instaspin_foc
fast_obs_pm_rs_rsol.c
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1 
7 
8 // **************************************************************************
9 
10 // solutions
11 #include "fast_obs.h"
12 
13 
14 // **************************************************************************
15 // the defines
16 
17 
18 // **************************************************************************
19 // the globals
20 
21 EST_State_e gEstState = EST_State_Idle;
22 
23 volatile bool gFlag_enableSys = true;
24 
25 volatile bool gFlag_runOnLine = false;
26 
27 volatile bool gFlag_enableForceAngle = true;
28 
29 volatile bool gFlag_enableRsRecalc = true;
30 
31 volatile bool gFlag_enableRsOnLine = false;
32 
33 volatile bool gFlag_updateRs = false;
34 
36 
38 
40 
42 
44 
46 
48 
49 volatile float_t gSpeed_Kp = 0.01;
50 
51 volatile float_t gSpeed_Ki = 0.001;
52 
53 volatile float_t gId_ref_A = 0.0;
54 
56 
58 
59 uint16_t gCounter_speed = 0;
60 
62 
64 
66 
68 
70 
71 volatile float_t gRsOnLineFreq_Hz = 0.2;
72 
73 volatile float_t gRsOnLineId_mag_A = 0.5;
74 
75 volatile float_t gRsOnLinePole_Hz = 0.2;
76 
78 
80 
81 MATH_vec3 gOffsets_I_A = {0.0, 0.0, 0.0};
82 
83 MATH_vec3 gOffsets_V_V = {0.0, 0.0, 0.0};
84 
87 
90 
93 
95 
98 
101 
104 
107 
110 
113 
114 #ifdef DRV8301_SPI
115 // Watch window interface to the 8301 SPI
116 DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
117 #endif
118 
124 
125 // **************************************************************************
126 // the functions
127 
128 void main(void)
129 {
130  uint_least8_t estNumber = 0;
131 
132  // initialize the user parameters
133  USER_setParams(&gUserParams);
134 
135  // initialize the user parameters
136  USER_setParams_priv(&gUserParams);
137 
138  // initialize the driver
139  halHandle = HAL_init(&hal,sizeof(hal));
140 
141  // set the driver parameters
142  HAL_setParams(halHandle,&gUserParams);
143 
144  // initialize the Clarke modules
145  clarkeHandle_I = CLARKE_init(&clarke_I,sizeof(clarke_I));
146  clarkeHandle_V = CLARKE_init(&clarke_V,sizeof(clarke_V));
147 
148  // set the Clarke parameters
149  setupClarke_I(clarkeHandle_I,gUserParams.numCurrentSensors);
150  setupClarke_V(clarkeHandle_V,gUserParams.numVoltageSensors);
151 
152  // initialize the estimator
153  estHandle = EST_initEst(estNumber);
154 
155  // set the default estimator parameters
156  EST_setParams(estHandle,&gUserParams);
163 
164  // initialize the inverse Park module
165  iparkHandle = IPARK_init(&ipark,sizeof(ipark));
166 
167  // initialize the Park module
168  parkHandle = PARK_init(&park,sizeof(park));
169 
170  // initialize the PI controllers
171  piHandle_Id = PI_init(&pi_Id, sizeof(pi_Id));
172  piHandle_Iq = PI_init(&pi_Iq, sizeof(pi_Iq));
173  piHandle_spd = PI_init(&pi_spd,sizeof(pi_spd));
174 
175  // setup the controllers
177 
178  // initialize the space vector generator module
179  svgenHandle = SVGEN_init(&svgen,sizeof(svgen));
180 
181  // initialize the CPU usage module
182  cpu_usageHandle = CPU_USAGE_init(&cpu_usage,sizeof(cpu_usage));
183  CPU_USAGE_setParams(cpu_usageHandle,
184  (uint32_t)USER_SYSTEM_FREQ_MHz * 1000000, // timer period, cnts
185  (uint32_t)USER_ISR_FREQ_Hz); // average over 1 second of ISRs
186 
187  // setup faults
188  HAL_setupFaults(halHandle);
189 
190  // initialize the interrupt vector table
191  HAL_initIntVectorTable(halHandle);
192 
193  // enable the ADC interrupts
194  HAL_enableAdcInts(halHandle);
195 
196  // disable global interrupts
197  HAL_disableGlobalInts(halHandle);
198 
199  // enable debug interrupts
200  HAL_enableDebugInt(halHandle);
201 
202  // disable the PWM
203  HAL_disablePwm(halHandle);
204 
205  // set adcBias values
206  gOffsets_I_A.value[0] = IA_OFFSET_A;
207  gOffsets_I_A.value[1] = IB_OFFSET_A;
208  gOffsets_I_A.value[2] = IC_OFFSET_A;
209  gOffsets_V_V.value[0] = VA_OFFSET_V;
210  gOffsets_V_V.value[1] = VB_OFFSET_V;
211  gOffsets_V_V.value[2] = VC_OFFSET_V;
212 
213 #ifdef DRV8301_SPI
214  // turn on the DRV8301 if present
215  HAL_enableDrv(halHandle);
216  // initialize the DRV8301 interface
217  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
218 #endif
219 
220  // Waiting for enable system flag to be set
221  while(!gFlag_enableSys);
222 
223  // loop while the enable system flag is true
224  while(gFlag_enableSys)
225  {
226  // set custom speed controller gains
227  PI_setGains(piHandle_spd,gSpeed_Kp,gSpeed_Ki);
228 
229  // enable or disable force angle
231 
232  // enable or disable Rs recalibration
234 
235  // enable or disable RsOnLine
237 
238  // set slow rotating frequency for RsOnLine
240 
241  // set current amplitude for RsOnLine
243 
244  // set RsOnLine beta based on the desired filter pole
246 
247  // set flag that updates Rs from RsOnLine value
249 
250  if(gFlag_runOnLine)
251  {
252  // enable the estimator
254 
255  // enable the PWM
256  HAL_enablePwm(halHandle);
257 
258  // enable global interrupts
259  HAL_enableGlobalInts(halHandle);
260  }
261  else
262  {
263  // disable the estimator
265 
266  // disable the PWM
267  HAL_disablePwm(halHandle);
268 
269  // disable global interrupts
270  HAL_disableGlobalInts(halHandle);
271 
272  // clear integral outputs of the controllers
273  PI_setUi(piHandle_Id,0.0);
274  PI_setUi(piHandle_Iq,0.0);
275  PI_setUi(piHandle_spd,0.0);
276 
277  // clear current references
278  gId_ref_A = 0.0;
279  gIq_ref_A = 0.0;
280 
281  // disable RsOnLine flags
282  gFlag_enableRsOnLine = false;
283  gFlag_updateRs = false;
284 
285  // clear PWM data
286  gPwmData.Vabc_pu.value[0] = 0.0;
287  gPwmData.Vabc_pu.value[1] = 0.0;
288  gPwmData.Vabc_pu.value[2] = 0.0;
289  }
290 
291  // update the estimator state
293 
294  // update the global variables
296 
297  // update CPU usage
298  updateCPUusage();
299 
300 #ifdef DRV8301_SPI
301  HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);
302 
303  HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
304 #endif
305 
306  } // end of while() loop
307 
308  // disable the PWM
309  HAL_disablePwm(halHandle);
310 
311 } // end of main() function
312 
313 
314 interrupt void mainISR(void)
315 {
316  uint32_t timer1Cnt;
317  float_t angleDelta_rad;
318  float_t angleWithDelay_rad;
319  MATH_vec2 Idq_A;
320  float_t outMax_V;
321  MATH_vec2 phasor;
322  MATH_vec2 Vab_out_V;
323  MATH_vec2 Vdq_out_V;
324  HAL_AdcData_t AdcDataWithOffset;
325 
326  // read the timer 1 value and update the CPU usage module
327  timer1Cnt = HAL_readTimerCnt(halHandle,1);
328  CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
329 
330  // acknowledge the ADC interrupt
331  HAL_acqAdcInt(halHandle,ADC_IntNumber_6);
332 
333  // read the ADC data with offsets
334  HAL_readAdcDataWithOffsets(halHandle,&AdcDataWithOffset);
335 
336  // remove offsets
337  gAdcData.I_A.value[0] = AdcDataWithOffset.I_A.value[0] - gOffsets_I_A.value[0];
338  gAdcData.I_A.value[1] = AdcDataWithOffset.I_A.value[1] - gOffsets_I_A.value[1];
339  gAdcData.I_A.value[2] = AdcDataWithOffset.I_A.value[2] - gOffsets_I_A.value[2];
340  gAdcData.V_V.value[0] = AdcDataWithOffset.V_V.value[0] - gOffsets_V_V.value[0];
341  gAdcData.V_V.value[1] = AdcDataWithOffset.V_V.value[1] - gOffsets_V_V.value[1];
342  gAdcData.V_V.value[2] = AdcDataWithOffset.V_V.value[2] - gOffsets_V_V.value[2];
343  gAdcData.dcBus_V = AdcDataWithOffset.dcBus_V;
344 
345  // run Clarke transform on current
346  CLARKE_run(clarkeHandle_I,&(gAdcData.I_A),&(gEstInputData.Iab_A));
347 
348  // run Clarke transform on voltage
349  CLARKE_run(clarkeHandle_V,&(gAdcData.V_V),&(gEstInputData.Vab_V));
350 
351  // store the input data into a buffer
352  gEstInputData.dcBus_V = gAdcData.dcBus_V;
353 
354  // modify references if running Rs recalibration
355  if(EST_getState(estHandle) == EST_State_Rs)
356  {
357  gEstInputData.speed_ref_Hz = 0.0;
359  }
360  else
361  {
362  gEstInputData.speed_ref_Hz = gSpeed_ref_Hz;
363  gId_rs_recalc_ref_A = 0.0;
364  }
365 
366  // run the estimator
367  EST_run(estHandle,&gEstInputData,&gEstOutputData);
368 
369  // run the speed controller
370  if(++gCounter_speed >= gUserParams.numCtrlTicksPerSpeedTick)
371  {
372  gCounter_speed = 0;
373 
374  PI_run_series(piHandle_spd,gEstInputData.speed_ref_Hz,gEstOutputData.fm_lp_rps * MATH_ONE_OVER_TWO_PI,0.0,&gIq_ref_A);
375  }
376 
377  // get Idq, reutilizing a Park transform used inside the estimator. This is optional, user's Park works as well
378  EST_getIdq_A(estHandle,&Idq_A);
379 
380  // run the Id controller
381  PI_run_series(piHandle_Id,gId_ref_A + gId_rs_recalc_ref_A + EST_getRsOnLineId_A(estHandle),Idq_A.value[0],0.0,&(Vdq_out_V.value[0]));
382 
383  // calculate Iq controller limits, and run Iq controller using fast RTS function, callable assembly
384  outMax_V = sqrt_fastRTS((gUserParams.maxVsMag_V * gUserParams.maxVsMag_V) - (Vdq_out_V.value[0] * Vdq_out_V.value[0]));
385  PI_setMinMax(piHandle_Iq,-outMax_V,outMax_V);
386  PI_run_series(piHandle_Iq,gIq_ref_A,Idq_A.value[1],0.0,&(Vdq_out_V.value[1]));
387 
388  // compute angle with delay compensation
389  angleDelta_rad = gUserParams.angleDelayed_sf_sec * gEstOutputData.fm_lp_rps;
390  angleWithDelay_rad = MATH_incrAngle(gEstOutputData.angle_rad, angleDelta_rad);
391 
392  // compute the sin/cos phasor using fast RTS function, callable assembly
393  sincos_fastRTS(angleWithDelay_rad, &(phasor.value[1]), &(phasor.value[0]));
394 
395  // set the phasor in the inverse Park transform
396  IPARK_setPhasor(iparkHandle,&phasor);
397 
398  // run the inverse Park module
399  IPARK_run(iparkHandle,&Vdq_out_V,&Vab_out_V);
400 
401  // setup the space vector generator (SVGEN) module
402  SVGEN_setup(svgenHandle,gEstOutputData.oneOverDcBus_invV);
403 
404  // run the space vector generator (SVGEN) module
405  SVGEN_run(svgenHandle,&Vab_out_V,&(gPwmData.Vabc_pu));
406 
407  // write the PWM compare values
408  HAL_writePwmData(halHandle,&gPwmData);
409 
410  // read the timer 1 value and update the CPU usage module
411  timer1Cnt = HAL_readTimerCnt(halHandle,1);
412  CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
413 
414  // run the CPU usage module
415  CPU_USAGE_run(cpu_usageHandle);
416 
417  return;
418 } // end of mainISR() function
419 
420 
421 void setupClarke_I(CLARKE_Handle handle,const uint_least8_t numCurrentSensors)
422 {
423  float_t alpha_sf,beta_sf;
424 
425  // initialize the Clarke transform module for current
426  if(numCurrentSensors == 3)
427  {
428  alpha_sf = MATH_ONE_OVER_THREE;
429  beta_sf = MATH_ONE_OVER_SQRT_THREE;
430  }
431  else if(numCurrentSensors == 2)
432  {
433  alpha_sf = 1.0;
434  beta_sf = MATH_ONE_OVER_SQRT_THREE;
435  }
436  else
437  {
438  alpha_sf = 0.0;
439  beta_sf = 0.0;
440  }
441 
442  // set the parameters
443  CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
444  CLARKE_setNumSensors(handle,numCurrentSensors);
445 
446  return;
447 } // end of setupClarke_I() function
448 
449 
450 void setupClarke_V(CLARKE_Handle handle,const uint_least8_t numVoltageSensors)
451 {
452  float_t alpha_sf,beta_sf;
453 
454  // initialize the Clarke transform module for voltage
455  if(numVoltageSensors == 3)
456  {
457  alpha_sf = MATH_ONE_OVER_THREE;
458  beta_sf = MATH_ONE_OVER_SQRT_THREE;
459  }
460  else
461  {
462  alpha_sf = 0.0;
463  beta_sf = 0.0;
464  }
465 
466  // set the parameters
467  CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
468  CLARKE_setNumSensors(handle,numVoltageSensors);
469 
470  return;
471 } // end of setupClarke_V() function
472 
473 
475 {
476  float_t Ls_d_H = gUserParams.motor_Ls_d_H;
477  float_t Ls_q_H = gUserParams.motor_Ls_q_H;
478  float_t Rs_d_Ohm = gUserParams.motor_Rs_d_Ohm;
479  float_t Rs_q_Ohm = gUserParams.motor_Rs_q_Ohm;
480  float_t RdoverLd_rps = Rs_d_Ohm / Ls_d_H;
481  float_t RqoverLq_rps = Rs_q_Ohm / Ls_q_H;
482  float_t BWc_rps = gUserParams.BWc_rps;
483  float_t currentCtrlPeriod_sec = (float_t)gUserParams.numCtrlTicksPerCurrentTick / gUserParams.ctrlFreq_Hz;
484  float_t outMax_V = gUserParams.Vd_sf * gUserParams.maxVsMag_V;
485 
486  float_t Kp_Id = Ls_d_H * BWc_rps;
487  float_t Ki_Id = RdoverLd_rps * currentCtrlPeriod_sec;
488 
489  float_t Kp_Iq = Ls_q_H * BWc_rps;
490  float_t Ki_Iq = RqoverLq_rps * currentCtrlPeriod_sec;
491 
492  // set the Id controller
493  PI_setGains(piHandle_Id,Kp_Id,Ki_Id);
494  PI_setUi(piHandle_Id,0.0);
495  PI_setRefValue(piHandle_Id,0.0);
496  PI_setFbackValue(piHandle_Id,0.0);
497  PI_setFfwdValue(piHandle_Id,0.0);
498  PI_setMinMax(piHandle_Id,-outMax_V,outMax_V);
499 
500  // set the Iq controller
501  PI_setGains(piHandle_Iq,Kp_Iq,Ki_Iq);
502  PI_setUi(piHandle_Iq,0.0);
503  PI_setRefValue(piHandle_Iq,0.0);
504  PI_setFbackValue(piHandle_Iq,0.0);
505  PI_setFfwdValue(piHandle_Iq,0.0);
506  PI_setMinMax(piHandle_Iq,0.0,0.0);
507 
508  // set the speed controller
509  PI_setGains(piHandle_spd,gSpeed_Kp,gSpeed_Ki);
510  PI_setUi(piHandle_spd,0.0);
511  PI_setRefValue(piHandle_spd,0.0);
512  PI_setFbackValue(piHandle_spd,0.0);
513  PI_setFfwdValue(piHandle_spd,0.0);
514  PI_setMinMax(piHandle_spd,-gUserParams.maxCurrent_A,gUserParams.maxCurrent_A);
515 
516  return;
517 } // end of setupCurrentControllers() function
518 
519 
521 {
522  // get the states
523  gEstState = EST_getState(estHandle);
524 
525  // get the speed estimate
526  gSpeed_Hz = EST_getFe_Hz(estHandle);
527 
528  // get the torque estimate
529  gTorque_Nm = EST_computeTorque_Nm(estHandle);
530 
531  // get the stator resistance estimate from RsOnLine
532  gRsOnLine_Ohm = EST_getRsOnLine_Ohm(estHandle);
533 
534  // get the stator resistance
535  gRs_Ohm = EST_getRs_Ohm(estHandle);
536 
537  // get the stator inductance in the direct coordinate direction
538  gLs_d_H = EST_getLs_d_H(estHandle);
539 
540  // get the stator inductance in the quadrature coordinate direction
541  gLs_q_H = EST_getLs_q_H(estHandle);
542 
543  // get the flux, Wb
544  gFlux_Wb = EST_getFlux_Wb(estHandle);
545 
546  return;
547 } // end of updateGlobalVariables_motor() function
548 
549 
550 void updateCPUusage(void)
551 {
552  uint32_t minDeltaCntObserved = CPU_USAGE_getMinDeltaCntObserved(cpu_usageHandle);
553  uint32_t avgDeltaCntObserved = CPU_USAGE_getAvgDeltaCntObserved(cpu_usageHandle);
554  uint32_t maxDeltaCntObserved = CPU_USAGE_getMaxDeltaCntObserved(cpu_usageHandle);
555  uint16_t pwmPeriod = HAL_readPwmPeriod(halHandle,PWM_Number_1);
556  float_t cpu_usage_den = (float_t)pwmPeriod * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * 2.0;
557 
558  // calculate the minimum cpu usage percentage
559  gCpuUsagePercentageMin = (float_t)minDeltaCntObserved / cpu_usage_den * 100.0;
560 
561  // calculate the average cpu usage percentage
562  gCpuUsagePercentageAvg = (float_t)avgDeltaCntObserved / cpu_usage_den * 100.0;
563 
564  // calculate the maximum cpu usage percentage
565  gCpuUsagePercentageMax = (float_t)maxDeltaCntObserved / cpu_usage_den * 100.0;
566 
567  return;
568 } // end of updateCPUusage() function
569 
570 
571 // end of file
572 
#define USER_SYSTEM_FREQ_MHz
CLOCKS & TIMERS.
Definition: user.h:140
float_t EST_getRsOnLine_Ohm(EST_Handle handle)
EST_State_e gEstState
Global variable for the estimator state.
float_t angleDelayed_sf_sec
void EST_setFlag_enableForceAngle(EST_Handle handle, const bool state)
IPARK_Handle IPARK_init(void *pMemory, const size_t numBytes)
#define MATH_ONE_OVER_TWO_PI
volatile bool gFlag_runOnLine
void HAL_enableGlobalInts(HAL_Handle handle)
void HAL_enableAdcInts(HAL_Handle handle)
float_t EST_getFlux_Wb(EST_Handle handle)
void updateGlobalVariables_motor(EST_Handle estHandle)
Updates the global motor variables.
void EST_setRsOnLineId_mag_A(EST_Handle handle, const float_t Id_mag_A)
static void PI_setFfwdValue(PI_Handle handle, const _iq ffwdValue)
void HAL_disableGlobalInts(HAL_Handle handle)
MATH_vec3 Vabc_pu
float_t gId_rs_recalc_ref_A
CPU_USAGE_Obj cpu_usage
static void HAL_readAdcDataWithOffsets(HAL_Handle handle, HAL_AdcData_t *pAdcData)
PARK_Obj park
the Park transform object
HAL_Obj hal
the hardware abstraction layer object
volatile bool gFlag_updateRs
float_t gLs_d_H
Global variable for the stator inductance in the direct coordinate direction, Henry.
float_t gIq_ref_A
float_t motor_Rs_d_Ohm
EST_OutputData_t gEstOutputData
#define USER_EST_FREQ_Hz
Defines the estimator frequency, Hz.
Definition: user.h:219
static void HAL_writePwmData(HAL_Handle handle, HAL_PwmData_t *pPwmData)
#define MATH_TWO_PI
float_t BWc_rps
_iq value[3]
struct _EST_Obj_ * EST_Handle
float_t maxCurrent_A
void HAL_writeDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
MATH_vec3 gOffsets_I_A
static void PI_setUi(PI_Handle handle, const _iq Ui)
PI_Handle piHandle_Id
the handle for the Id PI controller
static void HAL_acqAdcInt(HAL_Handle handle, const ADC_IntNumber_e intNumber)
volatile bool gFlag_enableForceAngle
IPARK_Obj ipark
the inverse Park transform object
volatile float_t gRsOnLinePole_Hz
float_t motor_Rs_q_Ohm
PI_Obj pi_Iq
the Iq PI controller object
uint_least8_t numCurrentSensors
PI_Obj pi_Id
the Id PI controller object
void EST_setParams(EST_Handle handle, USER_Params *pUserParams)
static void SVGEN_run(SVGEN_Handle handle, const MATH_vec2 *pVab, MATH_vec3 *pT)
static uint32_t CPU_USAGE_getAvgDeltaCntObserved(CPU_USAGE_Handle handle)
float_t gSpeed_ref_Hz
uint_least16_t numCtrlTicksPerCurrentTick
#define MATH_ONE_OVER_THREE
void USER_setParams(USER_Params *pUserParams)
Sets the user parameter values.
void setupClarke_V(CLARKE_Handle handle, const uint_least8_t numVoltageSensors)
Sets the number of voltage sensors.
MATH_vec3 gOffsets_V_V
void EST_setFlag_updateRs(EST_Handle handle, const bool state)
float_t EST_computeTorque_Nm(EST_Handle handle)
float_t speed_ref_Hz
static void CLARKE_setScaleFactors(CLARKE_Handle handle, const _iq alpha_sf, const _iq beta_sf)
EST_Handle estHandle
the handle for the estimator
void EST_enable(EST_Handle handle)
float_t maxVsMag_V
void HAL_setupFaults(HAL_Handle handle)
float_t EST_getLs_d_H(EST_Handle handle)
void EST_setFlag_enableRsRecalc(EST_Handle handle, const bool state)
USER_Params gUserParams
The user parameters.
void EST_getIdq_A(EST_Handle handle, MATH_vec2 *pIdq_A)
static void HAL_enablePwm(HAL_Handle handle)
EST_State_e
IPARK_Handle iparkHandle
the handle for the inverse Park transform
void HAL_enableDrv(HAL_Handle handle)
_iq value[2]
EST_Handle EST_initEst(const uint_least8_t estNumber)
PI_Handle PI_init(void *pMemory, const size_t numBytes)
void HAL_setupDrvSpi(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
uint_least8_t numVoltageSensors
float_t EST_getLs_q_H(EST_Handle handle)
void HAL_enableDebugInt(HAL_Handle handle)
volatile float_t gId_ref_A
CLARKE_Handle CLARKE_init(void *pMemory, const size_t numBytes)
float_t oneOverDcBus_invV
void sincos_fastRTS(float_t angle_rad, float_t *pSin, float_t *pCos)
Calculates sine and cosine in a single function call, using callable assembly, fast RTS...
CPU_USAGE_Handle cpu_usageHandle
static void IPARK_run(IPARK_Handle handle, const MATH_vec2 *pInVec, MATH_vec2 *pOutVec)
EST_State_e EST_getState(EST_Handle handle)
void setupClarke_I(CLARKE_Handle handle, const uint_least8_t numCurrentSensors)
Sets the number of current sensors.
float_t gRsOnLine_Ohm
HAL_DacData_t gDacData
Defines the DAC data.
float_t gLs_q_H
Global variable for the stator inductance in the quadrature coordinate direction, Henry...
SVGEN_Obj svgen
the space vector generator object
void EST_setFlag_enableRsOnLine(EST_Handle handle, const bool state)
interrupt void mainISR(void)
The main interrupt service (ISR) routine.
CLARKE_Handle clarkeHandle_V
the handle for the voltage Clarke transform
static uint32_t HAL_readTimerCnt(HAL_Handle handle, const uint_least8_t timerNumber)
static void CLARKE_setNumSensors(CLARKE_Handle handle, const uint_least8_t numSensors)
float_t EST_getRs_Ohm(EST_Handle handle)
float_t gSpeed_Hz
uint_least16_t numCtrlTicksPerSpeedTick
volatile bool gFlag_enableRsOnLine
void CPU_USAGE_setParams(CPU_USAGE_Handle handle, const uint32_t timerPeriod_cnts, const uint32_t numDeltaCntsAvg)
float_t gRs_Ohm
#define USER_ISR_FREQ_Hz
Defines the Interrupt Service Routine (ISR) frequency, Hz.
Definition: user.h:173
static void IPARK_setPhasor(IPARK_Handle handle, const MATH_vec2 *pPhasor)
PI_Handle piHandle_Iq
the handle for the Iq PI controller
CPU_USAGE_Handle CPU_USAGE_init(void *pMemory, const size_t numBytes)
static void HAL_disablePwm(HAL_Handle handle)
void EST_setRsOnLineAngleDelta_rad(EST_Handle handle, const float_t angleDelta_rad)
CLARKE_Handle clarkeHandle_I
the handle for the current Clarke transform
HAL_Handle HAL_init(void *pMemory, const size_t numBytes)
volatile float_t gRsOnLineFreq_Hz
static void CLARKE_run(CLARKE_Handle handle, const MATH_vec3 *pInVec, MATH_vec2 *pOutVec)
static uint32_t CPU_USAGE_getMaxDeltaCntObserved(CPU_USAGE_Handle handle)
HAL_Handle halHandle
the handle for the hardware abstraction layer
void EST_setRsOnLine_beta_rad(EST_Handle handle, const float_t beta_rad)
void updateCPUusage(void)
Updates CPU usage.
float_t EST_getRsOnLineId_A(EST_Handle handle)
float_t gFlux_Wb
Global variable for the rotor flux estimate, Wb.
MATH_vec2 Iab_A
PARK_Handle parkHandle
the handle for the Park object
uint_least32_t ctrlFreq_Hz
void SVGEN_setup(SVGEN_Handle svgenHandle)
static void PI_setMinMax(PI_Handle handle, const _iq outMin, const _iq outMax)
static void PI_setRefValue(PI_Handle handle, const _iq refValue)
volatile float_t gSpeed_Kp
static void CPU_USAGE_updateCnts(CPU_USAGE_Handle handle, const uint32_t cnt)
void setupControllers(void)
Setups the controllers.
float_t sqrt_fastRTS(float_t x)
Calculates square root using callable assembly, fast RTS.
volatile bool gFlag_enableSys
Global flag to enable/disable the system.
SVGEN_Handle svgenHandle
the handle for the space vector generator
MATH_vec2 Vab_V
static uint32_t CPU_USAGE_getMinDeltaCntObserved(CPU_USAGE_Handle handle)
#define MATH_ONE_OVER_SQRT_THREE
static void HAL_initIntVectorTable(HAL_Handle handle)
static float_t MATH_incrAngle(const float_t angle_rad, const float_t angleDelta_rad)
PARK_Handle PARK_init(void *pMemory, const size_t numBytes)
static void PI_setFbackValue(PI_Handle handle, const _iq fbackValue)
static uint16_t HAL_readPwmPeriod(HAL_Handle handle, const PWM_Number_e pwmNumber)
HAL_PwmData_t gPwmData
Defines the PWM data.
bool EST_updateState(EST_Handle handle, const _iq Id_target_pu)
CLARKE_Obj clarke_V
the voltage Clarke transform object
void EST_disable(EST_Handle handle)
void HAL_setParams(HAL_Handle handle, const USER_Params *pUserParams)
static void CPU_USAGE_run(CPU_USAGE_Handle handle)
volatile bool gFlag_enableRsRecalc
HAL_AdcData_t gAdcData
Defines the ADC data.
volatile float_t gSpeed_Ki
float_t EST_getFe_Hz(EST_Handle handle)
void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
uint16_t gCounter_speed
float_t maxCurrent_resEst_A
float_t gCpuUsagePercentageAvg
float_t gCpuUsagePercentageMin
float_t gTorque_Nm
Global variable for the estimated torque, N*m.
PI_Obj pi_spd
the speed PI controller object
float_t gCpuUsagePercentageMax
float_t motor_Ls_d_H
float_t motor_Ls_q_H
CLARKE_Obj clarke_I
the current Clarke transform object
SVGEN_Handle SVGEN_init(void *pMemory, const size_t numBytes)
PI_Handle piHandle_spd
the handle for the speed PI controller
EST_InputData_t gEstInputData
static void PI_setGains(PI_Handle handle, const _iq Kp, const _iq Ki)
volatile float_t gRsOnLineId_mag_A
static void PI_run_series(PI_Handle handle, const _iq refValue, const _iq fbackValue, const _iq ffwdValue, _iq *pOutValue)
float float_t
void main(void)
void EST_run(EST_Handle handle, const MATH_vec2 *pIab_pu, const MATH_vec2 *pVab_pu, const _iq dcBus_pu, const _iq speed_ref_pu)
#define USER_NUM_PWM_TICKS_PER_ISR_TICK
DECIMATION.
Definition: user.h:184