(ST_POSCONV_Handle handle, _iq24 eRevROMax, _iq24 eRevROMin) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        if(obj->STATUS == ST_POS_CONV_IDLE) {
                obj->cfg.ROMax_erev = eRevROMax;
                obj->cfg.ROMin_erev = eRevROMin;
        }

        return;
} // end of STPOSCONV_setERevMaximums_erev function

static inline void STPOSCONV_setUnitConversion(ST_POSCONV_Handle handle, float_t baseFreq, float_t sampleTime, uint16_t polePairs) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        if(obj->STATUS == ST_POS_CONV_IDLE) {
                obj->cfg.erev_TO_pu_ps = _IQ24(1.0 / (baseFreq * sampleTime));
                obj->cfg.PolePairs = _IQ24(polePairs);
        }

        return;
} // end of STPOSCONV_setUnitConversion function

static inline void STPOSCONV_setMRevMaximum_mrev(ST_POSCONV_Handle handle, _iq24 mRevROMax) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        if(obj->STATUS == ST_POS_CONV_IDLE) {
                obj->cfg.ROMax_mrev = mRevROMax;
        }

        return;
} // end of STPOSCONV_setMRevMaximum_mrev function

static inline void STPOSCONV_setLowPassFilterTime_tick(ST_POSCONV_Handle handle, int16_t lpfTime) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        if(obj->STATUS == ST_POS_CONV_IDLE) {
                obj->cfg.LpfTime_tick = lpfTime;
        }

        return;
} // end of STPOSCONV_setLowPassFilterTime_tick function

static inline void STPOSCONV_setupSlipCompensator(ST_POSCONV_Handle handle, float_t sampleTime, float_t baseFreq, float_t rotorResistance, float_t statorInductance) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        if(obj->STATUS == ST_POS_CONV_IDLE) {
                obj->cfg.SampleTimeOverTimeConst = _IQ24(sampleTime * (rotorResistance/statorInductance));
                obj->cfg.OneOverFreqTimeConst = _IQ24((1.0 / baseFreq) * (rotorResistance/statorInductance));
        }

        return;
} // end of STPOSCONV_setupSlipCompensator function

static inline void STPOSCONV_setElecAngle_erev(ST_POSCONV_Handle handle, _iq24 posERev) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        obj->Pos_erev = posERev;

        return;
} // end of STPOSCONV_setElecAngle_erev function

static inline void STPOSCONV_setCurrentVector(ST_POSCONV_Handle handle, MATH_vec2 *pIdqIn) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        obj->Id = pIdqIn->value[0];
        obj->Iq = pIdqIn->value[1];

        return;
} // end of STPOSCONV_setCurrentVector function

static inline _iq24 STPOSCONV_getVelocity(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return(obj->Vel);
} // end of STPOSCONV_getVelocity function

static inline _iq24 STPOSCONV_getVelocityFiltered(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return(obj->VelLpf);
} // end of STPOSCONV_getVelocityFiltered function

static inline _iq24 STPOSCONV_getPosition_mrev(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return(obj->Pos_mrev);
} // end of STPOSCONV_getPosition_mrev function

static inline int32_t STPOSCONV_getPositionRollOver(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return(obj->PosROCounts);
} // end of STPOSCONV_getPositionRollOver function

static inline _iq24 STPOSCONV_getSlipVelocity(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return(obj->SlipVel);
} // end of STPOSCONV_getSlipVelocity function

static inline void STPOSCONV_setEnable(ST_POSCONV_Handle handle, bool enb) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        obj->ENB = enb;

        return;
} // end of STPOSCONV_setEnable function

static inline bool STPOSCONV_getEnable(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return (obj->ENB);
} // end of STPOSCONV_getEnable function

static inline ST_PosConvStatus_e STPOSCONV_getStatus(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return (obj->STATUS);
} // end of STPOSCONV_getStatus function

static inline uint16_t STPOSCONV_getErrorID(ST_POSCONV_Handle handle) {
        ST_PosConv_t *obj = (ST_PosConv_t *)handle;

        return (obj->ERR_ID);
} // end of STPOSCONV_getErrorID function

ST_POSCONV_Handle STPOSCONV_init(void *pMemory, const size_t numBytes);

void STPOSCONV_run(ST_POSCONV_Handle handle);   // SpinTAC Position Converter function
#endif //__SPINTAC_POS_CONV_H__