measure.h File Reference

Detailed Description

HAL interface for FOC Module.

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Overview

HAL Apis used for measurement from ADC

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#include "stdint.h"
#include "mcLib.h"
#include "iqNum.h"
#include "main.h"
#include "hal.h"
#include "hallInterface.h"

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Data Structures
struct	CURRENT_OFFSET_T
	Current offset structure. More...
struct	measureCurrentFlags
	measureCurrentFlags structure More...
union	MEASURE_CURRENT_FLAGS_T
	Measure current flag. More...
struct	HAL_MEASURE_CURRENT_T
	Measure current structure. More...
struct	HAL_MEASURE_VOLTAGE_T
	Measure voltage structure. More...
struct	HAL_MEASURE_HALL_HANDLE_T
	Measure Hall Index. More...
struct	HAL_MEASURE_MOTOR_INPUTS_T
	Measure motor inputs structure. More...

Macros
#define	HAL_CURRENT_OFFSET_MEAS_BITS   5
	Current offset averaging factor 2^n.
#define	HAL_CURRENT_OFFSET_MEAS_COUNT   (1 << HAL_CURRENT_OFFSET_MEAS_BITS)
	Current offset averaging counts.
#define	INV_VDC_IQ_SCALING   25
	Inverse Vdc scaling.
#define	MAX_HALL_INDEX   7
#define	HALL_ANGLE_SUM   _IQ(3.0)

Enumerations
enum	VOLTAGE_GAIN_TYPES {   VOLTAGE_GAIN_VMAX_BY_4 = 2,   VOLTAGE_GAIN_VMAX_BY_2 = 1,   VOLTAGE_GAIN_VMAX_BY_1 = 0 }
	Voltage gain types. More...
enum	HAL_MEASUREMENT_TYPES {   MEASURE_PHASE_CURRENT = 0,   MEASURE_PHASE_VOLTAGE = 1 }
	HAL measurement types. More...
enum	CURRENT_SHUNT_TYPES {   CURRENT_INVALID = 0,   CURRENT_THREE_SHUNT_DYNAMIC = 1,   CURRENT_THREE_SHUNT_AB_C = 2,   CURRENT_THREE_SHUNT_A_BC = 3,   CURRENT_TWO_SHUNT_A_B = 4,   CURRENT_TWO_SHUNT_A_C = 5,   CURRENT_TWO_SHUNT_B_C = 6,   CURRENT_SINGLE_SHUNT = 7 }
	HAL measurement types. More...
enum	ADC_SAMPLING_RATIO_TYPES {   ADC_SAMPLE_EVERY_PWM = 0,   ADC_SAMPLE_EVERY_2_PWM = 1,   ADC_SAMPLE_EVERY_3_PWM = 2,   ADC_SAMPLE_EVERY_4_PWM = 3,   ADC_SAMPLE_EVERY_5_PWM = 4,   ADC_SAMPLE_EVERY_6_PWM = 5,   ADC_SAMPLE_EVERY_7_PWM = 6,   ADC_SAMPLE_EVERY_8_PWM = 7,   ADC_SAMPLE_EVERY_9_PWM = 8,   ADC_SAMPLE_EVERY_10_PWM = 9,   ADC_SAMPLE_EVERY_11_PWM = 10,   ADC_SAMPLE_EVERY_12_PWM = 11,   ADC_SAMPLE_EVERY_13_PWM = 12,   ADC_SAMPLE_EVERY_14_PWM = 13,   ADC_SAMPLE_EVERY_15_PWM = 14,   ADC_SAMPLE_EVERY_16_PWM = 15 }
	ADC sampling ratio types. More...
enum	OFFSET_MEASUREMENT_STATES {   OFFSET_INIT = 0,   COMPUTE_OFFSET = 1,   OFFSET_COMPLETE = 2 }
	Offset measurement states. More...

Functions
void	inputsInit (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Initializes motor iputs. More...
void	measureCurrentOffset (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Measures offset of current input. More...
_Bool	getMeasureOffsetStatus (HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
	Status of offset measurement. More...
uint16_t	ReadHallState (HAL_MEASURE_HALL_HANDLE_T *pHallHandle)
	ReadHallState. More...
int32_t	getHallFrequency (HAL_MEASURE_HALL_HANDLE_T *pHallHandle)
	getHallFrequency More...
int32_t	getHallPhaseError (HAL_MEASURE_HALL_HANDLE_T *pHallHandle, int32_t hallEstimVelocity)
	getHallPhaseError More...

Variables
HAL_MEASURE_MOTOR_INPUTS_T *	g_pMotorInputs
	Extern motor inputs.

Macro Definition Documentation

MAX_HALL_INDEX

#define MAX_HALL_INDEX   7

Maximum Hall States Index = Hall States + 1

Referenced by focRun(), getHallFrequency(), hallCalibRun(), and update_SystemParams().

HALL_ANGLE_SUM

#define HALL_ANGLE_SUM   _IQ(3.0)

Total Electrical Angle Summation

Referenced by hallCalibRun().

Enumeration Type Documentation

VOLTAGE_GAIN_TYPES

enum VOLTAGE_GAIN_TYPES

Voltage gain types.

Enumerator
VOLTAGE_GAIN_VMAX_BY_4	Phase voltage gain of Max Volt / 4
VOLTAGE_GAIN_VMAX_BY_2	Phase voltage gain of Max Volt / 2
VOLTAGE_GAIN_VMAX_BY_1	Phase voltage gain of Max Volt / 1

HAL_MEASUREMENT_TYPES

enum HAL_MEASUREMENT_TYPES

HAL measurement types.

Enumerator
MEASURE_PHASE_CURRENT	Measure Phase Currents
MEASURE_PHASE_VOLTAGE	Measure Phase Voltages

CURRENT_SHUNT_TYPES

enum CURRENT_SHUNT_TYPES

HAL measurement types.

Enumerator
CURRENT_INVALID	Default invalid
CURRENT_THREE_SHUNT_DYNAMIC	Reconstructed three phase current with ignoring phase having max duty
CURRENT_THREE_SHUNT_AB_C	Three phase current with A and C sampled simultaneously / ABC on single ADC if simultaneous sampling disabled
CURRENT_THREE_SHUNT_A_BC	Three phase current with A and B sampled simultaneously
CURRENT_TWO_SHUNT_A_B	Two phase current with A and B sampled simultaneously / AB on single ADC if simultaneous sampling disabled
CURRENT_TWO_SHUNT_A_C	Two phase current with A and C sampled simultaneously / AC on single ADC if simultaneous sampling disabled
CURRENT_TWO_SHUNT_B_C	Two phase current with B and C sampled simultaneously / BC on single ADC if simultaneous sampling disabled
CURRENT_SINGLE_SHUNT	DC bus current reconstructing phase currents

ADC_SAMPLING_RATIO_TYPES

enum ADC_SAMPLING_RATIO_TYPES

ADC sampling ratio types.

Enumerator
ADC_SAMPLE_EVERY_PWM	Sample every PWM
ADC_SAMPLE_EVERY_2_PWM	Sample every 2 PWM
ADC_SAMPLE_EVERY_3_PWM	Sample every 3 PWM
ADC_SAMPLE_EVERY_4_PWM	Sample every 4 PWM
ADC_SAMPLE_EVERY_5_PWM	Sample every 5 PWM
ADC_SAMPLE_EVERY_6_PWM	Sample every 6 PWM
ADC_SAMPLE_EVERY_7_PWM	Sample every 7 PWM
ADC_SAMPLE_EVERY_8_PWM	Sample every 8 PWM
ADC_SAMPLE_EVERY_9_PWM	Sample every 9 PWM
ADC_SAMPLE_EVERY_10_PWM	Sample every 10 PWM
ADC_SAMPLE_EVERY_11_PWM	Sample every 11 PWM
ADC_SAMPLE_EVERY_12_PWM	Sample every 12 PWM
ADC_SAMPLE_EVERY_13_PWM	Sample every 13 PWM
ADC_SAMPLE_EVERY_14_PWM	Sample every 14 PWM
ADC_SAMPLE_EVERY_15_PWM	Sample every 15 PWM
ADC_SAMPLE_EVERY_16_PWM	Sample every 16 PWM

OFFSET_MEASUREMENT_STATES

enum OFFSET_MEASUREMENT_STATES

Offset measurement states.

Enumerator
OFFSET_INIT	Offset init state
COMPUTE_OFFSET	Compute state
OFFSET_COMPLETE	Offset complete state

Function Documentation

inputsInit()

void inputsInit

(

HAL_MEASURE_MOTOR_INPUTS_T *

pMotorInputs

)

Initializes motor iputs.

Parameters

[in]

pMotorInputs

Pointer to motor input

References MEASURE_CURRENT_FLAGS_T::b, HALL_INTERFACE_T::captureInput, HAL_MEASURE_MOTOR_INPUTS_T::current, HAL_MEASURE_CURRENT_T::currentShunt, FALSE, HAL_MEASURE_CURRENT_T::flags, HAL_CAPTURE_TIMER_01, HAL_GPIO_IN_01, HAL_GPIO_IN_02, HAL_GPIO_IN_03, HALL_INTERFACE_T::hallA, HALL_INTERFACE_T::hallB, HALL_INTERFACE_T::hallC, HAL_MEASURE_HALL_HANDLE_T::HallInterface, HAL_MEASURE_CURRENT_T::i1Sum, HAL_MEASURE_CURRENT_T::i2Sum, HAL_MEASURE_CURRENT_T::iaSum, HAL_MEASURE_CURRENT_T::ibADC0Sum, HAL_MEASURE_CURRENT_T::ibADC1Sum, HAL_MEASURE_CURRENT_T::icSum, HAL_MEASURE_MOTOR_INPUTS_T::measureHALL, measureCurrentFlags::offsetAB_CStatus, measureCurrentFlags::offsetGainStatus, HAL_MEASURE_CURRENT_T::offsetMeasCount, measureCurrentFlags::offsetStatus, measureCurrentFlags::threeShuntDynamic, and measureCurrentFlags::threeShuntDynamicSet.

Referenced by measureCurrentOffset().

measureCurrentOffset()

void measureCurrentOffset

(

HAL_MEASURE_MOTOR_INPUTS_T *

pMotorInputs

)

Measures offset of current input.

Parameters

[in]

pMotorInputs

Pointer to motor input

References MC_ABC_T::a, MC_ABC_T::b, MEASURE_CURRENT_FLAGS_T::b, MC_ABC_T::c, COMPUTE_OFFSET, HAL_MEASURE_MOTOR_INPUTS_T::current, CURRENT_SINGLE_SHUNT, CURRENT_THREE_SHUNT_A_BC, CURRENT_THREE_SHUNT_AB_C, CURRENT_THREE_SHUNT_DYNAMIC, CURRENT_TWO_SHUNT_A_B, CURRENT_TWO_SHUNT_B_C, HAL_MEASURE_CURRENT_T::currentShunt, HAL_MEASURE_CURRENT_T::currentShuntSet, HAL_MEASURE_CURRENT_T::flags, HAL_CURRENT_OFFSET_MEAS_BITS, HAL_CURRENT_OFFSET_MEAS_COUNT, HAL_SetPhaseCurrentChannels(), CURRENT_OFFSET_T::i1Offset, HAL_MEASURE_CURRENT_T::i1Sum, CURRENT_OFFSET_T::i2Offset, HAL_MEASURE_CURRENT_T::i2Sum, HAL_MEASURE_CURRENT_T::iabcRaw, CURRENT_OFFSET_T::iaOffset, HAL_MEASURE_CURRENT_T::iaSum, CURRENT_OFFSET_T::ibADC0Offset, HAL_MEASURE_CURRENT_T::ibADC0Sum, CURRENT_OFFSET_T::ibADC1Offset, HAL_MEASURE_CURRENT_T::ibADC1Sum, CURRENT_OFFSET_T::icOffset, HAL_MEASURE_CURRENT_T::icSum, HAL_MEASURE_CURRENT_T::iFirstSample, inputsInit(), HAL_MEASURE_CURRENT_T::iSecondSample, OFFSET_COMPLETE, OFFSET_INIT, measureCurrentFlags::offsetAB_CStatus, HAL_MEASURE_CURRENT_T::offsetGainIMaxBy1, measureCurrentFlags::offsetGainStatus, HAL_MEASURE_CURRENT_T::offsetMeasCount, measureCurrentFlags::offsetStatus, HAL_MEASURE_CURRENT_T::state, and TRUE.

getMeasureOffsetStatus()

_Bool getMeasureOffsetStatus ( HAL_MEASURE_MOTOR_INPUTS_T *  pMotorInputs )

inline

Status of offset measurement.

Parameters

[in]

pMotorInputs

Pointer to motor input

Returns

Returns the status of offset measurement

Return values

true	Offset measurement completed
false	Offset measurement not completed

References MEASURE_CURRENT_FLAGS_T::b, HAL_MEASURE_MOTOR_INPUTS_T::current, HAL_MEASURE_CURRENT_T::flags, getHallFrequency(), getHallPhaseError(), measureCurrentFlags::offsetStatus, and ReadHallState().

Referenced by HAL_ReadCurrents().

ReadHallState()

uint16_t ReadHallState

(

HAL_MEASURE_HALL_HANDLE_T *

pHallHandle

)

ReadHallState.

Parameters

[in]

*pHallHandle

Input Pointer

Returns

Hall State

References HAL_readGPIOPin(), HALL_INTERFACE_T::hallA, HALL_INTERFACE_T::hallB, HALL_INTERFACE_T::hallC, HAL_MEASURE_HALL_HANDLE_T::HallInterface, and HAL_MEASURE_HALL_HANDLE_T::hallState.

Referenced by getMeasureOffsetStatus(), hallAngleEstimRun(), hallAngleInit(), and hallCalibRun().

getHallFrequency()

int32_t getHallFrequency

(

HAL_MEASURE_HALL_HANDLE_T *

pHallHandle

)

getHallFrequency

Parameters

[in]

*pHallHandle

Input Pointer

Returns

Motor Speed in Electrical Hertz

References HALL_INTERFACE_T::captureInput, HAL_MEASURE_HALL_HANDLE_T::commCountIndex, HAL_MEASURE_HALL_HANDLE_T::commTimerIndex, HAL_MEASURE_HALL_HANDLE_T::compHallState, HAL_MEASURE_HALL_HANDLE_T::countDiff, HAL_MEASURE_HALL_HANDLE_T::countError, HAL_getCaptureRunningValue(), HAL_getCaptureValue(), HAL_getTimerLoadValue(), HAL_MEASURE_HALL_HANDLE_T::halCapFreqPU, HAL_MEASURE_HALL_HANDLE_T::HallInterface, HAL_MEASURE_HALL_HANDLE_T::hallState, HAL_MEASURE_HALL_HANDLE_T::halMaxFreqCount, and MAX_HALL_INDEX.

Referenced by getMeasureOffsetStatus(), and hallAngleEstimRun().

getHallPhaseError()

int32_t getHallPhaseError	(	HAL_MEASURE_HALL_HANDLE_T *	pHallHandle,
		int32_t	hallEstimVelocity
	)

getHallPhaseError

Parameters

[in]	*pHallHandle	Input Pointer
[in]	hallEstimVelocity	Estimated velocity

Returns

Phase Error

References _IQmpy_mathacl, HAL_MEASURE_HALL_HANDLE_T::countError, HAL_MEASURE_HALL_HANDLE_T::halPhaseError, and HAL_MEASURE_HALL_HANDLE_T::halPhaseErrorConst.

Referenced by getMeasureOffsetStatus(), and hallAngleEstimRun().