openLoop.h

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/*!****************************************************************************
 *  @file       openLoop.h
 *  @brief      openLoop Module
 *
 * 
 *  @anchor openLoop_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef FOC_INCLUDE_OPENLOOP_H_
#define FOC_INCLUDE_OPENLOOP_H_

#include "stdint.h"

/* Include the IQmath Library */
#include <ti/iqmath/include/IQmathLib.h>

/* Include the mathacl optimized IQmath */
#include "IQmath_mathacl.h"

#include "iqNum.h"

typedef union
{
    struct openLoopFlags
    {
        _Bool
            forceEnable: 1,
            transitionEnable: 1,
            status: 1,
            fastStartEnable: 1,
            openLoopDirChange: 1;
    }
    b;
    uint16_t w;

}OPEN_LOOP_FLAGS_T;

typedef enum
{
    OPEN_LOOP_ACCELERATING_PROFILE = 0,     /* Accelerate user on profile */

}FORCED_SPEED_STATE_TYPES;

typedef struct
{
    const int32_t
        *pTargetVelocity,
        *pDeltaT;

    int32_t
        initialSpeedReference,
        velocityReference,
        prevVelocityReference,
        velocityReferenceScaled,
        loopExecutionCount,
        loopExecutionCountInit,
        angle,
        idRef,
        idRefSlewRate,
        iqRef,
        iqRefMax,
        iqRefSlewRate,
        iqRefSet,
        iqRefSetFastAccel,
        iqRefSetSpeedReversal,
        speedReferenceMaxForwardSet,
        speedReferenceMaxReverseSet,
        speedReferenceMax;

    IQ_NUM_T
        *pSpeedRefSlewRate,
        *pAccelRefSlewRate,
        speedRefSlewRateFastAccel,
        accelRefSlewRateFastAccel,
        speedRefSlewRateSlowAccel,
        accelRefSlewRateSlowAccel,
        speedRefSlewRateDecel,
        accelRefSlewRateDecel;

    FORCED_SPEED_STATE_TYPES
        speedReferenceState;

    OPEN_LOOP_FLAGS_T
        flags;

}OPEN_LOOP_T;

void openLoopInit(OPEN_LOOP_T *pOpenLoop);
void openLoopRun(OPEN_LOOP_T *pOpenLoop);
void openLoopSetInitialVelocity(OPEN_LOOP_T *pOpenLoop);

inline _Bool getOpenLoopStatus(OPEN_LOOP_T *pOpenLoop)
{
    return pOpenLoop->flags.b.status;
}


#endif /* FOC_INCLUDE_OPENLOOP_H_ */