stallDetect.h

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/*!****************************************************************************
 *  @file       stallDetect.h
 *  @brief      stallDetect Module
 *
 * 
 *  @anchor stallDetect_h
 *  # Overview
 *
 *
 *  <hr>
 ******************************************************************************/


#ifndef FOC_INCLUDE_STALLDETECT_H_
#define FOC_INCLUDE_STALLDETECT_H_

#include "iqNum.h"
#include "stdint.h"
#include "mcLib.h"

#include "noMotorStallDetect.h"
#include "hallEstimator.h"
#include "abnormalSpeedStallDetect.h"

typedef enum
{
    NO_STALL = 0,
    HALL_INVALID_STALL = 1,
    NO_MOTOR_STALL = 2,
    ABNORMAL_SPEED_STALL = 3,

}STALL_TYPES;

typedef struct
{
    NO_MOTOR_STALL_DETECT_T
        noMotorStall;

    ABNORMAL_SPEED_STALL_DETECT_T
        abnormalSpeedStall;

    HALL_INVALID_STALL_DETECT_T
        hallInvalidStall;
    STALL_TYPES
        status;

}STALL_DETECT_T;

void stallDetectInit(STALL_DETECT_T *pStall);
void stallDetectRun(STALL_DETECT_T *pStall);
void stallDetectLowPriorityRun(STALL_DETECT_T *pStall);

inline _Bool getStallStatusForAction(STALL_DETECT_T *pStall)
{
    _Bool
        statusAbnormalStallSpeed,
        statusNoMotor;

    statusAbnormalStallSpeed = (pStall->abnormalSpeedStall.flags.b.status &&
                            !pStall->abnormalSpeedStall.flags.b.reportOnly);

    statusNoMotor = (pStall->noMotorStall.flags.b.status &&
                            !pStall->noMotorStall.flags.b.reportOnly);

    return (statusAbnormalStallSpeed || statusNoMotor || (pStall->status == HALL_INVALID_STALL));
}
inline _Bool getStallStatusForReport(STALL_DETECT_T *pStall)
{
    return (pStall->status != NO_STALL);
}

#endif /* FOC_INCLUDE_STALLDETECT_H_ */