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SensorlessFOCMotorControlLibrary
1.0
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#include <stdint.h>#include <stdbool.h>#include <ti/iqmath/include/IQmathLib.h>#include "iqmath_rts.h"#include "hal.h"#include "user.h"#include "foc_types.h"#include "ipd.h"#include "rampgen.h"#include "rmp_cntl.h"#include "clarke.h"#include "park.h"#include "ipark.h"#include "pi.h"#include "volt_calc.h"#include "estimator.h"#include "svgen.h"#include "pwmgen.h"#include "motor_params.h"#include "parameter.h"#include "transit.h"
Go to the source code of this file.
Data Structures | |
| struct | COMMAND |
| Define command structure. More... | |
| struct | ALIGN_Instance |
| Define align startup instance. More... | |
| struct | RAMPUP_Instance |
| Define rampup instance. More... | |
| struct | CONTROL |
| Define control structure. More... | |
| struct | FOC_Instance |
| Define FOC structure. More... | |
Macros | |
| #define | FLASH_PARAMS_BASE_ADDRESS HAL_MEMORY_FLASH_PARAMS_BASE_ADDRESS |
| Base address of the saved parameters in FLASH. | |
| #define | SRAM_PARAMS_BASE_ADDRESS HAL_MEMORY_SRAM_PARAMS_BASE_ADDRESS |
| Base address of the saved parameters in SRAM. | |
| #define | FOC_WRITE_FLAG_SIGNATURE (0x789ABCDE) |
| Memory Signature for write configurations flag. | |
| #define | FOC_CRC_SEED (0xFFFFFFFF) |
| Seed value for the CRC calculation. | |
| #define | FOC_WRITE_FLAG_SIZE_BYTES (4) |
| Size of the write flag in bytes. | |
| #define | FOC_CRC_SIZE_BYTES (4) |
| Size of the CRC in bytes. | |
| #define | FOC_FLASH_ACCESSKEY (0xA) |
| Access key for flash. | |
| #define | BYTES_TO_WORD_RSHIFT (2) |
| Right shift to convert bytes to words. | |
| #define | FOC_CONTROL_LOOP_FREQ_HZ (1000) |
| Frequency of the foc control loop. | |
| #define | CALIB_SAMPLES_2_POW (10) |
| Calibration samples in power of 2. | |
| #define | CALIB_AVG_SAMPLES (1 << CALIB_SAMPLES_2_POW) |
| Calibration samples to average. | |
| #define | FOC_PIIDQ_LMT_IQ _IQ(0.866) |
| Limit for the resultant voltage vector is 0.866 of vdc. | |
| #define | FOC_LOG_BUF_SIZE (1024) |
| Size of the FOC variable logging buffer. | |
| #define | FOC_USERVAR_UPDATE_MS (200) |
| Uservar update rate in milliseconds. | |
| #define | FOC_12_TO_8_BIT_OFFSET_SHIFT (4) |
| 12 bit offset to 8 bit shift factor | |
| #define | USER_DEFAULT_VOLTAGE_SF |
| Computing voltage scale factor. More... | |
| #define | USER_DEFAULT_CURRENT_SF |
| Computing current scale factor. More... | |
Functions | |
| void | FOC_init (FOC_Instance *handle) |
| Disables the PWM outputs. More... | |
| void | FOC_initFLASH (void) |
| Loads the saved variables from flash to sram if the crc is correct. | |
| void | FOC_initUserParamsFoc (USER_PARAMS *userParamsFoc, USER_PARAMS *userParams, uint32_t size) |
| Sets the values of foc vars as user vars + 1, it is used to later update the foc vars with user vars while update parameters. More... | |
| void | FOC_loadSavedParams (USER_PARAMS *dstParams, const USER_PARAMS *srcParams, uint32_t size) |
| Copies from source parameters to destination parameters. More... | |
| void | FOC_writeFLASH (USER_PARAMS *params, uint32_t size) |
| Erases and writes the variables to flash. More... | |
| void | FOC_setPara (FOC_Instance *handle, PARA_IDX paraIdx, int32_t value) |
| Sets the FOC parameter and updates the modules. More... | |
| void | FOC_setFault (FOC_Instance *handle) |
| Sets the state machine to fault state and disables PWM output. More... | |
| void | FOC_clearFault (FOC_Instance *handle) |
| Clears all the recorded faults. More... | |
| __STATIC_INLINE bool | FOC_getPwmEnableStatus (FOC_Instance *handle) |
| Gets the status of the PWM channels. More... | |
| __STATIC_INLINE void | FOC_setPwmEnableStatus (FOC_Instance *handle, bool enablePWMState) |
| Sets the status of the PWM channels. More... | |
| __STATIC_INLINE _iq | FOC_getPIIQLMT (FOC_Instance *handle) |
| Calculated the limits for the PI IQ integral outputs. More... | |
| __STATIC_INLINE void | FOC_setADCTrig (FOC_Instance *handle) |
| Set the PWM channel to trigger ADC. More... | |
| void | FOC_paramsUpdateProcess (FOC_Instance *handle, USER_VAR *userVar) |
| Does the process of updating the foc variables with the userVar. More... | |
| __STATIC_INLINE void | FOC_runMonitor (FOC_Instance *handle) |
| Checks the fault conditions. More... | |
| __STATIC_INLINE void | FOC_CONTROL_run (FOC_Instance *handle) |
| FOC motor control loop. More... | |
| __STATIC_INLINE void | FOC_run (FOC_Instance *handle) |
| Runs FOC loop. More... | |
| __STATIC_INLINE void | FOC_UpdateADCRaw (FOC_Instance *handle, uint16_t vdcAdc, uint16_t iaAdc, uint16_t ibAdc, uint16_t icAdc) |
| Updates the adc values in the FOC instance. More... | |
| __STATIC_INLINE void | FOC_loop (FOC_Instance *handle, uint16_t vdcAdc, uint16_t iaAdc, uint16_t ibAdc, uint16_t icAdc) |
| Runs the FOC tasks. More... | |
Variables | |
| IPD_Instance | ipd |
| Create a ipd instance. | |
| PWMGEN_Instance | pwmgen |
| Create a pwmgen instance. | |
| PI_Instance | piSpd |
| Create a PI speed instance. | |
| PI_Instance | piId |
| Create a PI Id instance. | |
| PI_Instance | piIq |
| Create a PI Iq instance. | |
| CLARKE_Instance | clarke |
| Create a clarke instance. | |
| PARK_Instance | park |
| Create a park instance. | |
| IPARK_Instance | ipark |
| Create a inverse park instance. | |
| SVGEN_Instance | svgen |
| Create a Space Vector PWM modulator instance. | |
| RMPCNTL_Instance | rc |
| Create a Ramp control instance for speed ramping. | |
| RAMPGEN_Instance | rg |
| Create a Ramp control instance for generating the open loop angle. | |
| PHASEVOLT_Instance | phaseVolt |
| Create a phaseVolt instance. | |
| EST_Instance | est |
| Create an estimator instance. | |
| uint32_t | offsetCalibcnt |
| Counter for offset calibration. | |
| uint32_t | calibSumA |
| Calibration sum of phase A. | |
| uint32_t | calibSumB |
| Calibration sum of phase B. | |
| uint32_t | calibSumC |
| Calibration sum of phase C. | |
| uint32_t | pAngle |
| Temp variable used for storing angle. | |
| uint8_t | userVarUpdateCounter |
| Counter for userVar update. | |