hpm_mcl_encoder.c File Reference

#include <math.h>
#include "hpm_mcl_encoder.h"
#include "hpm_mcl_physical.h"

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...
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...
float	hpm_mcl_encoder_get_raw_theta (mcl_encoder_t *encoder)
	Getting the raw angle data of the encoder. More...
float	hpm_mcl_encoder_get_theta (mcl_encoder_t *encoder)
	Get the encoder angle value. More...
float	hpm_mcl_encoder_get_sensorless_theta (mcl_encoder_t *encoder)
	Get sensorless theta. 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...
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...

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