closeLoop.h

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/*!****************************************************************************
 *  @file       closeLoop.h
 *  @brief      closeLoop Module
 *
 * 
 *  @anchor closeLoop_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/

#ifndef FOC_INCLUDE_CLOSELOOP_H_
#define FOC_INCLUDE_CLOSELOOP_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 "idReferencing.h"
#include "mcLib.h"
#include "iqNum.h"
#include "measure.h"
#include "main.h"

#define SPEED_ERROR_THRESHOLD_PU        0.05

#define SPEED_CMD_THRESHOLD             _IQ(0.04)

#define TRANSITION_SIN_ANGLE_ALIGN_THRESHOLD        _IQ(0.08715574275)

typedef union
{
    struct closeLoopFlags
    {
        _Bool
            torqueModeEnable: 1,
            avsEnable: 1,
            hallFilterEn: 1;

    }
    b;
    uint16_t w;

}CLOSE_LOOP_FLAGS_T;

typedef enum
{
    COMMUTATION_UNALIGNED = 0,
    COMMUTATION_ALIGNED = 1,

}COMMUTATION_STATE_TYPES;

typedef enum
{
    CLOSE_LOOP_UNDEFINED_STATE = 0,

    CLOSE_LOOP_STEADY_STATE = 1,

    CLOSE_LOOP_ACCELERATE = 2,

    CLOSE_LOOP_DECELERATE = 3,

}SPEED_CHANGE_STATE_TYPES;

typedef enum
{
    CONTROL_SPEED = 0,
    CONTROL_POWER = 1,
    CONTROL_TORQUE = 2,
    CONTROL_VOLTAGE = 3,
}APP_CONTROL_TYPES;

typedef struct
{
    const int32_t
        *pTargetVelocity,
        *pFluxAngle,
        *pVelocity,
        *pSpeed,
        *psourceCurrentFeedbackFilt;

    const MC_ABC_T
        *pMabc,
        *pDabc,
        *pIabc;

    COMMUTATION_STATE_TYPES
        commutationState;

    SPEED_CHANGE_STATE_TYPES
        speedChangeState;

    int32_t
        iRefMax,
        iqRefMax,
        targetVelocityLimited,
        targetSpeedLimited,
        velocityReference,
        speedReference,
        PowerReference,
        PowerFeedback,
        maximumPower,
        accelSpeedRefSlewRate,
        decelSpeedRefSlewRate,
        slowAccelSpeedRefSlewRate,
        slowDecelSpeedRefSlewRate,
        fastAccelSpeedRefSlewRate,
        fastDecelSpeedRefSlewRate,
        velocityReferenceMax,
        velocityReferenceMin,
        angle,
        angleOffset,
        angleAlignStep,
        currentReferenceSqrMaxSet,
        currentReferenceSqrMax,
        transitionSpeed,
        sourceCurrentFeedback,
        modIndexSqr,
        modIndexSqrLimit,
        torqRefScalingFactor;

    MC_DQ_T
        idqRef;

    ID_REF_T
        idRefGen;

    PI_T
        piSpeed;

    CLOSE_LOOP_FLAGS_T
        flags;

    APP_CONTROL_TYPES
        controlMode;

    MC_SINCOS_T
        mdqForceSinCos;

}CLOSE_LOOP_T;

/* Close Loop Interface Functions */

void closeLoopInit(CLOSE_LOOP_T *pCloseLoop);
void closeLoopRun(CLOSE_LOOP_T *pCloseLoop);
void closeLoopLowPriorityRun(CLOSE_LOOP_T *pCloseLoop);

inline _Bool getCloseLoopAlignedStatus(CLOSE_LOOP_T *pCloseLoop)
{
    return (pCloseLoop->commutationState == COMMUTATION_ALIGNED);
}
inline _Bool getAvsStatus(CLOSE_LOOP_T *pCloseLoop)
{
    _Bool decelExpected, speedDecelExpected;

    speedDecelExpected = *pCloseLoop->pSpeed > (pCloseLoop->targetSpeedLimited +
                            _IQmpy(pCloseLoop->targetSpeedLimited,
                                   _IQ(SPEED_ERROR_THRESHOLD_PU)));

    return (pCloseLoop->flags.b.avsEnable &&
                (pCloseLoop->idqRef.q == 0));
}

#endif /* FOC_INCLUDE_CLOSELOOP_H_ */