spintac_pos_ctl.h

Go to the documentation of this file.

#ifndef __SPINTAC_POS_CTL_H__
#define __SPINTAC_POS_CTL_H__
/* --COPYRIGHT--,BSD
 * Copyright (c) 2012, LineStream Technologies Incorporated
 * Copyright (c) 2012, Texas Instruments Incorporated
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * *  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 names of Texas Instruments Incorporated, LineStream
 *    Technologies 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"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * --/COPYRIGHT--*/




#include "spintac_version.h"

#ifndef __ST_AXIS_ENUM__
#define __ST_AXIS_ENUM__
typedef enum
{
  ST_AXIS0=0,   
  ST_AXIS1              
} ST_Axis_e;
#endif //__ST_AXIS_ENUM__

#ifndef __ST_CTL_STATUS_ENUM__
#define __ST_CTL_STATUS_ENUM__
typedef enum
{
  ST_CTL_IDLE=0,        
  ST_CTL_INIT,          
  ST_CTL_CONF,          
  ST_CTL_BUSY           
} ST_CtlStatus_e;
#endif //__ST_CTL_STATUS_ENUM__

typedef struct {
  //System config parameters: Can be set only once at system startup
  ST_Axis_e Axis;               
  _iq24 T_sec;                  
  _iq24 ROMax_mrev;             
  _iq24 mrev_TO_pu;     
  _iq24 PosErrMax_mrev; 
  bool RampDist;                
  bool FiltEN;              

  //Config parameters that may be modified
  _iq24 OutMax;                 
  _iq24 OutMin;                 
  _iq24 VelMax;                 
} ST_PosCtlCfg_t;               

typedef struct {
  /* Configuration variables */
  ST_PosCtlCfg_t cfg;
  /* Input variables */
  _iq24 PosRef_mrev;    
  _iq24 VelRef;                 
  _iq24 AccRef;                 
  _iq24 PosFdb_mrev;    
  _iq24 Inertia;                
  _iq24 Friction;               
  _iq20 Bw_radps;               
  // Control bits
  bool ENB;                         
  /* Output variables */
  _iq24 Out;                    
  // Information variables
  ST_CtlStatus_e STATUS;
  uint16_t      ERR_ID;         
  _iq24 PosErr_mrev;    
  /* Internal variables */
  uint32_t s1[18];
} ST_PosCtl_t;  // Structure for SpinTAC Position Control

typedef struct _ST_POSCTL_Handle_ *ST_POSCTL_Handle; // SpinTAC Position Controller Handle

static inline void STPOSCTL_setAxis(ST_POSCTL_Handle handle, ST_Axis_e axis) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.Axis = axis;
        }

        return;
} // end of STPOSCTL_setAxis function

static inline void STPOSCTL_setSampleTime_sec(ST_POSCTL_Handle handle, _iq24 sampleTime) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.T_sec = sampleTime;
        }

        return;
} // end of STPOSCTL_setSampleTime_sec function

static inline _iq24 STPOSCTL_getOutputMaximum(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return obj->cfg.OutMax;
} // end of STPOSCTL_getOutputMaximum function

static inline _iq24 STPOSCTL_getOutputMinimum(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return obj->cfg.OutMin;
} // end of STPOSCTL_getOutputMinimum function


static inline void STPOSCTL_setOutputMaximums(ST_POSCTL_Handle handle, _iq24 outMax, _iq24 outMin) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->cfg.OutMax = outMax;
        obj->cfg.OutMin = outMin;

        return;
} // end of STPOSCTL_setOutputMaximums function

static inline void STPOSCTL_setVelocityMaximum(ST_POSCTL_Handle handle, _iq24 velMax) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->cfg.VelMax = velMax;

        return;
} // end of STPOSCTL_setVelocityMaximum function

static inline void STPOSCTL_setPositionRolloverMaximum_mrev(ST_POSCTL_Handle handle, _iq24 roMax) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.ROMax_mrev = roMax;
        }

        return;
} // end of STPOSCTL_setPositionRolloverMaximum_mrev function

static inline void STPOSCTL_setUnitConversion(ST_POSCTL_Handle handle, float_t baseFreq, uint16_t polePairs) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.mrev_TO_pu = _IQ24(((float_t)polePairs) / baseFreq);
        }

        return;
} // end of STPOSCTL_setUnitConversion function

static inline void STPOSCTL_setRampDisturbanceFlag(ST_POSCTL_Handle handle, bool rampDist) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.RampDist = rampDist;
        }

        return;
} // end of STPOSCTL_setRampDisturbanceFlag function

static inline void STPOSCTL_setPositionErrorMaximum_mrev(ST_POSCTL_Handle handle, _iq24 errMax) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.PosErrMax_mrev = errMax;
        }

        return;
} // end of STPOSCTL_setPositionErrorMaximum_mrev function

static inline void STPOSCTL_setFilterEnableFlag(ST_POSCTL_Handle handle, bool filterEnable) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        if(obj->STATUS == ST_CTL_IDLE) {
                obj->cfg.FiltEN = filterEnable;
        }

        return;
} // end of STPOSCTL_setFilterEnableFlag function

static inline void STPOSCTL_setPositionReference_mrev(ST_POSCTL_Handle handle, _iq24 posRef) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->PosRef_mrev = posRef;

        return;
} // end of STPOSCTL_setPositionReference_mrev function

static inline void STPOSCTL_setVelocityReference(ST_POSCTL_Handle handle, _iq24 velRef) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->VelRef = velRef;

        return;
} // end of STPOSCTL_setVelocityReference function

static inline void STPOSCTL_setAccelerationReference(ST_POSCTL_Handle handle, _iq24 accRef) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->AccRef = accRef;

        return;
} // end of STPOSCTL_setAccelerationReference function

static inline void STPOSCTL_setPositionFeedback_mrev(ST_POSCTL_Handle handle, _iq24 posFdb) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->PosFdb_mrev = posFdb;

        return;
} // end of STPOSCTL_setPositionFeedback_mrev function

static inline void STPOSCTL_setInertia(ST_POSCTL_Handle handle, _iq24 inertia) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->Inertia = inertia;

        return;
} // end of STPOSCTL_setInertia function

static inline _iq24 STPOSCTL_getInertia(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return(obj->Inertia);
} // end of STPOSCTL_getInertia function

static inline void STPOSCTL_setFriction(ST_POSCTL_Handle handle, _iq24 friction) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->Friction = friction;

        return;
} // end of STPOSCTL_setFriction function

static inline _iq24 STPOSCTL_getFriction(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return(obj->Friction);
} // end of STPOSCTL_getFriction function

static inline void STPOSCTL_setBandwidth_radps(ST_POSCTL_Handle handle, _iq20 bw) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->Bw_radps = bw;

        return;
} // end of STPOSCTL_setBandwidth_radps function

static inline _iq20 STPOSCTL_getBandwidth_radps(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return(obj->Bw_radps);
} // end of STPOSCTL_getBandwidth_radps function

static inline void STPOSCTL_setEnable(ST_POSCTL_Handle handle, bool enb) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->ENB = enb;

        return;
} // end of STPOSCTL_setEnable function

static inline bool STPOSCTL_getEnable(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return (obj->ENB);
} // end of STPOSCTL_getEnable function

static inline void STPOSCTL_setTorqueReference(ST_POSCTL_Handle handle, _iq24 out) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        obj->Out = out;

        return;
} // end of STPOSCTL_setTorqueReference function

static inline _iq24 STPOSCTL_getTorqueReference(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return (obj->Out);

} // end of STPOSCTL_getTorqueReference function

static inline ST_CtlStatus_e STPOSCTL_getStatus(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return (obj->STATUS);

} // end of STPOSCTL_getStatus function

static inline uint16_t STPOSCTL_getErrorID(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return (obj->ERR_ID);

} // end of STPOSCTL_getErrorID function

static inline _iq24 STPOSCTL_getPositionError_mrev(ST_POSCTL_Handle handle) {
        ST_PosCtl_t *obj = (ST_PosCtl_t *)handle;

        return (obj->PosErr_mrev);

} // end of STPOSCTL_getPositionError function

ST_POSCTL_Handle STPOSCTL_init(void *pMemory, const size_t numBytes);

void STPOSCTL_run(ST_POSCTL_Handle handle);
#endif //__SPINTAC_POS_CTL_H__