instaspin_foc
fast_obs_im_pw_cal_rs.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_enablePowerWarp = false;
34 
35 volatile bool gFlag_enableRsRecalc = true;
36 
37 MATH_vec2 gIdq_A = {0.0, 0.0};
38 
40 
42 
44 
46 
48 
50 
52 
54 
55 volatile float_t gSpeed_Kp = 0.01;
56 
57 volatile float_t gSpeed_Ki = 0.001;
58 
60 
62 
63 uint16_t gCounter_speed = 0;
64 
66 
68 
70 
72 
74 
76 
78 
79 MATH_vec3 gOffsets_I_A = {0.0, 0.0, 0.0};
80 
81 MATH_vec3 gOffsets_V_V = {0.0, 0.0, 0.0};
82 
85 
88 
91 
94 
96 
99 
102 
105 
108 
111 
114 
117 
118 #ifdef DRV8301_SPI
119 // Watch window interface to the 8301 SPI
120 DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
121 #endif
122 
128 
129 // **************************************************************************
130 // the functions
131 
132 void main(void)
133 {
134  uint_least8_t estNumber = 0;
135 
136  // initialize the user parameters
137  USER_setParams(&gUserParams);
138 
139  // initialize the user parameters
140  USER_setParams_priv(&gUserParams);
141 
142  // initialize the driver
143  halHandle = HAL_init(&hal,sizeof(hal));
144 
145  // set the driver parameters
146  HAL_setParams(halHandle,&gUserParams);
147 
148  // initialize the calibrator
149  calHandle = CAL_init(&cal,sizeof(cal));
150 
151  // set the default calibrator parameters
152  CAL_setParams(calHandle,&gUserParams);
153 
154  // initialize the Clarke modules
155  clarkeHandle_I = CLARKE_init(&clarke_I,sizeof(clarke_I));
156  clarkeHandle_V = CLARKE_init(&clarke_V,sizeof(clarke_V));
157 
158  // set the Clarke parameters
159  setupClarke_I(clarkeHandle_I,gUserParams.numCurrentSensors);
160  setupClarke_V(clarkeHandle_V,gUserParams.numVoltageSensors);
161 
162  // initialize the estimator
163  estHandle = EST_initEst(estNumber);
164 
165  // set the default estimator parameters
166  EST_setParams(estHandle,&gUserParams);
170 
171  // initialize the inverse Park module
172  iparkHandle = IPARK_init(&ipark,sizeof(ipark));
173 
174  // initialize the Park module
175  parkHandle = PARK_init(&park,sizeof(park));
176 
177  // initialize the PI controllers
178  piHandle_Id = PI_init(&pi_Id, sizeof(pi_Id));
179  piHandle_Iq = PI_init(&pi_Iq, sizeof(pi_Iq));
180  piHandle_spd = PI_init(&pi_spd,sizeof(pi_spd));
181 
182  // setup the controllers
184 
185  // initialize the space vector generator module
186  svgenHandle = SVGEN_init(&svgen,sizeof(svgen));
187 
188  // initialize the Id trajectory
189  trajHandle_Id = TRAJ_init(&traj_Id,sizeof(traj_Id));
190 
191  // configure the Id trajectory. Configure a 5 seconds ramp
192  TRAJ_setTargetValue(trajHandle_Id,gUserParams.IdRated_A);
193  TRAJ_setIntValue(trajHandle_Id,0.0);
194  TRAJ_setMinValue(trajHandle_Id,gUserParams.IdRated_A * 0.3);
195  TRAJ_setMaxValue(trajHandle_Id,gUserParams.IdRated_A);
196  TRAJ_setMaxDelta(trajHandle_Id,gUserParams.IdRated_A / gUserParams.estFreq_Hz);
197 
198  // initialize the CPU usage module
199  cpu_usageHandle = CPU_USAGE_init(&cpu_usage,sizeof(cpu_usage));
200  CPU_USAGE_setParams(cpu_usageHandle,
201  (uint32_t)USER_SYSTEM_FREQ_MHz * 1000000, // timer period, cnts
202  (uint32_t)USER_ISR_FREQ_Hz); // average over 1 second of ISRs
203 
204  // setup faults
205  HAL_setupFaults(halHandle);
206 
207  // initialize the interrupt vector table
208  HAL_initIntVectorTable(halHandle);
209 
210  // enable the ADC interrupts
211  HAL_enableAdcInts(halHandle);
212 
213  // enable global interrupts
214  HAL_enableGlobalInts(halHandle);
215 
216  // enable debug interrupts
217  HAL_enableDebugInt(halHandle);
218 
219  // disable the PWM
220  HAL_disablePwm(halHandle);
221 
222 #ifdef DRV8301_SPI
223  // turn on the DRV8301 if present
224  HAL_enableDrv(halHandle);
225  // initialize the DRV8301 interface
226  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
227 #endif
228 
229  // Waiting for enable system flag to be set
230  while(!gFlag_enableSys);
231 
232  // loop while the enable system flag is true
233  while(gFlag_enableSys)
234  {
235  // set custom speed controller gains
236  PI_setGains(piHandle_spd,gSpeed_Kp,gSpeed_Ki);
237 
238  // enable or disable force angle
240 
241  // enable or disable PowerWarp
243 
244  // enable or disable Rs recalibration
246 
247  if((gFlag_runOnLine) && (!gFlag_runCal))
248  {
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  gIq_ref_A = 0.0;
291 
292  // clear the Id trajectory
293  TRAJ_setIntValue(trajHandle_Id,0.0);
294 
295  // clear PowerWarp enable flag
296  gFlag_enablePowerWarp = false;
297  }
298 
299  // update the estimator state
301 
302  if(EST_getState(estHandle) == EST_State_OnLine)
303  {
305  {
306  float_t Id_target_A_pw = EST_runPowerWarp(estHandle,TRAJ_getIntValue(trajHandle_Id),gIdq_A.value[1]);
307  TRAJ_setMinValue(trajHandle_Id,gUserParams.IdRated_A * 0.3);
308  TRAJ_setTargetValue(trajHandle_Id,Id_target_A_pw);
309  }
310  else
311  {
312  TRAJ_setMinValue(trajHandle_Id,gUserParams.IdRated_A * 0.3);
313  TRAJ_setTargetValue(trajHandle_Id,gUserParams.IdRated_A);
314  }
315  }
316  else
317  {
318  TRAJ_setMinValue(trajHandle_Id,0.0);
319  TRAJ_setTargetValue(trajHandle_Id,0.0);
320  }
321 
322  // update the calibrator state
323  if(CAL_updateState(calHandle))
324  {
325  CAL_State_e calState = CAL_getState(calHandle);
326 
327  if(calState == CAL_State_Done)
328  {
329  // update the ADC offset values
330  gOffsets_I_A.value[0] = CAL_getOffsetValue_I(calHandle,0);
331  gOffsets_I_A.value[1] = CAL_getOffsetValue_I(calHandle,1);
332  gOffsets_I_A.value[2] = CAL_getOffsetValue_I(calHandle,2);
333  gOffsets_V_V.value[0] = CAL_getOffsetValue_V(calHandle,0);
334  gOffsets_V_V.value[1] = CAL_getOffsetValue_V(calHandle,1);
335  gOffsets_V_V.value[2] = CAL_getOffsetValue_V(calHandle,2);
336 
337  // clear the flag
338  gFlag_runCal = false;
339  }
340  }
341 
342  // update the global variables
344 
345  // update CPU usage
346  updateCPUusage();
347 
348 #ifdef DRV8301_SPI
349  HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);
350 
351  HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
352 #endif
353 
354  } // end of while() loop
355 
356  // disable the PWM
357  HAL_disablePwm(halHandle);
358 
359 } // end of main() function
360 
361 
362 interrupt void mainISR(void)
363 {
364  uint32_t timer1Cnt;
365  float_t angleDelta_rad;
366  float_t angleWithDelay_rad;
367  float_t outMax_V;
368  MATH_vec2 phasor;
369  MATH_vec2 Vab_out_V;
370  MATH_vec2 Vdq_out_V;
371  HAL_AdcData_t AdcDataWithOffset;
372 
373  // read the timer 1 value and update the CPU usage module
374  timer1Cnt = HAL_readTimerCnt(halHandle,1);
375  CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
376 
377  // acknowledge the ADC interrupt
378  HAL_acqAdcInt(halHandle,ADC_IntNumber_6);
379 
380  // read the ADC data with offsets
381  HAL_readAdcDataWithOffsets(halHandle,&AdcDataWithOffset);
382 
383  // remove offsets
384  gAdcData.I_A.value[0] = AdcDataWithOffset.I_A.value[0] - gOffsets_I_A.value[0];
385  gAdcData.I_A.value[1] = AdcDataWithOffset.I_A.value[1] - gOffsets_I_A.value[1];
386  gAdcData.I_A.value[2] = AdcDataWithOffset.I_A.value[2] - gOffsets_I_A.value[2];
387  gAdcData.V_V.value[0] = AdcDataWithOffset.V_V.value[0] - gOffsets_V_V.value[0];
388  gAdcData.V_V.value[1] = AdcDataWithOffset.V_V.value[1] - gOffsets_V_V.value[1];
389  gAdcData.V_V.value[2] = AdcDataWithOffset.V_V.value[2] - gOffsets_V_V.value[2];
390  gAdcData.dcBus_V = AdcDataWithOffset.dcBus_V;
391 
392  // if enabled, run the calibrator
393  if(CAL_isEnabled(calHandle))
394  {
395  // run the calibrator
396  CAL_run(calHandle,&AdcDataWithOffset);
397  }
398 
399  // if enabled, run the estimator
401  {
402  // run Clarke transform on current
403  CLARKE_run(clarkeHandle_I,&(gAdcData.I_A),&(gEstInputData.Iab_A));
404 
405  // run Clarke transform on voltage
406  CLARKE_run(clarkeHandle_V,&(gAdcData.V_V),&(gEstInputData.Vab_V));
407 
408  // store the input data into a buffer
409  gEstInputData.dcBus_V = gAdcData.dcBus_V;
410 
411  // modify references if running Rs recalibration
412  if(EST_getState(estHandle) == EST_State_Rs)
413  {
414  gEstInputData.speed_ref_Hz = 0.0;
416  }
417  else
418  {
419  gEstInputData.speed_ref_Hz = gSpeed_ref_Hz;
420  gId_rs_recalc_ref_A = 0.0;
421  }
422 
423  // run the estimator
424  EST_run(estHandle,&gEstInputData,&gEstOutputData);
425 
426  // run the speed controller
427  if(++gCounter_speed >= gUserParams.numCtrlTicksPerSpeedTick)
428  {
429  gCounter_speed = 0;
430 
431  PI_run_series(piHandle_spd,gEstInputData.speed_ref_Hz,gEstOutputData.fm_lp_rps * MATH_ONE_OVER_TWO_PI,0.0,&gIq_ref_A);
432  }
433 
434  // get Idq, reutilizing a Park transform used inside the estimator. This is optional, user's Park works as well
435  EST_getIdq_A(estHandle,&gIdq_A);
436 
437  // run a trajectory for Id, so magnetizing current is increased slowly
438  TRAJ_run(trajHandle_Id);
439 
440  // run the Id controller
441  PI_run_series(piHandle_Id,TRAJ_getIntValue(trajHandle_Id) + gId_rs_recalc_ref_A,gIdq_A.value[0],0.0,&(Vdq_out_V.value[0]));
442 
443  // calculate Iq controller limits, and run Iq controller using fast RTS function, callable assembly
444  outMax_V = sqrt_fastRTS((gUserParams.maxVsMag_V * gUserParams.maxVsMag_V) - (Vdq_out_V.value[0] * Vdq_out_V.value[0]));
445  PI_setMinMax(piHandle_Iq,-outMax_V,outMax_V);
446  PI_run_series(piHandle_Iq,gIq_ref_A,gIdq_A.value[1],0.0,&(Vdq_out_V.value[1]));
447 
448  // compute angle with delay compensation
449  angleDelta_rad = gUserParams.angleDelayed_sf_sec * gEstOutputData.fm_lp_rps;
450  angleWithDelay_rad = MATH_incrAngle(gEstOutputData.angle_rad, angleDelta_rad);
451 
452  // compute the sin/cos phasor using fast RTS function, callable assembly
453  sincos_fastRTS(angleWithDelay_rad, &(phasor.value[1]), &(phasor.value[0]));
454 
455  // set the phasor in the inverse Park transform
456  IPARK_setPhasor(iparkHandle,&phasor);
457 
458  // run the inverse Park module
459  IPARK_run(iparkHandle,&Vdq_out_V,&Vab_out_V);
460 
461  // setup the space vector generator (SVGEN) module
462  SVGEN_setup(svgenHandle,gEstOutputData.oneOverDcBus_invV);
463 
464  // run the space vector generator (SVGEN) module
465  SVGEN_run(svgenHandle,&Vab_out_V,&(gPwmData.Vabc_pu));
466  }
467  else
468  {
469  // create PWM data
470  gPwmData.Vabc_pu.value[0] = 0.0;
471  gPwmData.Vabc_pu.value[1] = 0.0;
472  gPwmData.Vabc_pu.value[2] = 0.0;
473  }
474 
475  // write the PWM compare values
476  HAL_writePwmData(halHandle,&gPwmData);
477 
478  // read the timer 1 value and update the CPU usage module
479  timer1Cnt = HAL_readTimerCnt(halHandle,1);
480  CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
481 
482  // run the CPU usage module
483  CPU_USAGE_run(cpu_usageHandle);
484 
485  return;
486 } // end of mainISR() function
487 
488 
489 void setupClarke_I(CLARKE_Handle handle,const uint_least8_t numCurrentSensors)
490 {
491  float_t alpha_sf,beta_sf;
492 
493  // initialize the Clarke transform module for current
494  if(numCurrentSensors == 3)
495  {
496  alpha_sf = MATH_ONE_OVER_THREE;
497  beta_sf = MATH_ONE_OVER_SQRT_THREE;
498  }
499  else if(numCurrentSensors == 2)
500  {
501  alpha_sf = 1.0;
502  beta_sf = MATH_ONE_OVER_SQRT_THREE;
503  }
504  else
505  {
506  alpha_sf = 0.0;
507  beta_sf = 0.0;
508  }
509 
510  // set the parameters
511  CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
512  CLARKE_setNumSensors(handle,numCurrentSensors);
513 
514  return;
515 } // end of setupClarke_I() function
516 
517 
518 void setupClarke_V(CLARKE_Handle handle,const uint_least8_t numVoltageSensors)
519 {
520  float_t alpha_sf,beta_sf;
521 
522  // initialize the Clarke transform module for voltage
523  if(numVoltageSensors == 3)
524  {
525  alpha_sf = MATH_ONE_OVER_THREE;
526  beta_sf = MATH_ONE_OVER_SQRT_THREE;
527  }
528  else
529  {
530  alpha_sf = 0.0;
531  beta_sf = 0.0;
532  }
533 
534  // set the parameters
535  CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
536  CLARKE_setNumSensors(handle,numVoltageSensors);
537 
538  return;
539 } // end of setupClarke_V() function
540 
541 
543 {
544  float_t Ls_d_H = gUserParams.motor_Ls_d_H;
545  float_t Ls_q_H = gUserParams.motor_Ls_q_H;
546  float_t Rs_d_Ohm = gUserParams.motor_Rs_d_Ohm;
547  float_t Rs_q_Ohm = gUserParams.motor_Rs_q_Ohm;
548  float_t RdoverLd_rps = Rs_d_Ohm / Ls_d_H;
549  float_t RqoverLq_rps = Rs_q_Ohm / Ls_q_H;
550  float_t BWc_rps = gUserParams.BWc_rps;
551  float_t currentCtrlPeriod_sec = (float_t)gUserParams.numCtrlTicksPerCurrentTick / gUserParams.ctrlFreq_Hz;
552  float_t outMax_V = gUserParams.Vd_sf * gUserParams.maxVsMag_V;
553 
554  float_t Kp_Id = Ls_d_H * BWc_rps;
555  float_t Ki_Id = RdoverLd_rps * currentCtrlPeriod_sec;
556 
557  float_t Kp_Iq = Ls_q_H * BWc_rps;
558  float_t Ki_Iq = RqoverLq_rps * currentCtrlPeriod_sec;
559 
560  // set the Id controller
561  PI_setGains(piHandle_Id,Kp_Id,Ki_Id);
562  PI_setUi(piHandle_Id,0.0);
563  PI_setRefValue(piHandle_Id,0.0);
564  PI_setFbackValue(piHandle_Id,0.0);
565  PI_setFfwdValue(piHandle_Id,0.0);
566  PI_setMinMax(piHandle_Id,-outMax_V,outMax_V);
567 
568  // set the Iq controller
569  PI_setGains(piHandle_Iq,Kp_Iq,Ki_Iq);
570  PI_setUi(piHandle_Iq,0.0);
571  PI_setRefValue(piHandle_Iq,0.0);
572  PI_setFbackValue(piHandle_Iq,0.0);
573  PI_setFfwdValue(piHandle_Iq,0.0);
574  PI_setMinMax(piHandle_Iq,0.0,0.0);
575 
576  // set the speed controller
577  PI_setGains(piHandle_spd,gSpeed_Kp,gSpeed_Ki);
578  PI_setUi(piHandle_spd,0.0);
579  PI_setRefValue(piHandle_spd,0.0);
580  PI_setFbackValue(piHandle_spd,0.0);
581  PI_setFfwdValue(piHandle_spd,0.0);
582  PI_setMinMax(piHandle_spd,-gUserParams.maxCurrent_A,gUserParams.maxCurrent_A);
583 
584  return;
585 } // end of setupCurrentControllers() function
586 
587 
589 {
590  // get the states
591  gCalState = CAL_getState(calHandle);
592  gEstState = EST_getState(estHandle);
593 
594  // get the speed estimate
595  gSpeed_Hz = EST_getFm_lp_Hz(estHandle);
596 
597  // get the torque estimate
598  gTorque_Nm = EST_computeTorque_Nm(estHandle);
599 
600  // get the rotor resistance
601  gRr_Ohm = EST_getRr_d_Ohm(estHandle);
602 
603  // get the stator resistance
604  gRs_Ohm = EST_getRs_Ohm(estHandle);
605 
606  // get the stator inductance in the direct coordinate direction
607  gLs_d_H = EST_getLs_d_H(estHandle);
608 
609  // get the stator inductance in the quadrature coordinate direction
610  gLs_q_H = EST_getLs_q_H(estHandle);
611 
612  // get the IdRated value
613  gIdRated_A = EST_getIdRated_A(estHandle);
614 
615  // get the flux, Wb
616  gFlux_Wb = EST_getFlux_Wb(estHandle);
617 
618  return;
619 } // end of updateGlobalVariables_motor() function
620 
621 
622 void updateCPUusage(void)
623 {
624  uint32_t minDeltaCntObserved = CPU_USAGE_getMinDeltaCntObserved(cpu_usageHandle);
625  uint32_t avgDeltaCntObserved = CPU_USAGE_getAvgDeltaCntObserved(cpu_usageHandle);
626  uint32_t maxDeltaCntObserved = CPU_USAGE_getMaxDeltaCntObserved(cpu_usageHandle);
627  uint16_t pwmPeriod = HAL_readPwmPeriod(halHandle,PWM_Number_1);
628  float_t cpu_usage_den = (float_t)pwmPeriod * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * 2.0;
629 
630  // calculate the minimum cpu usage percentage
631  gCpuUsagePercentageMin = (float_t)minDeltaCntObserved / cpu_usage_den * 100.0;
632 
633  // calculate the average cpu usage percentage
634  gCpuUsagePercentageAvg = (float_t)avgDeltaCntObserved / cpu_usage_den * 100.0;
635 
636  // calculate the maximum cpu usage percentage
637  gCpuUsagePercentageMax = (float_t)maxDeltaCntObserved / cpu_usage_den * 100.0;
638 
639  return;
640 } // end of updateCPUusage() function
641 
642 
643 // end of file
644 
#define USER_SYSTEM_FREQ_MHz
CLOCKS & TIMERS.
Definition: user.h:140
PI_Obj pi_Id
the Id PI controller object
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
static void TRAJ_setTargetValue(TRAJ_Handle handle, const _iq targetValue)
void HAL_enableGlobalInts(HAL_Handle handle)
PARK_Handle parkHandle
the handle for the Park object
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.
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)
static void TRAJ_setMaxDelta(TRAJ_Handle handle, const _iq maxDelta)
TRAJ_Handle trajHandle_Id
the handle for the Id trajectory
volatile float_t gSpeed_Kp
float_t gLs_d_H
Global variable for the stator inductance in the direct coordinate direction, Henry.
float_t gSpeed_Hz
IPARK_Handle iparkHandle
the handle for the inverse Park transform
float_t gCpuUsagePercentageAvg
float_t motor_Rs_d_Ohm
static _iq TRAJ_getIntValue(TRAJ_Handle handle)
float_t gIdRated_A
Global variable for the rated Id current current, A.
float_t gCpuUsagePercentageMax
static void HAL_writePwmData(HAL_Handle handle, HAL_PwmData_t *pPwmData)
float_t BWc_rps
_iq value[3]
struct _EST_Obj_ * EST_Handle
CAL_Handle calHandle
the handle for the calibrator
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 EST_getRr_d_Ohm(EST_Handle handle)
float_t motor_Rs_q_Ohm
MATH_vec2 gIdq_A
static void CAL_setFlag_enableAdcOffset(CAL_Handle handle, const bool value)
PI_Obj pi_spd
the speed PI controller object
uint_least8_t numCurrentSensors
volatile bool gFlag_runCal
bool EST_isEnabled(EST_Handle handle)
float_t gRs_Ohm
void main(void)
float_t gCpuUsagePercentageMin
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)
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.
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)
float_t EST_getFm_lp_Hz(EST_Handle handle)
IPARK_Obj ipark
the inverse Park transform object
float_t gRr_Ohm
volatile bool gFlag_enableRsRecalc
TRAJ_Handle TRAJ_init(void *pMemory, const size_t numBytes)
CAL_State_e
void EST_enable(EST_Handle handle)
float_t maxVsMag_V
void HAL_setupFaults(HAL_Handle handle)
float_t gId_rs_recalc_ref_A
volatile bool gFlag_enablePowerWarp
float_t EST_getLs_d_H(EST_Handle handle)
void EST_setFlag_enableRsRecalc(EST_Handle handle, const bool state)
volatile float_t gSpeed_Ki
static void TRAJ_setIntValue(TRAJ_Handle handle, const _iq intValue)
USER_Params gUserParams
The user parameters.
void EST_getIdq_A(EST_Handle handle, MATH_vec2 *pIdq_A)
CPU_USAGE_Obj cpu_usage
static void HAL_enablePwm(HAL_Handle handle)
void EST_setFlag_enablePowerWarp(EST_Handle handle, const bool state)
EST_State_e
void HAL_enableDrv(HAL_Handle handle)
CAL_State_e gCalState
_iq value[2]
PARK_Obj park
the Park transform object
EST_Handle EST_initEst(const uint_least8_t estNumber)
float_t EST_getIdRated_A(EST_Handle handle)
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
CLARKE_Handle clarkeHandle_I
the handle for the current Clarke transform
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 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...
CLARKE_Handle clarkeHandle_V
the handle for the voltage Clarke transform
static void IPARK_run(IPARK_Handle handle, const MATH_vec2 *pInVec, MATH_vec2 *pOutVec)
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.
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...
interrupt void mainISR(void)
The main interrupt service (ISR) routine.
EST_OutputData_t gEstOutputData
MATH_vec3 gOffsets_I_A
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
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)
SVGEN_Handle svgenHandle
the handle for the space vector generator
CPU_USAGE_Handle CPU_USAGE_init(void *pMemory, const size_t numBytes)
static void HAL_disablePwm(HAL_Handle handle)
float_t EST_runPowerWarp(EST_Handle handle, const float_t Id_int_A, const float_t Iq_A)
static void TRAJ_setMaxValue(TRAJ_Handle handle, const _iq maxValue)
HAL_Obj hal
the hardware abstraction layer object
EST_Handle estHandle
the handle for the estimator
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 updateCPUusage(void)
Updates CPU usage.
static CAL_State_e CAL_getState(CAL_Handle handle)
volatile bool gFlag_enableForceAngle
float_t gFlux_Wb
Global variable for the rotor flux estimate, Wb.
MATH_vec2 Iab_A
EST_InputData_t gEstInputData
uint_least32_t ctrlFreq_Hz
CPU_USAGE_Handle cpu_usageHandle
PI_Obj pi_Iq
the Iq PI controller object
PI_Handle piHandle_Iq
the handle for the Iq PI controller
CAL_Handle CAL_init(void *pMemory, const size_t numBytes)
void SVGEN_setup(SVGEN_Handle svgenHandle)
float_t gSpeed_ref_Hz
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.
MATH_vec2 Vab_V
static uint32_t CPU_USAGE_getMinDeltaCntObserved(CPU_USAGE_Handle handle)
#define MATH_ONE_OVER_SQRT_THREE
SVGEN_Obj svgen
the space vector generator object
CLARKE_Obj clarke_I
the current Clarke transform object
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)
uint16_t gCounter_speed
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)
uint_least32_t estFreq_Hz
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.
CLARKE_Obj clarke_V
the voltage Clarke transform object
void HAL_readDrvData(HAL_Handle handle, DRV_SPI_8301_Vars_t *Spi_8301_Vars)
float_t maxCurrent_resEst_A
static bool CAL_isEnabled(CAL_Handle handle)
MATH_vec3 gOffsets_V_V
float_t IdRated_A
float_t gTorque_Nm
Global variable for the estimated torque, N*m.
static void TRAJ_run(TRAJ_Handle handle)
PI_Handle piHandle_Id
the handle for the Id PI controller
PI_Handle piHandle_spd
the handle for the speed PI controller
CAL_Obj cal
the calibrator object
float_t motor_Ls_d_H
float_t motor_Ls_q_H
volatile bool gFlag_runOnLine
SVGEN_Handle SVGEN_init(void *pMemory, const size_t numBytes)
static void PI_setGains(PI_Handle handle, const _iq Kp, const _iq Ki)
TRAJ_Obj traj_Id
the Id trajectory object
static void PI_run_series(PI_Handle handle, const _iq refValue, const _iq fbackValue, const _iq ffwdValue, _iq *pOutValue)
float float_t
static void TRAJ_setMinValue(TRAJ_Handle handle, const _iq minValue)
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