spintac_vel_ctl.h

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#ifndef __SPINTAC_VEL_CTL_H__
#define __SPINTAC_VEL_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
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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 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
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#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;          
  bool FiltEN;      
  // Config parameters that may be modified
  _iq24 OutMax;         
  _iq24 OutMin;         
} ST_VelCtlCfg_t;       // Structure for SpinTAC Control-Velocity configuration

typedef struct {
  /* Configuration variables */
  ST_VelCtlCfg_t cfg;
  /* Input variables */
  _iq24 VelRef;                         
  _iq24 AccRef;                         
  _iq24 VelFdb;                         
  _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;                 
  /* Internal variables */
  uint32_t s1[10];
} ST_VelCtl_t;  // Structure for SpinTAC Velocity Control

typedef struct _ST_VELCTL_Handle_ *ST_VELCTL_Handle; // SpinTAC Velocity Controller Handle

static inline void STVELCTL_setAxis(ST_VELCTL_Handle handle, ST_Axis_e axis) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

        return;
} // end of STVELCTL_setAxis function

static inline void STVELCTL_setSampleTime_sec(ST_VELCTL_Handle handle, _iq24 sampleTime) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

        return;
} // end of STVELCTL_setSampleTime_sec function

static inline _iq24 STVELCTL_getOutputMaximum(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

static inline _iq24 STVELCTL_getOutputMinimum(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

static inline void STVELCTL_setOutputMaximums(ST_VELCTL_Handle handle, _iq24 outMax, _iq24 outMin) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

        return;
} // end of STVELCTL_setOutputMaximums function

static inline void STVELCTL_setFilterEnableFlag(ST_VELCTL_Handle handle, bool filterEnable) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

        return;
} // end of STVELCTL_setFilterEnableFlag function

static inline void STVELCTL_setVelocityReference(ST_VELCTL_Handle handle, _iq24 velRef) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->VelRef = velRef;

        return;
} // end of STVELCTL_setVelocityReference function

static inline _iq24 STVELCTL_getVelocityReference(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        return(obj->VelRef);
} // end of STVELCTL_getVelocityReference function

static inline void STVELCTL_setAccelerationReference(ST_VELCTL_Handle handle, _iq24 accRef) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->AccRef = accRef;

        return;
} // end of STVELCTL_setAccelerationReference function

static inline void STVELCTL_setVelocityFeedback(ST_VELCTL_Handle handle, _iq24 velFdb) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->VelFdb = velFdb;

        return;
} // end of STVELCTL_setVelocityFeedback function

static inline _iq24 STVELCTL_getVelocityFeedback(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        return(obj->VelFdb);
} // end of STVELCTL_getVelocityFeedback function

static inline void STVELCTL_setInertia(ST_VELCTL_Handle handle, _iq24 inertia) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->Inertia = inertia;

        return;
} // end of STVELCTL_setInertia function

static inline _iq24 STVELCTL_getInertia(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

static inline void STVELCTL_setFriction(ST_VELCTL_Handle handle, _iq24 friction) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->Friction = friction;

        return;
} // end of STVELCTL_setFriction function

static inline _iq24 STVELCTL_getFriction(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

static inline void STVELCTL_setBandwidth_radps(ST_VELCTL_Handle handle, _iq20 bw) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->Bw_radps = bw;

        return;
} // end of STVELCTL_setBandwidth_radps function

static inline _iq20 STVELCTL_getBandwidth_radps(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

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

static inline void STVELCTL_setEnable(ST_VELCTL_Handle handle, bool enb) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->ENB = enb;

        return;
} // end of STVELCTL_setEnable function

static inline bool STVELCTL_getEnable(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        return (obj->ENB);

} // end of STVELCTL_getEnable function

static inline void STVELCTL_setTorqueReference(ST_VELCTL_Handle handle, _iq24 out) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        obj->Out = out;

        return;
} // end of STVELCTL_setTorqueReference function

static inline _iq24 STVELCTL_getTorqueReference(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        return (obj->Out);
} // end of STVELCTL_getTorqueReference function

static inline ST_CtlStatus_e STVELCTL_getStatus(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        return (obj->STATUS);

} // end of STVELCTL_getStatus function

static inline uint16_t STVELCTL_getErrorID(ST_VELCTL_Handle handle) {
        ST_VelCtl_t *obj = (ST_VelCtl_t *)handle;

        return (obj->ERR_ID);

} // end of STVELCTL_getErrorID function

ST_VELCTL_Handle STVELCTL_init(void *pMemory, const size_t numBytes);

void STVELCTL_run(ST_VELCTL_Handle handle);     // SpinTAC Velocity Controller function

#endif //__SPINTAC_VEL_CTL_H__