measure.h

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/*!****************************************************************************
 *  @file       measure.h
 *  @brief      HAL interface for FOC Module
 *
 * 
 *  @anchor measure_h
 *  # Overview
 *
 *  HAL Apis used for measurement from ADC
 *
 *  <hr>
 ******************************************************************************/

#ifndef MEASURE_H
#define MEASURE_H

#include "stdint.h"
#include "mcLib.h"
#include "iqNum.h"
#include "main.h"
#include "hal.h"
#include "hallInterface.h"
#define HAL_CURRENT_OFFSET_MEAS_BITS    5

#define HAL_CURRENT_OFFSET_MEAS_COUNT   (1 << HAL_CURRENT_OFFSET_MEAS_BITS)

#define INV_VDC_IQ_SCALING          25

#define MAX_HALL_INDEX             7

#define HALL_ANGLE_SUM             _IQ(3.0)

typedef enum
{
    VOLTAGE_GAIN_VMAX_BY_4 = 2,
    VOLTAGE_GAIN_VMAX_BY_2 = 1,
    VOLTAGE_GAIN_VMAX_BY_1 = 0,
}VOLTAGE_GAIN_TYPES;

typedef enum
{
    MEASURE_PHASE_CURRENT = 0,
    MEASURE_PHASE_VOLTAGE = 1,
}HAL_MEASUREMENT_TYPES;

typedef enum
{
    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,
}CURRENT_SHUNT_TYPES;

typedef enum
{
    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;

typedef struct
{
    int16_t
        iaOffset,
        ibADC0Offset,
        ibADC1Offset,
        icOffset,
        i1Offset,
        i2Offset;
}CURRENT_OFFSET_T;

typedef enum
{
    OFFSET_INIT = 0,
    COMPUTE_OFFSET = 1,
    OFFSET_COMPLETE = 2,
}OFFSET_MEASUREMENT_STATES;

typedef struct
{
    _Bool
        threeShuntDynamic: 1,
        threeShuntDynamicSet: 1,
        offsetAB_CStatus: 1,
        offsetGainStatus: 1,
        offsetStatus: 1;
}measureCurrentFlags;

typedef union
{
    measureCurrentFlags b;
    uint16_t w;
}MEASURE_CURRENT_FLAGS_T;

typedef struct
{
    OFFSET_MEASUREMENT_STATES
        state;

    MC_ABC_T
        iabc,
        iabcRaw;

    MC_SECTOR_TYPES
        *pPrevPrevSector;

    CURRENT_OFFSET_T
        offsetGainIMaxBy1,
        *pOffset;

    int32_t
        iaSum,
        ibADC0Sum,
        ibADC1Sum,
        icSum,
        i1Sum,
        i2Sum,
        iMagSqr;

    int32_t
        iFirstSample,
        iSecondSample;

    CURRENT_SHUNT_TYPES
        currentShuntSet,
        currentShunt;

    const MC_PHASE_TYPES
        *pMaxDutyPhase;

    MC_PHASE_TYPES
        prevMaxDutyPhase;

    int16_t
        offsetMeasCount;

    int32_t 
        *pSourceCurrentFilt;

    MEASURE_CURRENT_FLAGS_T
        flags;             

}HAL_MEASURE_CURRENT_T;

typedef struct
{
    VOLTAGE_GAIN_TYPES
        voltageGain,
        voltageGainSet;

    int32_t
        vdc,
        vdcFilt,
        invVdcFilt;

    MC_ABC_T
        vabc,
        vabcRaw;

}HAL_MEASURE_VOLTAGE_T;

typedef struct
{
    HALL_INTERFACE_T
        HallInterface;
    uint8_t
        hallState;
    uint32_t
        commCountIndex[MAX_HALL_INDEX],
        commTimerIndex[MAX_HALL_INDEX];
    int32_t
        halCapFreqPU,
        halPhaseError,
        halMaxFreqCount,
        halPhaseErrorConst;
    uint8_t
        compHallState;
    uint32_t
        countDiff;
    uint32_t
        countError;
}HAL_MEASURE_HALL_HANDLE_T;

typedef struct
{
    ADC_SAMPLING_RATIO_TYPES
        adcSamplingRatio;   

    int32_t
        deltaT,
        pwmPeriod,
        propagationDelay;

    HAL_MEASUREMENT_TYPES
        measureQuantity;

    HAL_MEASURE_CURRENT_T
        current;

    HAL_MEASURE_VOLTAGE_T
        voltage;
    HAL_MEASURE_HALL_HANDLE_T
        measureHALL;
}HAL_MEASURE_MOTOR_INPUTS_T;

extern HAL_MEASURE_MOTOR_INPUTS_T *g_pMotorInputs;

void inputsInit(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

void measureCurrentOffset(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

inline _Bool getMeasureOffsetStatus(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs)
{
    return pMotorInputs->current.flags.b.offsetStatus;
}
uint16_t ReadHallState(HAL_MEASURE_HALL_HANDLE_T *pHallHandle);
int32_t getHallFrequency(HAL_MEASURE_HALL_HANDLE_T *pHallHandle);

int32_t getHallPhaseError(HAL_MEASURE_HALL_HANDLE_T *pHallHandle,
                                                    int32_t hallEstimVelocity);

#ifdef __cplusplus
}
#endif
#endif /* MEASURE_H */