hall_trap.h

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/*!****************************************************************************
 *  @file       hall_trap.h
 *  @brief      HALL_TRAP_MODULE Module
 *
 *  @anchor hall_trap_h
 *  # Overview
 *  
 *  API's releated to hall_trap
 * 
 *  <hr>
 ******************************************************************************/
#ifndef hall_trap_h
#define hall_trap_h

//*****************************************************************************
// the includes
//*****************************************************************************
#include "hal.h"

#ifdef __cplusplus
extern "C" {
#endif

//*****************************************************************************
//defines
//*****************************************************************************
#define HALLTRAP_HALT_TIME_US      (1e6)

//*****************************************************************************
// typedefs
//*****************************************************************************
typedef enum
{
    HALL_A = 0,
    HALL_B,
    HALL_C,
    HALL_MAX
}HALL;

typedef enum
{
    MOTOR_DIR_FORWARD = 0,
    MOTOR_DIR_REVERSE
}MOTOR_DIR;

typedef enum
{
    MOTOR_BRAKE_TYPE_COAST = 0,
    MOTOR_BRAKE_TYPE_BRAKE
}MOTOR_BRAKE_TYPE;

typedef enum
{
    MOTOR_STATE_RUN = 0,
    MOTOR_STATE_STOP
}MOTOR_STATE;

typedef enum
{
    HALLTRAP_COMM_STATE_C_TO_A = 1,
    HALLTRAP_COMM_STATE_A_TO_B = 2,
    HALLTRAP_COMM_STATE_C_TO_B = 3,
    HALLTRAP_COMM_STATE_B_TO_C = 4,
    HALLTRAP_COMM_STATE_B_TO_A = 5,
    HALLTRAP_COMM_STATE_A_TO_C = 6
}HALLTRAP_COMM_STATE;

typedef struct
{
    HAL_GPIO_IN hallA;
    HAL_GPIO_IN hallB;
    HAL_GPIO_IN hallC;
    HAL_PWM phaseA;
    HAL_PWM phaseB;
    HAL_PWM phaseC;
    HAL_CAPTURE_TIMER captureInput;
}Halltrap_Instance;

//*****************************************************************************
// the function prototypes
//*****************************************************************************
void Halltrap_Init(Halltrap_Instance *hallTrap);

void Halltrap_PWMUpdate(
        Halltrap_Instance *hallTrap, MOTOR_DIR dir, uint16_t pwmDuty);

uint32_t Halltrap_calculateMotorSpeed(
        Halltrap_Instance *hallTrap, uint32_t poles);

__STATIC_INLINE void Halltrap_setDeadband(
        Halltrap_Instance *hallTrap, uint16_t deadtime_ns)
{
    HAL_setDeadband(hallTrap->phaseA, deadtime_ns);
    HAL_setDeadband(hallTrap->phaseB, deadtime_ns);
    HAL_setDeadband(hallTrap->phaseC, deadtime_ns);
}

__STATIC_INLINE void Halltrap_setPWMFreq(
        Halltrap_Instance *hallTrap, uint32_t pwmFreq)
{
    HAL_setPWMFreq(hallTrap->phaseA, pwmFreq);
    HAL_setPWMFreq(hallTrap->phaseB, pwmFreq);
    HAL_setPWMFreq(hallTrap->phaseC, pwmFreq);
}

__STATIC_INLINE void Halltrap_stopMotor(
        Halltrap_Instance *hallTrap, MOTOR_BRAKE_TYPE brakeType)
{
    if(brakeType == MOTOR_BRAKE_TYPE_COAST)
    {
        HAL_PWMOutputLow(hallTrap->phaseA, hallTrap->phaseB, hallTrap->phaseC);
    }
    else
    {
        HAL_PWMOutputHigh(hallTrap->phaseA, hallTrap->phaseB, hallTrap->phaseC);
    }
}

__STATIC_INLINE void Halltrap_disablePWM(Halltrap_Instance *hallTrap)
{
    HAL_PWMOutputLow(hallTrap->phaseA, hallTrap->phaseB, hallTrap->phaseC);
}

__STATIC_INLINE void Halltrap_changeMotorDirection(
        Halltrap_Instance *hallTrap, MOTOR_DIR dir)
{
    HAL_PWMOutputLow(hallTrap->phaseA, hallTrap->phaseB, hallTrap->phaseC);
    /* motor is halted for 1 second to allow the freewheeling
     * currents to circulate
     */
    HAL_delayMicroSeconds(HALLTRAP_HALT_TIME_US);
    uint16_t pulseWidth = 0;
    Halltrap_PWMUpdate(hallTrap, dir, pulseWidth);
}

#ifdef __cplusplus
}
#endif
#endif /* hall_trap_h */