fcl_foc_cpu.h File Reference

#include <math.h>
#include "stdbool.h"
#include "stdint.h"
#include "f28x_project.h"
#include "device.h"
#include "f28x_bmsk.h"
#include "fcl_enum.h"
#include "fcl_cmplx_ctrl.h"
#include "qep_defs.h"
#include "epwm.h"
#include "eqep.h"
#include "rampgen.h"
#include "rmp_cntl.h"
#include "ipark.h"
#include "clarke.h"
#include "park.h"
#include "speed_fr.h"
#include "svgen.h"
#include "pi.h"
#include "pid_grando.h"
#include "DCLF32.h"
#include "DCL_NLPID.h"
#include "motor_drive_settings.h"
#include "motor_drive_user.h"

Go to the source code of this file.

Data Structures
struct	_FCL_Parameters_t_
	typedefs for motorVars More...
struct	_MOTOR_Vars_t_
	typedefs for motorVars More...

Macros
#define	PI   3.14159265358979
#define	FCL_PARS_DEFAULTS
#define	MOTOR_DEFAULTS
#define	MOTOR_DEFAULTS
#define	MOTOR_DEFAULTS

Typedefs
typedef struct _FCL_Parameters_t_	FCL_Parameters_t
	typedefs for motorVars More...
typedef struct _MOTOR_Vars_t_	MOTOR_Vars_t
	typedefs for motorVars More...

Functions
uint32_t	FCL_getSwVersion (void)
void	FCL_initPWM (MOTOR_Vars_t *pMotor, const uint32_t pwmBaseU, const uint32_t pwmBaseV, const uint32_t pwmBaseW)
void	FCL_initQEP (MOTOR_Vars_t *pMotor, const uint32_t qepBaseA)
void	FCL_initADC_2In (MOTOR_Vars_t *pMotor, uint32_t adcBaseW, const uint32_t adcResultBaseV, ADC_PPBNumber adcV_PPBNum, const uint32_t adcResultBaseW, ADC_PPBNumber adcW_PPBNum)
void	FCL_initADC_3In (MOTOR_Vars_t *pMotor, uint32_t adcBaseW, const uint32_t adcResultBaseU, ADC_PPBNumber adcU_PPBNum, const uint32_t adcResultBaseV, ADC_PPBNumber adcV_PPBNum, const uint32_t adcResultBaseW, ADC_PPBNumber adcW_PPBNum)
static void	FCL_readCount (MOTOR_Vars_t *pMotor)
static void	FCL_resetController (MOTOR_Vars_t *pMotor)
static void	FCL_runPI (FCL_cmplxCtrl_t *pPI)
static void	FCL_runCCSyn (FCL_cmplxCtrl_t *pId, FCL_cmplxCtrl_t *pIq)
static void	FCL_runPICtrl (MOTOR_Vars_t *pMotor)
static void	FCL_runPICtrlWrap (MOTOR_Vars_t *pMotor)
static void	FCL_runComplexCtrl (MOTOR_Vars_t *pMotor)
static void	FCL_runComplexCtrlWrap (MOTOR_Vars_t *pMotor)
static void	FCL_runQEPPosEst (MOTOR_Vars_t *pMotor)
static void	FCL_runQEPPosEstWrap (MOTOR_Vars_t *pMotor)

Variables
MOTOR_Vars_t	motorVars

Macro Definition Documentation

PI

#define PI   3.14159265358979

FCL_PARS_DEFAULTS

#define FCL_PARS_DEFAULTS

Value:

{                                                    \
    0, /* carrierMid */                                                        \
    0, /* adcPPBScale */                                                       \
    0, /* cmidsqrt3 */                                                         \
    0, /* tSamp */                                                             \
    0, /* Rd */                                                                \
    0, /* Rq */                                                                \
    0, /* Ld */                                                                \
    0, /* Lq */                                                                \
    0, /* Vbase */                                                             \
    0, /* Ibase */                                                             \
    0, /* wccD */                                                              \
    0, /* wccQ */                                                              \
    0, /* Vdcbus */                                                            \
    0, /* BemfK */                                                             \
    0  /* Wbase */                                                             \
}

MOTOR_DEFAULTS [1/3]

#define MOTOR_DEFAULTS

MOTOR_DEFAULTS [2/3]

#define MOTOR_DEFAULTS

MOTOR_DEFAULTS [3/3]

#define MOTOR_DEFAULTS

Typedef Documentation

FCL_Parameters_t

typedef struct _FCL_Parameters_t_ FCL_Parameters_t

typedefs for motorVars

MOTOR_Vars_t

typedef struct _MOTOR_Vars_t_ MOTOR_Vars_t

typedefs for motorVars

Function Documentation

FCL_getSwVersion()

uint32_t FCL_getSwVersion

(

void

)

FCL_initPWM()

void FCL_initPWM	(	MOTOR_Vars_t *	pMotor,
		const uint32_t	pwmBaseU,
		const uint32_t	pwmBaseV,
		const uint32_t	pwmBaseW
	)

FCL_initQEP()

void FCL_initQEP	(	MOTOR_Vars_t *	pMotor,
		const uint32_t	qepBaseA
	)

FCL_initADC_2In()

void FCL_initADC_2In	(	MOTOR_Vars_t *	pMotor,
		uint32_t	adcBaseW,
		const uint32_t	adcResultBaseV,
		ADC_PPBNumber	adcV_PPBNum,
		const uint32_t	adcResultBaseW,
		ADC_PPBNumber	adcW_PPBNum
	)

FCL_initADC_3In()

void FCL_initADC_3In	(	MOTOR_Vars_t *	pMotor,
		uint32_t	adcBaseW,
		const uint32_t	adcResultBaseU,
		ADC_PPBNumber	adcU_PPBNum,
		const uint32_t	adcResultBaseV,
		ADC_PPBNumber	adcV_PPBNum,
		const uint32_t	adcResultBaseW,
		ADC_PPBNumber	adcW_PPBNum
	)

FCL_readCount()

static void FCL_readCount ( MOTOR_Vars_t *  pMotor )

inlinestatic

References _MOTOR_Vars_t_::fclCycleCount, and _MOTOR_Vars_t_::pwmBaseU.

Referenced by FCL_runComplexCtrl(), and FCL_runPICtrl().

FCL_resetController()

static void FCL_resetController ( MOTOR_Vars_t *  pMotor )

inlinestatic

References FCL_cmplxCtrl_t::carryOver, _MOTOR_Vars_t_::cmplx_Id, _MOTOR_Vars_t_::cmplx_Iq, FCL_cmplxCtrl_t::err, FCL_cmplxCtrl_t::out, FCL_cmplxCtrl_t::ref, _MOTOR_Vars_t_::speedWePrev, and FCL_cmplxCtrl_t::xErr.

FCL_runPI()

static void FCL_runPI ( FCL_cmplxCtrl_t *  pPI )

inlinestatic

References FCL_cmplxCtrl_t::carryOver, FCL_cmplxCtrl_t::err, FCL_cmplxCtrl_t::Kerr, FCL_cmplxCtrl_t::out, FCL_cmplxCtrl_t::Umax, and FCL_cmplxCtrl_t::Umin.

Referenced by FCL_runPICtrl().

FCL_runCCSyn()

static void FCL_runCCSyn ( FCL_cmplxCtrl_t *  pId, FCL_cmplxCtrl_t *  pIq  )

inlinestatic

References FCL_cmplxCtrl_t::carryOver, FCL_cmplxCtrl_t::cosWTs, FCL_cmplxCtrl_t::err, FCL_cmplxCtrl_t::kDirect, FCL_cmplxCtrl_t::out, FCL_cmplxCtrl_t::sinWTs, FCL_cmplxCtrl_t::Umax, and FCL_cmplxCtrl_t::Umin.

Referenced by FCL_runComplexCtrl().

FCL_runPICtrl()

static void FCL_runPICtrl ( MOTOR_Vars_t *  pMotor )

inlinestatic

References _MOTOR_Vars_t_::adcBaseW, _FCL_Parameters_::carrierMid, _FCL_Parameters_::cmidsqrt3, _MOTOR_Vars_t_::cmplx_Id, _MOTOR_Vars_t_::cmplx_Iq, _MOTOR_Vars_t_::curA_PPBRESULT, _MOTOR_Vars_t_::curB_PPBRESULT, FCL_cmplxCtrl_t::err, _MOTOR_Vars_t_::FCL_params, FCL_readCount(), FCL_runPI(), FCL_cmplxCtrl_t::out, _MOTOR_Vars_t_::pADCIntFlag, _MOTOR_Vars_t_::pangle, _MOTOR_Vars_t_::pwmCompA, _MOTOR_Vars_t_::pwmCompB, _MOTOR_Vars_t_::pwmCompC, and FCL_cmplxCtrl_t::ref.

FCL_runPICtrlWrap()

static void FCL_runPICtrlWrap ( MOTOR_Vars_t *  pMotor )

inlinestatic

References _FCL_Parameters_::BemfK, FCL_cmplxCtrl_t::carryOver, _MOTOR_Vars_t_::cmplx_Id, _MOTOR_Vars_t_::cmplx_Iq, FCL_cmplxCtrl_t::err, FCL_cmplxCtrl_t::fbk, _MOTOR_Vars_t_::FCL_params, _FCL_Parameters_::Ibase, FCL_cmplxCtrl_t::Kerr, FCL_cmplxCtrl_t::KerrOld, FCL_cmplxCtrl_t::Ki, FCL_cmplxCtrl_t::Kp, _FCL_Parameters_::Ld, _FCL_Parameters_::Lq, _FCL_Parameters_::Rd, FCL_cmplxCtrl_t::ref, _FCL_Parameters_::Rq, _MOTOR_Vars_t_::speedWe, _MOTOR_Vars_t_::speedWePrev, _FCL_Parameters_::tSamp, _FCL_Parameters_::Vdcbus, _FCL_Parameters_::wccD, and _FCL_Parameters_::wccQ.

FCL_runComplexCtrl()

static void FCL_runComplexCtrl ( MOTOR_Vars_t *  pMotor )

inlinestatic

References _MOTOR_Vars_t_::adcBaseW, _FCL_Parameters_::carrierMid, _FCL_Parameters_::cmidsqrt3, _MOTOR_Vars_t_::cmplx_Id, _MOTOR_Vars_t_::cmplx_Iq, _MOTOR_Vars_t_::curA_PPBRESULT, _MOTOR_Vars_t_::curB_PPBRESULT, FCL_cmplxCtrl_t::err, _MOTOR_Vars_t_::FCL_params, FCL_readCount(), FCL_runCCSyn(), FCL_cmplxCtrl_t::out, _MOTOR_Vars_t_::pADCIntFlag, _MOTOR_Vars_t_::pangle, _MOTOR_Vars_t_::pwmCompA, _MOTOR_Vars_t_::pwmCompB, _MOTOR_Vars_t_::pwmCompC, and FCL_cmplxCtrl_t::ref.

FCL_runComplexCtrlWrap()

static void FCL_runComplexCtrlWrap ( MOTOR_Vars_t *  pMotor )

inlinestatic

References _FCL_Parameters_::BemfK, FCL_cmplxCtrl_t::carryOver, _MOTOR_Vars_t_::cmplx_Id, _MOTOR_Vars_t_::cmplx_Iq, FCL_cmplxCtrl_t::cosWTs, FCL_cmplxCtrl_t::err, FCL_cmplxCtrl_t::expVal, FCL_cmplxCtrl_t::fbk, _MOTOR_Vars_t_::FCL_params, _FCL_Parameters_::Ibase, FCL_cmplxCtrl_t::kDirect, _FCL_Parameters_::Ld, _FCL_Parameters_::Lq, _FCL_Parameters_::Rd, FCL_cmplxCtrl_t::ref, _FCL_Parameters_::Rq, FCL_cmplxCtrl_t::sinWTs, _MOTOR_Vars_t_::speedWe, _MOTOR_Vars_t_::speedWePrev, _FCL_Parameters_::tSamp, _FCL_Parameters_::Vdcbus, _FCL_Parameters_::Wbase, _FCL_Parameters_::wccD, and _FCL_Parameters_::wccQ.

FCL_runQEPPosEst()

static void FCL_runQEPPosEst ( MOTOR_Vars_t *  pMotor )

inlinestatic

References ENC_CALIBRATION_DONE, ENC_WAIT_FOR_INDEX, IEI_RISING, _MOTOR_Vars_t_::lsw, _MOTOR_Vars_t_::pangle, _MOTOR_Vars_t_::polePairs, _MOTOR_Vars_t_::posElecTheta, _MOTOR_Vars_t_::posMechScaler, _MOTOR_Vars_t_::posMechTheta, _MOTOR_Vars_t_::pQEPRegs, QEP_FLAG_IEL_EVENT, and _MOTOR_Vars_t_::rg.

FCL_runQEPPosEstWrap()

static void FCL_runQEPPosEstWrap ( MOTOR_Vars_t *  pMotor )

inlinestatic

References ENC_ALIGNMENT, _MOTOR_Vars_t_::lsw, _MOTOR_Vars_t_::pQEPRegs, QEP_FLAG_IEL_EVENT, and QEP_FLAG_UTO_EVENT.

Variable Documentation

motorVars

MOTOR_Vars_t motorVars