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.

Detailed Description

Macro Definition Documentation

§ USER_DEFAULT_VOLTAGE_SF

#define USER_DEFAULT_VOLTAGE_SF

Value:

(HAL_ADC_DEFAULT_REF_VOLTAGE * \

(USER_DEFAULT_FOC_VOLT_RATIO))

HAL_ADC_DEFAULT_REF_VOLTAGE

#define HAL_ADC_DEFAULT_REF_VOLTAGE

Value of default ADC reference voltage in volts.

Definition: hal.h:81

USER_DEFAULT_FOC_VOLT_RATIO

#define USER_DEFAULT_FOC_VOLT_RATIO

DC bus voltage divider ratio.

Definition: param_drv8323rs.h:56

Computing voltage scale factor.

Referenced by FOC_init().

§ USER_DEFAULT_CURRENT_SF

#define USER_DEFAULT_CURRENT_SF

Value:

(HAL_ADC_DEFAULT_REF_VOLTAGE/ \

(2 * USER_DEFAULT_DRV_RSHUNT * USER_DEFAULT_BASE_CSA_GAIN))

USER_DEFAULT_BASE_CSA_GAIN

#define USER_DEFAULT_BASE_CSA_GAIN

DRV CSA gain when gain setting is 0.

Definition: user.h:64

HAL_ADC_DEFAULT_REF_VOLTAGE

#define HAL_ADC_DEFAULT_REF_VOLTAGE

Value of default ADC reference voltage in volts.

Definition: hal.h:81

USER_DEFAULT_DRV_RSHUNT

#define USER_DEFAULT_DRV_RSHUNT

DRV shunt resistor in ohms.

Definition: param_drv8323rs.h:59

Computing current scale factor.

Referenced by FOC_init().

Function Documentation

§ FOC_init()

void FOC_init ( FOC_Instance * handle )

Disables the PWM outputs.

Parameters

[in] handle A pointer to FOC instance

References FOC_HAL::adcTrigHal, FOC_Instance::adcTrigVal, FOC_Instance::currentSF, FOC_clearFault(), FOC_CRC_SIZE_BYTES, FOC_initFLASH(), FOC_initUserParamsFoc(), FOC_setADCTrig(), FOC_WRITE_FLAG_SIZE_BYTES, FOC_Instance::hal, HAL_PWMDisableChannel(), HAL_supressCompEvent(), FOC_HAL::pwmAHal, FOC_HAL::pwmBHal, FOC_HAL::pwmCHal, USER_DEFAULT_CURRENT_SF, USER_DEFAULT_FOC_PWMADCSAMPLE, USER_DEFAULT_VOLTAGE_SF, USER_VAR::userParams, userParamsFoc, userVar, and FOC_Instance::voltageSF.

§ FOC_initUserParamsFoc()

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.

Parameters

[in]	userParamsFoc	A pointer to user parameters used by foc
[in]	userParams	A pointer to user parameters set by user
[in]	size	Size of variables to init in bytes

References BYTES_TO_WORD_RSHIFT.

Referenced by FOC_init(), and FOC_paramsUpdateProcess().

§ FOC_loadSavedParams()

void FOC_loadSavedParams	(	USER_PARAMS *	dstParams,
		const USER_PARAMS *	srcParams,
		uint32_t	size
	)

Copies from source parameters to destination parameters.

Parameters

[in]	dstParams	Pointer to destination parameters
[in]	srcParams	Pointer to source parameters
[in]	size	Size of variables to init in bytes

Referenced by FOC_initFLASH(), and FOC_paramsUpdateProcess().

§ FOC_writeFLASH()

void FOC_writeFLASH	(	USER_PARAMS *	params,
		uint32_t	size
	)

Erases and writes the variables to flash.

Parameters

[in]	params	Pointer to the data to be written to flash
[in]	size	Size of variables to init in bytes

References USER_PARAMS::crc, FLASH_PARAMS_BASE_ADDRESS, FOC_CRC_SEED, FOC_CRC_SIZE_BYTES, FOC_WRITE_FLAG_SIGNATURE, FOC_WRITE_FLAG_SIZE_BYTES, HAL_copyMemoryBlock(), HAL_eraseFLASH(), HAL_getCRC(), HAL_unprotectFLASH(), savedParams, and USER_PARAMS::writeFlag.

Referenced by FOC_initFLASH(), and FOC_paramsUpdateProcess().

§ FOC_setPara()

void FOC_setPara	(	FOC_Instance *	handle,
		PARA_IDX	paraIdx,
		int32_t	value
	)

Sets the FOC parameter and updates the modules.

Parameters

[in]	handle	A pointer to FOC instance
[in]	paraIdx	Index of the parameter to set. USER parameters of PARA_IDX
[in]	value	Value to be set

References _IQdiv_rts, _IQmpy_rts, CONTROL::align, ALIGN_Instance::alignCurr, ALIGN_Instance::alignTime, FOC_Instance::cmd, FOC_Instance::control, FOC_Instance::csaDiv, COMMAND::directionReversal, DRV_CSA_GAIN, DRV_HANDLE, DRV_setCsaGain, est, FOC_CONTROL_LOOP_FREQ_HZ, FOC_CSA_GAIN_MAX, FOC_PWM_FREQ_MAX, FOC_Instance::hal, HAL_getPWMLoadValue(), HAL_setDeadband(), HAL_setPWMFreq(), HAL_setRepeatCounter(), ipd, COMMAND::outerLoop, FOC_Instance::overCurrentLimit, FOC_Instance::overVoltageLimit, PARA_checkEST(), PARA_checkIPD(), PARA_checkPIID(), PARA_checkPIIQ(), PARA_checkPISPD(), PARA_checkPWMGEN(), PARA_checkRC(), PARA_checkRG(), PARA_IDX_SYS_DEADBAND_CYC, PARA_IDX_SYS_PWMPERIOD, PARA_IDX_SYS_SAMPLE_FREQ, PARA_IDX_SYS_TS, PARA_IDX_USER_ALIGN_CURRENT, PARA_IDX_USER_ALIGN_TIME, PARA_IDX_USER_AMP_GAIN, PARA_IDX_USER_DEADBAND, PARA_IDX_USER_DIRECTION_REVERSE, PARA_IDX_USER_OUTER_LOOP, PARA_IDX_USER_OVER_CURRENT_LIMIT, PARA_IDX_USER_OVER_VOLTAGE_LIMIT, PARA_IDX_USER_PISPD_DIV, PARA_IDX_USER_PWMFREQ, PARA_IDX_USER_RAMPUP_CURRENT, PARA_IDX_USER_RAMPUP_RATE, PARA_IDX_USER_RAMPUP_TARGET, PARA_IDX_USER_SLOW_FIRST_CYC_FREQ, PARA_IDX_USER_STARTUP_METHOD, PARA_IDX_USER_UNDER_VOLTAGE_LIMIT, FOC_Instance::parameter, FOC_Instance::PISpdExecDivider, FOC_HAL::pwmAHal, CONTROL::rampup, RAMPUP_Instance::rampupCurr, RAMPUP_Instance::rate, CONTROL::slowFirstCycFreq, CONTROL::startupMethod, RAMPUP_Instance::target, and FOC_Instance::underVoltageLimit.

Referenced by FOC_paramsUpdateProcess().

§ FOC_setFault()

void FOC_setFault ( FOC_Instance * handle )

Sets the state machine to fault state and disables PWM output.

Parameters

[in] handle A pointer to FOC instance

References FOC_Instance::cmd, CNTRL_REGS::cntrl1, USER_VAR::controlRegs, CNTRL_REG_1::enableMotor, FOC_Instance::enablePWM, FOC_setPwmEnableStatus(), FOC_Instance::hal, HAL_PWMDisableChannel(), MOTOR_FAULT, MOTOR_STATE_STOP, COMMAND::motorState, FOC_HAL::pwmAHal, FOC_HAL::pwmBHal, FOC_HAL::pwmCHal, FOC_Instance::state, and userVar.

Referenced by FOC_runMonitor().

§ FOC_clearFault()

void FOC_clearFault ( FOC_Instance * handle )

Clears all the recorded faults.

Parameters

[in] handle A pointer to FOC instance

References FAULT_STATUS::all, DRV_HANDLE, FAULT_INPUT_CLEAR, and FOC_Instance::faultStatus.

Referenced by FOC_init(), and FOC_paramsUpdateProcess().

§ FOC_getPwmEnableStatus()

__STATIC_INLINE bool FOC_getPwmEnableStatus ( FOC_Instance * handle )

Gets the status of the PWM channels.

Parameters

[in] handle A pointer to FOC instance

Returns: Returns the status of the pwm channels

Return values

true	The PWM channels are enabled
false	The PWM channels are disabled

References FOC_Instance::enablePWMStatus.

Referenced by FOC_run().

§ FOC_setPwmEnableStatus()

__STATIC_INLINE void FOC_setPwmEnableStatus	(	FOC_Instance *	handle,
		bool	enablePWMState
	)

Sets the status of the PWM channels.

Parameters

[in]	handle	A pointer to FOC instance
[in]	enablePWMState	PWM state to be set

References FOC_Instance::enablePWMStatus, and FOC_LOG_BUF_SIZE.

Referenced by FOC_CONTROL_run(), FOC_run(), and FOC_setFault().

§ FOC_getPIIQLMT()

__STATIC_INLINE _iq FOC_getPIIQLMT ( FOC_Instance * handle )

Calculated the limits for the PI IQ integral outputs.

Parameters

[in] handle A pointer to FOC instance

Returns: Returns the PI iq limit

References FOC_PIIDQ_LMT_IQ, PI_Instance::out, and FOC_Instance::vdc.

Referenced by FOC_run().

§ FOC_setADCTrig()

__STATIC_INLINE void FOC_setADCTrig ( FOC_Instance * handle )

Set the PWM channel to trigger ADC.

Parameters

[in] handle A pointer to FOC instance

References FOC_HAL::adcTrigHal, FOC_Instance::adcTrigVal, FOC_paramsUpdateProcess(), FOC_Instance::hal, HAL_setPWMCcValue(), and userVar.

Referenced by FOC_init(), and FOC_loop().

§ FOC_paramsUpdateProcess()

void FOC_paramsUpdateProcess	(	FOC_Instance *	handle,
		USER_VAR *	userVar
	)

Does the process of updating the foc variables with the userVar.

Parameters

[in]	handle	A pointer to FOC instance
[in]	userVar	A pointer to user variables

References FAULT_STATUS::all, CNTRL_REG_1::clearFault, FOC_Instance::cmd, CNTRL_REGS::cntrl1, USER_VAR::controlRegs, defaultParams, CNTRL_REG_1::defaultRead, COMMAND::disCL, CNTRL_REG_1::disCL, CNTRL_REG_1::enableMotor, est, STATUS_REGS::faultStatus, FOC_Instance::faultStatus, PI_Instance::fbk, CNTRL_REG_1::flashAccessKey, CNTRL_REG_1::flashRead, CNTRL_REG_1::flashWrite, FOC_clearFault(), FOC_CRC_SIZE_BYTES, FOC_FLASH_ACCESSKEY, FOC_initUserParamsFoc(), FOC_loadSavedParams(), FOC_setPara(), FOC_WRITE_FLAG_SIZE_BYTES, FOC_writeFLASH(), STATUS_REGS::idCurr, STATUS_REGS::idCurrRef, COMMAND::IdRef, CNTRL_REGS::idRef, STATUS_REGS::iqCurr, STATUS_REGS::iqCurrRef, COMMAND::IqRef, CNTRL_REGS::iqRef, MOTOR_FAULT, MOTOR_STANDBY, MOTOR_STATE_START, MOTOR_STATE_STOP, COMMAND::motorState, STATUS_REGS::motorState, PARA_IDX_USER_MAX, PARA_IDX_USER_RS, PI_Instance::ref, FOC_Instance::runUserVarUpdate, savedParams, STATUS_REGS::speedFbk, COMMAND::speedRef, CNTRL_REGS::speedRef, STATUS_REGS::speedRef, FOC_Instance::state, USER_VAR::statusRegs, USER_VAR::userParams, userParamsFoc, FOC_Instance::userVarsLoadCmplt, STATUS_REGS::vdc, and FOC_Instance::vdc.

Referenced by FOC_setADCTrig().

§ FOC_runMonitor()

__STATIC_INLINE void FOC_runMonitor ( FOC_Instance * handle )

Checks the fault conditions.

Parameters

[in] handle A pointer to FOC instance

References FAULT_STATUS::bits, DRV_HANDLE, FAULT_STATUS_BITS::extFaultIn, FAULT_INPUT_STATUS, FOC_Instance::faultStatus, FOC_setFault(), FOC_Instance::ia, FOC_Instance::ib, FAULT_STATUS_BITS::ocp, FOC_Instance::overCurrentLimit, FOC_Instance::overVoltageLimit, FAULT_STATUS_BITS::ovlo, FOC_Instance::underVoltageLimit, FAULT_STATUS_BITS::uvlo, and FOC_Instance::vdc.

Referenced by FOC_CONTROL_run().

§ FOC_CONTROL_run()

__STATIC_INLINE void FOC_CONTROL_run ( FOC_Instance * handle )

FOC motor control loop.

Parameters

[in] handle A pointer to FOC instance

References CONTROL::align, ALIGN_Instance::alignCurr, ALIGN_Instance::alignTime, FAULT_STATUS::all, RAMPGEN_Instance::Angle, ANGLE_MATH_2PIp3_PU, CLARKE_reset(), FOC_Instance::cmd, ALIGN_Instance::cnt, FOC_Instance::control, COMMAND::directionReversal, COMMAND::disCL, FOC_Instance::enablePWM, FOC_Instance::faultStatus, PI_Instance::fbk, FOC_runMonitor(), FOC_setPwmEnableStatus(), FOC_STARTUP_ALIGN, FOC_STARTUP_IPD, FOC_STARTUP_SLOW_FIRST, FOC_USERVAR_UPDATE_MS, RAMPGEN_Instance::Freq, IPARK_reset(), MOTOR_ALIGN, MOTOR_FAULT, MOTOR_IDLE, MOTOR_IPD, MOTOR_RAMPUP, MOTOR_RUN, MOTOR_SLOW_FIRST_CYC, MOTOR_STANDBY, MOTOR_STATE_START, MOTOR_STATE_STOP, MOTOR_STOP, MOTOR_TRANSIT, COMMAND::motorState, FOC_Instance::offsetCalib, PI_Instance::outI, PARK_reset(), PI_reset(), RAMPUP_Instance::rampOut, CONTROL::rampup, RAMPUP_Instance::rampupCurr, RAMPUP_Instance::rate, RC_reset(), PI_Instance::ref, RG_reset(), FOC_Instance::runUserVarUpdate, RMPCNTL_Instance::SetpointValue, CONTROL::slowFirstCycCmplt, CONTROL::slowFirstCycFreq, CONTROL::startupMethod, TRANSIT_Instance::state, FOC_Instance::state, RAMPUP_Instance::target, CONTROL::transit, TRANSIT_reset(), and TRANSIT_STATE_COMPLETE.

§ FOC_run()

__STATIC_INLINE void FOC_run ( FOC_Instance * handle )

Runs FOC loop.

Parameters

[in] handle A pointer to FOC instance

References PARK_Instance::Alpha, IPARK_Instance::Alpha, CLARKE_Instance::Alpha, PARK_Instance::Angle, RAMPGEN_Instance::Angle, ANGLE_getSine(), ANGLE_MATH_PIp2_PU, CLARKE_Instance::As, PARK_Instance::Beta, IPARK_Instance::Beta, CLARKE_Instance::Beta, CLARKE_Instance::Bs, CLARKE_run(), FOC_Instance::cmd, FOC_Instance::control, IPARK_Instance::Cosine, PARK_Instance::Cosine, FOC_Instance::csaDiv, FOC_Instance::currentSF, PHASEVOLT_Instance::DcBusVolt, COMMAND::directionReversal, IPARK_Instance::Ds, PARK_Instance::Ds, PWMGEN_Instance::dutyA, PWMGEN_Instance::dutyB, PWMGEN_Instance::dutyC, FOC_Instance::enablePWM, PI_Instance::fbk, FOC_12_TO_8_BIT_OFFSET_SHIFT, FOC_getPIIQLMT(), FOC_getPwmEnableStatus(), FOC_OUTER_LOOP_SPEED, FOC_PIIDQ_LMT_IQ, FOC_setPwmEnableStatus(), RAMPGEN_Instance::Freq, FOC_Instance::hal, HAL_PWMDisableChannel(), HAL_PWMEnableChannel(), HAL_setPWMCcValue(), FOC_Instance::ia, FOC_Instance::ib, COMMAND::IdRef, IPARK_run(), COMMAND::IqRef, PWMGEN_Instance::MfuncC1, PWMGEN_Instance::MfuncC2, PWMGEN_Instance::MfuncC3, PHASEVOLT_Instance::MfuncV1, PHASEVOLT_Instance::MfuncV2, PHASEVOLT_Instance::MfuncV3, MOTOR_ALIGN, MOTOR_IDLE, MOTOR_IPD, MOTOR_RAMPUP, MOTOR_RUN, MOTOR_SLOW_FIRST_CYC, MOTOR_STANDBY, MOTOR_STOP, MOTOR_TRANSIT, FOC_Instance::offsetA, FOC_Instance::offsetB, FOC_Instance::offsetC, RAMPGEN_Instance::Out, PI_Instance::out, COMMAND::outerLoop, PI_Instance::outIMax, PI_Instance::outIMin, PI_Instance::outMax, PI_Instance::outMin, PARK_run(), PHASEVOLT_run(), PI_run(), FOC_Instance::PISpdExecCount, FOC_Instance::PISpdExecDivider, FOC_HAL::pwmAHal, FOC_HAL::pwmBHal, FOC_HAL::pwmCHal, PWMGEN_run(), PARK_Instance::Qs, IPARK_Instance::Qs, RAMPUP_Instance::rampOut, CONTROL::rampup, RC_run(), PI_Instance::ref, RG_run(), RMPCNTL_Instance::SetpointValue, IPARK_Instance::Sine, PARK_Instance::Sine, CONTROL::slowFirstCycCmplt, COMMAND::speedRef, FOC_Instance::state, SVGEN_run(), SVGEN_Instance::Ta, RMPCNTL_Instance::TargetValue, SVGEN_Instance::Tb, SVGEN_Instance::Tc, CONTROL::transit, TRANSIT_run(), SVGEN_Instance::Ualpha, SVGEN_Instance::Ubeta, PHASEVOLT_Instance::Valpha, PHASEVOLT_Instance::Vbeta, and FOC_Instance::vdc.

Referenced by FOC_loop().

§ FOC_UpdateADCRaw()

__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.

Parameters

[in]	handle	A pointer to FOC instance
[in]	vdcAdc	ADC reading of dc bus
[in]	iaAdc	ADC reading from A phase
[in]	ibAdc	ADC reading from B phase
[in]	icAdc	ADC reading from C phase

References FOC_Instance::iaAdc, FOC_Instance::ibAdc, FOC_Instance::icAdc, and FOC_Instance::vdcAdc.

Referenced by FOC_loop().

§ FOC_loop()

__STATIC_INLINE void FOC_loop	(	FOC_Instance *	handle,
		uint16_t	vdcAdc,
		uint16_t	iaAdc,
		uint16_t	ibAdc,
		uint16_t	icAdc
	)

Runs the FOC tasks.

Parameters

[in]	handle	A pointer to FOC instance
[in]	vdcAdc	12 bit ADC reading of dc bus
[in]	iaAdc	12 bit ADC reading from A phase
[in]	ibAdc	12 bit ADC reading from B phase
[in]	icAdc	12 bit ADC reading from C phase

References CALIB_AVG_SAMPLES, CALIB_SAMPLES_2_POW, calibSumA, calibSumB, calibSumC, FOC_Instance::cmd, FOC_Instance::csaDiv, FOC_Instance::currentSF, COMMAND::directionReversal, FOC_run(), FOC_setADCTrig(), FOC_UpdateADCRaw(), FOC_Instance::hal, HAL_PWMDisableChannel(), HAL_PWMEnableChannel(), HAL_setPWMCcValue(), PWMGEN_Instance::HalfPerMax, FOC_Instance::ia, FOC_Instance::iaAdc, FOC_Instance::ib, FOC_Instance::ibAdc, FOC_Instance::icAdc, FOC_Instance::isrTicker, FOC_Instance::offsetA, FOC_Instance::offsetB, FOC_Instance::offsetC, FOC_Instance::offsetCalib, FOC_HAL::pwmAHal, FOC_HAL::pwmBHal, FOC_HAL::pwmCHal, FOC_Instance::userVarsLoadCmplt, FOC_Instance::vdc, FOC_Instance::vdcAdc, and FOC_Instance::voltageSF.

Data Structures

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

§ USER_DEFAULT_VOLTAGE_SF

§ USER_DEFAULT_CURRENT_SF

Function Documentation

§ FOC_init()

§ FOC_initUserParamsFoc()

§ FOC_loadSavedParams()

§ FOC_writeFLASH()

§ FOC_setPara()

§ FOC_setFault()

§ FOC_clearFault()

§ FOC_getPwmEnableStatus()

§ FOC_setPwmEnableStatus()

§ FOC_getPIIQLMT()

§ FOC_setADCTrig()

§ FOC_paramsUpdateProcess()

§ FOC_runMonitor()

§ FOC_CONTROL_run()

§ FOC_run()

§ FOC_UpdateADCRaw()

§ FOC_loop()