Data Structures
struct	_EST_InputData_
	Defines the estimator (EST) input data. More...

struct	_EST_OutputData_
	Defines the estimator (EST) output data. More...

Macros
#define	FLASH_LIB_VER (2000)
	Defines the version of estimators. More...

#define	FULL_LIB_VER (2010)

#define	PMSM_LIB_VER (2020)

#define	SIMPLE_LIB_VER (2030)

Typedefs
typedef struct _EST_InputData_	EST_InputData_t
	Defines the estimator (EST) input data. More...

typedef struct _EST_InputData_ *	EST_InputHandle
	Defines the estimator (EST) input data handle. More...

typedef struct _EST_OutputData_	EST_OutputData_t
	Defines the estimator (EST) output data. More...

typedef struct _EST_OutputData_ *	EST_OutputHandle
	Defines the estimator (EST) output data handle. More...

typedef struct _EST_Obj_ *	EST_Handle
	Defines the estimator (EST) handle. More...

typedef struct _EST_InputData_	EST_InputData_t
	Defines the estimator (EST) input data. More...

typedef struct _EST_InputData_ *	EST_InputHandle
	Defines the estimator (EST) input data handle. More...

typedef struct _EST_OutputData_	EST_OutputData_t
	Defines the estimator (EST) output data. More...

typedef struct _EST_OutputData_ *	EST_OutputHandle
	Defines the estimator (EST) output data handle. More...

typedef struct _EST_Obj_ *	EST_Handle
	Defines the estimator (EST) handle. More...

Enumerations
enum	EST_RsOnLineFilterType_e { EST_RSONLINEFILTERTYPE_CURRENT =0, EST_RSONLINEFILTERTYPE_VOLTAGE, EST_RSONLINEFILTERTYPE_CURRENT = 0, EST_RSONLINEFILTERTYPE_VOLTAGE = 1 }
	Enumeration for the Rs online filter types. More...

enum	EST_Flux_ErrorCode_e { EST_FLUX_ERRORCODE_NOERROR =0, EST_FLUX_ERRORCODE_SHIFTOVERFLOW, EST_FLUX_ERRORCODE_CLIP, EST_FLUX_NUMERRORCODES, EST_FLUX_ERRORCODE_NOERROR =0, EST_FLUX_ERRORCODE_SHIFTOVERFLOW, EST_FLUX_ERRORCODE_CLIP, EST_FLUX_NUMERRORCODES }
	Enumeration for the estimator error codes. More...

enum	EST_Flux_State_e { EST_FLUX_STATE_ERROR = 0, EST_FLUX_STATE_IDLE = 1, EST_FLUX_STATE_CL1 = 2, EST_FLUX_STATE_CL2 = 3, EST_FLUX_STATE_FINE = 4, EST_FLUX_STATE_DONE = 5, EST_FLUX_NUMSTATES = 6, EST_FLUX_STATE_ERROR = 0, EST_FLUX_STATE_IDLE = 1, EST_FLUX_STATE_CL1 = 2, EST_FLUX_STATE_CL2 = 3, EST_FLUX_STATE_FINE = 4, EST_FLUX_STATE_DONE = 5, EST_FLUX_NUMSTATES = 6 }
	Enumeration for the estimator states. More...

enum	EST_Ls_ErrorCode_e { EST_LS_ERRORCODE_NOERROR =0, EST_LS_ERRORCODE_SHIFTOVERFLOW, EST_LS_NUMERRORCODES, EST_LS_ERRORCODE_NOERROR =0, EST_LS_ERRORCODE_SHIFTOVERFLOW, EST_LS_NUMERRORCODES }
	Enumeration for the stator inductance estimator error codes. More...

enum	EST_Ls_State_e { EST_LS_STATE_ERROR = 0, EST_LS_STATE_IDLE = 1, EST_LS_STATE_RAMPUP = 2, EST_LS_STATE_INIT = 3, EST_LS_STATE_COARSE = 4, EST_LS_STATE_FINE = 5, EST_LS_STATE_DONE = 6, EST_LS_NUMSTATES = 7, EST_LS_STATE_ERROR = 0, EST_LS_STATE_IDLE = 1, EST_LS_STATE_RAMPUP = 2, EST_LS_STATE_INIT = 3, EST_LS_STATE_COARSE = 4, EST_LS_STATE_FINE = 5, EST_LS_STATE_DONE = 6, EST_LS_NUMSTATES = 7 }
	Enumeration for the stator inductance estimator states. More...

enum	EST_Rr_State_e { EST_RR_STATE_ERROR =0, EST_RR_STATE_IDLE = 1, EST_RR_STATE_RAMPUP = 2, EST_RR_STATE_COARSE = 3, EST_RR_STATE_FINE = 4, EST_RR_STATE_DONE = 5, EST_RR_NUMSTATES = 6, EST_RR_STATE_ERROR =0, EST_RR_STATE_IDLE = 1, EST_RR_STATE_RAMPUP = 2, EST_RR_STATE_COARSE = 3, EST_RR_STATE_FINE = 4, EST_RR_STATE_DONE = 5, EST_RR_NUMSTATES = 6 }
	Enumeration for the rotor resistance estimator states. More...

enum	EST_Rs_State_e { EST_RS_STATE_ERROR =0, EST_RS_STATE_IDLE = 1, EST_RS_STATE_RAMPUP = 2, EST_RS_STATE_COARSE = 3, EST_RS_STATE_FINE = 4, EST_RS_STATE_DONE = 5, EST_RS_NUMSTATES = 6, EST_RS_STATE_ERROR =0, EST_RS_STATE_IDLE = 1, EST_RS_STATE_RAMPUP = 2, EST_RS_STATE_COARSE = 3, EST_RS_STATE_FINE = 4, EST_RS_STATE_DONE = 5, EST_RS_NUMSTATES = 6 }
	Enumeration for the stator resistance estimator states. More...

enum	EST_ErrorCode_e { EST_ERRORCODE_NOERROR = 0, EST_ERRORCODE_FLUX_OL_SHIFTOVERFLOW = 1, EST_ERRORCODE_FLUXERROR = 2, EST_ERRORCODE_DIR_SHIFTOVERFLOW = 3, EST_ERRORCODE_IND_SHIFTOVERFLOW = 4, EST_NUMERRORCODES = 5, EST_ERRORCODE_NOERROR = 0, EST_ERRORCODE_FLUX_OL_SHIFTOVERFLOW = 1, EST_ERRORCODE_FLUXERROR = 2, EST_ERRORCODE_DIR_SHIFTOVERFLOW = 3, EST_ERRORCODE_IND_SHIFTOVERFLOW = 4, EST_NUMERRORCODES = 5 }
	Enumeration for the estimator error codes. More...

enum	EST_State_e { EST_STATE_ERROR = 0, EST_STATE_IDLE = 1, EST_STATE_ROVERL = 2, EST_STATE_RS = 3, EST_STATE_RAMPUP = 4, EST_STATE_CONSTSPEED = 5, EST_STATE_IDRATED = 6, EST_STATE_RATEDFLUX_OL = 7, EST_STATE_RATEDFLUX = 8, EST_STATE_RAMPDOWN = 9, EST_STATE_LOCKROTOR = 0xA, EST_STATE_LS = 0xB, EST_STATE_RR = 0xC, EST_STATE_MOTORIDENTIFIED = 0xD, EST_STATE_ONLINE = 0xE, EST_NUMSTATES = 0xF, EST_RESERVED = 0x1000, EST_STATE_ERROR = 0, EST_STATE_IDLE = 1, EST_STATE_ROVERL = 2, EST_STATE_RS = 3, EST_STATE_RAMPUP = 4, EST_STATE_CONSTSPEED = 5, EST_STATE_IDRATED = 6, EST_STATE_RATEDFLUX_OL = 7, EST_STATE_RATEDFLUX = 8, EST_STATE_RAMPDOWN = 9, EST_STATE_LOCKROTOR = 0xA, EST_STATE_LS = 0xB, EST_STATE_RR = 0xC, EST_STATE_MOTORIDENTIFIED = 0xD, EST_STATE_ONLINE = 0xE, EST_NUMSTATES = 0xF, EST_RESERVED = 0x1000 }
	Enumeration for the estimator states. More...

enum	EST_Traj_ErrorCode_e { EST_TRAJ_ERRORCODE_NOERROR =0, EST_TRAJ_ERRORCODE_IDCLIP, EST_TRAJ_NUMERRORCODES, EST_TRAJ_ERRORCODE_NOERROR =0, EST_TRAJ_ERRORCODE_IDCLIP, EST_TRAJ_NUMERRORCODES }
	Enumeration for the trajectory generator error codes. More...

enum	EST_Traj_State_e { EST_TRAJ_STATE_ERROR =0, EST_TRAJ_STATE_IDLE = 1, EST_TRAJ_STATE_EST = 2, EST_TRAJ_STATE_ONLINE = 3, EST_TRAJ_NUMSTATES = 4, EST_TRAJ_RESERVED = 0x10000, EST_TRAJ_STATE_ERROR =0, EST_TRAJ_STATE_IDLE = 1, EST_TRAJ_STATE_EST = 2, EST_TRAJ_STATE_ONLINE = 3, EST_TRAJ_NUMSTATES = 4, EST_TRAJ_RESERVED = 0x10000 }
	Enumeration for the trajectory generator states. More...

enum	EST_RsOnLineFilterType_e { EST_RSONLINEFILTERTYPE_CURRENT =0, EST_RSONLINEFILTERTYPE_VOLTAGE, EST_RSONLINEFILTERTYPE_CURRENT = 0, EST_RSONLINEFILTERTYPE_VOLTAGE = 1 }
	Enumeration for the Rs online filter types. More...

Functions
float32_t	EST_computeLmag_H (EST_Handle handle, const float32_t current_A)
	Computes the magnetizing inductance in Henries (H) More...

float32_t	cla_EST_computeLmag_H (EST_Handle handle, const float32_t current_A)

float32_t	EST_computePower_W (EST_Handle handle)
	Computes the power in Watts (W) More...

float32_t	cla_EST_computePower_W (EST_Handle handle)

float32_t	EST_computeTorque_Nm (EST_Handle handle)
	Computes the torque value in per Newton-meter (Nm) More...

float32_t	cla_EST_computeTorque_Nm (EST_Handle handle)

void	EST_configureCtrl (EST_Handle handle, CTRL_Handle ctrlHandle)
	Configures the controller for each of the estimator states. More...

void	cla_EST_configureCtrl (EST_Handle handle, CTRL_Handle ctrlHandle)

void	EST_configureTraj (EST_Handle handle)
	Configures the trajectory generator for each of the estimator states. More...

void	cla_EST_configureTraj (EST_Handle handle)

void	EST_disable (EST_Handle handle)
	Disables the estimator. More...

void	cla_EST_disable (EST_Handle handle)

void	EST_disableTraj (EST_Handle handle)
	Disables the estimator trajectory generator. More...

void	cla_EST_disableTraj (EST_Handle handle)

bool	EST_doCurrentCtrl (EST_Handle handle)
	Determines if current control should be performed during motor identification. More...

bool	cla_EST_doCurrentCtrl (EST_Handle handle)

bool	EST_doSpeedCtrl (EST_Handle handle)
	Determines if speed control should be performed during motor identification. More...

bool	cla_EST_doSpeedCtrl (EST_Handle handle)

void	EST_enable (EST_Handle handle)
	Enables the estimator. More...

void	cla_EST_enable (EST_Handle handle)

void	EST_enableTraj (EST_Handle handle)
	Enables the estimator trajectory generator. More...

void	cla_EST_enableTraj (EST_Handle handle)

float32_t	EST_get_rpm_to_rps_sf (EST_Handle handle)
	Gets the rpm to rad/sec scale factor. More...

float32_t	cla_EST_get_rpm_to_rps_sf (EST_Handle handle)

float32_t	EST_get_rps_to_rpm_sf (EST_Handle handle)
	Gets the rad/sec to rpm scale factor. More...

float32_t	cla_EST_get_rps_to_rpm_sf (EST_Handle handle)

float32_t	EST_getAccel_rps2 (EST_Handle handle)
	Gets the mechanical acceleration from the estimator. More...

float32_t	cla_EST_getAccel_rps2 (EST_Handle handle)

float32_t	EST_getAngle_est_rad (EST_Handle handle)
	Gets the estimated angle from the estimator. More...

float32_t	cla_EST_getAngle_est_rad (EST_Handle handle)

float32_t	EST_getAngle_rad (EST_Handle handle)
	Gets the angle estimate for t = n+1 from the estimator in radians (rad). More...

float32_t	cla_EST_getAngle_rad (EST_Handle handle)

float32_t	EST_getAngle_traj_rad (EST_Handle handle)
	Gets the trajectory angle from the estimator. More...

float32_t	cla_EST_getAngle_traj_rad (EST_Handle handle)

float32_t	EST_getAngleDelta_rad (EST_Handle handle)
	Gets the angle delta estimate for t = n+1 from the estimator. More...

float32_t	cla_EST_getAngleDelta_rad (EST_Handle handle)

float32_t	EST_getAngleDelta_est_rad (EST_Handle handle)
	Gets the angle delta estimate for t = n+1 from the estimator in radians (rad). More...

float32_t	cla_EST_getAngleDelta_est_rad (EST_Handle handle)

float32_t	EST_getAngleDelta_traj_rad (EST_Handle handle)
	Gets the angle delta estimate for t = n+1 from the trajectory in radians (rad). More...

float32_t	cla_EST_getAngleDelta_traj_rad (EST_Handle handle)

int16_t	EST_getCount_isr (EST_Handle handle)
	Gets the ISR count from the estimator. More...

int16_t	cla_EST_getCount_isr (EST_Handle handle)

float32_t	EST_getDcBus_V (EST_Handle handle)
	Gets the DC bus value from the estimator in volts (V) More...

float32_t	cla_EST_getDcBus_V (EST_Handle handle)

void	EST_getEab_V (EST_Handle handle, MATH_Vec2 *pEab_V)
	Gets the alpha/beta back EMF voltage vector from the estimator. More...

void	cla_EST_getEab_V (EST_Handle handle, MATH_Vec2 *pEab_V)

void	EST_getEdq_V (EST_Handle handle, MATH_Vec2 *pEdq_V)
	Gets the direct/quadrature back EMF voltage vector from the estimator. More...

void	cla_EST_getEdq_V (EST_Handle handle, MATH_Vec2 *pEdq_V)

EST_ErrorCode_e	EST_getErrorCode (EST_Handle handle)
	Gets the error code from the estimator. More...

EST_ErrorCode_e	cla_EST_getErrorCode (EST_Handle handle)

float32_t	EST_getFe_Hz (EST_Handle handle)
	Gets the electrical frequency of the motor in Hertz (Hz). More...

float32_t	cla_EST_getFe_Hz (EST_Handle handle)

float32_t	EST_getFe_abs_max_rps (EST_Handle handle)
	Gets the absolute maximum electrical frequency of the motor in rad/sec. More...

float32_t	cla_EST_getFe_abs_max_rps (EST_Handle handle)

float32_t	EST_getFe_rps (EST_Handle handle)
	Gets the electrical frequency of the motor in rad/sec. More...

float32_t	cla_EST_getFe_rps (EST_Handle handle)

bool	EST_getFlag_bypassLockRotor (EST_Handle handle)
	Gets the bypass lock rotor flag value. More...

bool	cla_EST_getFlag_bypassLockRotor (EST_Handle handle)

bool	EST_getFlag_enable (EST_Handle handle)
	Gets the enable estimator flag value. More...

bool	cla_EST_getFlag_enable (EST_Handle handle)

bool	EST_getFlag_enableForceAngle (EST_Handle handle)
	Gets the enable force angle flag value from the estimator. More...

bool	cla_EST_getFlag_enableForceAngle (EST_Handle handle)

bool	EST_getFlag_enablePowerWarp (EST_Handle handle)
	Gets the enable power warp flag value from the trajectory generator. More...

bool	cla_EST_getFlag_enablePowerWarp (EST_Handle handle)

bool	EST_getFlag_enableRsOnLine (EST_Handle handle)
	Gets the value of the flag which enables online stator resistance (Rs) estimation. More...

bool	cla_EST_getFlag_enableRsOnLine (EST_Handle handle)

bool	EST_getFlag_enableRsRecalc (EST_Handle handle)
	Gets the enable stator resistance re-calibrate flag value from the estimator. More...

bool	cla_EST_getFlag_enableRsRecalc (EST_Handle handle)

bool	EST_getFlag_enableTraj (EST_Handle handle)
	Gets the enable trajectory flag value from the trajectory generator. More...

bool	cla_EST_getFlag_enableTraj (EST_Handle handle)

bool	EST_getFlag_estComplete (EST_Handle handle)
	Gets the value of the flag which denotes when the estimation is complete. More...

bool	cla_EST_getFlag_estComplete (EST_Handle handle)

bool	EST_getFlag_motorIdentified (EST_Handle handle)
	Gets the motor identified flag state in the estimator. More...

bool	cla_EST_getFlag_motorIdentified (EST_Handle handle)

bool	EST_getFlag_nearZeroSpeed (EST_Handle handle)
	Gets the near zero speed flag state. More...

bool	cla_EST_getFlag_nearZeroSpeed (EST_Handle handle)

bool	EST_getFlag_updateRs (EST_Handle handle)
	Gets the value of the flag which enables the updating of the stator resistance (Rs) value. More...

bool	cla_EST_getFlag_updateRs (EST_Handle handle)

float32_t	EST_getFlux_Wb (EST_Handle handle)
	Gets the flux value in Weber (Wb). More...

float32_t	cla_EST_getFlux_Wb (EST_Handle handle)

EST_Flux_State_e	EST_getFluxState (EST_Handle handle)
	Gets the flux estimator state. More...

EST_Flux_State_e	cla_EST_getFluxState (EST_Handle handle)

float32_t	EST_getFm_Hz (EST_Handle handle)
	Gets the mechanical frequency of the motor in Hertz (Hz). More...

float32_t	cla_EST_getFm_Hz (EST_Handle handle)

float32_t	EST_getFm_lp_Hz (EST_Handle handle)
	Gets the low pass filtered mechanical frequency of the motor in Hz. More...

float32_t	cla_EST_getFm_lp_Hz (EST_Handle handle)

float32_t	EST_getFm_lp_rps (EST_Handle handle)
	Gets the low pass filtered mechanical frequency of the motor in rad/sec. More...

float32_t	cla_EST_getFm_lp_rps (EST_Handle handle)

float32_t	EST_getFm_rps (EST_Handle handle)
	Gets the mechanical frequency of the motor in rad/sec. More...

float32_t	cla_EST_getFm_rps (EST_Handle handle)

float32_t	EST_getForceAngleDelta_rad (EST_Handle handle)
	Gets the force angle delta value from the estimator in radians (rad). More...

float32_t	cla_EST_getForceAngleDelta_rad (EST_Handle handle)

bool	EST_getForceAngleStatus (EST_Handle handle)
	Gets the status of the force angle operation in the estimator. More...

bool	cla_EST_getForceAngleStatus (EST_Handle handle)

float32_t	EST_getFreqBeta_lp (EST_Handle handle)
	Gets the value used to set the pole location in the low-pass filter of the frequency estimator in radians per second (rps). More...

float32_t	cla_EST_getFreqBeta_lp (EST_Handle handle)

float32_t	EST_getFslip_Hz (EST_Handle handle)
	Gets the slip frequency of the motor in Hertz (Hz). More...

float32_t	cla_EST_getFslip_Hz (EST_Handle handle)

float32_t	EST_getFslip_rps (EST_Handle handle)
	Gets the slip frequency of the motor in rad/sec. More...

float32_t	cla_EST_getFslip_rps (EST_Handle handle)

void	EST_getIab_A (EST_Handle handle, MATH_Vec2 *pIab_A)
	Gets the Iab current vector in Ampere (A). More...

void	cla_EST_getIab_A (EST_Handle handle, MATH_Vec2 *pIab_A)

void	EST_getIab_lp_A (EST_Handle handle, MATH_Vec2 *pIab_lp_A)
	Gets the low pass filtered Iab current vector in Ampere (A). More...

void	cla_EST_getIab_lp_A (EST_Handle handle, MATH_Vec2 *pIab_lp_A)

float32_t	EST_getIab_beta_lp (EST_Handle handle)
	Gets the beta value for the Iab low pass filter. More...

float32_t	cla_EST_getIab_beta_lp (EST_Handle handle)

void	EST_getIdq_A (EST_Handle handle, MATH_Vec2 *pIdq_A)
	Gets the Idq current vector in Ampere (A) More...

void	cla_EST_getIdq_A (EST_Handle handle, MATH_Vec2 *pIdq_A)

void	EST_getIdq_lp_A (EST_Handle handle, MATH_Vec2 *pIdq_lp_A)
	Gets the Idq low pass filtered current vector in Ampere (A). More...

void	cla_EST_getIdq_lp_A (EST_Handle handle, MATH_Vec2 *pIdq_lp_A)

void	EST_getIdq_ref_A (EST_Handle handle, MATH_Vec2 *pIdq_ref_A)
	Gets the Idq current vector reference in Ampere (A). More...

void	cla_EST_getIdq_ref_A (EST_Handle handle, MATH_Vec2 *pIdq_ref_A)

float32_t	EST_getIdRated_A (EST_Handle handle)
	Gets the Id rated current value from the estimator in Ampere (A). More...

float32_t	cla_EST_getIdRated_A (EST_Handle handle)

float32_t	EST_getIdRated_delta_A (EST_Handle handle)
	Gets the Id rated delta current value from the estimator in Ampere (A) More...

float32_t	cla_EST_getIdRated_delta_A (EST_Handle handle)

float32_t	EST_getIdRated_indEst_A (EST_Handle handle)
	Gets the Id current value used for inductance estimation of induction motors in Ampere (A). More...

float32_t	cla_EST_getIdRated_indEst_A (EST_Handle handle)

float32_t	EST_getIntValue_Id_A (EST_Handle handle)
	Gets the intermediate value from the Id trajectory generator. More...

float32_t	cla_EST_getIntValue_Id_A (EST_Handle handle)

float32_t	EST_getIntValue_Iq_A (EST_Handle handle)
	Gets the intermediate value from the Iq trajectory generator. More...

float32_t	cla_EST_getIntValue_Iq_A (EST_Handle handle)

float32_t	EST_getIntValue_spd_Hz (EST_Handle handle)
	Gets the intermediate value from the speed trajectory generator. More...

float32_t	cla_EST_getIntValue_spd_Hz (EST_Handle handle)

float32_t	EST_getLhf_H (EST_Handle handle)
	Gets the Lhf value from the estimator. More...

float32_t	cla_EST_getLhf_H (EST_Handle handle)

float32_t	EST_getLmag_H (EST_Handle handle)
	Gets the magnetizing inductance value in Henry (H). More...

float32_t	cla_EST_getLmag_H (EST_Handle handle)

float32_t	EST_getLs_coarseDelta_H (EST_Handle handle)
	Gets the delta stator inductance value during coarse estimation. More...

float32_t	cla_EST_getLs_coarseDelta_H (EST_Handle handle)

float32_t	EST_getLs_d_H (EST_Handle handle)
	Gets the direct stator inductance value in Henry (H). More...

float32_t	cla_EST_getLs_d_H (EST_Handle handle)

void	EST_getLs_dq_H (EST_Handle handle, MATH_Vec2 *pLs_dq_H)
	Gets the direct/quadrature stator inductance values from the estimator in Henry (H). More...

void	cla_EST_getLs_dq_H (EST_Handle handle, MATH_Vec2 *pLs_dq_H)

float32_t	EST_getLs_fineDelta_H (EST_Handle handle)
	Gets the delta stator inductance value during fine estimation. More...

float32_t	cla_EST_getLs_fineDelta_H (EST_Handle handle)

float32_t	EST_getLs_H (EST_Handle handle)
	Gets the stator inductance value in Henry (H) More...

float32_t	cla_EST_getLs_H (EST_Handle handle)

float32_t	EST_getLs_q_H (EST_Handle handle)
	Gets the stator inductance value in the quadrature coordinate direction in Henry (H). More...

float32_t	cla_EST_getLs_q_H (EST_Handle handle)

float32_t	EST_getMaxCurrentDelta_A (EST_Handle handle)
	Gets the maximum current slope value used in the estimator in Amperes (A). More...

float32_t	cla_EST_getMaxCurrentDelta_A (EST_Handle handle)

float32_t	EST_getMaxCurrentDelta_pw_A (EST_Handle handle)
	Gets the maximum power warp current slope value used in the estimator in Amperes (A). More...

float32_t	cla_EST_getMaxCurrentDelta_pw_A (EST_Handle handle)

float32_t	EST_getMaxDelta_Id_A (EST_Handle handle)
	Gets the maximum delta value from the Id trajectory generator. More...

float32_t	cla_EST_getMaxDelta_Id_A (EST_Handle handle)

float32_t	EST_getMaxDelta_Iq_A (EST_Handle handle)
	Gets the maximum delta value from the Iq trajectory generator. More...

float32_t	cla_EST_getMaxDelta_Iq_A (EST_Handle handle)

float32_t	EST_getMaxDelta_spd_Hz (EST_Handle handle)
	Gets the maximum delta value from the speed trajectory generator. More...

float32_t	cla_EST_getMaxDelta_spd_Hz (EST_Handle handle)

float32_t	EST_getMaxSpeedDelta_Hz (EST_Handle handle)
	Gets the maximum acceleration value used in the estimator in Hertz (Hz). More...

float32_t	cla_EST_getMaxSpeedDelta_Hz (EST_Handle handle)

float32_t	EST_getMaxValue_Id_A (EST_Handle handle)
	Gets the maximum value from the Id trajectory generator. More...

float32_t	cla_EST_getMaxValue_Id_A (EST_Handle handle)

float32_t	EST_getMaxValue_Iq_A (EST_Handle handle)
	Gets the maximum value from the Iq trajectory generator. More...

float32_t	cla_EST_getMaxValue_Iq_A (EST_Handle handle)

float32_t	EST_getMaxValue_spd_Hz (EST_Handle handle)
	Gets the maximum value from the speed trajectory generator. More...

float32_t	cla_EST_getMaxValue_spd_Hz (EST_Handle handle)

float32_t	EST_getMinValue_Id_A (EST_Handle handle)
	Gets the minimum value from the Id trajectory generator. More...

float32_t	cla_EST_getMinValue_Id_A (EST_Handle handle)

float32_t	EST_getMinValue_Iq_A (EST_Handle handle)
	Gets the minimum value from the Iq trajectory generator. More...

float32_t	cla_EST_getMinValue_Iq_A (EST_Handle handle)

float32_t	EST_getMinValue_spd_Hz (EST_Handle handle)
	Gets the minimum value from the speed trajectory generator. More...

float32_t	cla_EST_getMinValue_spd_Hz (EST_Handle handle)

int16_t	EST_getNumIsrTicksPerEstTick (EST_Handle handle)
	Gets the number of Interrupt Service Routine (ISR) clock ticks per estimator clock tick. More...

int16_t	cla_EST_getNumIsrTicksPerEstTick (EST_Handle handle)

int16_t	EST_getNumIsrTicksPerTrajTick (EST_Handle handle)
	Gets the number of Interrupt Service Routine (ISR) clock ticks per estimator trajectory clock tick. More...

int16_t	cla_EST_getNumIsrTicksPerTrajTick (EST_Handle handle)

float32_t	EST_getOneOverDcBus_invV (EST_Handle handle)
	Gets the inverse of the DC bus voltage in 1/Volt (1/V). More...

float32_t	cla_EST_getOneOverDcBus_invV (EST_Handle handle)

float32_t	EST_getPwGain (EST_Handle handle)
	Gets the power warp gain from the trajectory generator. More...

float32_t	cla_EST_getPwGain (EST_Handle handle)

float32_t	EST_getRhf_Ohm (EST_Handle handle)
	Gets the Rhf value from the estimator. More...

float32_t	cla_EST_getRhf_Ohm (EST_Handle handle)

float32_t	EST_getRoverL_rps (EST_Handle handle)
	Gets the R/L value from the estimator. More...

float32_t	cla_EST_getRoverL_rps (EST_Handle handle)

float32_t	EST_getRr_coarseDelta_Ohm (EST_Handle handle)
	Gets the coarse delta rotor resistance value from the estimator. More...

float32_t	cla_EST_getRr_coarseDelta_Ohm (EST_Handle handle)

float32_t	EST_getRr_d_Ohm (EST_Handle handle)
	Gets the direct rotor resistance value in Ohm ( $\Omega$ ). More...

float32_t	cla_EST_getRr_d_Ohm (EST_Handle handle)

void	EST_getRr_dq_Ohm (EST_Handle handle, MATH_Vec2 *pRr_dq_Ohm)
	Gets the direct/quadrature rotor resistance values from the estimator in Ohms ( $\Omega$ ). More...

void	cla_EST_getRr_dq_Ohm (EST_Handle handle, MATH_Vec2 *pRr_dq_Ohm)

float32_t	EST_getRr_fineDelta_Ohm (EST_Handle handle)
	Gets the fine delta rotor resistance value from the estimator. More...

float32_t	cla_EST_getRr_fineDelta_Ohm (EST_Handle handle)

float32_t	EST_getRr_Ohm (EST_Handle handle)
	Gets the rotor resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRr_Ohm (EST_Handle handle)

float32_t	EST_getRr_q_Ohm (EST_Handle handle)
	Gets the quadrature rotor resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRr_q_Ohm (EST_Handle handle)

float32_t	EST_getRs_a_Ohm (EST_Handle handle)
	Gets the alpha stator resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRs_a_Ohm (EST_Handle handle)

void	EST_getRs_ab_Ohm (EST_Handle handle, MATH_Vec2 *pRs_ab_Ohm)
	Gets the alpha/beta stator resistance values from the estimator in Ohms ( $\Omega$ ). More...

void	cla_EST_getRs_ab_Ohm (EST_Handle handle, MATH_Vec2 *pRs_ab_Ohm)

float32_t	EST_getRs_b_Ohm (EST_Handle handle)
	Gets the beta stator resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRs_b_Ohm (EST_Handle handle)

float32_t	EST_getRs_coarseDelta_Ohm (EST_Handle handle)
	Gets the coarse delta stator resistance value from the estimator. More...

float32_t	cla_EST_getRs_coarseDelta_Ohm (EST_Handle handle)

float32_t	EST_getRs_d_Ohm (EST_Handle handle)
	Gets the direct stator resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRs_d_Ohm (EST_Handle handle)

void	EST_getRs_dq_Ohm (EST_Handle handle, MATH_Vec2 *pRs_dq_Ohm)
	Gets the direct/quadrature stator resistance values from the estimator in Ohms ( $\Omega$ ). More...

void	cla_EST_getRs_dq_Ohm (EST_Handle handle, MATH_Vec2 *pRs_dq_Ohm)

float32_t	EST_getRs_fineDelta_Ohm (EST_Handle handle)
	Gets the fine delta stator resistance value from the estimator. More...

float32_t	cla_EST_getRs_fineDelta_Ohm (EST_Handle handle)

float32_t	EST_getRs_q_Ohm (EST_Handle handle)
	Gets the quadrature stator resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRs_q_Ohm (EST_Handle handle)

float32_t	EST_getRs_Ohm (EST_Handle handle)
	Gets the stator resistance value in Ohms ( $\Omega$ ). More...

float32_t	cla_EST_getRs_Ohm (EST_Handle handle)

float32_t	EST_getRsOnLine_Ohm (EST_Handle handle)
	Gets the online stator resistance value in Ohm ( $\Omega$ ). More...

float32_t	cla_EST_getRsOnLine_Ohm (EST_Handle handle)

float32_t	EST_getRsOnLineAngle_rad (EST_Handle handle)
	Gets the angle value from the estimator. More...

float32_t	cla_EST_getRsOnLineAngle_rad (EST_Handle handle)

float32_t	EST_getRsOnLineAngleDelta_rad (EST_Handle handle)
	Gets the delta angle value from the estimator. More...

float32_t	cla_EST_getRsOnLineAngleDelta_rad (EST_Handle handle)

float32_t	EST_getRsOnLineId_mag_A (EST_Handle handle)
	Gets the Id magnitude value used for online stator resistance estimation in Ampere (A). More...

float32_t	cla_EST_getRsOnLineId_mag_A (EST_Handle handle)

float32_t	EST_getRsOnLineId_A (EST_Handle handle)
	Gets the Id value used for online stator resistance estimation in Ampere (A). More...

float32_t	cla_EST_getRsOnLineId_A (EST_Handle handle)

void	EST_getRsOnLineLpFilterParams (EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint16_t filterNumber, float32_t b0, float32_t b1, float32_t a1, float32_t x1, float32_t *y1)
	Gets the online stator resistance filter parameters. More...

void	cla_EST_getRsOnLineLpFilterParams (EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint16_t filterNumber, float32_t b0, float32_t b1, float32_t a1, float32_t x1, float32_t *y1)

int16_t	EST_getSignOfDirection (EST_Handle handle)
	Gets the sign of the direction value in 16 bit signed integer (int16_t). More...

int16_t	cla_EST_getSignOfDirection (EST_Handle handle)

float32_t	EST_getSpeed_ref_Hz (EST_Handle handle)
	Gets the reference speed value from the estimator. More...

float32_t	cla_EST_getSpeed_ref_Hz (EST_Handle handle)

float32_t	EST_getSpeed_rpm (EST_Handle handle)
	Gets the speed value in revolutions per second (rpm). More...

float32_t	cla_EST_getSpeed_rpm (EST_Handle handle)

EST_State_e	EST_getState (EST_Handle handle)
	Gets the state of the estimator. More...

EST_State_e	cla_EST_getState (EST_Handle handle)

float32_t	EST_getTargetValue_Id_A (EST_Handle handle)
	Gets the target value from the Id trajectory generator. More...

float32_t	cla_EST_getTargetValue_Id_A (EST_Handle handle)

float32_t	EST_getTargetValue_Iq_A (EST_Handle handle)
	Gets the target value from the Iq trajectory generator. More...

float32_t	cla_EST_getTargetValue_Iq_A (EST_Handle handle)

float32_t	EST_getTargetValue_spd_Hz (EST_Handle handle)
	Gets the target value from the speed trajectory generator. More...

float32_t	cla_EST_getTargetValue_spd_Hz (EST_Handle handle)

float32_t	EST_getTorque_sf (EST_Handle handle)
	Gets the torque scale factor for the torque equation. More...

float32_t	cla_EST_getTorque_sf (EST_Handle handle)

int16_t	EST_getTrajCount_isr (EST_Handle handle)
	Gets the trajectory ISR count from the estimator. More...

int16_t	cla_EST_getTrajCount_isr (EST_Handle handle)

EST_Traj_State_e	EST_getTrajState (EST_Handle handle)
	Gets the trajectory generator state. More...

EST_Traj_State_e	cla_EST_getTrajState (EST_Handle handle)

void	EST_getVab_V (EST_Handle handle, MATH_Vec2 *pVab_V)
	Gets the Vab voltage vector in Volts (V) More...

void	cla_EST_getVab_V (EST_Handle handle, MATH_Vec2 *pVab_V)

void	EST_getVdq_lp_V (EST_Handle handle, MATH_Vec2 *pVdq_lp_V)
	Gets the low pass filtered Vdq voltage vector in Volts (V) More...

void	cla_EST_getVdq_lp_V (EST_Handle handle, MATH_Vec2 *pVdq_lp_V)

void	EST_getVdq_V (EST_Handle handle, MATH_Vec2 *pVdq_V)
	Gets the Vdq voltage vector in Volts (V) More...

void	cla_EST_getVdq_V (EST_Handle handle, MATH_Vec2 *pVdq_V)

void	EST_incrCounter_isr (EST_Handle handle)
	Increments the ISR counter in the estimator. More...

void	cla_EST_incrCounter_isr (EST_Handle handle)

void	EST_incrTrajCounter_isr (EST_Handle handle)
	Increments the ISR counter in the trajectory generator. More...

void	cla_EST_incrTrajCounter_isr (EST_Handle handle)

EST_Handle	EST_initEst (const uint16_t estNumber)
	Initializes the estimator. More...

EST_Handle	cla_EST_initEst (const uint16_t estNumber)

bool	EST_isEnabled (EST_Handle handle)
	Determines if the estimator (EST) is enabled. More...

bool	cla_EST_isEnabled (EST_Handle handle)

bool	EST_isError (EST_Handle handle)
	Determines if there is an error in the estimator. More...

bool	cla_EST_isError (EST_Handle handle)

bool	EST_isIdle (EST_Handle handle)
	Determines if the estimator is idle. More...

bool	cla_EST_isIdle (EST_Handle handle)

bool	EST_isLockRotor (EST_Handle handle)
	Determines if the estimator is waiting for the rotor to be locked. More...

bool	cla_EST_isLockRotor (EST_Handle handle)

bool	EST_isMotorIdentified (EST_Handle handle)
	Determines if the motor has been identified. More...

bool	cla_EST_isMotorIdentified (EST_Handle handle)

bool	EST_isNotOnLine (EST_Handle handle)
	Determines if the estimator is not ready for online control. More...

bool	cla_EST_isNotOnLine (EST_Handle handle)

bool	EST_isOnLine (EST_Handle handle)
	Determines if the estimator is ready for online control. More...

bool	cla_EST_isOnLine (EST_Handle handle)

bool	EST_isTrajEnabled (EST_Handle handle)
	Determines if the trajectory generator is enabled. More...

bool	cla_EST_isTrajEnabled (EST_Handle handle)

bool	EST_isTrajError (EST_Handle handle)
	Determines if there is an error in the trajectory generator. More...

bool	cla_EST_isTrajError (EST_Handle handle)

void	EST_resetCounter_isr (EST_Handle handle)
	Resets the isr counter. More...

void	cla_EST_resetCounter_isr (EST_Handle handle)

void	EST_resetCounter_state (EST_Handle handle)
	Resets the state counter. More...

void	cla_EST_resetCounter_state (EST_Handle handle)

void	EST_resetTrajCounter_isr (EST_Handle handle)
	Resets the trajectory ISR counter. More...

void	cla_EST_resetTrajCounter_isr (EST_Handle handle)

void	EST_run (EST_Handle handle, const EST_InputData_t pInputData, EST_OutputData_t pOutputData)
	Runs the estimator. More...

void	cla_EST_run (EST_Handle handle, const EST_InputData_t pInputData, EST_OutputData_t pOutputData)

float32_t	EST_runPowerWarp (EST_Handle handle, const float32_t Id_int_A, const float32_t Iq_A)
	Runs PowerWarp. More...

float32_t	cla_EST_runPowerWarp (EST_Handle handle, const float32_t Id_int_A, const float32_t Iq_A)

void	EST_runTraj (EST_Handle handle)
	Runs the trajectory generator. More...

void	cla_EST_runTraj (EST_Handle handle)

void	EST_setAccel_rps2 (EST_Handle handle, const float32_t accel_rps2)
	Sets the mechanical acceleration in the estimator. More...

void	cla_EST_setAccel_rps2 (EST_Handle handle, const float32_t accel_rps2)

void	EST_setAngle_rad (EST_Handle handle, const float32_t angle_rad)
	Sets the angle value at t = n in both the estimator and trajectory in radians (rad). More...

void	cla_EST_setAngle_rad (EST_Handle handle, const float32_t angle_rad)

void	EST_setAngle_est_rad (EST_Handle handle, const float32_t angle_rad)
	Sets the angle value at t = n in the estimator in radians (rad). More...

void	cla_EST_setAngle_est_rad (EST_Handle handle, const float32_t angle_rad)

void	EST_setAngle_np1_rad (EST_Handle handle, const float32_t angle_np1_rad)
	Sets the angle value at t = n+1 in the estimator in radians (rad). More...

void	cla_EST_setAngle_np1_rad (EST_Handle handle, const float32_t angle_np1_rad)

void	EST_setAngle_traj_rad (EST_Handle handle, const float32_t angle_rad)
	Sets the angle value at t = n in the trajectory in radians (rad). More...

void	cla_EST_setAngle_traj_rad (EST_Handle handle, const float32_t angle_rad)

void	EST_setAngleDelta_est_rad (EST_Handle handle, const float32_t delta_rad)
	Sets the estimated angle delta value. More...

void	cla_EST_setAngleDelta_est_rad (EST_Handle handle, const float32_t delta_rad)

void	EST_setAngleDelta_traj_rad (EST_Handle handle, const float32_t delta_rad)
	Sets the trajectory angle delta value. More...

void	cla_EST_setAngleDelta_traj_rad (EST_Handle handle, const float32_t delta_rad)

void	EST_setCount_isr (EST_Handle handle, const int16_t value)
	Sets the ISR count in the estimator. More...

void	cla_EST_setCount_isr (EST_Handle handle, const int16_t value)

void	EST_setCount_state (EST_Handle handle, const int32_t value)
	Sets the state count in the estimator. More...

void	cla_EST_setCount_state (EST_Handle handle, const int32_t value)

void	EST_setCount_traj (EST_Handle handle, const int16_t value)
	Sets the ISR count value in the estimator trajectory. More...

void	cla_EST_setCount_traj (EST_Handle handle, const int16_t value)

void	EST_setDcBus_V (EST_Handle handle, const float32_t dcBus_V)
	Sets the DC bus voltage in the estimator in Volt (V). More...

void	cla_EST_setDcBus_V (EST_Handle handle, const float32_t dcBus_V)

void	EST_setFe_Hz (EST_Handle handle, const float32_t fe_Hz)
	Sets the electrical frequency in the estimator. More...

void	cla_EST_setFe_Hz (EST_Handle handle, const float32_t fe_Hz)

void	EST_setFe_abs_max_rps (EST_Handle handle, const float32_t fe_abs_max_rps)
	Sets the absolute maximum electrical frequency in the estimator. More...

void	cla_EST_setFe_abs_max_rps (EST_Handle handle, const float32_t fe_abs_max_rps)

void	EST_setFe_rps (EST_Handle handle, const float32_t fe_rps)
	Sets the electrical frequency in the estimator. More...

void	cla_EST_setFe_rps (EST_Handle handle, const float32_t fe_rps)

void	EST_setFlag_bypassLockRotor (EST_Handle handle, const bool state)
	Sets the bypass lock rotor flag value in the estimator. More...

void	cla_EST_setFlag_bypassLockRotor (EST_Handle handle, const bool state)

void	EST_setFlag_enable (EST_Handle handle, const bool state)
	Sets the enable estimator flag value in the estimator. More...

void	cla_EST_setFlag_enable (EST_Handle handle, const bool state)

void	EST_setFlag_enableForceAngle (EST_Handle handle, const bool state)
	Sets the enable force angle flag in the estimator. More...

void	cla_EST_setFlag_enableForceAngle (EST_Handle handle, const bool state)

void	EST_setFlag_enablePowerWarp (EST_Handle handle, const bool state)
	Sets the enable PowerWarp flag in the estimator. More...

void	cla_EST_setFlag_enablePowerWarp (EST_Handle handle, const bool state)

void	EST_setFlag_enableRsOnLine (EST_Handle handle, const bool state)
	Sets the enable Rs online flag in the estimator. More...

void	cla_EST_setFlag_enableRsOnLine (EST_Handle handle, const bool state)

void	EST_setFlag_enableRsRecalc (EST_Handle handle, const bool state)
	Sets the enable stator resistance (Rs) re-calculation flag in the estimator. More...

void	cla_EST_setFlag_enableRsRecalc (EST_Handle handle, const bool state)

void	EST_setFlag_estComplete (EST_Handle handle, const bool state)
	Sets the estimation complete flag in the estimator. More...

void	cla_EST_setFlag_estComplete (EST_Handle handle, const bool state)

void	EST_setFlag_motorIdentified (EST_Handle handle, const bool state)
	Sets the motor identified flag state in the estimator. More...

void	cla_EST_setFlag_motorIdentified (EST_Handle handle, const bool state)

void	EST_setFlag_updateRs (EST_Handle handle, const bool state)
	Sets the update stator resistance (Rs) flag in the estimator. More...

void	cla_EST_setFlag_updateRs (EST_Handle handle, const bool state)

void	EST_setFm_Hz (EST_Handle handle, const float32_t fm_Hz)
	Sets the asynchronous/mechanical frequency in the estimator. More...

void	cla_EST_setFm_Hz (EST_Handle handle, const float32_t fm_Hz)

void	EST_setFm_lp_Hz (EST_Handle handle, const float32_t fm_lp_Hz)
	Sets the low pass filtered asynchronous/mechanical frequency in the estimator. More...

void	cla_EST_setFm_lp_Hz (EST_Handle handle, const float32_t fm_lp_Hz)

void	EST_setFm_lp_rps (EST_Handle handle, const float32_t fm_lp_rps)
	Sets the low pass filtered asynchronous/mechanical frequency in the estimator. More...

void	cla_EST_setFm_lp_rps (EST_Handle handle, const float32_t fm_lp_rps)

void	EST_setFm_rps (EST_Handle handle, const float32_t fm_rps)
	Sets the asynchronous/mechanical frequency in the estimator. More...

void	cla_EST_setFm_rps (EST_Handle handle, const float32_t fm_rps)

void	EST_setFslip_Hz (EST_Handle handle, const float32_t fslip_Hz)
	Sets the slip frequency in the estimator. More...

void	cla_EST_setFslip_Hz (EST_Handle handle, const float32_t fslip_Hz)

void	EST_setFslip_rps (EST_Handle handle, const float32_t fslip_rps)
	Sets the slip frequency in the estimator. More...

void	cla_EST_setFslip_rps (EST_Handle handle, const float32_t fslip_rps)

void	EST_setForceAngleDelta_rad (EST_Handle handle, const float32_t angleDelta_rad)
	Sets the force angle delta value in the estimator in radians (rad). More...

void	cla_EST_setForceAngleDelta_rad (EST_Handle handle, const float32_t angleDelta_rad)

void	EST_setFreqBeta_lp (EST_Handle handle, const float32_t beta_rad)
	Sets the value used to set the low pass filter pole location in the frequency estimator in radians (rad). More...

void	cla_EST_setFreqBeta_lp (EST_Handle handle, const float32_t beta_rad)

void	EST_setId_ref_A (EST_Handle handle, const float32_t Id_ref_A)
	Sets the direct current (Id) reference value in the estimator in Ampere (A). More...

void	cla_EST_setId_ref_A (EST_Handle handle, const float32_t Id_ref_A)

void	EST_setIdle (EST_Handle handle)
	Sets the estimator to idle. More...

void	cla_EST_setIdle (EST_Handle handle)

void	EST_setIdq_ref_A (EST_Handle handle, const MATH_Vec2 *pIdq_ref_A)
	Sets the direct/quadrature current (Idq) reference value in the estimator in Ampere (A). More...

void	cla_EST_setIdq_ref_A (EST_Handle handle, const MATH_Vec2 *pIdq_ref_A)

void	EST_setIdRated_A (EST_Handle handle, const float32_t IdRated_A)
	Sets the Id rated current value in the estimator in Ampere (A). More...

void	cla_EST_setIdRated_A (EST_Handle handle, const float32_t IdRated_A)

void	EST_setIdRated_delta_A (EST_Handle handle, const float32_t IdRated_delta_A)
	Sets the Id rated delta current value in the estimator in Ampere (A) More...

void	cla_EST_setIdRated_delta_A (EST_Handle handle, const float32_t IdRated_delta_A)

void	EST_setIntValue_Id_A (EST_Handle handle, const float32_t intValue_A)
	Sets the intermediate value in the Id trajectory generator. More...

void	cla_EST_setIntValue_Id_A (EST_Handle handle, const float32_t intValue_A)

void	EST_setIntValue_Iq_A (EST_Handle handle, const float32_t intValue_A)
	Sets the intermediate value in the Iq trajectory generator. More...

void	cla_EST_setIntValue_Iq_A (EST_Handle handle, const float32_t intValue_A)

void	EST_setIntValue_spd_Hz (EST_Handle handle, const float32_t intValue_Hz)
	Sets the intermediate value in the speed trajectory generator. More...

void	cla_EST_setIntValue_spd_Hz (EST_Handle handle, const float32_t intValue_Hz)

void	EST_setIq_ref_A (EST_Handle handle, const float32_t Iq_ref_A)
	Sets the quadrature current (Iq) reference value in the estimator in Ampere (A). More...

void	cla_EST_setIq_ref_A (EST_Handle handle, const float32_t Iq_ref_A)

void	EST_setLhf_H (EST_Handle handle, const float32_t Lhf_H)
	Sets the Lhf value in the estimator. More...

void	cla_EST_setLhf_H (EST_Handle handle, const float32_t Lhf_H)

void	EST_setLs_coarseDelta_H (EST_Handle handle, const float32_t Ls_delta_H)
	Sets the delta stator inductance value during coarse estimation. More...

void	cla_EST_setLs_coarseDelta_H (EST_Handle handle, const float32_t Ls_delta_H)

void	EST_setLs_d_H (EST_Handle handle, const float32_t Ls_d_H)
	Sets the direct stator inductance value in the estimator in Henry (H). More...

void	cla_EST_setLs_d_H (EST_Handle handle, const float32_t Ls_d_H)

void	EST_setLs_dq_H (EST_Handle handle, const MATH_Vec2 *pLs_dq_H)
	Sets the direct/quadrature stator inductance vector values in the estimator in Henry (H). More...

void	cla_EST_setLs_dq_H (EST_Handle handle, const MATH_Vec2 *pLs_dq_H)

void	EST_setLs_fineDelta_H (EST_Handle handle, const float32_t Ls_delta_H)
	Sets the delta stator inductance value during fine estimation. More...

void	cla_EST_setLs_fineDelta_H (EST_Handle handle, const float32_t Ls_delta_H)

void	EST_setLs_H (EST_Handle handle, const float32_t Ls_H)
	Sets the stator inductance value in the estimator in Henry (H). More...

void	cla_EST_setLs_H (EST_Handle handle, const float32_t Ls_H)

void	EST_setLs_q_H (EST_Handle handle, const float32_t Ls_q_H)
	Sets the quadrature stator inductance value in the estimator in Henry (H). More...

void	cla_EST_setLs_q_H (EST_Handle handle, const float32_t Ls_q_H)

void	EST_setNumIsrTicksPerEstTick (EST_Handle handle, const int16_t numIsrTicksPerEstTick)
	Sets the number of Interrupt Service Routine (ISR) clock ticks per estimator clock tick. More...

void	cla_EST_setNumIsrTicksPerEstTick (EST_Handle handle, const int16_t numIsrTicksPerEstTick)

void	EST_setNumIsrTicksPerTrajTick (EST_Handle handle, const int16_t numIsrTicksPerTrajTick)
	Sets the number of Interrupt Service Routine (ISR) clock ticks per estimator trajectory clock tick. More...

void	cla_EST_setNumIsrTicksPerTrajTick (EST_Handle handle, const int16_t numIsrTicksPerTrajTick)

void	EST_setMaxCurrentDelta_A (EST_Handle handle, const float32_t maxCurrentDelta_A)
	Sets the maximum current delta value in the estimator in Ampere (A). More...

void	cla_EST_setMaxCurrentDelta_A (EST_Handle handle, const float32_t maxCurrentDelta_A)

void	EST_setMaxCurrentDelta_pw_A (EST_Handle handle, const float32_t maxCurrentDelta_A)
	Sets the maximum power warp current delta value used in the estimator in Ampere (A). More...

void	cla_EST_setMaxCurrentDelta_pw_A (EST_Handle handle, const float32_t maxCurrentDelta_A)

void	EST_setMaxDelta_Id_A (EST_Handle handle, const float32_t maxDelta_A)
	Sets the maximum delta value in the Id trajectory generator. More...

void	cla_EST_setMaxDelta_Id_A (EST_Handle handle, const float32_t maxDelta_A)

void	EST_setMaxDelta_Iq_A (EST_Handle handle, const float32_t maxDelta_A)
	Sets the maximum delta value in the Iq trajectory generator. More...

void	cla_EST_setMaxDelta_Iq_A (EST_Handle handle, const float32_t maxDelta_A)

void	EST_setMaxDelta_spd_Hz (EST_Handle handle, const float32_t maxDelta_Hz)
	Sets the maximum delta value in the speed trajectory generator. More...

void	cla_EST_setMaxDelta_spd_Hz (EST_Handle handle, const float32_t maxDelta_Hz)

void	EST_setMaxSpeedDelta_Hz (EST_Handle handle, const float32_t maxSpeedDelta_Hz)
	Sets the maximum speed delta value during estimation. More...

void	cla_EST_setMaxSpeedDelta_Hz (EST_Handle handle, const float32_t maxSpeedDelta_Hz)

void	EST_setMaxValue_Id_A (EST_Handle handle, const float32_t maxValue_A)
	Sets the maximum value in the Id trajectory generator. More...

void	cla_EST_setMaxValue_Id_A (EST_Handle handle, const float32_t maxValue_A)

void	EST_setMaxValue_Iq_A (EST_Handle handle, const float32_t maxValue_A)
	Sets the maximum value in the Iq trajectory generator. More...

void	cla_EST_setMaxValue_Iq_A (EST_Handle handle, const float32_t maxValue_A)

void	EST_setMaxValue_spd_Hz (EST_Handle handle, const float32_t maxValue_Hz)
	Sets the maximum value in the speed trajectory generator. More...

void	cla_EST_setMaxValue_spd_Hz (EST_Handle handle, const float32_t maxValue_Hz)

void	EST_setMinValue_Id_A (EST_Handle handle, const float32_t minValue_A)
	Sets the minimum value in the Id trajectory generator. More...

void	cla_EST_setMinValue_Id_A (EST_Handle handle, const float32_t minValue_A)

void	EST_setMinValue_Iq_A (EST_Handle handle, const float32_t minValue_A)
	Sets the minimum value in the Iq trajectory generator. More...

void	cla_EST_setMinValue_Iq_A (EST_Handle handle, const float32_t minValue_A)

void	EST_setMinValue_spd_Hz (EST_Handle handle, const float32_t minValue_Hz)
	Sets the minimum value in the speed trajectory generator. More...

void	cla_EST_setMinValue_spd_Hz (EST_Handle handle, const float32_t minValue_Hz)

void	EST_setParams (EST_Handle handle, USER_Params *pUserParams)
	Sets the estimator parameters using the user parameters structreu. More...

void	cla_EST_setParams (EST_Handle handle, USER_Params *pUserParams)

void	EST_setPwGain (EST_Handle handle, const float32_t pwGain)
	Sets the power warp gain in the trajectory generator. More...

void	cla_EST_setPwGain (EST_Handle handle, const float32_t pwGain)

void	EST_setRhf_Ohm (EST_Handle handle, const float32_t Rhf_Ohm)
	Sets the Rhf value in the estimator. More...

void	cla_EST_setRhf_Ohm (EST_Handle handle, const float32_t Rhf_Ohm)

void	EST_setRoverL_rps (EST_Handle handle, const float32_t RoverL_rps)
	Sets the R/L value in the estimator. More...

void	cla_EST_setRoverL_rps (EST_Handle handle, const float32_t RoverL_rps)

void	EST_setRr_coarseDelta_Ohm (EST_Handle handle, const float32_t Rr_coarseDelta_Ohm)
	Sets the coarse delta rotor resistance value in the estimator. More...

void	cla_EST_setRr_coarseDelta_Ohm (EST_Handle handle, const float32_t Rr_coarseDelta_Ohm)

void	EST_setRr_d_Ohm (EST_Handle handle, const float32_t Rr_d_Ohm)
	Sets the direct rotor resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRr_d_Ohm (EST_Handle handle, const float32_t Rr_d_Ohm)

void	EST_setRr_dq_Ohm (EST_Handle handle, const MATH_Vec2 *pRr_dq_Ohm)
	Sets the direct/quadrature rotor resistance values used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRr_dq_Ohm (EST_Handle handle, const MATH_Vec2 *pRr_dq_Ohm)

void	EST_setRr_fineDelta_Ohm (EST_Handle handle, const float32_t Rr_fineDelta_Ohm)
	Sets the fine delta rotor resistance value in the estimator. More...

void	cla_EST_setRr_fineDelta_Ohm (EST_Handle handle, const float32_t Rr_fineDelta_Ohm)

void	EST_setRr_max_Ohm (EST_Handle handle, const float32_t Rr_max_Ohm)
	Sets the maximum rotor resistance maximum value for saturation. More...

void	cla_EST_setRr_max_Ohm (EST_Handle handle, const float32_t Rr_max_Ohm)

void	EST_setRr_min_Ohm (EST_Handle handle, const float32_t Rr_min_Ohm)
	Sets the minimum rotor resistance value for saturation. More...

void	cla_EST_setRr_min_Ohm (EST_Handle handle, const float32_t Rr_min_Ohm)

void	EST_setRr_Ohm (EST_Handle handle, const float32_t Rr_Ohm)
	Sets the rotor resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRr_Ohm (EST_Handle handle, const float32_t Rr_Ohm)

void	EST_setRr_q_Ohm (EST_Handle handle, const float32_t Rr_q_Ohm)
	Sets the quadrature rotor resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRr_q_Ohm (EST_Handle handle, const float32_t Rr_q_Ohm)

void	EST_setRs_a_Ohm (EST_Handle handle, const float32_t Rs_a_Ohm)
	Sets the alpha stator resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_a_Ohm (EST_Handle handle, const float32_t Rs_a_Ohm)

void	EST_setRs_ab_Ohm (EST_Handle handle, const MATH_Vec2 *pRs_ab_Ohm)
	Sets the alpha/beta stator resistance values used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_ab_Ohm (EST_Handle handle, const MATH_Vec2 *pRs_ab_Ohm)

void	EST_setRs_b_Ohm (EST_Handle handle, const float32_t Rs_b_Ohm)
	Sets the beta stator resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_b_Ohm (EST_Handle handle, const float32_t Rs_b_Ohm)

void	EST_setRs_coarseDelta_Ohm (EST_Handle handle, const float32_t Rs_coarseDelta_Ohm)
	Sets the coarse delta stator resistance value. More...

void	cla_EST_setRs_coarseDelta_Ohm (EST_Handle handle, const float32_t Rs_coarseDelta_Ohm)

void	EST_setRs_d_Ohm (EST_Handle handle, const float32_t Rs_d_Ohm)
	Sets the direct stator resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_d_Ohm (EST_Handle handle, const float32_t Rs_d_Ohm)

void	EST_setRs_dq_Ohm (EST_Handle handle, const MATH_Vec2 *pRs_dq_Ohm)
	Sets the direct/quadrature stator resistance values used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_dq_Ohm (EST_Handle handle, const MATH_Vec2 *pRs_dq_Ohm)

void	EST_setRs_fineDelta_Ohm (EST_Handle handle, const float32_t Rs_fineDelta_Ohm)
	Sets the fine delta stator resistance value. More...

void	cla_EST_setRs_fineDelta_Ohm (EST_Handle handle, const float32_t Rs_fineDelta_Ohm)

void	EST_setRs_Ohm (EST_Handle handle, const float32_t Rs_Ohm)
	Sets the stator resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_Ohm (EST_Handle handle, const float32_t Rs_Ohm)

void	EST_setRs_q_Ohm (EST_Handle handle, const float32_t Rs_q_Ohm)
	Sets the quadrature stator resistance value used in the estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRs_q_Ohm (EST_Handle handle, const float32_t Rs_q_Ohm)

void	EST_setRsOnLine_beta_rad (EST_Handle handle, const float32_t beta_rad)
	Sets the beta of the filters used for online stator resistance estimation in radians (rad). More...

void	cla_EST_setRsOnLine_beta_rad (EST_Handle handle, const float32_t beta_rad)

void	EST_setRsOnLine_Ohm (EST_Handle handle, const float32_t Rs_Ohm)
	Sets the stator resistance value in the online stator resistance estimator in Ohm ( $\Omega$ ). More...

void	cla_EST_setRsOnLine_Ohm (EST_Handle handle, const float32_t Rs_Ohm)

void	EST_setRsOnLineAngle_rad (EST_Handle handle, const float32_t angle_rad)
	Sets the angle value in the estimator. More...

void	cla_EST_setRsOnLineAngle_rad (EST_Handle handle, const float32_t angle_rad)

void	EST_setRsOnLineAngleDelta_rad (EST_Handle handle, const float32_t angleDelta_rad)
	Sets the rotating angle delta in the online stator resistance estimator in radians. More...

void	cla_EST_setRsOnLineAngleDelta_rad (EST_Handle handle, const float32_t angleDelta_rad)

void	EST_setRsOnLineId_A (EST_Handle handle, const float32_t Id_A)
	Sets the Id value in the online stator resistance estimator in Ampere (A). More...

void	cla_EST_setRsOnLineId_A (EST_Handle handle, const float32_t Id_A)

void	EST_setRsOnLineId_mag_A (EST_Handle handle, const float32_t Id_mag_A)
	Sets the Id magnitude value used for online stator resistance estimation in Ampere (A). More...

void	cla_EST_setRsOnLineId_mag_A (EST_Handle handle, const float32_t Id_mag_A)

void	EST_setRsOnLineLpFilterParams (EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint16_t filterNumber, const float32_t b0, const float32_t b1, const float32_t a1, const float32_t x1, const float32_t y1)
	Sets the online stator resistance filter parameters. More...

void	cla_EST_setRsOnLineLpFilterParams (EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint16_t filterNumber, const float32_t b0, const float32_t b1, const float32_t a1, const float32_t x1, const float32_t y1)

void	EST_setSpeed_ref_Hz (EST_Handle handle, const float32_t speed_ref_Hz)
	Sets the reference speed in the estimator. More...

void	cla_EST_setSpeed_ref_Hz (EST_Handle handle, const float32_t speed_ref_Hz)

void	EST_setTargetValue_Id_A (EST_Handle handle, const float32_t targetValue_A)
	Sets the target value in the Id trajectory generator. More...

void	cla_EST_setTargetValue_Id_A (EST_Handle handle, const float32_t targetValue_A)

void	EST_setTargetValue_Iq_A (EST_Handle handle, const float32_t targetValue_A)
	Sets the target value in the Iq trajectory generator. More...

void	cla_EST_setTargetValue_Iq_A (EST_Handle handle, const float32_t targetValue_A)

void	EST_setTargetValue_spd_Hz (EST_Handle handle, const float32_t targetValue_Hz)
	Sets the target value in the speed trajectory generator. More...

void	cla_EST_setTargetValue_spd_Hz (EST_Handle handle, const float32_t targetValue_Hz)

void	EST_setupTraj (EST_Handle handle, CTRL_Handle ctrlHandle, const float32_t targetValue_spd_Hz, const float32_t targetValue_Id_A)
	Sets up the trajectory generator. More...

void	cla_EST_setupTraj (EST_Handle handle, CTRL_Handle ctrlHandle, const float32_t targetValue_spd_Hz, const float32_t targetValue_Id_A)

void	EST_updateId_ref_A (EST_Handle handle, float32_t *pId_ref_A)
	Updates the Id reference value used for online stator resistance estimation in Ampere (A). More...

void	cla_EST_updateId_ref_A (EST_Handle handle, float32_t *pId_ref_A)

bool	EST_updateState (EST_Handle handle, const float32_t Id_target_A)
	Updates the estimator state. More...

bool	cla_EST_updateState (EST_Handle handle, const float32_t Id_target_A)

bool	EST_updateTrajState (EST_Handle handle)
	Updates the trajectory generator state. More...

bool	cla_EST_updateTrajState (EST_Handle handle)

bool	EST_useZeroIq_ref (EST_Handle handle)
	Determines if a zero Iq current reference should be used in the controller. More...

bool	cla_EST_useZeroIq_ref (EST_Handle handle)

void	EST_disableDynamicEst (EST_Handle handle)
	Disables dynamic flux estimation. More...

void	cla_EST_disableDynamicEst (EST_Handle handle)

void	EST_enableDynamicEst (EST_Handle handle)
	Enables dynamic flux estimation. More...

void	cla_EST_enableDynamicEst (EST_Handle handle)

bool	EST_getFlag_enableDynamicEst (EST_Handle handle)
	Gets the state of the enable dynamic estimation (i.e. the motor is turning) flag from the estimator. More...

bool	cla_EST_getFlag_enableDynamicEst (EST_Handle handle)

bool	EST_getFlag_enableFluxControl (EST_Handle handle)
	Gets the enable flux control flag value from the estimator. More...

bool	cla_EST_getFlag_enableFluxControl (EST_Handle handle)

void	EST_setFlag_enableDynamicEst (EST_Handle handle, const bool state)
	Sets the state of the enable dynamic estimation (i.e. the motor is turning) flag in the estimator. More...

void	cla_EST_setFlag_enableDynamicEst (EST_Handle handle, const bool state)

void	EST_setFlag_enableFluxControl (EST_Handle handle, const bool state)
	Sets the enable flux control flag in the estimator. More...

void	cla_EST_setFlag_enableFluxControl (EST_Handle handle, const bool state)

void	EST_setOneOverFluxGain_sf (EST_Handle handle, USER_Params *pUserParams, const float32_t oneOverFluxGain_sf)
	Configures the controller for each of the estimator states. More...

void	cal_EST_setOneOverFluxGain_sf (EST_Handle handle, USER_Params *pUserParams, const float32_t oneOverFluxGain_sf)

void	EST_setFreqLFP_sf (EST_Handle handle, USER_Params *pUserParams, const float32_t freqLFP_sf)
	Configures the controller for each of the estimator states. More...

void	EST_setBemf_sf (EST_Handle handle, USER_Params *pUserParams, const float32_t bemf_sf)
	Configures the controller for each of the estimator states. More...

void	EST_configureTrajState (EST_Handle handle, USER_Params *pUserParams, PI_Handle piHandle_spd, PI_Handle piHandle_Id, PI_Handle piHandle_Iq)
	Configures the controller for each of the estimator states. More...

void	EST_setupTrajState (EST_Handle handle, const float32_t Iq_A, const float32_t targetValue_spd_Hz, const float32_t targetValue_Id_A)
	Sets up the trajectory generator. More...

Detailed Description

Macro Definition Documentation

◆ FLASH_LIB_VER

#define FLASH_LIB_VER (2000)

Defines the version of estimators.

◆ FULL_LIB_VER

#define FULL_LIB_VER (2010)

◆ PMSM_LIB_VER

#define PMSM_LIB_VER (2020)

◆ SIMPLE_LIB_VER

#define SIMPLE_LIB_VER (2030)

Typedef Documentation

◆ EST_InputData_t [1/2]

typedef struct _EST_InputData_ EST_InputData_t

Defines the estimator (EST) input data.

◆ EST_InputHandle [1/2]

typedef struct _EST_InputData_* EST_InputHandle

Defines the estimator (EST) input data handle.

◆ EST_OutputData_t [1/2]

typedef struct _EST_OutputData_ EST_OutputData_t

Defines the estimator (EST) output data.

◆ EST_OutputHandle [1/2]

typedef struct _EST_OutputData_* EST_OutputHandle

Defines the estimator (EST) output data handle.

◆ EST_Handle [1/2]

typedef struct _EST_Obj_* EST_Handle

Defines the estimator (EST) handle.

◆ EST_InputData_t [2/2]

typedef struct _EST_InputData_ EST_InputData_t

Defines the estimator (EST) input data.

◆ EST_InputHandle [2/2]

typedef struct _EST_InputData_* EST_InputHandle

Defines the estimator (EST) input data handle.

◆ EST_OutputData_t [2/2]

typedef struct _EST_OutputData_ EST_OutputData_t

Defines the estimator (EST) output data.

◆ EST_OutputHandle [2/2]

typedef struct _EST_OutputData_* EST_OutputHandle

Defines the estimator (EST) output data handle.

◆ EST_Handle [2/2]

typedef struct _EST_Obj_* EST_Handle

Defines the estimator (EST) handle.

Enumeration Type Documentation

◆ EST_RsOnLineFilterType_e [1/2]

enum EST_RsOnLineFilterType_e

Enumeration for the Rs online filter types.

Enumerator
EST_RSONLINEFILTERTYPE_CURRENT	Current Filter.
EST_RSONLINEFILTERTYPE_VOLTAGE	Voltage Filter.
EST_RSONLINEFILTERTYPE_CURRENT	Current Filter.
EST_RSONLINEFILTERTYPE_VOLTAGE	Voltage Filter.

◆ EST_Flux_ErrorCode_e

enum EST_Flux_ErrorCode_e

Enumeration for the estimator error codes.

Enumerator
EST_FLUX_ERRORCODE_NOERROR	no error error code
EST_FLUX_ERRORCODE_SHIFTOVERFLOW	flux shift overflow error code
EST_FLUX_ERRORCODE_CLIP	flux clip error code
EST_FLUX_NUMERRORCODES	the number of estimator error codes
EST_FLUX_ERRORCODE_NOERROR	no error error code
EST_FLUX_ERRORCODE_SHIFTOVERFLOW	flux shift overflow error code
EST_FLUX_ERRORCODE_CLIP	flux clip error code
EST_FLUX_NUMERRORCODES	the number of estimator error codes

◆ EST_Flux_State_e

enum EST_Flux_State_e

Enumeration for the estimator states.

Enumerator
EST_FLUX_STATE_ERROR	error state
EST_FLUX_STATE_IDLE	idle state
EST_FLUX_STATE_CL1	closed loop control stage 1
EST_FLUX_STATE_CL2	closed loop control stage 2
EST_FLUX_STATE_FINE	fine estimate of flux
EST_FLUX_STATE_DONE	done state
EST_FLUX_NUMSTATES	the number of flux estimator states
EST_FLUX_STATE_ERROR	error state
EST_FLUX_STATE_IDLE	idle state
EST_FLUX_STATE_CL1	closed loop control stage 1
EST_FLUX_STATE_CL2	closed loop control stage 2
EST_FLUX_STATE_FINE	fine estimate of flux
EST_FLUX_STATE_DONE	done state
EST_FLUX_NUMSTATES	the number of flux estimator states

◆ EST_Ls_ErrorCode_e

enum EST_Ls_ErrorCode_e

Enumeration for the stator inductance estimator error codes.

Enumerator
EST_LS_ERRORCODE_NOERROR	no error error code
EST_LS_ERRORCODE_SHIFTOVERFLOW	inductance shift overflow error code
EST_LS_NUMERRORCODES	the number of estimator error codes
EST_LS_ERRORCODE_NOERROR	no error error code
EST_LS_ERRORCODE_SHIFTOVERFLOW	inductance shift overflow error code
EST_LS_NUMERRORCODES	the number of estimator error codes

◆ EST_Ls_State_e

enum EST_Ls_State_e

Enumeration for the stator inductance estimator states.

Enumerator
EST_LS_STATE_ERROR	error
EST_LS_STATE_IDLE	idle
EST_LS_STATE_RAMPUP	the ramp up state
EST_LS_STATE_INIT	the init state
EST_LS_STATE_COARSE	the coarse estimation state
EST_LS_STATE_FINE	the fine estimation state
EST_LS_STATE_DONE	the done state
EST_LS_NUMSTATES	number of stator inductance estimator states
EST_LS_STATE_ERROR	error
EST_LS_STATE_IDLE	idle
EST_LS_STATE_RAMPUP	the ramp up state
EST_LS_STATE_INIT	the init state
EST_LS_STATE_COARSE	the coarse estimation state
EST_LS_STATE_FINE	the fine estimation state
EST_LS_STATE_DONE	the done state
EST_LS_NUMSTATES	number of stator inductance estimator states

◆ EST_Rr_State_e

enum EST_Rr_State_e

Enumeration for the rotor resistance estimator states.

Enumerator
EST_RR_STATE_ERROR	error
EST_RR_STATE_IDLE	idle
EST_RR_STATE_RAMPUP	the Id ramp up state
EST_RR_STATE_COARSE	the coarse estimation state
EST_RR_STATE_FINE	the fine estimation state
EST_RR_STATE_DONE	the done state
EST_RR_NUMSTATES	number of stator resistance estimator states
EST_RR_STATE_ERROR	error
EST_RR_STATE_IDLE	idle
EST_RR_STATE_RAMPUP	the Id ramp up state
EST_RR_STATE_COARSE	the coarse estimation state
EST_RR_STATE_FINE	the fine estimation state
EST_RR_STATE_DONE	the done state
EST_RR_NUMSTATES	number of stator resistance estimator states

◆ EST_Rs_State_e

enum EST_Rs_State_e

Enumeration for the stator resistance estimator states.

Enumerator
EST_RS_STATE_ERROR	error
EST_RS_STATE_IDLE	idle
EST_RS_STATE_RAMPUP	the Id ramp up state
EST_RS_STATE_COARSE	the coarse estimation state
EST_RS_STATE_FINE	the fine estimation state
EST_RS_STATE_DONE	the done state
EST_RS_NUMSTATES	number of stator resistance estimator states
EST_RS_STATE_ERROR	error
EST_RS_STATE_IDLE	idle
EST_RS_STATE_RAMPUP	the Id ramp up state
EST_RS_STATE_COARSE	the coarse estimation state
EST_RS_STATE_FINE	the fine estimation state
EST_RS_STATE_DONE	the done state
EST_RS_NUMSTATES	number of stator resistance estimator states

◆ EST_ErrorCode_e

enum EST_ErrorCode_e

Enumeration for the estimator error codes.

Enumerator
EST_ERRORCODE_NOERROR	no error error code
EST_ERRORCODE_FLUX_OL_SHIFTOVERFLOW	flux open loop shift overflow error code
EST_ERRORCODE_FLUXERROR	flux estimator error code
EST_ERRORCODE_DIR_SHIFTOVERFLOW	direction shift overflow error code
EST_ERRORCODE_IND_SHIFTOVERFLOW	inductance shift overflow error code
EST_NUMERRORCODES	the number of estimator error codes
EST_ERRORCODE_NOERROR	no error error code
EST_ERRORCODE_FLUX_OL_SHIFTOVERFLOW	flux open loop shift overflow error code
EST_ERRORCODE_FLUXERROR	flux estimator error code
EST_ERRORCODE_DIR_SHIFTOVERFLOW	direction shift overflow error code
EST_ERRORCODE_IND_SHIFTOVERFLOW	inductance shift overflow error code
EST_NUMERRORCODES	the number of estimator error codes

◆ EST_State_e

enum EST_State_e

Enumeration for the estimator states.

Enumerator
EST_STATE_ERROR	error
EST_STATE_IDLE	idle
EST_STATE_ROVERL	R/L estimation.
EST_STATE_RS	Rs estimation state.
EST_STATE_RAMPUP	ramp up the speed
EST_STATE_CONSTSPEED	constant speed after ramp up
EST_STATE_IDRATED	control Id and estimate the rated flux
EST_STATE_RATEDFLUX_OL	estimate the open loop rated flux
EST_STATE_RATEDFLUX	estimate the rated flux
EST_STATE_RAMPDOWN	ramp down the speed
EST_STATE_LOCKROTOR	lock the rotor
EST_STATE_LS	stator inductance estimation state
EST_STATE_RR	rotor resistance estimation state
EST_STATE_MOTORIDENTIFIED	motor identified state
EST_STATE_ONLINE	online parameter estimation
EST_NUMSTATES	the number of estimator states
EST_RESERVED	reserved to force 32 bit data
EST_STATE_ERROR	error
EST_STATE_IDLE	idle
EST_STATE_ROVERL	R/L estimation.
EST_STATE_RS	Rs estimation state.
EST_STATE_RAMPUP	ramp up the speed
EST_STATE_CONSTSPEED	constant speed after ramp up
EST_STATE_IDRATED	control Id and estimate the rated flux
EST_STATE_RATEDFLUX_OL	estimate the open loop rated flux
EST_STATE_RATEDFLUX	estimate the rated flux
EST_STATE_RAMPDOWN	ramp down the speed
EST_STATE_LOCKROTOR	lock the rotor
EST_STATE_LS	stator inductance estimation state
EST_STATE_RR	rotor resistance estimation state
EST_STATE_MOTORIDENTIFIED	motor identified state
EST_STATE_ONLINE	online parameter estimation
EST_NUMSTATES	the number of estimator states
EST_RESERVED	reserved to force 32 bit data

◆ EST_Traj_ErrorCode_e

enum EST_Traj_ErrorCode_e

Enumeration for the trajectory generator error codes.

Enumerator
EST_TRAJ_ERRORCODE_NOERROR	no error error code
EST_TRAJ_ERRORCODE_IDCLIP	Id clip error code.
EST_TRAJ_NUMERRORCODES	the number of trajectory generator error codes
EST_TRAJ_ERRORCODE_NOERROR	no error error code
EST_TRAJ_ERRORCODE_IDCLIP	Id clip error code.
EST_TRAJ_NUMERRORCODES	the number of trajectory generator error codes

◆ EST_Traj_State_e

enum EST_Traj_State_e

Enumeration for the trajectory generator states.

Enumerator
EST_TRAJ_STATE_ERROR	the trajectory generator error state
EST_TRAJ_STATE_IDLE	the trajectory generator idle state
EST_TRAJ_STATE_EST	the trajectory generator parameter estimation state
EST_TRAJ_STATE_ONLINE	the trajectory generator online state
EST_TRAJ_NUMSTATES	the number of trajectory generator states
EST_TRAJ_RESERVED	reserved to force 32 bit data
EST_TRAJ_STATE_ERROR	the trajectory generator error state
EST_TRAJ_STATE_IDLE	the trajectory generator idle state
EST_TRAJ_STATE_EST	the trajectory generator parameter estimation state
EST_TRAJ_STATE_ONLINE	the trajectory generator online state
EST_TRAJ_NUMSTATES	the number of trajectory generator states
EST_TRAJ_RESERVED	reserved to force 32 bit data

◆ EST_RsOnLineFilterType_e [2/2]

enum EST_RsOnLineFilterType_e

Enumeration for the Rs online filter types.

Enumerator
EST_RSONLINEFILTERTYPE_CURRENT	Current Filter.
EST_RSONLINEFILTERTYPE_VOLTAGE	Voltage Filter.
EST_RSONLINEFILTERTYPE_CURRENT	Current Filter.
EST_RSONLINEFILTERTYPE_VOLTAGE	Voltage Filter.

Function Documentation

◆ EST_computeLmag_H()

float32_t EST_computeLmag_H	(	EST_Handle	handle,
		const float32_t	current_A
	)

Computes the magnetizing inductance in Henries (H)

Parameters

[in]	handle	The estimator (EST) handle
[in]	current	The current in the rotor, A

Returns: The magnetizing inductance, H

◆ cla_EST_computeLmag_H()

float32_t cla_EST_computeLmag_H	(	EST_Handle	handle,
		const float32_t	current_A
	)

◆ EST_computePower_W()

float32_t EST_computePower_W ( EST_Handle handle )

Computes the power in Watts (W)

Parameters

[in] handle The estimator (EST) handle

Returns: The power value, W

◆ cla_EST_computePower_W()

float32_t cla_EST_computePower_W ( EST_Handle handle )

◆ EST_computeTorque_Nm()

float32_t EST_computeTorque_Nm ( EST_Handle handle )

Computes the torque value in per Newton-meter (Nm)

Parameters

[in] handle The estimator (EST) handle

Returns: The torque value, N*m

◆ cla_EST_computeTorque_Nm()

float32_t cla_EST_computeTorque_Nm ( EST_Handle handle )

◆ EST_configureCtrl()

void EST_configureCtrl	(	EST_Handle	handle,
		CTRL_Handle	ctrlHandle
	)

Configures the controller for each of the estimator states.

Parameters

[in]	handle	The estimator (EST) handle
[in]	ctrlHandle	The controller (CTRL) handle

◆ cla_EST_configureCtrl()

void cla_EST_configureCtrl	(	EST_Handle	handle,
		CTRL_Handle	ctrlHandle
	)

◆ EST_configureTraj()

void EST_configureTraj ( EST_Handle handle )

Configures the trajectory generator for each of the estimator states.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_configureTraj()

void cla_EST_configureTraj ( EST_Handle handle )

◆ EST_disable()

void EST_disable ( EST_Handle handle )

Disables the estimator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_disable()

void cla_EST_disable ( EST_Handle handle )

◆ EST_disableTraj()

void EST_disableTraj ( EST_Handle handle )

Disables the estimator trajectory generator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_disableTraj()

void cla_EST_disableTraj ( EST_Handle handle )

◆ EST_doCurrentCtrl()

bool EST_doCurrentCtrl ( EST_Handle handle )

Determines if current control should be performed during motor identification.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting whether (true) or not (false) to perform current control

◆ cla_EST_doCurrentCtrl()

bool cla_EST_doCurrentCtrl ( EST_Handle handle )

◆ EST_doSpeedCtrl()

bool EST_doSpeedCtrl ( EST_Handle handle )

Determines if speed control should be performed during motor identification.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting whether (true) or not (false) to perform speed control

◆ cla_EST_doSpeedCtrl()

bool cla_EST_doSpeedCtrl ( EST_Handle handle )

◆ EST_enable()

void EST_enable ( EST_Handle handle )

Enables the estimator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_enable()

void cla_EST_enable ( EST_Handle handle )

◆ EST_enableTraj()

void EST_enableTraj ( EST_Handle handle )

Enables the estimator trajectory generator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_enableTraj()

void cla_EST_enableTraj ( EST_Handle handle )

◆ EST_get_rpm_to_rps_sf()

float32_t EST_get_rpm_to_rps_sf ( EST_Handle handle )

Gets the rpm to rad/sec scale factor.

Parameters

[in] handle The estimator (EST) handle

Returns: The rpm to rad/sec scale factor

◆ cla_EST_get_rpm_to_rps_sf()

float32_t cla_EST_get_rpm_to_rps_sf ( EST_Handle handle )

◆ EST_get_rps_to_rpm_sf()

float32_t EST_get_rps_to_rpm_sf ( EST_Handle handle )

Gets the rad/sec to rpm scale factor.

Parameters

[in] handle The estimator (EST) handle

Returns: The rad/sec to rpm scale factor

◆ cla_EST_get_rps_to_rpm_sf()

float32_t cla_EST_get_rps_to_rpm_sf ( EST_Handle handle )

◆ EST_getAccel_rps2()

float32_t EST_getAccel_rps2 ( EST_Handle handle )

Gets the mechanical acceleration from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The mechanical acceleration, rad/sec^2

◆ cla_EST_getAccel_rps2()

float32_t cla_EST_getAccel_rps2 ( EST_Handle handle )

◆ EST_getAngle_est_rad()

float32_t EST_getAngle_est_rad ( EST_Handle handle )

Gets the estimated angle from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The estimated angle, rad

◆ cla_EST_getAngle_est_rad()

float32_t cla_EST_getAngle_est_rad ( EST_Handle handle )

◆ EST_getAngle_rad()

float32_t EST_getAngle_rad ( EST_Handle handle )

Gets the angle estimate for t = n+1 from the estimator in radians (rad).

This function returns the angle value in units of radians. This value wraps around at 2*pi, so the return value is between -pi and pi. An example of using this angle is shown:

float32_t rotorFluxAngle_rad = EST_getAngle_rad(handle);

Parameters

[in] handle The estimator (EST) handle

Returns: The angle value for t = n+1, rad

◆ cla_EST_getAngle_rad()

float32_t cla_EST_getAngle_rad ( EST_Handle handle )

◆ EST_getAngle_traj_rad()

float32_t EST_getAngle_traj_rad ( EST_Handle handle )

Gets the trajectory angle from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The trajectory angle, rad

◆ cla_EST_getAngle_traj_rad()

float32_t cla_EST_getAngle_traj_rad ( EST_Handle handle )

◆ EST_getAngleDelta_rad()

float32_t EST_getAngleDelta_rad ( EST_Handle handle )

Gets the angle delta estimate for t = n+1 from the estimator.

or trajectory depending on state in radians (rad).

Parameters

[in] handle The estimator (EST) handle

Returns: The angle delta value for t = n+1, rad

◆ cla_EST_getAngleDelta_rad()

float32_t cla_EST_getAngleDelta_rad ( EST_Handle handle )

◆ EST_getAngleDelta_est_rad()

float32_t EST_getAngleDelta_est_rad ( EST_Handle handle )

Gets the angle delta estimate for t = n+1 from the estimator in radians (rad).

Parameters

[in] handle The estimator (EST) handle

Returns: The angle delta value for t = n+1, rad

◆ cla_EST_getAngleDelta_est_rad()

float32_t cla_EST_getAngleDelta_est_rad ( EST_Handle handle )

◆ EST_getAngleDelta_traj_rad()

float32_t EST_getAngleDelta_traj_rad ( EST_Handle handle )

Gets the angle delta estimate for t = n+1 from the trajectory in radians (rad).

Parameters

[in] handle The estimator (EST) handle

Returns: The angle delta value for t = n+1, rad

◆ cla_EST_getAngleDelta_traj_rad()

float32_t cla_EST_getAngleDelta_traj_rad ( EST_Handle handle )

◆ EST_getCount_isr()

int16_t EST_getCount_isr ( EST_Handle handle )

Gets the ISR count from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The ISR count

◆ cla_EST_getCount_isr()

int16_t cla_EST_getCount_isr ( EST_Handle handle )

◆ EST_getDcBus_V()

float32_t EST_getDcBus_V ( EST_Handle handle )

Gets the DC bus value from the estimator in volts (V)

Parameters

[in] handle The estimator (EST) handle

Returns: The DC bus value, V

◆ cla_EST_getDcBus_V()

float32_t cla_EST_getDcBus_V ( EST_Handle handle )

◆ EST_getEab_V()

void EST_getEab_V	(	EST_Handle	handle,
		MATH_Vec2 *	pEab_V
	)

Gets the alpha/beta back EMF voltage vector from the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pEab_V	The pointer to memory for the Eab vector, V

◆ cla_EST_getEab_V()

void cla_EST_getEab_V	(	EST_Handle	handle,
		MATH_Vec2 *	pEab_V
	)

◆ EST_getEdq_V()

void EST_getEdq_V	(	EST_Handle	handle,
		MATH_Vec2 *	pEdq_V
	)

Gets the direct/quadrature back EMF voltage vector from the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pEdq_V	The pointer to memory for the Edq vector, V

◆ cla_EST_getEdq_V()

void cla_EST_getEdq_V	(	EST_Handle	handle,
		MATH_Vec2 *	pEdq_V
	)

◆ EST_getErrorCode()

EST_ErrorCode_e EST_getErrorCode ( EST_Handle handle )

Gets the error code from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The error code

◆ cla_EST_getErrorCode()

EST_ErrorCode_e cla_EST_getErrorCode ( EST_Handle handle )

◆ EST_getFe_Hz()

float32_t EST_getFe_Hz ( EST_Handle handle )

Gets the electrical frequency of the motor in Hertz (Hz).

This frequency, in Hz, is the frequency of currents and voltages going into the motor. In order to get the speed of the motor, it is better to use EST_getFm_Hz().

Parameters

[in] handle The estimator (EST) handle

Returns: The electrical frequency, Hz

◆ cla_EST_getFe_Hz()

float32_t cla_EST_getFe_Hz ( EST_Handle handle )

◆ EST_getFe_abs_max_rps()

float32_t EST_getFe_abs_max_rps ( EST_Handle handle )

Gets the absolute maximum electrical frequency of the motor in rad/sec.

Parameters

[in] handle The estimator (EST) handle

Returns: The absolute maximum electrical frequency, rad/sec

◆ cla_EST_getFe_abs_max_rps()

float32_t cla_EST_getFe_abs_max_rps ( EST_Handle handle )

◆ EST_getFe_rps()

float32_t EST_getFe_rps ( EST_Handle handle )

Gets the electrical frequency of the motor in rad/sec.

This frequency, in Hz, is the frequency of currents and voltages going into the motor. In order to get the speed of the motor, it is better to use EST_getFm_rps().

Parameters

[in] handle The estimator (EST) handle

Returns: The electrical frequency, rad/sec

◆ cla_EST_getFe_rps()

float32_t cla_EST_getFe_rps ( EST_Handle handle )

◆ EST_getFlag_bypassLockRotor()

bool EST_getFlag_bypassLockRotor ( EST_Handle handle )

Gets the bypass lock rotor flag value.

Parameters

[in] handle The estimator (EST) handle

Returns: The bypass lock rotor flag value

◆ cla_EST_getFlag_bypassLockRotor()

bool cla_EST_getFlag_bypassLockRotor ( EST_Handle handle )

◆ EST_getFlag_enable()

bool EST_getFlag_enable ( EST_Handle handle )

Gets the enable estimator flag value.

Parameters

[in] handle The estimator (EST) handle

Returns: The enable estimator flag value

◆ cla_EST_getFlag_enable()

bool cla_EST_getFlag_enable ( EST_Handle handle )

◆ EST_getFlag_enableForceAngle()

bool EST_getFlag_enableForceAngle ( EST_Handle handle )

Gets the enable force angle flag value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The value of the flag, in boolean type, bool

◆ cla_EST_getFlag_enableForceAngle()

bool cla_EST_getFlag_enableForceAngle ( EST_Handle handle )

◆ EST_getFlag_enablePowerWarp()

bool EST_getFlag_enablePowerWarp ( EST_Handle handle )

Gets the enable power warp flag value from the trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The enable power warp flag value

◆ cla_EST_getFlag_enablePowerWarp()

bool cla_EST_getFlag_enablePowerWarp ( EST_Handle handle )

◆ EST_getFlag_enableRsOnLine()

bool EST_getFlag_enableRsOnLine ( EST_Handle handle )

Gets the value of the flag which enables online stator resistance (Rs) estimation.

Parameters

[in] handle The estimator (EST) handle

Returns: The enable online Rs flag value

Return values

true	Rs online recalibration algorithm is enabled. The estimator will run a set of functions related to rs online which recalculates the stator resistance while the motor is rotating. This algorithm is useful when motor heats up, and hence stator resistance increases.
false	Rs online recalibration algorithm is disabled, and no updates to Rs will be made even if the motor heats up. Low speed performace, and startup performance with full torque might be affected if stator resistance changes due to motor heating up. The stator resistance will be fixed, and equal to the value returned by: EST_getRs_Ohm().

◆ cla_EST_getFlag_enableRsOnLine()

bool cla_EST_getFlag_enableRsOnLine ( EST_Handle handle )

◆ EST_getFlag_enableRsRecalc()

bool EST_getFlag_enableRsRecalc ( EST_Handle handle )

Gets the enable stator resistance re-calibrate flag value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The value of the enable stator resistance re-calibrate flag

Return values

true	Rs recalibration is enabled. The estimator will inject a DC current to the D-axis to recalibrate the stator resistance before the motor rotates. It is required that the motor is at standstill to perform Rs recalibration.
false	Rs recalibration is disabled. The estimator will start the motor with the resistance value that was used before the motor was stopped, or what is returned by function: EST_getRs_Ohm().

◆ cla_EST_getFlag_enableRsRecalc()

bool cla_EST_getFlag_enableRsRecalc ( EST_Handle handle )

◆ EST_getFlag_enableTraj()

bool EST_getFlag_enableTraj ( EST_Handle handle )

Gets the enable trajectory flag value from the trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The enable trajectory flag value

◆ cla_EST_getFlag_enableTraj()

bool cla_EST_getFlag_enableTraj ( EST_Handle handle )

◆ EST_getFlag_estComplete()

bool EST_getFlag_estComplete ( EST_Handle handle )

Gets the value of the flag which denotes when the estimation is complete.

This flag is set to true every time the EST_run() function is run. This flag can be reset to false by using the following example:

bool estComplete_Flag = EST_getFlag_estComplete(handle);

Parameters

[in] handle The estimator (EST) handle

Returns: The estimation complete flag value

Return values

true	The estimator has been run at least once since last time. EST_setFlag_estComplete(handle, false) was called.
false	The estimator has not been run since last time EST_setFlag_estComplete(handle, false) was called.

◆ cla_EST_getFlag_estComplete()

bool cla_EST_getFlag_estComplete ( EST_Handle handle )

◆ EST_getFlag_motorIdentified()

bool EST_getFlag_motorIdentified ( EST_Handle handle )

Gets the motor identified flag state in the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The state of the motor identified flag

◆ cla_EST_getFlag_motorIdentified()

bool cla_EST_getFlag_motorIdentified ( EST_Handle handle )

◆ EST_getFlag_nearZeroSpeed()

bool EST_getFlag_nearZeroSpeed ( EST_Handle handle )

Gets the near zero speed flag state.

Parameters

[in] handle The estimator (EST) handle

Returns: The state of the near zero speed flag

◆ cla_EST_getFlag_nearZeroSpeed()

bool cla_EST_getFlag_nearZeroSpeed ( EST_Handle handle )

◆ EST_getFlag_updateRs()

bool EST_getFlag_updateRs ( EST_Handle handle )

Gets the value of the flag which enables the updating of the stator resistance (Rs) value.

When the online resistance estimator is enabled, the update flag allows the online resistance to be copied to the resistance used by the estimator model. If the update flag is not set to true, the online resistance estimation will not be used by the estimator model, and if the resistance changes too much due to temperature increase, the model may not work as expected.

bool update_Flag = EST_getFlag_updateRs(handle);

Parameters

[in] handle The estimator (EST) handle

Returns: The update Rs flag value

Return values

true	The stator resistance estimated by the Rs OnLine module will be copied to the stator resistance used by the module, so of the motor's temperature changes, the estimated angle will be calculated based on the most up to date stator resistance
false	The stator resistance estimated by the Rs OnLine module may or may not be updated depending on the enable flag, but will not be used in the motor's model used to generate the estimated speed and angle.

◆ cla_EST_getFlag_updateRs()

bool cla_EST_getFlag_updateRs ( EST_Handle handle )

◆ EST_getFlux_Wb()

float32_t EST_getFlux_Wb ( EST_Handle handle )

Gets the flux value in Weber (Wb).

The estimator continuously calculates the flux linkage between the rotor and stator, which is the portion of the flux that produces torque. This function returns the flux linkage, ignoring the number of turns, between the rotor and stator coils, in Weber, or Wb, or Volts * Seconds / rad (V.sec/rad). This functions returns a precise value only after the motor has been identified, which can be checked by the following code example:

if(EST_isMotorIdentified(handle))
  {
    // once the motor has been identified, get the flux
    float32_t Flux_Wb = EST_getFlux_Wb(handle);
  }

Parameters

[in] handle The estimator (EST) handle

Returns: The flux value, Weber or V*sec/rad, in floating point

◆ cla_EST_getFlux_Wb()

float32_t cla_EST_getFlux_Wb ( EST_Handle handle )

◆ EST_getFluxState()

EST_Flux_State_e EST_getFluxState ( EST_Handle handle )

Gets the flux estimator state.

Parameters

[in] handle The estimator (EST) handle

Returns: The flux estimator state

◆ cla_EST_getFluxState()

EST_Flux_State_e cla_EST_getFluxState ( EST_Handle handle )

◆ EST_getFm_Hz()

float32_t EST_getFm_Hz ( EST_Handle handle )

Gets the mechanical frequency of the motor in Hertz (Hz).

This frequency, in Hz, is the mechanical frequency of the motor. If the motor is a permanent magnet motor, the mechanical frequency will be equal to the electrical frequency, since it is a synchronous motor. In the case of AC induction motors, the mechanical frequency will be equal to the electrical frequency minus the slip frequency. The following code example shows how to use this function to calculate revolutions per minute (RPM) in floating point:

#define USER_MOTOR_NUM_POLE_PAIRS  (2)
 
float32_t mechFreq_Hz = EST_getFm_Hz(handle);
float32_t hz_to_rpm_sf = 60.0/(float32_t)USER_MOTOR_NUM_POLE_PAIRS;
float32_t speed_rpm = mechFreq_Hz * hz_to_rpm_sf;

Parameters

[in] handle The estimator (EST) handle

Returns: The mechanical frequency, Hz

◆ cla_EST_getFm_Hz()

float32_t cla_EST_getFm_Hz ( EST_Handle handle )

◆ EST_getFm_lp_Hz()

float32_t EST_getFm_lp_Hz ( EST_Handle handle )

Gets the low pass filtered mechanical frequency of the motor in Hz.

Parameters

[in] handle The estimator (EST) handle

Returns: The low pass filtered mechanical frequency, Hz

◆ cla_EST_getFm_lp_Hz()

float32_t cla_EST_getFm_lp_Hz ( EST_Handle handle )

◆ EST_getFm_lp_rps()

float32_t EST_getFm_lp_rps ( EST_Handle handle )

Gets the low pass filtered mechanical frequency of the motor in rad/sec.

Parameters

[in] handle The estimator (EST) handle

Returns: The low pass filtered mechanical frequency, rad/sec

◆ cla_EST_getFm_lp_rps()

float32_t cla_EST_getFm_lp_rps ( EST_Handle handle )

◆ EST_getFm_rps()

float32_t EST_getFm_rps ( EST_Handle handle )

Gets the mechanical frequency of the motor in rad/sec.

This frequency, in rad/sec, is the mechanical frequency of the motor. If the motor is a permanent magnet motor, the mechanical frequency will be equal to the electrical frequency, since it is a synchronous motor. In the case of AC induction motors, the mechanical frequency will be equal to the electrical frequency minus the slip frequency. The following code example shows how to use this function to calculate revolutions per minute (RPM) in floating point:

#define USER_MOTOR_NUM_POLE_PAIRS  (2)
 
float32_t mechFreq_rps = EST_getFm_rps(handle);
float32_t rps_to_rpm_sf = (float32_t)60.0/(MATH_TWO_PI * (float32_t)USER_MOTOR_NUM_POLE_PAIRS);
float32_t speed_rpm = mechFreq_rps * rps_to_rpm_sf;

Parameters

[in] handle The estimator (EST) handle

Returns: The mechanical frequency, rad/sec

◆ cla_EST_getFm_rps()

float32_t cla_EST_getFm_rps ( EST_Handle handle )

◆ EST_getForceAngleDelta_rad()

float32_t EST_getForceAngleDelta_rad ( EST_Handle handle )

Gets the force angle delta value from the estimator in radians (rad).

Parameters

[in] handle The estimator (EST) handle

Returns: The force angle delta, rad

◆ cla_EST_getForceAngleDelta_rad()

float32_t cla_EST_getForceAngleDelta_rad ( EST_Handle handle )

◆ EST_getForceAngleStatus()

bool EST_getForceAngleStatus ( EST_Handle handle )

Gets the status of the force angle operation in the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting whether the angle has been forced (true) or not (false)

Return values

true	The last iteration of the estimator used a forced angle to run the park and inverse park transforms. The estimator was also run in parallel to the forced angle, but the estimator output was not used.
false	Forced angle mode is either disabled, or the electrical frequency did not fall below the predetermined threshold. The estimator output was used to run the park and inverse park transforms.

◆ cla_EST_getForceAngleStatus()

bool cla_EST_getForceAngleStatus ( EST_Handle handle )

◆ EST_getFreqBeta_lp()

float32_t EST_getFreqBeta_lp ( EST_Handle handle )

Gets the value used to set the pole location in the low-pass filter of the frequency estimator in radians per second (rps).

Parameters

[in] handle The estimator (EST) handle

Returns: The value used to set the filter pole location, rad

◆ cla_EST_getFreqBeta_lp()

float32_t cla_EST_getFreqBeta_lp ( EST_Handle handle )

◆ EST_getFslip_Hz()

float32_t EST_getFslip_Hz ( EST_Handle handle )

Gets the slip frequency of the motor in Hertz (Hz).

When running a permanent magnet motor, the slip frequency returned by this function will be zero. If an induction motor is used, this function will return the slip frequency. This frequency, in Hz, will be the difference between the electrical frequency and the mechanical frequency.

$F_{slip}=F_{electrical}-F_{mechanical}$

Parameters

[in] handle The estimator (EST) handle

Returns: The slip frequency, Hz

◆ cla_EST_getFslip_Hz()

float32_t cla_EST_getFslip_Hz ( EST_Handle handle )

◆ EST_getFslip_rps()

float32_t EST_getFslip_rps ( EST_Handle handle )

Gets the slip frequency of the motor in rad/sec.

When running a permanent magnet motor, the slip frequency returned by this function will be zero. If an induction motor is used, this function will return the slip frequency. This frequency, in rad/sec, will be the difference between the electrical frequency and the mechanical frequency.

$F_{slip}=F_{electrical}-F_{mechanical}$

Parameters

[in] handle The estimator (EST) handle

Returns: The slip frequency, rad/sec

◆ cla_EST_getFslip_rps()

float32_t cla_EST_getFslip_rps ( EST_Handle handle )

◆ EST_getIab_A()

void EST_getIab_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIab_A
	)

Gets the Iab current vector in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pIab_A	The pointer to memory for the Iab vector, A

◆ cla_EST_getIab_A()

void cla_EST_getIab_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIab_A
	)

◆ EST_getIab_lp_A()

void EST_getIab_lp_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIab_lp_A
	)

Gets the low pass filtered Iab current vector in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pIab_lp_A	The pointer to memory for the low pass filtered Iab vector, A

◆ cla_EST_getIab_lp_A()

void cla_EST_getIab_lp_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIab_lp_A
	)

◆ EST_getIab_beta_lp()

float32_t EST_getIab_beta_lp ( EST_Handle handle )

Gets the beta value for the Iab low pass filter.

Parameters

[in] handle The estimator (EST) handle

Returns: The beta value, rad

◆ cla_EST_getIab_beta_lp()

float32_t cla_EST_getIab_beta_lp ( EST_Handle handle )

◆ EST_getIdq_A()

void EST_getIdq_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIdq_A
	)

Gets the Idq current vector in Ampere (A)

Parameters

[in]	handle	The estimator (EST) handle
[in]	pIdq_A	The pointer to memory for the Idq vector, A

◆ cla_EST_getIdq_A()

void cla_EST_getIdq_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIdq_A
	)

◆ EST_getIdq_lp_A()

void EST_getIdq_lp_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIdq_lp_A
	)

Gets the Idq low pass filtered current vector in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pIdq_lp_A	The pointer to memory for the Idq low pass filtered vector, A

◆ cla_EST_getIdq_lp_A()

void cla_EST_getIdq_lp_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIdq_lp_A
	)

◆ EST_getIdq_ref_A()

void EST_getIdq_ref_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIdq_ref_A
	)

Gets the Idq current vector reference in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pIdq_ref_A	The pointer to memory for the Idq vector reference, A

◆ cla_EST_getIdq_ref_A()

void cla_EST_getIdq_ref_A	(	EST_Handle	handle,
		MATH_Vec2 *	pIdq_ref_A
	)

◆ EST_getIdRated_A()

float32_t EST_getIdRated_A ( EST_Handle handle )

Gets the Id rated current value from the estimator in Ampere (A).

Parameters

[in] handle The estimator (EST) handle

Returns: The Id rated current value, A

◆ cla_EST_getIdRated_A()

float32_t cla_EST_getIdRated_A ( EST_Handle handle )

◆ EST_getIdRated_delta_A()

float32_t EST_getIdRated_delta_A ( EST_Handle handle )

Gets the Id rated delta current value from the estimator in Ampere (A)

Parameters

[in] handle The estimator (EST) handle

Returns: The delta Id rated current value, A

◆ cla_EST_getIdRated_delta_A()

float32_t cla_EST_getIdRated_delta_A ( EST_Handle handle )

◆ EST_getIdRated_indEst_A()

float32_t EST_getIdRated_indEst_A ( EST_Handle handle )

Gets the Id current value used for inductance estimation of induction motors in Ampere (A).

Parameters

[in] handle The estimator (EST) handle

Returns: The Id rated value, A

◆ cla_EST_getIdRated_indEst_A()

float32_t cla_EST_getIdRated_indEst_A ( EST_Handle handle )

◆ EST_getIntValue_Id_A()

float32_t EST_getIntValue_Id_A ( EST_Handle handle )

Gets the intermediate value from the Id trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The intermediate value, A

◆ cla_EST_getIntValue_Id_A()

float32_t cla_EST_getIntValue_Id_A ( EST_Handle handle )

◆ EST_getIntValue_Iq_A()

float32_t EST_getIntValue_Iq_A ( EST_Handle handle )

Gets the intermediate value from the Iq trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The intermediate value, A

◆ cla_EST_getIntValue_Iq_A()

float32_t cla_EST_getIntValue_Iq_A ( EST_Handle handle )

◆ EST_getIntValue_spd_Hz()

float32_t EST_getIntValue_spd_Hz ( EST_Handle handle )

Gets the intermediate value from the speed trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The intermediate value, Hz

◆ cla_EST_getIntValue_spd_Hz()

float32_t cla_EST_getIntValue_spd_Hz ( EST_Handle handle )

◆ EST_getLhf_H()

float32_t EST_getLhf_H ( EST_Handle handle )

Gets the Lhf value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The Lhf value, H

◆ cla_EST_getLhf_H()

float32_t cla_EST_getLhf_H ( EST_Handle handle )

◆ EST_getLmag_H()

float32_t EST_getLmag_H ( EST_Handle handle )

Gets the magnetizing inductance value in Henry (H).

Parameters

[in] handle The estimator (EST) handle

Returns: The magnetizing inductance value, H

◆ cla_EST_getLmag_H()

float32_t cla_EST_getLmag_H ( EST_Handle handle )

◆ EST_getLs_coarseDelta_H()

float32_t EST_getLs_coarseDelta_H ( EST_Handle handle )

Gets the delta stator inductance value during coarse estimation.

Parameters

[in] handle The estimator (EST) handle

Returns: The delta stator inductance value for coarse estimation, H

◆ cla_EST_getLs_coarseDelta_H()

float32_t cla_EST_getLs_coarseDelta_H ( EST_Handle handle )

◆ EST_getLs_d_H()

float32_t EST_getLs_d_H ( EST_Handle handle )

Gets the direct stator inductance value in Henry (H).

Parameters

[in] handle The estimator (EST) handle

Returns: The direct stator inductance value, H

◆ cla_EST_getLs_d_H()

float32_t cla_EST_getLs_d_H ( EST_Handle handle )

◆ EST_getLs_dq_H()

void EST_getLs_dq_H	(	EST_Handle	handle,
		MATH_Vec2 *	pLs_dq_H
	)

Gets the direct/quadrature stator inductance values from the estimator in Henry (H).

Both direct and quadrature stator inductances can be read from the estimator by using this function call and passing a pointer to a structure where these two values will be stored.

Parameters

[in]	handle	The estimator (EST) handle
[out]	pLs_dq_H	The pointer to the vector of direct/quadrature stator inductance values, H

◆ cla_EST_getLs_dq_H()

void cla_EST_getLs_dq_H	(	EST_Handle	handle,
		MATH_Vec2 *	pLs_dq_H
	)

◆ EST_getLs_fineDelta_H()

float32_t EST_getLs_fineDelta_H ( EST_Handle handle )

Gets the delta stator inductance value during fine estimation.

Parameters

[in] handle The estimator (EST) handle

Returns: The delta stator inductance value for fine estimation, H

◆ cla_EST_getLs_fineDelta_H()

float32_t cla_EST_getLs_fineDelta_H ( EST_Handle handle )

◆ EST_getLs_H()

float32_t EST_getLs_H ( EST_Handle handle )

Gets the stator inductance value in Henry (H)

Parameters

[in] handle The estimator (EST) handle

Returns: The stator inductance value, H

◆ cla_EST_getLs_H()

float32_t cla_EST_getLs_H ( EST_Handle handle )

◆ EST_getLs_q_H()

float32_t EST_getLs_q_H ( EST_Handle handle )

Gets the stator inductance value in the quadrature coordinate direction in Henry (H).

Parameters

[in] handle The estimator (EST) handle

Returns: The stator inductance value, H

◆ cla_EST_getLs_q_H()

float32_t cla_EST_getLs_q_H ( EST_Handle handle )

◆ EST_getMaxCurrentDelta_A()

float32_t EST_getMaxCurrentDelta_A ( EST_Handle handle )

Gets the maximum current slope value used in the estimator in Amperes (A).

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum current delta value, A

◆ cla_EST_getMaxCurrentDelta_A()

float32_t cla_EST_getMaxCurrentDelta_A ( EST_Handle handle )

◆ EST_getMaxCurrentDelta_pw_A()

float32_t EST_getMaxCurrentDelta_pw_A ( EST_Handle handle )

Gets the maximum power warp current slope value used in the estimator in Amperes (A).

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum power warp current delta value, A

◆ cla_EST_getMaxCurrentDelta_pw_A()

float32_t cla_EST_getMaxCurrentDelta_pw_A ( EST_Handle handle )

◆ EST_getMaxDelta_Id_A()

float32_t EST_getMaxDelta_Id_A ( EST_Handle handle )

Gets the maximum delta value from the Id trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum delta value, A

◆ cla_EST_getMaxDelta_Id_A()

float32_t cla_EST_getMaxDelta_Id_A ( EST_Handle handle )

◆ EST_getMaxDelta_Iq_A()

float32_t EST_getMaxDelta_Iq_A ( EST_Handle handle )

Gets the maximum delta value from the Iq trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum delta value, A

◆ cla_EST_getMaxDelta_Iq_A()

float32_t cla_EST_getMaxDelta_Iq_A ( EST_Handle handle )

◆ EST_getMaxDelta_spd_Hz()

float32_t EST_getMaxDelta_spd_Hz ( EST_Handle handle )

Gets the maximum delta value from the speed trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum delta value, Hz

◆ cla_EST_getMaxDelta_spd_Hz()

float32_t cla_EST_getMaxDelta_spd_Hz ( EST_Handle handle )

◆ EST_getMaxSpeedDelta_Hz()

float32_t EST_getMaxSpeedDelta_Hz ( EST_Handle handle )

Gets the maximum acceleration value used in the estimator in Hertz (Hz).

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum speed delta value, Hz

◆ cla_EST_getMaxSpeedDelta_Hz()

float32_t cla_EST_getMaxSpeedDelta_Hz ( EST_Handle handle )

◆ EST_getMaxValue_Id_A()

float32_t EST_getMaxValue_Id_A ( EST_Handle handle )

Gets the maximum value from the Id trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum value, A

◆ cla_EST_getMaxValue_Id_A()

float32_t cla_EST_getMaxValue_Id_A ( EST_Handle handle )

◆ EST_getMaxValue_Iq_A()

float32_t EST_getMaxValue_Iq_A ( EST_Handle handle )

Gets the maximum value from the Iq trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum value, A

◆ cla_EST_getMaxValue_Iq_A()

float32_t cla_EST_getMaxValue_Iq_A ( EST_Handle handle )

◆ EST_getMaxValue_spd_Hz()

float32_t EST_getMaxValue_spd_Hz ( EST_Handle handle )

Gets the maximum value from the speed trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The maximum value, Hz

◆ cla_EST_getMaxValue_spd_Hz()

float32_t cla_EST_getMaxValue_spd_Hz ( EST_Handle handle )

◆ EST_getMinValue_Id_A()

float32_t EST_getMinValue_Id_A ( EST_Handle handle )

Gets the minimum value from the Id trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The minimum value, A

◆ cla_EST_getMinValue_Id_A()

float32_t cla_EST_getMinValue_Id_A ( EST_Handle handle )

◆ EST_getMinValue_Iq_A()

float32_t EST_getMinValue_Iq_A ( EST_Handle handle )

Gets the minimum value from the Iq trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The minimum value, A

◆ cla_EST_getMinValue_Iq_A()

float32_t cla_EST_getMinValue_Iq_A ( EST_Handle handle )

◆ EST_getMinValue_spd_Hz()

float32_t EST_getMinValue_spd_Hz ( EST_Handle handle )

Gets the minimum value from the speed trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The minimum value, Hz

◆ cla_EST_getMinValue_spd_Hz()

float32_t cla_EST_getMinValue_spd_Hz ( EST_Handle handle )

◆ EST_getNumIsrTicksPerEstTick()

int16_t EST_getNumIsrTicksPerEstTick ( EST_Handle handle )

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

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_getNumIsrTicksPerEstTick()

int16_t cla_EST_getNumIsrTicksPerEstTick ( EST_Handle handle )

◆ EST_getNumIsrTicksPerTrajTick()

int16_t EST_getNumIsrTicksPerTrajTick ( EST_Handle handle )

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

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_getNumIsrTicksPerTrajTick()

int16_t cla_EST_getNumIsrTicksPerTrajTick ( EST_Handle handle )

◆ EST_getOneOverDcBus_invV()

float32_t EST_getOneOverDcBus_invV ( EST_Handle handle )

Gets the inverse of the DC bus voltage in 1/Volt (1/V).

Parameters

[in] handle The estimator (EST) handle

Returns: The inverse of the DC bus voltage, 1/V

◆ cla_EST_getOneOverDcBus_invV()

float32_t cla_EST_getOneOverDcBus_invV ( EST_Handle handle )

◆ EST_getPwGain()

float32_t EST_getPwGain ( EST_Handle handle )

Gets the power warp gain from the trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The power warp gain, unitless

◆ cla_EST_getPwGain()

float32_t cla_EST_getPwGain ( EST_Handle handle )

◆ EST_getRhf_Ohm()

float32_t EST_getRhf_Ohm ( EST_Handle handle )

Gets the Rhf value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The Rhf value, Ohm

◆ cla_EST_getRhf_Ohm()

float32_t cla_EST_getRhf_Ohm ( EST_Handle handle )

◆ EST_getRoverL_rps()

float32_t EST_getRoverL_rps ( EST_Handle handle )

Gets the R/L value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The R/L value, rad/sec

◆ cla_EST_getRoverL_rps()

float32_t cla_EST_getRoverL_rps ( EST_Handle handle )

◆ EST_getRr_coarseDelta_Ohm()

float32_t EST_getRr_coarseDelta_Ohm ( EST_Handle handle )

Gets the coarse delta rotor resistance value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The coarse delta rotor resistance value, Ohm

◆ cla_EST_getRr_coarseDelta_Ohm()

float32_t cla_EST_getRr_coarseDelta_Ohm ( EST_Handle handle )

◆ EST_getRr_d_Ohm()

float32_t EST_getRr_d_Ohm ( EST_Handle handle )

Gets the direct rotor resistance value in Ohm ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The direct rotor resistance value, Ohm

◆ cla_EST_getRr_d_Ohm()

float32_t cla_EST_getRr_d_Ohm ( EST_Handle handle )

◆ EST_getRr_dq_Ohm()

void EST_getRr_dq_Ohm	(	EST_Handle	handle,
		MATH_Vec2 *	pRr_dq_Ohm
	)

Gets the direct/quadrature rotor resistance values from the estimator in Ohms ( $\Omega$ ).

Both direct and quadrature rotor resistances can be read from the estimator by using this function call and passing a pointer to a structure where these two values will be stored.

Parameters

[in]	handle	The estimator (EST) handle
[out]	pRr_dq_Ohm	The pointer to the vector of direct/quadrature rotor resistance values, Ohm

◆ cla_EST_getRr_dq_Ohm()

void cla_EST_getRr_dq_Ohm	(	EST_Handle	handle,
		MATH_Vec2 *	pRr_dq_Ohm
	)

◆ EST_getRr_fineDelta_Ohm()

float32_t EST_getRr_fineDelta_Ohm ( EST_Handle handle )

Gets the fine delta rotor resistance value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The fine delta rotor resistance value, Ohm

◆ cla_EST_getRr_fineDelta_Ohm()

float32_t cla_EST_getRr_fineDelta_Ohm ( EST_Handle handle )

◆ EST_getRr_Ohm()

float32_t EST_getRr_Ohm ( EST_Handle handle )

Gets the rotor resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The rotor resistance value, Ohm

◆ cla_EST_getRr_Ohm()

float32_t cla_EST_getRr_Ohm ( EST_Handle handle )

◆ EST_getRr_q_Ohm()

float32_t EST_getRr_q_Ohm ( EST_Handle handle )

Gets the quadrature rotor resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The quadrature rotor resistance value, Ohm

◆ cla_EST_getRr_q_Ohm()

float32_t cla_EST_getRr_q_Ohm ( EST_Handle handle )

◆ EST_getRs_a_Ohm()

float32_t EST_getRs_a_Ohm ( EST_Handle handle )

Gets the alpha stator resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The alpha stator resistance value, Ohm

◆ cla_EST_getRs_a_Ohm()

float32_t cla_EST_getRs_a_Ohm ( EST_Handle handle )

◆ EST_getRs_ab_Ohm()

void EST_getRs_ab_Ohm	(	EST_Handle	handle,
		MATH_Vec2 *	pRs_ab_Ohm
	)

Gets the alpha/beta stator resistance values from the estimator in Ohms ( $\Omega$ ).

Both alpha and beta stator resistances can be read from the estimator by using this function call and passing a pointer to a structure where these two values will be stored.

Parameters

[in]	handle	The estimator (EST) handle
[out]	pRs_ab_Ohm	The pointer to the vector of alpha/beta stator resistance values, Ohm

◆ cla_EST_getRs_ab_Ohm()

void cla_EST_getRs_ab_Ohm	(	EST_Handle	handle,
		MATH_Vec2 *	pRs_ab_Ohm
	)

◆ EST_getRs_b_Ohm()

float32_t EST_getRs_b_Ohm ( EST_Handle handle )

Gets the beta stator resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The beta stator resistance value, Ohm

◆ cla_EST_getRs_b_Ohm()

float32_t cla_EST_getRs_b_Ohm ( EST_Handle handle )

◆ EST_getRs_coarseDelta_Ohm()

float32_t EST_getRs_coarseDelta_Ohm ( EST_Handle handle )

Gets the coarse delta stator resistance value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The coarse delta stator resistance value, Ohm

◆ cla_EST_getRs_coarseDelta_Ohm()

float32_t cla_EST_getRs_coarseDelta_Ohm ( EST_Handle handle )

◆ EST_getRs_d_Ohm()

float32_t EST_getRs_d_Ohm ( EST_Handle handle )

Gets the direct stator resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The direct stator resistance value, Ohm

◆ cla_EST_getRs_d_Ohm()

float32_t cla_EST_getRs_d_Ohm ( EST_Handle handle )

◆ EST_getRs_dq_Ohm()

void EST_getRs_dq_Ohm	(	EST_Handle	handle,
		MATH_Vec2 *	pRs_dq_Ohm
	)

Gets the direct/quadrature stator resistance values from the estimator in Ohms ( $\Omega$ ).

Both direct and quadrature stator resistances can be read from the estimator by using this function call and passing a pointer to a structure where these two values will be stored.

Parameters

[in]	handle	The estimator (EST) handle
[out]	pRs_dq_Ohm	The pointer to the vector of direct/quadrature stator resistance values, Ohm

◆ cla_EST_getRs_dq_Ohm()

void cla_EST_getRs_dq_Ohm	(	EST_Handle	handle,
		MATH_Vec2 *	pRs_dq_Ohm
	)

◆ EST_getRs_fineDelta_Ohm()

float32_t EST_getRs_fineDelta_Ohm ( EST_Handle handle )

Gets the fine delta stator resistance value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The delta stator resistance value, Ohm

◆ cla_EST_getRs_fineDelta_Ohm()

float32_t cla_EST_getRs_fineDelta_Ohm ( EST_Handle handle )

◆ EST_getRs_q_Ohm()

float32_t EST_getRs_q_Ohm ( EST_Handle handle )

Gets the quadrature stator resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The quadrature stator resistance value, Ohm

◆ cla_EST_getRs_q_Ohm()

float32_t cla_EST_getRs_q_Ohm ( EST_Handle handle )

◆ EST_getRs_Ohm()

float32_t EST_getRs_Ohm ( EST_Handle handle )

Gets the stator resistance value in Ohms ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The stator resistance value, Ohm

◆ cla_EST_getRs_Ohm()

float32_t cla_EST_getRs_Ohm ( EST_Handle handle )

◆ EST_getRsOnLine_Ohm()

float32_t EST_getRsOnLine_Ohm ( EST_Handle handle )

Gets the online stator resistance value in Ohm ( $\Omega$ ).

Parameters

[in] handle The estimator (EST) handle

Returns: The online stator resistance value, Ohm

◆ cla_EST_getRsOnLine_Ohm()

float32_t cla_EST_getRsOnLine_Ohm ( EST_Handle handle )

◆ EST_getRsOnLineAngle_rad()

float32_t EST_getRsOnLineAngle_rad ( EST_Handle handle )

Gets the angle value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The angle value, rad

◆ cla_EST_getRsOnLineAngle_rad()

float32_t cla_EST_getRsOnLineAngle_rad ( EST_Handle handle )

◆ EST_getRsOnLineAngleDelta_rad()

float32_t EST_getRsOnLineAngleDelta_rad ( EST_Handle handle )

Gets the delta angle value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The delta angle value, rad

◆ cla_EST_getRsOnLineAngleDelta_rad()

float32_t cla_EST_getRsOnLineAngleDelta_rad ( EST_Handle handle )

◆ EST_getRsOnLineId_mag_A()

float32_t EST_getRsOnLineId_mag_A ( EST_Handle handle )

Gets the Id magnitude value used for online stator resistance estimation in Ampere (A).

Parameters

[in] handle The estimator (EST) handle

Returns: The Id magnitude value, A

◆ cla_EST_getRsOnLineId_mag_A()

float32_t cla_EST_getRsOnLineId_mag_A ( EST_Handle handle )

◆ EST_getRsOnLineId_A()

float32_t EST_getRsOnLineId_A ( EST_Handle handle )

Gets the Id value used for online stator resistance estimation in Ampere (A).

Parameters

[in] handle The estimator (EST) handle

Returns: The Id value, A

◆ cla_EST_getRsOnLineId_A()

float32_t cla_EST_getRsOnLineId_A ( EST_Handle handle )

◆ EST_getRsOnLineLpFilterParams()

void EST_getRsOnLineLpFilterParams	(	EST_Handle	handle,
		const EST_RsOnLineFilterType_e	filterType,
		const uint16_t	filterNumber,
		float32_t *	b0,
		float32_t *	b1,
		float32_t *	a1,
		float32_t *	x1,
		float32_t *	y1
	)

Gets the online stator resistance filter parameters.

Parameters

[in]	handle	The estimator (EST) handle
[in]	filterType	The filter type
[in]	filterNumber	The filter number
[in]	b0	The pointer for the numerator coefficient value for z^0
[in]	b1	The pointer for the numerator coefficient value for z^(-1)
[in]	a1	The pointer for the denominator coefficient value for z^(-1)
[in]	x1	The pointer for the input value at time sample n=-1
[in]	y1	The pointer for the output value at time sample n=-1

◆ cla_EST_getRsOnLineLpFilterParams()

void cla_EST_getRsOnLineLpFilterParams	(	EST_Handle	handle,
		const EST_RsOnLineFilterType_e	filterType,
		const uint16_t	filterNumber,
		float32_t *	b0,
		float32_t *	b1,
		float32_t *	a1,
		float32_t *	x1,
		float32_t *	y1
	)

◆ EST_getSignOfDirection()

int16_t EST_getSignOfDirection ( EST_Handle handle )

Gets the sign of the direction value in 16 bit signed integer (int16_t).

Parameters

[in] handle The estimator (EST) handle

Returns: The sign of the direction value (-1 for negative, 1 for positive)

◆ cla_EST_getSignOfDirection()

int16_t cla_EST_getSignOfDirection ( EST_Handle handle )

◆ EST_getSpeed_ref_Hz()

float32_t EST_getSpeed_ref_Hz ( EST_Handle handle )

Gets the reference speed value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The reference speed value, Hz

◆ cla_EST_getSpeed_ref_Hz()

float32_t cla_EST_getSpeed_ref_Hz ( EST_Handle handle )

◆ EST_getSpeed_rpm()

float32_t EST_getSpeed_rpm ( EST_Handle handle )

Gets the speed value in revolutions per second (rpm).

Parameters

[in] handle The estimator (EST) handle

Returns: The speed value, rpm

◆ cla_EST_getSpeed_rpm()

float32_t cla_EST_getSpeed_rpm ( EST_Handle handle )

◆ EST_getState()

EST_State_e EST_getState ( EST_Handle handle )

Gets the state of the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The estimator state

◆ cla_EST_getState()

EST_State_e cla_EST_getState ( EST_Handle handle )

◆ EST_getTargetValue_Id_A()

float32_t EST_getTargetValue_Id_A ( EST_Handle handle )

Gets the target value from the Id trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The target value, A

◆ cla_EST_getTargetValue_Id_A()

float32_t cla_EST_getTargetValue_Id_A ( EST_Handle handle )

◆ EST_getTargetValue_Iq_A()

float32_t EST_getTargetValue_Iq_A ( EST_Handle handle )

Gets the target value from the Iq trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The target value, A

◆ cla_EST_getTargetValue_Iq_A()

float32_t cla_EST_getTargetValue_Iq_A ( EST_Handle handle )

◆ EST_getTargetValue_spd_Hz()

float32_t EST_getTargetValue_spd_Hz ( EST_Handle handle )

Gets the target value from the speed trajectory generator.

Parameters

[in] handle The estimator (EST) handle

Returns: The target value, Hz

◆ cla_EST_getTargetValue_spd_Hz()

float32_t cla_EST_getTargetValue_spd_Hz ( EST_Handle handle )

◆ EST_getTorque_sf()

float32_t EST_getTorque_sf ( EST_Handle handle )

Gets the torque scale factor for the torque equation.

Parameters

[in] handle The estimator (EST) handle

Returns: The torque scale factor

◆ cla_EST_getTorque_sf()

float32_t cla_EST_getTorque_sf ( EST_Handle handle )

◆ EST_getTrajCount_isr()

int16_t EST_getTrajCount_isr ( EST_Handle handle )

Gets the trajectory ISR count from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The trajectory count value

◆ cla_EST_getTrajCount_isr()

int16_t cla_EST_getTrajCount_isr ( EST_Handle handle )

◆ EST_getTrajState()

EST_Traj_State_e EST_getTrajState ( EST_Handle handle )

Gets the trajectory generator state.

Parameters

[in] handle The estimator (EST) handle

Returns: The state

◆ cla_EST_getTrajState()

EST_Traj_State_e cla_EST_getTrajState ( EST_Handle handle )

◆ EST_getVab_V()

void EST_getVab_V	(	EST_Handle	handle,
		MATH_Vec2 *	pVab_V
	)

Gets the Vab voltage vector in Volts (V)

Parameters

[in]	handle	The estimator (EST) handle
[in]	pVab_V	The pointer to memory for the Vab vector, V

◆ cla_EST_getVab_V()

void cla_EST_getVab_V	(	EST_Handle	handle,
		MATH_Vec2 *	pVab_V
	)

◆ EST_getVdq_lp_V()

void EST_getVdq_lp_V	(	EST_Handle	handle,
		MATH_Vec2 *	pVdq_lp_V
	)

Gets the low pass filtered Vdq voltage vector in Volts (V)

Parameters

[in]	handle	The estimator (EST) handle
[in]	pVdq_lp_V	The pointer to memory for the low pass filtered Vdq vector, V

◆ cla_EST_getVdq_lp_V()

void cla_EST_getVdq_lp_V	(	EST_Handle	handle,
		MATH_Vec2 *	pVdq_lp_V
	)

◆ EST_getVdq_V()

void EST_getVdq_V	(	EST_Handle	handle,
		MATH_Vec2 *	pVdq_V
	)

Gets the Vdq voltage vector in Volts (V)

Parameters

[in]	handle	The estimator (EST) handle
[in]	pVdq_V	The pointer to memory for the Vdq vector, V

◆ cla_EST_getVdq_V()

void cla_EST_getVdq_V	(	EST_Handle	handle,
		MATH_Vec2 *	pVdq_V
	)

◆ EST_incrCounter_isr()

void EST_incrCounter_isr ( EST_Handle handle )

Increments the ISR counter in the estimator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_incrCounter_isr()

void cla_EST_incrCounter_isr ( EST_Handle handle )

◆ EST_incrTrajCounter_isr()

void EST_incrTrajCounter_isr ( EST_Handle handle )

Increments the ISR counter in the trajectory generator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_incrTrajCounter_isr()

void cla_EST_incrTrajCounter_isr ( EST_Handle handle )

◆ EST_initEst()

EST_Handle EST_initEst ( const uint16_t estNumber )

Initializes the estimator.

Parameters

[in] estNumber The estimator number

Returns: The estimator (EST) handle

◆ cla_EST_initEst()

EST_Handle cla_EST_initEst ( const uint16_t estNumber )

◆ EST_isEnabled()

bool EST_isEnabled ( EST_Handle handle )

Determines if the estimator (EST) is enabled.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_isEnabled()

bool cla_EST_isEnabled ( EST_Handle handle )

◆ EST_isError()

bool EST_isError ( EST_Handle handle )

Determines if there is an error in the estimator.

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_isError()

bool cla_EST_isError ( EST_Handle handle )

◆ EST_isIdle()

bool EST_isIdle ( EST_Handle handle )

Determines if the estimator is idle.

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_isIdle()

bool cla_EST_isIdle ( EST_Handle handle )

◆ EST_isLockRotor()

bool EST_isLockRotor ( EST_Handle handle )

Determines if the estimator is waiting for the rotor to be locked.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting if the estimator is waiting for the rotor to be locked (true) or not (false)

◆ cla_EST_isLockRotor()

bool cla_EST_isLockRotor ( EST_Handle handle )

◆ EST_isMotorIdentified()

bool EST_isMotorIdentified ( EST_Handle handle )

Determines if the motor has been identified.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting if the motor is identified (true) or not (false)

◆ cla_EST_isMotorIdentified()

bool cla_EST_isMotorIdentified ( EST_Handle handle )

◆ EST_isNotOnLine()

bool EST_isNotOnLine ( EST_Handle handle )

Determines if the estimator is not ready for online control.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting if the estimator is not ready for online control (true) or not (false)

◆ cla_EST_isNotOnLine()

bool cla_EST_isNotOnLine ( EST_Handle handle )

◆ EST_isOnLine()

bool EST_isOnLine ( EST_Handle handle )

Determines if the estimator is ready for online control.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting if the estimator is ready for online control (true) or not (false)

◆ cla_EST_isOnLine()

bool cla_EST_isOnLine ( EST_Handle handle )

◆ EST_isTrajEnabled()

bool EST_isTrajEnabled ( EST_Handle handle )

Determines if the trajectory generator is enabled.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_isTrajEnabled()

bool cla_EST_isTrajEnabled ( EST_Handle handle )

◆ EST_isTrajError()

bool EST_isTrajError ( EST_Handle handle )

Determines if there is an error in the trajectory generator.

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_isTrajError()

bool cla_EST_isTrajError ( EST_Handle handle )

◆ EST_resetCounter_isr()

void EST_resetCounter_isr ( EST_Handle handle )

Resets the isr counter.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_resetCounter_isr()

void cla_EST_resetCounter_isr ( EST_Handle handle )

◆ EST_resetCounter_state()

void EST_resetCounter_state ( EST_Handle handle )

Resets the state counter.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_resetCounter_state()

void cla_EST_resetCounter_state ( EST_Handle handle )

◆ EST_resetTrajCounter_isr()

void EST_resetTrajCounter_isr ( EST_Handle handle )

Resets the trajectory ISR counter.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_resetTrajCounter_isr()

void cla_EST_resetTrajCounter_isr ( EST_Handle handle )

◆ EST_run()

void EST_run	(	EST_Handle	handle,
		const EST_InputData_t *	pInputData,
		EST_OutputData_t *	pOutputData
	)

Runs the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pInputData	The pointer to the input data
[in]	pOutputData	The pointer to the output data

◆ cla_EST_run()

void cla_EST_run	(	EST_Handle	handle,
		const EST_InputData_t *	pInputData,
		EST_OutputData_t *	pOutputData
	)

◆ EST_runPowerWarp()

float32_t EST_runPowerWarp	(	EST_Handle	handle,
		const float32_t	Id_int_A,
		const float32_t	Iq_A
	)

Runs PowerWarp.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Id_int_A	The intermediate value along the Id trajectory in Amperes
[in]	Iq_A	The measured Iq value in Amperes

Returns: The target value for the Id trajectory in Amperes

◆ cla_EST_runPowerWarp()

float32_t cla_EST_runPowerWarp	(	EST_Handle	handle,
		const float32_t	Id_int_A,
		const float32_t	Iq_A
	)

◆ EST_runTraj()

void EST_runTraj ( EST_Handle handle )

Runs the trajectory generator.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_runTraj()

void cla_EST_runTraj ( EST_Handle handle )

◆ EST_setAccel_rps2()

void EST_setAccel_rps2	(	EST_Handle	handle,
		const float32_t	accel_rps2
	)

Sets the mechanical acceleration in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	accel_rps2	The mechanical acceleration, rad/sec^2

◆ cla_EST_setAccel_rps2()

void cla_EST_setAccel_rps2	(	EST_Handle	handle,
		const float32_t	accel_rps2
	)

◆ EST_setAngle_rad()

void EST_setAngle_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

Sets the angle value at t = n in both the estimator and trajectory in radians (rad).

This function overwrites the estimated angle with a user's provided angle. The set value should be between -pi and pi The following example shows how to overwrite the estimated angle:

float32_t Overwrite_Flux_Angle_rad = MATH_PI * 0.5;

EST_setAngle_rad(handle,Overwrite_Flux_Angle_rad);

This function is not recommended for general use, since this will automatically generate an axis misalignment between the rotor flux axis and the control signals driving the motor. The use of this function is recommended for advanced users interested in doing open loop startup algorithms that need to bypass the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	angle_rad	The angle value at t = n, rad

◆ cla_EST_setAngle_rad()

void cla_EST_setAngle_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

◆ EST_setAngle_est_rad()

void EST_setAngle_est_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

Sets the angle value at t = n in the estimator in radians (rad).

Parameters

[in]	handle	The estimator (EST) handle
[in]	angle_rad	The angle value at t = n, rad

◆ cla_EST_setAngle_est_rad()

void cla_EST_setAngle_est_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

◆ EST_setAngle_np1_rad()

void EST_setAngle_np1_rad	(	EST_Handle	handle,
		const float32_t	angle_np1_rad
	)

Sets the angle value at t = n+1 in the estimator in radians (rad).

This function overwrites the estimated angle with a user's provided angle. The set value should be between -2*pi and 2*pi The following example shows how to overwrite the estimated angle:

float32_t Overwrite_Flux_Angle_np1_rad = MATH_TWO_PI * 0.5;

EST_setAngle_np1_rad(handle,Overwrite_Flux_Angle_np1_rad);

This function is not recommended for general use, since this will automatically generate an axis misalignment between the rotor flux axis and the control signals driving the motor. The use of this function is recommended for advanced users interested in doing open loop startup algorithms that need to bypass the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	angle_np1_rad	The angle value at t = n+1, rad

◆ cla_EST_setAngle_np1_rad()

void cla_EST_setAngle_np1_rad	(	EST_Handle	handle,
		const float32_t	angle_np1_rad
	)

◆ EST_setAngle_traj_rad()

void EST_setAngle_traj_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

Sets the angle value at t = n in the trajectory in radians (rad).

Parameters

[in]	handle	The estimator (EST) handle
[in]	angle_rad	The angle value at t = n, rad

◆ cla_EST_setAngle_traj_rad()

void cla_EST_setAngle_traj_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

◆ EST_setAngleDelta_est_rad()

void EST_setAngleDelta_est_rad	(	EST_Handle	handle,
		const float32_t	delta_rad
	)

Sets the estimated angle delta value.

Parameters

[in]	handle	The estimator (EST) handle
[in]	delta_rad	The angle delta value, rad

◆ cla_EST_setAngleDelta_est_rad()

void cla_EST_setAngleDelta_est_rad	(	EST_Handle	handle,
		const float32_t	delta_rad
	)

◆ EST_setAngleDelta_traj_rad()

void EST_setAngleDelta_traj_rad	(	EST_Handle	handle,
		const float32_t	delta_rad
	)

Sets the trajectory angle delta value.

Parameters

[in]	handle	The estimator (EST) handle
[in]	delta_rad	The angle delta value, rad

◆ cla_EST_setAngleDelta_traj_rad()

void cla_EST_setAngleDelta_traj_rad	(	EST_Handle	handle,
		const float32_t	delta_rad
	)

◆ EST_setCount_isr()

void EST_setCount_isr	(	EST_Handle	handle,
		const int16_t	value
	)

Sets the ISR count in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	value	The ISR count value

◆ cla_EST_setCount_isr()

void cla_EST_setCount_isr	(	EST_Handle	handle,
		const int16_t	value
	)

◆ EST_setCount_state()

void EST_setCount_state	(	EST_Handle	handle,
		const int32_t	value
	)

Sets the state count in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	value	The state count value

◆ cla_EST_setCount_state()

void cla_EST_setCount_state	(	EST_Handle	handle,
		const int32_t	value
	)

◆ EST_setCount_traj()

void EST_setCount_traj	(	EST_Handle	handle,
		const int16_t	value
	)

Sets the ISR count value in the estimator trajectory.

Parameters

[in]	handle	The estimator (EST) handle
[in]	count	The desired count

◆ cla_EST_setCount_traj()

void cla_EST_setCount_traj	(	EST_Handle	handle,
		const int16_t	value
	)

◆ EST_setDcBus_V()

void EST_setDcBus_V	(	EST_Handle	handle,
		const float32_t	dcBus_V
	)

Sets the DC bus voltage in the estimator in Volt (V).

Parameters

[in]	handle	The estimator (EST) handle
[in]	dcBus_V	The DC bus voltage, V

◆ cla_EST_setDcBus_V()

void cla_EST_setDcBus_V	(	EST_Handle	handle,
		const float32_t	dcBus_V
	)

◆ EST_setFe_Hz()

void EST_setFe_Hz	(	EST_Handle	handle,
		const float32_t	fe_Hz
	)

Sets the electrical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fe_Hz	The electrical frequency value, Hz

◆ cla_EST_setFe_Hz()

void cla_EST_setFe_Hz	(	EST_Handle	handle,
		const float32_t	fe_Hz
	)

◆ EST_setFe_abs_max_rps()

void EST_setFe_abs_max_rps	(	EST_Handle	handle,
		const float32_t	fe_abs_max_rps
	)

Sets the absolute maximum electrical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fe_abs_max_rps	The absolute maximum electrical frequency value, rad/sec

◆ cla_EST_setFe_abs_max_rps()

void cla_EST_setFe_abs_max_rps	(	EST_Handle	handle,
		const float32_t	fe_abs_max_rps
	)

◆ EST_setFe_rps()

void EST_setFe_rps	(	EST_Handle	handle,
		const float32_t	fe_rps
	)

Sets the electrical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fe_rps	The electrical frequency value, rad/sec

◆ cla_EST_setFe_rps()

void cla_EST_setFe_rps	(	EST_Handle	handle,
		const float32_t	fe_rps
	)

◆ EST_setFlag_bypassLockRotor()

void EST_setFlag_bypassLockRotor	(	EST_Handle	handle,
		const bool	state
	)

Sets the bypass lock rotor flag value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired state

◆ cla_EST_setFlag_bypassLockRotor()

void cla_EST_setFlag_bypassLockRotor	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_enable()

void EST_setFlag_enable	(	EST_Handle	handle,
		const bool	state
	)

Sets the enable estimator flag value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired state

◆ cla_EST_setFlag_enable()

void cla_EST_setFlag_enable	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_enableForceAngle()

void EST_setFlag_enableForceAngle	(	EST_Handle	handle,
		const bool	state
	)

Sets the enable force angle flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state, on (1) or off (0) true Enable forced angle. false Disable forced angle.

◆ cla_EST_setFlag_enableForceAngle()

void cla_EST_setFlag_enableForceAngle	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_enablePowerWarp()

void EST_setFlag_enablePowerWarp	(	EST_Handle	handle,
		const bool	state
	)

Sets the enable PowerWarp flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state, on (1) or off (0)

◆ cla_EST_setFlag_enablePowerWarp()

void cla_EST_setFlag_enablePowerWarp	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_enableRsOnLine()

void EST_setFlag_enableRsOnLine	(	EST_Handle	handle,
		const bool	state
	)

Sets the enable Rs online flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state, on (1) or off (0) true Enable the Rs online recalibration algorithm. The estimator will run a set of functions related to rs online which recalculates the stator resistance while the motor is rotating. This algorithm is useful when motor heats up, and hence stator resistance increases. false Disable the Rs online recalibration algorithm. No updates to Rs will be made even if the motor heats up. Low speed performace, and startup performance with full torque might be affected if stator resistance changes due to motor heating up. The stator resistance will be fixed, and equal to the value returned by EST_getRs_Ohm().

◆ cla_EST_setFlag_enableRsOnLine()

void cla_EST_setFlag_enableRsOnLine	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_enableRsRecalc()

void EST_setFlag_enableRsRecalc	(	EST_Handle	handle,
		const bool	state
	)

Sets the enable stator resistance (Rs) re-calculation flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state, on (1) or off (0) true Enable Rs recalibration. The estimator will inject a DC current to the D-axis to recalibrate the stator resistance before the motor rotates. It is required that the motor is at standstill to perform Rs recalibration. If online recalibration of the stator resistance is needed, refer to EST_getFlag_enableRsOnLine() and EST_setFlag_enableRsOnLine() functions. false Disable Rs recalibration. The estimator will start the motor with the resistance value that was used before the motor was stopped, or what is returned by function: EST_getRs_Ohm().

◆ cla_EST_setFlag_enableRsRecalc()

void cla_EST_setFlag_enableRsRecalc	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_estComplete()

void EST_setFlag_estComplete	(	EST_Handle	handle,
		const bool	state
	)

Sets the estimation complete flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state, true (1) or false (0)

◆ cla_EST_setFlag_estComplete()

void cla_EST_setFlag_estComplete	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_motorIdentified()

void EST_setFlag_motorIdentified	(	EST_Handle	handle,
		const bool	state
	)

Sets the motor identified flag state in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired state

◆ cla_EST_setFlag_motorIdentified()

void cla_EST_setFlag_motorIdentified	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_updateRs()

void EST_setFlag_updateRs	(	EST_Handle	handle,
		const bool	state
	)

Sets the update stator resistance (Rs) flag in the estimator.

When the online resistance estimator is enabled, the update flag allows the online resistance to be copied to the resistance used by the estimator model. If the update flag is not set to true, the online resistance estimation will not be used by the estimator model, and if the resistance changes too much due to temperature increase, the model may not work as expected.

EST_setFlag_updateRs(handle, true);

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state true The stator resistance estimated by the Rs OnLine module will be copied to the' the stator resistance used by the module, so of the motor's temperature changes, the estimated angle will be calculated based on the most up to date stator resistance false The stator resistance estimated by the Rs OnLine module may or may not be updated depending on the enable flag, but will not be used in the motor's model used to generate the estimated speed and angle.

◆ cla_EST_setFlag_updateRs()

void cla_EST_setFlag_updateRs	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFm_Hz()

void EST_setFm_Hz	(	EST_Handle	handle,
		const float32_t	fm_Hz
	)

Sets the asynchronous/mechanical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fm_Hz	The mechanical frequency value, Hz

◆ cla_EST_setFm_Hz()

void cla_EST_setFm_Hz	(	EST_Handle	handle,
		const float32_t	fm_Hz
	)

◆ EST_setFm_lp_Hz()

void EST_setFm_lp_Hz	(	EST_Handle	handle,
		const float32_t	fm_lp_Hz
	)

Sets the low pass filtered asynchronous/mechanical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fm_lp_Hz	The low pass filtered mechanical frequency value, Hz

◆ cla_EST_setFm_lp_Hz()

void cla_EST_setFm_lp_Hz	(	EST_Handle	handle,
		const float32_t	fm_lp_Hz
	)

◆ EST_setFm_lp_rps()

void EST_setFm_lp_rps	(	EST_Handle	handle,
		const float32_t	fm_lp_rps
	)

Sets the low pass filtered asynchronous/mechanical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fm_lp_rps	The low pass filtered mechanical frequency value, rad/sec

◆ cla_EST_setFm_lp_rps()

void cla_EST_setFm_lp_rps	(	EST_Handle	handle,
		const float32_t	fm_lp_rps
	)

◆ EST_setFm_rps()

void EST_setFm_rps	(	EST_Handle	handle,
		const float32_t	fm_rps
	)

Sets the asynchronous/mechanical frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fm_rps	The mechanical frequency value, rad/sec

◆ cla_EST_setFm_rps()

void cla_EST_setFm_rps	(	EST_Handle	handle,
		const float32_t	fm_rps
	)

◆ EST_setFslip_Hz()

void EST_setFslip_Hz	(	EST_Handle	handle,
		const float32_t	fslip_Hz
	)

Sets the slip frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fslip_Hz	The slip frequency value, Hz

◆ cla_EST_setFslip_Hz()

void cla_EST_setFslip_Hz	(	EST_Handle	handle,
		const float32_t	fslip_Hz
	)

◆ EST_setFslip_rps()

void EST_setFslip_rps	(	EST_Handle	handle,
		const float32_t	fslip_rps
	)

Sets the slip frequency in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	fslip_rps	The slip frequency value, rad/sec

◆ cla_EST_setFslip_rps()

void cla_EST_setFslip_rps	(	EST_Handle	handle,
		const float32_t	fslip_rps
	)

◆ EST_setForceAngleDelta_rad()

void EST_setForceAngleDelta_rad	(	EST_Handle	handle,
		const float32_t	angleDelta_rad
	)

Sets the force angle delta value in the estimator in radians (rad).

Parameters

[in]	handle	The estimator (EST) handle
[in]	angleDelta_rad	The force angle delta value, rad

◆ cla_EST_setForceAngleDelta_rad()

void cla_EST_setForceAngleDelta_rad	(	EST_Handle	handle,
		const float32_t	angleDelta_rad
	)

◆ EST_setFreqBeta_lp()

void EST_setFreqBeta_lp	(	EST_Handle	handle,
		const float32_t	beta_rad
	)

Sets the value used to set the low pass filter pole location in the frequency estimator in radians (rad).

Parameters

[in]	handle	The estimator (EST) handle
[in]	beta_rad	The value used to set the filter pole location, rad

◆ cla_EST_setFreqBeta_lp()

void cla_EST_setFreqBeta_lp	(	EST_Handle	handle,
		const float32_t	beta_rad
	)

◆ EST_setId_ref_A()

void EST_setId_ref_A	(	EST_Handle	handle,
		const float32_t	Id_ref_A
	)

Sets the direct current (Id) reference value in the estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Id_ref_A	The Id reference value, A

◆ cla_EST_setId_ref_A()

void cla_EST_setId_ref_A	(	EST_Handle	handle,
		const float32_t	Id_ref_A
	)

◆ EST_setIdle()

void EST_setIdle ( EST_Handle handle )

Sets the estimator to idle.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_setIdle()

void cla_EST_setIdle ( EST_Handle handle )

◆ EST_setIdq_ref_A()

void EST_setIdq_ref_A	(	EST_Handle	handle,
		const MATH_Vec2 *	pIdq_ref_A
	)

Sets the direct/quadrature current (Idq) reference value in the estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pIdq_ref_A	The pointer to the Idq reference values, A

◆ cla_EST_setIdq_ref_A()

void cla_EST_setIdq_ref_A	(	EST_Handle	handle,
		const MATH_Vec2 *	pIdq_ref_A
	)

◆ EST_setIdRated_A()

void EST_setIdRated_A	(	EST_Handle	handle,
		const float32_t	IdRated_A
	)

Sets the Id rated current value in the estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	IdRated_A	The Id rated current value, A

◆ cla_EST_setIdRated_A()

void cla_EST_setIdRated_A	(	EST_Handle	handle,
		const float32_t	IdRated_A
	)

◆ EST_setIdRated_delta_A()

void EST_setIdRated_delta_A	(	EST_Handle	handle,
		const float32_t	IdRated_delta_A
	)

Sets the Id rated delta current value in the estimator in Ampere (A)

Parameters

[in]	handle	The estimator (EST) handle
[in]	IdRated_delta_A	The delta Id rated current value, A

◆ cla_EST_setIdRated_delta_A()

void cla_EST_setIdRated_delta_A	(	EST_Handle	handle,
		const float32_t	IdRated_delta_A
	)

◆ EST_setIntValue_Id_A()

void EST_setIntValue_Id_A	(	EST_Handle	handle,
		const float32_t	intValue_A
	)

Sets the intermediate value in the Id trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	intValue_A	The intermediate value, A

◆ cla_EST_setIntValue_Id_A()

void cla_EST_setIntValue_Id_A	(	EST_Handle	handle,
		const float32_t	intValue_A
	)

◆ EST_setIntValue_Iq_A()

void EST_setIntValue_Iq_A	(	EST_Handle	handle,
		const float32_t	intValue_A
	)

Sets the intermediate value in the Iq trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	intValue_A	The intermediate value, A

◆ cla_EST_setIntValue_Iq_A()

void cla_EST_setIntValue_Iq_A	(	EST_Handle	handle,
		const float32_t	intValue_A
	)

◆ EST_setIntValue_spd_Hz()

void EST_setIntValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	intValue_Hz
	)

Sets the intermediate value in the speed trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	intValue_Hz	The intermediate value, Hz

◆ cla_EST_setIntValue_spd_Hz()

void cla_EST_setIntValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	intValue_Hz
	)

◆ EST_setIq_ref_A()

void EST_setIq_ref_A	(	EST_Handle	handle,
		const float32_t	Iq_ref_A
	)

Sets the quadrature current (Iq) reference value in the estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Iq_ref_A	The Iq reference value, A

◆ cla_EST_setIq_ref_A()

void cla_EST_setIq_ref_A	(	EST_Handle	handle,
		const float32_t	Iq_ref_A
	)

◆ EST_setLhf_H()

void EST_setLhf_H	(	EST_Handle	handle,
		const float32_t	Lhf_H
	)

Sets the Lhf value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Lhf_H	The Lhf inductance value, H

◆ cla_EST_setLhf_H()

void cla_EST_setLhf_H	(	EST_Handle	handle,
		const float32_t	Lhf_H
	)

◆ EST_setLs_coarseDelta_H()

void EST_setLs_coarseDelta_H	(	EST_Handle	handle,
		const float32_t	Ls_delta_H
	)

Sets the delta stator inductance value during coarse estimation.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Ls_delta_H	The delta stator inductance value for coarse estimation, Henry

◆ cla_EST_setLs_coarseDelta_H()

void cla_EST_setLs_coarseDelta_H	(	EST_Handle	handle,
		const float32_t	Ls_delta_H
	)

◆ EST_setLs_d_H()

void EST_setLs_d_H	(	EST_Handle	handle,
		const float32_t	Ls_d_H
	)

Sets the direct stator inductance value in the estimator in Henry (H).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Ls_d_H	The direct stator inductance value, Henry

◆ cla_EST_setLs_d_H()

void cla_EST_setLs_d_H	(	EST_Handle	handle,
		const float32_t	Ls_d_H
	)

◆ EST_setLs_dq_H()

void EST_setLs_dq_H	(	EST_Handle	handle,
		const MATH_Vec2 *	pLs_dq_H
	)

Sets the direct/quadrature stator inductance vector values in the estimator in Henry (H).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pLs_dq_H	The pointer to the direct/quadrature stator inductance vector values, H

◆ cla_EST_setLs_dq_H()

void cla_EST_setLs_dq_H	(	EST_Handle	handle,
		const MATH_Vec2 *	pLs_dq_H
	)

◆ EST_setLs_fineDelta_H()

void EST_setLs_fineDelta_H	(	EST_Handle	handle,
		const float32_t	Ls_delta_H
	)

Sets the delta stator inductance value during fine estimation.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Ls_delta_H	The delta stator inductance value for fine estimation, H

◆ cla_EST_setLs_fineDelta_H()

void cla_EST_setLs_fineDelta_H	(	EST_Handle	handle,
		const float32_t	Ls_delta_H
	)

◆ EST_setLs_H()

void EST_setLs_H	(	EST_Handle	handle,
		const float32_t	Ls_H
	)

Sets the stator inductance value in the estimator in Henry (H).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Ls_H	The stator inductance value, H

◆ cla_EST_setLs_H()

void cla_EST_setLs_H	(	EST_Handle	handle,
		const float32_t	Ls_H
	)

◆ EST_setLs_q_H()

void EST_setLs_q_H	(	EST_Handle	handle,
		const float32_t	Ls_q_H
	)

Sets the quadrature stator inductance value in the estimator in Henry (H).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Ls_q_H	The quadrature stator inductance value, H

◆ cla_EST_setLs_q_H()

void cla_EST_setLs_q_H	(	EST_Handle	handle,
		const float32_t	Ls_q_H
	)

◆ EST_setNumIsrTicksPerEstTick()

void EST_setNumIsrTicksPerEstTick	(	EST_Handle	handle,
		const int16_t	numIsrTicksPerEstTick
	)

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

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_setNumIsrTicksPerEstTick()

void cla_EST_setNumIsrTicksPerEstTick	(	EST_Handle	handle,
		const int16_t	numIsrTicksPerEstTick
	)

◆ EST_setNumIsrTicksPerTrajTick()

void EST_setNumIsrTicksPerTrajTick	(	EST_Handle	handle,
		const int16_t	numIsrTicksPerTrajTick
	)

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

Parameters

[in] handle The estimator (EST) handle

Returns: numIsrTicksPerTrajTick The number of Interrupt Service Routine (ISR) clock ticks per estimator trajectory clock tick

◆ cla_EST_setNumIsrTicksPerTrajTick()

void cla_EST_setNumIsrTicksPerTrajTick	(	EST_Handle	handle,
		const int16_t	numIsrTicksPerTrajTick
	)

◆ EST_setMaxCurrentDelta_A()

void EST_setMaxCurrentDelta_A	(	EST_Handle	handle,
		const float32_t	maxCurrentDelta_A
	)

Sets the maximum current delta value in the estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxCurrentDelta_A	The maximum current delta value, A

◆ cla_EST_setMaxCurrentDelta_A()

void cla_EST_setMaxCurrentDelta_A	(	EST_Handle	handle,
		const float32_t	maxCurrentDelta_A
	)

◆ EST_setMaxCurrentDelta_pw_A()

void EST_setMaxCurrentDelta_pw_A	(	EST_Handle	handle,
		const float32_t	maxCurrentDelta_A
	)

Sets the maximum power warp current delta value used in the estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxCurrentDelta_A	The maximum current delta value, A

◆ cla_EST_setMaxCurrentDelta_pw_A()

void cla_EST_setMaxCurrentDelta_pw_A	(	EST_Handle	handle,
		const float32_t	maxCurrentDelta_A
	)

◆ EST_setMaxDelta_Id_A()

void EST_setMaxDelta_Id_A	(	EST_Handle	handle,
		const float32_t	maxDelta_A
	)

Sets the maximum delta value in the Id trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxDelta_A	The maximum delta value, A

◆ cla_EST_setMaxDelta_Id_A()

void cla_EST_setMaxDelta_Id_A	(	EST_Handle	handle,
		const float32_t	maxDelta_A
	)

◆ EST_setMaxDelta_Iq_A()

void EST_setMaxDelta_Iq_A	(	EST_Handle	handle,
		const float32_t	maxDelta_A
	)

Sets the maximum delta value in the Iq trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxDelta_A	The maximum delta value, A

◆ cla_EST_setMaxDelta_Iq_A()

void cla_EST_setMaxDelta_Iq_A	(	EST_Handle	handle,
		const float32_t	maxDelta_A
	)

◆ EST_setMaxDelta_spd_Hz()

void EST_setMaxDelta_spd_Hz	(	EST_Handle	handle,
		const float32_t	maxDelta_Hz
	)

Sets the maximum delta value in the speed trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxDelta_Hz	The maximum delta value, Hz

◆ cla_EST_setMaxDelta_spd_Hz()

void cla_EST_setMaxDelta_spd_Hz	(	EST_Handle	handle,
		const float32_t	maxDelta_Hz
	)

◆ EST_setMaxSpeedDelta_Hz()

void EST_setMaxSpeedDelta_Hz	(	EST_Handle	handle,
		const float32_t	maxSpeedDelta_Hz
	)

Sets the maximum speed delta value during estimation.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxSpeedDelta_Hz	The maximum acceleration value, Hz

◆ cla_EST_setMaxSpeedDelta_Hz()

void cla_EST_setMaxSpeedDelta_Hz	(	EST_Handle	handle,
		const float32_t	maxSpeedDelta_Hz
	)

◆ EST_setMaxValue_Id_A()

void EST_setMaxValue_Id_A	(	EST_Handle	handle,
		const float32_t	maxValue_A
	)

Sets the maximum value in the Id trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxValue_A	The maximum value, A

◆ cla_EST_setMaxValue_Id_A()

void cla_EST_setMaxValue_Id_A	(	EST_Handle	handle,
		const float32_t	maxValue_A
	)

◆ EST_setMaxValue_Iq_A()

void EST_setMaxValue_Iq_A	(	EST_Handle	handle,
		const float32_t	maxValue_A
	)

Sets the maximum value in the Iq trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxValue_A	The maximum value, A

◆ cla_EST_setMaxValue_Iq_A()

void cla_EST_setMaxValue_Iq_A	(	EST_Handle	handle,
		const float32_t	maxValue_A
	)

◆ EST_setMaxValue_spd_Hz()

void EST_setMaxValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	maxValue_Hz
	)

Sets the maximum value in the speed trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	maxValue_Hz	The maximum value, Hz

◆ cla_EST_setMaxValue_spd_Hz()

void cla_EST_setMaxValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	maxValue_Hz
	)

◆ EST_setMinValue_Id_A()

void EST_setMinValue_Id_A	(	EST_Handle	handle,
		const float32_t	minValue_A
	)

Sets the minimum value in the Id trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	minValue_A	The minimum value, A

◆ cla_EST_setMinValue_Id_A()

void cla_EST_setMinValue_Id_A	(	EST_Handle	handle,
		const float32_t	minValue_A
	)

◆ EST_setMinValue_Iq_A()

void EST_setMinValue_Iq_A	(	EST_Handle	handle,
		const float32_t	minValue_A
	)

Sets the minimum value in the Iq trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	minValue_A	The minimum value, A

◆ cla_EST_setMinValue_Iq_A()

void cla_EST_setMinValue_Iq_A	(	EST_Handle	handle,
		const float32_t	minValue_A
	)

◆ EST_setMinValue_spd_Hz()

void EST_setMinValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	minValue_Hz
	)

Sets the minimum value in the speed trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	minValue_Hz	The minimum value, Hz

◆ cla_EST_setMinValue_spd_Hz()

void cla_EST_setMinValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	minValue_Hz
	)

◆ EST_setParams()

void EST_setParams	(	EST_Handle	handle,
		USER_Params *	pUserParams
	)

Sets the estimator parameters using the user parameters structreu.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pUserParams	A pointer to the user parameters structure

◆ cla_EST_setParams()

void cla_EST_setParams	(	EST_Handle	handle,
		USER_Params *	pUserParams
	)

◆ EST_setPwGain()

void EST_setPwGain	(	EST_Handle	handle,
		const float32_t	pwGain
	)

Sets the power warp gain in the trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pwGain	The power warp gain, unitless

◆ cla_EST_setPwGain()

void cla_EST_setPwGain	(	EST_Handle	handle,
		const float32_t	pwGain
	)

◆ EST_setRhf_Ohm()

void EST_setRhf_Ohm	(	EST_Handle	handle,
		const float32_t	Rhf_Ohm
	)

Sets the Rhf value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rhf_Ohm	The Rhf resistance value, Ohm

◆ cla_EST_setRhf_Ohm()

void cla_EST_setRhf_Ohm	(	EST_Handle	handle,
		const float32_t	Rhf_Ohm
	)

◆ EST_setRoverL_rps()

void EST_setRoverL_rps	(	EST_Handle	handle,
		const float32_t	RoverL_rps
	)

Sets the R/L value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	RoverL_rps	The R/L value, rad/sec

◆ cla_EST_setRoverL_rps()

void cla_EST_setRoverL_rps	(	EST_Handle	handle,
		const float32_t	RoverL_rps
	)

◆ EST_setRr_coarseDelta_Ohm()

void EST_setRr_coarseDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_coarseDelta_Ohm
	)

Sets the coarse delta rotor resistance value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_coarseDelta_Ohm	The coarse delta rotor resistance value, Ohm

◆ cla_EST_setRr_coarseDelta_Ohm()

void cla_EST_setRr_coarseDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_coarseDelta_Ohm
	)

◆ EST_setRr_d_Ohm()

void EST_setRr_d_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_d_Ohm
	)

Sets the direct rotor resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_d_Ohm	The direct rotor resistance value, Ohm

◆ cla_EST_setRr_d_Ohm()

void cla_EST_setRr_d_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_d_Ohm
	)

◆ EST_setRr_dq_Ohm()

void EST_setRr_dq_Ohm	(	EST_Handle	handle,
		const MATH_Vec2 *	pRr_dq_Ohm
	)

Sets the direct/quadrature rotor resistance values used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pRr_dq_Ohm	The pointer to the vector of direct/quadrature rotor resistance values, Ohm

◆ cla_EST_setRr_dq_Ohm()

void cla_EST_setRr_dq_Ohm	(	EST_Handle	handle,
		const MATH_Vec2 *	pRr_dq_Ohm
	)

◆ EST_setRr_fineDelta_Ohm()

void EST_setRr_fineDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_fineDelta_Ohm
	)

Sets the fine delta rotor resistance value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_fineDelta_Ohm	The fine delta rotor resistance value, Ohm

◆ cla_EST_setRr_fineDelta_Ohm()

void cla_EST_setRr_fineDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_fineDelta_Ohm
	)

◆ EST_setRr_max_Ohm()

void EST_setRr_max_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_max_Ohm
	)

Sets the maximum rotor resistance maximum value for saturation.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_max_Ohm	The rotor maximum resistance value, Ohm

◆ cla_EST_setRr_max_Ohm()

void cla_EST_setRr_max_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_max_Ohm
	)

◆ EST_setRr_min_Ohm()

void EST_setRr_min_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_min_Ohm
	)

Sets the minimum rotor resistance value for saturation.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_min_Ohm	The minimum rotor resistance value, Ohm

◆ cla_EST_setRr_min_Ohm()

void cla_EST_setRr_min_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_min_Ohm
	)

◆ EST_setRr_Ohm()

void EST_setRr_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_Ohm
	)

Sets the rotor resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_Ohm	The rotor resistance value, Ohm

◆ cla_EST_setRr_Ohm()

void cla_EST_setRr_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_Ohm
	)

◆ EST_setRr_q_Ohm()

void EST_setRr_q_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_q_Ohm
	)

Sets the quadrature rotor resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rr_q_Ohm	The quadrature rotor resistance value, Ohm

◆ cla_EST_setRr_q_Ohm()

void cla_EST_setRr_q_Ohm	(	EST_Handle	handle,
		const float32_t	Rr_q_Ohm
	)

◆ EST_setRs_a_Ohm()

void EST_setRs_a_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_a_Ohm
	)

Sets the alpha stator resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_a_Ohm	The alpha stator resistance value, Ohm

◆ cla_EST_setRs_a_Ohm()

void cla_EST_setRs_a_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_a_Ohm
	)

◆ EST_setRs_ab_Ohm()

void EST_setRs_ab_Ohm	(	EST_Handle	handle,
		const MATH_Vec2 *	pRs_ab_Ohm
	)

Sets the alpha/beta stator resistance values used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pRs_ab_Ohm	The pointer to the vector of direct/quadrature stator resistance values, Ohm

◆ cla_EST_setRs_ab_Ohm()

void cla_EST_setRs_ab_Ohm	(	EST_Handle	handle,
		const MATH_Vec2 *	pRs_ab_Ohm
	)

◆ EST_setRs_b_Ohm()

void EST_setRs_b_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_b_Ohm
	)

Sets the beta stator resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_b_Ohm	The beta stator resistance value, Ohm

◆ cla_EST_setRs_b_Ohm()

void cla_EST_setRs_b_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_b_Ohm
	)

◆ EST_setRs_coarseDelta_Ohm()

void EST_setRs_coarseDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_coarseDelta_Ohm
	)

Sets the coarse delta stator resistance value.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_coarseDelta_Ohm	The coarse delta stator resistance value, Ohm

◆ cla_EST_setRs_coarseDelta_Ohm()

void cla_EST_setRs_coarseDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_coarseDelta_Ohm
	)

◆ EST_setRs_d_Ohm()

void EST_setRs_d_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_d_Ohm
	)

Sets the direct stator resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_d_Ohm	The direct stator resistance value, Ohm

◆ cla_EST_setRs_d_Ohm()

void cla_EST_setRs_d_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_d_Ohm
	)

◆ EST_setRs_dq_Ohm()

void EST_setRs_dq_Ohm	(	EST_Handle	handle,
		const MATH_Vec2 *	pRs_dq_Ohm
	)

Sets the direct/quadrature stator resistance values used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pRs_dq_Ohm	The pointer to the vector of direct/quadrature stator resistance values, Ohm

◆ cla_EST_setRs_dq_Ohm()

void cla_EST_setRs_dq_Ohm	(	EST_Handle	handle,
		const MATH_Vec2 *	pRs_dq_Ohm
	)

◆ EST_setRs_fineDelta_Ohm()

void EST_setRs_fineDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_fineDelta_Ohm
	)

Sets the fine delta stator resistance value.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_fineDelta_Ohm	The fine delta stator resistance value, Ohm

◆ cla_EST_setRs_fineDelta_Ohm()

void cla_EST_setRs_fineDelta_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_fineDelta_Ohm
	)

◆ EST_setRs_Ohm()

void EST_setRs_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_Ohm
	)

Sets the stator resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_Ohm	The stator resistance value, Ohm

◆ cla_EST_setRs_Ohm()

void cla_EST_setRs_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_Ohm
	)

◆ EST_setRs_q_Ohm()

void EST_setRs_q_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_q_Ohm
	)

Sets the quadrature stator resistance value used in the estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_q_Ohm	The quadrature stator resistance value, Ohm

◆ cla_EST_setRs_q_Ohm()

void cla_EST_setRs_q_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_q_Ohm
	)

◆ EST_setRsOnLine_beta_rad()

void EST_setRsOnLine_beta_rad	(	EST_Handle	handle,
		const float32_t	beta_rad
	)

Sets the beta of the filters used for online stator resistance estimation in radians (rad).

Parameters

[in]	handle	The estimator (EST) handle
[in]	beta_rad	The beta value, rad

◆ cla_EST_setRsOnLine_beta_rad()

void cla_EST_setRsOnLine_beta_rad	(	EST_Handle	handle,
		const float32_t	beta_rad
	)

◆ EST_setRsOnLine_Ohm()

void EST_setRsOnLine_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_Ohm
	)

Sets the stator resistance value in the online stator resistance estimator in Ohm ( $\Omega$ ).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Rs_Ohm	The stator resistance value, Ohm

◆ cla_EST_setRsOnLine_Ohm()

void cla_EST_setRsOnLine_Ohm	(	EST_Handle	handle,
		const float32_t	Rs_Ohm
	)

◆ EST_setRsOnLineAngle_rad()

void EST_setRsOnLineAngle_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

Sets the angle value in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	angle_rad	The angle value, rad

◆ cla_EST_setRsOnLineAngle_rad()

void cla_EST_setRsOnLineAngle_rad	(	EST_Handle	handle,
		const float32_t	angle_rad
	)

◆ EST_setRsOnLineAngleDelta_rad()

void EST_setRsOnLineAngleDelta_rad	(	EST_Handle	handle,
		const float32_t	angleDelta_rad
	)

Sets the rotating angle delta in the online stator resistance estimator in radians.

Parameters

[in]	handle	The estimator (EST) handle
[in]	angleDelta_rad	The angle delta value, radians

◆ cla_EST_setRsOnLineAngleDelta_rad()

void cla_EST_setRsOnLineAngleDelta_rad	(	EST_Handle	handle,
		const float32_t	angleDelta_rad
	)

◆ EST_setRsOnLineId_A()

void EST_setRsOnLineId_A	(	EST_Handle	handle,
		const float32_t	Id_A
	)

Sets the Id value in the online stator resistance estimator in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Id_A	The Id value, A

◆ cla_EST_setRsOnLineId_A()

void cla_EST_setRsOnLineId_A	(	EST_Handle	handle,
		const float32_t	Id_A
	)

◆ EST_setRsOnLineId_mag_A()

void EST_setRsOnLineId_mag_A	(	EST_Handle	handle,
		const float32_t	Id_mag_A
	)

Sets the Id magnitude value used for online stator resistance estimation in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	Id_mag_A	The Id magnitude value, A

◆ cla_EST_setRsOnLineId_mag_A()

void cla_EST_setRsOnLineId_mag_A	(	EST_Handle	handle,
		const float32_t	Id_mag_A
	)

◆ EST_setRsOnLineLpFilterParams()

void EST_setRsOnLineLpFilterParams	(	EST_Handle	handle,
		const EST_RsOnLineFilterType_e	filterType,
		const uint16_t	filterNumber,
		const float32_t	b0,
		const float32_t	b1,
		const float32_t	a1,
		const float32_t	x1,
		const float32_t	y1
	)

Sets the online stator resistance filter parameters.

Parameters

[in]	handle	The estimator (EST) handle
[in]	filterType	The filter type
[in]	filterNumber	The filter number
[in]	b0	The numerator coefficient value for z^0
[in]	b1	The numerator coefficient value for z^(-1)
[in]	a1	The denominator coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

◆ cla_EST_setRsOnLineLpFilterParams()

void cla_EST_setRsOnLineLpFilterParams	(	EST_Handle	handle,
		const EST_RsOnLineFilterType_e	filterType,
		const uint16_t	filterNumber,
		const float32_t	b0,
		const float32_t	b1,
		const float32_t	a1,
		const float32_t	x1,
		const float32_t	y1
	)

◆ EST_setSpeed_ref_Hz()

void EST_setSpeed_ref_Hz	(	EST_Handle	handle,
		const float32_t	speed_ref_Hz
	)

Sets the reference speed in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	speed_ref_Hz	The reference speed, Hz

◆ cla_EST_setSpeed_ref_Hz()

void cla_EST_setSpeed_ref_Hz	(	EST_Handle	handle,
		const float32_t	speed_ref_Hz
	)

◆ EST_setTargetValue_Id_A()

void EST_setTargetValue_Id_A	(	EST_Handle	handle,
		const float32_t	targetValue_A
	)

Sets the target value in the Id trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	targetValue_A	The target value, A

◆ cla_EST_setTargetValue_Id_A()

void cla_EST_setTargetValue_Id_A	(	EST_Handle	handle,
		const float32_t	targetValue_A
	)

◆ EST_setTargetValue_Iq_A()

void EST_setTargetValue_Iq_A	(	EST_Handle	handle,
		const float32_t	targetValue_A
	)

Sets the target value in the Iq trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	targetValue_A	The target value, A

◆ cla_EST_setTargetValue_Iq_A()

void cla_EST_setTargetValue_Iq_A	(	EST_Handle	handle,
		const float32_t	targetValue_A
	)

◆ EST_setTargetValue_spd_Hz()

void EST_setTargetValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	targetValue_Hz
	)

Sets the target value in the speed trajectory generator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	targetValue_Hz	The target value, Hz

◆ cla_EST_setTargetValue_spd_Hz()

void cla_EST_setTargetValue_spd_Hz	(	EST_Handle	handle,
		const float32_t	targetValue_Hz
	)

◆ EST_setupTraj()

void EST_setupTraj	(	EST_Handle	handle,
		CTRL_Handle	ctrlHandle,
		const float32_t	targetValue_spd_Hz,
		const float32_t	targetValue_Id_A
	)

Sets up the trajectory generator.

Parameters

[in]	handle	The trajectory generator (EST_Traj) handle
[in]	ctrlHandle	The controller (CTRL) handle
[in]	targetValue_spd_Hz	The target speed value during run time, Hz
[in]	targetValue_Id_A	The target Id current value during run time, A

◆ cla_EST_setupTraj()

void cla_EST_setupTraj	(	EST_Handle	handle,
		CTRL_Handle	ctrlHandle,
		const float32_t	targetValue_spd_Hz,
		const float32_t	targetValue_Id_A
	)

◆ EST_updateId_ref_A()

void EST_updateId_ref_A	(	EST_Handle	handle,
		float32_t *	pId_ref_A
	)

Updates the Id reference value used for online stator resistance estimation in Ampere (A).

Parameters

[in]	handle	The estimator (EST) handle
[in]	pId_ref_A	The pointer to the Id reference value, A

◆ cla_EST_updateId_ref_A()

void cla_EST_updateId_ref_A	(	EST_Handle	handle,
		float32_t *	pId_ref_A
	)

◆ EST_updateState()

bool EST_updateState	(	EST_Handle	handle,
		const float32_t	Id_target_A
	)

Updates the estimator state.

Parameters

[in]	handle	The estimator (EST) handle
[in]	Id_target_A	The target Id current during each estimator state, A

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

◆ cla_EST_updateState()

bool cla_EST_updateState	(	EST_Handle	handle,
		const float32_t	Id_target_A
	)

◆ EST_updateTrajState()

bool EST_updateTrajState ( EST_Handle handle )

Updates the trajectory generator state.

Parameters

[in] handle The estimator (EST) handle

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

◆ cla_EST_updateTrajState()

bool cla_EST_updateTrajState ( EST_Handle handle )

◆ EST_useZeroIq_ref()

bool EST_useZeroIq_ref ( EST_Handle handle )

Determines if a zero Iq current reference should be used in the controller.

Parameters

[in] handle The estimator (EST) handle

Returns: A boolean value denoting if a zero Iq current reference should be used (true) or not (false)

◆ cla_EST_useZeroIq_ref()

bool cla_EST_useZeroIq_ref ( EST_Handle handle )

◆ EST_disableDynamicEst()

void EST_disableDynamicEst ( EST_Handle handle )

Disables dynamic flux estimation.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_disableDynamicEst()

void cla_EST_disableDynamicEst ( EST_Handle handle )

◆ EST_enableDynamicEst()

void EST_enableDynamicEst ( EST_Handle handle )

Enables dynamic flux estimation.

Parameters

[in] handle The estimator (EST) handle

◆ cla_EST_enableDynamicEst()

void cla_EST_enableDynamicEst ( EST_Handle handle )

◆ EST_getFlag_enableDynamicEst()

bool EST_getFlag_enableDynamicEst ( EST_Handle handle )

Gets the state of the enable dynamic estimation (i.e. the motor is turning) flag from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The state of the flag

◆ cla_EST_getFlag_enableDynamicEst()

bool cla_EST_getFlag_enableDynamicEst ( EST_Handle handle )

◆ EST_getFlag_enableFluxControl()

bool EST_getFlag_enableFluxControl ( EST_Handle handle )

Gets the enable flux control flag value from the estimator.

Parameters

[in] handle The estimator (EST) handle

Returns: The enable flux control flag value

◆ cla_EST_getFlag_enableFluxControl()

bool cla_EST_getFlag_enableFluxControl ( EST_Handle handle )

◆ EST_setFlag_enableDynamicEst()

void EST_setFlag_enableDynamicEst	(	EST_Handle	handle,
		const bool	state
	)

Sets the state of the enable dynamic estimation (i.e. the motor is turning) flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired state of the flag

◆ cla_EST_setFlag_enableDynamicEst()

void cla_EST_setFlag_enableDynamicEst	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setFlag_enableFluxControl()

void EST_setFlag_enableFluxControl	(	EST_Handle	handle,
		const bool	state
	)

Sets the enable flux control flag in the estimator.

Parameters

[in]	handle	The estimator (EST) handle
[in]	state	The desired flag state, on (1) or off (0)

◆ cla_EST_setFlag_enableFluxControl()

void cla_EST_setFlag_enableFluxControl	(	EST_Handle	handle,
		const bool	state
	)

◆ EST_setOneOverFluxGain_sf()

void EST_setOneOverFluxGain_sf	(	EST_Handle	handle,
		USER_Params *	pUserParams,
		const float32_t	oneOverFluxGain_sf
	)

Configures the controller for each of the estimator states.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pUserParams	A pointer to the user parameters structure
[in]	oneOverFluxGain_sf	The gain coefficient for flux estimation

◆ cal_EST_setOneOverFluxGain_sf()

void cal_EST_setOneOverFluxGain_sf	(	EST_Handle	handle,
		USER_Params *	pUserParams,
		const float32_t	oneOverFluxGain_sf
	)

◆ EST_setFreqLFP_sf()

void EST_setFreqLFP_sf	(	EST_Handle	handle,
		USER_Params *	pUserParams,
		const float32_t	freqLFP_sf
	)

Configures the controller for each of the estimator states.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pUserParams	A pointer to the user parameters structure
[in]	freqLFP_sf	The low pass filter coefficient

◆ EST_setBemf_sf()

void EST_setBemf_sf	(	EST_Handle	handle,
		USER_Params *	pUserParams,
		const float32_t	bemf_sf
	)

Configures the controller for each of the estimator states.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pUserParams	A pointer to the user parameters structure
[in]	bemf_sf	The bemf coefficient

◆ EST_configureTrajState()

void EST_configureTrajState	(	EST_Handle	handle,
		USER_Params *	pUserParams,
		PI_Handle	piHandle_spd,
		PI_Handle	piHandle_Id,
		PI_Handle	piHandle_Iq
	)

Configures the controller for each of the estimator states.

Parameters

[in]	handle	The estimator (EST) handle
[in]	pUserParams

◆ EST_setupTrajState()

void EST_setupTrajState	(	EST_Handle	handle,
		const float32_t	Iq_A,
		const float32_t	targetValue_spd_Hz,
		const float32_t	targetValue_Id_A
	)

Sets up the trajectory generator.

Parameters

[in]	handle	The trajectory generator (EST_Traj) handle
[in]	Iq_A
[in]	targetValue_spd_Hz	The target speed value during run time, Hz
[in]	targetValue_Id_A	The target Id current value during run time, A

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ FLASH_LIB_VER

◆ FULL_LIB_VER

◆ PMSM_LIB_VER

◆ SIMPLE_LIB_VER

Typedef Documentation

◆ EST_InputData_t [1/2]

◆ EST_InputHandle [1/2]

◆ EST_OutputData_t [1/2]

◆ EST_OutputHandle [1/2]

◆ EST_Handle [1/2]

◆ EST_InputData_t [2/2]

◆ EST_InputHandle [2/2]

◆ EST_OutputData_t [2/2]

◆ EST_OutputHandle [2/2]

◆ EST_Handle [2/2]

Enumeration Type Documentation

◆ EST_RsOnLineFilterType_e [1/2]

◆ EST_Flux_ErrorCode_e

◆ EST_Flux_State_e

◆ EST_Ls_ErrorCode_e

◆ EST_Ls_State_e

◆ EST_Rr_State_e

◆ EST_Rs_State_e

◆ EST_ErrorCode_e

◆ EST_State_e

◆ EST_Traj_ErrorCode_e

◆ EST_Traj_State_e

◆ EST_RsOnLineFilterType_e [2/2]

Function Documentation

◆ EST_computeLmag_H()

◆ cla_EST_computeLmag_H()

◆ EST_computePower_W()

◆ cla_EST_computePower_W()

◆ EST_computeTorque_Nm()

◆ cla_EST_computeTorque_Nm()

◆ EST_configureCtrl()

◆ cla_EST_configureCtrl()

◆ EST_configureTraj()

◆ cla_EST_configureTraj()

◆ EST_disable()

◆ cla_EST_disable()

◆ EST_disableTraj()

◆ cla_EST_disableTraj()

◆ EST_doCurrentCtrl()

◆ cla_EST_doCurrentCtrl()

◆ EST_doSpeedCtrl()

◆ cla_EST_doSpeedCtrl()

◆ EST_enable()

◆ cla_EST_enable()

◆ EST_enableTraj()

◆ cla_EST_enableTraj()

◆ EST_get_rpm_to_rps_sf()

◆ cla_EST_get_rpm_to_rps_sf()

◆ EST_get_rps_to_rpm_sf()

◆ cla_EST_get_rps_to_rpm_sf()

◆ EST_getAccel_rps2()

◆ cla_EST_getAccel_rps2()

◆ EST_getAngle_est_rad()

◆ cla_EST_getAngle_est_rad()

◆ EST_getAngle_rad()

◆ cla_EST_getAngle_rad()

◆ EST_getAngle_traj_rad()

◆ cla_EST_getAngle_traj_rad()

◆ EST_getAngleDelta_rad()

◆ cla_EST_getAngleDelta_rad()

◆ EST_getAngleDelta_est_rad()

◆ cla_EST_getAngleDelta_est_rad()

◆ EST_getAngleDelta_traj_rad()

◆ cla_EST_getAngleDelta_traj_rad()

◆ EST_getCount_isr()

◆ cla_EST_getCount_isr()

◆ EST_getDcBus_V()

◆ cla_EST_getDcBus_V()