Detailed Description

Motor Control Library Module.

Overview

defines motor control algorithm APIs

#include "iqTrig.h"
#include <ti/iqmath/include/IQmathLib.h>
#include "IQmath_mathacl.h"
#include "stdint.h"
#include "main.h"

Include dependency graph for mcLib.h:

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Go to the source code of this file.

Data Structures
struct	MC_ABC_T
	ABC 3 phase structure. More...

struct	MC_ALPHABETA_T
	Alpha Beta structure. More...

struct	MC_DQ_T
	DQ structure. More...

struct	MC_SINCOS_T
	Sine cosine structure. More...

struct	MC_SVM_T
	SVM structure. More...

Macros
#define	ONE_BY_THREE _IQ(1.0/3.0)
	1/3 in IQ

#define	TWO_BY_THREE _IQ(2.0/3.0)
	2/3 in IQ

#define	ONE_BY_SQRT_THREE _IQ(0.57735026918963)
	1/sqrt(3) in IQ

#define	TWO_BY_SQRT_THREE _IQmpy2(ONE_BY_SQRT_THREE)
	2/sqrt(3) in IQ

#define	SQRT_THREE_BY_TWO _IQ(0.866025403784439)
	sqrt(3)/2 in IQ

#define	ONE_BY_TWO _IQ(0.5)
	1/2 in IQ

#define	SQRT_THREE _IQ(1.732050808)
	sqrt(3) in IQ

Enumerations
enum	MC_PHASE_TYPES { PHASE_INVALID = 0, PHASE_A = 1, PHASE_B = 2, PHASE_C = 3 }
	Phase types. More...

enum	MC_SECTOR_TYPES { SECTOR_INVALID = 0, SECTOR_1 = 1, SECTOR_2 = 2, SECTOR_3 = 3, SECTOR_4 = 4, SECTOR_5 = 5, SECTOR_6 = 6 }
	Sector types. More...

enum	SVM_GENERATOR_TYPES { SVM_CONTINUOUS = 0, SVM_DISCONTINUOUS = 1 }
	SVM generation types. More...

Functions
void	MC_ClarkeTransformNoZeroSeq (MC_ALPHABETA_T pAlphaBeta, const MC_ABC_T pABC)
	Clark transform no zero sequence. More...

void	MC_ClarkeTransform (MC_ALPHABETA_T pAlphaBeta, const MC_ABC_T pABC)
	Clark transform. More...

void	MC_SVM_ClarkeTransform (MC_ALPHABETA_T pAlphaBeta, const MC_ABC_T pABC)
	SVM Clark transform no zero sequence. More...

void	MC_InverseClarkeTransform (MC_ABC_T pABC, const MC_ALPHABETA_T pAlphaBeta)
	Inverse Clark transform no zero sequence. More...

void	MC_ParkTransform (MC_DQ_T pDQ, const MC_ALPHABETA_T pAlphaBeta, const MC_SINCOS_T *pSinCos)
	Park transform no zero sequence. More...

void	MC_InverseParkTransform (MC_ALPHABETA_T pAlphaBeta, const MC_DQ_T pDQ, const MC_SINCOS_T *pSinCos)
	Inverse park transform no zero sequence. More...

void	MC_SinCos (MC_SINCOS_T *pSinCos, const int32_t angle)
	Sine cosine of angle. More...

void	MC_SpaceVectorGen (MC_SVM_T pSVM, MC_ABC_T pMabc)
	Space vector generation. More...

void	MC_AngleSectorGen (MC_SVM_T pSVM, const MC_SINCOS_T pSinCos, const int32_t velocity)
	Sector from sine cosine and velocity. More...

Enumeration Type Documentation

§ MC_PHASE_TYPES

enum MC_PHASE_TYPES

Phase types.

Enumerator
PHASE_INVALID	Invalid phase
PHASE_A	A phase
PHASE_B	B phase
PHASE_C	C phase

§ MC_SECTOR_TYPES

enum MC_SECTOR_TYPES

Sector types.

Enumerator
SECTOR_INVALID	Invalid sector
SECTOR_1	Sector 1
SECTOR_2	Sector 2
SECTOR_3	Sector 3
SECTOR_4	Sector 4
SECTOR_5	Sector 5
SECTOR_6	Sector 6

§ SVM_GENERATOR_TYPES

enum SVM_GENERATOR_TYPES

SVM generation types.

Enumerator
SVM_CONTINUOUS	Continuous SVM
SVM_DISCONTINUOUS	Discontinuous SVM

Function Documentation

§ MC_ClarkeTransformNoZeroSeq()

void MC_ClarkeTransformNoZeroSeq	(	MC_ALPHABETA_T *	pAlphaBeta,
		const MC_ABC_T *	pABC
	)

Clark transform no zero sequence.

Parameters

[in]	pAlphaBeta	Pointer to alpha beta structure
[in]	pABC	Pointer to 3 phase structure

References _IQmpy_mathacl, MC_ABC_T::a, MC_ALPHABETA_T::alpha, MC_ABC_T::b, MC_ALPHABETA_T::beta, MC_ABC_T::c, and ONE_BY_SQRT_THREE.

§ MC_ClarkeTransform()

void MC_ClarkeTransform	(	MC_ALPHABETA_T *	pAlphaBeta,
		const MC_ABC_T *	pABC
	)

Clark transform.

Parameters

[in]	pAlphaBeta	Pointer to alpha beta structure
[in]	pABC	Pointer to 3 phase structure

References _IQmpy_mathacl, MC_ABC_T::a, MC_ALPHABETA_T::alpha, MC_ABC_T::b, MC_ALPHABETA_T::beta, MC_ABC_T::c, ONE_BY_SQRT_THREE, and ONE_BY_THREE.

§ MC_SVM_ClarkeTransform()

void MC_SVM_ClarkeTransform	(	MC_ALPHABETA_T *	pAlphaBeta,
		const MC_ABC_T *	pABC
	)

SVM Clark transform no zero sequence.

Parameters

[in]	pAlphaBeta	Pointer to alpha beta structure
[in]	pABC	Pointer to 3 phase structure

References _IQmpy_mathacl, MC_ABC_T::a, MC_ALPHABETA_T::alpha, MC_ABC_T::b, MC_ALPHABETA_T::beta, MC_ABC_T::c, and ONE_BY_SQRT_THREE.

§ MC_InverseClarkeTransform()

void MC_InverseClarkeTransform	(	MC_ABC_T *	pABC,
		const MC_ALPHABETA_T *	pAlphaBeta
	)

Inverse Clark transform no zero sequence.

Parameters

[in]	pABC	Pointer to 3 phase structure
[in]	pAlphaBeta	Pointer to alpha beta structure

References _IQmpy_mathacl, MC_ABC_T::a, MC_ALPHABETA_T::alpha, MC_ABC_T::b, MC_ALPHABETA_T::beta, MC_ABC_T::c, and SQRT_THREE_BY_TWO.

§ MC_ParkTransform()

void MC_ParkTransform	(	MC_DQ_T *	pDQ,
		const MC_ALPHABETA_T *	pAlphaBeta,
		const MC_SINCOS_T *	pSinCos
	)

Park transform no zero sequence.

Parameters

[in]	pDQ	Pointer to DQ structure
[in]	pAlphaBeta	Pointer to alpha beta structure
[in]	pSinCos	Pointer to sine cosine structure

References _IQmpy_mathacl, MC_ALPHABETA_T::alpha, MC_ALPHABETA_T::beta, MC_SINCOS_T::cos, MC_DQ_T::d, MC_DQ_T::q, and MC_SINCOS_T::sin.

§ MC_InverseParkTransform()

void MC_InverseParkTransform	(	MC_ALPHABETA_T *	pAlphaBeta,
		const MC_DQ_T *	pDQ,
		const MC_SINCOS_T *	pSinCos
	)

Inverse park transform no zero sequence.

Parameters

[in]	pAlphaBeta	Pointer to alpha beta structure
[in]	pDQ	Pointer to DQ structure
[in]	pSinCos	Pointer to sine cosine structure

References _IQmpy_mathacl, MC_ALPHABETA_T::alpha, MC_ALPHABETA_T::beta, MC_SINCOS_T::cos, MC_DQ_T::d, MC_DQ_T::q, and MC_SINCOS_T::sin.

§ MC_SinCos()

void MC_SinCos	(	MC_SINCOS_T *	pSinCos,
		const int32_t	angle
	)

Sine cosine of angle.

Parameters

[in]	pSinCos	Pointer to sine cosine structure
[in]	angle	Angle input

References MC_SINCOS_T::cos, readMATHACLCos(), readMATHACLSin(), MC_SINCOS_T::sin, and sinCosMATHACLCompute().

§ MC_SpaceVectorGen()

void MC_SpaceVectorGen	(	MC_SVM_T *	pSVM,
		MC_ABC_T *	pMabc
	)

Space vector generation.

Parameters

[in]	pSVM	Pointer to SVM structure
[in]	pMabc	Pointer to 3 phase modulation index structure

References _IQmpy_mathacl, MC_ABC_T::a, MC_ABC_T::b, MC_ABC_T::c, MC_SVM_T::Dabc, HAL_FGToggle(), MC_SVM_T::maxDutyPhase, MC_SVM_T::minDuty, MC_SVM_T::minDutyDisCont, MC_SVM_T::minDutyPhase, ONE_BY_SQRT_THREE, ONE_BY_TWO, PHASE_A, PHASE_B, PHASE_C, MC_SVM_T::prevPrevVoltageSector, MC_SVM_T::prevVoltageSector, SECTOR_1, SECTOR_2, SECTOR_3, SECTOR_4, SECTOR_5, SECTOR_6, MC_SVM_T::sectorCount, SVM_CONTINUOUS, SVM_DISCONTINUOUS, MC_SVM_T::svmGen, and MC_SVM_T::voltageSector.

§ MC_AngleSectorGen()

void MC_AngleSectorGen	(	MC_SVM_T *	pSVM,
		const MC_SINCOS_T *	pSinCos,
		const int32_t	velocity
	)

Sector from sine cosine and velocity.

Parameters

[in]	pSVM	Pointer to SVM structure
[in]	pSinCos	Pointer to sine cosine structure
[in]	velocity	Velocity

References MC_SVM_T::angleSector, MC_SINCOS_T::cos, SECTOR_1, SECTOR_2, SECTOR_3, SECTOR_4, SECTOR_5, SECTOR_6, SECTOR_INVALID, and MC_SINCOS_T::sin.

Detailed Description

Overview

Data Structures

Macros

Enumerations

Functions

Enumeration Type Documentation

§ MC_PHASE_TYPES

§ MC_SECTOR_TYPES

§ SVM_GENERATOR_TYPES

Function Documentation

§ MC_ClarkeTransformNoZeroSeq()

§ MC_ClarkeTransform()

§ MC_SVM_ClarkeTransform()

§ MC_InverseClarkeTransform()

§ MC_ParkTransform()

§ MC_InverseParkTransform()

§ MC_SinCos()

§ MC_SpaceVectorGen()

§ MC_AngleSectorGen()