application.h

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/*!****************************************************************************
 *  @file       application.h
 *  @brief      application Module
 *
 * 
 *  @anchor application_h
 *  # Overview
 *
 *  Implements FOC state machine
 *
 *  <hr>
 ******************************************************************************/

#ifndef APPLICATION_H_
#define APPLICATION_H_

#ifdef __cplusplus
 extern "C" {
#endif

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

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

#include "appInterface.h"
#include "measure.h"
#include "foc.h"
#include "motor.h"
#include "sourceLimits.h"
#include "load.h"
#include "deadTimeCompute.h"
#include "faults.h"
#include "hallCalib.h"


#define MIN_TARGET_DUTY_FLOAT                       0.01

#define MIN_TARGET_SPEED                            _IQ(MIN_TARGET_DUTY_FLOAT)

#define VOLTAGE_OUT_OF_BOUNDS_TIME_MSEC             50.0

#define NO_MOTOR_TIME_MSEC                         500

#define ABNORMAL_SPEED_TIME_MSEC                    10

typedef enum
{
    APP_INIT = 0,
    APP_IDLE = 1,
    APP_OFFSET_CALIBRATION = 2,
    APP_START = 3,
    APP_RUN = 4,
    APP_STOP = 5,
    APP_BRAKE = 6,
    APP_FAULT = 7,

}APP_STATE_TYPES;

typedef union
{
    struct appFlags
    {
        _Bool
            runCmd: 1,
            brakeCmd: 1,
            reverseDirectionCmd: 1,
            prevDirectionCmd: 1,
            directionActionTaken: 1,
            hwDieFaultStatus: 1,
            motorRun: 1;

    }
    b;
    uint16_t w;

}APP_FLAGS_T;

typedef struct
{

    APP_STATE_TYPES
        state;

    APP_FAULT_TYPES
        faultStatus;

    APP_FLAGS_T
        flags;

    APP_INTERFACE_T
        *pAppInterface;

    int32_t
        targetVelocity,
        minimumSpeed,
        maximumSpeed;

    SOURCE_LIMITS_T
        sourceLimits;

    HAL_MEASURE_MOTOR_INPUTS_T
        motorInputs;

    MOTOR_T
        motor;

    FOC_T
        foc;

    LOAD_T
        load;

    DEAD_TIME_COMPUTE_T
        deadTime;

    const MC_ABC_T
        *pDabc;

    MC_SECTOR_TYPES
        *pVoltageSector;
        
    int32_t
        *pBlankingTime;
        
    int32_t
        *pMinPWMdelta;

    FAULT_SERVICE_T
        faultService;

    int32_t
        hallAngleTableForward[MAX_HALL_INDEX],
        hallAngleTableReverse[MAX_HALL_INDEX];

}SENSORED_FOC_APPLICATION_T;

extern SENSORED_FOC_APPLICATION_T *g_pMC_App;

/* faults prototype */
void FOC_faultReport(SENSORED_FOC_APPLICATION_T *pMC_App, FAULT_SERVICE_T *pFault);
void FOC_fault_Recovery(SENSORED_FOC_APPLICATION_T *pMC_App, FAULT_SERVICE_T *pFault);

#endif /* APPLICATION_H_ */