hal_obj_both.h

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#ifndef _HAL_OBJ_H_
#define _HAL_OBJ_H_
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// drivers
#include "sw/drivers/adc/src/32b/f28x/f2806x/adc.h"
#include "sw/drivers/clk/src/32b/f28x/f2806x/clk.h"
#include "sw/drivers/cpu/src/32b/f28x/f2806x/cpu.h"
#include "sw/drivers/flash/src/32b/f28x/f2806x/flash.h"
#include "sw/drivers/gpio/src/32b/f28x/f2806x/gpio.h"
#include "sw/drivers/osc/src/32b/f28x/f2806x/osc.h"
#include "sw/drivers/pie/src/32b/f28x/f2806x/pie.h"
#include "sw/drivers/pll/src/32b/f28x/f2806x/pll.h"
#include "sw/drivers/pwm/src/32b/f28x/f2806x/pwm.h"
#include "sw/drivers/pwmdac/src/32b/f28x/f2806x/pwmdac.h"
#include "sw/drivers/pwr/src/32b/f28x/f2806x/pwr.h"
#include "sw/drivers/spi/src/32b/f28x/f2806x/spi.h"
#include "sw/drivers/timer/src/32b/f28x/f2806x/timer.h"
#include "sw/drivers/wdog/src/32b/f28x/f2806x/wdog.h"
#include "sw/drivers/drvic/drv8301/src/32b/f28x/f2806x/drv8301.h"


#ifdef QEP
#include "sw/drivers/qep/src/32b/f28x/f2806x/qep.h"
#endif

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


// platforms
#include "user.h"





#ifdef __cplusplus
extern "C" {
#endif
typedef struct _HAL_AdcData_t_
{
  MATH_vec3 I;          

  MATH_vec3 V;          

  _iq       dcBus;      

} HAL_AdcData_t;


typedef struct _HAL_DacData_t_
{
  _iq  value[4];      

} HAL_DacData_t;


typedef struct _HAL_PwmData_t_
{
  MATH_vec3  Tabc;      

} HAL_PwmData_t;


typedef struct _HAL_Obj_
{
  ADC_Handle    adcHandle;        

  CLK_Handle    clkHandle;        
 
  CPU_Handle    cpuHandle;        

  FLASH_Handle  flashHandle;      

  GPIO_Handle   gpioHandle;       
#error fix these for 2 motor
  OFFSET_Handle offsetHandle_I[3];  
  OFFSET_Obj    offset_I[3];        

  OFFSET_Handle offsetHandle_V[3];  
  OFFSET_Obj    offset_V[3];        

  OSC_Handle    oscHandle;        

  PIE_Handle    pieHandle;        //<! the PIE handle

  PLL_Handle    pllHandle;        

  PWM_Handle    pwmHandle[6];     //<! the PWM handles

  PWMDAC_Handle pwmDacHandle[2];  //<! the PWMDAC handles

  PWR_Handle    pwrHandle;        //<! the power handle

  TIMER_Handle  timerHandle[3];   //<! the timer handles

  WDOG_Handle   wdogHandle;       

  HAL_AdcData_t adcBias;          

  _iq           current_sf;       

  _iq           voltage_sf;       

  uint_least8_t numCurrentSensors; 
  uint_least8_t numVoltageSensors; 

  SPI_Handle    spiAHandle;       
  SPI_Obj       spiA;             
  
  SPI_Handle    spiBHandle;       
  SPI_Obj       spiB;             

  DRV8301_Handle drv8301Handle[2];   
  DRV8301_Obj    drv8301[2];         

#ifdef QEP
  QEP_Handle    qepHandle[2];      
#endif

} HAL_Obj;


typedef struct _HAL_Obj_ *HAL_Handle;


extern HAL_Obj hal;


inline void HAL_runOffsetEst(HAL_Handle handle,const HAL_AdcData_t *pAdcData)
{
  uint_least8_t cnt;
  HAL_Obj *obj = (HAL_Obj *)handle;


  // estimate the current offsets
  for(cnt=0;cnt<obj->numCurrentSensors;cnt++)
    {
      OFFSET_run(obj->offsetHandle_I[cnt],pAdcData->I.value[cnt]);
    }


  // estimate the voltage offsets
  for(cnt=0;cnt<obj->numVoltageSensors;cnt++)
    {
      OFFSET_run(obj->offsetHandle_V[cnt],pAdcData->V.value[cnt]);
    }

  return;
} // end of HAL_runOffsetEst() function


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

#endif // end of _HAL_OBJ_H_ definition