enc.h

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/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef _ENC_H_
#define _ENC_H_



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



#ifdef __cplusplus
extern "C" {
#endif


// **************************************************************************
// the defines
#define ENC_SPEED_SCALING_FACTOR                        16777216.0
#define ENC_ZERO_OFFSET                                         3813071.0
#define ENC_SPEED_CUTOFF_FREQ                           100.0
#define ENC_SPEED_COEFF_Q                                       6
#define ENC_SPEED_COEFF_SCALING                         (1<<ENC_SPEED_COEFF_Q)
#define ENC_2PI                                                         (2.0*3.14159)
#define ENC_LOG_LEN                                                     256
#define ENC_RPM_Q1                                                      8
#define ENC_RPM_Q2                                                      16
#define ENC_LOG_DELTA_TRIGGER_THRES                     400


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

typedef enum {
  ENC_LOG_STATE_IDLE=0,           
  ENC_LOG_STATE_FREERUN,                  
  ENC_LOG_STATE_ACQUIRE                   
} ENC_LOG_State_e;


typedef struct _ENC_Obj_
{
  int16_t sample_count;                 
  int16_t sample_period;                
  uint16_t num_pole_pairs;              
  uint16_t num_enc_slots;               
  _iq mech_angle_gain;                  
  uint32_t enc_zero_offset;     
  int32_t enc_elec_angle;               
  int32_t incremental_slip;     
  int32_t enc_slip_angle;       
  int32_t enc_magnetic_angle;   
  int32_t prev_enc;                             
  int32_t delta_enc;                    
  float_t full_scale_freq;          
  int32_t speed_gain;                   
  int32_t rpm_gain;                             
  float_t speed_cutoff;             
  int32_t speed_lpf_cx;                 
  int32_t speed_lpf_cy;                 
  int32_t speed_lpf_out;                
  ENC_LOG_State_e log_state;    
  int16_t run_flag;                             
  int16_t post_trigger_len;             
  int16_t post_trigger_cnt;             
  int16_t trigger_idx;                  
  int16_t trigger_delta;                
  int32_t log_idx;                          
  int16_t log[ENC_LOG_LEN];     
} ENC_Obj;


typedef struct _ENC_Obj_ *ENC_Handle;


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

void ENC_calcElecAngle(ENC_Handle encHandle, uint32_t posnCounts);


inline _iq ENC_getElecAngle(ENC_Handle encHandle) {
        ENC_Obj *enc = (ENC_Obj *) encHandle;

        return enc->enc_elec_angle;
}


inline _iq ENC_getMagneticAngle(ENC_Handle encHandle) {
        ENC_Obj *enc = (ENC_Obj *) encHandle;

        return enc->enc_magnetic_angle;
}


inline _iq ENC_getFilteredSpeed(ENC_Handle encHandle) {
        ENC_Obj *enc = (ENC_Obj *) encHandle;

        return enc->speed_lpf_out;
}


extern int16_t ENC_getSpeedRPM(ENC_Handle encHandle);


extern ENC_Handle ENC_init(void *pMemory,const size_t numBytes);


void ENC_run(ENC_Handle encHandle, uint32_t posnCounts, uint16_t indextFlag, uint16_t dirFlag, int16_t log_flag);


inline void ENC_setIncrementalSlip(ENC_Handle encHandle, _iq incrementalSlip) {
        ENC_Obj *enc = (ENC_Obj *) encHandle;

        // set the amount of incremental slip
        enc->incremental_slip = incrementalSlip;

        return;
}


inline void ENC_setRunFlag(ENC_Handle encHandle) {
        ENC_Obj *enc = (ENC_Obj *) encHandle;

        // set the run flag
        enc->run_flag = 1;

        return;
}


inline void ENC_setZeroOffset(ENC_Handle encHandle, uint32_t zeroOffset) {
        ENC_Obj *enc = (ENC_Obj *)encHandle;

        enc->enc_zero_offset = zeroOffset*enc->mech_angle_gain;

        return;
}


extern void ENC_setup(ENC_Handle encHandle, const int16_t sample_period,
                      const uint16_t num_pole_pairs, const uint16_t num_enc_slots, 
                      const uint32_t enc_zero_offset, const float_t full_scale_freq, 
                      const float_t speed_update_freq, const float_t speed_cutoff);

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

#endif // end of _ENC_H_ definition