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AM263x Motor Control SDK
09.02.00
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63 #endif //IEEE754_TYPES
125 int16_t noFreqPoints,
192 #endif // end of SFRA_F32_H definition
void SFRA_F32_reset(SFRA_F32 *SFRA_F_obj)
Resets internal data of SFRA_F32 module.
Defines the SFRA_F32 structure.
Definition: sfra_f32.h:77
float32_t * freqVect
Frequency Vector.
Definition: sfra_f32.h:84
int16_t speed
variable to change the speed of the sweep
Definition: sfra_f32.h:97
int16_t storeCL
Flag to indicate if CL vector is stored.
Definition: sfra_f32.h:96
void SFRA_F32_runBackgroundTask(SFRA_F32 *SFRA_F_obj)
Runs the background task, this routine executes the state machine when a frequency sweep is started a...
void SFRA_F32_resetFreqRespArray(SFRA_F32 *SFRA_F_obj)
Resets the response data stored in the ol and plant phase and mag vector.
int16_t storeH
Flag to indicate if H vector is stored.
Definition: sfra_f32.h:94
float32_t * h_phaseVect
Plant Phase SFRA Vector.
Definition: sfra_f32.h:79
float float32_t
Definition: sfra_f32.h:60
float32_t * cl_phaseVect
Closed Loop Phase SFRA Vector.
Definition: sfra_f32.h:83
int16_t freqIndex
Index of the frequency vector.
Definition: sfra_f32.h:93
float32_t amplitude
Injection Amplitude.
Definition: sfra_f32.h:85
float32_t freqStart
Start frequency of SFRA sweep.
Definition: sfra_f32.h:87
float SFRA_F32_inject(float ref)
Injects small signal disturbance into the control loop.
float32_t * cl_magVect
Closed Loop Mag SFRA Vector.
Definition: sfra_f32.h:82
void SFRA_F32_config(SFRA_F32 *SFRA_F_obj, float32_t isrFrequency, float32_t injectionAmplitude, int16_t noFreqPoints, float32_t fraSweepStartFreq, float32_t freqStep, float32_t *h_magVect, float32_t *h_phaseVect, float32_t *gh_magVect, float32_t *gh_phaseVect, float32_t *cl_magVect, float32_t *cl_phaseVect, float32_t *freqVect, int16_t speed)
Configures the SFRA_F32 module.
int16_t status
Status of SFRA.
Definition: sfra_f32.h:91
float32_t freqStep
Log space between frequency points (optional)
Definition: sfra_f32.h:88
int16_t storeGH
Flag to indicate if GH vector is stored.
Definition: sfra_f32.h:95
float32_t * h_magVect
Plant Mag SFRA Vector.
Definition: sfra_f32.h:78
float32_t isrFreq
SFRA ISR frequency.
Definition: sfra_f32.h:86
int16_t vecLength
No. of Points in the SFRA.
Definition: sfra_f32.h:92
float32_t * gh_phaseVect
Open Loop Phase SFRA Vector.
Definition: sfra_f32.h:81
void SFRA_F32_collect(float *control_output, float *feedback)
Collects the response of the loop because of small signal disturbance injected.
int16_t state
State of SFRA.
Definition: sfra_f32.h:90
void SFRA_F32_initFreqArrayWithLogSteps(SFRA_F32 *SFRA_F_obj, float32_t fra_sweep_start_freq, float32_t freqStep)
Initailizes the freq vectors with points that are log step apart.
float32_t * gh_magVect
Open Loop Mag SFRA Vector.
Definition: sfra_f32.h:80
void SFRA_F32_updateInjectionAmplitude(SFRA_F32 *SFRA_F_obj, float32_t new_injection_amplitude)
Updates injection amplitude.
float float32_t
Definition: dcl_common.h:58
double float64_t
Definition: sfra_f32.h:61
int16_t start
Command to start SFRA.
Definition: sfra_f32.h:89