|
|
|
MSPM0G3519SensoredFOCMotorControlLibrary
1.0
|
#include "application.h"
Go to the source code of this file.
Functions | |
| void | updateConfigurationParameters (SENSORED_FOC_APPLICATION_T *pMC_App) |
| update Configuration Parameters More... | |
| void | updateRAMConfigurationParameters (SENSORED_FOC_APPLICATION_T *pMC_App) |
| update RAM Configuration Parameters More... | |
| void | updateMotorStopConfigParam (SENSORED_FOC_APPLICATION_T *pMC_App) |
| update Motor Stop Config Param More... | |
| void | user_config_faults (SENSORED_FOC_APPLICATION_T *pMC_App) |
| user config faults More... | |
| uint16_t | piRAMInput (float piGain) |
| pi RAM Input More... | |
| void | updateCloseLoopConfigParam (SENSORED_FOC_APPLICATION_T *pMC_App) |
| updateCloseLoopConfigParam More... | |
| void | updateCurrentControlConfigParam (SENSORED_FOC_APPLICATION_T *pMC_App) |
| updateCurrentControlConfigParam More... | |
| void updateConfigurationParameters | ( | SENSORED_FOC_APPLICATION_T * | pMC_App | ) |
update Configuration Parameters
| [in] | *pMC_App | Input Pointer |
References APP_FAULT, APP_IDLE, APP_INIT, appInterfaceEEpromConfig(), HAL_SetADCSamplingFrequency(), HAL_SetPWMFrequency(), HAL_SetSystemFrequency(), SENSORED_FOC_APPLICATION_T::maximumSpeed, SYSTEM_PARAMETERS_T::maxMotorSpeed, MIN_TARGET_SPEED, SENSORED_FOC_APPLICATION_T::minimumSpeed, SENSORED_FOC_APPLICATION_T::motorInputs, HAL_MEASURE_MOTOR_INPUTS_T::propagationDelay, pUserInputRegs, HAL_MEASURE_MOTOR_INPUTS_T::pwmPeriod, SENSORED_FOC_APPLICATION_T::state, USER_INPUT_INTERFACE_T::systemParams, updateCloseLoopConfigParam(), updateCurrentControlConfigParam(), and updateMotorStopConfigParam().
| void updateRAMConfigurationParameters | ( | SENSORED_FOC_APPLICATION_T * | pMC_App | ) |
update RAM Configuration Parameters
| [in] | *pMC_App | Input Pointer |
References appInterfaceConfig(), float2IQ(), float2IQx(), GLOBAL_IQ, and updateCurrentControlConfigParam().
| void updateMotorStopConfigParam | ( | SENSORED_FOC_APPLICATION_T * | pMC_App | ) |
update Motor Stop Config Param
| [in] | *pMC_App | Input Pointer |
References USER_CTRL_INTERFACE_T::algoDebugCtrl2, USER_CTRL_INTERFACE_T::algoDebugCtrl3, SOFT_STOP_FLAGS_T::b, ID_REFERENCING_FLAGS_T::b, BRAKE_FLAGS_T::b, CLOSE_LOOP_FLAGS_T::b, FOC_FLAGS_T::b, USER_INPUT_CLOSE_LOOP1_T::b, RAM_ALGO_DEBUG_2_T::b, RAM_ALGO_DEBUG_3_T::b, LOAD_T::brake, BRAKE_FLAGS_T::brakeFlags::brakeCheckCurrentStop, HALL_CALIB_T::calibState, FOC_T::closeLoop, USER_INPUT_INTERFACE_T::closeLoop1, userInputCloseLoop1::controlMode, FAULT_SERVICE_T::countMax, ramAlgoDebugCtrl2::currLoopDis, MC_DQ_T::d, SOFT_STOP_FLAGS_T::softStopFlags::enable, BRAKE_FLAGS_T::brakeFlags::enableOnStop, FALSE, USER_INPUTS_T::faultRetryTimeMsec, SENSORED_FOC_APPLICATION_T::faultService, SOFT_STOP_T::flags, ID_REF_T::flags, BRAKE_T::flags, FOC_T::flags, CLOSE_LOOP_T::flags, ID_REFERENCING_FLAGS_T::idReferencingFlags::fluxModeEnable, ramAlgoDebugCtrl3::fluxModeReference, SENSORED_FOC_APPLICATION_T::foc, ramAlgoDebugCtrl2::forceVDCurrLoopDis, ramAlgoDebugCtrl2::forceVQCurrLoopDis, GLOBAL_IQ, HAL_CALIB_COMPLETE, HAL_CALIB_FAILED, HALL_CALIB_T::hallCalibEnable, ramAlgoDebugCtrl2::hallCalibEnable, FOC_T::hallCalibObj, ID_REF_T::idRefFluxModeSet, CLOSE_LOOP_T::idRefGen, SENSORED_FOC_APPLICATION_T::load, FOC_T::mdqForceSet, SOFT_STOP_T::minimumSpeed, SOFT_STOP_T::minimumSpeedSoftStop, MOTOR_STOP_ACTIVE_SPIN_DOWN, userInputCloseLoop1::mtrStopOption, SOURCE_LIMITS_T::overCurrent, SENSORED_FOC_APPLICATION_T::pAppInterface, pUserCtrlRegs, pUserInputRegs, MC_DQ_T::q, LOAD_T::softStop, SENSORED_FOC_APPLICATION_T::sourceLimits, CLOSE_LOOP_FLAGS_T::closeLoopFlags::torqueModeEnable, TRUE, APP_INTERFACE_T::userInputs, APP_INTERFACE_T::userInputsInterface, and FOC_FLAGS_T::focFlags::voltageModeEnableSet.
Referenced by updateConfigurationParameters().
| void user_config_faults | ( | SENSORED_FOC_APPLICATION_T * | pMC_App | ) |
user config faults
| [in] | *pMC_App | Input Pointer |
References ABN_HALL_INDEX_FAULT_INDEX, ABN_SPEED_FAULT_INDEX, userInputFaultCfg2::abnormalSpeedEn, FAULT_FLAGS_T::faultFlags::abnormalSpeedRetryEnable, moduleEnableFlags::abnormalSpeedStallDetectEnable, ID_REFERENCING_FLAGS_T::b, MODULE_ENABLE_FLAGS_T::b, FAULT_FLAGS_T::b, USER_INPUT_CLOSE_LOOP1_T::b, USER_INPUT_CLOSE_LOOP2_T::b, USER_INPUT_FIELD_CTRL_T::b, USER_INPUT_FAULT_CFG1_T::b, USER_INPUT_FAULT_CFG2_T::b, USER_INPUTS_T::basePower, FOC_T::closeLoop, USER_INPUT_INTERFACE_T::closeLoop1, USER_INPUT_INTERFACE_T::closeLoop2, CONTROL_POWER, CONTROL_SPEED, CONTROL_TORQUE, controllerFaultAction, controllerFaultActionLatched, controllernFaultReport, userInputCloseLoop1::controlMode, CLOSE_LOOP_T::controlMode, CLOSE_LOOP_T::currentReferenceSqrMaxSet, FALSE, USER_INPUT_INTERFACE_T::faultCfg1, USER_INPUT_INTERFACE_T::faultCfg2, USER_INPUTS_T::faultRetryTimeMsec, SENSORED_FOC_APPLICATION_T::faultService, USER_INPUT_INTERFACE_T::fieldCtrl, ID_REF_T::flags, FAULT_SERVICE_T::flags, float2IQx(), ID_REF_T::fluxWeak, userInputFieldCtrl::fluxWeakCurrRatio, userInputFieldCtrl::fluxWeakeningEn, ID_REFERENCING_FLAGS_T::idReferencingFlags::fluxWeakeningEnable, userInputFieldCtrl::fluxWeakeningReference, SENSORED_FOC_APPLICATION_T::foc, GLOBAL_IQ, HALL_ESTIMATOR_OBJ_T::hallEstimVelocity, userInputFaultCfg2::hallInvalidStall, moduleEnableFlags::hallInvalidStallDetectFault, FOC_T::hallObj, moduleEnableFlags::hardwareOverCurrentFaultEnable, HW_LOCK_ILIMIT_FAULT_INDEX, CLOSE_LOOP_T::idRefGen, PI_T::ki, USER_INPUTS_T::kiFluxWeak, PI_T::kp, KP_IQ_SCALING, USER_INPUTS_T::kpFluxWeak, MTPA_T::L1, userInputCloseLoop2::leadAngle, userInputFaultCfg1::lockRetry, FAULT_FLAGS_T::faultFlags::lowBemfRetryEnable, CLOSE_LOOP_T::maximumPower, USER_INPUTS_T::maximumSpeedHz, SYSTEM_PARAMETERS_T::maxMotorPower, userInputFaultCfg2::maxVmMode, MC_SinCos(), CLOSE_LOOP_T::mdqForceSinCos, userInputFaultCfg2::minVmMode, USER_INPUTS_T::moduleFlags, moduleEnableFlags::motorStallReportOnlyEnable, FLUX_WEAK_T::mSqrRef, ID_REF_T::mtpa, ID_REFERENCING_FLAGS_T::idReferencingFlags::mtpaEnable, userInputFieldCtrl::mtpaEnable, MTR_LOCK_FAULT_INDEX, userInputFaultCfg1::mtrLckMode, NO_MOTOR_FAULT_INDEX, userInputFaultCfg2::noMotorEn, FAULT_FLAGS_T::faultFlags::noMotorRetryEnable, moduleEnableFlags::noMotorStallDetectEnable, PI_T::outMax, PI_T::outMin, OVER_VOLTAGE_FAULT_INDEX, SENSORED_FOC_APPLICATION_T::pAppInterface, PI_T::pFeedback, USER_INPUTS_INTERFACE_T::phaseCurrentBase, PI, FLUX_WEAK_T::piFluxWeak, CLOSE_LOOP_T::piSpeed, CLOSE_LOOP_T::PowerFeedback, CLOSE_LOOP_T::PowerReference, PI_T::pReference, pUserInputRegs, USER_INPUT_INTERFACE_T::systemParams, tbl_mSqrRef, CLOSE_LOOP_T::torqRefScalingFactor, TRUE, UNDER_VOLTAGE_FAULT_INDEX, APP_INTERFACE_T::userInputs, APP_INTERFACE_T::userInputsInterface, and CLOSE_LOOP_T::velocityReference.
| uint16_t piRAMInput | ( | float | piGain | ) |
pi RAM Input
| [in] | piGain | Input |
| void updateCloseLoopConfigParam | ( | SENSORED_FOC_APPLICATION_T * | pMC_App | ) |
updateCloseLoopConfigParam
| [in] | *pMC_App | Input Pointer |
References USER_INPUTS_INTERFACE_T::adcSamplingRate, CLOSE_LOOP_T::angleAlignStep, userInputCloseLoop1::avsEn, CLOSE_LOOP_FLAGS_T::closeLoopFlags::avsEnable, CLOSE_LOOP_FLAGS_T::b, USER_INPUT_CLOSE_LOOP1_T::b, FOC_T::closeLoop, USER_INPUT_INTERFACE_T::closeLoop1, USER_INPUTS_T::closeLoopFastAccelSpeedSlewRateDeciHzPerSec, USER_INPUTS_T::closeLoopFastDecelSpeedSlewRateDeciHzPerSec, USER_INPUTS_T::closeLoopSlowAccelSpeedSlewRateDeciHzPerSec, CONTROL_POWER, CONTROL_SPEED, CONTROL_TORQUE, userInputCloseLoop1::controlMode, CLOSE_LOOP_T::currentReferenceSqrMaxSet, CLOSE_LOOP_T::fastAccelSpeedRefSlewRate, CLOSE_LOOP_T::fastDecelSpeedRefSlewRate, CLOSE_LOOP_T::flags, float2IQx(), SENSORED_FOC_APPLICATION_T::foc, USER_INPUTS_T::fullScalePhaseCurrentAmp, GLOBAL_IQ, userInputCloseLoop1::iLimit, PI_T::ki, USER_INPUTS_T::kiSpeed, PI_T::kp, KP_IQ_SCALING, USER_INPUTS_T::kpSpeed, USER_INPUTS_T::maximumSpeedHz, SYSTEM_PARAMETERS_T::maxMotorPower, CLOSE_LOOP_T::modIndexSqrLimit, SENSORED_FOC_APPLICATION_T::pAppInterface, USER_INPUTS_INTERFACE_T::phaseCurrentBase, CLOSE_LOOP_T::piSpeed, pUserInputRegs, CLOSE_LOOP_T::slowAccelSpeedRefSlewRate, CLOSE_LOOP_T::slowDecelSpeedRefSlewRate, USER_INPUT_INTERFACE_T::systemParams, tbl_pu, CLOSE_LOOP_T::transitionSpeed, APP_INTERFACE_T::userInputs, and APP_INTERFACE_T::userInputsInterface.
Referenced by updateConfigurationParameters().
| void updateCurrentControlConfigParam | ( | SENSORED_FOC_APPLICATION_T * | pMC_App | ) |
updateCurrentControlConfigParam
| [in] | *pMC_App | Input Pointer |
References ABNORMAL_SPEED_TIME_MSEC, USER_INPUTS_T::abnormalSpeedLimitPerMil, STALL_DETECT_T::abnormalSpeedStall, moduleEnableFlags::abnormalSpeedStallDetectEnable, OPEN_LOOP_T::accelRefSlewRateDecel, OPEN_LOOP_T::accelRefSlewRateFastAccel, OPEN_LOOP_T::accelRefSlewRateSlowAccel, userInputCloseLoop2::actSpinThr, USER_INPUTS_INTERFACE_T::adcSamplingFrequencyKHz, USER_INPUTS_INTERFACE_T::adcSamplingRate, HALL_CALIB_T::angleSet, DEAD_TIME_COMP_FLAGS_T::b, ABNORMAL_SPEED_STALL_DETECT_FLAGS_T::b, NO_MOTOR_STALL_DETECT_FLAGS_T::b, OPEN_LOOP_FLAGS_T::b, MODULE_ENABLE_FLAGS_T::b, USER_INPUT_MTR_STARTUP1_T::b, USER_INPUT_MTR_STARTUP2_T::b, USER_INPUT_CLOSE_LOOP1_T::b, USER_INPUT_CLOSE_LOOP2_T::b, LOAD_T::brake, userInputCloseLoop2::brkCurrThr, userInputCloseLoop2::brkSpeedThr, userInputMotorStartUp1::calibAlignTime, userInputMotorStartUp1::calibCurrLimit, userInputMotorStartUp1::calibRunTime, USER_INPUT_INTERFACE_T::closeLoop1, USER_INPUT_INTERFACE_T::closeLoop2, ABNORMAL_SPEED_STALL_DETECT_T::countMax, NO_MOTOR_STALL_DETECT_T::countMax, HALL_CALIB_T::countMaxAlign, HALL_CALIB_T::countMaxCalibRun, USER_STATUS_INTERFACE_T::currentPI, BRAKE_T::currentThresholdSqr, DEAD_TIME_COMP_MAX_FREQ_HZ, SENSORED_FOC_APPLICATION_T::deadTime, userInputCloseLoop1::deadTimeCompEn, ABNORMAL_SPEED_STALL_DETECT_FLAGS_T::abnormalSpeedStallDetectFlags::enableSet, NO_MOTOR_STALL_DETECT_FLAGS_T::noMotorStallDetectFlags::enableSet, DEAD_TIME_COMP_FLAGS_T::deadTimeCompFlags::enableSet, OPEN_LOOP_FLAGS_T::openLoopFlags::fastStartEnable, userInputMotorStartUp2::firstCycFreqSel, ABNORMAL_SPEED_STALL_DETECT_T::flags, DEAD_TIME_COMPUTE_T::flags, NO_MOTOR_STALL_DETECT_T::flags, OPEN_LOOP_T::flags, float2IQ(), float2IQx(), SENSORED_FOC_APPLICATION_T::foc, USER_INPUTS_T::forwardTransitionSpeedPerMil, DEAD_TIME_COMPUTE_T::gain, GLOBAL_IQ, FOC_T::hallCalibObj, STALL_DETECT_T::hallInvalidStall, moduleEnableFlags::hallInvalidStallDetectFault, HALL_CALIB_T::idRefSet, HALL_CALIB_T::idRefSlewRate, OPEN_LOOP_T::idRefSlewRate, userInputCloseLoop1::iLimit, OPEN_LOOP_T::initialSpeedReference, OPEN_LOOP_T::iqRefSetFastAccel, OPEN_LOOP_T::iqRefSetSpeedReversal, OPEN_LOOP_T::iqRefSlewRate, PI_T::ki, OUTPUTS_CURRENT_PI_T::ki, USER_INPUTS_INTERFACE_T::kiCurrent, USER_INPUTS_T::kiCurrent, PI_T::kp, OUTPUTS_CURRENT_PI_T::kp, KP_IQ_SCALING, USER_INPUTS_INTERFACE_T::kpCurrent, USER_INPUTS_T::kpCurrent, USER_INPUTS_INTERFACE_T::L0MicroHenry, SENSORED_FOC_APPLICATION_T::load, OPEN_LOOP_T::loopExecutionCountInit, ABNORMAL_SPEED_STALL_DETECT_T::maximumSpeed, USER_INPUTS_T::maximumSpeedHz, NO_MOTOR_STALL_DETECT_T::minimumCurrent, SENSORED_FOC_APPLICATION_T::minimumSpeed, SOFT_STOP_T::minimumSpeedBrake, SOFT_STOP_T::minimumSpeedSoftStop, MOD_INDEX_LIMIT_OVERMODULATION, MOD_INDEX_LIMIT_SINE, FOC_T::modIndexLimit, USER_INPUTS_T::moduleFlags, SENSORED_FOC_APPLICATION_T::motorInputs, moduleEnableFlags::motorStallReportOnlyEnable, BRAKE_T::motorStopCountMax, USER_INPUT_INTERFACE_T::mtrStartUp1, USER_INPUT_INTERFACE_T::mtrStartUp2, NO_MOTOR_TIME_MSEC, USER_INPUTS_T::noMotorLimitPU, STALL_DETECT_T::noMotorStall, moduleEnableFlags::noMotorStallDetectEnable, userInputMotorStartUp2::olAcc1, userInputMotorStartUp2::olFirstCycFreq, userInputMotorStartUp2::olILimit, userInputMotorStartUp1::olILimitCfg, FOC_T::openLoop, openLoopAccelDecelRate(), USER_INPUTS_T::openLoopDecelToSlowAccelSlewRateRatioPerMil, OPEN_LOOP_FLAGS_T::openLoopFlags::openLoopDirChange, USER_INPUTS_T::openLoopSlowAccelSpeedSlewRateCentiHzPerSec, userInputCloseLoop1::overModEnable, SENSORED_FOC_APPLICATION_T::pAppInterface, USER_INPUTS_INTERFACE_T::phaseCurrentBase, FOC_T::piId, FOC_T::piIq, HALL_CALIB_T::polePairs, SYSTEM_PARAMETERS_T::polePairs, pUserInputRegs, APP_INTERFACE_T::pUserOutputs, ABNORMAL_SPEED_STALL_DETECT_FLAGS_T::abnormalSpeedStallDetectFlags::reportOnly, NO_MOTOR_STALL_DETECT_FLAGS_T::noMotorStallDetectFlags::reportOnly, USER_INPUTS_T::reverseTransitionSpeedPerMil, USER_INPUTS_T::rsMilliOhms, LOAD_T::softStop, DEAD_TIME_COMPUTE_T::speedDisableLimit, DEAD_TIME_COMPUTE_T::speedEnableLimit, OPEN_LOOP_T::speedReferenceMaxForwardSet, OPEN_LOOP_T::speedReferenceMaxReverseSet, OPEN_LOOP_T::speedRefSlewRateDecel, OPEN_LOOP_T::speedRefSlewRateFastAccel, OPEN_LOOP_T::speedRefSlewRateSlowAccel, FOC_T::stallDetect, HALL_INVALID_STALL_DETECT_T::stallDetectEn, USER_INPUTS_T::systemDCBusVoltageVolts, USER_INPUT_INTERFACE_T::systemParams, tbl_alignSlowRampRate, tbl_alignTime_msec, tbl_brakeCurrPersist_msec, tbl_brkDutyActSPinThr_pMil, tbl_olFirstCycFreqPerMil, tbl_pu, BRAKE_T::timeOutCountMaxOnStop, APP_INTERFACE_T::userInputs, APP_INTERFACE_T::userInputsInterface, HAL_MEASURE_MOTOR_INPUTS_T::voltage, VOLTAGE_GAIN_VMAX_BY_1, and HAL_MEASURE_VOLTAGE_T::voltageGainSet.
Referenced by updateConfigurationParameters(), and updateRAMConfigurationParameters().