instaspin_foc
fast_obs_pm_cal_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 CAL_State_e gCalState = CAL_State_Idle;
22 
23 EST_State_e gEstState = EST_State_Idle;
24 
25 volatile bool gFlag_enableSys = true;
26 
27 volatile bool gFlag_runCal = false;
28 
29 volatile bool gFlag_runOnLine = false;
30 
31 volatile bool gFlag_enableForceAngle = true;
32 
33 volatile bool gFlag_enableRsOnLine = false;
34 
35 volatile bool gFlag_updateRs = false;
36 
38 
40 
42 
44 
46 
48 
50 
51 volatile float_t gSpeed_Kp = 0.01;
52 
53 volatile float_t gSpeed_Ki = 0.001;
54 
55 volatile float_t gId_ref_A = 0.0;
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 
96 
98 
101 
104 
107 
110 
113 
116 
117 #ifdef DRV8301_SPI
118 // Watch window interface to the 8301 SPI
119 DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
120 #endif
121 
127 
128 // **************************************************************************
129 // the functions
130 
131 void main(void)
132 {
133  uint_least8_t estNumber = 0;
134 
135  // initialize the user parameters
136  USER_setParams(&gUserParams);
137 
138  // initialize the user parameters
139  USER_setParams_priv(&gUserParams);
140 
141  // initialize the driver
142  halHandle = HAL_init(&hal,sizeof(hal));
143 
144  // set the driver parameters
145  HAL_setParams(halHandle,&gUserParams);
146 
147  // initialize the calibrator
148  calHandle = CAL_init(&cal,sizeof(cal));
149 
150  // set the default calibrator parameters
151  CAL_setParams(calHandle,&gUserParams);
152 
153  // initialize the Clarke modules
154  clarkeHandle_I = CLARKE_init(&clarke_I,sizeof(clarke_I));
155  clarkeHandle_V = CLARKE_init(&clarke_V,sizeof(clarke_V));
156 
157  // set the Clarke parameters
158  setupClarke_I(clarkeHandle_I,gUserParams.numCurrentSensors);
159  setupClarke_V(clarkeHandle_V,gUserParams.numVoltageSensors);
160 
161  // initialize the estimator
162  estHandle = EST_initEst(estNumber);
163 
164  // set the default estimator parameters
165  EST_setParams(estHandle,&gUserParams);
172 
173  // initialize the inverse Park module
174  iparkHandle = IPARK_init(&ipark,sizeof(ipark));
175 
176  // initialize the Park module
177  parkHandle = PARK_init(&park,sizeof(park));
178 
179  // initialize the PI controllers
180  piHandle_Id = PI_init(&pi_Id, sizeof(pi_Id));
181  piHandle_Iq = PI_init(&pi_Iq, sizeof(pi_Iq));
182  piHandle_spd = PI_init(&pi_spd,sizeof(pi_spd));
183 
184  // setup the controllers
186 
187  // initialize the space vector generator module
188  svgenHandle = SVGEN_init(&svgen,sizeof(svgen));
189 
190  // initialize the CPU usage module
191  cpu_usageHandle = CPU_USAGE_init(&cpu_usage,sizeof(cpu_usage));
192  CPU_USAGE_setParams(cpu_usageHandle,
193  (uint32_t)USER_SYSTEM_FREQ_MHz * 1000000, // timer period, cnts
194  (uint32_t)USER_ISR_FREQ_Hz); // average over 1 second of ISRs
195 
196  // setup faults
197  HAL_setupFaults(halHandle);
198 
199  // initialize the interrupt vector table
200  HAL_initIntVectorTable(halHandle);
201 
202  // enable the ADC interrupts
203  HAL_enableAdcInts(halHandle);
204 
205  // enable global interrupts
206  HAL_enableGlobalInts(halHandle);
207 
208  // enable debug interrupts
209  HAL_enableDebugInt(halHandle);
210 
211  // disable the PWM
212  HAL_disablePwm(halHandle);
213 
214 #ifdef DRV8301_SPI
215  // turn on the DRV8301 if present
216  HAL_enableDrv(halHandle);
217  // initialize the DRV8301 interface
218  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
219 #endif
220 
221  // Waiting for enable system flag to be set
222  while(!gFlag_enableSys);
223 
224  // loop while the enable system flag is true
225  while(gFlag_enableSys)
226  {
227  // set custom speed controller gains
228  PI_setGains(piHandle_spd,gSpeed_Kp,gSpeed_Ki);
229 
230  // enable or disable force angle
232 
233  // enable or disable RsOnLine
235 
236  // set slow rotating frequency for RsOnLine
238 
239  // set current amplitude for RsOnLine
241 
242  // set RsOnLine beta based on the desired filter pole
244 
245  // set flag that updates Rs from RsOnLine value
247 
248  if((gFlag_runOnLine) && (!gFlag_runCal))
249  {
250  // disable the calibrator
251  CAL_disable(calHandle);
252 
253  // enable the estimator
255 
256  // enable the PWM
257  HAL_enablePwm(halHandle);
258  }
259  else if(gFlag_runCal)
260  {
261  // enable the calibrator
262  CAL_setFlag_enableAdcOffset(calHandle,true);
263 
264  // enable the calibrator
265  CAL_enable(calHandle);
266 
267  // disable the estimator
269 
270  // enable the PWM
271  HAL_enablePwm(halHandle);
272  }
273  else
274  {
275  // disable the calibrator
276  CAL_disable(calHandle);
277 
278  // disable the estimator
280 
281  // disable the PWM
282  HAL_disablePwm(halHandle);
283 
284  // clear integral outputs of the controllers
285  PI_setUi(piHandle_Id,0.0);
286  PI_setUi(piHandle_Iq,0.0);
287  PI_setUi(piHandle_spd,0.0);
288 
289  // clear current references
290  gId_ref_A = 0.0;
291  gIq_ref_A = 0.0;
292 
293  // disable RsOnLine flags
294  gFlag_enableRsOnLine = false;
295  gFlag_updateRs = false;
296  }
297 
298  // update the estimator state
300 
301  // update the calibrator state
302  if(CAL_updateState(calHandle))
303  {
304  CAL_State_e calState = CAL_getState(calHandle);
305 
306  if(calState == CAL_State_Done)
307  {
308  // update the ADC offset values
309  gOffsets_I_A.value[0] = CAL_getOffsetValue_I(calHandle,0);
310  gOffsets_I_A.value[1] = CAL_getOffsetValue_I(calHandle,1);
311  gOffsets_I_A.value[2] = CAL_getOffsetValue_I(calHandle,2);
312  gOffsets_V_V.value[0] = CAL_getOffsetValue_V(calHandle,0);
313  gOffsets_V_V.value[1] = CAL_getOffsetValue_V(calHandle,1);
314  gOffsets_V_V.value[2] = CAL_getOffsetValue_V(calHandle,2);
315 
316  // clear the flag
317  gFlag_runCal = false;
318  }
319  }
320 
321  // update the global variables
323 
324  // update CPU usage
325  updateCPUusage();
326 
327 #ifdef DRV8301_SPI
328  HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);
329 
330  HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
331 #endif
332 
333  } // end of while() loop
334 
335  // disable the PWM
336  HAL_disablePwm(halHandle);
337 
338 } // end of main() function
339 
340 
341 interrupt void mainISR(void)
342 {
343  uint32_t timer1Cnt;
344  float_t angleDelta_rad;
345  float_t angleWithDelay_rad;
346  MATH_vec2 Idq_A;
347  float_t outMax_V;
348  MATH_vec2 phasor;
349  MATH_vec2 Vab_out_V;
350  MATH_vec2 Vdq_out_V;
351  HAL_AdcData_t AdcDataWithOffset;
352 
353  // read the timer 1 value and update the CPU usage module
354  timer1Cnt = HAL_readTimerCnt(halHandle,1);
355  CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
356 
357  // acknowledge the ADC interrupt
358  HAL_acqAdcInt(halHandle,ADC_IntNumber_6);
359 
360  // read the ADC data with offsets
361  HAL_readAdcDataWithOffsets(halHandle,&AdcDataWithOffset);
362 
363  // remove offsets
364  gAdcData.I_A.value[0] = AdcDataWithOffset.I_A.value[0] - gOffsets_I_A.value[0];
365  gAdcData.I_A.value[1] = AdcDataWithOffset.I_A.value[1] - gOffsets_I_A.value[1];
366  gAdcData.I_A.value[2] = AdcDataWithOffset.I_A.value[2] - gOffsets_I_A.value[2];
367  gAdcData.V_V.value[0] = AdcDataWithOffset.V_V.value[0] - gOffsets_V_V.value[0];
368  gAdcData.V_V.value[1] = AdcDataWithOffset.V_V.value[1] - gOffsets_V_V.value[1];
369  gAdcData.V_V.value[2] = AdcDataWithOffset.V_V.value[2] - gOffsets_V_V.value[2];
370  gAdcData.dcBus_V = AdcDataWithOffset.dcBus_V;
371 
372  // if enabled, run the calibrator
373  if(CAL_isEnabled(calHandle))
374  {
375  // run the calibrator
376  CAL_run(calHandle,&AdcDataWithOffset);
377  }
378 
379  // if enabled, run the estimator
381  {
382  // run Clarke transform on current
383  CLARKE_run(clarkeHandle_I,&(gAdcData.I_A),&(gEstInputData.Iab_A));
384 
385  // run Clarke transform on voltage
386  CLARKE_run(clarkeHandle_V,&(gAdcData.V_V),&(gEstInputData.Vab_V));
387 
388  // store the input data into a buffer
389  gEstInputData.dcBus_V = gAdcData.dcBus_V;
390  gEstInputData.speed_ref_Hz = gSpeed_ref_Hz;
391 
392  // run the estimator
393  EST_run(estHandle,&gEstInputData,&gEstOutputData);
394 
395  // run the speed controller
396  if(++gCounter_speed >= gUserParams.numCtrlTicksPerSpeedTick)
397  {
398  gCounter_speed = 0;
399 
400  PI_run_series(piHandle_spd,gEstInputData.speed_ref_Hz,gEstOutputData.fm_lp_rps * MATH_ONE_OVER_TWO_PI,0.0,&gIq_ref_A);
401  }
402 
403  // get Idq, reutilizing a Park transform used inside the estimator. This is optional, user's Park works as well
404  EST_getIdq_A(estHandle,&Idq_A);
405 
406  // run the Id controller
407  PI_run_series(piHandle_Id,gId_ref_A + EST_getRsOnLineId_A(estHandle),Idq_A.value[0],0.0,&(Vdq_out_V.value[0]));
408 
409  // calculate Iq controller limits, and run Iq controller using fast RTS function, callable assembly
410  outMax_V = sqrt_fastRTS((gUserParams.maxVsMag_V * gUserParams.maxVsMag_V) - (Vdq_out_V.value[0] * Vdq_out_V.value[0]));
411  PI_setMinMax(piHandle_Iq,-outMax_V,outMax_V);
412  PI_run_series(piHandle_Iq,gIq_ref_A,Idq_A.value[1],0.0,&(Vdq_out_V.value[1]));
413 
414  // compute angle with delay compensation
415  angleDelta_rad = gUserParams.angleDelayed_sf_sec * gEstOutputData.fm_lp_rps;
416  angleWithDelay_rad = MATH_incrAngle(gEstOutputData.angle_rad, angleDelta_rad);
417 
418  // compute the sin/cos phasor using fast RTS function, callable assembly
419  sincos_fastRTS(angleWithDelay_rad, &(phasor.value[1]), &(phasor.value[0]));
420 
421  // set the phasor in the inverse Park transform
422  IPARK_setPhasor(iparkHandle,&phasor);
423 
424  // run the inverse Park module
425  IPARK_run(iparkHandle,&Vdq_out_V,&Vab_out_V);
426 
427  // setup the space vector generator (SVGEN) module
428  SVGEN_setup(svgenHandle,gEstOutputData.oneOverDcBus_invV);
429 
430  // run the space vector generator (SVGEN) module
431  SVGEN_run(svgenHandle,&Vab_out_V,&(gPwmData.Vabc_pu));
432  }
433  else
434  {
435  // create PWM data
436  gPwmData.Vabc_pu.value[0] = 0.0;
437  gPwmData.Vabc_pu.value[1] = 0.0;
438  gPwmData.Vabc_pu.value[2] = 0.0;
439  }
440 
441  // write the PWM compare values
442  HAL_writePwmData(halHandle,&gPwmData);
443 
444  // read the timer 1 value and update the CPU usage module
445  timer1Cnt = HAL_readTimerCnt(halHandle,1);
446  CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
447 
448  // run the CPU usage module
449  CPU_USAGE_run(cpu_usageHandle);
450 
451  return;
452 } // end of mainISR() function
453 
454 
455 void setupClarke_I(CLARKE_Handle handle,const uint_least8_t numCurrentSensors)
456 {
457  float_t alpha_sf,beta_sf;
458 
459  // initialize the Clarke transform module for current
460  if(numCurrentSensors == 3)
461  {
462  alpha_sf = MATH_ONE_OVER_THREE;
463  beta_sf = MATH_ONE_OVER_SQRT_THREE;
464  }
465  else if(numCurrentSensors == 2)
466  {
467  alpha_sf = 1.0;
468  beta_sf = MATH_ONE_OVER_SQRT_THREE;
469  }
470  else
471  {
472  alpha_sf = 0.0;
473  beta_sf = 0.0;
474  }
475 
476  // set the parameters
477  CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
478  CLARKE_setNumSensors(handle,numCurrentSensors);
479 
480  return;
481 } // end of setupClarke_I() function
482 
483 
484 void setupClarke_V(CLARKE_Handle handle,const uint_least8_t numVoltageSensors)
485 {
486  float_t alpha_sf,beta_sf;
487 
488  // initialize the Clarke transform module for voltage
489  if(numVoltageSensors == 3)
490  {
491  alpha_sf = MATH_ONE_OVER_THREE;
492  beta_sf = MATH_ONE_OVER_SQRT_THREE;
493  }
494  else
495  {
496  alpha_sf = 0.0;
497  beta_sf = 0.0;
498  }
499 
500  // set the parameters
501  CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
502  CLARKE_setNumSensors(handle,numVoltageSensors);
503 
504  return;
505 } // end of setupClarke_V() function
506 
507 
509 {
510  float_t Ls_d_H = gUserParams.motor_Ls_d_H;
511  float_t Ls_q_H = gUserParams.motor_Ls_q_H;
512  float_t Rs_d_Ohm = gUserParams.motor_Rs_d_Ohm;
513  float_t Rs_q_Ohm = gUserParams.motor_Rs_q_Ohm;
514  float_t RdoverLd_rps = Rs_d_Ohm / Ls_d_H;
515  float_t RqoverLq_rps = Rs_q_Ohm / Ls_q_H;
516  float_t BWc_rps = gUserParams.BWc_rps;
517  float_t currentCtrlPeriod_sec = (float_t)gUserParams.numCtrlTicksPerCurrentTick / gUserParams.ctrlFreq_Hz;
518  float_t outMax_V = gUserParams.Vd_sf * gUserParams.maxVsMag_V;
519 
520  float_t Kp_Id = Ls_d_H * BWc_rps;
521  float_t Ki_Id = RdoverLd_rps * currentCtrlPeriod_sec;
522 
523  float_t Kp_Iq = Ls_q_H * BWc_rps;
524  float_t Ki_Iq = RqoverLq_rps * currentCtrlPeriod_sec;
525 
526  // set the Id controller
527  PI_setGains(piHandle_Id,Kp_Id,Ki_Id);
528  PI_setUi(piHandle_Id,0.0);
529  PI_setRefValue(piHandle_Id,0.0);
530  PI_setFbackValue(piHandle_Id,0.0);
531  PI_setFfwdValue(piHandle_Id,0.0);
532  PI_setMinMax(piHandle_Id,-outMax_V,outMax_V);
533 
534  // set the Iq controller
535  PI_setGains(piHandle_Iq,Kp_Iq,Ki_Iq);
536  PI_setUi(piHandle_Iq,0.0);
537  PI_setRefValue(piHandle_Iq,0.0);
538  PI_setFbackValue(piHandle_Iq,0.0);
539  PI_setFfwdValue(piHandle_Iq,0.0);
540  PI_setMinMax(piHandle_Iq,0.0,0.0);
541 
542  // set the speed controller
543  PI_setGains(piHandle_spd,gSpeed_Kp,gSpeed_Ki);
544  PI_setUi(piHandle_spd,0.0);
545  PI_setRefValue(piHandle_spd,0.0);
546  PI_setFbackValue(piHandle_spd,0.0);
547  PI_setFfwdValue(piHandle_spd,0.0);
548  PI_setMinMax(piHandle_spd,-gUserParams.maxCurrent_A,gUserParams.maxCurrent_A);
549 
550  return;
551 } // end of setupCurrentControllers() function
552 
553 
555 {
556  // get the states
557  gCalState = CAL_getState(calHandle);
558  gEstState = EST_getState(estHandle);
559 
560  // get the speed estimate
561  gSpeed_Hz = EST_getFe_Hz(estHandle);
562 
563  // get the torque estimate
564  gTorque_Nm = EST_computeTorque_Nm(estHandle);
565 
566  // get the stator resistance estimate from RsOnLine
567  gRsOnLine_Ohm = EST_getRsOnLine_Ohm(estHandle);
568 
569  // get the stator resistance
570  gRs_Ohm = EST_getRs_Ohm(estHandle);
571 
572  // get the stator inductance in the direct coordinate direction
573  gLs_d_H = EST_getLs_d_H(estHandle);
574 
575  // get the stator inductance in the quadrature coordinate direction
576  gLs_q_H = EST_getLs_q_H(estHandle);
577 
578  // get the flux, Wb
579  gFlux_Wb = EST_getFlux_Wb(estHandle);
580 
581  return;
582 } // end of updateGlobalVariables_motor() function
583 
584 
585 void updateCPUusage(void)
586 {
587  uint32_t minDeltaCntObserved = CPU_USAGE_getMinDeltaCntObserved(cpu_usageHandle);
588  uint32_t avgDeltaCntObserved = CPU_USAGE_getAvgDeltaCntObserved(cpu_usageHandle);
589  uint32_t maxDeltaCntObserved = CPU_USAGE_getMaxDeltaCntObserved(cpu_usageHandle);
590  uint16_t pwmPeriod = HAL_readPwmPeriod(halHandle,PWM_Number_1);
591  float_t cpu_usage_den = (float_t)pwmPeriod * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * 2.0;
592 
593  // calculate the minimum cpu usage percentage
594  gCpuUsagePercentageMin = (float_t)minDeltaCntObserved / cpu_usage_den * 100.0;
595 
596  // calculate the average cpu usage percentage
597  gCpuUsagePercentageAvg = (float_t)avgDeltaCntObserved / cpu_usage_den * 100.0;
598 
599  // calculate the maximum cpu usage percentage
600  gCpuUsagePercentageMax = (float_t)maxDeltaCntObserved / cpu_usage_den * 100.0;
601 
602  return;
603 } // end of updateCPUusage() function
604 
605 
606 // end of file
607 
#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)
static void CAL_enable(CAL_Handle handle)
IPARK_Handle IPARK_init(void *pMemory, const size_t numBytes)
#define MATH_ONE_OVER_TWO_PI
volatile bool gFlag_updateRs
volatile float_t gSpeed_Ki
MATH_vec3 gOffsets_I_A
void HAL_enableGlobalInts(HAL_Handle handle)
void HAL_enableAdcInts(HAL_Handle handle)
float_t EST_getFlux_Wb(EST_Handle handle)
IPARK_Handle iparkHandle
the handle for the inverse Park transform
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)
MATH_vec3 Vabc_pu
static void HAL_readAdcDataWithOffsets(HAL_Handle handle, HAL_AdcData_t *pAdcData)
static void CAL_run(CAL_Handle handle, const HAL_AdcData_t *pAdcData)
PI_Obj pi_Id
the Id PI controller object
float_t gLs_d_H
Global variable for the stator inductance in the direct coordinate direction, Henry.
IPARK_Obj ipark
the inverse Park transform object
float_t gCpuUsagePercentageAvg
float_t gSpeed_ref_Hz
float_t motor_Rs_d_Ohm
HAL_Obj hal
the hardware abstraction layer object
float_t gCpuUsagePercentageMin
CAL_Obj cal
the calibrator object
CLARKE_Obj clarke_V
the voltage Clarke transform object
CLARKE_Handle clarkeHandle_V
the handle for the voltage Clarke transform
#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)
volatile float_t gSpeed_Kp
#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)
static void PI_setUi(PI_Handle handle, const _iq Ui)
static void HAL_acqAdcInt(HAL_Handle handle, const ADC_IntNumber_e intNumber)
float_t motor_Rs_q_Ohm
EST_OutputData_t gEstOutputData
PI_Obj pi_spd
the speed PI controller object
CPU_USAGE_Obj cpu_usage
static void CAL_setFlag_enableAdcOffset(CAL_Handle handle, const bool value)
CAL_State_e gCalState
uint_least8_t numCurrentSensors
bool EST_isEnabled(EST_Handle handle)
void CAL_setParams(CAL_Handle handle, const USER_Params *pUserParams)
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)
PARK_Obj park
the Park transform object
volatile bool gFlag_runOnLine
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.
SVGEN_Obj svgen
the space vector generator object
void EST_setFlag_updateRs(EST_Handle handle, const bool state)
CLARKE_Handle clarkeHandle_I
the handle for the current Clarke transform
PI_Handle piHandle_spd
the handle for the speed PI controller
float_t EST_computeTorque_Nm(EST_Handle handle)
CLARKE_Obj clarke_I
the current Clarke transform object
float_t speed_ref_Hz
volatile float_t gRsOnLineId_mag_A
static void CLARKE_setScaleFactors(CLARKE_Handle handle, const _iq alpha_sf, const _iq beta_sf)
volatile bool gFlag_enableRsOnLine
CAL_State_e
void EST_enable(EST_Handle handle)
void main(void)
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
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)
volatile float_t gId_ref_A
uint_least8_t numVoltageSensors
float_t EST_getLs_q_H(EST_Handle handle)
void HAL_enableDebugInt(HAL_Handle handle)
CLARKE_Handle CLARKE_init(void *pMemory, const size_t numBytes)
float_t gSpeed_Hz
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...
static void IPARK_run(IPARK_Handle handle, const MATH_vec2 *pInVec, MATH_vec2 *pOutVec)
EST_InputData_t gEstInputData
EST_State_e EST_getState(EST_Handle handle)
static void CAL_disable(CAL_Handle handle)
void setupClarke_I(CLARKE_Handle handle, const uint_least8_t numCurrentSensors)
Sets the number of current sensors.
PI_Obj pi_Iq
the Iq PI controller object
EST_Handle estHandle
the handle for the estimator
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...
CPU_USAGE_Handle cpu_usageHandle
void EST_setFlag_enableRsOnLine(EST_Handle handle, const bool state)
interrupt void mainISR(void)
The main interrupt service (ISR) routine.
static uint32_t HAL_readTimerCnt(HAL_Handle handle, const uint_least8_t timerNumber)
static _iq CAL_getOffsetValue_V(CAL_Handle handle, const uint_least8_t sensorNumber)
static void CLARKE_setNumSensors(CLARKE_Handle handle, const uint_least8_t numSensors)
float_t EST_getRs_Ohm(EST_Handle handle)
uint_least16_t numCtrlTicksPerSpeedTick
MATH_vec3 gOffsets_V_V
void CPU_USAGE_setParams(CPU_USAGE_Handle handle, const uint32_t timerPeriod_cnts, const uint32_t numDeltaCntsAvg)
#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)
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)
HAL_Handle HAL_init(void *pMemory, const size_t numBytes)
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
float_t gIq_ref_A
void EST_setRsOnLine_beta_rad(EST_Handle handle, const float_t beta_rad)
volatile bool gFlag_enableForceAngle
void updateCPUusage(void)
Updates CPU usage.
static CAL_State_e CAL_getState(CAL_Handle handle)
PI_Handle piHandle_Iq
the handle for the Iq PI controller
float_t EST_getRsOnLineId_A(EST_Handle handle)
float_t gFlux_Wb
Global variable for the rotor flux estimate, Wb.
MATH_vec2 Iab_A
CAL_Handle calHandle
the handle for the calibrator
uint_least32_t ctrlFreq_Hz
volatile float_t gRsOnLineFreq_Hz
uint16_t gCounter_speed
CAL_Handle CAL_init(void *pMemory, const size_t numBytes)
void SVGEN_setup(SVGEN_Handle svgenHandle)
volatile bool gFlag_runCal
static void PI_setMinMax(PI_Handle handle, const _iq outMin, const _iq outMax)
static void PI_setRefValue(PI_Handle handle, const _iq refValue)
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.
volatile float_t gRsOnLinePole_Hz
MATH_vec2 Vab_V
static uint32_t CPU_USAGE_getMinDeltaCntObserved(CPU_USAGE_Handle handle)
#define MATH_ONE_OVER_SQRT_THREE
PI_Handle piHandle_Id
the handle for the Id PI controller
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)
float_t gRsOnLine_Ohm
HAL_PwmData_t gPwmData
Defines the PWM data.
float_t gCpuUsagePercentageMax
bool EST_updateState(EST_Handle handle, const _iq Id_target_pu)
void EST_disable(EST_Handle handle)
static _iq CAL_getOffsetValue_I(CAL_Handle handle, const uint_least8_t sensorNumber)
void HAL_setParams(HAL_Handle handle, const USER_Params *pUserParams)
static void CPU_USAGE_run(CPU_USAGE_Handle handle)
bool CAL_updateState(CAL_Handle handle)
HAL_AdcData_t gAdcData
Defines the ADC data.
float_t EST_getFe_Hz(EST_Handle handle)
void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
static bool CAL_isEnabled(CAL_Handle handle)
SVGEN_Handle svgenHandle
the handle for the space vector generator
float_t gTorque_Nm
Global variable for the estimated torque, N*m.
float_t gRs_Ohm
PARK_Handle parkHandle
the handle for the Park object
float_t motor_Ls_d_H
float_t motor_Ls_q_H
SVGEN_Handle SVGEN_init(void *pMemory, const size_t numBytes)
static void PI_setGains(PI_Handle handle, const _iq Kp, const _iq Ki)
static void PI_run_series(PI_Handle handle, const _iq refValue, const _iq fbackValue, const _iq ffwdValue, _iq *pOutValue)
float float_t
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