focHALInterface.h

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/*!****************************************************************************
 *  @file       focHALInterface.h
 *  @brief      HAL interface for FOC Module
 *
 * 
 *  @anchor focHALInterface_h
 *  # Overview
 *
 *  HAL Apis used by FOC motor control
 *
 *  <hr>
 ******************************************************************************/

#ifndef FOC_HAL_INTERFACE_H
#define FOC_HAL_INTERFACE_H

#ifdef __cplusplus
extern "C" {
#endif

/* Including all the sysconfig generated defines */
#include "ti_msp_dl_config.h"

/* Include the IQmath Library */
#include <ti/iqmath/include/IQmathLib.h>

/* Include the mathacl optimized IQmath */
#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"

#define MIN_FLOAT_VOLTAGE   (0.1)

#define MAX_FLOAT_VOLTAGE   (0.9)

#define HAL_MCU_CLK_SPEED_HZ                (80000000)

#define HAL_CYCLES_TO_1_US_DELAY            (HAL_MCU_CLK_SPEED_HZ/1000000)

#define HAL_GPIO_HIGH            (1)

#define HAL_GPIO_LOW             (0)

typedef enum
{
    VOLTAGE_VECTOR_AC = 0,
    VOLTAGE_VECTOR_CA,
    VOLTAGE_VECTOR_BC,
    VOLTAGE_VECTOR_CB,
    VOLTAGE_VECTOR_BA,
    VOLTAGE_VECTOR_AB,
    VOLTAGE_VECTOR_MAX
}VOLTAGE_VECTOR;

void HAL_ReadMotorInputs(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

void HAL_SetPhaseCurrentChannels(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

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

void HAL_SetPhaseVoltageChannels(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

void HAL_ReadPhaseVoltages(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

void HAL_ReadCurrents(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

void HAL_SelectShuntMeasure(HAL_MEASURE_MOTOR_INPUTS_T *pMotorInputs);

void HAL_EnablePWM(void);

void HAL_DisablePWM(void);

void HAL_EnableLowSideBrake(void);

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

void HAL_SetPWMFrequency(const int32_t pwmPeriod,
                         const int32_t propagationDelay);

void HAL_enterIPDMode();

void HAL_exitIPDMode();

void HAL_SetADCSamplingFrequency(const ADC_SAMPLING_RATIO_TYPES samplingRatio);

void HAL_SetSystemFrequency(const int32_t systemPeriod);

_Bool HAL_GetPhasesFloatingStatus(const HAL_MEASURE_VOLTAGE_T *pVoltage);

void HAL_ClearNFault(void);

void HAL_SetNFault(void);

uint32_t HAL_getRawHVdieFaultStatus(void);

uint32_t HAL_getRawFaultStatus(void);

void HAL_clearFaultStatus(void);

void HAL_setGateDriveOffsetCalib(void);

void HAL_resetGateDriveOffsetCalib(void);

void HAL_pwmCountZero(void);

void HAL_delayMicroSeconds(uint32_t num_us);

void HAL_DisableINT(void);

void HAL_resetPOR(void);

_Bool HAL_getDirPinStatus(void);

_Bool HAL_getBrakePinStatus(void);

__STATIC_INLINE void HAL_TimerOverRideCCPOut(GPTIMER_Regs *gptimer, DL_TIMER_FORCE_OUT out,
    DL_TIMER_FORCE_CMPL_OUT outComp, DL_TIMER_CC_INDEX ccIndex)
{
    volatile uint32_t *pReg;

    pReg = &gptimer->COUNTERREGS.CCACT_01[0];
    pReg += (uint32_t) ccIndex;

    DL_Common_updateReg(pReg, ((uint32_t) out | ((uint32_t) outComp)),
        (GPTIMER_CCACT_01_SWFRCACT_CMPL_MASK |
            GPTIMER_CCACT_01_SWFRCACT_MASK));
}
__STATIC_INLINE void HAL_FGToggle(void)
{
#ifdef FG_OUTPUT_ENABLE
    DL_GPIO_togglePins(FOC_GPIO_OUT_FG_TOGGLE_PORT,FOC_GPIO_OUT_FG_TOGGLE_PIN);
#endif
}
__STATIC_INLINE void HAL_PWMForceHigh(DL_TIMER_CC_INDEX CCIdx)
{
    HAL_TimerOverRideCCPOut(FOC_PWMA0_INST, DL_TIMER_FORCE_OUT_HIGH,
                          DL_TIMER_FORCE_CMPL_OUT_LOW, CCIdx);
}

__STATIC_INLINE void HAL_PWMForceLow(DL_TIMER_CC_INDEX CCIdx)
{
    HAL_TimerOverRideCCPOut(FOC_PWMA0_INST, DL_TIMER_FORCE_OUT_LOW,
                          DL_TIMER_FORCE_CMPL_OUT_HIGH, CCIdx);
}

__STATIC_INLINE void HAL_PWMForceDisable(DL_TIMER_CC_INDEX CCIdx)
{
    HAL_TimerOverRideCCPOut(FOC_PWMA0_INST, DL_TIMER_FORCE_OUT_DISABLED,
                          DL_TIMER_FORCE_CMPL_OUT_DISABLED, CCIdx);
}

__STATIC_INLINE void HAL_PWMAllForceDisable()
{
    HAL_PWMForceDisable(FOC_PWMA0_U_IDX);
    HAL_PWMForceDisable(FOC_PWMA0_V_IDX);
    HAL_PWMForceDisable(FOC_PWMA0_W_IDX);
}

__STATIC_INLINE void HAL_PWMAllForceLow()
{
    HAL_PWMForceLow(FOC_PWMA0_U_IDX);
    HAL_PWMForceLow(FOC_PWMA0_V_IDX);
    HAL_PWMForceLow(FOC_PWMA0_W_IDX);
}

void HAL_IPDEnableISR(void);

void HAL_IPDDisableISR(void);

uint16_t HAL_IPDGetTime(void);

uint16_t HAL_IPDGetLoadVal(void);

uint16_t HAL_Is_SingleShunt(void);

void HAL_IPDCOMPDACSetZero(void);

void HAL_setIPDPulseConfig(VOLTAGE_VECTOR vector, uint8_t CompVal, CURRENT_OFFSET_T* pOffset);

__STATIC_INLINE void HAL_ADCDisConv(ADC12_Regs *adc12)
{
    adc12->ULLMEM.CTL0 &= ~(ADC12_CTL0_ENC_ON);
}

__STATIC_INLINE void HAL_ADCEnConv(ADC12_Regs *adc12)
{
    adc12->ULLMEM.CTL0 |= (ADC12_CTL0_ENC_ON);
}

__STATIC_INLINE void HAL_ADCEnWCOMP(ADC12_Regs *adc12, DL_ADC12_MEM_IDX idx)
{
    /* To update the window comparator enable/disable we need to disable the ADC*/
    adc12->ULLMEM.MEMCTL[idx] |= DL_ADC12_WINDOWS_COMP_MODE_ENABLED;
}
__STATIC_INLINE void HAL_ADCDisWCOMP(ADC12_Regs *adc12, DL_ADC12_MEM_IDX idx)
{
    /* To update the window comparator enable/disable we need to */
    adc12->ULLMEM.MEMCTL[idx] &= ~DL_ADC12_WINDOWS_COMP_MODE_ENABLED;
}

__STATIC_INLINE void HAL_enableTriggerFault(GPTIMER_Regs *gptimer)
{
    gptimer->COUNTERREGS.FCTL |= GPTIMER_FCTL_TFIM_MASK;
}

__STATIC_INLINE void HAL_disableTriggerFault(GPTIMER_Regs *gptimer)
{
    gptimer->COUNTERREGS.FCTL &= ~GPTIMER_FCTL_TFIM_MASK;
}

__STATIC_INLINE void HAL_setCaptureCompareValue(
    GPTIMER_Regs *gptimer, uint32_t value, DL_TIMER_CC_INDEX ccIndex)
{
    volatile uint32_t *pReg;

    pReg = &gptimer->COUNTERREGS.CC_01[0];
    pReg += (uint32_t) ccIndex;

    *pReg = (value);
}
#ifdef __cplusplus
}
#endif
#endif /* FOC_HAL_INTERFACE_H */