instaspin_foc
proj_lab03a.c
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36 
38 
39 
44 
45 // **************************************************************************
46 // the includes
47 
48 // system includes
49 #include <math.h>
50 #include "main.h"
51 
52 #ifdef FLASH
53 #pragma CODE_SECTION(mainISR,"ramfuncs");
54 #endif
55 
56 // Include header files used in the main function
57 
58 
59 // **************************************************************************
60 // the defines
61 
62 #define LED_BLINK_FREQ_Hz 5
63 
64 
65 // **************************************************************************
66 // the globals
67 
68 uint_least16_t gCounter_updateGlobals = 0;
69 
71 
73 
74 #ifdef F2802xF
75 #pragma DATA_SECTION(halHandle,"rom_accessed_data");
76 #endif
78 
79 #ifdef F2802xF
80 #pragma DATA_SECTION(gUserParams,"rom_accessed_data");
81 #endif
83 
84 HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};
85 
87 
89 
90 #ifdef FAST_ROM_V1p6
92 #else
93 #ifdef F2802xF
94 #pragma DATA_SECTION(ctrl,"rom_accessed_data");
95 #endif
96 CTRL_Obj ctrl; //v1p7 format
97 #endif
98 
99 uint16_t gLEDcnt = 0;
100 
102 
103 #ifdef FLASH
104 // Used for running BackGround in flash, and ISR in RAM
105 extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
106 
107 #ifdef F2802xF
108 extern uint16_t *econst_start, *econst_end, *econst_ram_load;
109 extern uint16_t *switch_start, *switch_end, *switch_ram_load;
110 #endif
111 
112 #endif
113 
114 
115 #ifdef DRV8301_SPI
116 // Watch window interface to the 8301 SPI
117 DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
118 #endif
119 
120 #ifdef DRV8305_SPI
121 // Watch window interface to the 8305 SPI
122 DRV_SPI_8305_Vars_t gDrvSpi8305Vars;
123 #endif
124 
126 
128 
130 
132 
133 // **************************************************************************
134 // the functions
135 
136 void main(void)
137 {
138  uint_least8_t estNumber = 0;
139 
140 #ifdef FAST_ROM_V1p6
141  uint_least8_t ctrlNumber = 0;
142 #endif
143 
144  // Only used if running from FLASH
145  // Note that the variable FLASH is defined by the project
146  #ifdef FLASH
147  // Copy time critical code and Flash setup code to RAM
148  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
149  // symbols are created by the linker. Refer to the linker files.
150  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
151 
152  #ifdef F2802xF
153  //copy .econst to unsecure RAM
154  if(*econst_end - *econst_start)
155  {
156  memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
157  }
158 
159  //copy .switch ot unsecure RAM
160  if(*switch_end - *switch_start)
161  {
162  memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
163  }
164  #endif
165 
166  #endif
167 
168  // initialize the hardware abstraction layer
169  halHandle = HAL_init(&hal,sizeof(hal));
170 
171 
172  // check for errors in user parameters
173  USER_checkForErrors(&gUserParams);
174 
175 
176  // store user parameter error in global variable
177  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);
178 
179 
180  // do not allow code execution if there is a user parameter error
181  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
182  {
183  for(;;)
184  {
185  gMotorVars.Flag_enableSys = false;
186  }
187  }
188 
189 
190  // initialize the user parameters
191  USER_setParams(&gUserParams);
192 
193 
194  // set the hardware abstraction layer parameters
195  HAL_setParams(halHandle,&gUserParams);
196 
197 
198  // initialize the controller
199 #ifdef FAST_ROM_V1p6
200  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber); //v1p6 format (06xF and 06xM devices)
201  controller_obj = (CTRL_Obj *)ctrlHandle;
202 #else
203  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
204 #endif
205 
206 
207  {
208  CTRL_Version version;
209 
210  // get the version number
211  CTRL_getVersion(ctrlHandle,&version);
212 
213  gMotorVars.CtrlVersion = version;
214  }
215 
216 
217  // set the default controller parameters
218  CTRL_setParams(ctrlHandle,&gUserParams);
219 
220 
221  // setup faults
222  HAL_setupFaults(halHandle);
223 
224 
225  // initialize the interrupt vector table
226  HAL_initIntVectorTable(halHandle);
227 
228 
229  // enable the ADC interrupts
230  HAL_enableAdcInts(halHandle);
231 
232 
233  // enable global interrupts
234  HAL_enableGlobalInts(halHandle);
235 
236 
237  // enable debug interrupts
238  HAL_enableDebugInt(halHandle);
239 
240 
241  // disable the PWM
242  HAL_disablePwm(halHandle);
243 
244 
245 #ifdef DRV8301_SPI
246  // turn on the DRV8301 if present
247  HAL_enableDrv(halHandle);
248  // initialize the DRV8301 interface
249  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
250 #endif
251 
252 #ifdef DRV8305_SPI
253  // turn on the DRV8305 if present
254  HAL_enableDrv(halHandle);
255  // initialize the DRV8305 interface
256  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
257 #endif
258 
259  // enable DC bus compensation
260  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);
261 
262 
263  // compute scaling factors for flux and torque calculations
268 
269 
270  for(;;)
271  {
272  // Waiting for enable system flag to be set
273  while(!(gMotorVars.Flag_enableSys));
274 
275  // loop while the enable system flag is true
276  while(gMotorVars.Flag_enableSys)
277  {
278  CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;
279 
280  // increment counters
282 
283  // enable/disable the use of motor parameters being loaded from user.h
285 
286 
287  if(CTRL_isError(ctrlHandle))
288  {
289  // set the enable controller flag to false
290  CTRL_setFlag_enableCtrl(ctrlHandle,false);
291 
292  // set the enable system flag to false
293  gMotorVars.Flag_enableSys = false;
294 
295  // disable the PWM
296  HAL_disablePwm(halHandle);
297  }
298  else
299  {
300  // update the controller state
301  bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);
302 
303  // enable or disable the control
304  CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);
305 
306  if(flag_ctrlStateChanged)
307  {
308  CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);
309 
310  if(ctrlState == CTRL_State_OffLine)
311  {
312  // enable the PWM
313  HAL_enablePwm(halHandle);
314  }
315  else if(ctrlState == CTRL_State_OnLine)
316  {
317  // update the ADC bias values
318  HAL_updateAdcBias(halHandle);
319 
320  // Return the bias value for currents
321  gMotorVars.I_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Current,0);
322  gMotorVars.I_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Current,1);
323  gMotorVars.I_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Current,2);
324 
325  // Return the bias value for voltages
326  gMotorVars.V_bias.value[0] = HAL_getBias(halHandle,HAL_SensorType_Voltage,0);
327  gMotorVars.V_bias.value[1] = HAL_getBias(halHandle,HAL_SensorType_Voltage,1);
328  gMotorVars.V_bias.value[2] = HAL_getBias(halHandle,HAL_SensorType_Voltage,2);
329 
330  // enable the PWM
331  HAL_enablePwm(halHandle);
332  }
333  else if(ctrlState == CTRL_State_Idle)
334  {
335  // disable the PWM
336  HAL_disablePwm(halHandle);
337  gMotorVars.Flag_Run_Identify = false;
338  }
339 
340  if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
341  (ctrlState > CTRL_State_Idle) &&
342  (gMotorVars.CtrlVersion.minor == 6))
343  {
344  // call this function to fix 1p6
345  USER_softwareUpdate1p6(ctrlHandle);
346  }
347 
348  }
349  }
350 
351 
353  {
354  // set the current ramp
356  gMotorVars.Flag_MotorIdentified = true;
357 
358  // set the speed reference
359  CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);
360 
361  // set the speed acceleration
363 
365  {
367 
368  USER_calcPIgains(ctrlHandle);
369  }
370 
371  }
372  else
373  {
375 
376  // the estimator sets the maximum current slope during identification
378  }
379 
380 
381  // when appropriate, update the global variables
383  {
384  // reset the counter
386 
387  updateGlobalVariables_motor(ctrlHandle);
388  }
389 
390  // enable/disable the forced angle
392 
393  // enable or disable power warp
394  CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);
395 
396 #ifdef DRV8301_SPI
397  HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);
398 
399  HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
400 #endif
401 #ifdef DRV8305_SPI
402  HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);
403 
404  HAL_readDrvData(halHandle,&gDrvSpi8305Vars);
405 #endif
406  } // end of while(gFlag_enableSys) loop
407 
408 
409  // disable the PWM
410  HAL_disablePwm(halHandle);
411 
412  // set the default controller parameters (Reset the control to re-identify the motor)
413  CTRL_setParams(ctrlHandle,&gUserParams);
414  gMotorVars.Flag_Run_Identify = false;
415 
416  } // end of for(;;) loop
417 
418 } // end of main() function
419 
420 
421 interrupt void mainISR(void)
422 {
423  // toggle status LED
424  if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
425  {
426  HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
427  gLEDcnt = 0;
428  }
429 
430 
431  // acknowledge the ADC interrupt
432  HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
433 
434 
435  // convert the ADC data
436  HAL_readAdcData(halHandle,&gAdcData);
437 
438 
439  // run the controller
440  CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
441 
442 
443  // write the PWM compare values
444  HAL_writePwmData(halHandle,&gPwmData);
445 
446 
447  // setup the controller
448  CTRL_setup(ctrlHandle);
449 
450 
451  return;
452 } // end of mainISR() function
453 
454 
456 {
457  CTRL_Obj *obj = (CTRL_Obj *)handle;
458 
459  // get the speed estimate
460  gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);
461 
462  // get the real time speed reference coming out of the speed trajectory generator
464 
465  // get the torque estimate
467 
468  // get the magnetizing current
469  gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);
470 
471  // get the rotor resistance
472  gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);
473 
474  // get the stator resistance
475  gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);
476 
477  // get the stator inductance in the direct coordinate direction
478  gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);
479 
480  // get the stator inductance in the quadrature coordinate direction
481  gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);
482 
483  // get the flux in V/Hz in floating point
484  gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);
485 
486  // get the flux in Wb in fixed point
487  gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);
488 
489  // get the controller state
490  gMotorVars.CtrlState = CTRL_getState(handle);
491 
492  // get the estimator state
493  gMotorVars.EstState = EST_getState(obj->estHandle);
494 
495  // Get the DC buss voltage
496  gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
497 
498  return;
499 } // end of updateGlobalVariables_motor() function
500 
501 
503 // end of file
504 
505 
506 
float_t EST_getFlux_VpHz(EST_Handle handle)
void EST_setFlag_enableForceAngle(EST_Handle handle, const bool state)
#define MAX_ACCEL_KRPMPS_SF
Defines the speed acceleration scale factor.
Definition: float/main.h:37
void HAL_enableGlobalInts(HAL_Handle handle)
void HAL_enableAdcInts(HAL_Handle handle)
USER_ErrorCode_e UserErrorCode
Definition: main.h:150
bool Flag_MotorIdentified
Definition: main.h:138
void CTRL_run(CTRL_Handle handle, HAL_Handle halHandle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
float_t Lsq_H
Definition: main.h:172
_iq USER_computeFlux_pu_to_VpHz_sf(void)
Computes the scale factor needed to convert from per unit to V/Hz.
#define _IQ(A)
bool Flag_Run_Identify
Definition: main.h:137
_iq EST_getSpeed_krpm(EST_Handle handle)
void USER_calcPIgains(CTRL_Handle handle)
Updates Id and Iq PI gains.
CTRL_State_e CtrlState
Definition: main.h:147
USER_Params gUserParams
The user parameters.
Definition: proj_lab03a.c:82
bool Flag_enablePowerWarp
Definition: main.h:144
static void HAL_writePwmData(HAL_Handle handle, HAL_PwmData_t *pPwmData)
void EST_setMaxCurrentSlope_pu(EST_Handle handle, const _iq maxCurrentSlope_pu)
HAL_AdcData_t gAdcData
Defines the ADC data.
Definition: proj_lab03a.c:86
_iq value[3]
#define NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE
Defines the number of main iterations before global variables are updated.
Definition: float/main.h:48
void HAL_writeDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
bool CTRL_isError(CTRL_Handle handle)
_iq gTorque_Flux_Iq_pu_to_Nm_sf
Definition: proj_lab03a.c:131
void USER_softwareUpdate1p6(CTRL_Handle handle)
Recalculates Inductances with the correct Q Format.
static void HAL_acqAdcInt(HAL_Handle handle, const ADC_IntNumber_e intNumber)
_iq EST_get_pu_to_krpm_sf(EST_Handle handle)
#define USER_IQ_FULL_SCALE_VOLTAGE_V
Defines full scale value for the IQ30 variable of Voltage inside the system.
Definition: user.h:88
void memCopy(uint16_t *srcStartAddr, uint16_t *srcEndAddr, uint16_t *dstAddr)
EST_Handle estHandle
bool Flag_enableForceAngle
Definition: main.h:139
void CTRL_setFlag_enableCtrl(CTRL_Handle handle, const bool state)
long _iq
interrupt void mainISR(void)
The main interrupt service (ISR) routine.
Definition: proj_lab03a.c:421
void USER_setParams(USER_Params *pUserParams)
Sets the user parameter values.
EST_State_e EstState
Definition: main.h:148
float_t Rs_Ohm
Definition: main.h:169
volatile MOTOR_Vars_t gMotorVars
Definition: proj_lab03a.c:101
#define HAL_toggleLed
Defines the structures, global initialization, and functions used in MAIN.
void CTRL_setMaxAccel_pu(CTRL_Handle handle, const _iq maxAccel_pu)
_iq USER_computeFlux(CTRL_Handle handle, const _iq sf)
Computes Flux in Wb or V/Hz depending on the scale factor sent as parameter.
void HAL_setupFaults(HAL_Handle handle)
float_t EST_getLs_d_H(EST_Handle handle)
static void HAL_enablePwm(HAL_Handle handle)
void CTRL_setParams(CTRL_Handle handle, USER_Params *pUserParams)
#define _IQmpy(A, B)
USER_ErrorCode_e USER_getErrorCode(USER_Params *pUserParams)
Gets the error code in the user parameters.
void HAL_enableDrv(HAL_Handle handle)
_iq VdcBus_kV
Definition: main.h:192
_iq Torque_Nm
Definition: main.h:165
uint16_t gLEDcnt
Definition: proj_lab03a.c:99
_iq SpeedRef_krpm
Definition: main.h:157
void HAL_setupDrvSpi(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
float_t EST_getLs_q_H(EST_Handle handle)
bool CTRL_getFlag_enableUserMotorParams(CTRL_Handle handle)
void HAL_enableDebugInt(HAL_Handle handle)
CTRL_State_e CTRL_getState(CTRL_Handle handle)
float_t Flux_VpHz
Definition: main.h:173
bool Flag_enableUserParams
Definition: main.h:142
EST_State_e EST_getState(EST_Handle handle)
_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf
Definition: proj_lab03a.c:129
void CTRL_setup(CTRL_Handle handle)
MATH_vec3 V_bias
Definition: main.h:199
#define MOTOR_Vars_INIT
Initialization values of global variables.
Definition: main.h:76
CTRL_State_e
void main(void)
Definition: proj_lab03a.c:136
_iq USER_computeTorque_Flux_Iq_pu_to_Nm_sf(void)
Computes the scale factor needed to convert from torque created by flux and Iq, from per unit to Nm...
_iq Speed_krpm
Definition: main.h:160
float_t EST_getIdRated(EST_Handle handle)
float_t Rr_Ohm
Definition: main.h:168
float_t EST_getRs_Ohm(EST_Handle handle)
CTRL_Handle CTRL_initCtrl(const uint_least8_t estNumber, void *pMemory, const size_t numBytes)
float_t Lsd_H
Definition: main.h:171
void CTRL_setFlag_enablePowerWarp(CTRL_Handle handle, const bool state)
#define USER_ISR_FREQ_Hz
Defines the Interrupt Service Routine (ISR) frequency, Hz.
Definition: user.h:173
_iq gMaxCurrentSlope
Definition: proj_lab03a.c:88
bool CTRL_updateState(CTRL_Handle handle)
static void HAL_disablePwm(HAL_Handle handle)
bool Flag_Latch_softwareUpdate
Definition: proj_lab03a.c:70
bool EST_isMotorIdentified(EST_Handle handle)
_iq USER_computeTorque_Nm(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf)
Computes Torque in Nm.
HAL_Handle HAL_init(void *pMemory, const size_t numBytes)
HAL_PwmData_t gPwmData
Defines the PWM data.
Definition: proj_lab03a.c:84
CTRL_Handle ctrlHandle
The controller handle.
Definition: proj_lab03a.c:72
HAL_Handle halHandle
The hal handle.
Definition: proj_lab03a.c:77
void CTRL_setFlag_enableDcBusComp(CTRL_Handle handle, const bool state)
_iq EST_getMaxCurrentSlope_pu(EST_Handle handle)
void CTRL_setFlag_enableUserMotorParams(CTRL_Handle handle, const bool state)
_iq SpeedTraj_krpm
Definition: main.h:158
float_t MagnCurr_A
Definition: main.h:167
static void HAL_readAdcData(HAL_Handle handle, HAL_AdcData_t *pAdcData)
HAL_Obj hal
static _iq HAL_getBias(HAL_Handle handle, const HAL_SensorType_e sensorType, uint_least8_t sensorNumber)
bool Flag_enableSys
Definition: main.h:136
_iq MaxAccel_krpmps
Definition: main.h:159
_iq CTRL_getSpd_int_ref_pu(CTRL_Handle handle)
MATH_vec3 I_bias
Definition: main.h:198
static void HAL_initIntVectorTable(HAL_Handle handle)
_iq gFlux_pu_to_Wb_sf
Definition: proj_lab03a.c:125
static void HAL_updateAdcBias(HAL_Handle handle)
void CTRL_getVersion(CTRL_Handle handle, CTRL_Version *pVersion)
uint16_t minor
CTRL_Version CtrlVersion
Definition: main.h:152
uint_least16_t gCounter_updateGlobals
A counter that is denotes when to update the global variables.
Definition: proj_lab03a.c:68
void updateGlobalVariables_motor(CTRL_Handle handle)
Updates the global motor variables.
Definition: proj_lab03a.c:455
float_t EST_getRr_Ohm(EST_Handle handle)
void HAL_setParams(HAL_Handle handle, const USER_Params *pUserParams)
void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
void USER_checkForErrors(USER_Params *pUserParams)
Checks for errors in the user parameter values.
CTRL_Obj * controller_obj
Definition: proj_lab10c.c:84
#define LED_BLINK_FREQ_Hz
Definition: proj_lab03a.c:62
_iq Flux_Wb
Definition: main.h:164
GPIO_Number_e
_iq USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(void)
Computes the scale factor needed to convert from torque created by Ld, Lq, Id and Iq...
void CTRL_setSpd_ref_krpm(CTRL_Handle handle, const _iq spd_ref_krpm)
_iq USER_computeFlux_pu_to_Wb_sf(void)
Computes the scale factor needed to convert from per unit to Wb.
_iq gFlux_pu_to_VpHz_sf
Definition: proj_lab03a.c:127
CTRL_Obj ctrl
Defines the CTRL object.
Definition: proj_lab03a.c:96