main.h

#ifndef _MAIN_H_
#define _MAIN_H_
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//! \file   solutions/instaspin_foc/src/main.h
//! \brief Defines the structures, global initialization, and functions used in MAIN 
//!
//! (C) Copyright 2011, Texas Instruments, Inc.

// **************************************************************************
// the includes

// modules
#include <mode09.h>
#include "math.h"
#include "memCopy.h"
#include "est.h"
#include "svgen_current.h"
#include "fw.h"
#include "fem.h"
#include "cpu_usage.h"


// drivers
#include "F2802x_Device.h"
#include "f2802x_examples.h"


// platforms
#include "ctrl.h"
#include "hal.h"
#include "user.h"

//misc
#include "cadence.h"
#include "speed.h"
#include "Message.h"
#include "mode01.h"
#include "mode08.h"
#include "mode21.h"


// **************************************************************************
// the defines


//! \brief Defines the number of main iterations before global variables are updated
//!
#define NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE  10

//! \brief Defines the speed acceleration scale factor.
//!
#define MAX_ACCEL_KRPMPS_SF  _IQ(USER_MOTOR_NUM_POLE_PAIRS*1000.0/USER_TRAJ_FREQ_Hz/USER_IQ_FULL_SCALE_FREQ_Hz/60.0)

//! \brief Initialization values of global variables
//!
#define MOTOR_Vars_INIT {true, \
                         false, \
                         false, \
                         true, \
                         false, \
                         false, \
                         true, \
                         true, \
                         false, \
                         false, \
                         CTRL_State_Idle, \
                         EST_State_Idle, \
                         USER_ErrorCode_NoError, \
                         {0,CTRL_TargetProc_Unknown,0,0}, \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.1), \
                         _IQ(0.0), \
                         _IQ(0.2), \
                         _IQ(0.0), \
                         _IQ(USER_MAX_VS_MAG_PU), \
                         _IQ(0.1 * USER_MOTOR_MAX_CURRENT), \
                         400, \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         0.0, \
                         0.0, \
                         0.0, \
                         0.0, \
                         0.0, \
                         0.0, \
                         0.0, \
                         0.0, \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         0.0, \
                         0.0, \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.8 * USER_MAX_VS_MAG_PU), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ17(0.0), \
                         _IQ30(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         _IQ(0.0), \
                         {0,0,0}, \
                         {0,0,0}, \
                         _IQ(0.0)}


// **************************************************************************
// the typedefs

typedef struct _MOTOR_Vars_t_
{
  bool Flag_enableSys;
  bool Flag_Run_Identify;
  bool Flag_MotorIdentified;
  bool Flag_enableForceAngle;
  bool Flag_enableFieldWeakening;
  bool Flag_enableRsRecalc;
  bool Flag_enableUserParams;
  bool Flag_enableOffsetcalc;
  bool Flag_enablePowerWarp;
  bool Flag_enableSpeedCtrl;

  CTRL_State_e CtrlState;
  EST_State_e EstState;

  USER_ErrorCode_e UserErrorCode;

  CTRL_Version CtrlVersion;

  _iq IdRef_A;
  _iq IqRef_A;
  _iq SpeedRef_pu;
  _iq SpeedRef_krpm;
  _iq SpeedTraj_krpm;
  _iq MaxAccel_krpmps;
  _iq Speed_krpm;
  _iq OverModulation;
  _iq RsOnLineCurrent_A;
  _iq SvgenMaxModulation_ticks;
  _iq Flux_Wb;
  _iq Torque_Nm;

  float_t MagnCurr_A;
  float_t Rr_Ohm;
  float_t Rs_Ohm;
  float_t RsOnLine_Ohm;
  float_t Lsd_H;
  float_t Lsq_H;
  float_t Flux_VpHz;

  float_t ipd_excFreq_Hz;
  _iq     ipd_Kspd;
  _iq     ipd_excMag_coarse_pu;
  _iq     ipd_excMag_fine_pu;
  float   ipd_waitTime_coarse_sec;
  float   ipd_waitTime_fine_sec;

  _iq Kp_spd;
  _iq Ki_spd;

  _iq Kp_Idq;
  _iq Ki_Idq;

  _iq Vd;
  _iq Vq;
  _iq Vs;
  _iq VsRef;
  _iq Vdc;
  _iq Vdc_v0;

  _iq Idc;
  _iq17 mAh;
  _iq30 kWh;

  _iq Id_A;
  _iq Iq_A;
  _iq Is_A;

  MATH_vec3 I_bias;
  MATH_vec3 V_bias;
  _iq Idc_bias;


}MOTOR_Vars_t;



// **************************************************************************
// the globals


// **************************************************************************
// the function prototypes

//! \brief The main interrupt service (ISR) routine
//!
interrupt void mainISR(void);

interrupt void sciaRxFifoIsr(void);

void runCurrentIgnore(void);


void runCurrentReconstruction(void);


void runFieldWeakening(void);


void runOffsetsCalculation(void);


void runSetTrigger(void);


//! \brief     Updates the global motor variables 
//! 
void updateGlobalVariables_motor(CTRL_Handle handle);
void readSensorsCallback();


//! \brief     Updates the global variables 
//! 
void updateGlobalVariables(EST_Handle handle);


//! \brief     Updates version 1p6 of library
//!
void softwareUpdate1p6(EST_Handle handle);


//! \brief     Reset Ls Q format to a higher value when Ls identification starts
//!
void CTRL_resetLs_qFmt(CTRL_Handle handle, const uint_least8_t qFmt);


//! \brief     Recalculate Kp and Ki gains to fix the R/L limitation of 2000.0 and Kp limitation of 0.11
//! \brief     as well as recalculates gains based on estimator state to allow low inductance pmsm to id
//!
void recalcKpKiPmsm(CTRL_Handle handle);


//! \brief     Recalculate Kp and Ki gains to fix the R/L limitation of 2000.0 and Kp limitation of 0.11
//!
void recalcKpKi(CTRL_Handle handle);


//! \brief     Calculates the maximum qFmt value for Ls identification, to get a more accurate Ls per unit
//!
void CTRL_calcMax_Ls_qFmt(CTRL_Handle handle, uint_least8_t *p_qFmt);


//! \brief     Updates Iq reference and also sets the right sign to the speed reference for correct force angle
//!
void updateIqRef(CTRL_Handle handle);


//! \brief     Updates Kp and Ki gains in the controller object
//!
void updateKpKiGains(CTRL_Handle handle);


//! \brief     Runs Rs online
//!
void runRsOnLine(CTRL_Handle handle);


//! \brief     Updates CPU usage
//!
void updateCPUusage(void);


//! \brief     Set electrical frequency limit to zero while identifying an induction motor
//!
void setFeLimitZero(CTRL_Handle handle);


//! \brief     Calculates Dir_qFmt for ACIM
//!
void acim_Dir_qFmtCalc(CTRL_Handle handle);


//! \brief     Sets up the Clarke transform for current
//!
void setupClarke_I(CLARKE_Handle,const uint_least8_t);


//! \brief     Sets up the Clarke transform for voltage
//!
void setupClarke_V(CLARKE_Handle,const uint_least8_t);


_iq angleDelayComp(const _iq fm_pu, const _iq angleUncomp_pu);

CTRL_Handle CTRL_init(void *pMemory,const size_t numBytes);

void EST_getIdq_pu(EST_Handle handle,MATH_vec2 *pIdq_pu);

#if !defined(FAST_ROM_V1p6)
void EST_setEstParams(EST_Handle handle,USER_Params *pUserParams);
void EST_setupEstIdleState(EST_Handle handle);
#endif

EST_Handle EST_init(void *pMemory,const size_t numBytes);

//! \brief     Runs PowerWarp
//! \param[in] handle     The estimator (EST) handle
//! \param[in] Id_int_pu  The intermediate value along the Id trajectory in pu
//! \param[in] Iq_pu      The measured Iq value in pu
//! \return    The target value for the Id trajectory in pu
_iq EST_runPowerWarp(EST_Handle handle,const _iq Id_int_pu,const _iq Iq_pu);

_iq getAbsElecAngle(const _iq angle_pu);

_iq getAbsMechAngle(_iq *pAngle_mech_poles, _iq *pAngle_z1_pu, const _iq angle_pu);

//@} //defgroup
#endif // end of _MAIN_H_ definition