Contains public interface to various functions related to the HAL object. More...

#include "sw/modules/math/src/float/math.h"
#include "hal_obj.h"

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

#define	FP_SCALE 32768
	Defines used in oscillator calibration functions. More...

#define	FP_ROUND FP_SCALE/2
	Defines the quantity added to Q15 numbers before converting to integer to round the number. More...

#define	OSC_POSTRIM 32
	Defines the amount to add to Q16.15 fixed point number to shift from a fine trim range of. More...

#define	OSC_POSTRIM_OFF FP_SCALE*OSC_POSTRIM

#define	getOsc1FineTrimSlope() ((int16_t ()(void))0x3D7E90)()
	The following functions return reference values stored in OTP. More...

#define	getOsc1FineTrimOffset() ((int16_t ()(void))0x3D7E93)()
	Defines the oscillator 1 fine trim at high temp. More...

#define	getOsc1CoarseTrim() ((int16_t ()(void))0x3D7E96)()
	Defines the oscillator 1 coarse trim. More...

#define	getOsc2FineTrimSlope() ((int16_t ()(void))0x3D7E99)()
	Defines the slope used to compensate oscillator 2 (fine trim steps / ADC code). Stored. More...

#define	getOsc2FineTrimOffset() ((int16_t ()(void))0x3D7E9C)()
	Defines the oscillator 2 fine trim at high temp. More...

#define	getOsc2CoarseTrim() ((int16_t ()(void))0x3D7E9F)()
	Defines the oscillator 2 coarse trim. More...

#define	getRefTempOffset() ((int16_t ()(void))0x3D7EA2)()
	Defines the ADC reading of temperature sensor at reference temperature for compensation. More...

#define	HAL_PWM_DBFED_CNT 1
	Defines the PWM deadband falling edge delay count (system clocks) More...

#define	HAL_PWM_DBRED_CNT 1
	Defines the PWM deadband rising edge delay count (system clocks) More...

#define	HAL_turnLedOff HAL_setGpioLow
	Defines the function to turn LEDs off. More...

#define	HAL_turnLedOn HAL_setGpioHigh
	Defines the function to turn LEDs on. More...

#define	HAL_toggleLed HAL_toggleGpio
	Defines the function to turn LEDs on. More...

Enumerations
enum	HAL_LedNumber_e { HAL_Gpio_LED2 =GPIO_Number_34, HAL_Gpio_LED3 =GPIO_Number_39, HAL_Gpio_LED2 =GPIO_Number_34, HAL_Gpio_LED3 =GPIO_Number_39, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34, HAL_Gpio_LED2 =GPIO_Number_31, HAL_Gpio_LED3 =GPIO_Number_34 }
	Enumeration for the LED numbers. More...

enum	HAL_PwmFreq_e { HAL_PwmFreq_2_kHz = 22500, HAL_PwmFreq_3_kHz = 15000, HAL_PwmFreq_4_kHz = 11250, HAL_PwmFreq_5_kHz = 9000, HAL_PwmFreq_6_kHz = 7500, HAL_PwmFreq_8_kHz = 5625, HAL_PwmFreq_9_kHz = 5000, HAL_PwmFreq_10_kHz = 4500, HAL_PwmFreq_12_kHz = 3750, HAL_PwmFreq_15_kHz = 3000, HAL_PwmFreq_18_kHz = 2500, HAL_PwmFreq_20_kHz = 2250, HAL_PwmFreq_24_kHz = 1875, HAL_PwmFreq_25_kHz = 1800, HAL_PwmFreq_30_kHz = 1500, HAL_PwmFreq_36_kHz = 1250, HAL_PwmFreq_40_kHz = 1125, HAL_PwmFreq_45_kHz = 1000, HAL_PwmFreq_50_kHz = 900, HAL_PwmFreq_60_kHz = 750, HAL_PwmFreq_75_kHz = 600, HAL_PwmFreq_90_kHz = 500, HAL_PwmFreq_100_kHz = 450, HAL_PwmFreq_120_kHz = 375, HAL_PwmFreq_125_kHz = 360, HAL_PwmFreq_150_kHz = 300, HAL_PwmFreq_2_kHz = 22500, HAL_PwmFreq_3_kHz = 15000, HAL_PwmFreq_4_kHz = 11250, HAL_PwmFreq_5_kHz = 9000, HAL_PwmFreq_6_kHz = 7500, HAL_PwmFreq_8_kHz = 5625, HAL_PwmFreq_9_kHz = 5000, HAL_PwmFreq_10_kHz = 4500, HAL_PwmFreq_12_kHz = 3750, HAL_PwmFreq_15_kHz = 3000, HAL_PwmFreq_18_kHz = 2500, HAL_PwmFreq_20_kHz = 2250, HAL_PwmFreq_24_kHz = 1875, HAL_PwmFreq_25_kHz = 1800, HAL_PwmFreq_30_kHz = 1500, HAL_PwmFreq_36_kHz = 1250, HAL_PwmFreq_40_kHz = 1125, HAL_PwmFreq_45_kHz = 1000, HAL_PwmFreq_50_kHz = 900, HAL_PwmFreq_60_kHz = 750, HAL_PwmFreq_75_kHz = 600, HAL_PwmFreq_90_kHz = 500, HAL_PwmFreq_100_kHz = 450, HAL_PwmFreq_120_kHz = 375, HAL_PwmFreq_125_kHz = 360, HAL_PwmFreq_150_kHz = 300, HAL_PwmFreq_2_kHz = 22500, HAL_PwmFreq_3_kHz = 15000, HAL_PwmFreq_4_kHz = 11250, HAL_PwmFreq_5_kHz = 9000, HAL_PwmFreq_6_kHz = 7500, HAL_PwmFreq_8_kHz = 5625, HAL_PwmFreq_9_kHz = 5000, HAL_PwmFreq_10_kHz = 4500, HAL_PwmFreq_12_kHz = 3750, HAL_PwmFreq_15_kHz = 3000, HAL_PwmFreq_18_kHz = 2500, HAL_PwmFreq_20_kHz = 2250, HAL_PwmFreq_24_kHz = 1875, HAL_PwmFreq_25_kHz = 1800, HAL_PwmFreq_30_kHz = 1500, HAL_PwmFreq_36_kHz = 1250, HAL_PwmFreq_40_kHz = 1125, HAL_PwmFreq_45_kHz = 1000, HAL_PwmFreq_50_kHz = 900, HAL_PwmFreq_60_kHz = 750, HAL_PwmFreq_75_kHz = 600, HAL_PwmFreq_90_kHz = 500, HAL_PwmFreq_100_kHz = 450, HAL_PwmFreq_120_kHz = 375, HAL_PwmFreq_125_kHz = 360, HAL_PwmFreq_150_kHz = 300 }
	Enumeration for the PWM frequencies. More...

enum	HAL_SensorType_e { HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage, HAL_SensorType_Current =0, HAL_SensorType_Voltage }
	Enumeration for the sensor types. More...

Functions
interrupt void	led2ISR (void)

interrupt void	led3OffISR (void)

interrupt void	led3OnISR (void)

interrupt void	mainISR (void)

void	HAL_AdcCalChanSelect (HAL_Handle handle, const ADC_SocChanNumber_e chanNumber)
	Selects the analog channel used for calibration. More...

uint16_t	HAL_AdcCalConversion (HAL_Handle handle)
	Reads the converted value from the selected calibration channel. More...

void	HAL_AdcOffsetSelfCal (HAL_Handle handle)
	Executes the offset calibration of the ADC. More...

static void	HAL_acqAdcInt (HAL_Handle handle, const ADC_IntNumber_e intNumber)
	Acknowledges an interrupt from the ADC so that another ADC interrupt can happen again. More...

static void	HAL_acqPwmInt (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Acknowledges an interrupt from the PWM so that another PWM interrupt can happen again. More...

void	HAL_cal (HAL_Handle handle)
	Executes calibration routines. More...

void	HAL_disableGlobalInts (HAL_Handle handle)
	Disables global interrupts. More...

static void	HAL_disablePwm (HAL_Handle handle)
	Disables the PWM device. More...

static void	HAL_disableTbClockSync (HAL_Handle handle)
	Disables the ePWM module time base clock sync signal. More...

void	HAL_enableAdcInts (HAL_Handle handle)
	Enables the ADC interrupts. More...

void	HAL_enableDebugInt (HAL_Handle handle)
	Enables the debug interrupt. More...

void	HAL_enableGlobalInts (HAL_Handle handle)
	Enables global interrupts. More...

static void	HAL_enablePwm (HAL_Handle handle)
	Enables the PWM devices. More...

void	HAL_enablePwmInt (HAL_Handle handle)
	Enables the PWM interrupt. More...

static void	HAL_enableTbClockSync (HAL_Handle handle)
	Enables the ePWM module time base clock sync signal. More...

static ADC_SocSampleDelay_e	HAL_getAdcSocSampleDelay (HAL_Handle handle, const ADC_SocNumber_e socNumber)
	Gets the ADC delay value. More...

static float_t	HAL_getBias (HAL_Handle handle, const HAL_SensorType_e sensorType, uint_least8_t sensorNumber)
	Gets the ADC bias value. More...

static float_t	HAL_getCurrentScaleFactor (HAL_Handle handle)
	Gets the current scale factor. More...

static void	HAL_getDutyCycles (HAL_Handle handle, uint16_t *pDutyCycles)
	Gets the PWM duty cycle times. More...

static uint_least8_t	HAL_getNumCurrentSensors (HAL_Handle handle)
	Gets the number of current sensors. More...

static uint_least8_t	HAL_getNumVoltageSensors (HAL_Handle handle)
	Gets the number of voltage sensors. More...

static float_t	HAL_getVoltageScaleFactor (HAL_Handle handle)
	Gets the voltage scale factor. More...

void	HAL_setupFaults (HAL_Handle handle)
	Configures the fault protection logic. More...

HAL_Handle	HAL_init (void *pMemory, const size_t numBytes)
	Initializes the hardware abstraction layer (HAL) object. More...

void	HAL_OscTempComp (HAL_Handle handle)
	Executes the oscillator 1 and 2 calibration functions. More...

void	HAL_osc1Comp (HAL_Handle handle, const int16_t sensorSample)
	Executes the oscillator 1 calibration based on input sample. More...

void	HAL_osc2Comp (HAL_Handle handle, const int16_t sensorSample)
	Executes the oscillator 2 calibration based on input sample. More...

uint16_t	HAL_computeOscTrimValue (int16_t coarse, int16_t fine)

static void	HAL_initIntVectorTable (HAL_Handle handle)
	Initializes the interrupt vector table. More...

static void	HAL_readAdcData (HAL_Handle handle, HAL_AdcData_t *pAdcData)
	Reads the ADC data. More...

static void	HAL_readAdcDataWithOffsets (HAL_Handle handle, HAL_AdcData_t *pAdcData)

static uint32_t	HAL_readTimerCnt (HAL_Handle handle, const uint_least8_t timerNumber)
	Reads the timer count. More...

static void	HAL_resetPwmCount (HAL_Handle handle, PWM_Number_e pwmNumber)
	Resets the PWM count. More...

static void	HAL_setAdcSocSampleDelay (HAL_Handle handle, const ADC_SocNumber_e socNumber, const ADC_SocSampleDelay_e sampleDelay)
	Sets the ADC SOC sample delay value. More...

static void	HAL_setBias (HAL_Handle handle, const HAL_SensorType_e sensorType, uint_least8_t sensorNumber, const float_t bias)
	Sets the ADC bias value. More...

static void	HAL_setCurrentScaleFactor (HAL_Handle handle, const float_t current_sf)
	Sets the current scale factor in the hal. More...

static void	HAL_setGpioHigh (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Sets the GPIO pin high. More...

static void	HAL_setGpioLow (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Sets the GPIO pin low. More...

static void	HAL_setNumCurrentSensors (HAL_Handle handle, const uint_least8_t numCurrentSensors)
	Sets the number of current sensors. More...

static void	HAL_setNumVoltageSensors (HAL_Handle handle, const uint_least8_t numVoltageSensors)
	Sets the number of voltage sensors. More...

static void	HAL_setPwmFreq_kHz (HAL_Handle handle, PWM_Number_e pwmNumber, HAL_PwmFreq_e pwmFreq_kHz)
	Sets the PWM frequency. More...

static void	HAL_setVoltageScaleFactor (HAL_Handle handle, const float_t voltage_sf)
	Sets the voltage scale factor in the hal. More...

void	HAL_setParams (HAL_Handle handle, const USER_Params *pUserParams)
	Sets the hardware abstraction layer parameters. More...

void	HAL_setupAdcs (HAL_Handle handle)
	Sets up the ADCs (Analog to Digital Converters) More...

void	HAL_setupClks (HAL_Handle handle)
	Sets up the clocks. More...

void	HAL_setupGpios (HAL_Handle handle)
	Sets up the GPIO (General Purpose I/O) pins. More...

void	HAL_setupFlash (HAL_Handle handle)
	Sets up the FLASH. More...

void	HAL_setupPeripheralClks (HAL_Handle handle)
	Sets up the peripheral clocks. More...

void	HAL_setupPie (HAL_Handle handle)
	Sets up the PIE (Peripheral Interrupt Expansion) More...

void	HAL_setupPll (HAL_Handle handle, const PLL_ClkFreq_e clkFreq)
	Sets up the PLL (Phase Lock Loop) More...

void	HAL_setupPwms (HAL_Handle handle, const float_t systemFreq_MHz, const float_t pwmPeriod_usec, const uint_least16_t numPwmTicksPerIsrTick)
	Sets up the PWMs (Pulse Width Modulators) More...

void	HAL_setupPwmDacs (HAL_Handle handle, const float_t systemFreq_MHz, const float_t dacFreq_kHz)
	Sets up the PWM DACs (Pulse Width Modulator Digital to Analof Converters) More...

void	HAL_setupQEP (QEP_Handle qepHandle, const USER_Params *pUserParams, const uint32_t unitTimerFreq_Hz)
	Sets up the QEP peripheral (Quadrature Encoder) More...

void	HAL_setupSpiA (HAL_Handle handle)
	Sets up the spiA peripheral. More...

void	HAL_setupSpiB (HAL_Handle handle)
	Sets up the spiB peripheral. More...

void	HAL_setupTimers (HAL_Handle handle, const float_t systemFreq_MHz)
	Sets up the timers. More...

static void	HAL_toggleGpio (HAL_Handle handle, const GPIO_Number_e gpioNumber)
	Toggles the GPIO pin. More...

static void	HAL_updateAdcBias (HAL_Handle handle, OFFSET_Handle pOffsetHandle_I, OFFSET_Handle pOffsetHandle_V)
	Updates the ADC bias values. More...

static void	HAL_writeDacData (HAL_Handle handle, const HAL_DacData_t *pDacData)
	Writes DAC data to the PWM comparators for DAC (digital-to-analog conversion) output. More...

static void	HAL_writePwmData (HAL_Handle handle, const HAL_PwmData_t *pPwmData)
	Writes PWM data to the PWM comparators for motor control. More...

static uint16_t	HAL_readPwmPeriod (HAL_Handle handle, const PWM_Number_e pwmNumber)
	Reads PWM period register. More...

Detailed Description

Contains public interface to various functions related to the HAL object.

Definition in file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

Function Documentation

static void HAL_acqAdcInt	(	HAL_Handle	handle,
		const ADC_IntNumber_e	intNumber
	)

inlinestatic

Acknowledges an interrupt from the ADC so that another ADC interrupt can happen again.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	intNumber	The interrupt number

Definition at line 213 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcHandle, and _HAL_Obj_::pieHandle.

static void HAL_acqPwmInt	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Acknowledges an interrupt from the PWM so that another PWM interrupt can happen again.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Definition at line 233 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pieHandle, and _HAL_Obj_::pwmHandle.

static void HAL_disablePwm ( HAL_Handle handle )

inlinestatic

Disables the PWM device.

Turns off the outputs of the EPWM peripherals which will put the power switches into a high impedance state.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 270 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pwmHandle.

static void HAL_disableTbClockSync ( HAL_Handle handle )

inlinestatic

Disables the ePWM module time base clock sync signal.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 284 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::clkHandle.

static void HAL_enablePwm ( HAL_Handle handle )

inlinestatic

Enables the PWM devices.

Turns on the outputs of the EPWM peripheral which will allow the power switches to be controlled.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 318 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pwmHandle.

static void HAL_enableTbClockSync ( HAL_Handle handle )

inlinestatic

Enables the ePWM module time base clock sync signal.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 337 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::clkHandle.

static ADC_SocSampleDelay_e HAL_getAdcSocSampleDelay	(	HAL_Handle	handle,
		const ADC_SocNumber_e	socNumber
	)

inlinestatic

Gets the ADC delay value.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	socNumber	The ADC SOC number

Returns: The ADC delay value

Definition at line 351 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcHandle.

static float_t HAL_getBias	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		uint_least8_t	sensorNumber
	)

inlinestatic

Gets the ADC bias value.

The ADC bias contains the feedback circuit's offset and bias. Bias is the mathematical offset used when a bi-polar signal is read into a uni-polar ADC.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number

Returns: The ADC bias value

Definition at line 368 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcBias, HAL_SensorType_Current, HAL_SensorType_Voltage, _HAL_AdcData_t_::I_A, _HAL_AdcData_t_::V_V, and _MATH_vec3_::value.

Referenced by HAL_updateAdcBias().

static float_t HAL_getCurrentScaleFactor ( HAL_Handle handle )

inlinestatic

Gets the current scale factor.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The current scale factor

Definition at line 391 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::current_sf.

Referenced by HAL_readAdcData(), and HAL_readAdcDataWithOffsets().

static void HAL_getDutyCycles	(	HAL_Handle	handle,
		uint16_t *	pDutyCycles
	)

inlinestatic

Gets the PWM duty cycle times.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pDutyCycles	A pointer to memory for the duty cycle durations

Definition at line 402 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pwmHandle.

static uint_least8_t HAL_getNumCurrentSensors ( HAL_Handle handle )

inlinestatic

Gets the number of current sensors.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The number of current sensors

Definition at line 417 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::numCurrentSensors.

Referenced by HAL_updateAdcBias().

static uint_least8_t HAL_getNumVoltageSensors ( HAL_Handle handle )

inlinestatic

Gets the number of voltage sensors.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The number of voltage sensors

Definition at line 429 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::numVoltageSensors.

Referenced by HAL_updateAdcBias().

static float_t HAL_getVoltageScaleFactor ( HAL_Handle handle )

inlinestatic

Gets the voltage scale factor.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Returns: The voltage scale factor

Definition at line 441 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::voltage_sf.

Referenced by HAL_readAdcData(), and HAL_readAdcDataWithOffsets().

static void HAL_initIntVectorTable ( HAL_Handle handle )

inlinestatic

Initializes the interrupt vector table.

Points the ISR to the function mainISR.

Parameters

[in] handle The hardware abstraction layer (HAL) handle

Definition at line 482 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References mainISR(), and _HAL_Obj_::pieHandle.

static void HAL_readAdcData	(	HAL_Handle	handle,
		HAL_AdcData_t *	pAdcData
	)

inlinestatic

Reads the ADC data.

Reads in the ADC result registers, adjusts for offsets, and scales the values according to the settings in user.h. The structure gAdcData holds three phase voltages, three line currents, and one DC bus voltage.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pAdcData	A pointer to the ADC data buffer

Definition at line 508 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcBias, _HAL_Obj_::adcHandle, _HAL_AdcData_t_::dcBus_V, HAL_getCurrentScaleFactor(), HAL_getVoltageScaleFactor(), _HAL_AdcData_t_::I_A, _HAL_AdcData_t_::V_V, and _MATH_vec3_::value.

static void HAL_readAdcDataWithOffsets	(	HAL_Handle	handle,
		HAL_AdcData_t *	pAdcData
	)

inlinestatic

Definition at line 557 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcHandle, _HAL_AdcData_t_::dcBus_V, HAL_getCurrentScaleFactor(), HAL_getVoltageScaleFactor(), _HAL_AdcData_t_::I_A, _HAL_AdcData_t_::V_V, and _MATH_vec3_::value.

static uint16_t HAL_readPwmPeriod	(	HAL_Handle	handle,
		const PWM_Number_e	pwmNumber
	)

inlinestatic

Reads PWM period register.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Returns: The PWM period value

Definition at line 987 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pwmHandle.

static uint32_t HAL_readTimerCnt	(	HAL_Handle	handle,
		const uint_least8_t	timerNumber
	)

inlinestatic

Reads the timer count.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	timerNumber	The timer number, 0,1 or 2

Returns: The timer count

Definition at line 603 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::timerHandle.

static void HAL_resetPwmCount	(	HAL_Handle	handle,
		PWM_Number_e	pwmNumber
	)

inlinestatic

Resets the PWM count.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number

Definition at line 615 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pwmHandle.

static void HAL_setAdcSocSampleDelay	(	HAL_Handle	handle,
		const ADC_SocNumber_e	socNumber,
		const ADC_SocSampleDelay_e	sampleDelay
	)

inlinestatic

Sets the ADC SOC sample delay value.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	socNumber	The SOC number
[in]	sampleDelay	The delay value for the ADC

Definition at line 630 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcHandle.

static void HAL_setBias	(	HAL_Handle	handle,
		const HAL_SensorType_e	sensorType,
		uint_least8_t	sensorNumber,
		const float_t	bias
	)

inlinestatic

Sets the ADC bias value.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	sensorType	The sensor type
[in]	sensorNumber	The sensor number
[in]	bias	The ADC bias value

Definition at line 647 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::adcBias, HAL_SensorType_Current, HAL_SensorType_Voltage, _HAL_AdcData_t_::I_A, _HAL_AdcData_t_::V_V, and _MATH_vec3_::value.

Referenced by HAL_updateAdcBias().

static void HAL_setCurrentScaleFactor	(	HAL_Handle	handle,
		const float_t	current_sf
	)

inlinestatic

Sets the current scale factor in the hal.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	current_sf	The current scale factor

Definition at line 671 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::current_sf.

static void HAL_setGpioHigh	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Sets the GPIO pin high.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 685 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::gpioHandle.

static void HAL_setGpioLow	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Sets the GPIO pin low.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 700 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::gpioHandle.

static void HAL_setNumCurrentSensors	(	HAL_Handle	handle,
		const uint_least8_t	numCurrentSensors
	)

inlinestatic

Sets the number of current sensors.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	numCurrentSensors	The number of current sensors

Definition at line 715 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::numCurrentSensors.

static void HAL_setNumVoltageSensors	(	HAL_Handle	handle,
		const uint_least8_t	numVoltageSensors
	)

inlinestatic

Sets the number of voltage sensors.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	numVoltageSensors	The number of voltage sensors

Definition at line 729 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::numVoltageSensors.

static void HAL_setPwmFreq_kHz	(	HAL_Handle	handle,
		PWM_Number_e	pwmNumber,
		HAL_PwmFreq_e	pwmFreq_kHz
	)

inlinestatic

Sets the PWM frequency.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pwmNumber	The PWM number
[in]	pwmFreq_kHz	The PWM frequency, kHz

Definition at line 744 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::pwmHandle.

static void HAL_setVoltageScaleFactor	(	HAL_Handle	handle,
		const float_t	voltage_sf
	)

inlinestatic

Sets the voltage scale factor in the hal.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	voltage_sf	The voltage scale factor

Definition at line 759 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::voltage_sf.

static void HAL_toggleGpio	(	HAL_Handle	handle,
		const GPIO_Number_e	gpioNumber
	)

inlinestatic

Toggles the GPIO pin.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	gpioNumber	The GPIO number

Definition at line 864 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References _HAL_Obj_::gpioHandle.

static void HAL_updateAdcBias	(	HAL_Handle	handle,
		OFFSET_Handle *	pOffsetHandle_I,
		OFFSET_Handle *	pOffsetHandle_V
	)

inlinestatic

Updates the ADC bias values.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pOffsetHandle_I	The pointer to the the current offset handles
[in]	pOffsetHandle_V	The pointer to the the voltage offset handles

Definition at line 880 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References HAL_getBias(), HAL_getNumCurrentSensors(), HAL_getNumVoltageSensors(), HAL_SensorType_Current, HAL_SensorType_Voltage, HAL_setBias(), and OFFSET_getOffset().

static void HAL_writeDacData	(	HAL_Handle	handle,
		const HAL_DacData_t *	pDacData
	)

inlinestatic

Writes DAC data to the PWM comparators for DAC (digital-to-analog conversion) output.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pDacData	The pointer to the DAC data

Definition at line 915 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References MATH_sat(), _HAL_Obj_::pwmDacHandle, and _HAL_DacData_t_::value.

static void HAL_writePwmData	(	HAL_Handle	handle,
		const HAL_PwmData_t *	pPwmData
	)

inlinestatic

Writes PWM data to the PWM comparators for motor control.

Parameters

[in]	handle	The hardware abstraction layer (HAL) handle
[in]	pPwmData	The pointer to the PWM data

Definition at line 960 of file drv8312kit_revD/f28x/f2806x/src/float/hal.h.

References MATH_sat(), _HAL_Obj_::pwmHandle, _HAL_PwmData_t_::Vabc_pu, and _MATH_vec3_::value.

Macros

Enumerations

Functions

Detailed Description

Function Documentation