motor_ctl-1/2.MotorDrive/Include/hfinj.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            hfinj.h
 Partner Filename:    hfinj.c
 Description:         The header file of hfinj.c
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           GD32F3x0
*************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):
adding-initial position and polarity identification-xpl-2018-09-30
************************************************************************/

/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef HFINJ_H
#define HFINJ_H

/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _HFINJ_C_
#define _HFINJ_EXT
#else
#define _HFINJ_EXT extern
#endif
#include "typedefine.h"
/************************************************************************
 Definitions & Macros
*************************************************************************/
#define HFI_COF_DEFAULT                                                  \
    {                                                                    \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    }
#define HFI_COF_IN_DEFAULT                                \
    {                                                     \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    }
#define HFI_POLEPOS_OUT_DEFAULT                                                             \
    {                                                                                       \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, {0, 0}, 0, 0, 0, 0, FALSE, FALSE, 0, 0, 0 \
    }
#define HFI_POLEPOS_IN_DEFAULT \
    {                          \
        0, 0, 0                \
    }
#define HARWAVECOMNO 15

/************************************************************************
 Constant Table
*************************************************************************/

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/
typedef enum
{
    IniPosCalc = 0,
    PolDetect = 1,
    HfiCalc = 2
} HFI_INJSTATE_DEF;

typedef struct
{
    UWORD uwUbVt;               // Real Value, Unit:0.1V  voltage base
    UWORD uwFbHz;               // Real Value, Unit:Hz  frequency base
    UWORD uwIbAp;               // Real Value, Unit:0.01A  current base
    UWORD uwFreqTbcHz;          // Real Value, Unit:Hz
    UWORD uwFreqInj1Hz;         // Real Value, Unit:Hz-1st frequency
    UWORD uwAmplInj1Vt;         // Real Value, Unit: 0.1V
    UWORD uwFreqInj2Hz;         // Real Value, Unit:Hz-2nd frequency
    UWORD uwAmplInj2Vt;         // Real Value, Unit: 0.1V
    UWORD uwTmIniPosMs;         // Real Value, Unit:ms
    UWORD uwTmWaitIniPosMs;     // Real Value, Unit: ms
    UWORD uwAmplPulseVt;        // Real Value, Unit: 0.1V
    UWORD uwTmPulseMs;          // Real Value, Unit: ms
    UWORD uwTmPulseWaitMs;      // Real Value, Unit: ms
    UWORD uwDeltaCurMagPorOkAp; // Real Value, Unit:0.01A Threshold Current for Magnetic polarity detection ok
    UWORD uwCurLpfFreqHz;       // Real Value, Unit:Hz
    UWORD uwCurHpfFreqHz;       // Real Value, Unit:Hz
    UWORD uwPllDampingRatio;    // Real Value, Unit:N/A
    UWORD uwPllCrossFreqHz;     // Real Value, Unit:Hz
    UWORD uwSpdLpfCofHz;        // Real Value, Unit:Hz
    UWORD uwMagSatrAp;          // Real Value, Unit:0.01A Magnetic saturation current
} HFI_COF_IN;

typedef struct
{
    UWORD uwCycleTmPu;          // Q10, Control cycle time
    UWORD uwAmplInjAbs1Pu;      // Q15, Amplitude of Injection Singal----1st frequency
    UWORD uwRatioTbcToInj1;     // Q15, Ratio of Injection Singal Freq to Tbc Freq
    UWORD uwAmplInjAbs2Pu;      // Q15, Amplitude of Injection Singal----2nd frequency
    UWORD uwRatioTbcToInj2;     // Q15, Ratio of Injection Singal Freq to Tbc Freq
    UWORD uwTmIniPosCt;         // Q0,  Time of initial position dectection
    UWORD uwTmWaitIniPosCt;     // Q0,  Time of Injection Singal
    UWORD uwAmplPPulsePu;       // Q14, Voltage of Positive Pulse
    UWORD uwTmPPulseCt;         // Q0, Time of Positive Pulse
    UWORD uwTmWaitPCt;          // Q0, Wait Time after Positive Pulse
    UWORD uwAmplNPulsePu;       // Q14, Voltage of Negative Pulse
    UWORD uwTmNPulseCt;         // Q0, Time of Negative Pulse
    UWORD uwTmWaitNCt;          // Q0, Wait Time after Negative Pulse
    SWORD swDeltaCurMagPorOkPu; // Q14, Threshold Current for Magnetic polarity detection ok
    SWORD swMagSatrPu;          // Q14, Magnetic saturation current
    UWORD uwPllKpPu;            // Q14
    UWORD uwPllKiPu;            // Q24
    UWORD uwCurLpfCofPu;        // Q15,cut-off frequency for fundamental current filter
    UWORD uwCurHpfCofPu;        // Q15,cut-off frequency for signal demodulation filter
    UWORD uwSpdLpfCof;          // Q15,cut-off frequency for estimated speed filter

    UWORD uwPllCrossFreq;
    UWORD uwBandwidthPu;
} HFI_COF;

typedef struct
{
    SWORD swIaFbPu; // Q14, Current A Feedback
    SWORD swIbFbPu; // Q14, Current B Feedback
    SWORD swIcFbPu; // Q14, Current C Feedback
} HFI_POLEPOS_IN;

typedef struct
{
    UWORD   uwTmInjCt;       // Q0,
    SWORD   swVdInjPu;       // Q14, Injection Voltage on d axis
    SWORD   swVqInjPu;       // Q14, Injection Voltage on q axis
    SWORD   swIdHfFbPu;      // Q14, d Current Feedback in High Frequency
    SWORD   swIqHfFbPu;      // Q14, q Current Feedback in High Frequency
    SWORD   swIdHfLpfPu;     // Q14, d Current Feedback in High Frequency
    SWORD   swIqHfLpfPu;     // Q14, q Current Feedback in High Frequency
    SLONG   slThetaPllPu;    // Q30, 32-bits Theta of PLL
    UWORD   uwThetaPllPu;    // Q15, 16-bits Theta of PLL
    UWORD   uwThetaOutPu;    // Q15, Theta output
    SLONG   slPllSpdPu;      // Q20, 32-bits Speed of PLL
    SWORD   swPllSpdPu;      // Q15, 16-bits Speed of PLL
    SLONG   slPllSpdLpfPu;   // Q15, 32-bits Speed of PLL
    SWORD   swPllSpdLpfPu;   // Q15, 16-bits Speed of PLL
    LPF_OUT stPllSpdOutLpf;  // Q15, Speed out
    SLONG   slPllPPu;        // Q29, Intermediate variable of PLL
    SLONG   slPllIProLimPu;  // Q39, Intermediate variable of PLL
    SLONG   slPllIPu;        // Q29, Intermediate variable of PLL
    SLONG   slPllIRemPu;     // Q39, Intermediate variable of PLL
    BOOL    blMagPorOkFlag;  // Q0,  Magnetic polarity detection ok flag
    BOOL    blMagPorOvrFlag; // Q0,  Magnetic polarity detection over flag
    SWORD   swMagIdFbPPu;    // Q14, d Current Feedback of postive voltage pluse
    SWORD   swMagIdFbNPu;    // Q14, q Current Feedback of negtive voltage pluse
    SWORD   uwDeltaThetaPu;  // Q15, compensative theta of Magnetic polarity
} HFI_POLEPOS_OUT;

/************************************************************************
Constant Table
*************************************************************************/

/************************************************************************
 Exported Variables:
*************************************************************************/
#ifdef _HFINJ_C_
_HFINJ_EXT SWORD hfi_swIqFbLpfPu[HARWAVECOMNO] = {-9000, -8000, -7000, -6000, -5000, -4000, -3000, 0, 3000, 4000, 5000, 6000, 7000, 8000, 9000}; // Iq
_HFINJ_EXT SWORD hfi_swDcOffSetPu[HARWAVECOMNO] = {-350, -295, -230, -180, -120, -70, -35, 0,
                                                   45,   80,   125,  195,  245,  320, 370};                        // dc-offset-mul-saliency
_HFINJ_EXT SWORD hfi_swSixAmpPu[HARWAVECOMNO] = {110, 110, 110, 90, 70, 30, 10, 0, 15, 40, 70, 90, 110, 110, 110}; // 6th-amp-offset-mul-saliency
_HFINJ_EXT SWORD hfi_swSixPhasePu[HARWAVECOMNO] = {11000, 10000, 10000, 10000, 8000, 8000, 9000, 9000,
                                                   9000,  8500,  8000,  7000,  6000, 5000, 5000}; // 6th-phase-offset-mul-saliency
_HFINJ_EXT SWORD hfi_swPI[HARWAVECOMNO] = {
    368, 299, 238, 176, 121, 85, 80, 80, 80, 85, 121, 176, 238, 299, 368}; // saliency amp-variation (P.u.Q14,since directly from the current signal )

_HFINJ_EXT SWORD hfi_swDcSlope[HARWAVECOMNO] = {
    0,  225, 266, 205, 246, 205, 143, 48,
    61, 143, 184, 287, 205, 307, 205}; // Q12/slope-dc-offset-mul-saliency,last is zero, because slope number is one smaller
_HFINJ_EXT SWORD hfi_swSixAmpSlope[HARWAVECOMNO] = {0,  0,   0,   -82, -82, -164, -82, -14,
                                                    20, 102, 123, 82,  82,  0,    0}; // Q12/slope-6th-amp-offset-mul-saliency
_HFINJ_EXT SWORD hfi_swSixThetaShiftSlope[HARWAVECOMNO] = {0, -256, 0,    0,    -512, 0,    256, 0,
                                                           0, -128, -128, -256, -256, -256, 0}; // Q8/slope-th-phase-offset-mul-saliency
_HFINJ_EXT SWORD hfi_swPISlope[HARWAVECOMNO] = {0, -283, -250, -254, -225, -147, -20, 0, 0, 20, 147, 225, 254, 250, 283}; // Q12/slope-amp-variation

_HFINJ_EXT HFI_COF          hfi_stCof = HFI_COF_DEFAULT;
_HFINJ_EXT HFI_POLEPOS_OUT  hfi_stPolePosOut = HFI_POLEPOS_OUT_DEFAULT;
_HFINJ_EXT HFI_POLEPOS_IN   hfi_stPolePosIn = HFI_POLEPOS_IN_DEFAULT;
_HFINJ_EXT HFI_COF_IN       hfi_stCofIn = HFI_COF_IN_DEFAULT;
_HFINJ_EXT HFI_INJSTATE_DEF hfi_euInjState = IniPosCalc;
_HFINJ_EXT UWORD            hfi_uwCurHpfFreqHz = 50; // HPF
_HFINJ_EXT UWORD            hfi_uwDampingRatio = 35; // PLL-bandwidth-Hz
_HFINJ_EXT UWORD            hfi_uwMcoefPu = 20;      // M
_HFINJ_EXT SWORD            hfi_swSixHarmShftPu = 0; // 6th harmonic saliency phase shift
_HFINJ_EXT SWORD            hfi_swSixHarmAmpPu = 0;  // 6th harmonic amplitude
_HFINJ_EXT SWORD            hfi_swDcShftPu = 0;      // dc distortion due to multiple saliency
_HFINJ_EXT SWORD            hfi_swVariPIPu = 80;     // PI variation due to multiple saliency,initial value>1
#else
_HFINJ_EXT HFI_COF          hfi_stCof;
_HFINJ_EXT HFI_POLEPOS_OUT  hfi_stPolePosOut;
_HFINJ_EXT HFI_POLEPOS_IN   hfi_stPolePosIn;
_HFINJ_EXT HFI_COF_IN       hfi_stCofIn;
_HFINJ_EXT HFI_INJSTATE_DEF hfi_euInjState;
_HFINJ_EXT UWORD            hfi_uwCurHpfFreqHz;
_HFINJ_EXT UWORD            hfi_uwDampingRatio;
_HFINJ_EXT UWORD            hfi_uwMcoefPu;
_HFINJ_EXT UWORD            hfi_swVariPIPu;
#endif

/************************************************************************
 RAM ALLOCATION:
*************************************************************************/
//#define hfi_stCofIn       (*(HFI_COF_IN *)MN_BUFFER)
//#define hfi_stPolePosIn         (*(HFI_POLEPOS_IN *)TBC_BUFFER)

/************************************************************************
 Exported Function Call Prototypes (N/A)
*************************************************************************/
#ifdef _HFINJ_C_
_HFINJ_EXT void hfi_voInit(void);
_HFINJ_EXT void hfi_voCof(HFI_COF_IN *in, HFI_COF *cof);
_HFINJ_EXT void hfi_voPolePosDetect(HFI_POLEPOS_IN *in, HFI_COF *cof, HFI_POLEPOS_OUT *out);
_HFINJ_EXT void hfi_voMagPorDetect(HFI_POLEPOS_IN *in, HFI_COF *cof, HFI_POLEPOS_OUT *out);
#else
_HFINJ_EXT void hfi_voInit(void);
_HFINJ_EXT void hfi_voCof(HFI_COF_IN *in, HFI_COF *cof);
_HFINJ_EXT void hfi_voPolePosDetect(HFI_POLEPOS_IN *in, HFI_COF *cof, HFI_POLEPOS_OUT *out);
_HFINJ_EXT void hfi_voMagPorDetect(HFI_POLEPOS_IN *in, HFI_COF *cof, HFI_POLEPOS_OUT *out);
#endif

/************************************************************************
 Flag Define (N/A)
*************************************************************************/

/***********************************************************************/
#endif
/************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF):
 Do not put anything after this part!
*************************************************************************/