hallEstimator.h File Reference

Detailed Description

HallEstimator Module.

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Overview

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#include <ti/iqmath/include/IQmathLib.h>
#include "IQmath_mathacl.h"
#include "iqNum.h"
#include "motor.h"
#include "mcLib.h"
#include "measure.h"

Include dependency graph for hallEstimator.h:

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Data Structures
struct	HALL_ESTIMATOR_OBJ_T
	Hall Estimator structure. More...
struct	HALL_INVALID_STALL_DETECT_T
	Hall Invalid Stall structure. More...

Macros
#define	HALL_SPEED_FILTER_CONST   _IQ(0.005)
	Hall SPEED FILTER CONSTANT.
#define	HALL_ANGLE_MASK   0x7FFFFFF
	HALL angle mask to reset for 27 bits.
#define	HALL_ANGLE_OVERFLOW_MASK   0xF8000000
	Hall angle Overflow Mask for 27 bits.

Typedefs
typedef struct HALL_ESTIMATOR_OBJ_T	HALL_ESTIMATOR_OBJ_T
	Hall Estimator structure.
typedef struct HALL_INVALID_STALL_DETECT_T	HALL_INVALID_STALL_DETECT_T
	Hall Invalid Stall structure.

Enumerations
enum	HALL_State_e {   HALL_IDLE = 0,   HALL_CALIBRATION = 1,   HALL_CALIBRATION_DONE = 2 }
	Hall State Enumeration. More...

Functions
void	hallAngleEstimRun (HALL_ESTIMATOR_OBJ_T *pHallHandle)
	Hall Angle Estimator run. More...
int32_t	hallForcedAngleRun (HALL_ESTIMATOR_OBJ_T *pHallHandle)
	Hall Angle Forced open Loop run. More...
void	hallAngleInit (HALL_ESTIMATOR_OBJ_T *pHallHandle)
	Hall Angle Finit. More...
void	hallSinCosEstim (MC_SINCOS_T *pFOCSinCos, HALL_ESTIMATOR_OBJ_T *pHallHandle)
	Hall Angle Estim - Sine & Cosine. More...
bool	hallInvalidStallDetectRun (uint16_t *pHallSector)
	Invalid Hall Check. More...

Enumeration Type Documentation

HALL_State_e

enum HALL_State_e

Hall State Enumeration.

Enumerator
HALL_IDLE	State for Idle
HALL_CALIBRATION	State for Derived Hall Calibration
HALL_CALIBRATION_DONE	State for completed Hall Calibration

Function Documentation

hallAngleEstimRun()

void hallAngleEstimRun

(

HALL_ESTIMATOR_OBJ_T *

pHallHandle

)

Hall Angle Estimator run.

Parameters

[in]

*pHallHandle

Pointer

References _IQmpy_mathacl, FALSE, HALL_ESTIMATOR_OBJ_T::freqTs, getHallFrequency(), getHallPhaseError(), HALL_ANGLE_MASK, HALL_ANGLE_OVERFLOW_MASK, HALL_ESTIMATOR_OBJ_T::hallEstimFluxAngle, HALL_ESTIMATOR_OBJ_T::hallEstimSpeedFilt, HALL_ESTIMATOR_OBJ_T::hallEstimVelocity, HALL_ESTIMATOR_OBJ_T::hallEstimVelocityFilt, HALL_ESTIMATOR_OBJ_T::hallIndex, HALL_ESTIMATOR_OBJ_T::hallIndexNext, HALL_ESTIMATOR_OBJ_T::hallIndexPrev, HALL_ESTIMATOR_OBJ_T::hallNextIndexAngle, HALL_ESTIMATOR_OBJ_T::hallSectorChange, HALL_ESTIMATOR_OBJ_T::hallSectorCount, HALL_ESTIMATOR_OBJ_T::hallSpeedPWMCount, HALL_ESTIMATOR_OBJ_T::hallSpeedPWMRatio, HALL_ESTIMATOR_OBJ_T::pDeltaT, HALL_ESTIMATOR_OBJ_T::pHALLIntHandle, HALL_ESTIMATOR_OBJ_T::pTargetVelocity, HALL_ESTIMATOR_OBJ_T::pThetaHallIndexPU, ReadHallState(), and TRUE.

Referenced by focRun().

hallForcedAngleRun()

int32_t hallForcedAngleRun

(

HALL_ESTIMATOR_OBJ_T *

pHallHandle

)

Hall Angle Forced open Loop run.

Parameters

[in]

*pHallHandle

Pointer

Returns

Returns the Hall Flux angle

References HALL_ESTIMATOR_OBJ_T::hallIndex, and HALL_ESTIMATOR_OBJ_T::pThetaHallIndexPU.

Referenced by focRun().

hallAngleInit()

void hallAngleInit

(

HALL_ESTIMATOR_OBJ_T *

pHallHandle

)

Hall Angle Finit.

Parameters

[in]

*pHallHandle

Pointer

References HALL_ESTIMATOR_OBJ_T::gainEst, HALL_ESTIMATOR_OBJ_T::hallEstimFluxAngle, HALL_ESTIMATOR_OBJ_T::hallIndex, HALL_ESTIMATOR_OBJ_T::hallSectorCount, HALL_ESTIMATOR_OBJ_T::pHALLIntHandle, HALL_ESTIMATOR_OBJ_T::pThetaHallIndexPU, and ReadHallState().

Referenced by focRun().

hallSinCosEstim()

void hallSinCosEstim	(	MC_SINCOS_T *	pFOCSinCos,
		HALL_ESTIMATOR_OBJ_T *	pHallHandle
	)

Hall Angle Estim - Sine & Cosine.

Parameters

[in]	*pFOCSinCos	MC Sine Cos Pointer
[in]	*pHallHandle	Hall Input Pointer

References _IQmpy_mathacl, MC_SINCOS_T::cos, HALL_ESTIMATOR_OBJ_T::freqTs, HALL_ESTIMATOR_OBJ_T::gainEst, HALL_ESTIMATOR_OBJ_T::omegaTs, HALL_ESTIMATOR_OBJ_T::prevSinCos, MC_SINCOS_T::sin, HALL_ESTIMATOR_OBJ_T::sinCos, and HALL_ESTIMATOR_OBJ_T::sinErr.

Referenced by focRun().

hallInvalidStallDetectRun()

bool hallInvalidStallDetectRun

(

uint16_t *

pHallSector

)

Invalid Hall Check.

Parameters

[in]

*pHallSector

Pointer

Returns

Returns true if invalid Hall state is detected

Referenced by stallDetectRun().