mcLib.h

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/*!****************************************************************************
 *  @file       mcLib.h
 *  @brief      Motor Control Library Module
 *
 * 
 *  @anchor mcLib_h
 *  # Overview
 *
 *  defines motor control algorithm APIs
 *
 *  <hr>
 ******************************************************************************/

#ifndef MCLIB_H
#define MCLIB_H

#include "iqTrig.h"

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

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

#include "stdint.h"
#include "main.h"

#ifdef __cplusplus
extern "C" {
#endif

#define ONE_BY_THREE        _IQ(1.0/3.0)

#define TWO_BY_THREE        _IQ(2.0/3.0)

#define ONE_BY_SQRT_THREE   _IQ(0.57735026918963)

#define TWO_BY_SQRT_THREE   _IQmpy2(ONE_BY_SQRT_THREE)

#define SQRT_THREE_BY_TWO   _IQ(0.866025403784439)

#define ONE_BY_TWO          _IQ(0.5)

#define SQRT_THREE          _IQ(1.732050808)

typedef struct
{
    int32_t
        a,
        b,
        c;
}MC_ABC_T;

typedef struct
{
    int32_t
        alpha,
        beta;
}MC_ALPHABETA_T;

typedef struct
{
    int32_t
        d,
        q;
}MC_DQ_T;

typedef struct
{
    int32_t
        sin,
        cos;
}MC_SINCOS_T;

typedef enum
{
    PHASE_INVALID = 0,
    PHASE_A = 1,
    PHASE_B = 2,
    PHASE_C = 3,
}MC_PHASE_TYPES;

typedef enum
{
    SECTOR_INVALID = 0,
    SECTOR_1 = 1,
    SECTOR_2 = 2,
    SECTOR_3 = 3,
    SECTOR_4 = 4,
    SECTOR_5 = 5,
    SECTOR_6 = 6,
}MC_SECTOR_TYPES;

typedef enum
{
    SVM_CONTINUOUS = 0,
    SVM_DISCONTINUOUS = 1,
}SVM_GENERATOR_TYPES;

typedef struct
{

    MC_SECTOR_TYPES
        voltageSector,  
        angleSector,
        prevPrevVoltageSector,
        prevVoltageSector;

    MC_PHASE_TYPES
        maxDutyPhase,   
        minDutyPhase;   

    int32_t
        minDuty,
        minDutyDisCont,
        blankingTime,
        minPWMdelta;

    SVM_GENERATOR_TYPES
        svmGen;         

    MC_ABC_T
        Dabc;
    uint8_t
        sectorCount;

}MC_SVM_T;

void MC_ClarkeTransformNoZeroSeq(MC_ALPHABETA_T *pAlphaBeta,
                                     const MC_ABC_T *pABC);

void MC_ClarkeTransform(MC_ALPHABETA_T *pAlphaBeta,
                                     const MC_ABC_T *pABC);

void MC_SVM_ClarkeTransform(MC_ALPHABETA_T *pAlphaBeta,
                                     const MC_ABC_T *pABC);

void MC_InverseClarkeTransform(MC_ABC_T *pABC,
                                   const MC_ALPHABETA_T *pAlphaBeta);

void MC_ParkTransform(MC_DQ_T *pDQ,
                           const MC_ALPHABETA_T *pAlphaBeta,
                           const MC_SINCOS_T *pSinCos);

void MC_InverseParkTransform(MC_ALPHABETA_T *pAlphaBeta,
                                  const MC_DQ_T *pDQ,
                                  const MC_SINCOS_T *pSinCos);

void MC_SinCos(MC_SINCOS_T *pSinCos, const int32_t angle);

void MC_SpaceVectorGen(MC_SVM_T *pSVM, MC_ABC_T *pMabc);

void MC_AngleSectorGen(MC_SVM_T *pSVM,
                              const MC_SINCOS_T *pSinCos,
                              const int32_t velocity);

#endif /* MCLIB_H */