include/userParams.h

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//#############################################################################
//
// FILE:   userParams.h
//
// TITLE:  C28x InstaSPIN public interface for user initialization data for the
//         CTRL, DRV, and EST modules (floating point)
//
//#############################################################################
// $TI Release: MotorControl SDK v1.00.00.00 $
// $Release Date: Mon Mar 11 18:37:40 CDT 2019 $
// $Copyright:
// Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################
 
#ifndef USERPARAMS_H
#define USERPARAMS_H
 
//
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
 
//*****************************************************************************
//
//
//*****************************************************************************
 
#include "libraries/math/include/math.h"
 
#include "motor.h"
 
#include "ctrl_states.h"
 
#include "est_Flux_states.h"
#include "est_Ls_states.h"
#include "est_Rr_states.h"
#include "est_Rs_states.h"
#include "est_Traj_states.h"
#include "est_states.h"
 
 
// **************************************************************************
// the defines
 
 
typedef enum
{
  MTR_1 = 0,
  MTR_2 = 1,
  MTR_3 = 2,
} MotorNum_e;
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _USER_Params_
{
    float32_t dcBus_nominal_V;            
    int_least16_t numIsrTicksPerCtrlTick;
    int_least16_t numIsrTicksPerEstTick;
    int_least16_t numIsrTicksPerTrajTick;
    int_least16_t numCtrlTicksPerCurrentTick;
    int_least16_t numCtrlTicksPerSpeedTick;
    uint_least8_t numCurrentSensors;    
    uint_least8_t numVoltageSensors;    
    float32_t systemFreq_MHz;             
    float32_t pwmPeriod_usec;             
    float32_t voltage_sf;                 
    float32_t current_sf;                 
    float32_t dcBusPole_rps;              
    float32_t offsetPole_rps;             
    float32_t speedPole_rps;              
    float32_t voltageFilterPole_rps;      
    float32_t maxVsMag_pu;              
    MOTOR_Type_e motor_type;            
    uint16_t motor_numPolePairs;        
    uint16_t motor_numEncSlots;         
    float32_t motor_ratedFlux_Wb;         
    float32_t motor_Rr_d_Ohm;             
    float32_t motor_Rr_q_Ohm;             
    float32_t motor_Rs_a_Ohm;             
    float32_t motor_Rs_b_Ohm;             
    float32_t motor_Rs_d_Ohm;             
    float32_t motor_Rs_q_Ohm;             
    float32_t motor_Ls_d_H;               
    float32_t motor_Ls_q_H;               
    float32_t maxCurrent_A;               
    float32_t IdRated_A;                  
    float32_t Vd_sf;                      
    float32_t maxVsMag_V;                 
    float32_t BWc_rps;                    
    float32_t BWdelta;                    
    float32_t Kctrl_Wb_p_kgm2;            
    float32_t angleDelayed_sf_sec;        
    float32_t fluxExcFreq_Hz;             
    int_least32_t calReserved[4];       
    int_least32_t ctrlWaitTime[CTRL_NUMSTATES];
    int_least32_t estWaitTime[EST_NUMSTATES];
    int_least32_t FluxWaitTime[EST_FLUX_NUMSTATES];
    int_least32_t LsWaitTime[EST_LS_NUMSTATES];
    int_least32_t RrWaitTime[EST_RR_NUMSTATES];
    int_least32_t RsWaitTime[EST_RS_NUMSTATES];
    int_least32_t trajWaitTime[EST_TRAJ_NUMSTATES];
    float32_t ctrlFreq_Hz;                
    float32_t estFreq_Hz;                 
    float32_t RoverL_excFreq_Hz;          
    float32_t trajFreq_Hz;                
    float32_t ctrlPeriod_sec;             
    float32_t maxAccel_Hzps;              
    float32_t maxCurrent_resEst_A;        
    float32_t maxCurrent_indEst_A;        
    float32_t maxCurrentDelta_A;          
    float32_t maxCurrentDelta_pw_A;       
    float32_t IdRated_delta_A;            
    float32_t forceAngleFreq_Hz;          
    float32_t indEst_speedMaxFraction;    
    float32_t IdRatedFraction_indEst;     
    float32_t pwGain;                     
    float32_t Kp_min_VpA;                 
    float32_t Kp_max_VpA;                 
    float32_t RoverL_Kp_sf;               
    float32_t RoverL_min_rps;             
    float32_t RoverL_max_rps;             
    float32_t oneOverDcBus_min_invV;      
    float32_t oneOverDcBus_max_invV;      
    float32_t Ls_d_H;                     
    float32_t Ls_q_H;                     
    float32_t Ls_coarseDelta_H;           
    float32_t Ls_fineDelta_H;             
    float32_t Ls_min_H;                   
    float32_t Ls_max_H;                   
    float32_t Rr_Ohm;                     
    float32_t Rr_coarseDelta_Ohm;         
    float32_t Rr_fineDelta_Ohm;           
    float32_t Rr_min_Ohm;                 
    float32_t Rr_max_Ohm;                 
    float32_t Rs_Ohm;                     
    float32_t Rs_coarseDelta_Ohm;         
    float32_t Rs_fineDelta_Ohm;           
    float32_t Rs_min_Ohm;                 
    float32_t Rs_max_Ohm;                 
    float32_t RsOnLine_DeltaInc_Ohm;      
    float32_t RsOnLine_DeltaDec_Ohm;      
    float32_t RsOnLine_min_Ohm;           
    float32_t RsOnLine_max_Ohm;           
    float32_t RsOnLine_angleDelta_rad;    
    float32_t RsOnLine_pole_rps;          
    bool flag_bypassMotorId;            
    // *******************************************************************************************************
    // BELOW IS RESERVED
    float32_t freqNearZeroSpeedLimit_Hz;  
    float32_t directionPole_rps;          
    float32_t directionPole_2_rps;        
    float32_t fluxPole_rps;               
    float32_t RoverLPole_rps;             
    float32_t estKappa;                   
 
    float32_t flux_Wb;                    
    float32_t flux_min_Wb;                
    float32_t flux_max_Wb;                
 
    float32_t oneOverFlux_min_sf;         
    float32_t oneOverFlux_max_sf;         
    float32_t Dir_fe_min_Hz;              
    float32_t Dir_fe_max_Hz;              
    float32_t Reserved01;                 
    float32_t Reserved02;                 
 
    // BELOW can be added user own varaibles
    float32_t maxFrequency_Hz;          
} USER_Params;
 
 
typedef struct _USER_Params_ *userParams_Handle;
 
// **************************************************************************
// the functions
extern void USER_setParams_priv(USER_Params *pUserParams);
 
//*****************************************************************************
//
// Close the Doxygen group.
//
//*****************************************************************************
 
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
 
#endif // end of USERPARAMS_H definition