instaspin_foc
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Defines the structures, global initialization, and functions used in MAIN. More...
#include "sw/modules/math/src/32b/math.h"
#include "sw/modules/memCopy/src/memCopy.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/svgen/src/32b/svgen_current.h"
#include "sw/modules/fw/src/32b/fw.h"
#include "sw/modules/fem/src/32b/fem.h"
#include "sw/modules/cpu_usage/src/32b/cpu_usage.h"
#include "sw/modules/ctrl/src/32b/ctrl.h"
#include "hal.h"
#include "user.h"
Go to the source code of this file.
Data Structures | |
struct | _MOTOR_Vars_t_ |
Macros | |
#define | NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE 1 |
Defines the number of main iterations before global variables are updated. More... | |
#define | MAX_ACCEL_KRPMPS_SF _IQ(USER_MOTOR_NUM_POLE_PAIRS*1000.0/USER_TRAJ_FREQ_Hz/USER_IQ_FULL_SCALE_FREQ_Hz/60.0) |
Defines the speed acceleration scale factor. More... | |
#define | MOTOR_Vars_INIT |
Initialization values of global variables. More... | |
Typedefs | |
typedef struct _MOTOR_Vars_t_ | MOTOR_Vars_t |
Functions | |
interrupt void | mainISR (void) |
The main interrupt service (ISR) routine. More... | |
void | runCurrentIgnore (void) |
void | runCurrentReconstruction (void) |
void | runFieldWeakening (void) |
void | runOffsetsCalculation (void) |
void | runSetTrigger (void) |
void | updateGlobalVariables_motor (CTRL_Handle handle) |
Updates the global motor variables. More... | |
void | updateGlobalVariables (EST_Handle handle) |
Updates the global variables. More... | |
void | softwareUpdate1p6 (EST_Handle handle) |
Updates version 1p6 of library. More... | |
void | CTRL_resetLs_qFmt (CTRL_Handle handle, const uint_least8_t qFmt) |
Reset Ls Q format to a higher value when Ls identification starts. More... | |
void | recalcKpKiPmsm (CTRL_Handle handle) |
Recalculate Kp and Ki gains to fix the R/L limitation of 2000.0 and Kp limitation of 0.11. More... | |
void | recalcKpKi (CTRL_Handle handle) |
Recalculate Kp and Ki gains to fix the R/L limitation of 2000.0 and Kp limitation of 0.11. More... | |
void | CTRL_calcMax_Ls_qFmt (CTRL_Handle handle, uint_least8_t *p_qFmt) |
Calculates the maximum qFmt value for Ls identification, to get a more accurate Ls per unit. More... | |
void | updateIqRef (CTRL_Handle handle) |
Updates Iq reference and also sets the right sign to the speed reference for correct force angle. More... | |
void | updateKpKiGains (CTRL_Handle handle) |
Updates Kp and Ki gains in the controller object. More... | |
void | runRsOnLine (CTRL_Handle handle) |
Runs Rs online. More... | |
void | updateCPUusage (void) |
Updates CPU usage. More... | |
void | setFeLimitZero (CTRL_Handle handle) |
Set electrical frequency limit to zero while identifying an induction motor. More... | |
void | acim_Dir_qFmtCalc (CTRL_Handle handle) |
Calculates Dir_qFmt for ACIM. More... | |
void | setupClarke_I (CLARKE_Handle, const uint_least8_t) |
Sets up the Clarke transform for current. More... | |
void | setupClarke_V (CLARKE_Handle, const uint_least8_t) |
Sets up the Clarke transform for voltage. More... | |
_iq | angleDelayComp (const _iq fm_pu, const _iq angleUncomp_pu) |
The angleDelayComp function compensates for the delay introduced. More... | |
CTRL_Handle | CTRL_init (void *pMemory, const size_t numBytes) |
void | EST_getIdq_pu (EST_Handle handle, MATH_vec2 *pIdq_pu) |
void | EST_setEstParams (EST_Handle handle, USER_Params *pUserParams) |
void | EST_setupEstIdleState (EST_Handle handle) |
EST_Handle | EST_init (void *pMemory, const size_t numBytes) |
_iq | EST_runPowerWarp (EST_Handle handle, const _iq Id_int_pu, const _iq Iq_pu) |
Runs PowerWarp. More... | |
_iq | getAbsElecAngle (const _iq angle_pu) |
Calculates the absolute electrical angle. More... | |
_iq | getAbsMechAngle (_iq *pAngle_mech_poles, _iq *pAngle_z1_pu, const _iq angle_pu) |
Calculates mechanical angle from electrical angle. More... | |
Defines the structures, global initialization, and functions used in MAIN.
(C) Copyright 2011, Texas Instruments, Inc.
Definition in file main.h.
struct _MOTOR_Vars_t_ |
Data Fields | ||
---|---|---|
CTRL_State_e | CtrlState | |
CTRL_Version | CtrlVersion | |
EST_State_e | EstState | |
bool | Flag_enableFieldWeakening | |
bool | Flag_enableForceAngle | |
bool | Flag_enableOffsetcalc | |
bool | Flag_enablePowerWarp | |
bool | Flag_enableRsRecalc | |
bool | Flag_enableSpeedCtrl | |
bool | Flag_enableSys | |
bool | Flag_enableUserParams | |
bool | Flag_MotorIdentified | |
bool | Flag_Run_Identify | |
float_t | Flux_VpHz | |
_iq | Flux_Wb | |
MATH_vec3 | I_bias | |
_iq | Id_A | |
_iq | IdRef_A | |
float_t | ipd_excFreq_Hz | |
_iq | ipd_excMag_coarse_pu | |
_iq | ipd_excMag_fine_pu | |
_iq | ipd_Kspd | |
float | ipd_waitTime_coarse_sec | |
float | ipd_waitTime_fine_sec | |
_iq | Iq_A | |
_iq | IqRef_A | |
_iq | Is_A | |
_iq | Ki_Idq | |
_iq | Ki_spd | |
_iq | Kp_Idq | |
_iq | Kp_spd | |
float_t | Lsd_H | |
float_t | Lsq_H | |
float_t | MagnCurr_A | |
_iq | MaxAccel_krpmps | |
_iq | OverModulation | |
float_t | Rr_Ohm | |
float_t | Rs_Ohm | |
float_t | RsOnLine_Ohm | |
_iq | RsOnLineCurrent_A | |
_iq | Speed_krpm | |
_iq | SpeedRef_krpm | |
_iq | SpeedRef_pu | |
_iq | SpeedTraj_krpm | |
_iq | SvgenMaxModulation_ticks | |
_iq | Torque_Nm | |
USER_ErrorCode_e | UserErrorCode | |
MATH_vec3 | V_bias | |
_iq | Vd | |
_iq | VdcBus_kV | |
_iq | Vq | |
_iq | Vs | |
_iq | VsRef |
#define MAX_ACCEL_KRPMPS_SF _IQ(USER_MOTOR_NUM_POLE_PAIRS*1000.0/USER_TRAJ_FREQ_Hz/USER_IQ_FULL_SCALE_FREQ_Hz/60.0) |
#define MOTOR_Vars_INIT |
#define NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE 1 |
typedef struct _MOTOR_Vars_t_ MOTOR_Vars_t |
void EST_getIdq_pu | ( | EST_Handle | handle, |
MATH_vec2 * | pIdq_pu | ||
) |
Referenced by mainISR().
EST_Handle EST_init | ( | void * | pMemory, |
const size_t | numBytes | ||
) |
Referenced by main().
_iq EST_runPowerWarp | ( | EST_Handle | handle, |
const _iq | Id_int_pu, | ||
const _iq | Iq_pu | ||
) |
Runs PowerWarp.
[in] | handle | The estimator (EST) handle |
[in] | Id_int_pu | The intermediate value along the Id trajectory in pu |
[in] | Iq_pu | The measured Iq value in pu |
void EST_setEstParams | ( | EST_Handle | handle, |
USER_Params * | pUserParams | ||
) |
Referenced by main().
void EST_setupEstIdleState | ( | EST_Handle | handle | ) |
Referenced by main().