Detailed Description

HAL interface for FOC Module.

Overview

HAL Apis used by FOC motor control

#include "ti_msp_dl_config.h"
#include <ti/iqmath/include/IQmathLib.h>
#include "IQmath_mathacl.h"
#include "focPeriphInit.h"
#include "gateDriver.h"
#include "stdint.h"
#include "measure.h"
#include "mcLib.h"
#include "main.h"
#include "iqNum.h"
#include "appInterface.h"

Include dependency graph for focHALInterface.h:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Macros
#define	MIN_FLOAT_VOLTAGE (0.1)
	Minimum floating voltage for phase in per unit.

#define	MAX_FLOAT_VOLTAGE (0.9)
	Maximum floating voltage for phase in per unit.

#define	HAL_MCU_CLK_SPEED_HZ (80000000)
	MCU clock frequency.

#define	HAL_CYCLES_TO_1_US_DELAY (HAL_MCU_CLK_SPEED_HZ/1000000)
	Cycles for 1 us delay.

#define	HAL_GPIO_HIGH (1)
	Gpio high state.

#define	HAL_GPIO_LOW (0)
	Gpio low state.

Enumerations
enum	VOLTAGE_VECTOR { VOLTAGE_VECTOR_AC = 0, VOLTAGE_VECTOR_CA, VOLTAGE_VECTOR_BC, VOLTAGE_VECTOR_CB, VOLTAGE_VECTOR_BA, VOLTAGE_VECTOR_AB, VOLTAGE_VECTOR_MAX }
	VOLTAGE_VECTOR. More...

Functions
void	HAL_ReadMotorInputs (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Read Motor inputs. More...

void	HAL_SetPhaseCurrentChannels (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Set Phase current channels. More...

void	HAL_setADCIdxChannel (ADC12_Regs *adc12, DL_ADC12_MEM_IDX idx, uint32_t chansel)
	Set ADC channel to index. More...

void	HAL_ReadCurrents (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Read phase currents. More...

void	HAL_SelectShuntMeasure (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Select two shunt if duty saturates in any phases. More...

void	HAL_EnablePWM (void)
	Enable PWMs.

void	HAL_DisablePWM (void)
	Disable PWMs and all outputs are forced low.

void	HAL_EnableLowSideBrake (void)
	Turns all low side PWM outputs high.

void	HAL_UpdateDuty (const MC_ABC_T *pABC, const int32_t FullDuty, MC_SECTOR_TYPES voltageSector, int32_t minDelta, int32_t blankingTime)
	Set PWM dutycycles. More...

void	HAL_SetPWMFrequency (const int32_t pwmPeriod, const int32_t propagationDelay)
	Set PWM Frequency. More...

void	HAL_SetADCSamplingFrequency (const ADC_SAMPLING_RATIO_TYPES samplingRatio)
	Set ADC sampling frequency. More...

void	HAL_SetSystemFrequency (const int32_t systemPeriod)
	Set System timer frequency. More...

void	HAL_ClearNFault (void)
	Sets Nfault pin low.

void	HAL_SetNFault (void)
	Sets Nfault pin high.

uint32_t	HAL_getRawHVdieFaultStatus (void)
	Gets the latched fault status. More...

uint32_t	HAL_getRawFaultStatus (void)
	Gets the fault status. More...

void	HAL_clearFaultStatus (void)
	Clears the fault status in pwm.

void	HAL_setGateDriveOffsetCalib (void)
	Starts gate driver offset calibration.

void	HAL_resetGateDriveOffsetCalib (void)
	Stops gate driver offset calibration.

void	HAL_pwmCountZero (void)
	Set PWMs to zero.

void	HAL_delayMicroSeconds (uint32_t num_us)
	Blocks for the specified delay time. More...

void	HAL_DisableINT (void)
	Disables all the interrupts.

void	HAL_resetPOR (void)
	Triggers a POR reset.

_Bool	HAL_getDirPinStatus (void)
	Get the status of the Direction pin. More...

uint16_t	HAL_Is_SingleShunt (void)
	Returns Shunt Config. More...

_Bool	HAL_getBrakePinStatus (void)
	Get the status of the brake pin. More...

__STATIC_INLINE void	HAL_TimerOverRideCCPOut (GPTIMER_Regs *gptimer, DL_TIMER_FORCE_OUT out, DL_TIMER_FORCE_CMPL_OUT outComp, DL_TIMER_CC_INDEX ccIndex)
	Overrides the timer CCP output. More...

__STATIC_INLINE void	HAL_FGToggle (void)
	Toggle the GPIO to high and low for every sector change.

__STATIC_INLINE void	HAL_PWMForceHigh (DL_TIMER_CC_INDEX CCIdx)
	Force the PWM out to high and complement out to low. More...

__STATIC_INLINE void	HAL_PWMForceLow (DL_TIMER_CC_INDEX CCIdx)
	Force the PWM out to low and complement out to high. More...

__STATIC_INLINE void	HAL_PWMForceDisable (DL_TIMER_CC_INDEX CCIdx)
	Disable forcing the PWM out and complement out. More...

__STATIC_INLINE void	HAL_PWMAllForceDisable ()
	Disable forcing All PWM out and complement out.

__STATIC_INLINE void	HAL_PWMAllForceLow ()
	Forcing low All PWM out and complement out.

__STATIC_INLINE void	HAL_setCaptureCompareValue (GPTIMER_Regs *gptimer, uint32_t value, DL_TIMER_CC_INDEX ccIndex)
	Set the Capture Compare Value for Timer. More...

Enumeration Type Documentation

§ VOLTAGE_VECTOR

enum VOLTAGE_VECTOR

VOLTAGE_VECTOR.

Enumerator
VOLTAGE_VECTOR_AC	IPD vector AC
VOLTAGE_VECTOR_CA	IPD vector CA
VOLTAGE_VECTOR_BC	IPD vector BC
VOLTAGE_VECTOR_CB	IPD vector CB
VOLTAGE_VECTOR_BA	IPD vector BA
VOLTAGE_VECTOR_AB	IPD vector AB
VOLTAGE_VECTOR_MAX	Max number of IPD vectors

Function Documentation

§ HAL_ReadMotorInputs()

void HAL_ReadMotorInputs ( HAL_MEASURE_MOTOR_INPUTS_T * pMotorInputs )

Read Motor inputs.

Parameters

[in] pMotorInputs Pointer to motor input

References HAL_MEASURE_MOTOR_INPUTS_T::current, HAL_GD_ReadDCVBusVoltage(), HAL_ReadCurrents(), HAL_MEASURE_CURRENT_T::pMaxDutyPhase, HAL_MEASURE_CURRENT_T::prevMaxDutyPhase, and HAL_MEASURE_MOTOR_INPUTS_T::voltage.

§ HAL_SetPhaseCurrentChannels()

void HAL_SetPhaseCurrentChannels ( HAL_MEASURE_MOTOR_INPUTS_T * pMotorInputs )

Set Phase current channels.

Parameters

[in] pMotorInputs Pointer to motor input

References HAL_MEASURE_MOTOR_INPUTS_T::current, HAL_MEASURE_CURRENT_T::currentShunt, FOC_ADC0_INST, FOC_ADC1_INST, and HAL_GD_ConfigureCurrentChannels().

Referenced by HAL_SelectShuntMeasure(), loadRun(), and measureCurrentOffset().

§ HAL_setADCIdxChannel()

void HAL_setADCIdxChannel	(	ADC12_Regs *	adc12,
		DL_ADC12_MEM_IDX	idx,
		uint32_t	chansel
	)

Set ADC channel to index.

Parameters

[in]	adc12	Pointer to ADC instance
[in]	idx	ADC index
[in]	chansel	channel to set in index

§ HAL_ReadCurrents()

void HAL_ReadCurrents ( HAL_MEASURE_MOTOR_INPUTS_T * pMotorInputs )

Read phase currents.

Parameters

[in] pMotorInputs Pointer to motor input

References _IQmpy_mathacl, MC_ABC_T::a, MC_ABC_T::b, MC_ABC_T::c, HAL_MEASURE_MOTOR_INPUTS_T::current, CURRENT_THREE_SHUNT_A_BC, CURRENT_TWO_SHUNT_A_B, CURRENT_TWO_SHUNT_A_C, CURRENT_TWO_SHUNT_B_C, HAL_MEASURE_CURRENT_T::currentShunt, getMeasureOffsetStatus(), HAL_currentReconstruction(), HAL_GD_ReadCurrents(), HAL_MEASURE_CURRENT_T::iabc, HAL_MEASURE_CURRENT_T::iabcRaw, CURRENT_OFFSET_T::iaOffset, CURRENT_OFFSET_T::ibADC0Offset, CURRENT_OFFSET_T::ibADC1Offset, CURRENT_OFFSET_T::icOffset, HAL_MEASURE_CURRENT_T::iMagSqr, HAL_MEASURE_CURRENT_T::pOffset, HAL_MEASURE_CURRENT_T::pPrevPrevSector, and TWO_BY_THREE.

Referenced by HAL_ReadMotorInputs().

§ HAL_SelectShuntMeasure()

void HAL_SelectShuntMeasure ( HAL_MEASURE_MOTOR_INPUTS_T * pMotorInputs )

Select two shunt if duty saturates in any phases.

Parameters

[in] pMotorInputs Pointer to motor input

References MEASURE_CURRENT_FLAGS_T::b, HAL_MEASURE_MOTOR_INPUTS_T::current, CURRENT_TWO_SHUNT_A_B, CURRENT_TWO_SHUNT_A_C, CURRENT_TWO_SHUNT_B_C, HAL_MEASURE_CURRENT_T::currentShunt, HAL_MEASURE_CURRENT_T::currentShuntSet, HAL_MEASURE_CURRENT_T::flags, HAL_SetPhaseCurrentChannels(), PHASE_A, PHASE_B, PHASE_C, PHASE_INVALID, HAL_MEASURE_CURRENT_T::pMaxDutyPhase, HAL_MEASURE_CURRENT_T::prevMaxDutyPhase, and measureCurrentFlags::threeShuntDynamic.

§ HAL_UpdateDuty()

void HAL_UpdateDuty	(	const MC_ABC_T *	pABC,
		const int32_t	FullDuty,
		MC_SECTOR_TYPES	voltageSector,
		int32_t	minDelta,
		int32_t	blankingTime
	)

Set PWM dutycycles.

Parameters

[in]	pABC	Pointer to dutycycle
[in]	FullDuty	Full dutycycle
[in]	voltageSector	Voltage sector
[in]	minDelta	minimum PWM delta
[in]	blankingTime	Blanking time

§ HAL_SetPWMFrequency()

void HAL_SetPWMFrequency	(	const int32_t	pwmPeriod,
		const int32_t	propagationDelay
	)

Set PWM Frequency.

Parameters

[in]	pwmPeriod	PWM period to set
[in]	propagationDelay	Propagation delay

References ADC_PWM_TRIG_CH, FOC_PWMA0_ADC_TRIG_LOAD_EVENT, FOC_PWMA0_INST, FOC_TIMA1_INST, and HAL_setCaptureCompareValue().

Referenced by updateConfigurationParameters().

§ HAL_SetADCSamplingFrequency()

void HAL_SetADCSamplingFrequency ( const ADC_SAMPLING_RATIO_TYPES samplingRatio )

Set ADC sampling frequency.

Parameters

[in] samplingRatio ADC sampling ratio

References ADC_PWM_TRIG_CH, FOC_ADC0_INST, FOC_ADC1_INST, FOC_PWMA0_INST, FOC_TIMA1_INST, and HAL_setCaptureCompareValue().

Referenced by updateConfigurationParameters().

§ HAL_SetSystemFrequency()

void HAL_SetSystemFrequency ( const int32_t systemPeriod )

Set System timer frequency.

Parameters

[in] systemPeriod Timer period

References FOC_TIMER_INST.

Referenced by updateConfigurationParameters().

§ HAL_getRawHVdieFaultStatus()

uint32_t HAL_getRawHVdieFaultStatus ( void )

Gets the latched fault status.

Returns: Returns latched Fault status

References FOC_PWMA0_INST.

§ HAL_getRawFaultStatus()

uint32_t HAL_getRawFaultStatus ( void )

Gets the fault status.

Returns: Returns Fault status

References FOC_PWMA0_INST.

Referenced by FOC_fault_Recovery().

§ HAL_getDirPinStatus()

_Bool HAL_getDirPinStatus ( void )

Get the status of the Direction pin.

Returns: Returns GPIO state of Direction pin

Return values

true	Direction pin is high
false	Direction pin is low

References FOC_GPIO_DIR_PIN, FOC_GPIO_DIR_PORT, HAL_GPIO_HIGH, and HAL_GPIO_LOW.

Referenced by update_DirectionStatus().

§ HAL_Is_SingleShunt()

uint16_t HAL_Is_SingleShunt ( void )

Returns Shunt Config.

Returns: Returns True for Single Shunt Config

References FALSE, and TRUE.

§ HAL_getBrakePinStatus()

_Bool HAL_getBrakePinStatus ( void )

Get the status of the brake pin.

Returns: Returns GPIO state of brake pin

Return values

true	brake pin is high
false	brake pin is low

References FOC_GPIO_BRAKE_PIN, FOC_GPIO_BRAKE_PORT, HAL_GPIO_HIGH, and HAL_GPIO_LOW.

Referenced by update_BrakeStatus().

§ HAL_TimerOverRideCCPOut()

__STATIC_INLINE void HAL_TimerOverRideCCPOut	(	GPTIMER_Regs *	gptimer,
		DL_TIMER_FORCE_OUT	out,
		DL_TIMER_FORCE_CMPL_OUT	outComp,
		DL_TIMER_CC_INDEX	ccIndex
	)

Overrides the timer CCP output.

Parameters

[in]	gptimer	Pointer to timer instance.
[in]	out	Specifies the CCP output state.
[in]	outComp	Specifies the complementary output state.
[in]	ccIndex	Capture Compare Index.

Referenced by HAL_DisablePWM(), HAL_EnableLowSideBrake(), HAL_EnablePWM(), HAL_PWMForceDisable(), HAL_PWMForceHigh(), and HAL_PWMForceLow().

§ HAL_PWMForceHigh()

__STATIC_INLINE void HAL_PWMForceHigh ( DL_TIMER_CC_INDEX CCIdx )

Force the PWM out to high and complement out to low.

Parameters

[in] CCIdx A PWM CC index.

References FOC_PWMA0_INST, and HAL_TimerOverRideCCPOut().

§ HAL_PWMForceLow()

__STATIC_INLINE void HAL_PWMForceLow ( DL_TIMER_CC_INDEX CCIdx )

Force the PWM out to low and complement out to high.

Parameters

[in] CCIdx A PWM CC index.

References FOC_PWMA0_INST, and HAL_TimerOverRideCCPOut().

Referenced by HAL_EnableLowSideBrake(), and HAL_PWMAllForceLow().

§ HAL_PWMForceDisable()

__STATIC_INLINE void HAL_PWMForceDisable ( DL_TIMER_CC_INDEX CCIdx )

Disable forcing the PWM out and complement out.

Parameters

[in] CCIdx A PWM CC index.

References FOC_PWMA0_INST, and HAL_TimerOverRideCCPOut().

Referenced by HAL_EnableLowSideBrake(), and HAL_PWMAllForceDisable().

§ HAL_setCaptureCompareValue()

__STATIC_INLINE void HAL_setCaptureCompareValue	(	GPTIMER_Regs *	gptimer,
		uint32_t	value,
		DL_TIMER_CC_INDEX	ccIndex
	)

Set the Capture Compare Value for Timer.

Parameters

[in]	gptimer	Pointer to timer instance.
[in]	value	Compare Value.
[in]	ccIndex	Capture Compare Index.

Referenced by HAL_DisablePWM(), HAL_EnableLowSideBrake(), HAL_pwmCountZero(), HAL_SetADCSamplingFrequency(), and HAL_SetPWMFrequency().

Detailed Description

Overview

Macros

Enumerations

Functions

Enumeration Type Documentation

§ VOLTAGE_VECTOR

Function Documentation

§ HAL_ReadMotorInputs()

§ HAL_SetPhaseCurrentChannels()

§ HAL_setADCIdxChannel()

§ HAL_ReadCurrents()

§ HAL_SelectShuntMeasure()

§ HAL_UpdateDuty()

§ HAL_SetPWMFrequency()

§ HAL_SetADCSamplingFrequency()

§ HAL_SetSystemFrequency()

§ HAL_getRawHVdieFaultStatus()

§ HAL_getRawFaultStatus()

§ HAL_getDirPinStatus()

§ HAL_Is_SingleShunt()

§ HAL_getBrakePinStatus()

§ HAL_TimerOverRideCCPOut()

§ HAL_PWMForceHigh()

§ HAL_PWMForceLow()

§ HAL_PWMForceDisable()

§ HAL_setCaptureCompareValue()