foc.h

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/*!****************************************************************************
 *  @file       foc.h
 *  @brief      foc Module
 *
 * 
 *  @anchor foc_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef FOC_INCLUDE_FOC_H_
#define FOC_INCLUDE_FOC_H_

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

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

#include "pi.h"
#include "stdint.h"
#include "mcLib.h"
#include "openLoop.h"
#include "closeLoop.h"
#include "stallDetect.h"
#include "measure.h"
#include "deadTimeCompute.h"
#include "hallCalib.h"
#include "hallEstimator.h"
#define MOD_INDEX_LIMIT_SINE                        _IQ(1.0)

#define MOD_INDEX_LIMIT_OVERMODULATION              _IQ(5.0)

#define AVS_MIN_SOURCE_CURRENT_PU                   _IQ(-0.25)

typedef union
{
    struct focFlags
    {
        _Bool
            openLoopTransitionEnable: 1,
            voltageModeEnable: 1,
            voltageModeEnableSet: 1;
    }
    b;
    uint16_t w;

}FOC_FLAGS_T;

typedef enum
{
    FOC_INIT = 0,
    FOC_ROTOR_ALIGN = 1,
    FOC_OPEN_LOOP = 2,
    FOC_CLOSE_LOOP = 3,
    FOC_STALL = 4,
    FOC_HALL_CALIB = 5,
    FOC_HALL_ANGLE_INIT = 6,
    FOC_STOP = 7,

}FOC_STATE_TYPES;

typedef struct
{
    const MC_ABC_T
        *pIabc;

    const int32_t
        *pFOCAngle,
        *pVelocityReference,
        *pVdc,
        *pInvVdc;

    FOC_STATE_TYPES
        state;

    MC_SINCOS_T
        sinCos;

    MC_ABC_T
        mabc;

    MC_SVM_T
        svm;

    MC_ALPHABETA_T
        iAlphaBeta,
        vAlphaBeta,
        mAlphaBeta,
        dAlphaBeta;

    MC_DQ_T
        idq,
        vdq,
        vdqForce,
        mdqForceSet,
        mdq,
        ddq;

    PI_T
        piId,
        piIq;

    OPEN_LOOP_T
        openLoop;

    CLOSE_LOOP_T
        closeLoop;

    STALL_DETECT_T
        stallDetect;

    DEAD_TIME_COMPUTE_T
        *pDeadTime;

    int32_t
        modIndexLimit,
        electricalCycleCountMax;

    FOC_FLAGS_T
        flags;

    HALL_CALIB_T
        hallCalibObj;

    HALL_ESTIMATOR_OBJ_T
        hallObj;
}FOC_T;

void focInit(FOC_T *pFOC);
void focRun(FOC_T *pFOC);
void focLowPriorityRun(FOC_T *pFOC);
inline _Bool getFOCStallStatusForAction(FOC_T *pFOC)
{
    return (pFOC->state == FOC_STALL);
}
inline _Bool getFOCStallStatusForReport(FOC_T *pFOC)
{
    return (pFOC->stallDetect.status != NO_STALL);
}
inline _Bool getKickBackStatus(FOC_T *pFOC)
{
    _Bool kickBackExpected;

    int32_t velocity = *(pFOC->closeLoop.pVelocity);

    kickBackExpected = (velocity > 0 && (pFOC->idq.q < 0)) ||
            (velocity < 0 && (pFOC->idq.q > 0));

    return kickBackExpected;
}

#endif /* FOC_INCLUDE_FOC_H_ */