fast/src/32b/userParams.h

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#ifndef _USERPARAMS_H_
#define _USERPARAMS_H_
/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions
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 * *  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"
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// **************************************************************************
// the includes

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

#include "sw/modules/est/src/est_states.h"
#include "sw/modules/est/src/est_Flux_states.h"
#include "sw/modules/est/src/est_Ls_states.h"
#include "sw/modules/est/src/est_Rs_states.h"

#include "sw/modules/ctrl/src/ctrl_states.h"





#ifdef __cplusplus
extern "C" {
#endif


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




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

typedef enum
{
  USER_ErrorCode_NoError=0,                           
  USER_ErrorCode_iqFullScaleCurrent_A_High=1,         
  USER_ErrorCode_iqFullScaleCurrent_A_Low=2,          
  USER_ErrorCode_iqFullScaleVoltage_V_High=3,         
  USER_ErrorCode_iqFullScaleVoltage_V_Low=4,          
  USER_ErrorCode_iqFullScaleFreq_Hz_High=5,           
  USER_ErrorCode_iqFullScaleFreq_Hz_Low=6,            
  USER_ErrorCode_numPwmTicksPerIsrTick_High=7,        
  USER_ErrorCode_numPwmTicksPerIsrTick_Low=8,         
  USER_ErrorCode_numIsrTicksPerCtrlTick_High=9,       
  USER_ErrorCode_numIsrTicksPerCtrlTick_Low=10,       
  USER_ErrorCode_numCtrlTicksPerCurrentTick_High=11,  
  USER_ErrorCode_numCtrlTicksPerCurrentTick_Low=12,   
  USER_ErrorCode_numCtrlTicksPerEstTick_High=13,      
  USER_ErrorCode_numCtrlTicksPerEstTick_Low=14,       
  USER_ErrorCode_numCtrlTicksPerSpeedTick_High=15,    
  USER_ErrorCode_numCtrlTicksPerSpeedTick_Low=16,     
  USER_ErrorCode_numCtrlTicksPerTrajTick_High=17,     
  USER_ErrorCode_numCtrlTicksPerTrajTick_Low=18,      
  USER_ErrorCode_numCurrentSensors_High=19,           
  USER_ErrorCode_numCurrentSensors_Low=20,            
  USER_ErrorCode_numVoltageSensors_High=21,           
  USER_ErrorCode_numVoltageSensors_Low=22,            
  USER_ErrorCode_offsetPole_rps_High=23,              
  USER_ErrorCode_offsetPole_rps_Low=24,               
  USER_ErrorCode_fluxPole_rps_High=25,                
  USER_ErrorCode_fluxPole_rps_Low=26,                 
  USER_ErrorCode_zeroSpeedLimit_High=27,              
  USER_ErrorCode_zeroSpeedLimit_Low=28,               
  USER_ErrorCode_forceAngleFreq_Hz_High=29,           
  USER_ErrorCode_forceAngleFreq_Hz_Low=30,            
  USER_ErrorCode_maxAccel_Hzps_High=31,               
  USER_ErrorCode_maxAccel_Hzps_Low=32,                
  USER_ErrorCode_maxAccel_est_Hzps_High=33,           
  USER_ErrorCode_maxAccel_est_Hzps_Low=34,            
  USER_ErrorCode_directionPole_rps_High=35,           
  USER_ErrorCode_directionPole_rps_Low=36,            
  USER_ErrorCode_speedPole_rps_High=37,               
  USER_ErrorCode_speedPole_rps_Low=38,                
  USER_ErrorCode_dcBusPole_rps_High=39,               
  USER_ErrorCode_dcBusPole_rps_Low=40,                
  USER_ErrorCode_fluxFraction_High=41,                
  USER_ErrorCode_fluxFraction_Low=42,                 
  USER_ErrorCode_indEst_speedMaxFraction_High=43,     
  USER_ErrorCode_indEst_speedMaxFraction_Low=44,      
  USER_ErrorCode_powerWarpGain_High=45,               
  USER_ErrorCode_powerWarpGain_Low=46,                
  USER_ErrorCode_systemFreq_MHz_High=47,              
  USER_ErrorCode_systemFreq_MHz_Low=48,               
  USER_ErrorCode_pwmFreq_kHz_High=49,                 
  USER_ErrorCode_pwmFreq_kHz_Low=50,                  
  USER_ErrorCode_voltage_sf_High=51,                  
  USER_ErrorCode_voltage_sf_Low=52,                   
  USER_ErrorCode_current_sf_High=53,                  
  USER_ErrorCode_current_sf_Low=54,                   
  USER_ErrorCode_voltageFilterPole_Hz_High=55,        
  USER_ErrorCode_voltageFilterPole_Hz_Low=56,         
  USER_ErrorCode_maxVsMag_pu_High=57,                 
  USER_ErrorCode_maxVsMag_pu_Low=58,                  
  USER_ErrorCode_estKappa_High=59,                    
  USER_ErrorCode_estKappa_Low=60,                     
  USER_ErrorCode_motor_type_Unknown=61,               
  USER_ErrorCode_motor_numPolePairs_High=62,          
  USER_ErrorCode_motor_numPolePairs_Low=63,           
  USER_ErrorCode_motor_ratedFlux_High=64,             
  USER_ErrorCode_motor_ratedFlux_Low=65,              
  USER_ErrorCode_motor_Rr_High=66,                    
  USER_ErrorCode_motor_Rr_Low=67,                     
  USER_ErrorCode_motor_Rs_High=68,                    
  USER_ErrorCode_motor_Rs_Low=69,                     
  USER_ErrorCode_motor_Ls_d_High=70,                  
  USER_ErrorCode_motor_Ls_d_Low=71,                   
  USER_ErrorCode_motor_Ls_q_High=72,                  
  USER_ErrorCode_motor_Ls_q_Low=73,                   
  USER_ErrorCode_maxCurrent_High=74,                  
  USER_ErrorCode_maxCurrent_Low=75,                   
  USER_ErrorCode_maxCurrent_resEst_High=76,           
  USER_ErrorCode_maxCurrent_resEst_Low=77,            
  USER_ErrorCode_maxCurrent_indEst_High=78,           
  USER_ErrorCode_maxCurrent_indEst_Low=79,            
  USER_ErrorCode_maxCurrentSlope_High=80,             
  USER_ErrorCode_maxCurrentSlope_Low=81,              
  USER_ErrorCode_maxCurrentSlope_powerWarp_High=82,   
  USER_ErrorCode_maxCurrentSlope_powerWarp_Low=83,    
  USER_ErrorCode_IdRated_High=84,                     
  USER_ErrorCode_IdRated_Low=85,                      
  USER_ErrorCode_IdRatedFraction_indEst_High=86,      
  USER_ErrorCode_IdRatedFraction_indEst_Low=87,       
  USER_ErrorCode_IdRatedFraction_ratedFlux_High=88,   
  USER_ErrorCode_IdRatedFraction_ratedFlux_Low=89,    
  USER_ErrorCode_IdRated_delta_High=90,               
  USER_ErrorCode_IdRated_delta_Low=91,                
  USER_ErrorCode_fluxEstFreq_Hz_High=92,              
  USER_ErrorCode_fluxEstFreq_Hz_Low=93,               
  USER_ErrorCode_ctrlFreq_Hz_High=94,                 
  USER_ErrorCode_ctrlFreq_Hz_Low=95,                  
  USER_ErrorCode_estFreq_Hz_High=96,                  
  USER_ErrorCode_estFreq_Hz_Low=97,                   
  USER_ErrorCode_RoverL_estFreq_Hz_High=98,           
  USER_ErrorCode_RoverL_estFreq_Hz_Low=99,            
  USER_ErrorCode_trajFreq_Hz_High=100,                
  USER_ErrorCode_trajFreq_Hz_Low=101,                 
  USER_ErrorCode_ctrlPeriod_sec_High=102,             
  USER_ErrorCode_ctrlPeriod_sec_Low=103,              
  USER_ErrorCode_maxNegativeIdCurrent_a_High=104,     
  USER_ErrorCode_maxNegativeIdCurrent_a_Low=105,      
  USER_numErrorCodes=106                              
} USER_ErrorCode_e;


typedef struct _USER_Params_
{
  float_t       iqFullScaleCurrent_A;         
  float_t       iqFullScaleVoltage_V;         
  float_t       iqFullScaleFreq_Hz;           

  uint_least16_t  numIsrTicksPerCtrlTick;       
  uint_least16_t  numCtrlTicksPerCurrentTick;   
  uint_least16_t  numCtrlTicksPerEstTick;       
  uint_least16_t  numCtrlTicksPerSpeedTick;     
  uint_least16_t  numCtrlTicksPerTrajTick;      
  uint_least8_t   numCurrentSensors;            
  uint_least8_t   numVoltageSensors;            

  float_t       offsetPole_rps;               
  float_t       fluxPole_rps;                 
  float_t       zeroSpeedLimit;               
  float_t       forceAngleFreq_Hz;            
  float_t       maxAccel_Hzps;                
  float_t       maxAccel_est_Hzps;            
  float_t       directionPole_rps;            
  float_t       speedPole_rps;                
  float_t       dcBusPole_rps;                
  float_t       fluxFraction;                 
  float_t       indEst_speedMaxFraction;      
  float_t       powerWarpGain;                

  uint_least16_t  systemFreq_MHz;               

  float_t       pwmPeriod_usec;               
  float_t       voltage_sf;                   
  float_t       current_sf;                   
  float_t       voltageFilterPole_rps;        
  float_t       maxVsMag_pu;                  
  float_t       estKappa;                     

  MOTOR_Type_e    motor_type;                   
  uint_least16_t  motor_numPolePairs;           

  float_t       motor_ratedFlux;              
  float_t       motor_Rr;                     
  float_t       motor_Rs;                     
  float_t       motor_Ls_d;                   
  float_t       motor_Ls_q;                   
  float_t       maxCurrent;                   
  float_t       maxCurrent_resEst;            
  float_t       maxCurrent_indEst;            
  float_t       maxCurrentSlope;              
  float_t       maxCurrentSlope_powerWarp;    
  float_t       IdRated;                      
  float_t       IdRatedFraction_indEst;       
  float_t       IdRatedFraction_ratedFlux;    
  float_t       IdRated_delta;                
  float_t       fluxEstFreq_Hz;               

  uint_least32_t  ctrlWaitTime[CTRL_numStates]; 
  uint_least32_t  estWaitTime[EST_numStates];   
  uint_least32_t  FluxWaitTime[EST_Flux_numStates]; 
  uint_least32_t  LsWaitTime[EST_Ls_numStates]; 
  uint_least32_t  RsWaitTime[EST_Rs_numStates]; 
  uint_least32_t  ctrlFreq_Hz;                  
  uint_least32_t  estFreq_Hz;                   
  uint_least32_t  RoverL_estFreq_Hz;            
  uint_least32_t  trajFreq_Hz;                  

  float_t       ctrlPeriod_sec;               

  float_t       maxNegativeIdCurrent_a;       

  USER_ErrorCode_e  errorCode;
} USER_Params;


// **************************************************************************
// the functions


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

#endif // end of _USERPARAMS_H_ definition