hpm_mcl_encoder.h File Reference

#include "hpm_mcl_common.h"
#include "hpm_mcl_filter.h"

Go to the source code of this file.

Data Structures
struct	mcl_encoder_uvw_level_t
	uvw level 0 or 1 More...
struct	mcl_encoder_callback
	callback function More...
struct	mcl_encoder_cal_speed_t_function_t
struct	mcl_encoder_cal_speed_m_function_t
struct	mcl_encoder_cal_speed_m_t_function_t
struct	mcl_encoder_cal_speed_pll_cfg_t
	pll filter configuration More...
struct	mcl_encoder_cal_speed_pll_function_t
	Running data for the pll method of calculating speed. More...
struct	mcl_encoer_cfg_t
	Encoder Configuration. More...
struct	mcl_encoder_t
	Encoder operation data. More...

Macros
#define	MCL_ENCODER_CAL_STRUCT_MAX_MEMMORY   (16)
	Maximum memory required for computational speed, word. More...

Typedefs
typedef struct mcl_encoder_callback	mcl_encoder_callback_t
	callback function More...

Enumerations
enum	{   mcl_encoder_start_sample_error = MAKE_STATUS(mcl_group_encoder, 0) , mcl_encoder_get_tick_error = MAKE_STATUS(mcl_group_encoder, 1) , mcl_encoder_update_tick_error = MAKE_STATUS(mcl_group_encoder, 2) , mcl_encoder_get_theta_error = MAKE_STATUS(mcl_group_encoder, 3) ,   mcl_encoder_not_ready = MAKE_STATUS(mcl_group_encoder, 4) , mcl_encoder_get_uvw_error = MAKE_STATUS(mcl_group_encoder, 5) }
enum	mcl_encoder_status_t { encoder_status_null = 0 , encoder_status_init = 1 , encoder_status_run = 2 , encoder_status_fail = 3 }
enum	mcl_encoder_cal_speed_function_t {   encoder_method_t , encoder_method_m , encoder_method_m_t , encoder_method_pll ,   encoder_method_user }
	Method of calculating speed. More...

Functions
hpm_mcl_stat_t	hpm_mcl_encoder_init (mcl_encoder_t *encoder, mcl_cfg_t *mcl_cfg, mcl_encoer_cfg_t *encoder_cfg, mcl_filter_iir_df1_t *iir)
	Initialize encoder data. More...
hpm_mcl_stat_t	hpm_mcl_encoder_start_sample (mcl_encoder_t *encoder)
	Encoder starts sampling. More...
hpm_mcl_stat_t	hpm_mcl_encoder_set_initial_theta (mcl_encoder_t *encoder, float theta)
	Sets the initial value of the angle. Normally, the programme does the initial value setting automatically, but if you are not satisfied with the result, you can set the initial value. The initial value determines the zero point of the electrical angle. This means that the angle read by the sensor is calibrated to zero by the initial value. More...
hpm_mcl_stat_t	hpm_mcl_encoder_process (mcl_encoder_t *encoder, uint32_t tick_deta)
	Encoder processing, cycle call. More...
hpm_mcl_stat_t	hpm_mcl_encoder_set_status (mcl_encoder_t *encoder, mcl_encoder_status_t status)
	Force update of encoder status. More...
float	hpm_mcl_encoder_get_theta (mcl_encoder_t *encoder)
	Get the encoder angle value. More...
float	hpm_mcl_encoder_get_speed (mcl_encoder_t *encoder)
	Get speed. More...
float	hpm_mcl_encoder_get_forecast_theta (mcl_encoder_t *encoder)
	Get the angle predicted from the speed. More...
float	hpm_mcl_encoder_get_raw_theta (mcl_encoder_t *encoder)
	Getting the raw angle data of the encoder. More...
void	hpm_mcl_encoder_force_theta (mcl_encoder_t *encoder, float theta, bool enable)
	Force setting of the output angle of the encoder function. More...
hpm_mcl_stat_t	hpm_mcl_encoder_get_absolute_theta (mcl_encoder_t *encoder, float *theta)
	Get the absolute position of the angle. More...
hpm_mcl_stat_t	hpm_mcl_encoder_get_uvw_status (mcl_encoder_t *encoder, mcl_encoder_uvw_level_t *level)
	Get level status of uvw. More...
float	hpm_mcl_encoder_get_sensorless_theta (mcl_encoder_t *encoder)
	Get sensorless theta. More...

Macro Definition Documentation

MCL_ENCODER_CAL_STRUCT_MAX_MEMMORY

#define MCL_ENCODER_CAL_STRUCT_MAX_MEMMORY   (16)

Maximum memory required for computational speed, word.

Typedef Documentation

mcl_encoder_callback_t

typedef struct mcl_encoder_callback mcl_encoder_callback_t

callback function

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
mcl_encoder_start_sample_error
mcl_encoder_get_tick_error
mcl_encoder_update_tick_error
mcl_encoder_get_theta_error
mcl_encoder_not_ready
mcl_encoder_get_uvw_error

mcl_encoder_cal_speed_function_t

enum mcl_encoder_cal_speed_function_t

Method of calculating speed.

Enumerator
encoder_method_t
encoder_method_m
encoder_method_m_t
encoder_method_pll
encoder_method_user

mcl_encoder_status_t

enum mcl_encoder_status_t

Enumerator
encoder_status_null
encoder_status_init
encoder_status_run
encoder_status_fail

Function Documentation

hpm_mcl_encoder_force_theta()

void hpm_mcl_encoder_force_theta	(	mcl_encoder_t *	encoder,
		float	theta,
		bool	enable
	)

Force setting of the output angle of the encoder function.

Parameters

encoder	mcl_encoder_t
theta	rad
enable	Enable or disable the forced output function

hpm_mcl_encoder_get_absolute_theta()

hpm_mcl_stat_t hpm_mcl_encoder_get_absolute_theta	(	mcl_encoder_t *	encoder,
		float *	theta
	)

Get the absolute position of the angle.

Parameters

encoder	mcl_encoder_t
theta	rad

Returns

hpm_mcl_stat_t

hpm_mcl_encoder_get_forecast_theta()

float hpm_mcl_encoder_get_forecast_theta

(

mcl_encoder_t *

encoder

)

Get the angle predicted from the speed.

Parameters

encoder

mcl_encoder_t

Returns

theta, rad

hpm_mcl_encoder_get_raw_theta()

float hpm_mcl_encoder_get_raw_theta

(

mcl_encoder_t *

encoder

)

Getting the raw angle data of the encoder.

Parameters

encoder

mcl_encoder_t

Returns

theta, rad

hpm_mcl_encoder_get_sensorless_theta()

float hpm_mcl_encoder_get_sensorless_theta

(

mcl_encoder_t *

encoder

)

Get sensorless theta.

Parameters

encoder

mcl_encoder_t

Returns

theta

hpm_mcl_encoder_get_speed()

float hpm_mcl_encoder_get_speed

(

mcl_encoder_t *

encoder

)

Get speed.

Parameters

encoder

mcl_encoder_t

Returns

rad/s

hpm_mcl_encoder_get_theta()

float hpm_mcl_encoder_get_theta

(

mcl_encoder_t *

encoder

)

Get the encoder angle value.

Parameters

encoder

mcl_encoder_t

Returns

angle value, rad

hpm_mcl_encoder_get_uvw_status()

hpm_mcl_stat_t hpm_mcl_encoder_get_uvw_status	(	mcl_encoder_t *	encoder,
		mcl_encoder_uvw_level_t *	level
	)

Get level status of uvw.

Parameters

encoder	mcl_encoder_t
level	0: low , 1: high

Returns

hpm_mcl_stat_t

hpm_mcl_encoder_init()

hpm_mcl_stat_t hpm_mcl_encoder_init	(	mcl_encoder_t *	encoder,
		mcl_cfg_t *	mcl_cfg,
		mcl_encoer_cfg_t *	encoder_cfg,
		mcl_filter_iir_df1_t *	iir
	)

Initialize encoder data.

Parameters

encoder	mcl_encoder_t
mcl_cfg	mcl_cfg_t
encoder_cfg	mcl_encoer_cfg_t
iir	mcl_filter_iir_df1_t

Returns

hpm_mcl_stat_t

parameter check

null function initialisation

parameter initial

hpm_mcl_encoder_process()

hpm_mcl_stat_t hpm_mcl_encoder_process	(	mcl_encoder_t *	encoder,
		uint32_t	tick_deta
	)

Encoder processing, cycle call.

Parameters

encoder	mcl_encoder_t
tick_deta	Difference in the number of cycles between two calls

Returns

hpm_mcl_stat_t

iir filter

hpm_mcl_encoder_set_initial_theta()

hpm_mcl_stat_t hpm_mcl_encoder_set_initial_theta	(	mcl_encoder_t *	encoder,
		float	theta
	)

Sets the initial value of the angle. Normally, the programme does the initial value setting automatically, but if you are not satisfied with the result, you can set the initial value. The initial value determines the zero point of the electrical angle. This means that the angle read by the sensor is calibrated to zero by the initial value.

Parameters

encoder	mcl_encoder_t
theta	Used to calibrate electrical angle to zero

Returns

hpm_mcl_stat_t hpm_mcl_stat_t

hpm_mcl_encoder_set_status()

hpm_mcl_stat_t hpm_mcl_encoder_set_status	(	mcl_encoder_t *	encoder,
		mcl_encoder_status_t	status
	)

Force update of encoder status.

Parameters

encoder	mcl_encoder_t
status	mcl_encoder_status_t

Returns

hpm_mcl_stat_t

hpm_mcl_encoder_start_sample()

hpm_mcl_stat_t hpm_mcl_encoder_start_sample

(

mcl_encoder_t *

encoder

)

Encoder starts sampling.

Parameters

encoder

mcl_encoder_t

Returns

hpm_mcl_stat_t