32b/ctrl_obj.h

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#ifndef _CTRL_OBJ_H_
#define _CTRL_OBJ_H_
/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * *  Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *
 * *  Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/



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

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

#include "sw/modules/ctrl/src/ctrl_states.h"
#include "sw/modules/clarke/src/32b/clarke.h"
#include "sw/modules/park/src/32b/park.h"
#include "sw/modules/ipark/src/32b/ipark.h"
#include "sw/modules/motor/src/32b/motor.h"
#include "sw/modules/offset/src/32b/offset.h"
#include "sw/modules/pid/src/32b/pid.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/svgen/src/32b/svgen.h"
#include "sw/modules/traj/src/32b/traj.h"






#ifdef __cplusplus
extern "C" {
#endif


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


#define CTRL_NUM_CONTROLLERS       (2)


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

//typedef enum {
//  CTRL_State_Error=0,           //!< the controller error state
//  CTRL_State_Idle,              //!< the controller idle state
//  CTRL_State_OffLine,           //!< the controller offline state
//  CTRL_State_OnLine,            //!< the controller online state
//  CTRL_numStates                //!< the number of controller states
//} CTRL_State_e;


typedef enum
{
  CTRL_ErrorCode_NoError=0,        
  CTRL_ErrorCode_IdClip,           
  CTRL_ErrorCode_EstError,         
  CTRL_numErrorCodes               
} CTRL_ErrorCode_e;


typedef enum
{
  CTRL_TargetProc_2806x=0,   
  CTRL_TargetProc_2805x,     
  CTRL_TargetProc_2803x,     
  CTRL_TargetProc_2802x,     
  CTRL_TargetProc_Unknown    
} CTRL_TargetProc_e;


typedef enum
{
  CTRL_Type_PID_spd=0,             
  CTRL_Type_PID_Id,                
  CTRL_Type_PID_Iq                 
} CTRL_Type_e;


typedef struct _CTRL_Version_
{
  uint16_t rsvd;                 
  CTRL_TargetProc_e targetProc;  
  uint16_t major;                
  uint16_t minor;                
} CTRL_Version;


typedef struct _CTRL_Obj_
{
  CTRL_Version       version;                      

  CTRL_State_e       state;                        

  CTRL_State_e       prevState;                    

  CTRL_ErrorCode_e   errorCode;                    

  CLARKE_Handle      clarkeHandle_I;               
  CLARKE_Obj         clarke_I;                     
 
  CLARKE_Handle      clarkeHandle_V;               
  CLARKE_Obj         clarke_V;                     

  EST_Handle         estHandle;                    

  PARK_Handle        parkHandle;                   
  PARK_Obj           park;                         

  PID_Handle         pidHandle_Id;                 
  PID_Obj            pid_Id;                       

  PID_Handle         pidHandle_Iq;                 
  PID_Obj            pid_Iq;                       

  PID_Handle         pidHandle_spd;                
  PID_Obj            pid_spd;                      

  IPARK_Handle       iparkHandle;                  
  IPARK_Obj          ipark;                        

  SVGEN_Handle       svgenHandle;                  
  SVGEN_Obj          svgen;                        

  TRAJ_Handle        trajHandle_Id;                
  TRAJ_Obj           traj_Id;                      

  TRAJ_Handle        trajHandle_spd;               
  TRAJ_Obj           traj_spd;                     

  TRAJ_Handle        trajHandle_spdMax;            
  TRAJ_Obj           traj_spdMax;                  

  MOTOR_Params       motorParams;                  

  uint_least32_t     waitTimes[CTRL_numStates];    

  uint_least32_t     counter_state;                

  uint_least16_t     numIsrTicksPerCtrlTick;       

  uint_least16_t     numCtrlTicksPerCurrentTick;   

  uint_least16_t     numCtrlTicksPerSpeedTick;     

  uint_least16_t     numCtrlTicksPerTrajTick;      

  uint_least32_t     ctrlFreq_Hz;                  

  uint_least32_t     trajFreq_Hz;                  

  _iq                trajPeriod_sec;               

  float_t            ctrlPeriod_sec;               

  _iq                maxVsMag_pu;                  

  MATH_vec2          Iab_in;                       

  MATH_vec2          Iab_filt;                     

  MATH_vec2          Idq_in;                       

  MATH_vec2          Vab_in;                       

  _iq                spd_out;                      

  MATH_vec2          Vab_out;                      

  MATH_vec2          Vdq_out;                      

  float_t            Rhf;                          
  float_t            Lhf;                          
  float_t            RoverL;                       

  _iq                Kp_Id;                        
  _iq                Kp_Iq;                        
  _iq                Kp_spd;                       

  _iq                Ki_Id;                        
  _iq                Ki_Iq;                        
  _iq                Ki_spd;                       

  _iq                Kd_Id;                        
  _iq                Kd_Iq;                        
  _iq                Kd_spd;                       

  _iq                Ui_Id;                        
  _iq                Ui_Iq;                        
  _iq                Ui_spd;                       

  MATH_vec2          Idq_ref;                      

  _iq                IdRated;                      

  _iq                spd_ref;                      

  _iq                spd_max;                      

  uint_least16_t     counter_current;              

  uint_least16_t     counter_isr;                  

  uint_least16_t     counter_speed;                

  uint_least16_t     counter_traj;                 

  bool             flag_enableCtrl;                
  bool             flag_enableDcBusComp;           
  bool             flag_enablePowerWarp;           
  bool             flag_enableOffset;              
  bool             flag_enableSpeedCtrl;           
  bool             flag_enableUserMotorParams;     

  // NOTE:  APPENDING ONLY WORKS BECAUSE WE HAVE ALLOCATED TWO CONTROLLERS IN PROTECTED RAM AND WE ARE ONLY USING THE FIRST ONE
  MATH_vec2          Idq_offset_pu;                
  MATH_vec2          Vdq_offset_pu;                
  _iq                angle_pu;                     
  _iq                speed_ref_pu;                 
  _iq                speed_fb_pu;                  
  _iq                speed_outMax_pu;              
  bool               flag_enableCurrentCtrl;       
} CTRL_Obj;


typedef struct _CTRL_Obj_ *CTRL_Handle;


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

#endif // end of _CTRL_OBJ_H_ definition