Data Structures
struct	_CTRL_Version_
	Defines the controller (CTRL) version number. More...

struct	_CTRL_Obj_
	Defines the controller (CTRL) object. More...

Macros
#define	CTRL_MAJOR_RELEASE_NUMBER (2u)
	Defines the major release number. More...

#define	CTRL_MINOR_RELEASE_NUMBER (0u)
	Defines the major release number. More...

#define	CTRL_NUM_CONTROLLERS (2)
	Defines the number of controllers. More...

Typedefs
typedef struct _CTRL_Version_	CTRL_Version
	Defines the controller (CTRL) version number. More...

typedef struct _CTRL_Obj_	CTRL_Obj
	Defines the controller (CTRL) object. More...

typedef struct _CTRL_Obj_ *	CTRL_Handle
	Defines the CTRL handle. More...

Enumerations
enum	CTRL_ErrorCode_e { CTRL_ERRORCODE_NOERROR = 0, CTRL_ERRORCODE_IDCLIP = 1, CTRL_ERRORCODE_ESTERROR = 2, CTRL_NUMERRORCODES = 3 }
	Enumeration for the error codes. More...

enum	CTRL_TargetProc_e { CTRL_TARGETPROC_2806X = 0, CTRL_TARGETPROC_2805X = 1, CTRL_TARGETPROC_2803X = 2, CTRL_TARGETPROC_2802X = 3 }
	Enumeration for the target processors. More...

enum	CTRL_Type_e { CTRL_TYPE_PI_SPD = 0, CTRL_TYPE_PI_ID = 1, CTRL_TYPE_PI_IQ = 2 }
	Enumeration for the controller (CTRL) types. More...

enum	CTRL_State_e { CTRL_STATE_ERROR = 0, CTRL_STATE_IDLE = 1, CTRL_STATE_OFFLINE = 2, CTRL_STATE_ONLINE = 3, CTRL_NUMSTATES = 4 }
	Enumeration for the controller states. More...

Functions
static void	CTRL_checkForErrors (CTRL_Handle handle)
	Checks for any controller errors and, if found, sets the controller state to the error state. More...

static void	CTRL_computePhasor (const float32_t angle_rad, MATH_Vec2 *pPhasor)
	Computes a phasor for a given angle. More...

static void	CTRL_disable (CTRL_Handle handle)
	Disables the controller. More...

static void	CTRL_enable (CTRL_Handle handle)
	Enables the controller. More...

static float32_t	CTRL_getBWc_rps (CTRL_Handle handle)
	Gets the current controller bandwidth. More...

static float32_t	CTRL_getBWdelta (CTRL_Handle handle)
	Gets the bandwidth scale factor used to maximize phase margin. More...

static float32_t	CTRL_getKctrl_Wb_p_kgm2 (CTRL_Handle handle)
	Gets the speed controller constant. More...

static float32_t	CTRL_getVd_sf (CTRL_Handle handle)
	Gets the direct voltage scale factor. More...

static float32_t	CTRL_getMaxVsMag_V (CTRL_Handle handle)
	Gets the maximum stator voltage magnitude value. More...

static void	CTRL_computeOutputLimits_Id (CTRL_Handle handle, float32_t outMin, float32_t outMax)
	Computes the Id controller output limits. More...

static void	CTRL_computeOutputLimits_Iq (CTRL_Handle handle, const float32_t Vd_out_V, float32_t outMin, float32_t outMax)
	Computes the Iq controller output limits. More...

static int16_t	CTRL_getCount_current (CTRL_Handle handle)
	Gets the current loop count. More...

static int16_t	CTRL_getCount_isr (CTRL_Handle handle)
	Gets the isr count. More...

static int16_t	CTRL_getCount_speed (CTRL_Handle handle)
	Gets the speed loop count. More...

static int32_t	CTRL_getCount_state (CTRL_Handle handle)
	Gets the state count. More...

static float32_t	CTRL_getCtrlFreq_Hz (CTRL_Handle handle)
	Gets the controller execution frequency. More...

static float32_t	CTRL_getCurrentCtrlPeriod_sec (CTRL_Handle handle)
	Gets the current controller period. More...

static float32_t	CTRL_getCtrlPeriod_sec (CTRL_Handle handle)
	Gets the controller execution period. More...

static CTRL_ErrorCode_e	CTRL_getErrorCode (CTRL_Handle handle)
	Gets the error code from the controller (CTRL) object. More...

static bool	CTRL_getFlag_enable (CTRL_Handle handle)
	Gets the enable controller flag value from the controller. More...

static bool	CTRL_getFlag_enableCurrentCtrl (CTRL_Handle handle)
	Gets the enable current controllers flag value from the controller. More...

static bool	CTRL_getFlag_enableSpeedCtrl (CTRL_Handle handle)
	Gets the enable speed control flag value from the controller. More...

static bool	CTRL_getFlag_resetInt_Id (CTRL_Handle handle)
	Gets the reset Id integrator flag value from the controller. More...

static bool	CTRL_getFlag_resetInt_Iq (CTRL_Handle handle)
	Gets the reset Iq integrator flag value from the controller. More...

static bool	CTRL_getFlag_resetInt_spd (CTRL_Handle handle)
	Gets the reset speed integrator flag value from the controller. More...

static bool	CTRL_getFlag_useZeroIq_ref (CTRL_Handle handle)
	Gets the use zero Iq reference flag value from the controller. More...

static float32_t	CTRL_getId_A (CTRL_Handle handle)
	Gets the direct current (Id) value from the controller. More...

static float32_t *	CTRL_getId_A_addr (CTRL_Handle handle)
	Gets the direct current (Id) memory address from the controller. More...

static float32_t	CTRL_getId_offset_A (CTRL_Handle handle)
	Gets the direct offset current (Id_offset) value from the controller. More...

static float32_t *	CTRL_getId_offset_A_addr (CTRL_Handle handle)
	Gets the direct offset current (Id_offset) memory address from the controller. More...

static float32_t	CTRL_getId_ref_A (CTRL_Handle handle)
	Gets the direct reference current (Id_ref) value from the controller. More...

static float32_t *	CTRL_getId_ref_A_addr (CTRL_Handle handle)
	Gets the direct reference current (Id_ref) memory address from the controller. More...

static void	CTRL_getIdq_A (CTRL_Handle handle, MATH_Vec2 *pIdq_A)
	Gets the direct/quadrature current vector values from the controller. More...

static MATH_Vec2 *	CTRL_getIdq_A_addr (CTRL_Handle handle)
	Gets the direct/quadrature current (Idq) vector memory address from the controller. More...

static void	CTRL_getIdq_offset_A (CTRL_Handle handle, MATH_Vec2 *pIdq_offset_A)
	Gets the direct/quadrature offset current (Idq_offset) vector values from the controller. More...

static MATH_Vec2 *	CTRL_getIdq_offset_A_addr (CTRL_Handle handle)
	Gets the direct/quadrature offset current (Idq_offset) vector memory address from the controller. More...

static void	CTRL_getIdq_ref_A (CTRL_Handle handle, MATH_Vec2 *pIdq_ref_A)
	Gets the direct/quadrature reference current (Idq_ref) vector values from the controller. More...

static MATH_Vec2 *	CTRL_getIdq_ref_A_addr (CTRL_Handle handle)
	Gets the direct/quadrature reference current (Idq_ref) vector memory address from the controller. More...

static float32_t	CTRL_getIq_A (CTRL_Handle handle)
	Gets the quadrature current (Iq) value from the controller. More...

static float32_t *	CTRL_getIq_A_addr (CTRL_Handle handle)
	Gets the quadrature current (Iq) memory address from the controller. More...

static float32_t	CTRL_getIq_offset_A (CTRL_Handle handle)
	Gets the quadrature offset current (Iq_offset) value from the controller. More...

static float32_t *	CTRL_getIq_offset_A_addr (CTRL_Handle handle)
	Gets the quadrature offset current (Iq_offset) memory address from the controller. More...

static float32_t	CTRL_getIq_ref_A (CTRL_Handle handle)
	Gets the quadrature reference current (Iq_ref) value from the controller. More...

static float32_t *	CTRL_getIq_ref_A_addr (CTRL_Handle handle)
	Gets the quadrature reference current (Iq_ref) memory address from the controller. More...

static float32_t	CTRL_getKi (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the integral gain (Ki) value from the specified controller. More...

static float32_t	CTRL_getKp (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the proportional gain (Kp) value from the specified controller. More...

static void	CTRL_getGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, float32_t pKp, float32_t pKi)
	Gets the gain values for the specified controller. More...

static MOTOR_Type_e	CTRL_getMotorType (CTRL_Handle handle)
	Gets the motor type. More...

static int16_t	CTRL_getNumCtrlTicksPerCurrentTick (CTRL_Handle handle)
	Gets the number of controller clock ticks per current controller clock tick. More...

static int16_t	CTRL_getNumCtrlTicksPerSpeedTick (CTRL_Handle handle)
	Gets the number of controller clock ticks per speed controller clock tick. More...

static int16_t	CTRL_getNumIsrTicksPerCtrlTick (CTRL_Handle handle)
	Gets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...

static float32_t	CTRL_getRefValue (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the reference value from the specified controller. More...

static float32_t	CTRL_getSpeed_fb_Hz (CTRL_Handle handle)
	Gets the feedback speed value from the controller. More...

static float32_t	CTRL_getSpeed_out_A (CTRL_Handle handle)
	Gets the output value from the speed controller. More...

static float32_t *	CTRL_getSpeed_out_A_addr (CTRL_Handle handle)
	Gets the output value memory address from the speed controller. More...

static float32_t	CTRL_getSpeed_outMax_A (CTRL_Handle handle)
	Gets the maximum value for the speed controller. More...

static float32_t	CTRL_getSpeed_outMin_A (CTRL_Handle handle)
	Gets the minimum value for the speed controller. More...

static float32_t	CTRL_getSpeed_ref_Hz (CTRL_Handle handle)
	Gets the output speed reference value from the controller. More...

static float32_t	CTRL_getSpeedCtrlPeriod_sec (CTRL_Handle handle)
	Gets the speed controller period. More...

static CTRL_State_e	CTRL_getState (CTRL_Handle handle)
	Gets the controller state. More...

static float32_t	CTRL_getUi (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the integrator (Ui) value from the specified controller. More...

static float32_t	CTRL_getVd_V (CTRL_Handle handle)
	Gets the direct voltage (Vd) value from the controller. More...

static float32_t *	CTRL_getVd_V_addr (CTRL_Handle handle)
	Gets the direct voltage (Vd) value memory address from the controller. More...

static float32_t	CTRL_getVd_offset_V (CTRL_Handle handle)
	Gets the direct offset voltage (Vd_offset) value from the controller. More...

static float32_t *	CTRL_getVd_offset_V_addr (CTRL_Handle handle)
	Gets the direct offset voltage (Vd_offset) value memory address from the controller. More...

static void	CTRL_getVdq_V (CTRL_Handle handle, MATH_Vec2 *pVdq_V)
	Gets the direct/quadrature voltage (Vdq) vector values from the controller. More...

static MATH_Vec2 *	CTRL_getVdq_V_addr (CTRL_Handle handle)
	Gets the direct/quadrature voltage (Vdq) vector memory address from the controller. More...

static void	CTRL_getVdq_offset_V (CTRL_Handle handle, MATH_Vec2 *pVdq_offset_V)
	Gets the direct/quadrature offset voltage (Vdq_offset) vector values from the controller. More...

static MATH_Vec2 *	CTRL_getVdq_offset_V_addr (CTRL_Handle handle)
	Gets the direct/quadrature offset voltage (Vdq_offset) vector memory address from the controller. More...

void	CTRL_getVersion (CTRL_Handle handle, CTRL_Version *pVersion)
	Gets the controller version number. More...

static float32_t	CTRL_getVq_V (CTRL_Handle handle)
	Gets the quadrature voltage (Vq) value from the controller. More...

static float32_t *	CTRL_getVq_V_addr (CTRL_Handle handle)
	Gets the quadrature voltage (Vq) value memory address from the controller. More...

static float32_t	CTRL_getVq_offset_V (CTRL_Handle handle)
	Gets the quadrature offset voltage (Vq_offset) value from the controller. More...

static float32_t *	CTRL_getVq_offset_V_addr (CTRL_Handle handle)
	Gets the quadrature offset voltage (Vq_offset) value memory address from the controller. More...

static int32_t	CTRL_getWaitTime (CTRL_Handle handle, const CTRL_State_e state)
	Gets the wait time for a given state. More...

void	CTRL_getWaitTimes (CTRL_Handle handle, int32_t *pWaitTimes)
	Gets the wait times from the controller. More...

static void	CTRL_incrCounter_current (CTRL_Handle handle)
	Increments the current counter. More...

static void	CTRL_incrCounter_isr (CTRL_Handle handle)
	Increments the isr counter. More...

static void	CTRL_incrCounter_speed (CTRL_Handle handle)
	Increments the speed counter. More...

static void	CTRL_incrCounter_state (CTRL_Handle handle)
	Increments the state counter. More...

CTRL_Handle	CTRL_init (void *pMemory, const size_t numBytes)
	Initializes the controller. More...

static bool	CTRL_isEnabled (CTRL_Handle handle)
	Determines if the controller is enabled. More...

static bool	CTRL_isError (CTRL_Handle handle)
	Determines if there is a controller error. More...

static bool	CTRL_isIdle (CTRL_Handle handle)
	Determines if the controller is in the idle state. More...

static bool	CTRL_isNotIdle (CTRL_Handle handle)
	Determines if the controller is not in the idle state. More...

void	CTRL_reset (CTRL_Handle handle)
	Resets the controller. More...

static void	CTRL_resetCounter_current (CTRL_Handle handle)
	Resets the current counter. More...

static void	CTRL_resetCounter_isr (CTRL_Handle handle)
	Resets the isr counter. More...

static void	CTRL_resetCounter_speed (CTRL_Handle handle)
	Resets the speed counter. More...

static void	CTRL_resetCounter_state (CTRL_Handle handle)
	Resets the state counter. More...

static void	CTRL_setBWc_rps (CTRL_Handle handle, const float32_t BWc_rps)
	Sets the current controller bandwidth. More...

static void	CTRL_setBWdelta (CTRL_Handle handle, const float32_t BWdelta)
	Sets the bandwidth scale factor used to maximize phase margin. More...

static void	CTRL_setCtrlFreq_Hz (CTRL_Handle handle, const float32_t ctrlFreq_Hz)
	Sets the controller frequency. More...

static void	CTRL_setCtrlPeriod_sec (CTRL_Handle handle, const float32_t ctrlPeriod_sec)
	Sets the controller execution period. More...

static void	CTRL_setCurrentCtrlPeriod_sec (CTRL_Handle handle, const float32_t currentCtrlPeriod_sec)
	Sets the current controller period value. More...

static void	CTRL_setErrorCode (CTRL_Handle handle, const CTRL_ErrorCode_e errorCode)
	Sets the error code in the controller. More...

static void	CTRL_setFlag_enable (CTRL_Handle handle, const bool state)
	Sets the enable controller flag value in the controller. More...

static void	CTRL_setFlag_enableCurrentCtrl (CTRL_Handle handle, const bool state)
	Sets the enable current controllers flag value in the controller. More...

static void	CTRL_setFlag_enableSpeedCtrl (CTRL_Handle handle, const bool state)
	Sets the enable speed control value in the controller. More...

static void	CTRL_setFlag_resetInt_Id (CTRL_Handle handle, const bool state)
	Sets the reset Id integrator flag value in the controller. More...

static void	CTRL_setFlag_resetInt_Iq (CTRL_Handle handle, const bool state)
	Sets the reset Iq integrator flag value in the controller. More...

static void	CTRL_setFlag_resetInt_spd (CTRL_Handle handle, const bool state)
	Sets the reset speed integrator flag value in the controller. More...

static void	CTRL_setFlag_useZeroIq_ref (CTRL_Handle handle, const bool state)
	Sets the use zero Iq reference flag value in the controller. More...

static void	CTRL_setId_A (CTRL_Handle handle, const float32_t Id_A)
	Sets the direct current (Id) value in the controller. More...

static void	CTRL_setId_offset_A (CTRL_Handle handle, const float32_t Id_offset_A)
	Sets the direct current (Id) offset value in the controller. More...

static void	CTRL_setId_ref_A (CTRL_Handle handle, const float32_t Id_ref_A)
	Sets the direct current (Id) reference value in the controller. More...

static void	CTRL_setIdq_A (CTRL_Handle handle, const MATH_Vec2 *pIdq_A)
	Sets the direct/quadrature current (Idq) vector values in the controller. More...

static void	CTRL_setIdq_offset_A (CTRL_Handle handle, const MATH_Vec2 *pIdq_offset_A)
	Sets the direct/quadrature current (Idq) offset vector values in the controller. More...

static void	CTRL_setIdq_ref_A (CTRL_Handle handle, const MATH_Vec2 *pIdq_ref_A)
	Sets the direct/quadrature current (Idq) reference vector values in the controller. More...

static void	CTRL_setIq_A (CTRL_Handle handle, const float32_t Iq_A)
	Sets the quadrature current (Iq) value in the controller. More...

static void	CTRL_setIq_offset_pu (CTRL_Handle handle, const float32_t Iq_offset_A)
	Sets the quadrature current (Iq) offset value in the controller. More...

static void	CTRL_setIq_ref_A (CTRL_Handle handle, const float32_t Iq_ref_A)
	Sets the quadrature current (Iq) reference value in the controller. More...

static void	CTRL_setKctrl_Wb_p_kgm2 (CTRL_Handle handle, const float32_t Kctrl_Wb_p_kgm2)
	Sets the speed controller constant. More...

static void	CTRL_setKi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float32_t Ki)
	Sets the integral gain (Ki) value for the specified controller. More...

static void	CTRL_setKp (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float32_t Kp)
	Sets the proportional gain (Kp) value for the specified controller. More...

static void	CTRL_setGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float32_t Kp, const float32_t Ki)
	Sets the gain values for the specified controller. More...

static void	CTRL_setMaxVsMag_V (CTRL_Handle handle, const float32_t maxVsMag_V)
	Sets the maximum stator voltage magnitude value. More...

static void	CTRL_setMotorParams (CTRL_Handle handle, const MOTOR_Type_e motorType, const uint16_t numPolePairs, const float32_t ratedFlux_Wb, const float32_t Ls_d_H, const float32_t Ls_q_H, const float32_t Rs_d_Ohm, const float32_t Rs_q_Ohm, const float32_t Rr_d_Ohm, const float32_t Rr_q_Ohm)
	Sets the parameters for the motor in the controller. More...

static void	CTRL_setNumCtrlTicksPerCurrentTick (CTRL_Handle handle, const int16_t numCtrlTicksPerCurrentTick)
	Sets the number of controller clock ticks per current controller clock tick. More...

static void	CTRL_setNumCtrlTicksPerSpeedTick (CTRL_Handle handle, const int16_t numCtrlTicksPerSpeedTick)
	Sets the number of controller clock ticks per speed controller clock tick. More...

static void	CTRL_setNumIsrTicksPerCtrlTick (CTRL_Handle handle, const int16_t numIsrTicksPerCtrlTick)
	Sets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...

void	CTRL_setParams (CTRL_Handle handle, USER_Params *pUserParams)
	Sets the controller parameters. More...

static void	CTRL_setSpeed_fb_Hz (CTRL_Handle handle, const float32_t speed_fb_Hz)
	Sets the feedback speed value in the controller. More...

static void	CTRL_setSpeed_out_A (CTRL_Handle handle, const float32_t speed_out_A)
	Sets the maximum output value for the speed controller. More...

static void	CTRL_setSpeed_outMax_A (CTRL_Handle handle, const float32_t speed_outMax_A)
	Sets the maximum output value for the speed controller. More...

static void	CTRL_setSpeed_outMin_A (CTRL_Handle handle, const float32_t speed_outMin_A)
	Sets the minimum output value for the speed controller. More...

static void	CTRL_setSpeed_ref_Hz (CTRL_Handle handle, const float32_t speed_ref_Hz)
	Sets the output speed reference value in the controller. More...

static void	CTRL_setSpeedCtrlPeriod_sec (CTRL_Handle handle, const float32_t speedCtrlPeriod_sec)
	Sets the speed controller period value. More...

static void	CTRL_setState (CTRL_Handle handle, const CTRL_State_e state)
	Sets the controller state. More...

static void	CTRL_setUi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float32_t Ui)
	Sets the integrator (Ui) value in the specified controller. More...

static void	CTRL_setVd_sf (CTRL_Handle handle, const float32_t Vd_sf)
	Sets the direct voltage scale factor. More...

static void	CTRL_setVdq_V (CTRL_Handle handle, const MATH_Vec2 *pVdq_V)
	Sets the direct/quadrature voltage (Vdq) vector values in the controller. More...

static void	CTRL_setVdq_offset_V (CTRL_Handle handle, const MATH_Vec2 *pVdq_offset_V)
	Sets the direct/quadrature offset voltage (Vdq_offset) vector values in the controller. More...

void	CTRL_setVersion (CTRL_Handle handle, const CTRL_TargetProc_e targetProc, const uint16_t majorReleaseNumber, const uint16_t minorReleaseNumber)
	Sets the controller version. More...

void	CTRL_setWaitTimes (CTRL_Handle handle, const int32_t *pWaitTimes)
	Sets the wait times for the controller states. More...

bool	CTRL_updateState (CTRL_Handle handle)
	Updates the controller state. More...

static void	CTRL_setup (CTRL_Handle handle, const float32_t speed_ref_Hz, const float32_t speed_fb_Hz, const MATH_Vec2 pIdq_A, const MATH_Vec2 pIdq_offset_A, const MATH_Vec2 *pVdq_offset_V, const bool flag_enableSpeedCtrl, const bool flag_enableCurrentCtrl, const bool flag_useZeroIq_ref)
	Sets up the user controller (CTRL) object. More...

static void	CTRL_run (CTRL_Handle handle, MATH_Vec2 *pVdq_V)
	Run the controller. More...

Detailed Description

Macro Definition Documentation

◆ CTRL_MAJOR_RELEASE_NUMBER

#define CTRL_MAJOR_RELEASE_NUMBER (2u)

Defines the major release number.

◆ CTRL_MINOR_RELEASE_NUMBER

#define CTRL_MINOR_RELEASE_NUMBER (0u)

Defines the major release number.

◆ CTRL_NUM_CONTROLLERS

#define CTRL_NUM_CONTROLLERS (2)

Defines the number of controllers.

Typedef Documentation

◆ CTRL_Version

typedef struct _CTRL_Version_ CTRL_Version

Defines the controller (CTRL) version number.

◆ CTRL_Obj

typedef struct _CTRL_Obj_ CTRL_Obj

Defines the controller (CTRL) object.

◆ CTRL_Handle

typedef struct _CTRL_Obj_* CTRL_Handle

Defines the CTRL handle.

Enumeration Type Documentation

◆ CTRL_ErrorCode_e

enum CTRL_ErrorCode_e

Enumeration for the error codes.

Enumerator
CTRL_ERRORCODE_NOERROR	no error error code
CTRL_ERRORCODE_IDCLIP	Id clip error code.
CTRL_ERRORCODE_ESTERROR	estimator error code
CTRL_NUMERRORCODES	the number of controller error codes

◆ CTRL_TargetProc_e

enum CTRL_TargetProc_e

Enumeration for the target processors.

Enumerator
CTRL_TARGETPROC_2806X	2806x processor
CTRL_TARGETPROC_2805X	2805x processor
CTRL_TARGETPROC_2803X	2803x processor
CTRL_TARGETPROC_2802X	2802x processor

◆ CTRL_Type_e

enum CTRL_Type_e

Enumeration for the controller (CTRL) types.

Enumerator
CTRL_TYPE_PI_SPD	PI Speed controller.
CTRL_TYPE_PI_ID	PI Id controller.
CTRL_TYPE_PI_IQ	PI Iq controller.

◆ CTRL_State_e

enum CTRL_State_e

Enumeration for the controller states.

Enumerator
CTRL_STATE_ERROR	the controller error state
CTRL_STATE_IDLE	the controller idle state
CTRL_STATE_OFFLINE	the controller offline state
CTRL_STATE_ONLINE	the controller online state
CTRL_NUMSTATES	the number of controller states

Function Documentation

◆ CTRL_checkForErrors()

static void CTRL_checkForErrors ( CTRL_Handle handle )

inlinestatic

Checks for any controller errors and, if found, sets the controller state to the error state.

Parameters

[in] handle The controller (CTRL) handle

◆ CTRL_computePhasor()

static void CTRL_computePhasor	(	const float32_t	angle_rad,
		MATH_Vec2 *	pPhasor
	)

inlinestatic

Computes a phasor for a given angle.

Parameters

[in]	angle_rad	The angle, rad
[out]	pPhasor	The pointer to the phasor vector values

References _MATH_Vec2_::value.

◆ CTRL_disable()

static void CTRL_disable ( CTRL_Handle handle )

inlinestatic

Disables the controller.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::flag_enable.

◆ CTRL_enable()

static void CTRL_enable ( CTRL_Handle handle )

inlinestatic

Enables the controller.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::flag_enable.

◆ CTRL_getBWc_rps()

static float32_t CTRL_getBWc_rps ( CTRL_Handle handle )

inlinestatic

Gets the current controller bandwidth.

Parameters

[in] handle The controller (CTRL) handle

Returns: The current controller bandwidth, rad/sec

References _CTRL_Obj_::BWc_rps.

◆ CTRL_getBWdelta()

static float32_t CTRL_getBWdelta ( CTRL_Handle handle )

inlinestatic

Gets the bandwidth scale factor used to maximize phase margin.

Parameters

[in] handle The controller (CTRL) handle

Returns: The bandwidth scale factor

References _CTRL_Obj_::BWdelta.

◆ CTRL_getKctrl_Wb_p_kgm2()

static float32_t CTRL_getKctrl_Wb_p_kgm2 ( CTRL_Handle handle )

inlinestatic

Gets the speed controller constant.

Parameters

[in] handle The controller (CTRL) handle

Returns: The speed controller constant, Wb/(kg*m^2)

References _CTRL_Obj_::Kctrl_Wb_p_kgm2.

◆ CTRL_getVd_sf()

static float32_t CTRL_getVd_sf ( CTRL_Handle handle )

inlinestatic

Gets the direct voltage scale factor.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct voltage scale factor

References _CTRL_Obj_::Vd_sf.

Referenced by CTRL_computeOutputLimits_Id().

◆ CTRL_getMaxVsMag_V()

static float32_t CTRL_getMaxVsMag_V ( CTRL_Handle handle )

inlinestatic

Gets the maximum stator voltage magnitude value.

Parameters

[in] handle The controller (CTRL) handle

Returns: The maximum stator voltage magnitude value, V

References _CTRL_Obj_::maxVsMag_V.

Referenced by CTRL_computeOutputLimits_Id(), and CTRL_computeOutputLimits_Iq().

◆ CTRL_computeOutputLimits_Id()

static void CTRL_computeOutputLimits_Id	(	CTRL_Handle	handle,
		float32_t *	outMin,
		float32_t *	outMax
	)

inlinestatic

Computes the Id controller output limits.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	outMin	The pointer to the minimum output value
[in]	outMax	The pointer to the maximum output value

References CTRL_getMaxVsMag_V(), and CTRL_getVd_sf().

Referenced by CTRL_run().

◆ CTRL_computeOutputLimits_Iq()

static void CTRL_computeOutputLimits_Iq	(	CTRL_Handle	handle,
		const float32_t	Vd_out_V,
		float32_t *	outMin,
		float32_t *	outMax
	)

inlinestatic

Computes the Iq controller output limits.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Vd_out_V	The Vd output voltage value, V
[in]	outMin	The pointer to the minimum output value
[in]	outMax	The pointer to the maximum output value

References CTRL_getMaxVsMag_V().

Referenced by CTRL_run().

◆ CTRL_getCount_current()

static int16_t CTRL_getCount_current ( CTRL_Handle handle )

inlinestatic

Gets the current loop count.

Parameters

[in] handle The controller (CTRL) handle

Returns: The current loop count

References _CTRL_Obj_::counter_current.

Referenced by CTRL_run().

◆ CTRL_getCount_isr()

static int16_t CTRL_getCount_isr ( CTRL_Handle handle )

inlinestatic

Gets the isr count.

Parameters

[in] handle The controller (CTRL) handle

Returns: The isr count

References _CTRL_Obj_::counter_isr.

◆ CTRL_getCount_speed()

static int16_t CTRL_getCount_speed ( CTRL_Handle handle )

inlinestatic

Gets the speed loop count.

Parameters

[in] handle The controller (CTRL) handle

Returns: The speed loop count

References _CTRL_Obj_::counter_speed.

Referenced by CTRL_run().

◆ CTRL_getCount_state()

static int32_t CTRL_getCount_state ( CTRL_Handle handle )

inlinestatic

Gets the state count.

Parameters

[in] handle The controller (CTRL) handle

Returns: The state count

References _CTRL_Obj_::counter_state.

◆ CTRL_getCtrlFreq_Hz()

static float32_t CTRL_getCtrlFreq_Hz ( CTRL_Handle handle )

inlinestatic

Gets the controller execution frequency.

Parameters

[in] handle The controller (CTRL) handle

Returns: The controller execution frequency, Hz

References _CTRL_Obj_::ctrlFreq_Hz.

◆ CTRL_getCurrentCtrlPeriod_sec()

static float32_t CTRL_getCurrentCtrlPeriod_sec ( CTRL_Handle handle )

inlinestatic

Gets the current controller period.

Parameters

[in] handle The controller (CTRL) handle

Returns: The current controller period, sec

References _CTRL_Obj_::currentCtrlPeriod_sec.

◆ CTRL_getCtrlPeriod_sec()

static float32_t CTRL_getCtrlPeriod_sec ( CTRL_Handle handle )

inlinestatic

Gets the controller execution period.

Parameters

[in] handle The controller (CTRL) handle

Returns: The controller execution period, sec

References _CTRL_Obj_::ctrlPeriod_sec.

◆ CTRL_getErrorCode()

static CTRL_ErrorCode_e CTRL_getErrorCode ( CTRL_Handle handle )

inlinestatic

Gets the error code from the controller (CTRL) object.

Parameters

[in] handle The controller (CTRL) handle

Returns: The error code

References _CTRL_Obj_::errorCode.

◆ CTRL_getFlag_enable()

static bool CTRL_getFlag_enable ( CTRL_Handle handle )

inlinestatic

Gets the enable controller flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The enable controller flag value

References _CTRL_Obj_::flag_enable.

◆ CTRL_getFlag_enableCurrentCtrl()

static bool CTRL_getFlag_enableCurrentCtrl ( CTRL_Handle handle )

inlinestatic

Gets the enable current controllers flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The enable current controller flag value

References _CTRL_Obj_::flag_enableCurrentCtrl.

Referenced by CTRL_run().

◆ CTRL_getFlag_enableSpeedCtrl()

static bool CTRL_getFlag_enableSpeedCtrl ( CTRL_Handle handle )

inlinestatic

Gets the enable speed control flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The enable speed control flag value

References _CTRL_Obj_::flag_enableSpeedCtrl.

Referenced by CTRL_run().

◆ CTRL_getFlag_resetInt_Id()

static bool CTRL_getFlag_resetInt_Id ( CTRL_Handle handle )

inlinestatic

Gets the reset Id integrator flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The reset Id integrator flag value

References _CTRL_Obj_::flag_resetInt_Id.

Referenced by CTRL_setup().

◆ CTRL_getFlag_resetInt_Iq()

static bool CTRL_getFlag_resetInt_Iq ( CTRL_Handle handle )

inlinestatic

Gets the reset Iq integrator flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The reset Iq integrator flag value

References _CTRL_Obj_::flag_resetInt_Iq.

Referenced by CTRL_setup().

◆ CTRL_getFlag_resetInt_spd()

static bool CTRL_getFlag_resetInt_spd ( CTRL_Handle handle )

inlinestatic

Gets the reset speed integrator flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The reset speed integrator flag value

References _CTRL_Obj_::flag_resetInt_spd.

Referenced by CTRL_setup().

◆ CTRL_getFlag_useZeroIq_ref()

static bool CTRL_getFlag_useZeroIq_ref ( CTRL_Handle handle )

inlinestatic

Gets the use zero Iq reference flag value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The use zero Iq reference flag value

References _CTRL_Obj_::flag_useZeroIq_ref.

Referenced by CTRL_run().

◆ CTRL_getId_A()

static float32_t CTRL_getId_A ( CTRL_Handle handle )

inlinestatic

Gets the direct current (Id) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct current value, A

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

Referenced by CTRL_run().

◆ CTRL_getId_A_addr()

static float32_t* CTRL_getId_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct current (Id) memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct current memory address

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

◆ CTRL_getId_offset_A()

static float32_t CTRL_getId_offset_A ( CTRL_Handle handle )

inlinestatic

Gets the direct offset current (Id_offset) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct current offset value, A

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

Referenced by CTRL_run().

◆ CTRL_getId_offset_A_addr()

static float32_t* CTRL_getId_offset_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct offset current (Id_offset) memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct offset current memory address

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

◆ CTRL_getId_ref_A()

static float32_t CTRL_getId_ref_A ( CTRL_Handle handle )

inlinestatic

Gets the direct reference current (Id_ref) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct current reference value, A

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

◆ CTRL_getId_ref_A_addr()

static float32_t* CTRL_getId_ref_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct reference current (Id_ref) memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct current reference memory address

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

◆ CTRL_getIdq_A()

static void CTRL_getIdq_A	(	CTRL_Handle	handle,
		MATH_Vec2 *	pIdq_A
	)

inlinestatic

Gets the direct/quadrature current vector values from the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[out]	pIdq_A	The vector for the direct/quadrature current vector values, A

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

◆ CTRL_getIdq_A_addr()

static MATH_Vec2* CTRL_getIdq_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct/quadrature current (Idq) vector memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct/quadrature current vector memory address

References _CTRL_Obj_::Idq_A.

◆ CTRL_getIdq_offset_A()

static void CTRL_getIdq_offset_A	(	CTRL_Handle	handle,
		MATH_Vec2 *	pIdq_offset_A
	)

inlinestatic

Gets the direct/quadrature offset current (Idq_offset) vector values from the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[out]	pIdq_offset_A	The vector for the direct/quadrature offset current vector values, A

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

◆ CTRL_getIdq_offset_A_addr()

static MATH_Vec2* CTRL_getIdq_offset_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct/quadrature offset current (Idq_offset) vector memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct/quadrature offset current vector memory address

References _CTRL_Obj_::Idq_offset_A.

◆ CTRL_getIdq_ref_A()

static void CTRL_getIdq_ref_A	(	CTRL_Handle	handle,
		MATH_Vec2 *	pIdq_ref_A
	)

inlinestatic

Gets the direct/quadrature reference current (Idq_ref) vector values from the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[out]	pIdq_ref_A	The vector for the direct/quadrature reference current vector values, A

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

◆ CTRL_getIdq_ref_A_addr()

static MATH_Vec2* CTRL_getIdq_ref_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct/quadrature reference current (Idq_ref) vector memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct/quadrature reference current vector memory address

References _CTRL_Obj_::Idq_ref_A.

◆ CTRL_getIq_A()

static float32_t CTRL_getIq_A ( CTRL_Handle handle )

inlinestatic

Gets the quadrature current (Iq) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature current value, A

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

Referenced by CTRL_run().

◆ CTRL_getIq_A_addr()

static float32_t* CTRL_getIq_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the quadrature current (Iq) memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature current memory address

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

◆ CTRL_getIq_offset_A()

static float32_t CTRL_getIq_offset_A ( CTRL_Handle handle )

inlinestatic

Gets the quadrature offset current (Iq_offset) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature current offset value, A

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

Referenced by CTRL_run().

◆ CTRL_getIq_offset_A_addr()

static float32_t* CTRL_getIq_offset_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the quadrature offset current (Iq_offset) memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature offset current memory address

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

◆ CTRL_getIq_ref_A()

static float32_t CTRL_getIq_ref_A ( CTRL_Handle handle )

inlinestatic

Gets the quadrature reference current (Iq_ref) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature reference current value, A

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

◆ CTRL_getIq_ref_A_addr()

static float32_t* CTRL_getIq_ref_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the quadrature reference current (Iq_ref) memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature reference current memory address

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

◆ CTRL_getKi()

static float32_t CTRL_getKi	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType
	)

inlinestatic

Gets the integral gain (Ki) value from the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type

Returns: The Ki value

References CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, _CTRL_Obj_::Ki_Id, _CTRL_Obj_::Ki_Iq, and _CTRL_Obj_::Ki_spd_ApHz.

Referenced by CTRL_getGains(), and CTRL_setup().

◆ CTRL_getKp()

static float32_t CTRL_getKp	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType
	)

inlinestatic

Gets the proportional gain (Kp) value from the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type

Returns: The Kp value

References CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, _CTRL_Obj_::Kp_Id_VpA, _CTRL_Obj_::Kp_Iq_VpA, and _CTRL_Obj_::Kp_spd_ApHz.

Referenced by CTRL_getGains(), and CTRL_setup().

◆ CTRL_getGains()

static void CTRL_getGains	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType,
		float32_t *	pKp,
		float32_t *	pKi
	)

inlinestatic

Gets the gain values for the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type
[in]	pKp	The pointer for the Kp value
[in]	pKi	The pointer for the Ki value

References CTRL_getKi(), and CTRL_getKp().

◆ CTRL_getMotorType()

static MOTOR_Type_e CTRL_getMotorType ( CTRL_Handle handle )

inlinestatic

Gets the motor type.

Parameters

[in] handle The controller (CTRL) handle

Returns: The motor type

References _CTRL_Obj_::motorParams, and _MOTOR_Params_::type.

◆ CTRL_getNumCtrlTicksPerCurrentTick()

static int16_t CTRL_getNumCtrlTicksPerCurrentTick ( CTRL_Handle handle )

inlinestatic

Gets the number of controller clock ticks per current controller clock tick.

Parameters

[in] handle The controller (CTRL) handle

Returns: The number of controller clock ticks per controller clock tick

References _CTRL_Obj_::numCtrlTicksPerCurrentTick.

Referenced by CTRL_run().

◆ CTRL_getNumCtrlTicksPerSpeedTick()

static int16_t CTRL_getNumCtrlTicksPerSpeedTick ( CTRL_Handle handle )

inlinestatic

Gets the number of controller clock ticks per speed controller clock tick.

Parameters

[in] handle The controller (CTRL) handle

Returns: The number of controller clock ticks per speed clock tick

References _CTRL_Obj_::numCtrlTicksPerSpeedTick.

Referenced by CTRL_run().

◆ CTRL_getNumIsrTicksPerCtrlTick()

static int16_t CTRL_getNumIsrTicksPerCtrlTick ( CTRL_Handle handle )

inlinestatic

Gets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick.

Parameters

[in] handle The controller (CTRL) handle

Returns: The number of Interrupt Service Routine (ISR) clock ticks per controller clock tick

References _CTRL_Obj_::numIsrTicksPerCtrlTick.

◆ CTRL_getRefValue()

static float32_t CTRL_getRefValue	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType
	)

inlinestatic

Gets the reference value from the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type

Returns: The reference value

References CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, PI_getRefValue(), _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, and _CTRL_Obj_::piHandle_spd.

◆ CTRL_getSpeed_fb_Hz()

static float32_t CTRL_getSpeed_fb_Hz ( CTRL_Handle handle )

inlinestatic

Gets the feedback speed value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The feedback speed value, Hz

References _CTRL_Obj_::speed_fb_Hz.

Referenced by CTRL_run().

◆ CTRL_getSpeed_out_A()

static float32_t CTRL_getSpeed_out_A ( CTRL_Handle handle )

inlinestatic

Gets the output value from the speed controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The output value, A

References _CTRL_Obj_::speed_out_A.

Referenced by CTRL_run().

◆ CTRL_getSpeed_out_A_addr()

static float32_t* CTRL_getSpeed_out_A_addr ( CTRL_Handle handle )

inlinestatic

Gets the output value memory address from the speed controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The output value memory address

References _CTRL_Obj_::speed_out_A.

Referenced by CTRL_run().

◆ CTRL_getSpeed_outMax_A()

static float32_t CTRL_getSpeed_outMax_A ( CTRL_Handle handle )

inlinestatic

Gets the maximum value for the speed controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The maximum output value, A

References _CTRL_Obj_::speed_outMax_A.

Referenced by CTRL_run().

◆ CTRL_getSpeed_outMin_A()

static float32_t CTRL_getSpeed_outMin_A ( CTRL_Handle handle )

inlinestatic

Gets the minimum value for the speed controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The minimum output value, A

References _CTRL_Obj_::speed_outMin_A.

Referenced by CTRL_run().

◆ CTRL_getSpeed_ref_Hz()

static float32_t CTRL_getSpeed_ref_Hz ( CTRL_Handle handle )

inlinestatic

Gets the output speed reference value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The output speed reference value, Hz

References _CTRL_Obj_::speed_ref_Hz.

Referenced by CTRL_run().

◆ CTRL_getSpeedCtrlPeriod_sec()

static float32_t CTRL_getSpeedCtrlPeriod_sec ( CTRL_Handle handle )

inlinestatic

Gets the speed controller period.

Parameters

[in] handle The controller (CTRL) handle

Returns: The speed controller period, sec

References _CTRL_Obj_::speedCtrlPeriod_sec.

◆ CTRL_getState()

static CTRL_State_e CTRL_getState ( CTRL_Handle handle )

inlinestatic

Gets the controller state.

Parameters

[in] handle The controller (CTRL) handle

Returns: The controller state

References _CTRL_Obj_::state.

Referenced by CTRL_isError(), CTRL_isIdle(), and CTRL_isNotIdle().

◆ CTRL_getUi()

static float32_t CTRL_getUi	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType
	)

inlinestatic

Gets the integrator (Ui) value from the specified controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The Ui value

References CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, _CTRL_Obj_::Ui_Id_V, _CTRL_Obj_::Ui_Iq_V, and _CTRL_Obj_::Ui_spd_A.

Referenced by CTRL_setup().

◆ CTRL_getVd_V()

static float32_t CTRL_getVd_V ( CTRL_Handle handle )

inlinestatic

Gets the direct voltage (Vd) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct voltage value, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_V.

◆ CTRL_getVd_V_addr()

static float32_t* CTRL_getVd_V_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct voltage (Vd) value memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct voltage value memory address

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_V.

◆ CTRL_getVd_offset_V()

static float32_t CTRL_getVd_offset_V ( CTRL_Handle handle )

inlinestatic

Gets the direct offset voltage (Vd_offset) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct voltage offset value, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

Referenced by CTRL_run().

◆ CTRL_getVd_offset_V_addr()

static float32_t* CTRL_getVd_offset_V_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct offset voltage (Vd_offset) value memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct offset voltage value memory address

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

◆ CTRL_getVdq_V()

static void CTRL_getVdq_V	(	CTRL_Handle	handle,
		MATH_Vec2 *	pVdq_V
	)

inlinestatic

Gets the direct/quadrature voltage (Vdq) vector values from the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[out]	pVdq_	The vector for the direct/quadrature voltage vector values, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_V.

Referenced by CTRL_run().

◆ CTRL_getVdq_V_addr()

static MATH_Vec2* CTRL_getVdq_V_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct/quadrature voltage (Vdq) vector memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct/quadrature voltage vector memory address

References _CTRL_Obj_::Vdq_V.

◆ CTRL_getVdq_offset_V()

static void CTRL_getVdq_offset_V	(	CTRL_Handle	handle,
		MATH_Vec2 *	pVdq_offset_V
	)

inlinestatic

Gets the direct/quadrature offset voltage (Vdq_offset) vector values from the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[out]	pVdq_offset_V	The vector for the direct/quadrature offset voltage vector values, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

◆ CTRL_getVdq_offset_V_addr()

static MATH_Vec2* CTRL_getVdq_offset_V_addr ( CTRL_Handle handle )

inlinestatic

Gets the direct/quadrature offset voltage (Vdq_offset) vector memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The direct/quadrature offset voltage vector memory address

References _CTRL_Obj_::Vdq_offset_V.

◆ CTRL_getVersion()

void CTRL_getVersion	(	CTRL_Handle	handle,
		CTRL_Version *	pVersion
	)

Gets the controller version number.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pVersion	A pointer to the version

◆ CTRL_getVq_V()

static float32_t CTRL_getVq_V ( CTRL_Handle handle )

inlinestatic

Gets the quadrature voltage (Vq) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature voltage value, pu

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_V.

◆ CTRL_getVq_V_addr()

static float32_t* CTRL_getVq_V_addr ( CTRL_Handle handle )

inlinestatic

Gets the quadrature voltage (Vq) value memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature voltage value memory address

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_V.

◆ CTRL_getVq_offset_V()

static float32_t CTRL_getVq_offset_V ( CTRL_Handle handle )

inlinestatic

Gets the quadrature offset voltage (Vq_offset) value from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature voltage offset value, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

Referenced by CTRL_run().

◆ CTRL_getVq_offset_V_addr()

static float32_t* CTRL_getVq_offset_V_addr ( CTRL_Handle handle )

inlinestatic

Gets the quadrature offset voltage (Vq_offset) value memory address from the controller.

Parameters

[in] handle The controller (CTRL) handle

Returns: The quadrature voltage value memory address

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

◆ CTRL_getWaitTime()

static int32_t CTRL_getWaitTime	(	CTRL_Handle	handle,
		const CTRL_State_e	state
	)

inlinestatic

Gets the wait time for a given state.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The controller state

Returns: The wait time, controller clock counts

References _CTRL_Obj_::waitTimes.

◆ CTRL_getWaitTimes()

void CTRL_getWaitTimes	(	CTRL_Handle	handle,
		int32_t *	pWaitTimes
	)

Gets the wait times from the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pWaitTimes	A pointer to a vector for the wait times, isr clock counts

◆ CTRL_incrCounter_current()

static void CTRL_incrCounter_current ( CTRL_Handle handle )

inlinestatic

Increments the current counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_current.

Referenced by CTRL_setup().

◆ CTRL_incrCounter_isr()

static void CTRL_incrCounter_isr ( CTRL_Handle handle )

inlinestatic

Increments the isr counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_isr.

◆ CTRL_incrCounter_speed()

static void CTRL_incrCounter_speed ( CTRL_Handle handle )

inlinestatic

Increments the speed counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_speed.

Referenced by CTRL_setup().

◆ CTRL_incrCounter_state()

static void CTRL_incrCounter_state ( CTRL_Handle handle )

inlinestatic

Increments the state counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_state.

Referenced by CTRL_run().

◆ CTRL_init()

CTRL_Handle CTRL_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the controller.

Parameters

[in]	pMemory	A pointer to the memory for the controller object
[in]	numBytes	The number of bytes allocated for the controller object, bytes

Returns: The controller (CTRL) object handle

◆ CTRL_isEnabled()

static bool CTRL_isEnabled ( CTRL_Handle handle )

inlinestatic

Determines if the controller is enabled.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::flag_enable.

◆ CTRL_isError()

static bool CTRL_isError ( CTRL_Handle handle )

inlinestatic

Determines if there is a controller error.

Parameters

[in] handle The controller (CTRL) handle

Returns: A boolean value denoting if there is a controller error (true) or not (false)

References CTRL_getState(), and CTRL_STATE_ERROR.

◆ CTRL_isIdle()

static bool CTRL_isIdle ( CTRL_Handle handle )

inlinestatic

Determines if the controller is in the idle state.

Parameters

[in] handle The controller (CTRL) handle

Returns: A boolean value denoting if the controller is in the idle state (true) or not (false)

References CTRL_getState(), and CTRL_STATE_IDLE.

◆ CTRL_isNotIdle()

static bool CTRL_isNotIdle ( CTRL_Handle handle )

inlinestatic

Determines if the controller is not in the idle state.

Parameters

[in] handle The controller (CTRL) handle

Returns: A boolean value denoting if the controller is in the idle state (false) or not (true)

References CTRL_getState(), and CTRL_STATE_IDLE.

◆ CTRL_reset()

void CTRL_reset ( CTRL_Handle handle )

Resets the controller.

Parameters

[in] handle The controller (CTRL) handle

◆ CTRL_resetCounter_current()

static void CTRL_resetCounter_current ( CTRL_Handle handle )

inlinestatic

Resets the current counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_current.

Referenced by CTRL_run().

◆ CTRL_resetCounter_isr()

static void CTRL_resetCounter_isr ( CTRL_Handle handle )

inlinestatic

Resets the isr counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_isr.

◆ CTRL_resetCounter_speed()

static void CTRL_resetCounter_speed ( CTRL_Handle handle )

inlinestatic

Resets the speed counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_speed.

Referenced by CTRL_run().

◆ CTRL_resetCounter_state()

static void CTRL_resetCounter_state ( CTRL_Handle handle )

inlinestatic

Resets the state counter.

Parameters

[in] handle The controller (CTRL) handle

References _CTRL_Obj_::counter_state.

◆ CTRL_setBWc_rps()

static void CTRL_setBWc_rps	(	CTRL_Handle	handle,
		const float32_t	BWc_rps
	)

inlinestatic

Sets the current controller bandwidth.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	BWc_rps	The current controller bandwidth, rad/sec

References _CTRL_Obj_::BWc_rps.

◆ CTRL_setBWdelta()

static void CTRL_setBWdelta	(	CTRL_Handle	handle,
		const float32_t	BWdelta
	)

inlinestatic

Sets the bandwidth scale factor used to maximize phase margin.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	BWdelta	The bandwidth scale factor

References _CTRL_Obj_::BWdelta.

◆ CTRL_setCtrlFreq_Hz()

static void CTRL_setCtrlFreq_Hz	(	CTRL_Handle	handle,
		const float32_t	ctrlFreq_Hz
	)

inlinestatic

Sets the controller frequency.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlFreq_Hz	The controller frequency, Hz

References _CTRL_Obj_::ctrlFreq_Hz.

◆ CTRL_setCtrlPeriod_sec()

static void CTRL_setCtrlPeriod_sec	(	CTRL_Handle	handle,
		const float32_t	ctrlPeriod_sec
	)

inlinestatic

Sets the controller execution period.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlPeriod_sec	The controller execution period, sec

References _CTRL_Obj_::ctrlPeriod_sec.

◆ CTRL_setCurrentCtrlPeriod_sec()

static void CTRL_setCurrentCtrlPeriod_sec	(	CTRL_Handle	handle,
		const float32_t	currentCtrlPeriod_sec
	)

inlinestatic

Sets the current controller period value.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	currentCtrlPeriod_sec	The current controller period value, sec

References _CTRL_Obj_::currentCtrlPeriod_sec.

◆ CTRL_setErrorCode()

static void CTRL_setErrorCode	(	CTRL_Handle	handle,
		const CTRL_ErrorCode_e	errorCode
	)

inlinestatic

Sets the error code in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	errorCode	The error code

References _CTRL_Obj_::errorCode.

◆ CTRL_setFlag_enable()

static void CTRL_setFlag_enable	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the enable controller flag value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_enable.

◆ CTRL_setFlag_enableCurrentCtrl()

static void CTRL_setFlag_enableCurrentCtrl	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the enable current controllers flag value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_enableCurrentCtrl.

Referenced by CTRL_setup().

◆ CTRL_setFlag_enableSpeedCtrl()

static void CTRL_setFlag_enableSpeedCtrl	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the enable speed control value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_enableSpeedCtrl.

Referenced by CTRL_setup().

◆ CTRL_setFlag_resetInt_Id()

static void CTRL_setFlag_resetInt_Id	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the reset Id integrator flag value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_resetInt_Id.

Referenced by CTRL_setUi(), and CTRL_setup().

◆ CTRL_setFlag_resetInt_Iq()

static void CTRL_setFlag_resetInt_Iq	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the reset Iq integrator flag value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_resetInt_Iq.

Referenced by CTRL_setUi(), and CTRL_setup().

◆ CTRL_setFlag_resetInt_spd()

static void CTRL_setFlag_resetInt_spd	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the reset speed integrator flag value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_resetInt_spd.

Referenced by CTRL_setUi(), and CTRL_setup().

◆ CTRL_setFlag_useZeroIq_ref()

static void CTRL_setFlag_useZeroIq_ref	(	CTRL_Handle	handle,
		const bool	state
	)

inlinestatic

Sets the use zero Iq reference flag value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The desired state

References _CTRL_Obj_::flag_useZeroIq_ref.

Referenced by CTRL_setup().

◆ CTRL_setId_A()

static void CTRL_setId_A	(	CTRL_Handle	handle,
		const float32_t	Id_A
	)

inlinestatic

Sets the direct current (Id) value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Id_A	The direct current value, A

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

◆ CTRL_setId_offset_A()

static void CTRL_setId_offset_A	(	CTRL_Handle	handle,
		const float32_t	Id_offset_A
	)

inlinestatic

Sets the direct current (Id) offset value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Id_offset_A	The direct current offset value, A

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

◆ CTRL_setId_ref_A()

static void CTRL_setId_ref_A	(	CTRL_Handle	handle,
		const float32_t	Id_ref_A
	)

inlinestatic

Sets the direct current (Id) reference value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Id_ref_A	The direct current reference value, A

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

Referenced by CTRL_run().

◆ CTRL_setIdq_A()

static void CTRL_setIdq_A	(	CTRL_Handle	handle,
		const MATH_Vec2 *	pIdq_A
	)

inlinestatic

Sets the direct/quadrature current (Idq) vector values in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pIdq_in_A	The vector of the direct/quadrature current vector values, A

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

Referenced by CTRL_setup().

◆ CTRL_setIdq_offset_A()

static void CTRL_setIdq_offset_A	(	CTRL_Handle	handle,
		const MATH_Vec2 *	pIdq_offset_A
	)

inlinestatic

Sets the direct/quadrature current (Idq) offset vector values in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pIdq_offset_A	The vector of the direct/quadrature current offset vector values, A

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

Referenced by CTRL_setup().

◆ CTRL_setIdq_ref_A()

static void CTRL_setIdq_ref_A	(	CTRL_Handle	handle,
		const MATH_Vec2 *	pIdq_ref_A
	)

inlinestatic

Sets the direct/quadrature current (Idq) reference vector values in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pIdq_ref_A	The vector of the direct/quadrature current reference vector values, A

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

◆ CTRL_setIq_A()

static void CTRL_setIq_A	(	CTRL_Handle	handle,
		const float32_t	Iq_A
	)

inlinestatic

Sets the quadrature current (Iq) value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Id_A	The direct current value, A

References _CTRL_Obj_::Idq_A, and _MATH_Vec2_::value.

◆ CTRL_setIq_offset_pu()

static void CTRL_setIq_offset_pu	(	CTRL_Handle	handle,
		const float32_t	Iq_offset_A
	)

inlinestatic

Sets the quadrature current (Iq) offset value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Iq_offset_A	The quadrature current reference value, A

References _CTRL_Obj_::Idq_offset_A, and _MATH_Vec2_::value.

◆ CTRL_setIq_ref_A()

static void CTRL_setIq_ref_A	(	CTRL_Handle	handle,
		const float32_t	Iq_ref_A
	)

inlinestatic

Sets the quadrature current (Iq) reference value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Iq_ref_A	The quadrature current reference value, A

References _CTRL_Obj_::Idq_ref_A, and _MATH_Vec2_::value.

Referenced by CTRL_run().

◆ CTRL_setKctrl_Wb_p_kgm2()

static void CTRL_setKctrl_Wb_p_kgm2	(	CTRL_Handle	handle,
		const float32_t	Kctrl_Wb_p_kgm2
	)

inlinestatic

Sets the speed controller constant.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Kctrl_Wb_p_kgm2	The speed controller constant, Wb/(kg*m^2)

References _CTRL_Obj_::Kctrl_Wb_p_kgm2.

◆ CTRL_setKi()

static void CTRL_setKi	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType,
		const float32_t	Ki
	)

inlinestatic

Sets the integral gain (Ki) value for the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type
[in]	Ki	The Ki value

References CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, _CTRL_Obj_::Ki_Id, _CTRL_Obj_::Ki_Iq, and _CTRL_Obj_::Ki_spd_ApHz.

Referenced by CTRL_setGains().

◆ CTRL_setKp()

static void CTRL_setKp	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType,
		const float32_t	Kp
	)

inlinestatic

Sets the proportional gain (Kp) value for the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type
[in]	Kp	The Kp value

References CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, _CTRL_Obj_::Kp_Id_VpA, _CTRL_Obj_::Kp_Iq_VpA, and _CTRL_Obj_::Kp_spd_ApHz.

Referenced by CTRL_setGains().

◆ CTRL_setGains()

static void CTRL_setGains	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType,
		const float32_t	Kp,
		const float32_t	Ki
	)

inlinestatic

Sets the gain values for the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	ctrlType	The controller type
[in]	Kp	The Kp gain value, pu
[in]	Ki	The Ki gain value, pu

References CTRL_setKi(), and CTRL_setKp().

◆ CTRL_setMaxVsMag_V()

static void CTRL_setMaxVsMag_V	(	CTRL_Handle	handle,
		const float32_t	maxVsMag_V
	)

inlinestatic

Sets the maximum stator voltage magnitude value.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	maxVsMax_V	The maximum stator voltage magnitude value, V

References _CTRL_Obj_::maxVsMag_V.

◆ CTRL_setMotorParams()

static void CTRL_setMotorParams	(	CTRL_Handle	handle,
		const MOTOR_Type_e	motorType,
		const uint16_t	numPolePairs,
		const float32_t	ratedFlux_Wb,
		const float32_t	Ls_d_H,
		const float32_t	Ls_q_H,
		const float32_t	Rs_d_Ohm,
		const float32_t	Rs_q_Ohm,
		const float32_t	Rr_d_Ohm,
		const float32_t	Rr_q_Ohm
	)

inlinestatic

Sets the parameters for the motor in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	motorType	The motor type
[in]	numPolePairs	The number of motor pole pairs
[in]	ratedFlux_Wb	The rated flux value, Wb
[in]	Ls_d_H	The direct stator inductance, Henry
[in]	Ls_q_H	The quadrature stator inductance, Henry
[in]	Rs_d_Ohm	The direct stator resitance, Ohm
[in]	Rs_q_Ohm	The quadrature stator resitance, Ohm
[in]	Rr_d_Ohm	The direct rotor resistance, Ohm
[in]	Rr_q_Ohm	The quadrature rotor resistance, Ohm

References _MOTOR_Params_::Ls_d_H, _MOTOR_Params_::Ls_q_H, _CTRL_Obj_::motorParams, _MOTOR_Params_::numPolePairs, _MOTOR_Params_::ratedFlux_Wb, _MOTOR_Params_::Rr_d_Ohm, _MOTOR_Params_::Rr_q_Ohm, _MOTOR_Params_::Rs_d_Ohm, _MOTOR_Params_::Rs_q_Ohm, and _MOTOR_Params_::type.

◆ CTRL_setNumCtrlTicksPerCurrentTick()

static void CTRL_setNumCtrlTicksPerCurrentTick	(	CTRL_Handle	handle,
		const int16_t	numCtrlTicksPerCurrentTick
	)

inlinestatic

Sets the number of controller clock ticks per current controller clock tick.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	numCtrlTicksPerCurrentTick	The number of controller clock ticks per current controller clock tick

References _CTRL_Obj_::numCtrlTicksPerCurrentTick.

◆ CTRL_setNumCtrlTicksPerSpeedTick()

static void CTRL_setNumCtrlTicksPerSpeedTick	(	CTRL_Handle	handle,
		const int16_t	numCtrlTicksPerSpeedTick
	)

inlinestatic

Sets the number of controller clock ticks per speed controller clock tick.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	numCtrlTicksPerSpeedTick	The number of controller clock ticks per speed clock tick

References _CTRL_Obj_::numCtrlTicksPerSpeedTick.

◆ CTRL_setNumIsrTicksPerCtrlTick()

static void CTRL_setNumIsrTicksPerCtrlTick	(	CTRL_Handle	handle,
		const int16_t	numIsrTicksPerCtrlTick
	)

inlinestatic

Sets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	numIsrTicksPerCtrlTick	The number of Interrupt Service Routine (ISR) clock ticks per controller clock tick

References _CTRL_Obj_::numIsrTicksPerCtrlTick.

◆ CTRL_setParams()

void CTRL_setParams	(	CTRL_Handle	handle,
		USER_Params *	pUserParams
	)

Sets the controller parameters.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pUserParams	The pointer to the user parameters

◆ CTRL_setSpeed_fb_Hz()

static void CTRL_setSpeed_fb_Hz	(	CTRL_Handle	handle,
		const float32_t	speed_fb_Hz
	)

inlinestatic

Sets the feedback speed value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speed_fb_Hz	The feedback speed value, Hz

References _CTRL_Obj_::speed_fb_Hz.

Referenced by CTRL_setup().

◆ CTRL_setSpeed_out_A()

static void CTRL_setSpeed_out_A	(	CTRL_Handle	handle,
		const float32_t	speed_out_A
	)

inlinestatic

Sets the maximum output value for the speed controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speed_out_A	The output value from the speed controller

References _CTRL_Obj_::speed_out_A.

Referenced by CTRL_run().

◆ CTRL_setSpeed_outMax_A()

static void CTRL_setSpeed_outMax_A	(	CTRL_Handle	handle,
		const float32_t	speed_outMax_A
	)

inlinestatic

Sets the maximum output value for the speed controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speed_outMax_A	The maximum speed value, A

References _CTRL_Obj_::speed_outMax_A.

◆ CTRL_setSpeed_outMin_A()

static void CTRL_setSpeed_outMin_A	(	CTRL_Handle	handle,
		const float32_t	speed_outMin_A
	)

inlinestatic

Sets the minimum output value for the speed controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speed_outMin_A	The minimum speed value, A

References _CTRL_Obj_::speed_outMin_A.

◆ CTRL_setSpeed_ref_Hz()

static void CTRL_setSpeed_ref_Hz	(	CTRL_Handle	handle,
		const float32_t	speed_ref_Hz
	)

inlinestatic

Sets the output speed reference value in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speed_ref_Hz	The output speed reference value, Hz

References _CTRL_Obj_::speed_ref_Hz.

Referenced by CTRL_setup().

◆ CTRL_setSpeedCtrlPeriod_sec()

static void CTRL_setSpeedCtrlPeriod_sec	(	CTRL_Handle	handle,
		const float32_t	speedCtrlPeriod_sec
	)

inlinestatic

Sets the speed controller period value.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speedCtrlPeriod_sec	The speed controller period value, sec

References _CTRL_Obj_::speedCtrlPeriod_sec.

◆ CTRL_setState()

static void CTRL_setState	(	CTRL_Handle	handle,
		const CTRL_State_e	state
	)

inlinestatic

Sets the controller state.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	state	The new state

References _CTRL_Obj_::prevState, and _CTRL_Obj_::state.

◆ CTRL_setUi()

static void CTRL_setUi	(	CTRL_Handle	handle,
		const CTRL_Type_e	ctrlType,
		const float32_t	Ui
	)

inlinestatic

Sets the integrator (Ui) value in the specified controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Ui	The Ui value

References CTRL_setFlag_resetInt_Id(), CTRL_setFlag_resetInt_Iq(), CTRL_setFlag_resetInt_spd(), CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, _CTRL_Obj_::Ui_Id_V, _CTRL_Obj_::Ui_Iq_V, and _CTRL_Obj_::Ui_spd_A.

◆ CTRL_setVd_sf()

static void CTRL_setVd_sf	(	CTRL_Handle	handle,
		const float32_t	Vd_sf
	)

inlinestatic

Sets the direct voltage scale factor.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	Vd_sf	The direct voltage scale factor

References _CTRL_Obj_::Vd_sf.

◆ CTRL_setVdq_V()

static void CTRL_setVdq_V	(	CTRL_Handle	handle,
		const MATH_Vec2 *	pVdq_V
	)

inlinestatic

Sets the direct/quadrature voltage (Vdq) vector values in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pVdq_V	The vector of direct/quadrature voltage vector values, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_V.

Referenced by CTRL_run().

◆ CTRL_setVdq_offset_V()

static void CTRL_setVdq_offset_V	(	CTRL_Handle	handle,
		const MATH_Vec2 *	pVdq_offset_V
	)

inlinestatic

Sets the direct/quadrature offset voltage (Vdq_offset) vector values in the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pVdq_offset_V	The vector of direct/quadrature offset voltage vector values, V

References _MATH_Vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

Referenced by CTRL_setup().

◆ CTRL_setVersion()

void CTRL_setVersion	(	CTRL_Handle	handle,
		const CTRL_TargetProc_e	targetProc,
		const uint16_t	majorReleaseNumber,
		const uint16_t	minorReleaseNumber
	)

Sets the controller version.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	targetProc	The target processor
[in]	majorReleaseNumber	The major release number
[in]	minorReleaseNumber	The minor release number

◆ CTRL_setWaitTimes()

void CTRL_setWaitTimes	(	CTRL_Handle	handle,
		const int32_t *	pWaitTimes
	)

Sets the wait times for the controller states.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	pWaitTimes	A pointer to a vector of wait times, controller clock counts

◆ CTRL_updateState()

bool CTRL_updateState ( CTRL_Handle handle )

Updates the controller state.

Parameters

[in] handle The controller (CTRL) handle

Returns: A boolean value denoting if the state has changed (true) or not (false)

◆ CTRL_setup()

static void CTRL_setup	(	CTRL_Handle	handle,
		const float32_t	speed_ref_Hz,
		const float32_t	speed_fb_Hz,
		const MATH_Vec2 *	pIdq_A,
		const MATH_Vec2 *	pIdq_offset_A,
		const MATH_Vec2 *	pVdq_offset_V,
		const bool	flag_enableSpeedCtrl,
		const bool	flag_enableCurrentCtrl,
		const bool	flag_useZeroIq_ref
	)

inlinestatic

Sets up the user controller (CTRL) object.

Parameters

[in]	handle	The controller (CTRL) handle
[in]	speed_ref_Hz	The reference speed value to use for the speed controller, Hz
[in]	speed_fb_Hz	The feedback speed value to use for the speed controller, Hz
[in]	pIdq_A	The pointer to the Idq values, A
[in]	pIdq_offset_A	The pointer to the Idq offset values, A
[in]	pVdq_offset_V	The pointer to the Vdq offset values, V
[in]	flag_enableSpeedCtrl	The flag used to enable the speed controller
[in]	flag_enableCurrentCtrl	The flag used to enable the current controller
[in]	flag_useZeroIq_ref	The flag used to enable the zero Iq reference input

References CTRL_getFlag_resetInt_Id(), CTRL_getFlag_resetInt_Iq(), CTRL_getFlag_resetInt_spd(), CTRL_getKi(), CTRL_getKp(), CTRL_getUi(), CTRL_incrCounter_current(), CTRL_incrCounter_speed(), CTRL_setFlag_enableCurrentCtrl(), CTRL_setFlag_enableSpeedCtrl(), CTRL_setFlag_resetInt_Id(), CTRL_setFlag_resetInt_Iq(), CTRL_setFlag_resetInt_spd(), CTRL_setFlag_useZeroIq_ref(), CTRL_setIdq_A(), CTRL_setIdq_offset_A(), CTRL_setSpeed_fb_Hz(), CTRL_setSpeed_ref_Hz(), CTRL_setVdq_offset_V(), CTRL_TYPE_PI_ID, CTRL_TYPE_PI_IQ, CTRL_TYPE_PI_SPD, PI_setKi(), PI_setKp(), PI_setUi(), _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, and _CTRL_Obj_::piHandle_spd.

◆ CTRL_run()

static void CTRL_run	(	CTRL_Handle	handle,
		MATH_Vec2 *	pVdq_V
	)

inlinestatic

Run the controller.

Parameters

[in]	handle	The controller (CTRL) handle
[out]	pVdq_V	The pointer to the direct/quadrature voltage vector, V

References CTRL_computeOutputLimits_Id(), CTRL_computeOutputLimits_Iq(), CTRL_getCount_current(), CTRL_getCount_speed(), CTRL_getFlag_enableCurrentCtrl(), CTRL_getFlag_enableSpeedCtrl(), CTRL_getFlag_useZeroIq_ref(), CTRL_getId_A(), CTRL_getId_offset_A(), CTRL_getIq_A(), CTRL_getIq_offset_A(), CTRL_getNumCtrlTicksPerCurrentTick(), CTRL_getNumCtrlTicksPerSpeedTick(), CTRL_getSpeed_fb_Hz(), CTRL_getSpeed_out_A(), CTRL_getSpeed_out_A_addr(), CTRL_getSpeed_outMax_A(), CTRL_getSpeed_outMin_A(), CTRL_getSpeed_ref_Hz(), CTRL_getVd_offset_V(), CTRL_getVdq_V(), CTRL_getVq_offset_V(), CTRL_incrCounter_state(), CTRL_resetCounter_current(), CTRL_resetCounter_speed(), CTRL_setId_ref_A(), CTRL_setIq_ref_A(), CTRL_setSpeed_out_A(), CTRL_setVdq_V(), PI_run_series(), PI_setMinMax(), _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, _CTRL_Obj_::piHandle_spd, and _MATH_Vec2_::value.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ CTRL_MAJOR_RELEASE_NUMBER

◆ CTRL_MINOR_RELEASE_NUMBER

◆ CTRL_NUM_CONTROLLERS

Typedef Documentation

◆ CTRL_Version

◆ CTRL_Obj

◆ CTRL_Handle

Enumeration Type Documentation

◆ CTRL_ErrorCode_e

◆ CTRL_TargetProc_e

◆ CTRL_Type_e

◆ CTRL_State_e

Function Documentation

◆ CTRL_checkForErrors()

◆ CTRL_computePhasor()

◆ CTRL_disable()

◆ CTRL_enable()

◆ CTRL_getBWc_rps()

◆ CTRL_getBWdelta()

◆ CTRL_getKctrl_Wb_p_kgm2()

◆ CTRL_getVd_sf()

◆ CTRL_getMaxVsMag_V()

◆ CTRL_computeOutputLimits_Id()

◆ CTRL_computeOutputLimits_Iq()

◆ CTRL_getCount_current()

◆ CTRL_getCount_isr()

◆ CTRL_getCount_speed()

◆ CTRL_getCount_state()

◆ CTRL_getCtrlFreq_Hz()

◆ CTRL_getCurrentCtrlPeriod_sec()

◆ CTRL_getCtrlPeriod_sec()

◆ CTRL_getErrorCode()

◆ CTRL_getFlag_enable()

◆ CTRL_getFlag_enableCurrentCtrl()

◆ CTRL_getFlag_enableSpeedCtrl()

◆ CTRL_getFlag_resetInt_Id()

◆ CTRL_getFlag_resetInt_Iq()

◆ CTRL_getFlag_resetInt_spd()

◆ CTRL_getFlag_useZeroIq_ref()

◆ CTRL_getId_A()

◆ CTRL_getId_A_addr()

◆ CTRL_getId_offset_A()

◆ CTRL_getId_offset_A_addr()

◆ CTRL_getId_ref_A()

◆ CTRL_getId_ref_A_addr()

◆ CTRL_getIdq_A()

◆ CTRL_getIdq_A_addr()

◆ CTRL_getIdq_offset_A()

◆ CTRL_getIdq_offset_A_addr()

◆ CTRL_getIdq_ref_A()

◆ CTRL_getIdq_ref_A_addr()

◆ CTRL_getIq_A()

◆ CTRL_getIq_A_addr()

◆ CTRL_getIq_offset_A()

◆ CTRL_getIq_offset_A_addr()

◆ CTRL_getIq_ref_A()

◆ CTRL_getIq_ref_A_addr()

◆ CTRL_getKi()

◆ CTRL_getKp()

◆ CTRL_getGains()

◆ CTRL_getMotorType()

◆ CTRL_getNumCtrlTicksPerCurrentTick()

◆ CTRL_getNumCtrlTicksPerSpeedTick()

◆ CTRL_getNumIsrTicksPerCtrlTick()

◆ CTRL_getRefValue()

◆ CTRL_getSpeed_fb_Hz()

◆ CTRL_getSpeed_out_A()

◆ CTRL_getSpeed_out_A_addr()

◆ CTRL_getSpeed_outMax_A()

◆ CTRL_getSpeed_outMin_A()

◆ CTRL_getSpeed_ref_Hz()

◆ CTRL_getSpeedCtrlPeriod_sec()

◆ CTRL_getState()