drv8301kit_revD/f28x/f2806x/src/hal.h

Go to the documentation of this file.

#ifndef _HAL_H_
#define _HAL_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;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/



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


// modules


// platforms
#include "hal_obj.h"
#include "sw/modules/svgen/src/32b/svgen_current.h"





#ifdef __cplusplus
extern "C" {
#endif


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

#define DRV8301_SPI


#define Device_cal (void   (*)(void))0x3D7C80

#define FP_SCALE 32768

#define FP_ROUND FP_SCALE/2

#define OSC_POSTRIM 32
#define OSC_POSTRIM_OFF FP_SCALE*OSC_POSTRIM


#define getOsc1FineTrimSlope() (*(int16_t (*)(void))0x3D7E90)()

#define getOsc1FineTrimOffset() (*(int16_t (*)(void))0x3D7E93)()

#define getOsc1CoarseTrim() (*(int16_t (*)(void))0x3D7E96)()

#define getOsc2FineTrimSlope() (*(int16_t (*)(void))0x3D7E99)()

#define getOsc2FineTrimOffset() (*(int16_t (*)(void))0x3D7E9C)()

#define getOsc2CoarseTrim() (*(int16_t (*)(void))0x3D7E9F)()

#define getRefTempOffset() (*(int16_t (*)(void))0x3D7EA2)()

#define HAL_PWM_DBFED_CNT         1


#define HAL_PWM_DBRED_CNT         1


#define HAL_turnLedOff            HAL_setGpioLow


#define HAL_turnLedOn             HAL_setGpioHigh


#define HAL_toggleLed             HAL_toggleGpio


#define HAL_GPIO_SW1  GPIO_Number_9


#define HAL_GPIO_SW2  GPIO_Number_7

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


typedef enum
{
  HAL_Qep_QEP1=0,  
  HAL_Qep_QEP2=1   
} HAL_QepSelect_e;


typedef enum
{
  HAL_Gpio_LED2=GPIO_Number_31,  
  HAL_Gpio_LED3=GPIO_Number_34   
} HAL_LedNumber_e;
  

typedef enum
{
  HAL_SensorType_Current=0,      
  HAL_SensorType_Voltage         
} HAL_SensorType_e;


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

extern interrupt void mainISR(void);


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


static inline void HAL_acqAdcInt(HAL_Handle handle,const ADC_IntNumber_e intNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // clear the ADC interrupt flag
  ADC_clearIntFlag(obj->adcHandle,intNumber);


  // Acknowledge interrupt from PIE group 10 
  PIE_clearInt(obj->pieHandle,PIE_GroupNumber_10);

  return;
} // end of HAL_acqAdcInt() function


static inline void HAL_acqPwmInt(HAL_Handle handle,const PWM_Number_e pwmNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // clear the PWM interrupt flag
  PWM_clearIntFlag(obj->pwmHandle[pwmNumber]);


  // clear the SOCA flag
  PWM_clearSocAFlag(obj->pwmHandle[pwmNumber]);


  // Acknowledge interrupt from PIE group 3
  PIE_clearInt(obj->pieHandle,PIE_GroupNumber_3);

  return;
} // end of HAL_acqPwmInt() function


static inline void HAL_acqTimer0Int(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // clear the Timer 0 interrupt flag
  TIMER_clearFlag(obj->timerHandle[0]);


  // Acknowledge interrupt from PIE group 1
  PIE_clearInt(obj->pieHandle,PIE_GroupNumber_1);

  return;
} // end of HAL_acqTimer0Int() function


extern void HAL_cal(HAL_Handle handle);


extern void HAL_disableGlobalInts(HAL_Handle handle);


extern void HAL_disableWdog(HAL_Handle handle);


static inline void HAL_disablePwm(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_1]);
  PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_2]);
  PWM_setOneShotTrip(obj->pwmHandle[PWM_Number_3]);

  return;
} // end of HAL_disablePwm() function


extern void HAL_enableAdcInts(HAL_Handle handle);


extern void HAL_enableDebugInt(HAL_Handle handle);


extern void HAL_enableGlobalInts(HAL_Handle handle);


extern void HAL_enableDrv(HAL_Handle handle);


static inline void HAL_enablePwm(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  PWM_clearOneShotTrip(obj->pwmHandle[PWM_Number_1]);
  PWM_clearOneShotTrip(obj->pwmHandle[PWM_Number_2]);
  PWM_clearOneShotTrip(obj->pwmHandle[PWM_Number_3]);

  return;
} // end of HAL_enablePwm() function


extern void HAL_enablePwmInt(HAL_Handle handle);


extern void HAL_enableTimer0Int(HAL_Handle handle);


static inline ADC_SocSampleDelay_e HAL_getAdcSocSampleDelay(HAL_Handle handle,
                                                            const ADC_SocNumber_e socNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  return(ADC_getSocSampleDelay(obj->adcHandle,socNumber));
} // end of HAL_getAdcSocSampleDelay() function


static inline _iq HAL_getBias(HAL_Handle handle,
                              const HAL_SensorType_e sensorType,
                              uint_least8_t sensorNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  _iq bias = _IQ(0.0);

  if(sensorType == HAL_SensorType_Current)
    {
      bias = obj->adcBias.I.value[sensorNumber];
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      bias = obj->adcBias.V.value[sensorNumber];
    }

  return(bias);
} // end of HAL_getBias() function


static inline _iq HAL_getCurrentScaleFactor(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  return(obj->current_sf);
} // end of HAL_getCurrentScaleFactor() function


static inline uint_least8_t HAL_getNumCurrentSensors(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  return(obj->numCurrentSensors);
} // end of HAL_getNumCurrentSensors() function


static inline uint_least8_t HAL_getNumVoltageSensors(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  return(obj->numVoltageSensors);
} // end of HAL_getNumVoltageSensors() function


static inline _iq HAL_getOffsetBeta_lp_pu(HAL_Handle handle,
                                          const HAL_SensorType_e sensorType,
                                          const uint_least8_t sensorNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  _iq beta_lp_pu = _IQ(0.0);
  
  if(sensorType == HAL_SensorType_Current)
    {
      beta_lp_pu = OFFSET_getBeta(obj->offsetHandle_I[sensorNumber]);
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      beta_lp_pu = OFFSET_getBeta(obj->offsetHandle_V[sensorNumber]);
    }

  return(beta_lp_pu);
} // end of HAL_getOffsetBeta_lp_pu() function


static inline _iq HAL_getOffsetValue(HAL_Handle handle,
                                     const HAL_SensorType_e sensorType,
                                     const uint_least8_t sensorNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  _iq offset = _IQ(0.0);
  
  if(sensorType == HAL_SensorType_Current)
    {
      offset = OFFSET_getOffset(obj->offsetHandle_I[sensorNumber]);
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      offset = OFFSET_getOffset(obj->offsetHandle_V[sensorNumber]);
    }

  return(offset);
} // end of HAL_getOffsetValue() function


static inline _iq HAL_getVoltageScaleFactor(HAL_Handle handle)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  return(obj->voltage_sf);
} // end of HAL_getVoltageScaleFactor() function


extern void HAL_setupFaults(HAL_Handle handle);


extern HAL_Handle HAL_init(void *pMemory,const size_t numBytes);


static inline void HAL_initIntVectorTable(HAL_Handle handle)
 {
  HAL_Obj *obj = (HAL_Obj *)handle;
  PIE_Obj *pie = (PIE_Obj *)obj->pieHandle;


  ENABLE_PROTECTED_REGISTER_WRITE_MODE;

  pie->ADCINT1 = &mainISR;

  DISABLE_PROTECTED_REGISTER_WRITE_MODE;

  return;
 } // end of HAL_initIntVectorTable() function


static inline void HAL_readAdcData(HAL_Handle handle,HAL_AdcData_t *pAdcData)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  _iq value;
  _iq current_sf = HAL_getCurrentScaleFactor(handle);
  _iq voltage_sf = HAL_getVoltageScaleFactor(handle);


  // convert current A
  // sample the first sample twice due to errata sprz342f, ignore the first sample
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_1);
  value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[0];      // divide by 2^numAdcBits = 2^12
  pAdcData->I.value[0] = value;

  // convert current B
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_2);
  value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[1];      // divide by 2^numAdcBits = 2^12
  pAdcData->I.value[1] = value;

  // convert current C
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_3);
  value = _IQ12mpy(value,current_sf) - obj->adcBias.I.value[2];      // divide by 2^numAdcBits = 2^12
  pAdcData->I.value[2] = value;

  // convert voltage A
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_4);
  value = _IQ12mpy(value,voltage_sf) - obj->adcBias.V.value[0];      // divide by 2^numAdcBits = 2^12
  pAdcData->V.value[0] = value;

  // convert voltage B
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_5);
  value = _IQ12mpy(value,voltage_sf) - obj->adcBias.V.value[1];      // divide by 2^numAdcBits = 2^12
  pAdcData->V.value[1] = value;

  // convert voltage C
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_6);
  value = _IQ12mpy(value,voltage_sf) - obj->adcBias.V.value[2];      // divide by 2^numAdcBits = 2^12
  pAdcData->V.value[2] = value;

  // read the dcBus voltage value
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_7);     // divide by 2^numAdcBits = 2^12
  value = _IQ12mpy(value,voltage_sf);
  pAdcData->dcBus = value;

  return;
} // end of HAL_readAdcData() function


static inline void HAL_readAdcDataWithOffsets(HAL_Handle handle,HAL_AdcData_t *pAdcData)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  _iq value;
  _iq current_sf = HAL_getCurrentScaleFactor(handle);
  _iq voltage_sf = HAL_getVoltageScaleFactor(handle);


  // convert current A
  // sample the first sample twice due to errata sprz342f, ignore the first sample
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_1);
  value = _IQ12mpy(value,current_sf);
  pAdcData->I.value[0] = value;

  // convert current B
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_2);
  value = _IQ12mpy(value,current_sf);
  pAdcData->I.value[1] = value;

  // convert current C
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_3);
  value = _IQ12mpy(value,current_sf);
  pAdcData->I.value[2] = value;

  // convert voltage A
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_4);
  value = _IQ12mpy(value,voltage_sf);
  pAdcData->V.value[0] = value;

  // convert voltage B
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_5);
  value = _IQ12mpy(value,voltage_sf);
  pAdcData->V.value[1] = value;

  // convert voltage C
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_6);
  value = _IQ12mpy(value,voltage_sf);
  pAdcData->V.value[2] = value;

  // read the dcBus voltage value
  value = (_iq)ADC_readResult(obj->adcHandle,ADC_ResultNumber_7);
  value = _IQ12mpy(value,voltage_sf);
  pAdcData->dcBus = value;

  return;
} // end of HAL_readAdcDataWithOffsets() function


static inline uint32_t HAL_readTimerCnt(HAL_Handle handle,const uint_least8_t timerNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  uint32_t timerCnt = TIMER_getCount(obj->timerHandle[timerNumber]);

  return(timerCnt);
} // end of HAL_readTimerCnt() function


static inline void HAL_reloadTimer(HAL_Handle handle,const uint_least8_t timerNumber)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  // reload the specified timer
  TIMER_reload(obj->timerHandle[timerNumber]);

  return;
}  // end of HAL_reloadTimer() function


void HAL_setupGate(HAL_Handle handle);


static inline void HAL_startTimer(HAL_Handle handle,const uint_least8_t timerNumber)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  // start the specified timer
  TIMER_start(obj->timerHandle[timerNumber]);

  return;
}  // end of HAL_startTimer() function


static inline void HAL_stopTimer(HAL_Handle handle,const uint_least8_t timerNumber)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  // stop the specified timer
  TIMER_stop(obj->timerHandle[timerNumber]);

  return;
}  // end of HAL_stopTimer() function


static inline void HAL_setTimerPeriod(HAL_Handle handle,const uint_least8_t timerNumber, const uint32_t period)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  // set the period
  TIMER_setPeriod(obj->timerHandle[timerNumber], period);

  return;
}  // end of HAL_setTimerPeriod() function


static inline uint32_t HAL_getTimerPeriod(HAL_Handle handle,const uint_least8_t timerNumber)
{
  HAL_Obj  *obj = (HAL_Obj *)handle;

  uint32_t timerPeriod = TIMER_getPeriod(obj->timerHandle[timerNumber]);

  return(timerPeriod);
}  // end of HAL_getTimerPeriod() function


static inline void HAL_setAdcSocSampleDelay(HAL_Handle handle,
                                            const ADC_SocNumber_e socNumber,
                                            const ADC_SocSampleDelay_e sampleDelay)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  ADC_setSocSampleDelay(obj->adcHandle,socNumber,sampleDelay);

  return;
} // end of HAL_setAdcSocSampleDelay() function


static inline void HAL_setBias(HAL_Handle handle,
                               const HAL_SensorType_e sensorType,
                               uint_least8_t sensorNumber,
                               const _iq bias)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  if(sensorType == HAL_SensorType_Current)
    {
      obj->adcBias.I.value[sensorNumber] = bias;
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      obj->adcBias.V.value[sensorNumber] = bias;
    }

  return;
} // end of HAL_setBias() function


static inline void HAL_setGpioHigh(HAL_Handle handle,const GPIO_Number_e gpioNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  // set GPIO high
  GPIO_setHigh(obj->gpioHandle,gpioNumber);

  return;
} // end of HAL_setGpioHigh() function


static inline bool HAL_readGpio(HAL_Handle handle,const GPIO_Number_e gpioNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  // read GPIO
  return(GPIO_read(obj->gpioHandle,gpioNumber));
} // end of HAL_readGpio() function


static inline void HAL_toggleGpio(HAL_Handle handle,const GPIO_Number_e gpioNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;


  // set GPIO high
  GPIO_toggle(obj->gpioHandle,gpioNumber);

  return;
} // end of HAL_setGpioHigh() function


static inline void HAL_setGpioLow(HAL_Handle handle,const GPIO_Number_e gpioNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  // set GPIO low
  GPIO_setLow(obj->gpioHandle,gpioNumber);

  return;
} // end of HAL_setGpioLow() function


static inline void HAL_setCurrentScaleFactor(HAL_Handle handle,const _iq current_sf)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  obj->current_sf = current_sf;

  return;
} // end of HAL_setCurrentScaleFactor() function


static inline void HAL_setNumCurrentSensors(HAL_Handle handle,const uint_least8_t numCurrentSensors)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  obj->numCurrentSensors = numCurrentSensors;

  return;
} // end of HAL_setNumCurrentSensors() function


static inline void HAL_setNumVoltageSensors(HAL_Handle handle,const uint_least8_t numVoltageSensors)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  

  obj->numVoltageSensors = numVoltageSensors;

  return;
} // end of HAL_setNumVoltageSensors() function


static inline void HAL_setOffsetBeta_lp_pu(HAL_Handle handle,
                                           const HAL_SensorType_e sensorType,
                                           const uint_least8_t sensorNumber,
                                           const _iq beta_lp_pu)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  if(sensorType == HAL_SensorType_Current)
    {
      OFFSET_setBeta(obj->offsetHandle_I[sensorNumber],beta_lp_pu);
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      OFFSET_setBeta(obj->offsetHandle_V[sensorNumber],beta_lp_pu);
    }

  return;
} // end of HAL_setOffsetBeta_lp_pu() function


static inline void HAL_setOffsetInitCond(HAL_Handle handle,
                                         const HAL_SensorType_e sensorType,
                                         const uint_least8_t sensorNumber,
                                         const _iq initCond)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  if(sensorType == HAL_SensorType_Current)
    {
      OFFSET_setInitCond(obj->offsetHandle_I[sensorNumber],initCond);
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      OFFSET_setInitCond(obj->offsetHandle_V[sensorNumber],initCond);
    }

  return;
} // end of HAL_setOffsetInitCond() function


static inline void HAL_setOffsetValue(HAL_Handle handle,
                                      const HAL_SensorType_e sensorType,
                                      const uint_least8_t sensorNumber,
                                      const _iq value)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  if(sensorType == HAL_SensorType_Current)
    {
      OFFSET_setOffset(obj->offsetHandle_I[sensorNumber],value);
    }
  else if(sensorType == HAL_SensorType_Voltage)
    {
      OFFSET_setOffset(obj->offsetHandle_V[sensorNumber],value);
    }

  return;
} // end of HAL_setOffsetValue() function


static inline void HAL_setVoltageScaleFactor(HAL_Handle handle,const _iq voltage_sf)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  
  obj->voltage_sf = voltage_sf;

  return;
} // end of HAL_setVoltageScaleFactor() function


extern void HAL_setParams(HAL_Handle handle,const USER_Params *pUserParams);


extern void HAL_setupAdcs(HAL_Handle handle);


extern void HAL_setupClks(HAL_Handle handle);


extern void HAL_setupFlash(HAL_Handle handle);


extern void HAL_setupGpios(HAL_Handle handle);


extern void HAL_setupPeripheralClks(HAL_Handle handle);


extern void HAL_setupPie(HAL_Handle handle);


extern void HAL_setupPll(HAL_Handle handle,const PLL_ClkFreq_e clkFreq);


extern void HAL_setupPwms(HAL_Handle handle,
                   const float_t systemFreq_MHz,
                   const float_t pwmPeriod_usec,
                   const uint_least16_t numPwmTicksPerIsrTick);


extern void HAL_setupPwmDacs(HAL_Handle handle);


extern void HAL_setupQEP(HAL_Handle handle,HAL_QepSelect_e qep);




extern void HAL_setupSpiA(HAL_Handle handle);


extern void HAL_setupSpiB(HAL_Handle handle);


void HAL_setupTimers(HAL_Handle handle,const float_t systemFreq_MHz);


static inline void HAL_updateAdcBias(HAL_Handle handle)
{
  uint_least8_t cnt;
  HAL_Obj *obj = (HAL_Obj *)handle;
  _iq bias;


  // update the current bias
  for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++)
    {
      bias = HAL_getBias(handle,HAL_SensorType_Current,cnt);
      
      bias += OFFSET_getOffset(obj->offsetHandle_I[cnt]);

      HAL_setBias(handle,HAL_SensorType_Current,cnt,bias);
    }


  // update the voltage bias
  for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++)
    {
      bias = HAL_getBias(handle,HAL_SensorType_Voltage,cnt);

      bias += OFFSET_getOffset(obj->offsetHandle_V[cnt]);

      HAL_setBias(handle,HAL_SensorType_Voltage,cnt,bias);
    }

  return;
} // end of HAL_updateAdcBias() function


static inline void HAL_writeDacData(HAL_Handle handle,HAL_DacData_t *pDacData)
{
  HAL_Obj *obj = (HAL_Obj *)handle;
  PWM_Obj *pwm = (PWM_Obj *)obj->pwmDacHandle[PWMDAC_Number_1];
  _iq period = (_iq)pwm->TBPRD;
  _iq pwmData_sat, pwmData_sat_dc, value;
  uint16_t value_sat[4];
  uint_least8_t cnt;


  for(cnt=0;cnt<4;cnt++)
    {
      pwmData_sat = _IQsat(pDacData->value[cnt],_IQ(0.5),_IQ(-0.5));
      pwmData_sat_dc = pwmData_sat + _IQ(0.5);
      value = _IQmpy(pwmData_sat_dc, period);
      value_sat[cnt] = (uint16_t)_IQsat(value, period, _IQ(0.0));
    }


  // write the DAC data
  PWMDAC_write_CmpA(obj->pwmDacHandle[PWMDAC_Number_1],value_sat[0]);
  PWMDAC_write_CmpB(obj->pwmDacHandle[PWMDAC_Number_1],value_sat[1]);
  PWMDAC_write_CmpA(obj->pwmDacHandle[PWMDAC_Number_2],value_sat[2]);
  PWMDAC_write_CmpA(obj->pwmDacHandle[PWMDAC_Number_3],value_sat[3]);

  return;
} // end of HAL_writeDacData() function


static inline void HAL_writePwmData(HAL_Handle handle,HAL_PwmData_t *pPwmData)
{
  uint_least8_t cnt;
  HAL_Obj *obj = (HAL_Obj *)handle;
  PWM_Obj *pwm;
  _iq period;
  _iq pwmData_neg;
  _iq pwmData_sat;
  _iq pwmData_sat_dc;
  _iq value;
  uint16_t value_sat;

  for(cnt=0;cnt<3;cnt++)
    {
      pwm = (PWM_Obj *)obj->pwmHandle[cnt];
      period = (_iq)pwm->TBPRD;
      pwmData_neg = _IQmpy(pPwmData->Tabc.value[cnt],_IQ(-1.0));
      pwmData_sat = _IQsat(pwmData_neg,_IQ(0.5),_IQ(-0.5));
      pwmData_sat_dc = pwmData_sat + _IQ(0.5);
      value = _IQmpy(pwmData_sat_dc, period);
      value_sat = (uint16_t)_IQsat(value, period, _IQ(0.0));

      // write the PWM data
      PWM_write_CmpA(obj->pwmHandle[cnt],value_sat);
    }

  return;
} // end of HAL_writePwmData() function


static inline uint16_t HAL_readPwmCmpA(HAL_Handle handle,const PWM_Number_e pwmNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  // the compare value to be returned
  uint16_t pwmValue;

  pwmValue = PWM_get_CmpA(obj->pwmHandle[pwmNumber]);

  return(pwmValue);
} // end of HAL_readPwmCmpA() function


static inline uint16_t HAL_readPwmCmpAM(HAL_Handle handle,const PWM_Number_e pwmNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  // the compare value to be returned
  uint16_t pwmValue;

  pwmValue = PWM_get_CmpAM(obj->pwmHandle[pwmNumber]);

  return(pwmValue);
} // end of HAL_readPwmCmpAM() function


static inline uint16_t HAL_readPwmCmpB(HAL_Handle handle,const PWM_Number_e pwmNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  // the compare value to be returned
  uint16_t pwmValue;

  pwmValue = PWM_get_CmpB(obj->pwmHandle[pwmNumber]);

  return(pwmValue);
} // end of HAL_readPwmCmpB() function


static inline uint16_t HAL_readPwmPeriod(HAL_Handle handle,const PWM_Number_e pwmNumber)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  // the period value to be returned
  uint16_t pwmPeriodValue;

  pwmPeriodValue = PWM_getPeriod(obj->pwmHandle[pwmNumber]);

  return(pwmPeriodValue);
} // end of HAL_readPwmPeriod() function


static inline void HAL_setTrigger(HAL_Handle handle,const SVGENCURRENT_IgnoreShunt_e ignoreShunt,const int16_t minwidth, const int16_t cmpOffset)
{
  HAL_Obj *obj = (HAL_Obj *)handle;

  PWM_Obj *pwm1 = (PWM_Obj *)obj->pwmHandle[PWM_Number_1];
  PWM_Obj *pwm2 = (PWM_Obj *)obj->pwmHandle[PWM_Number_2];
  PWM_Obj *pwm3 = (PWM_Obj *)obj->pwmHandle[PWM_Number_3];
  PWM_Obj *pwm;

  uint16_t nextPulse1 = (pwm1->CMPA + pwm1->CMPAM) / 2;
  uint16_t nextPulse2 = (pwm2->CMPA + pwm2->CMPAM) / 2;
  uint16_t nextPulse3 = (pwm3->CMPA + pwm3->CMPAM) / 2;
  uint16_t pwmCMPA1 = pwm1->CMPA;
  uint16_t pwmCMPA2 = pwm2->CMPA;
  uint16_t pwmCMPA3 = pwm3->CMPA;

  int16_t offset;

  if(ignoreShunt == use_all)
    {
      if((nextPulse1 <= nextPulse2) && (nextPulse1 <= nextPulse3))
        {
          pwm = pwm1;
        }
      else if((nextPulse2 <= nextPulse1) && (nextPulse2 <= nextPulse3))
        {
          pwm = pwm2;
        }
      else
        {
          pwm = pwm3;
        }
    }
  else if(ignoreShunt == ignore_a)
    {
      offset = pwmCMPA1 + cmpOffset;
    }
  else if(ignoreShunt == ignore_b)
    {
      offset = pwmCMPA2 + cmpOffset;
    }
  else if(ignoreShunt == ignore_c)
    {
      offset = pwmCMPA3 + cmpOffset;
    }
  else if(ignoreShunt == ignore_ab)
    {
      if(pwmCMPA1 > pwmCMPA2)
        {
          offset = pwmCMPA1 + cmpOffset;
        }
      else
        {
          offset = pwmCMPA2 + cmpOffset;
        }
    }
  else if(ignoreShunt == ignore_ac)
    {
      if(pwmCMPA1 > pwmCMPA3)
        {
          offset = pwmCMPA1 + cmpOffset;
        }
      else
        {
          offset = pwmCMPA3 + cmpOffset;
        }
    }
  else // when ignoreShunt == ignore_bc
    {
      if(pwmCMPA2 > pwmCMPA3)
        {
          offset = pwmCMPA2 + cmpOffset;
        }
      else
        {
          offset = pwmCMPA3 + cmpOffset;
        }
    }


  if(ignoreShunt == use_all)
    {
      if(pwm->CMPAM >= (pwm->CMPA + pwm->DBFED))
        {
          pwm1->CMPB = (pwm->CMPAM - (pwm->CMPA + pwm->DBFED)) / 2 + 1;
          PWM_setSocAPulseSrc(obj->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualCmpBDecr);
        }
      else
        {
          pwm1->CMPB = ((pwm->CMPA + pwm->DBFED) - pwm->CMPAM ) / 2 + 1;
          PWM_setSocAPulseSrc(obj->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualCmpBIncr);
        }
    }
  else
    {
      pwm1->CMPB = offset;
      PWM_setSocAPulseSrc(obj->pwmHandle[PWM_Number_1],PWM_SocPulseSrc_CounterEqualCmpBIncr);
    }

  return;
} // end of HAL_setTrigger() function

#ifdef QEP
static inline uint32_t HAL_getQepPosnCounts(HAL_Handle handle)
{
        HAL_Obj *obj = (HAL_Obj *)handle;
        QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];

        return qep->QPOSCNT;
}


static inline uint32_t HAL_getQepPosnMaximum(HAL_Handle handle)
{
        HAL_Obj *obj = (HAL_Obj *)handle;
        QEP_Obj *qep = (QEP_Obj *)obj->qepHandle[0];

        return qep->QPOSMAX;
}
#endif

void HAL_AdcCalChanSelect(HAL_Handle handle, const ADC_SocChanNumber_e chanNumber);


uint16_t HAL_AdcCalConversion(HAL_Handle handle);


void HAL_AdcOffsetSelfCal(HAL_Handle handle);


uint16_t HAL_getOscTrimValue(int16_t coarse, int16_t fine);


void HAL_OscTempComp(HAL_Handle handle);


void HAL_osc1Comp(HAL_Handle handle, const int16_t sensorSample);


void HAL_osc2Comp(HAL_Handle handle, const int16_t sensorSample);


void HAL_writeDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars);


void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars);


void HAL_setupDrvSpi(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars);


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

#endif // end of _HAL_H_ definition