fwc.h

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 *
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 *
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 *    distribution.
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 *    its contributors may be used to endorse or promote products derived
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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 */
 
#ifndef FWC_H
#define FWC_H
 
#ifdef __cplusplus
extern "C"
{
#endif
 
#include <stdlib.h>
#include <stdbool.h>
 
#include "dcl.h"
#include "math_types.h"
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _FWC_Obj_
{
    DCL_PI    pi;                
    float32_t angleCurrent_rad;  
    bool      flagEnable;        
} FWC_Obj, *FWC_Handle;
 
//*****************************************************************************
// the function prototypes
 
//*****************************************************************************
//*****************************************************************************
extern FWC_Handle FWC_init(void *pMemory, const size_t numBytes);
 
//*****************************************************************************
//
//*****************************************************************************
extern void FWC_setParams(FWC_Handle handle,
                          const float32_t Kp, const float32_t Ki,
                          const float32_t angleMin_rad,
                          const float32_t angleMax_rad);
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_disable(FWC_Handle handle)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->flagEnable = false;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_enable(FWC_Handle handle)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->flagEnable = true;
}
 
//*****************************************************************************
//*****************************************************************************
static inline float32_t* FWC_getCurrentAngle_rad_addr(FWC_Handle handle)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    return(&(obj->angleCurrent_rad));
}
 
//*****************************************************************************
//*****************************************************************************
static inline float32_t FWC_getCurrentAngle_rad(FWC_Handle handle)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    return(obj->angleCurrent_rad);
}
 
//*****************************************************************************
//*****************************************************************************
static inline bool FWC_getFlagEnable(FWC_Handle handle)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    return(obj->flagEnable);
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setCurrentAngle_rad(FWC_Handle handle,
                                         const float32_t angleCurrent_rad)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->angleCurrent_rad = angleCurrent_rad;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setFlagEnable(FWC_Handle handle, const bool flagEnable)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->flagEnable = flagEnable;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setKi(FWC_Handle handle, const float32_t Ki)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->pi.Ki = Ki;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setKp(FWC_Handle handle, const float32_t Kp)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->pi.Kp = Kp;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setGains(FWC_Handle handle,
                                const float32_t Kp, const float32_t Ki)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    obj->pi.Kp = Kp;
    obj->pi.Ki = Ki;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setAngleMinMax(FWC_Handle handle,
                                      const float32_t angleMin_rad,
                                      const float32_t angleMax_rad)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    // set the minimum and maximum values of PI controller
    obj->pi.Umax = angleMax_rad;
    obj->pi.Umin = angleMin_rad;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setAngleMax(FWC_Handle handle,
                                   const float32_t angleMax_rad)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    // set the minimum values of PI controller
    // convert the maximum angle to negative value in PI controller
    // the maximum angle = MATH_PI_OVER_TWO - minimum value of PI output
    obj->pi.Umax = angleMax_rad;
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setAngleMin(FWC_Handle handle,
                                   const float32_t angleMin_rad)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    // set the minimum values of PI controller
    // convert the maximum angle to negative value in PI controller
    // the maximum angle = MATH_PI_OVER_TWO - minimum value of PI output
    obj->pi.Umin = angleMin_rad;
}
 
//*****************************************************************************
//*****************************************************************************
#define FWC_resetUi FWC_resetController //Backwards compatible
static inline void FWC_resetController(FWC_Handle handle)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    // Sets the integrator start value in the PI controller
    // reset the new integrator value to Zero
    obj->pi.i10 = 0.0f;
    // reset saturation to unclamped
    obj->pi.i6 = 1.0f;
 
}
 
//*****************************************************************************
//*****************************************************************************
static inline void FWC_setUi(FWC_Handle handle, const float32_t Ui)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
 
    // set the new integrator value
    obj->pi.i10 = Ui;
}
 
//*****************************************************************************
//
//*****************************************************************************
static __attribute__((always_inline))
void FWC_computeCurrentAngle(FWC_Handle handle,
                            const float32_t Vs_V, const float32_t VsRef_V)
{
    FWC_Obj *obj = (FWC_Obj *)handle;
    float32_t angle_rad;
 
    float32_t Vs_in_V = Vs_V;
    float32_t VsRef_in_V = VsRef_V;
 
    if(FWC_getFlagEnable(handle) == true)
    {
        // Perform the Field Weakening Control (FWC)
        angle_rad = DCL_runPISeries(&(obj->pi),
                                    VsRef_in_V,
                                    Vs_in_V);
 
        obj->angleCurrent_rad = MATH_PI_OVER_TWO - angle_rad;
    }
    else
    {
        obj->angleCurrent_rad = MATH_PI_OVER_TWO;
    }
 
    return;
}
 
#ifdef __cplusplus
}
#endif
 
#endif // FWC_H