instaspin_foc
|
Modules | |
Project Overview | |
Functions | |
void | main (void) |
interrupt void | mainISR (void) |
The main ISR that implements the motor control. More... | |
_iq | angleDelayComp (const _iq fm_pu, const _iq angleUncomp_pu) |
The angleDelayComp function compensates for the delay introduced. More... | |
void | runCurrentIgnore (void) |
void | runCurrentReconstruction (void) |
void | runFieldWeakening (void) |
void | runOffsetsCalculation (void) |
void | softwareUpdate1p6 (EST_Handle handle) |
Updates version 1p6 of library. More... | |
void | runSetTrigger (void) |
void | setupClarke_I (CLARKE_Handle handle, const uint_least8_t numCurrentSensors) |
Setup the Clarke transform for either 2 or 3 sensors. More... | |
void | setupClarke_V (CLARKE_Handle handle, const uint_least8_t numVoltageSensors) |
Setup the Clarke transform for either 2 or 3 sensors. More... | |
void | updateGlobalVariables (EST_Handle handle) |
Update the global variables (gMotorVars). More... | |
void | updateCPUusage (void) |
Updates CPU usage. More... | |
Variables | |
CLARKE_Handle | clarkeHandle_I |
the handle for the current Clarke transform More... | |
CLARKE_Obj | clarke_I |
the current Clarke transform object More... | |
CLARKE_Handle | clarkeHandle_V |
the handle for the voltage Clarke transform More... | |
CLARKE_Obj | clarke_V |
the voltage Clarke transform object More... | |
CPU_USAGE_Handle | cpu_usageHandle |
CPU_USAGE_Obj | cpu_usage |
EST_Handle | estHandle |
the handle for the estimator More... | |
FW_Handle | fwHandle |
FW_Obj | fw |
PID_Obj | pid [3] |
three handles for PID controllers 0 - Speed, 1 - Id, 2 - Iq More... | |
PID_Handle | pidHandle [3] |
three objects for PID controllers 0 - Speed, 1 - Id, 2 - Iq More... | |
uint16_t | pidCntSpeed |
count variable to decimate the execution of the speed PID controller More... | |
IPARK_Handle | iparkHandle |
the handle for the inverse Park transform More... | |
IPARK_Obj | ipark |
the inverse Park transform object More... | |
FILTER_FO_Handle | filterHandle [6] |
the handles for the 3-current and 3-voltage filters for offset calculation More... | |
FILTER_FO_Obj | filter [6] |
the 3-current and 3-voltage filters for offset calculation More... | |
SVGENCURRENT_Obj | svgencurrent |
SVGENCURRENT_Handle | svgencurrentHandle |
SVGEN_Handle | svgenHandle |
the handle for the space vector generator More... | |
SVGEN_Obj | svgen |
the space vector generator object More... | |
TRAJ_Handle | trajHandle_Id |
the handle for the id reference trajectory More... | |
TRAJ_Obj | traj_Id |
the id reference trajectory object More... | |
TRAJ_Handle | trajHandle_spd |
the handle for the speed reference trajectory More... | |
TRAJ_Obj | traj_spd |
the speed reference trajectory object More... | |
HAL_Handle | halHandle |
the handle for the hardware abstraction layer (HAL) More... | |
HAL_PwmData_t | gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)} |
contains the three pwm values -1.0 - 0%, 1.0 - 100% More... | |
HAL_AdcData_t | gAdcData |
contains three current values, three voltage values and one DC buss value More... | |
MATH_vec3 | gOffsets_I_pu = {_IQ(0.0), _IQ(0.0), _IQ(0.0)} |
contains the offsets for the current feedback More... | |
MATH_vec3 | gOffsets_V_pu = {_IQ(0.0), _IQ(0.0), _IQ(0.0)} |
contains the offsets for the voltage feedback More... | |
MATH_vec2 | gIdq_ref_pu = {_IQ(0.0), _IQ(0.0)} |
contains the Id and Iq references More... | |
MATH_vec2 | gVdq_out_pu = {_IQ(0.0), _IQ(0.0)} |
contains the output Vd and Vq from the current controllers More... | |
MATH_vec2 | gIdq_pu = {_IQ(0.0), _IQ(0.0)} |
contains the Id and Iq measured values More... | |
USER_Params | gUserParams |
The user parameters. More... | |
volatile MOTOR_Vars_t | gMotorVars = MOTOR_Vars_INIT |
the global motor variables that are defined in main.h and used for display in the debugger's watch window More... | |
int16_t | gCmpOffset = (int16_t)(1.0 * USER_SYSTEM_FREQ_MHz) |
MATH_vec3 | gIavg = {_IQ(0.0), _IQ(0.0), _IQ(0.0)} |
uint16_t | gIavg_shift = 1 |
_iq | gFlux_pu_to_Wb_sf |
_iq | gFlux_pu_to_VpHz_sf |
_iq | gTorque_Ls_Id_Iq_pu_to_Nm_sf |
_iq | gTorque_Flux_Iq_pu_to_Nm_sf |
_iq | gSpeed_krpm_to_pu_sf = _IQ((float_t)USER_MOTOR_NUM_POLE_PAIRS * 1000.0 / (USER_IQ_FULL_SCALE_FREQ_Hz * 60.0)) |
_iq | gSpeed_hz_to_krpm_sf = _IQ(60.0 / (float_t)USER_MOTOR_NUM_POLE_PAIRS / 1000.0) |
_iq | gIs_Max_squared_pu = _IQ((USER_MOTOR_MAX_CURRENT * USER_MOTOR_MAX_CURRENT) / (USER_IQ_FULL_SCALE_CURRENT_A * USER_IQ_FULL_SCALE_CURRENT_A)) |
float_t | gCpuUsagePercentageMin = 0.0 |
float_t | gCpuUsagePercentageAvg = 0.0 |
float_t | gCpuUsagePercentageMax = 0.0 |
uint32_t | gOffsetCalcCount = 0 |
volatile bool | gFlag_enableRsOnLine = false |
volatile bool | gFlag_updateRs = false |
volatile _iq | gRsOnLineFreq_Hz = _IQ(0.2) |
volatile _iq | gRsOnLineId_mag_A = _IQ(0.5) |
volatile _iq | gRsOnLinePole_Hz = _IQ(0.2) |
The angleDelayComp function compensates for the delay introduced.
from the time when the system inputs are sampled to when the PWM voltages are applied to the motor windings.
Definition at line 793 of file proj_lab11a.c.
References _IQ, _IQabs, _IQmpy, GLOBAL_Q, USER_IQ_FULL_SCALE_FREQ_Hz, USER_NUM_PWM_TICKS_PER_ISR_TICK, and USER_PWM_FREQ_kHz.
Referenced by mainISR().
void main | ( | void | ) |
Definition at line 185 of file proj_lab11a.c.
References _IQ, _IQmpy, CLARKE_init(), CPU_USAGE_init(), CPU_USAGE_setParams(), CTRL_init(), CTRL_setParams(), CTRL_setupEstIdleState(), CTRL_setUserMotorParams(), _USER_Params_::ctrlFreq_Hz, ctrlHandle, EST_getState(), EST_init(), EST_runPowerWarp(), EST_setAngle_pu(), EST_setEstParams(), EST_setFlag_enableForceAngle(), EST_setFlag_enableRsOnLine(), EST_setFlag_enableRsRecalc(), EST_setFlag_updateRs(), EST_setIdle(), EST_setRsOnLineAngleDelta_pu(), EST_setRsOnLineFilterParams(), EST_setRsOnLineId_mag_pu(), EST_setRsOnLineId_pu(), EST_setupEstIdleState(), EST_updateState(), _CTRL_Obj_::estHandle, estHandle, FILTER_FO_init(), FILTER_FO_setDenCoeffs(), FILTER_FO_setInitialConditions(), FILTER_FO_setNumCoeffs(), _MOTOR_Vars_t_::Flag_enableFieldWeakening, _MOTOR_Vars_t_::Flag_enableForceAngle, _MOTOR_Vars_t_::Flag_enableOffsetcalc, _MOTOR_Vars_t_::Flag_enablePowerWarp, _MOTOR_Vars_t_::Flag_enableRsRecalc, _MOTOR_Vars_t_::Flag_enableSys, _MOTOR_Vars_t_::Flag_Run_Identify, FW_clearCounter(), FW_DEC_DELTA, FW_INC_DELTA, FW_init(), FW_NUM_ISR_TICKS_PER_CTRL_TICK, FW_setDeltas(), FW_setFlag_enableFw(), FW_setMinMax(), FW_setNumIsrTicksPerFwTick(), FW_setOutput(), hal, HAL_disablePwm(), HAL_enableAdcInts(), HAL_enableDebugInt(), HAL_enableDrv(), HAL_enableGlobalInts(), HAL_enablePwm(), HAL_init(), HAL_initIntVectorTable(), HAL_readDrvData(), HAL_setParams(), HAL_setupDrvSpi(), HAL_setupFaults(), HAL_writeDrvData(), I_A_offset, I_B_offset, I_C_offset, IPARK_init(), memCopy(), _USER_Params_::offsetPole_rps, PID_init(), PID_setGains(), PID_setMinMax(), PID_setUi(), pidCntSpeed, setupClarke_I(), setupClarke_V(), softwareUpdate1p6(), _MOTOR_Vars_t_::SpeedRef_krpm, SVGEN_init(), SVGENCURRENT_init(), TRAJ_getIntValue(), TRAJ_init(), TRAJ_setIntValue(), TRAJ_setMaxDelta(), TRAJ_setMaxValue(), TRAJ_setMinValue(), TRAJ_setTargetValue(), updateCPUusage(), updateGlobalVariables(), USER_checkForErrors(), USER_computeFlux_pu_to_VpHz_sf(), USER_computeFlux_pu_to_Wb_sf(), USER_computeTorque_Flux_Iq_pu_to_Nm_sf(), USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(), USER_EST_HANDLE_ADDRESS, USER_getErrorCode(), USER_IQ_FULL_SCALE_CURRENT_A, USER_IQ_FULL_SCALE_FREQ_Hz, USER_IQ_FULL_SCALE_VOLTAGE_V, USER_ISR_FREQ_Hz, USER_MAX_ACCEL_Hzps, USER_MAX_NEGATIVE_ID_REF_CURRENT_A, USER_MAX_VS_MAG_PU, USER_MOTOR_Ls_d, USER_MOTOR_Ls_q, USER_MOTOR_MAGNETIZING_CURRENT, USER_MOTOR_RES_EST_CURRENT, USER_MOTOR_Rs, USER_MOTOR_TYPE, USER_NUM_CURRENT_SENSORS, USER_NUM_VOLTAGE_SENSORS, USER_setParams(), USER_SYSTEM_FREQ_MHz, USER_VD_SF, _MOTOR_Vars_t_::UserErrorCode, V_A_offset, V_B_offset, V_C_offset, _MATH_vec3_::value, and _MATH_vec2_::value.
interrupt void mainISR | ( | void | ) |
The main ISR that implements the motor control.
The main interrupt service (ISR) routine.
Definition at line 630 of file proj_lab11a.c.
References _IQ, _IQcosPU, _IQmpy, _IQsinPU, _IQsqrt, angleDelayComp(), CLARKE_run(), CPU_USAGE_run(), CPU_USAGE_updateCnts(), _HAL_AdcData_t_::dcBus, EST_getAngle_pu(), EST_getFm_pu(), EST_getIdq_pu(), EST_getOneOverDcBus_pu(), EST_getRsOnLineId_pu(), EST_run(), estHandle, _MOTOR_Vars_t_::Flag_enableOffsetcalc, _MOTOR_Vars_t_::Flag_enableRsRecalc, _MOTOR_Vars_t_::Flag_Run_Identify, HAL_acqAdcInt(), HAL_disablePwm(), HAL_readAdcDataWithOffsets(), HAL_readTimerCnt(), HAL_writePwmData(), _HAL_AdcData_t_::I, IPARK_run(), IPARK_setPhasor(), Iq_Max_pu, PID_getRefValue(), PID_run(), PID_run_spd(), PID_setMinMax(), pidCntSpeed, runCurrentIgnore(), runCurrentReconstruction(), runFieldWeakening(), runOffsetsCalculation(), runSetTrigger(), SVGEN_run(), _HAL_PwmData_t_::Tabc, TRAJ_getIntValue(), TRAJ_run(), USER_MAX_VS_MAG_PU, USER_MOTOR_TYPE, USER_NUM_CTRL_TICKS_PER_SPEED_TICK, _HAL_AdcData_t_::V, _MATH_vec2_::value, and _MATH_vec3_::value.
void runCurrentIgnore | ( | void | ) |
Definition at line 819 of file proj_lab11a.c.
References HAL_readPwmCmpA(), and HAL_readPwmCmpAM().
Referenced by mainISR().
void runCurrentReconstruction | ( | void | ) |
Definition at line 835 of file proj_lab11a.c.
References _HAL_AdcData_t_::I, and _MATH_vec3_::value.
Referenced by mainISR().
void runFieldWeakening | ( | void | ) |
Definition at line 864 of file proj_lab11a.c.
References _IQ, _IQmpy, FW_clearCounter(), FW_getCounter(), FW_getFlag_enableFw(), FW_getNumIsrTicksPerFwTick(), FW_incCounter(), FW_run(), _MOTOR_Vars_t_::IdRef_A, USER_IQ_FULL_SCALE_CURRENT_A, _MATH_vec2_::value, _MOTOR_Vars_t_::Vs, and _MOTOR_Vars_t_::VsRef.
Referenced by mainISR().
void runOffsetsCalculation | ( | void | ) |
Definition at line 895 of file proj_lab11a.c.
References _IQ, _USER_Params_::ctrlWaitTime, FILTER_FO_get_y1(), FILTER_FO_run(), FILTER_FO_setInitialConditions(), _MOTOR_Vars_t_::Flag_enableOffsetcalc, HAL_enablePwm(), _HAL_AdcData_t_::I, _HAL_PwmData_t_::Tabc, _HAL_AdcData_t_::V, and _MATH_vec3_::value.
Referenced by mainISR().
void runSetTrigger | ( | void | ) |
Definition at line 957 of file proj_lab11a.c.
References gCmpOffset, and HAL_setTrigger().
Referenced by mainISR().
void setupClarke_I | ( | CLARKE_Handle | handle, |
const uint_least8_t | numCurrentSensors | ||
) |
Setup the Clarke transform for either 2 or 3 sensors.
Sets up the Clarke transform for current.
Sets the number of current sensors.
[in] | handle | The clarke (CLARKE) handle |
[in] | numCurrentSensors | The number of current sensors |
Definition at line 972 of file proj_lab11a.c.
References _IQ, CLARKE_setNumSensors(), CLARKE_setScaleFactors(), MATH_ONE_OVER_SQRT_THREE, and MATH_ONE_OVER_THREE.
Referenced by main().
void setupClarke_V | ( | CLARKE_Handle | handle, |
const uint_least8_t | numVoltageSensors | ||
) |
Setup the Clarke transform for either 2 or 3 sensors.
Sets up the Clarke transform for voltage.
Sets the number of voltage sensors.
[in] | handle | The clarke (CLARKE) handle |
[in] | numVoltageSensors | The number of voltage sensors |
Definition at line 1004 of file proj_lab11a.c.
References _IQ, CLARKE_setNumSensors(), CLARKE_setScaleFactors(), MATH_ONE_OVER_SQRT_THREE, and MATH_ONE_OVER_THREE.
Referenced by main().
void softwareUpdate1p6 | ( | EST_Handle | handle | ) |
Updates version 1p6 of library.
Updates version 1p6 of library.
implementation of InstaSPIN (version 1.6 of ROM) since the inductance calculation is not done correctly in ROM, so this function fixes that ROM bug.
Definition at line 937 of file proj_lab11a.c.
References _IQ30, _IQ30toF(), EST_getLs_coarse_max_pu(), EST_setLs_d_pu(), EST_setLs_q_pu(), EST_setLs_qFmt(), USER_IQ_FULL_SCALE_CURRENT_A, USER_IQ_FULL_SCALE_VOLTAGE_V, USER_MOTOR_Ls_d, USER_MOTOR_Ls_q, and USER_VOLTAGE_FILTER_POLE_rps.
Referenced by main().
void updateCPUusage | ( | void | ) |
Updates CPU usage.
Definition at line 1096 of file proj_lab11a.c.
References CPU_USAGE_getAvgDeltaCntObserved(), CPU_USAGE_getMaxDeltaCntObserved(), CPU_USAGE_getMinDeltaCntObserved(), HAL_readPwmPeriod(), and USER_NUM_PWM_TICKS_PER_ISR_TICK.
Referenced by main().
void updateGlobalVariables | ( | EST_Handle | handle | ) |
Update the global variables (gMotorVars).
Updates the global variables.
[in] | handle | The estimator (EST) handle |
Definition at line 1030 of file proj_lab11a.c.
References _IQ, _IQ30toIQ, _IQmpy, _IQsqrt, _HAL_AdcData_t_::dcBus, EST_getFlux_pu(), EST_getFlux_VpHz(), EST_getIdRated(), EST_getLs_d_H(), EST_getLs_d_pu(), EST_getLs_q_H(), EST_getLs_q_pu(), EST_getRr_Ohm(), EST_getRs_Ohm(), EST_getRsOnLine_Ohm(), EST_getSpeed_krpm(), EST_getState(), _MOTOR_Vars_t_::EstState, _MOTOR_Vars_t_::Flux_VpHz, _MOTOR_Vars_t_::Flux_Wb, _MOTOR_Vars_t_::Id_A, _MOTOR_Vars_t_::Iq_A, _MOTOR_Vars_t_::Is_A, _MOTOR_Vars_t_::Lsd_H, _MOTOR_Vars_t_::Lsq_H, _MOTOR_Vars_t_::MagnCurr_A, PID_getFbackValue(), _MOTOR_Vars_t_::Rr_Ohm, _MOTOR_Vars_t_::Rs_Ohm, _MOTOR_Vars_t_::RsOnLine_Ohm, _MOTOR_Vars_t_::Speed_krpm, _MOTOR_Vars_t_::Torque_Nm, USER_IQ_FULL_SCALE_CURRENT_A, USER_IQ_FULL_SCALE_VOLTAGE_V, _MATH_vec2_::value, _MOTOR_Vars_t_::Vd, _MOTOR_Vars_t_::VdcBus_kV, _MOTOR_Vars_t_::Vq, and _MOTOR_Vars_t_::Vs.
Referenced by main().
CLARKE_Obj clarke_I |
the current Clarke transform object
Definition at line 65 of file proj_lab11a.c.
CLARKE_Obj clarke_V |
the voltage Clarke transform object
Definition at line 68 of file proj_lab11a.c.
CLARKE_Handle clarkeHandle_I |
the handle for the current Clarke transform
Definition at line 64 of file proj_lab11a.c.
CLARKE_Handle clarkeHandle_V |
the handle for the voltage Clarke transform
Definition at line 67 of file proj_lab11a.c.
CPU_USAGE_Obj cpu_usage |
Definition at line 71 of file proj_lab11a.c.
CPU_USAGE_Handle cpu_usageHandle |
Definition at line 70 of file proj_lab11a.c.
EST_Handle estHandle |
the handle for the estimator
Definition at line 73 of file proj_lab11a.c.
FILTER_FO_Obj filter[6] |
the 3-current and 3-voltage filters for offset calculation
Definition at line 86 of file proj_lab11a.c.
FILTER_FO_Handle filterHandle[6] |
the handles for the 3-current and 3-voltage filters for offset calculation
Definition at line 85 of file proj_lab11a.c.
FW_Obj fw |
Definition at line 76 of file proj_lab11a.c.
FW_Handle fwHandle |
Definition at line 75 of file proj_lab11a.c.
HAL_AdcData_t gAdcData |
contains three current values, three voltage values and one DC buss value
Defines the ADC data.
Definition at line 107 of file proj_lab11a.c.
int16_t gCmpOffset = (int16_t)(1.0 * USER_SYSTEM_FREQ_MHz) |
Definition at line 138 of file proj_lab11a.c.
Referenced by runSetTrigger().
float_t gCpuUsagePercentageAvg = 0.0 |
Definition at line 168 of file proj_lab11a.c.
float_t gCpuUsagePercentageMax = 0.0 |
Definition at line 169 of file proj_lab11a.c.
float_t gCpuUsagePercentageMin = 0.0 |
Definition at line 167 of file proj_lab11a.c.
volatile bool gFlag_enableRsOnLine = false |
Definition at line 173 of file proj_lab11a.c.
volatile bool gFlag_updateRs = false |
Definition at line 175 of file proj_lab11a.c.
_iq gFlux_pu_to_VpHz_sf |
Definition at line 155 of file proj_lab11a.c.
_iq gFlux_pu_to_Wb_sf |
Definition at line 153 of file proj_lab11a.c.
uint16_t gIavg_shift = 1 |
Definition at line 141 of file proj_lab11a.c.
contains the Id and Iq measured values
Definition at line 117 of file proj_lab11a.c.
contains the Id and Iq references
Definition at line 113 of file proj_lab11a.c.
_iq gIs_Max_squared_pu = _IQ((USER_MOTOR_MAX_CURRENT * USER_MOTOR_MAX_CURRENT) / (USER_IQ_FULL_SCALE_CURRENT_A * USER_IQ_FULL_SCALE_CURRENT_A)) |
Definition at line 165 of file proj_lab11a.c.
volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT |
the global motor variables that are defined in main.h and used for display in the debugger's watch window
Definition at line 124 of file proj_lab11a.c.
uint32_t gOffsetCalcCount = 0 |
Definition at line 171 of file proj_lab11a.c.
contains the offsets for the current feedback
Definition at line 109 of file proj_lab11a.c.
contains the offsets for the voltage feedback
Definition at line 111 of file proj_lab11a.c.
HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)} |
contains the three pwm values -1.0 - 0%, 1.0 - 100%
Defines the PWM data.
Definition at line 105 of file proj_lab11a.c.
Definition at line 177 of file proj_lab11a.c.
Definition at line 179 of file proj_lab11a.c.
Definition at line 181 of file proj_lab11a.c.
_iq gSpeed_hz_to_krpm_sf = _IQ(60.0 / (float_t)USER_MOTOR_NUM_POLE_PAIRS / 1000.0) |
Definition at line 163 of file proj_lab11a.c.
_iq gSpeed_krpm_to_pu_sf = _IQ((float_t)USER_MOTOR_NUM_POLE_PAIRS * 1000.0 / (USER_IQ_FULL_SCALE_FREQ_Hz * 60.0)) |
Definition at line 161 of file proj_lab11a.c.
_iq gTorque_Flux_Iq_pu_to_Nm_sf |
Definition at line 159 of file proj_lab11a.c.
_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf |
Definition at line 157 of file proj_lab11a.c.
USER_Params gUserParams |
The user parameters.
Definition at line 122 of file proj_lab11a.c.
contains the output Vd and Vq from the current controllers
Definition at line 115 of file proj_lab11a.c.
HAL_Handle halHandle |
the handle for the hardware abstraction layer (HAL)
The hal handle.
Definition at line 103 of file proj_lab11a.c.
IPARK_Obj ipark |
the inverse Park transform object
Definition at line 83 of file proj_lab11a.c.
IPARK_Handle iparkHandle |
the handle for the inverse Park transform
Definition at line 82 of file proj_lab11a.c.
PID_Obj pid[3] |
three handles for PID controllers 0 - Speed, 1 - Id, 2 - Iq
Definition at line 78 of file proj_lab11a.c.
uint16_t pidCntSpeed |
count variable to decimate the execution of the speed PID controller
Definition at line 80 of file proj_lab11a.c.
PID_Handle pidHandle[3] |
three objects for PID controllers 0 - Speed, 1 - Id, 2 - Iq
Definition at line 79 of file proj_lab11a.c.
SVGEN_Obj svgen |
the space vector generator object
Definition at line 92 of file proj_lab11a.c.
SVGENCURRENT_Obj svgencurrent |
Definition at line 88 of file proj_lab11a.c.
SVGENCURRENT_Handle svgencurrentHandle |
Definition at line 89 of file proj_lab11a.c.
SVGEN_Handle svgenHandle |
the handle for the space vector generator
Definition at line 91 of file proj_lab11a.c.
TRAJ_Obj traj_Id |
the id reference trajectory object
Definition at line 95 of file proj_lab11a.c.
TRAJ_Obj traj_spd |
the speed reference trajectory object
Definition at line 98 of file proj_lab11a.c.
TRAJ_Handle trajHandle_Id |
the handle for the id reference trajectory
Definition at line 94 of file proj_lab11a.c.
TRAJ_Handle trajHandle_spd |
the handle for the speed reference trajectory
Definition at line 97 of file proj_lab11a.c.