hallCalib.h

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/*!****************************************************************************
 *  @file       hallCalib.h
 *  @brief      HALL Calibration module
 *
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef FOC_INCLUDE_HALL_CALIBRATION_H_
#define FOC_INCLUDE_HALL_CALIBRATION_H_

#include "stdint.h"
#include "mcLib.h"
#include "measure.h"

#define CALIBRATION_ALIGN_ANGLE  _IQ(0.125)


#define CALIBRATION_ANGLE_STEP  _IQ(0.5/360.0)

#define HALL_ANGLE_MASK  0x7FFFFFF

#define HALL_ANGLE_OVERFLOW_MASK  0xF8000000

typedef enum
{
    HALL_CALIB_INIT = 0,
    HAL_CALIB_ALIGN = 1,
    HAL_CALIB_RUN_FORWARD = 2,
    HAL_CALIB_RUN_REVERSE = 3,
    HAL_CALIB_COMPUTE = 4,
    HAL_CALIB_COMPLETE = 5,
    HAL_CALIB_FAILED  = 6

}HALL_CALIBRATION_STATE_e;

typedef struct
{
    const int32_t
        *pTargetVelocity;


    int32_t
        idRef,
        iqRef,
        idRefMax,
        idRefSlewRate,
        idRefSet,
        angleSet,
        angle;
       int32_t
       *pThetaHallForwardPU;

       int32_t
       *pThetaHallReversePU;

    uint32_t polePairs;
    
    uint16_t
        count,
        countMax,
        countMaxAlign,
        countMaxStop,
        countMaxCalibRun,
        calibSectorCount,
        hallIndex,
        hallIndexPrev;

    HALL_CALIBRATION_STATE_e
        calibState;


    bool
        status;
    bool
        hallCalibEnable;
    const uint8_t *pHallSectorPerRev;

    HAL_MEASURE_HALL_HANDLE_T *pHALLIntHandle;

}HALL_CALIB_T;

void hallCalibInit(HALL_CALIB_T *pHallCalibHandle);
void hallCalibRun(HALL_CALIB_T *pHallCalibHandle);
inline _Bool getHallCalibStatus(HALL_CALIB_T *pHallCalibHandle)
{
    return pHallCalibHandle->status;
}

#endif /* FOC_INCLUDE_HALL_CALIBRATION_H_ */