32b/est.h

Go to the documentation of this file.

#ifndef _EST_H_
#define _EST_H_



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

// modules
#include "sw/modules/math/src/32b/math.h"
#include "sw/modules/iqmath/src/32b/IQmathLib.h"
#include "sw/modules/est/src/est_states.h"




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

#ifdef __cplusplus
extern "C" {
#endif


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


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

typedef enum
{
  EST_RsOnLineFilterType_Current=0,        
  EST_RsOnLineFilterType_Voltage           
} EST_RsOnLineFilterType_e;


typedef struct _EST_Obj_ *EST_Handle;


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


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

#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_computeLr_H(EST_Handle handle,const _iq current);
#else
extern float_t EST_computeLr_H(EST_Handle handle,const _iq current);
#endif


extern bool EST_doCurrentCtrl(EST_Handle handle);


extern bool EST_doSpeedCtrl(EST_Handle handle);


extern void EST_genOutputLimits_Pid_Id(EST_Handle handle,
                                       const _iq maxDutyCycle,
                                       _iq *outMin,_iq *outMax);


extern void EST_genOutputLimits_Pid_Iq(EST_Handle handle,
                                       const _iq maxDutyCycle,
                                       const _iq out_Id,
                                       _iq *outMin,_iq *outMax);


extern _iq EST_get_krpm_to_pu_sf(EST_Handle handle);


extern _iq EST_get_pu_to_krpm_sf(EST_Handle handle);


extern _iq EST_getAngle_pu(EST_Handle handle);


extern _iq EST_getDcBus_pu(EST_Handle handle);


extern EST_ErrorCode_e EST_getErrorCode(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFe(EST_Handle handle);
#else
extern float_t EST_getFe(EST_Handle handle);
#endif


extern _iq EST_getFe_pu(EST_Handle handle);


extern bool EST_getFlag_enableForceAngle(EST_Handle handle);


extern bool EST_getFlag_enableRsOnLine(EST_Handle handle);


extern bool EST_getFlag_enableRsRecalc(EST_Handle handle);


extern bool EST_getFlag_estComplete(EST_Handle handle);


extern bool EST_getFlag_updateRs(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFlux_VpHz(EST_Handle handle);
#else
extern float_t EST_getFlux_VpHz(EST_Handle handle);
#endif


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFlux_Wb(EST_Handle handle);
#else
extern float_t EST_getFlux_Wb(EST_Handle handle);
#endif


extern _iq EST_getFlux_pu(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFm(EST_Handle handle);
#else
extern float_t EST_getFm(EST_Handle handle);
#endif


extern _iq EST_getFm_pu(EST_Handle handle);


extern _iq EST_getForceAngleDelta_pu(EST_Handle handle);


extern bool EST_getForceAngleStatus(EST_Handle handle);


extern _iq EST_getFreqB0_lp_pu(EST_Handle handle);


extern _iq EST_getFreqBeta_lp_pu(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFslip(EST_Handle handle);
#else
extern float_t EST_getFslip(EST_Handle handle);
#endif


extern _iq EST_getFslip_pu(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFullScaleCurrent(EST_Handle handle);
#else
extern float_t EST_getFullScaleCurrent(EST_Handle handle);
#endif


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFullScaleFlux(EST_Handle handle);
#else
extern float_t EST_getFullScaleFlux(EST_Handle handle);
#endif


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFullScaleFreq(EST_Handle handle);
#else
extern float_t EST_getFullScaleFreq(EST_Handle handle);
#endif


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFullScaleInductance(EST_Handle handle);
#else
extern float_t EST_getFullScaleInductance(EST_Handle handle);
#endif


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFullScaleResistance(EST_Handle handle);
#else
extern float_t EST_getFullScaleResistance(EST_Handle handle);
#endif


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getFullScaleVoltage(EST_Handle handle);
#else
extern float_t EST_getFullScaleVoltage(EST_Handle handle);
#endif


extern void EST_getIab_pu(EST_Handle handle,MATH_vec2 *pIab);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getIdRated(EST_Handle handle);
#else
extern float_t EST_getIdRated(EST_Handle handle);
#endif


extern _iq EST_getIdRated_pu(EST_Handle handle);


extern _iq EST_getIdRated_indEst_pu(EST_Handle handle);


extern _iq EST_getIdRated_ratedFlux_pu(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getLr_H(EST_Handle handle);
#else
extern float_t EST_getLr_H(EST_Handle handle);
#endif


extern _iq EST_getLr_pu(EST_Handle handle);


extern uint_least8_t EST_getLr_qFmt(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getLs_d_H(EST_Handle handle);
#else
extern float_t EST_getLs_d_H(EST_Handle handle);
#endif


extern _iq EST_getLs_d_pu(EST_Handle handle);


extern void EST_getLs_dq_pu(EST_Handle handle,MATH_vec2 *pLs_dq_pu);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getLs_q_H(EST_Handle handle);
#else
extern float_t EST_getLs_q_H(EST_Handle handle);
#endif


extern _iq EST_getLs_q_pu(EST_Handle handle);


extern uint_least8_t EST_getLs_qFmt(EST_Handle handle);


extern _iq EST_getLs_max_pu(EST_Handle handle);


extern _iq EST_getLs_min_pu(EST_Handle handle);


extern _iq EST_getLs_coarse_max_pu(EST_Handle handle);


extern _iq EST_getMaxAccel_pu(EST_Handle handle);


extern _iq EST_getMaxAccel_est_pu(EST_Handle handle);


extern _iq EST_getMaxCurrentSlope_pu(EST_Handle handle);


extern _iq EST_getMaxCurrentSlope_epl_pu(EST_Handle handle);


extern _iq EST_getOneOverDcBus_pu(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getRr_Ohm(EST_Handle handle);
#else
extern float_t EST_getRr_Ohm(EST_Handle handle);
#endif


extern _iq EST_getRr_pu(EST_Handle handle);


extern uint_least8_t EST_getRr_qFmt(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getRs_Ohm(EST_Handle handle);
#else
extern float_t EST_getRs_Ohm(EST_Handle handle);
#endif


extern _iq EST_getRs_pu(EST_Handle handle);


extern uint_least8_t EST_getRs_qFmt(EST_Handle handle);


extern void EST_getRsOnLineFilterParams(EST_Handle handle,const EST_RsOnLineFilterType_e filterType,
                                        _iq *pFilter_0_b0,_iq *pFilter_0_a1,_iq *pFilter_0_y1,
                                        _iq *pFilter_1_b0,_iq *pFilter_1_a1,_iq *pFilter_1_y1);


#ifdef __TMS320C28XX_FPU32__
extern int32_t EST_getRsOnLine_Ohm(EST_Handle handle);
#else
extern float_t EST_getRsOnLine_Ohm(EST_Handle handle);
#endif


extern _iq EST_getRsOnLine_pu(EST_Handle handle);


extern uint_least8_t EST_getRsOnLine_qFmt(EST_Handle handle);


extern _iq EST_getRsOnLineId_mag_pu(EST_Handle handle);


extern _iq EST_getRsOnLineId_pu(EST_Handle handle);


extern void EST_setRsOnLineId_pu(EST_Handle handle,const _iq Id_pu);


extern int_least8_t EST_getSignOfDirection(EST_Handle handle);


extern _iq EST_getSpeed_krpm(EST_Handle handle);


extern EST_State_e EST_getState(EST_Handle handle);


extern _iq EST_getTorque_lbin(EST_Handle handle);


extern _iq EST_getTorque_Nm(EST_Handle handle);


extern bool EST_isError(EST_Handle handle);


extern bool EST_isIdle(EST_Handle handle);


extern bool EST_isLockRotor(EST_Handle handle);


extern bool EST_isMotorIdentified(EST_Handle handle);


extern bool EST_isOnLine(EST_Handle handle);


extern void EST_resetCounter_ctrl(EST_Handle handle);


extern void EST_resetCounter_state(EST_Handle handle);


extern void EST_run(EST_Handle handle,
             const MATH_vec2 *pIab_pu,
             const MATH_vec2 *pVab_pu,
             const _iq dcBus_pu,
             const _iq speed_ref_pu);


extern void EST_setAngle_pu(EST_Handle handle,const _iq angle_pu);


extern void EST_setDcBus_pu(EST_Handle handle,const _iq dcBus_pu);


extern void EST_setFlag_enableFluxControl(EST_Handle handle,const bool state);


extern void EST_setFlag_enableForceAngle(EST_Handle handle,const bool state);


extern void EST_setFlag_enableRsOnLine(EST_Handle handle,const bool state);


extern void EST_setFlag_enableRsRecalc(EST_Handle handle,const bool state);


extern void EST_setFlag_estComplete(EST_Handle handle,const bool state);


extern void EST_setFlag_updateRs(EST_Handle handle,const bool state);


extern void EST_setForceAngleDelta_pu(EST_Handle handle,const _iq angleDelta_pu);


extern void EST_setFreqB0_lp_pu(EST_Handle handle,const _iq b0_lp_pu);


extern void EST_setFreqBeta_lp_pu(EST_Handle handle,const _iq beta_lp_pu);


extern void EST_setFullScaleCurrent(EST_Handle handle,const float_t fullScaleCurrent);


extern void EST_setFullScaleFlux(EST_Handle handle,const float_t fullScaleFlux);


extern void EST_setFullScaleFreq(EST_Handle handle,const float_t fullScaleFreq);


extern void EST_setFullScaleInductance(EST_Handle handle,const float_t fullScaleInductance);


extern void EST_setFullScaleResistance(EST_Handle handle,const float_t fullScaleResistance);


extern void EST_setFullScaleVoltage(EST_Handle handle,const float_t fullScaleVoltage);


extern void EST_setIdle(EST_Handle handle);


extern void EST_setIdle_all(EST_Handle handle);


extern void EST_setId_ref_pu(EST_Handle handle,const _iq Id_ref_pu);


extern void EST_setIdRated_pu(EST_Handle handle,const _iq IdRated_pu);


extern void EST_setIq_ref_pu(EST_Handle handle,const _iq Iq_ref_pu);


extern void EST_setLs_d_pu(EST_Handle handle,const _iq Ls_d_pu);


extern _iq EST_getLs_delta_pu(EST_Handle handle);


extern void EST_setLs_delta_pu(EST_Handle handle,const _iq Ls_delta_pu);


extern _iq EST_getRs_delta_pu(EST_Handle handle);


extern void EST_setRs_delta_pu(EST_Handle handle,const _iq Rs_delta_pu);


extern void EST_setLs_dq_pu(EST_Handle handle,const MATH_vec2 *pLs_dq_pu);


extern void EST_setLs_q_pu(EST_Handle handle,const _iq Ls_q_pu);


extern void EST_setLs_qFmt(EST_Handle handle,const uint_least8_t Ls_qFmt);


extern void EST_setMaxAccel_pu(EST_Handle handle,const _iq maxAccel_pu);


extern void EST_setMaxAccel_est_pu(EST_Handle handle,const _iq maxAccel_pu);


extern void EST_setMaxCurrentSlope_pu(EST_Handle handle,const _iq maxCurrentSlope_pu);


extern void EST_setMaxCurrentSlope_epl_pu(EST_Handle handle,const _iq maxCurrentSlope_pu);


extern void EST_setRr_pu(EST_Handle handle,const _iq Rr_pu);


extern void EST_setRr_qFmt(EST_Handle handle,uint_least8_t Rr_qFmt);


extern void EST_setRsOnLineAngleDelta_pu(EST_Handle handle,const _iq angleDelta_pu);


extern void EST_setRsOnLine_pu(EST_Handle handle,const _iq Rs_pu);


extern void EST_setRsOnLine_qFmt(EST_Handle handle,const uint_least8_t Rs_qFmt);


extern void EST_setRsOnLineFilterParams(EST_Handle handle,const EST_RsOnLineFilterType_e filterType,
                                        const _iq filter_0_b0,const _iq filter_0_a1,const _iq filter_0_y1,
                                        const _iq filter_1_b0,const _iq filter_1_a1,const _iq filter_1_y1);


extern void EST_setRsOnLineId_mag_pu(EST_Handle handle,const _iq Id_mag_pu);


extern void EST_setRs_pu(EST_Handle handle,const _iq Rs_pu);


extern void EST_setRs_qFmt(EST_Handle handle,uint_least8_t Rs_qFmt);


extern void EST_updateId_ref_pu(EST_Handle handle,_iq *pId_ref_pu);


extern bool EST_updateState(EST_Handle handle,const _iq Id_target_pu);


extern bool EST_useZeroIq_ref(EST_Handle handle);


#ifdef __TMS320C28XX_FPU32__
extern uint_least8_t EST_computeDirection_qFmt(EST_Handle handle,const int32_t flux_max);
#else
extern uint_least8_t EST_computeDirection_qFmt(EST_Handle handle,const float_t flux_max);
#endif


extern uint_least8_t EST_getDir_qFmt(EST_Handle handle);


extern void EST_setDir_qFmt(EST_Handle handle,const uint_least8_t dir_qFmt);


extern void EST_setFe_neg_max_pu(EST_Handle handle,const _iq fe_neg_max_pu);


extern void EST_setFe_pos_min_pu(EST_Handle handle,const _iq fe_pos_min_pu);


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

#endif // end of _EST_H_ definition