hallEstimator.h

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/*!****************************************************************************
 *  @file       hallEstimator.h
 *  @brief      HallEstimator Module
 *
 * 
 *  @anchor hallEstimator_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/

#ifndef FOC_INCLUDE_HALL_ESTIMATOR_H_
#define FOC_INCLUDE_HALL_ESTIMATOR_H_

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

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

#include "iqNum.h"
#include "motor.h"
#include "mcLib.h"
#include "measure.h"

#define HALL_SPEED_FILTER_CONST  _IQ(0.005)

#define HALL_ANGLE_MASK  0x7FFFFFF

#define HALL_ANGLE_OVERFLOW_MASK  0xF8000000

typedef enum
{
    HALL_IDLE             = 0,
    HALL_CALIBRATION     = 1,
    HALL_CALIBRATION_DONE = 2
} HALL_State_e;

typedef struct HALL_ESTIMATOR_OBJ_T
{
    int32_t   *pThetaHallIndexPU;
    const int32_t
        *pDeltaT;

    const int32_t
        *pTargetVelocity;

    const int32_t   **pFOCAngle;
    const uint8_t *pHallSectorPerRev;
    uint16_t  hallIndex;
    uint16_t  hallIndexPrev;
    uint32_t  hallSpeedPWMCount;
    int32_t  hallSpeedPWMRatio;
    uint16_t  hallIndexNext[MAX_HALL_INDEX];
    uint16_t  hallDirection;
    int32_t  hallEstimVelocity;
    int32_t  hallVelFiltConst;
    int32_t  hallEstimVelocityFilt;
    int32_t  hallEstimSpeedFilt;
    int32_t hallEstimFluxAngle;
    int32_t hallNextIndexAngle;
    HALL_State_e   hallState;
    HAL_MEASURE_HALL_HANDLE_T *pHALLIntHandle;
    bool hallSectorChange;
    uint16_t hallSectorCount;
    MC_SINCOS_T
        sinCos;
    MC_SINCOS_T
        prevSinCos;
    int32_t
        sinErr;
    int32_t
        freqTs;
    int32_t
        omegaTs;
    uint32_t
        gainEst;
}
HALL_ESTIMATOR_OBJ_T;

typedef struct HALL_INVALID_STALL_DETECT_T
{
    bool stallDetectEn;
    uint16_t  *pHallIndex;
}HALL_INVALID_STALL_DETECT_T;

void hallAngleEstimRun(HALL_ESTIMATOR_OBJ_T *pHallHandle);
int32_t hallForcedAngleRun(HALL_ESTIMATOR_OBJ_T *pHallHandle);
void hallAngleInit(HALL_ESTIMATOR_OBJ_T *pHallHandle);
void hallSinCosEstim(MC_SINCOS_T *pFOCSinCos ,HALL_ESTIMATOR_OBJ_T *pHallHandle);
bool hallInvalidStallDetectRun(uint16_t *pHallSector);

#endif /* FOC_INCLUDE_ESTIMATOR_H_ */