MC100/Applications/foc/motor/hall.h

#ifndef _HALL_SENSOR_H__
#define _HALL_SENSOR_H__
#include "os/os_types.h"
#include "bsp/bsp.h"
#include "math/fix_math.h"

#define NEGATIVE          (int8_t)-1
#define POSITIVE          (int8_t)1

//S32Q19 格式
#define PHASE_0_DEGREE (0)
#define PHASE_60_DEGREE (983040*32)
#define PHASE_120_DEGREE (1966080*32)
#define PHASE_180_DEGREE (2949120*32)
#define PHASE_240_DEGREE (3932160*32)
#define PHASE_300_DEGREE (4915200*32)
#define PHASE_360_DEGREE (5898240*32)

#define STATE_0 (uint8_t)0
#define STATE_1 (uint8_t)1
#define STATE_2 (uint8_t)2
#define STATE_3 (uint8_t)3
#define STATE_4 (uint8_t)4
#define STATE_5 (uint8_t)5
#define STATE_6 (uint8_t)6
#define STATE_7 (uint8_t)7

#define THETA_NONE        (float)0xFFFF
#define SAMPLE_MAX_COUNT 4

typedef struct {
	u32        	ticks[SAMPLE_MAX_COUNT];
	s32q19_t   	angles[SAMPLE_MAX_COUNT];
	u32   		ticks_sum;
	s32q19_t   	angles_sum;
	u32   		index;
	bool  		full;
}hall_sample_t;

typedef struct {
	s32q19_t 		estimate_el_angle; //60度区间内的估计电角度
	s32q19_t 		estimate_delta_angle;		
	s32q19_t   		measured_el_angle; //hall测量到的电角度
	s32q19_t 		next_delta_angle;
	s32q19_t        delta_angle_ts;    //每个控制周期角度的增加量，通过上次的速度计算得到
	s32q19_t        angle_comp_ts;     //每个控制周期角度增加的补偿量，主要用在加减速，hall角度和60度有偏差的情况
	int             comp_count;
	s32q5_t 		immediately_el_speed; //当前的即时速度,主要用来判断电机转动是否达到稳定
	s32q5_t 		el_speed; 		//当前的平均效果的电角速度, 单位：rad/s
	s32q5_t  		rpm;        		//当前的电速度, 单位：RPM
	bool  			trns_detect;     //速度变化超过阈值
	u8    			hall_stat;
	u32   			hall_ticks;	
	s8    			direction;
	s32q19_t   		phase_offset;
	hall_sample_t 	samples;
	u32  			sensor_error;
	s16q5_t         manual_angle;
	s32q19_t  		angle_table[8];
}hall_t;

void hall_sensor_init(void);
void hall_sensor_clear(void);
s16q5_t hall_sensor_get_theta(void); //return degree
s32q5_t hall_sensor_get_speed(void); //return rpm;
int hall_offset_increase(int inc);
s32 *hall_get_table(void);
bool hall_detect_angle_finish(void);
void hall_detect_angle(s16 angle);
bool hall_detect_offset_finish(void);
void hall_detect_offset(s16 angle);

#endif /* _HALL_SENSOR_H__ */