HALL

Data Structures
struct	_HALL_Obj_
	Defines the HALL controller object. More...

Macros
#define	HALL_calcAngle   HALL_run
	Runs the HALL controller. More...

Typedefs
typedef struct _HALL_Obj_	HALL_Obj
	Defines the HALL controller object. More...
typedef struct _HALL_Obj_ *	HALL_Handle
	Defines the HALL handle. More...

Enumerations
enum	HALL_Status_e {   HALL_IDLE = 0,   HALL_ALIGNMENT = 1,   HALL_CALIBRATION = 2,   HALL_RUN = 3 }

Functions
HALL_Handle	HALL_init (void *pMemory, const size_t numBytes)
	Initializes the HALL controller. More...
void	HALL_setParams (HALL_Handle handle, const USER_Params *pUserParams)
	Sets the hall estimator parameters. More...
void	HALL_setAngleBuf (HALL_Handle handle, const float32_t *ptrAngleBuf)
	Sets the angle buffer value for hall estimator. More...
void	HALL_resetParams (HALL_Handle handle)
	Resets the hall estimator parameters. More...
void	HALL_setGPIOs (HALL_Handle handle, const uint16_t gpioHallU, const uint16_t gpioHallV, const uint16_t gpioHallW)
	Sets GPIO for hall sensors input. More...
static float32_t	HALL_getSpeed_Hz (HALL_Handle handle)
	Gets the feedback speed from hall estimator. More...
static void	HALL_setSpeed_Hz (HALL_Handle handle, const float32_t speedHall_Hz)
	Sets a value to the speed for the hall estimator. More...
static void	HALL_setTimeStamp (HALL_Handle handle, const uint32_t timeStamp)
	Sets a value to the time stamp for the hall estimator. More...
static float32_t	HALL_getAngle_rad (HALL_Handle handle)
	Gets the angle from the hall estimator, rad. More...
static uint16_t	HALL_getInputState (HALL_Handle handle)
	Gets the hall sensors input GPIO state. More...
static void	HALL_setForceAngleAndIndex (HALL_Handle handle, float32_t speedRef)
	Sets the force angle and index for next step of the hall estimator. More...
static void	HALL_run (HALL_Handle handle, float32_t speedRef)

Detailed Description

Macro Definition Documentation

HALL_calcAngle

#define HALL_calcAngle   HALL_run

Runs the HALL controller.

Parameters

[in]	handle	The HALL controller handle
[in]	speedRef	The reference speed value to the controller

Typedef Documentation

HALL_Obj

typedef struct _HALL_Obj_ HALL_Obj

Defines the HALL controller object.

HALL_Handle

typedef struct _HALL_Obj_* HALL_Handle

Defines the HALL handle.

Enumeration Type Documentation

HALL_Status_e

enum HALL_Status_e

Enumerator
HALL_IDLE
HALL_ALIGNMENT
HALL_CALIBRATION
HALL_RUN

Function Documentation

HALL_init()

HALL_Handle HALL_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the HALL controller.

Parameters

[in]	pMemory	A pointer to the memory for the HALL controller object
[in]	numBytes	The number of bytes allocated for the HALL controller object, bytes

Returns

The HALL controller (HALL) object handle

HALL_setParams()

void HALL_setParams	(	HALL_Handle	handle,
		const USER_Params *	pUserParams
	)

Sets the hall estimator parameters.

Parameters

[in]

handle

The HALL controller handle

HALL_setAngleBuf()

void HALL_setAngleBuf	(	HALL_Handle	handle,
		const float32_t *	ptrAngleBuf
	)

Sets the angle buffer value for hall estimator.

Parameters

[in]

handle

The HALL controller handle

HALL_resetParams()

void HALL_resetParams

(

HALL_Handle

handle

)

Resets the hall estimator parameters.

Parameters

[in]

handle

The HALL controller handle

HALL_setGPIOs()

void HALL_setGPIOs	(	HALL_Handle	handle,
		const uint16_t	gpioHallU,
		const uint16_t	gpioHallV,
		const uint16_t	gpioHallW
	)

Sets GPIO for hall sensors input.

Parameters

[in]

handle

the HALL Handle

HALL_getSpeed_Hz()

static float32_t HALL_getSpeed_Hz ( HALL_Handle  handle )

inlinestatic

Gets the feedback speed from hall estimator.

Parameters

[in]

handle

the ENC Handle

References _HALL_Obj_::speedHall_Hz.

HALL_setSpeed_Hz()

static void HALL_setSpeed_Hz ( HALL_Handle  handle, const float32_t  speedHall_Hz  )

inlinestatic

Sets a value to the speed for the hall estimator.

Parameters

[in]	handle	the ENC Handle
[in]	speedHall_Hz	the speed value, Hz

References _HALL_Obj_::speedHall_Hz.

HALL_setTimeStamp()

static void HALL_setTimeStamp ( HALL_Handle  handle, const uint32_t  timeStamp  )

inlinestatic

Sets a value to the time stamp for the hall estimator.

Parameters

[in]	handle	the ENC Handle
[in]	timeStamp	the time stamp value, clock cycles

References _HALL_Obj_::timeStampCAP.

HALL_getAngle_rad()

static float32_t HALL_getAngle_rad ( HALL_Handle  handle )

inlinestatic

Gets the angle from the hall estimator, rad.

Parameters

[in]

handle

the ENC Handle

References _HALL_Obj_::thetaHall_rad.

HALL_getInputState()

static uint16_t HALL_getInputState ( HALL_Handle  handle )

inlinestatic

Gets the hall sensors input GPIO state.

Parameters

[in]

handle

the ENC Handle

References _HALL_Obj_::gpioHallU, _HALL_Obj_::gpioHallV, and _HALL_Obj_::gpioHallW.

Referenced by HALL_run(), and HALL_setForceAngleAndIndex().

HALL_setForceAngleAndIndex()

static void HALL_setForceAngleAndIndex ( HALL_Handle  handle, float32_t  speedRef  )

inlinestatic

Sets the force angle and index for next step of the hall estimator.

Parameters

[in]	handle	The HALL controller handle
[in]	refValue	The reference value to the controller

References HALL_getInputState(), _HALL_Obj_::hallDirection, _HALL_Obj_::hallIndex, _HALL_Obj_::hallIndexPrev, _HALL_Obj_::hallPrev, MATH_PI, MATH_TWO_PI, _HALL_Obj_::thetaBuff, _HALL_Obj_::thetaDelta_rad, and _HALL_Obj_::thetaHall_rad.

HALL_run()

static void HALL_run ( HALL_Handle  handle, float32_t  speedRef  )

inlinestatic

References _HALL_Obj_::capScaler, HALL_getInputState(), _HALL_Obj_::hallDirection, _HALL_Obj_::hallIndex, _HALL_Obj_::hallIndexPrev, MATH_PI, MATH_TWO_PI, _HALL_Obj_::pwmScaler, _HALL_Obj_::speedCAP_Hz, _HALL_Obj_::speedHall_Hz, _HALL_Obj_::speedPWM_Hz, _HALL_Obj_::speedSwitch_Hz, _HALL_Obj_::thetaBuff, _HALL_Obj_::thetaDelta_rad, _HALL_Obj_::thetaHall_rad, _HALL_Obj_::timeCount, _HALL_Obj_::timeCountMax, _HALL_Obj_::timeCountPWM, and _HALL_Obj_::timeStampCAP.