float/ctrl_obj.h

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#ifndef _CTRL_OBJ_H_
#define _CTRL_OBJ_H_


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

// drivers


// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/ctrl/src/ctrl_states.h"
#include "sw/modules/math/src/float/math.h"
#include "sw/modules/motor/src/float/motor.h"
#include "sw/modules/pi/src/float/pi.h"


// solutions





#ifdef __cplusplus
extern "C" {
#endif


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


#define CTRL_MAJOR_RELEASE_NUMBER       (2u)


#define CTRL_MINOR_RELEASE_NUMBER       (0u)


#define CTRL_NUM_CONTROLLERS            (2)


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

typedef enum
{
  CTRL_ErrorCode_NoError=0,        
  CTRL_ErrorCode_IdClip,           
  CTRL_ErrorCode_EstError,         
  CTRL_numErrorCodes               
} CTRL_ErrorCode_e;


typedef enum
{
  CTRL_TargetProc_2806x=0,   
  CTRL_TargetProc_2805x,     
  CTRL_TargetProc_2803x,     
  CTRL_TargetProc_2802x      
} CTRL_TargetProc_e;


typedef enum
{
  CTRL_Type_PI_spd=0,        
  CTRL_Type_PI_Id,           
  CTRL_Type_PI_Iq            
} CTRL_Type_e;


typedef struct _CTRL_Version_
{
  uint16_t rsvd;            
  uint16_t targetProc;      
  uint16_t major;           
  uint16_t minor;           
} CTRL_Version;


typedef struct _CTRL_Obj_
{
  CTRL_Version       version;                      

  CTRL_State_e       state;                        

  CTRL_State_e       prevState;                    

  CTRL_ErrorCode_e   errorCode;                    

  PI_Handle          piHandle_Id;                  
  PI_Obj             pi_Id;                        

  PI_Handle          piHandle_Iq;                  
  PI_Obj             pi_Iq;                        

  PI_Handle          piHandle_spd;                 
  PI_Obj             pi_spd;                       

  MOTOR_Params       motorParams;                  

  int_least32_t      waitTimes[CTRL_numStates];    

  int_least32_t      counter_state;                
  
  int_least16_t      numIsrTicksPerCtrlTick;       

  int_least16_t      numCtrlTicksPerCurrentTick;   

  int_least16_t      numCtrlTicksPerSpeedTick;     

  float_t            ctrlFreq_Hz;                  

  float_t            ctrlPeriod_sec;               
  float_t            currentCtrlPeriod_sec;        
  float_t            speedCtrlPeriod_sec;          

  MATH_vec2          Idq_A;                        

  MATH_vec2          Idq_ref_A;                    

  MATH_vec2          Idq_offset_A;                 

  MATH_vec2          Vdq_V;                        

  MATH_vec2          Vdq_offset_V;                 

  float_t            Vd_sf;                        

  float_t            maxVsMag_V;                   

  float_t            Kp_Id_VpA;                    
  float_t            Kp_Iq_VpA;                    
  float_t            Kp_spd_ApHz;                  

  float_t            Ki_Id;                        
  float_t            Ki_Iq;                        
  float_t            Ki_spd_ApHz;                  

  float_t            Ui_Id_V;                      
  float_t            Ui_Iq_V;                      
  float_t            Ui_spd_A;                     

  float_t            BWc_rps;                      
  float_t            BWdelta;                      
  float_t            Kctrl_Wb_p_kgm2;              

  float_t            speed_ref_Hz;                 

  float_t            speed_fb_Hz;                  

  float_t            speed_out_A;                  
  float_t            speed_outMax_A;               
  float_t            speed_outMin_A;               

  int_least16_t      counter_isr;                  
  int_least16_t      counter_current;              
  int_least16_t      counter_speed;                

  bool               flag_enable;                  
  bool               flag_enableCurrentCtrl;       
  bool               flag_enableSpeedCtrl;         

  bool               flag_resetInt_spd;            
  bool               flag_resetInt_Id;             
  bool               flag_resetInt_Iq;             

  bool               flag_useZeroIq_ref;           
} CTRL_Obj;


typedef struct _CTRL_Obj_ *CTRL_Handle;


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


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


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


#endif // end of _CTRL_OBJ_H_ definition