MotorWare f2806x Module API Documentation

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CTRL

## Functions
void | CTRL_addVdq_offset (CTRL_Handle handle)
| Adds the Vdq offset to the Vdq values. More...
uint_least16_t | CTRL_getCount_current (CTRL_Handle handle)
| Gets the current loop count. More...
uint_least16_t | CTRL_getCount_isr (CTRL_Handle handle)
| Gets the isr count. More...
uint_least16_t | CTRL_getCount_speed (CTRL_Handle handle)
| Gets the speed loop count. More...
uint_least32_t | CTRL_getCount_state (CTRL_Handle handle)
| Gets the state count. More...
uint_least16_t | CTRL_getCount_traj (CTRL_Handle handle)
| Gets the trajectory loop count. More...
uint_least32_t | CTRL_getCtrlFreq (CTRL_Handle handle)
| Gets the controller execution frequency. More...
float_t | CTRL_getCtrlPeriod_sec (CTRL_Handle handle)
| Gets the controller execution period. More...
CTRL_ErrorCode_e | CTRL_getErrorCode (CTRL_Handle handle)
| Gets the error code from the controller (CTRL) object. More...
EST_Handle | CTRL_getEstHandle (CTRL_Handle handle)
| Gets the estimator handle for a given controller. More...
static _iq | CTRL_getFbackValue_spd_pu (CTRL_Handle handle)
| Gets the feedback value for the speed controller. More...
bool | CTRL_getFlag_enableCtrl (CTRL_Handle handle)
| Gets the enable controller flag value from the estimator. More...
bool | CTRL_getFlag_enableCurrentCtrl (CTRL_Handle handle)
| Gets the enable current controllers flag value from the controller. More...
bool | CTRL_getFlag_enableDcBusComp (CTRL_Handle handle)
| Gets the enable DC bus compensation flag value from the estimator. More...
bool | CTRL_getFlag_enablePowerWarp (CTRL_Handle handle)
| Gets the PowerWarp enable flag value from the estimator. More...
bool | CTRL_getFlag_enableOffset (CTRL_Handle handle)
| Gets the enable offset flag value from the controller. More...
bool | CTRL_getFlag_enableSpeedCtrl (CTRL_Handle handle)
| Gets the enable speed control flag value from the controller. More...
bool | CTRL_getFlag_enableUserMotorParams (CTRL_Handle handle)
| Gets the enable user motor parameters flag value from the controller. More...
void | CTRL_getGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, _iq *pKp, _iq *pKi, _iq *pKd)
| Gets the gain values for the specified controller. More...
void | CTRL_getIab_filt_pu (CTRL_Handle handle, MATH_vec2 *pIab_filt_pu)
| Gets the alpha/beta filtered current vector values from the controller. More...
MATH_vec2 * | CTRL_getIab_filt_addr (CTRL_Handle handle)
| Gets the alpha/beta filtered current vector memory address from the controller. More...
MATH_vec2 * | CTRL_getIab_in_addr (CTRL_Handle handle)
| Gets the alpha/beta current input vector memory address from the controller. More...
void | CTRL_getIab_in_pu (CTRL_Handle handle, MATH_vec2 *pIab_in_pu)
| Gets the alpha/beta current input vector values from the controller. More...
_iq | CTRL_getId_in_pu (CTRL_Handle handle)
| Gets the direct current input value from the controller. More...
_iq | CTRL_getId_ref_pu (CTRL_Handle handle)
| Gets the direct current (Id) reference value from the controller. More...
MATH_vec2 * | CTRL_getIdq_in_addr (CTRL_Handle handle)
| Gets the direct/quadrature current input vector memory address from the controller. More...
void | CTRL_getIdq_in_pu (CTRL_Handle handle, MATH_vec2 *pIdq_in_pu)
| Gets the direct/quadrature current input vector values from the controller. More...
void | CTRL_getIdq_ref_pu (CTRL_Handle handle, MATH_vec2 *pIdq_ref_pu)
| Gets the direct/quadrature current reference vector values from the controller. More...
static _iq | CTRL_getId_offset_pu (CTRL_Handle handle)
| Gets the direct current (Id) offset value from the controller. More...
_iq | CTRL_getIdRated_pu (CTRL_Handle handle)
| Gets the Id rated current value from the controller. More...
_iq | CTRL_getIq_in_pu (CTRL_Handle handle)
| Gets the quadrature current input value from the controller. More...
static _iq | CTRL_getIq_offset_pu (CTRL_Handle handle)
| Gets the quadrature current (Iq) offset value from the controller. More...
_iq | CTRL_getIq_ref_pu (CTRL_Handle handle)
| Gets the quadrature current (Iq) reference value from the controller. More...
static _iq | CTRL_getRefValue_Iq_pu (CTRL_Handle handle)
| Gets the reference value for the Iq current controller. More...
static _iq * | CTRL_getIq_ref_pu_addr (CTRL_Handle handle)
| Gets the quadrature current (Iq) reference memory address from the controller. More...
_iq | CTRL_getKi (CTRL_Handle handle, const CTRL_Type_e ctrlType)
| Gets the integral gain (Ki) value from the specified controller. More...
_iq | CTRL_getKd (CTRL_Handle handle, const CTRL_Type_e ctrlType)
| Gets the derivative gain (Kd) value from the specified controller. More...
_iq | CTRL_getKp (CTRL_Handle handle, const CTRL_Type_e ctrlType)
| Gets the proportional gain (Kp) value from the specified controller. More...
float_t | CTRL_getLhf (CTRL_Handle handle)
| Gets the high frequency inductance (Lhf) value from the controller. More...
_iq | CTRL_getMagCurrent_pu (CTRL_Handle handle)
| Gets the magnetizing current value from the controller. More...
_iq | CTRL_getMaxVsMag_pu (CTRL_Handle handle)
| Gets the maximum voltage vector. More...
_iq | CTRL_getMaximumSpeed_pu (CTRL_Handle handle)
| Gets the maximum speed value from the controller. More...
float_t | CTRL_getMotorRatedFlux (CTRL_Handle handle)
| Gets the motor rated flux from the controller. More...
MOTOR_Type_e | CTRL_getMotorType (CTRL_Handle handle)
| Gets the motor type from the controller. More...
uint_least16_t | CTRL_getNumCtrlTicksPerCurrentTick (CTRL_Handle handle)
| Gets the number of controller clock ticks per current controller clock tick. More...
uint_least16_t | CTRL_getNumCtrlTicksPerSpeedTick (CTRL_Handle handle)
| Gets the number of controller clock ticks per speed controller clock tick. More...
uint_least16_t | CTRL_getNumCtrlTicksPerTrajTick (CTRL_Handle handle)
| Gets the number of controller clock ticks per trajectory clock tick. More...
uint_least16_t | CTRL_getNumIsrTicksPerCtrlTick (CTRL_Handle handle)
| Gets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...
_iq | CTRL_getRefValue_pu (CTRL_Handle handle, const CTRL_Type_e ctrlType)
| Gets the reference value from the specified controller. More...
static _iq | CTRL_getRefValue_Id_pu (CTRL_Handle handle)
| Gets the reference value for the Id current controller. More...
static _iq | CTRL_getRefValue_spd_pu (CTRL_Handle handle)
| Gets the reference value for the speed controller. More...
float_t | CTRL_getRhf (CTRL_Handle handle)
| Gets the high frequency resistance (Rhf) value from the controller. More...
float_t | CTRL_getRoverL (CTRL_Handle handle)
| Gets the R/L value from the controller. More...
_iq | CTRL_getSpd_max_pu (CTRL_Handle handle)
| Gets the maximum speed value from the controller. More...
_iq * | CTRL_getSpd_out_addr (CTRL_Handle handle)
| Gets the output speed memory address from the controller. More...
_iq | CTRL_getSpd_out_pu (CTRL_Handle handle)
| Gets the output speed value from the controller. More...
_iq | CTRL_getSpd_ref_pu (CTRL_Handle handle)
| Gets the output speed reference value from the controller. More...
_iq | CTRL_getSpd_int_ref_pu (CTRL_Handle handle)
| Gets the output speed intermediate reference value from the controller. More...
static _iq | CTRL_getSpeed_outMax_pu (CTRL_Handle handle)
| Gets the maximum output value for the speed controller. More...
CTRL_State_e | CTRL_getState (CTRL_Handle handle)
| Gets the controller state. More...
uint_least32_t | CTRL_getTrajFreq (CTRL_Handle handle)
| Gets the trajectory execution frequency. More...
_iq | CTRL_getTrajPeriod_sec (CTRL_Handle handle)
| Gets the trajectory execution period. More...
void | CTRL_getTrajStep (CTRL_Handle handle)
| Gets the trajectory step size. More...
_iq | CTRL_getUi (CTRL_Handle handle, const CTRL_Type_e ctrlType)
| Gets the integrator (Ui) value from the specified controller. More...
MATH_vec2 * | CTRL_getVab_in_addr (CTRL_Handle handle)
| Gets the alpha/beta voltage input vector memory address from the controller. More...
void | CTRL_getVab_in_pu (CTRL_Handle handle, MATH_vec2 *pVab_in_pu)
| Gets the alpha/beta voltage input vector values from the controller. More...
MATH_vec2 * | CTRL_getVab_out_addr (CTRL_Handle handle)
| Gets the alpha/beta voltage output vector memory address from the controller. More...
void | CTRL_getVab_out_pu (CTRL_Handle handle, MATH_vec2 *pVab_out_pu)
| Gets the alpha/beta voltage output vector values from the controller. More...
_iq * | CTRL_getVd_out_addr (CTRL_Handle handle)
| Gets the direct voltage output value memory address from the controller. More...
_iq | CTRL_getVd_out_pu (CTRL_Handle handle)
| Gets the direct voltage output value from the controller. More...
MATH_vec2 * | CTRL_getVdq_out_addr (CTRL_Handle handle)
| Gets the direct/quadrature voltage output vector memory address from the controller. More...
void | CTRL_getVdq_out_pu (CTRL_Handle handle, MATH_vec2 *pVdq_out_pu)
| Gets the direct/quadrature voltage output vector values from the controller. More...
void | CTRL_getVersion (CTRL_Handle handle, CTRL_Version *pVersion)
| Gets the controller version number. More...
_iq * | CTRL_getVq_out_addr (CTRL_Handle handle)
| Gets the quadrature voltage output value memory address from the controller. More...
_iq | CTRL_getVq_out_pu (CTRL_Handle handle)
| Gets the quadrature voltage output value from the controller. More...
uint_least32_t | CTRL_getWaitTime (CTRL_Handle handle, const CTRL_State_e ctrlState)
| Gets the wait time for a given state. More...
void | CTRL_getWaitTimes (CTRL_Handle handle, uint_least32_t *pWaitTimes)
| Gets the wait times from the estimator. More...
void | CTRL_incrCounter_current (CTRL_Handle handle)
| Increments the current counter. More...
void | CTRL_incrCounter_isr (CTRL_Handle handle)
| Increments the isr counter. More...
void | CTRL_incrCounter_speed (CTRL_Handle handle)
| Increments the speed counter. More...
void | CTRL_incrCounter_state (CTRL_Handle handle)
| Increments the state counter. More...
void | CTRL_incrCounter_traj (CTRL_Handle handle)
| Increments the trajectory counter. More...
CTRL_Handle | CTRL_initCtrl (const uint_least8_t estNumber, void *pMemory, const size_t numBytes)
| Initializes a specified controller. More...
bool | CTRL_isError (CTRL_Handle handle)
| Determines if there is a controller error. More...
void | CTRL_resetCounter_current (CTRL_Handle handle)
| Resets the current counter. More...
void | CTRL_resetCounter_isr (CTRL_Handle handle)
| Resets the isr counter. More...
void | CTRL_resetCounter_speed (CTRL_Handle handle)
| Resets the speed counter. More...
void | CTRL_resetCounter_state (CTRL_Handle handle)
| Resets the state counter. More...
void | CTRL_resetCounter_traj (CTRL_Handle handle)
| Resets the trajectory counter. More...
void | CTRL_run (CTRL_Handle handle, HAL_Handle halHandle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
| Runs the controller. More...
void | CTRL_runTraj (CTRL_Handle handle)
| Runs the trajectory. More...
static void | CTRL_setAngle_pu (CTRL_Handle handle, const _iq angle_pu)
| Sets the angle value, pu. More...
void | CTRL_setCtrlFreq_Hz (CTRL_Handle handle, const uint_least32_t ctrlFreq_Hz)
| Sets the controller frequency. More...
void | CTRL_setCtrlPeriod_sec (CTRL_Handle handle, const float_t ctrlPeriod_sec)
| Sets the controller execution period. More...
void | CTRL_setErrorCode (CTRL_Handle handle, const CTRL_ErrorCode_e errorCode)
| Sets the error code in the controller. More...
void | CTRL_setEstParams (EST_Handle estHandle, USER_Params *pUserParams)
| Sets the default estimator parameters. More...
void | CTRL_setFlag_enableCtrl (CTRL_Handle handle, const bool state)
| Sets the enable controller flag value in the estimator. More...
static void | CTRL_setFlag_enableCurrentCtrl (CTRL_Handle handle, const bool state)
| Sets the enable current controllers flag value in the controller. More...
void | CTRL_setFlag_enableDcBusComp (CTRL_Handle handle, const bool state)
| Sets the enable DC bus compensation flag value in the estimator. More...
void | CTRL_setFlag_enablePowerWarp (CTRL_Handle handle, const bool state)
| Sets the PowerWarp enable flag value in the estimator. More...
void | CTRL_setFlag_enableOffset (CTRL_Handle handle, const bool state)
| Sets the enable offset flag value in the estimator. More...
void | CTRL_setFlag_enableSpeedCtrl (CTRL_Handle handle, const bool state)
| Sets the enable speed control value in the estimator. More...
void | CTRL_setFlag_enableUserMotorParams (CTRL_Handle handle, const bool state)
| Sets the enable user motor parameters flag value in the estimator. More...
void | CTRL_setGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Kp, const _iq Ki, const _iq Kd)
| Sets the gain values for the specified controller. More...
void | CTRL_setIab_in_pu (CTRL_Handle handle, const MATH_vec2 *pIab_in_pu)
| Sets the alpha/beta current (Iab) input vector values in the controller. More...
void | CTRL_setIab_filt_pu (CTRL_Handle handle, const MATH_vec2 *pIab_filt_pu)
| Sets the alpha/beta filtered current vector values in the controller. More...
void | CTRL_setId_ref_pu (CTRL_Handle handle, const _iq Id_ref_pu)
| Sets the direct current (Id) reference value in the controller. More...
void | CTRL_setIdq_in_pu (CTRL_Handle handle, const MATH_vec2 *pIdq_in_pu)
| Sets the direct/quadrature current (Idq) input vector values in the controller. More...
static void | CTRL_setIdq_offset_pu (CTRL_Handle handle, const MATH_vec2 *pIdq_offset_pu)
| Sets the direct/quadrature current (Idq) offset vector values in the controller. More...
void | CTRL_setIdq_ref_pu (CTRL_Handle handle, const MATH_vec2 *pIdq_ref_pu)
| Sets the direct/quadrature current (Idq) reference vector values in the controller. More...
void | CTRL_setIdRated_pu (CTRL_Handle handle, const _iq IdRated_pu)
| Sets the Id rated current value in the controller. More...
static void | CTRL_setImmediateUi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Ui)
| Sets the integrator (Ui) value in the specified controller immediately. More...
void | CTRL_setIq_ref_pu (CTRL_Handle handle, const _iq IqRef_pu)
| Sets the quadrature current (Iq) reference value in the controller. More...
void | CTRL_setKd (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Kd)
| Sets the derivative gain (Kd) value for the specified controller. More...
void | CTRL_setKi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Ki)
| Sets the integral gain (Ki) value for the specified controller. More...
void | CTRL_setKp (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Kp)
| Sets the proportional gain (Kp) value for the specified controller. More...
void | CTRL_setLhf (CTRL_Handle handle, const float_t Lhf)
| Sets the high frequency inductance (Lhf) value in the controller. More...
void | CTRL_setMagCurrent_pu (CTRL_Handle handle, const _iq magCurrent_pu)
| Sets the magnetizing current value in the controller. More...
void | CTRL_setMaxVsMag_pu (CTRL_Handle handle, const _iq maxVsMag)
| Sets the maximum voltage vector in the controller. More...
void | CTRL_setMaxAccel_pu (CTRL_Handle handle, const _iq maxAccel_pu)
| Sets the maximum acceleration of the speed controller. More...
void | CTRL_setMaximumSpeed_pu (CTRL_Handle handle, const _iq maxSpeed_pu)
| Sets the maximum speed value in the controller. More...
void | CTRL_setMotorParams (CTRL_Handle handle, const MOTOR_Type_e motorType, const uint_least16_t numPolePairs, const float_t ratedFlux, const float_t Ls_d, const float_t Ls_q, const float_t Rr, const float_t Rs)
| Sets the parameters for the motor in the controller. More...
void | CTRL_setParams (CTRL_Handle handle, USER_Params *pUserParams)
| Sets the controller parameters. More...
void | CTRL_setNumCtrlTicksPerCurrentTick (CTRL_Handle handle, const uint_least16_t numCtrlTicksPerCurrentTick)
| Sets the number of controller clock ticks per current controller clock tick. More...
void | CTRL_setNumCtrlTicksPerSpeedTick (CTRL_Handle handle, const uint_least16_t numCtrlTicksPerSpeedTick)
| Sets the number of controller clock ticks per speed controller clock tick. More...
void | CTRL_setNumCtrlTicksPerTrajTick (CTRL_Handle handle, const uint_least16_t numCtrlTicksPerTrajTick)
| Sets the number of controller clock ticks per trajectory clock tick. More...
void | CTRL_setNumIsrTicksPerCtrlTick (CTRL_Handle handle, const uint_least16_t numIsrTicksPerCtrlTick)
| Sets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...
void | CTRL_setRhf (CTRL_Handle handle, const float_t Rhf)
| Sets the high frequency resistance (Rhf) value in the controller. More...
void | CTRL_setRoverL (CTRL_Handle handle, const float_t RoverL)
| Sets the R/L value in the controller. More...
static void | CTRL_setSpeed_fb_pu (CTRL_Handle handle, const _iq speed_fb_pu)
| Sets the feedback speed value in the controller. More...
void | CTRL_setSpd_max_pu (CTRL_Handle handle, const _iq maxSpd_pu)
| Sets the maximum speed value in the controller. More...
void | CTRL_setSpd_out_pu (CTRL_Handle handle, const _iq spd_out_pu)
| Sets the output speed value in the controller. More...
static void | CTRL_setSpeed_outMax_pu (CTRL_Handle handle, const _iq speed_outMax_pu)
| Sets the maximum output value for the speed controller. More...
static void | CTRL_setSpeed_ref_pu (CTRL_Handle handle, const _iq speed_ref_pu)
| Sets the output speed reference value in the controller. More...
void | CTRL_setSpd_ref_pu (CTRL_Handle handle, const _iq spd_ref_pu)
| Sets the output speed reference value in the controller. More...
void | CTRL_setSpd_ref_krpm (CTRL_Handle handle, const _iq spd_ref_krpm)
| Sets the output speed reference value in the controller. More...
void | CTRL_setState (CTRL_Handle handle, const CTRL_State_e state)
| Sets the controller state. More...
void | CTRL_setTrajFreq_Hz (CTRL_Handle handle, const uint_least32_t trajFreq_Hz)
| Sets the trajectory execution frequency. More...
void | CTRL_setTrajPeriod_sec (CTRL_Handle handle, const _iq trajPeriod_sec)
| Sets the trajectory execution period. More...
void | CTRL_setUi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Ui)
| Sets the integrator (Ui) value in the specified controller. More...
void | CTRL_setupClarke_I (CTRL_Handle handle, uint_least8_t numCurrentSensors)
| Sets the number of current sensors. More...
void | CTRL_setupClarke_V (CTRL_Handle handle, uint_least8_t numVoltageSensors)
| Sets the number of voltage sensors. More...
void | CTRL_setupEstIdleState (CTRL_Handle handle)
| Sets up the controller and trajectory generator for the estimator idle state. More...
void | CTRL_setupEstOnLineState (CTRL_Handle handle)
| Sets up the controller and trajectory generator for the estimator online state. More...
void | CTRL_setup_user (CTRL_Handle handle, const _iq angle_pu, const _iq speed_ref_pu, const _iq speed_fb_pu, const _iq speed_outMax_pu, const MATH_vec2 *pIdq_offset_pu, const MATH_vec2 *pVdq_offset_pu, const bool flag_enableSpeedCtrl, const bool flag_enableCurrentCtrl)
| Sets up the speed and current controllers. More...
void | CTRL_setUserMotorParams (CTRL_Handle handle)
| Sets the controller and estimator with motor parameters from the user.h file. More...
void | CTRL_setVab_in_pu (CTRL_Handle handle, const MATH_vec2 *pVab_in_pu)
| Sets the alpha/beta voltage input vector values in the controller. More...
void | CTRL_setVab_out_pu (CTRL_Handle handle, const MATH_vec2 *pVab_out_pu)
| Sets the alpha/beta current output vector values in the controller. More...
static void | CTRL_setVdq_offset_pu (CTRL_Handle handle, const MATH_vec2 *pVdq_offset_pu)
| Sets the direct/quadrature voltage (Vdq) offset vector values in the controller. More...
void | CTRL_setVdq_out_pu (CTRL_Handle handle, const MATH_vec2 *pVdq_out_pu)
| Sets the direct/quadrature voltage output vector values in the controller. More...
void | CTRL_setWaitTimes (CTRL_Handle handle, const uint_least32_t *pWaitTimes)
| Sets the wait times for the controller states. More...
void | CTRL_setup (CTRL_Handle handle)
| Sets up the controller (CTRL) object and all of the subordinate objects. More...
void | CTRL_setupCtrl (CTRL_Handle handle)
| Sets up the controllers. More...
void | CTRL_setupEst (CTRL_Handle handle)
| Sets up the estimator (CTRL) object. More...
void | CTRL_setupTraj (CTRL_Handle handle)
| Sets up the trajectory (TRAJ) object. More...
bool | CTRL_updateState (CTRL_Handle handle)
| Updates the controller state. More...
bool | CTRL_useZeroIq_ref (CTRL_Handle handle)
| Determines if a zero Iq current reference should be used in the controller. More...
void | CTRL_checkForErrors (CTRL_Handle handle)
| Checks for any controller errors and, if found, sets the controller state to the error state. More...
static void | CTRL_computeOutputLimits_Id (CTRL_Handle handle, const _iq maxVsMag, _iq *outMin, _iq *outMax)
| Computes the Id controller output limits. More...
static void | CTRL_computeOutputLimits_Iq (CTRL_Handle handle, const _iq maxVsMag, const _iq Vd_out_pu, _iq *outMin, _iq *outMax)
| Computes the Iq controller output limits. More...
void | CTRL_computePhasor (const _iq angle_pu, MATH_vec2 *pPhasor)
| Computes a phasor for a given angle. More...
bool | CTRL_doCurrentCtrl (CTRL_Handle handle)
| Determines if the current controllers should be run. More...
bool | CTRL_doSpeedCtrl (CTRL_Handle handle)
| Determines if the speed controller should be executed. More...
void | CTRL_runOffLine (CTRL_Handle handle, HAL_Handle halHandle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
| Runs the offline controller. More...
void | CTRL_setSpdMax (CTRL_Handle handle, const _iq spdMax)
| Sets maximum speed controller output. More...
_iq | CTRL_angleDelayComp (CTRL_Handle handle, const _iq angle_pu)
| Runs angle delay compensation. More...
void | CTRL_runOnLine (CTRL_Handle handle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
| Runs the online controller. More...
void | CTRL_runOnLine_User (CTRL_Handle handle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
| Runs the online user controller. More...
void | CTRL_runPiOnly (CTRL_Handle handle)
| Runs the online controller. More...
void | CTRL_run (CTRL_Handle handle, HAL_Handle halHandle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData, uint32_t electricalAngle)
| Runs the controller. More...
void | CTRL_runOnLine_User (CTRL_Handle handle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData, uint32_t electricalAngle)
| Runs the online user controller. More...
static void | CTRL_computePhasor (const float_t angle_rad, MATH_vec2 *pPhasor)
| Computes a phasor for a given angle. More...
static void | CTRL_disable (CTRL_Handle handle)
| Disables the controller. More...
static void | CTRL_enable (CTRL_Handle handle)
| Enables the controller. More...
static float_t | CTRL_getBWc_rps (CTRL_Handle handle)
| Gets the current controller bandwidth. More...
static float_t | CTRL_getBWdelta (CTRL_Handle handle)
| Gets the bandwidth scale factor used to maximize phase margin. More...
static float_t | CTRL_getKctrl_Wb_p_kgm2 (CTRL_Handle handle)
| Gets the speed controller constant. More...
static float_t | CTRL_getVd_sf (CTRL_Handle handle)
| Gets the direct voltage scale factor. More...
static float_t | CTRL_getMaxVsMag_V (CTRL_Handle handle)
| Gets the maximum stator voltage magnitude value. More...
static void | CTRL_computeOutputLimits_Id (CTRL_Handle handle, float_t *outMin, float_t *outMax)
| Computes the Id controller output limits. More...
static void | CTRL_computeOutputLimits_Iq (CTRL_Handle handle, const float_t Vd_out_V, float_t *outMin, float_t *outMax)
| Computes the Iq controller output limits. More...
static float_t | CTRL_getCtrlFreq_Hz (CTRL_Handle handle)
| Gets the controller execution frequency. More...
static float_t | CTRL_getCurrentCtrlPeriod_sec (CTRL_Handle handle)
| Gets the current controller period. More...
static bool | CTRL_getFlag_enable (CTRL_Handle handle)
| Gets the enable controller flag value from the controller. More...
static bool | CTRL_getFlag_resetInt_Id (CTRL_Handle handle)
| Gets the reset Id integrator flag value from the controller. More...
static bool | CTRL_getFlag_resetInt_Iq (CTRL_Handle handle)
| Gets the reset Iq integrator flag value from the controller. More...
static bool | CTRL_getFlag_resetInt_spd (CTRL_Handle handle)
| Gets the reset speed integrator flag value from the controller. More...
static bool | CTRL_getFlag_useZeroIq_ref (CTRL_Handle handle)
| Gets the use zero Iq reference flag value from the controller. More...
static float_t | CTRL_getId_A (CTRL_Handle handle)
| Gets the direct current (Id) value from the controller. More...
static float_t * | CTRL_getId_A_addr (CTRL_Handle handle)
| Gets the direct current (Id) memory address from the controller. More...
static float_t | CTRL_getId_offset_A (CTRL_Handle handle)
| Gets the direct offset current (Id_offset) value from the controller. More...
static float_t * | CTRL_getId_offset_A_addr (CTRL_Handle handle)
| Gets the direct offset current (Id_offset) memory address from the controller. More...
static float_t | CTRL_getId_ref_A (CTRL_Handle handle)
| Gets the direct reference current (Id_ref) value from the controller. More...
static float_t * | CTRL_getId_ref_A_addr (CTRL_Handle handle)
| Gets the direct reference current (Id_ref) memory address from the controller. More...
static void | CTRL_getIdq_A (CTRL_Handle handle, MATH_vec2 *pIdq_A)
| Gets the direct/quadrature current vector values from the controller. More...
static MATH_vec2 * | CTRL_getIdq_A_addr (CTRL_Handle handle)
| Gets the direct/quadrature current (Idq) vector memory address from the controller. More...
static void | CTRL_getIdq_offset_A (CTRL_Handle handle, MATH_vec2 *pIdq_offset_A)
| Gets the direct/quadrature offset current (Idq_offset) vector values from the controller. More...
static MATH_vec2 * | CTRL_getIdq_offset_A_addr (CTRL_Handle handle)
| Gets the direct/quadrature offset current (Idq_offset) vector memory address from the controller. More...
static void | CTRL_getIdq_ref_A (CTRL_Handle handle, MATH_vec2 *pIdq_ref_A)
| Gets the direct/quadrature reference current (Idq_ref) vector values from the controller. More...
static MATH_vec2 * | CTRL_getIdq_ref_A_addr (CTRL_Handle handle)
| Gets the direct/quadrature reference current (Idq_ref) vector memory address from the controller. More...
static float_t | CTRL_getIq_A (CTRL_Handle handle)
| Gets the quadrature current (Iq) value from the controller. More...
static float_t * | CTRL_getIq_A_addr (CTRL_Handle handle)
| Gets the quadrature current (Iq) memory address from the controller. More...
static float_t | CTRL_getIq_offset_A (CTRL_Handle handle)
| Gets the quadrature offset current (Iq_offset) value from the controller. More...
static float_t * | CTRL_getIq_offset_A_addr (CTRL_Handle handle)
| Gets the quadrature offset current (Iq_offset) memory address from the controller. More...
static float_t | CTRL_getIq_ref_A (CTRL_Handle handle)
| Gets the quadrature reference current (Iq_ref) value from the controller. More...
static float_t * | CTRL_getIq_ref_A_addr (CTRL_Handle handle)
| Gets the quadrature reference current (Iq_ref) memory address from the controller. More...
static void | CTRL_getGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, float_t *pKp, float_t *pKi)
| Gets the gain values for the specified controller. More...
static float_t | CTRL_getRefValue (CTRL_Handle handle, const CTRL_Type_e ctrlType)
| Gets the reference value from the specified controller. More...
static float_t | CTRL_getSpeed_fb_Hz (CTRL_Handle handle)
| Gets the feedback speed value from the controller. More...
static float_t | CTRL_getSpeed_out_A (CTRL_Handle handle)
| Gets the output value from the speed controller. More...
static float_t * | CTRL_getSpeed_out_A_addr (CTRL_Handle handle)
| Gets the output value memory address from the speed controller. More...
static float_t | CTRL_getSpeed_outMax_A (CTRL_Handle handle)
| Gets the maximum value for the speed controller. More...
static float_t | CTRL_getSpeed_outMin_A (CTRL_Handle handle)
| Gets the minimum value for the speed controller. More...
static float_t | CTRL_getSpeed_ref_Hz (CTRL_Handle handle)
| Gets the output speed reference value from the controller. More...
static float_t | CTRL_getSpeedCtrlPeriod_sec (CTRL_Handle handle)
| Gets the speed controller period. More...
static float_t | CTRL_getVd_V (CTRL_Handle handle)
| Gets the direct voltage (Vd) value from the controller. More...
static float_t * | CTRL_getVd_V_addr (CTRL_Handle handle)
| Gets the direct voltage (Vd) value memory address from the controller. More...
static float_t | CTRL_getVd_offset_V (CTRL_Handle handle)
| Gets the direct offset voltage (Vd_offset) value from the controller. More...
static float_t * | CTRL_getVd_offset_V_addr (CTRL_Handle handle)
| Gets the direct offset voltage (Vd_offset) value memory address from the controller. More...
static void | CTRL_getVdq_V (CTRL_Handle handle, MATH_vec2 *pVdq_V)
| Gets the direct/quadrature voltage (Vdq) vector values from the controller. More...
static MATH_vec2 * | CTRL_getVdq_V_addr (CTRL_Handle handle)
| Gets the direct/quadrature voltage (Vdq) vector memory address from the controller. More...
static void | CTRL_getVdq_offset_V (CTRL_Handle handle, MATH_vec2 *pVdq_offset_V)
| Gets the direct/quadrature offset voltage (Vdq_offset) vector values from the controller. More...
static MATH_vec2 * | CTRL_getVdq_offset_V_addr (CTRL_Handle handle)
| Gets the direct/quadrature offset voltage (Vdq_offset) vector memory address from the controller. More...
static float_t | CTRL_getVq_V (CTRL_Handle handle)
| Gets the quadrature voltage (Vq) value from the controller. More...
static float_t * | CTRL_getVq_V_addr (CTRL_Handle handle)
| Gets the quadrature voltage (Vq) value memory address from the controller. More...
static float_t | CTRL_getVq_offset_V (CTRL_Handle handle)
| Gets the quadrature offset voltage (Vq_offset) value from the controller. More...
static float_t * | CTRL_getVq_offset_V_addr (CTRL_Handle handle)
| Gets the quadrature offset voltage (Vq_offset) value memory address from the controller. More...
void | CTRL_getWaitTimes (CTRL_Handle handle, int_least32_t *pWaitTimes)
| Gets the wait times from the controller. More...
CTRL_Handle | CTRL_init (void *pMemory, const size_t numBytes)
| Initializes the controller. More...
static bool | CTRL_isEnabled (CTRL_Handle handle)
| Determines if the controller is enabled. More...
static bool | CTRL_isIdle (CTRL_Handle handle)
| Determines if the controller is in the idle state. More...
static bool | CTRL_isNotIdle (CTRL_Handle handle)
| Determines if the controller is not in the idle state. More...
void | CTRL_reset (CTRL_Handle handle)
| Resets the controller. More...
static void | CTRL_setBWc_rps (CTRL_Handle handle, const float_t BWc_rps)
| Sets the current controller bandwidth. More...
static void | CTRL_setBWdelta (CTRL_Handle handle, const float_t BWdelta)
| Sets the bandwidth scale factor used to maximize phase margin. More...
static void | CTRL_setCtrlFreq_Hz (CTRL_Handle handle, const float_t ctrlFreq_Hz)
| Sets the controller frequency. More...
static void | CTRL_setCurrentCtrlPeriod_sec (CTRL_Handle handle, const float_t currentCtrlPeriod_sec)
| Sets the current controller period value. More...
static void | CTRL_setFlag_enable (CTRL_Handle handle, const bool state)
| Sets the enable controller flag value in the controller. More...
static void | CTRL_setFlag_resetInt_Id (CTRL_Handle handle, const bool state)
| Sets the reset Id integrator flag value in the controller. More...
static void | CTRL_setFlag_resetInt_Iq (CTRL_Handle handle, const bool state)
| Sets the reset Iq integrator flag value in the controller. More...
static void | CTRL_setFlag_resetInt_spd (CTRL_Handle handle, const bool state)
| Sets the reset speed integrator flag value in the controller. More...
static void | CTRL_setFlag_useZeroIq_ref (CTRL_Handle handle, const bool state)
| Sets the use zero Iq reference flag value in the controller. More...
static void | CTRL_setId_A (CTRL_Handle handle, const float_t Id_A)
| Sets the direct current (Id) value in the controller. More...
static void | CTRL_setId_offset_A (CTRL_Handle handle, const float_t Id_offset_A)
| Sets the direct current (Id) offset value in the controller. More...
static void | CTRL_setId_ref_A (CTRL_Handle handle, const float_t Id_ref_A)
| Sets the direct current (Id) reference value in the controller. More...
static void | CTRL_setIdq_A (CTRL_Handle handle, const MATH_vec2 *pIdq_A)
| Sets the direct/quadrature current (Idq) vector values in the controller. More...
static void | CTRL_setIdq_offset_A (CTRL_Handle handle, const MATH_vec2 *pIdq_offset_A)
| Sets the direct/quadrature current (Idq) offset vector values in the controller. More...
static void | CTRL_setIdq_ref_A (CTRL_Handle handle, const MATH_vec2 *pIdq_ref_A)
| Sets the direct/quadrature current (Idq) reference vector values in the controller. More...
static void | CTRL_setIq_A (CTRL_Handle handle, const float_t Iq_A)
| Sets the quadrature current (Iq) value in the controller. More...
static void | CTRL_setIq_offset_pu (CTRL_Handle handle, const float_t Iq_offset_A)
| Sets the quadrature current (Iq) offset value in the controller. More...
static void | CTRL_setIq_ref_A (CTRL_Handle handle, const float_t Iq_ref_A)
| Sets the quadrature current (Iq) reference value in the controller. More...
static void | CTRL_setKctrl_Wb_p_kgm2 (CTRL_Handle handle, const float_t Kctrl_Wb_p_kgm2)
| Sets the speed controller constant. More...
static void | CTRL_setKi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float_t Ki)
| Sets the integral gain (Ki) value for the specified controller. More...
static void | CTRL_setKp (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float_t Kp)
| Sets the proportional gain (Kp) value for the specified controller. More...
static void | CTRL_setGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float_t Kp, const float_t Ki)
| Sets the gain values for the specified controller. More...
static void | CTRL_setMaxVsMag_V (CTRL_Handle handle, const float_t maxVsMag_V)
| Sets the maximum stator voltage magnitude value. More...
static void | CTRL_setMotorParams (CTRL_Handle handle, const MOTOR_Type_e motorType, const uint_least16_t numPolePairs, const float_t ratedFlux_Wb, const float_t Ls_d_H, const float_t Ls_q_H, const float_t Rs_d_Ohm, const float_t Rs_q_Ohm, const float_t Rr_d_Ohm, const float_t Rr_q_Ohm)
| Sets the parameters for the motor in the controller. More...
static void | CTRL_setNumCtrlTicksPerCurrentTick (CTRL_Handle handle, const int_least16_t numCtrlTicksPerCurrentTick)
| Sets the number of controller clock ticks per current controller clock tick. More...
static void | CTRL_setNumCtrlTicksPerSpeedTick (CTRL_Handle handle, const int_least16_t numCtrlTicksPerSpeedTick)
| Sets the number of controller clock ticks per speed controller clock tick. More...
static void | CTRL_setNumIsrTicksPerCtrlTick (CTRL_Handle handle, const int_least16_t numIsrTicksPerCtrlTick)
| Sets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...
static void | CTRL_setSpeed_fb_Hz (CTRL_Handle handle, const float_t speed_fb_Hz)
| Sets the feedback speed value in the controller. More...
static void | CTRL_setSpeed_out_A (CTRL_Handle handle, const float_t speed_out_A)
| Sets the maximum output value for the speed controller. More...
static void | CTRL_setSpeed_outMax_A (CTRL_Handle handle, const float_t speed_outMax_A)
| Sets the maximum output value for the speed controller. More...
static void | CTRL_setSpeed_outMin_A (CTRL_Handle handle, const float_t speed_outMin_A)
| Sets the minimum output value for the speed controller. More...
static void | CTRL_setSpeed_ref_Hz (CTRL_Handle handle, const float_t speed_ref_Hz)
| Sets the output speed reference value in the controller. More...
static void | CTRL_setSpeedCtrlPeriod_sec (CTRL_Handle handle, const float_t speedCtrlPeriod_sec)
| Sets the speed controller period value. More...
static void | CTRL_setUi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const float_t Ui)
| Sets the integrator (Ui) value in the specified controller. More...
static void | CTRL_setVd_sf (CTRL_Handle handle, const float_t Vd_sf)
| Sets the direct voltage scale factor. More...
static void | CTRL_setVdq_V (CTRL_Handle handle, const MATH_vec2 *pVdq_V)
| Sets the direct/quadrature voltage (Vdq) vector values in the controller. More...
static void | CTRL_setVdq_offset_V (CTRL_Handle handle, const MATH_vec2 *pVdq_offset_V)
| Sets the direct/quadrature offset voltage (Vdq_offset) vector values in the controller. More...
void | CTRL_setVersion (CTRL_Handle handle, const CTRL_TargetProc_e targetProc, const uint16_t majorReleaseNumber, const uint16_t minorReleaseNumber)
| Sets the controller version. More...
void | CTRL_setWaitTimes (CTRL_Handle handle, const int_least32_t *pWaitTimes)
| Sets the wait times for the controller states. More...
static void | CTRL_setup (CTRL_Handle handle, const float_t speed_ref_Hz, const float_t speed_fb_Hz, const MATH_vec2 *pIdq_A, const MATH_vec2 *pIdq_offset_A, const MATH_vec2 *pVdq_offset_V, const bool flag_enableSpeedCtrl, const bool flag_enableCurrentCtrl, const bool flag_useZeroIq_ref)
| Sets up the user controller (CTRL) object. More...
static void | CTRL_run (CTRL_Handle handle, MATH_vec2 *pVdq_V)
| Run the controller. More...

## Detailed Description

## Function Documentation

void CTRL_addVdq_offset | ( | CTRL_Handle | handle | ) |
| inline

Adds the Vdq offset to the Vdq values.

Parameters

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

Definition at line 81 of file 32b/ctrl.h.

References _MATH_vec2_::value, _CTRL_Obj_::Vdq_offset_pu, and _CTRL_Obj_::Vdq_out.

Referenced by CTRL_runPiOnly().

_iq CTRL_angleDelayComp | ( | CTRL_Handle | handle,
|  | const _iq | angle_pu
| ) |  |
| inline

Runs angle delay compensation.

This function takes the decimation rates to calculate a phase delay, and it compensates the delay. This allows the voltage output to do a better correction of the error.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | angle_pu | The angle delayed

Returns
  The phase delay compensated angle

Definition at line 2126 of file 32b/ctrl.h.

References _IQ, _IQabs, _IQmpy, EST_getFm_pu(), _CTRL_Obj_::estHandle, and GLOBAL_Q.

Referenced by CTRL_runOnLine_User().

static void CTRL_checkForErrors | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Definition at line 1982 of file 32b/ctrl.h.

References CTRL_ErrorCode_EstError, CTRL_setErrorCode(), CTRL_setState(), CTRL_State_Error, EST_isError(), and _CTRL_Obj_::estHandle.

Referenced by CTRL_updateState().

static void CTRL_computeOutputLimits_Id | ( | CTRL_Handle | handle,
|  | float_t * | outMin,
|  | float_t * | outMax
| ) |  |
| inline static

Computes the Id controller output limits.

Parameters

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

Definition at line 173 of file float/ctrl.h.

References CTRL_getMaxVsMag_V(), and CTRL_getVd_sf().

Referenced by CTRL_run().

static void CTRL_computeOutputLimits_Id | ( | CTRL_Handle | handle,
|  | const _iq | maxVsMag,
|  | _iq * | outMin,
|  | _iq * | outMax
| ) |  |
| inline static

Computes the Id controller output limits.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | maxVsMag | The maximum output voltage vector, pu
  [in] | outMin | The pointer to the minimum output value
  [in] | outMax | The pointer to the maximum output value

Definition at line 2005 of file 32b/ctrl.h.

Referenced by CTRL_runPiOnly().

static void CTRL_computeOutputLimits_Iq | ( | CTRL_Handle | handle,
|  | const float_t | Vd_out_V,
|  | float_t * | outMin,
|  | float_t * | outMax
| ) |  |
| inline static

Computes the Iq controller output limits.

Parameters

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

Definition at line 192 of file float/ctrl.h.

References CTRL_getMaxVsMag_V().

Referenced by CTRL_run().

static void CTRL_computeOutputLimits_Iq | ( | CTRL_Handle | handle,
|  | const _iq | maxVsMag,
|  | const _iq | Vd_out_pu,
|  | _iq * | outMin,
|  | _iq * | outMax
| ) |  |
| inline static

Computes the Iq controller output limits.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | maxVsMag | The maximum output voltage vector, pu
  [in] | Vd_out_pu | The Vd output voltage value, pu
  [in] | outMin | The pointer to the minimum output value
  [in] | outMax | The pointer to the maximum output value

Definition at line 2023 of file 32b/ctrl.h.

References _IQmpy, and _IQsqrt.

Referenced by CTRL_runPiOnly().

static void CTRL_computePhasor | ( | const float_t | angle_rad,
|  | MATH_vec2 * | pPhasor
| ) |  |
| inline static

Computes a phasor for a given angle.

Parameters

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

Definition at line 75 of file float/ctrl.h.

References _MATH_vec2_::value.

void CTRL_computePhasor | ( | const _iq | angle_pu,
|  | MATH_vec2 * | pPhasor
| ) |  |
| inline

Computes a phasor for a given angle.

Parameters

  [in] | angle_pu | The angle, pu
  [out] | pPhasor | The pointer to the phasor vector values

Definition at line 2040 of file 32b/ctrl.h.

References _IQcosPU, _IQsinPU, and _MATH_vec2_::value.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

static void CTRL_disable | ( | CTRL_Handle | handle | ) |
| inline static

Disables the controller.

Parameters

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

Definition at line 92 of file float/ctrl.h.

References _CTRL_Obj_::flag_enable.

bool CTRL_doCurrentCtrl | ( | CTRL_Handle | handle | ) |
| inline

Determines if the current controllers should be run.

Parameters

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

Returns
  The value denoting that the current controllers should be run (true) or not (false)

Definition at line 2053 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_current, CTRL_getFlag_enableCurrentCtrl(), and _CTRL_Obj_::numCtrlTicksPerCurrentTick.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

bool CTRL_doSpeedCtrl | ( | CTRL_Handle | handle | ) |
| inline

Determines if the speed controller should be executed.

Parameters

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

Returns
  A boolean value denoting if the speed controller should be executed (true) or not (false)

Definition at line 2070 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_speed, and _CTRL_Obj_::numCtrlTicksPerSpeedTick.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static void CTRL_enable | ( | CTRL_Handle | handle | ) |
| inline static

Enables the controller.

Parameters

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

Definition at line 104 of file float/ctrl.h.

References _CTRL_Obj_::flag_enable.

static float_t CTRL_getBWc_rps | ( | CTRL_Handle | handle | ) |
| inline static

Gets the current controller bandwidth.

Parameters

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

Returns
  The current controller bandwidth, rad/sec

Definition at line 117 of file float/ctrl.h.

References _CTRL_Obj_::BWc_rps.

static float_t CTRL_getBWdelta | ( | CTRL_Handle | handle | ) |
| inline static

Gets the bandwidth scale factor used to maximize phase margin.

Parameters

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

Returns
  The bandwidth scale factor

Definition at line 128 of file float/ctrl.h.

References _CTRL_Obj_::BWdelta.

static int_least16_t CTRL_getCount_current | ( | CTRL_Handle | handle | ) |
| inline

Gets the current loop count.

Parameters

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

Returns
  The current loop count

Definition at line 95 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_current.

Referenced by CTRL_run().

static int_least16_t CTRL_getCount_isr | ( | CTRL_Handle | handle | ) |
| inline

Gets the isr count.

Parameters

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

Returns
  The isr count

Definition at line 106 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_isr.

Referenced by CTRL_run().

static int_least16_t CTRL_getCount_speed | ( | CTRL_Handle | handle | ) |
| inline

Gets the speed loop count.

Parameters

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

Returns
  The speed loop count

Definition at line 117 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_speed.

Referenced by CTRL_run().

static int_least32_t CTRL_getCount_state | ( | CTRL_Handle | handle | ) |
| inline

Gets the state count.

Parameters

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

Returns
  The state count

Definition at line 128 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_state.

Referenced by CTRL_updateState().

uint_least16_t CTRL_getCount_traj | ( | CTRL_Handle | handle | ) |
| inline

Gets the trajectory loop count.

Parameters

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

Returns
  The trajectory loop count

Definition at line 139 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_traj.

Referenced by CTRL_setup(), and CTRL_setup_user().

uint_least32_t CTRL_getCtrlFreq | ( | CTRL_Handle | handle | ) |
| inline

Gets the controller execution frequency.

Parameters

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

Returns
  The controller execution frequency, Hz

Definition at line 150 of file 32b/ctrl.h.

References _CTRL_Obj_::ctrlFreq_Hz.

static float_t CTRL_getCtrlFreq_Hz | ( | CTRL_Handle | handle | ) |
| inline static

Gets the controller execution frequency.

Parameters

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

Returns
  The controller execution frequency, Hz

Definition at line 258 of file float/ctrl.h.

References _CTRL_Obj_::ctrlFreq_Hz.

static float_t CTRL_getCtrlPeriod_sec | ( | CTRL_Handle | handle | ) |
| inline

Gets the controller execution period.

Parameters

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

Returns
  The controller execution period, sec

Definition at line 161 of file 32b/ctrl.h.

References _CTRL_Obj_::ctrlPeriod_sec.

Referenced by USER_calcPIgains().

static float_t CTRL_getCurrentCtrlPeriod_sec | ( | CTRL_Handle | handle | ) |
| inline static

Gets the current controller period.

Parameters

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

Returns
  The current controller period, sec

Definition at line 269 of file float/ctrl.h.

References _CTRL_Obj_::currentCtrlPeriod_sec.

static CTRL_ErrorCode_e CTRL_getErrorCode | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Returns
  The error code

Definition at line 172 of file 32b/ctrl.h.

References _CTRL_Obj_::errorCode.

EST_Handle CTRL_getEstHandle | ( | CTRL_Handle | handle | ) |
| inline

Gets the estimator handle for a given controller.

Parameters

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

Returns
  The estimator handle for the given controller

Definition at line 183 of file 32b/ctrl.h.

References _CTRL_Obj_::estHandle.

static _iq CTRL_getFbackValue_spd_pu | ( | CTRL_Handle | handle | ) |
| inline static

Gets the feedback value for the speed controller.

Parameters

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

Definition at line 193 of file 32b/ctrl.h.

References _CTRL_Obj_::speed_fb_pu.

Referenced by CTRL_runPiOnly().

static bool CTRL_getFlag_enable | ( | CTRL_Handle | handle | ) |
| inline static

Gets the enable controller flag value from the controller.

Parameters

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

Returns
  The enable controller flag value

Definition at line 302 of file float/ctrl.h.

References _CTRL_Obj_::flag_enable.

Referenced by CTRL_updateState().

bool CTRL_getFlag_enableCtrl | ( | CTRL_Handle | handle | ) |
| inline

Gets the enable controller flag value from the estimator.

Parameters

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

Returns
  The enable controller flag value

Definition at line 204 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableCtrl.

Referenced by CTRL_updateState().

static bool CTRL_getFlag_enableCurrentCtrl | ( | CTRL_Handle | handle | ) |
| inline

Gets the enable current controllers flag value from the controller.

Parameters

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

Returns
  The enable current controller flag value

Definition at line 215 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableCurrentCtrl.

Referenced by CTRL_doCurrentCtrl(), and CTRL_run().

bool CTRL_getFlag_enableDcBusComp | ( | CTRL_Handle | handle | ) |
| inline

Gets the enable DC bus compensation flag value from the estimator.

Parameters

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

Returns
  The enable DC bus compensation flag value

Definition at line 226 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableDcBusComp.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

bool CTRL_getFlag_enableOffset | ( | CTRL_Handle | handle | ) |
| inline

Gets the enable offset flag value from the controller.

Parameters

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

Returns
  The enable offset flag value

Definition at line 248 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableOffset.

Referenced by CTRL_updateState().

bool CTRL_getFlag_enablePowerWarp | ( | CTRL_Handle | handle | ) |
| inline

Gets the PowerWarp enable flag value from the estimator.

Parameters

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

Returns
  The PowerWarp enable flag value

Definition at line 237 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enablePowerWarp.

static bool CTRL_getFlag_enableSpeedCtrl | ( | CTRL_Handle | handle | ) |
| inline

Gets the enable speed control flag value from the controller.

Parameters

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

Returns
  The enable speed control flag value

Definition at line 259 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableSpeedCtrl.

Referenced by CTRL_getRefValue_Id_pu(), CTRL_run(), CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

bool CTRL_getFlag_enableUserMotorParams | ( | CTRL_Handle | handle | ) |
| inline

Gets the enable user motor parameters flag value from the controller.

Parameters

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

Returns
  The enable user motor parameters flag value

Definition at line 270 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableUserMotorParams.

Referenced by CTRL_updateState().

static bool CTRL_getFlag_resetInt_Id | ( | CTRL_Handle | handle | ) |
| inline static

Gets the reset Id integrator flag value from the controller.

Parameters

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

Returns
  The reset Id integrator flag value

Definition at line 335 of file float/ctrl.h.

References _CTRL_Obj_::flag_resetInt_Id.

Referenced by CTRL_setup().

static bool CTRL_getFlag_resetInt_Iq | ( | CTRL_Handle | handle | ) |
| inline static

Gets the reset Iq integrator flag value from the controller.

Parameters

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

Returns
  The reset Iq integrator flag value

Definition at line 346 of file float/ctrl.h.

References _CTRL_Obj_::flag_resetInt_Iq.

Referenced by CTRL_setup().

static bool CTRL_getFlag_resetInt_spd | ( | CTRL_Handle | handle | ) |
| inline static

Gets the reset speed integrator flag value from the controller.

Parameters

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

Returns
  The reset speed integrator flag value

Definition at line 357 of file float/ctrl.h.

References _CTRL_Obj_::flag_resetInt_spd.

Referenced by CTRL_setup().

static bool CTRL_getFlag_useZeroIq_ref | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The use zero Iq reference flag value

Definition at line 368 of file float/ctrl.h.

References _CTRL_Obj_::flag_useZeroIq_ref.

Referenced by CTRL_run().

void CTRL_getGains | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | _iq * | pKp,
|  | _iq * | pKi,
|  | _iq * | pKd
| ) |  |

Gets the gain values for the specified controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | ctrlType | The controller type
  [in] | pKp | The pointer for the Kp value, pu
  [in] | pKi | The pointer for the Ki value, pu
  [in] | pKd | The pointer for the Kd value, pu

Definition at line 78 of file 32b/ctrl.c.

References CTRL_getKd(), CTRL_getKi(), and CTRL_getKp().

static void CTRL_getGains | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | float_t * | pKp,
|  | float_t * | pKi
| ) |  |
| inline static

Gets the gain values for the specified controller.

Parameters

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

Definition at line 650 of file float/ctrl.h.

References CTRL_getKi(), and CTRL_getKp().

MATH_vec2 * CTRL_getIab_filt_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the alpha/beta filtered current vector memory address from the controller.

Parameters

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

Returns
  The alpha/beta filtered current vector memory address

Definition at line 297 of file 32b/ctrl.h.

References _CTRL_Obj_::Iab_filt.

void CTRL_getIab_filt_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIab_filt_pu
| ) |  |

Gets the alpha/beta filtered current vector values from the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [out] | pIab_filt_pu | The vector for the alpha/beta filtered current vector values, pu

Definition at line 90 of file 32b/ctrl.c.

References _CTRL_Obj_::Iab_filt, and _MATH_vec2_::value.

MATH_vec2 * CTRL_getIab_in_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the alpha/beta current input vector memory address from the controller.

Parameters

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

Returns
  The alpha/beta current input vector memory address

Definition at line 308 of file 32b/ctrl.h.

References _CTRL_Obj_::Iab_in.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

void CTRL_getIab_in_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIab_in_pu
| ) |  |

Gets the alpha/beta current input vector values from the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [out] | pIab_in_pu | The vector for the alpha/beta current input vector values, pu

Definition at line 101 of file 32b/ctrl.c.

References _CTRL_Obj_::Iab_in, and _MATH_vec2_::value.

static float_t CTRL_getId_A | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct current value, A

Definition at line 379 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

Referenced by CTRL_run().

static float_t* CTRL_getId_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct current memory address

Definition at line 390 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

_iq CTRL_getId_in_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the direct current input value from the controller.

Parameters

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

Returns
  The direct current input value, pu

Definition at line 325 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_in, and _MATH_vec2_::value.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static float_t CTRL_getId_offset_A | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct current offset value, A

Definition at line 401 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

Referenced by CTRL_run().

static float_t* CTRL_getId_offset_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct offset current memory address

Definition at line 412 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

static _iq CTRL_getId_offset_pu | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct current offset value, pu

Definition at line 370 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_offset_pu, and _MATH_vec2_::value.

Referenced by CTRL_getRefValue_Id_pu().

static float_t CTRL_getId_ref_A | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct current reference value, A

Definition at line 423 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

static float_t* CTRL_getId_ref_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct current reference memory address

Definition at line 434 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

_iq CTRL_getId_ref_pu | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Returns
  The direct current reference value, pu

Definition at line 336 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

Referenced by CTRL_getRefValue_Id_pu(), CTRL_runOnLine(), and CTRL_runOnLine_User().

static void CTRL_getIdq_A | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIdq_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 445 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

static MATH_vec2* CTRL_getIdq_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct/quadrature current vector memory address

Definition at line 459 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A.

MATH_vec2 * CTRL_getIdq_in_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the direct/quadrature current input vector memory address from the controller.

Parameters

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

Returns
  The direct/quadrature current input vector memory address

Definition at line 347 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_in.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

void CTRL_getIdq_in_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIdq_in_pu
| ) |  |

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [out] | pIdq_in_pu | The vector for the direct/quadrature input current vector values, pu

Definition at line 112 of file 32b/ctrl.c.

References _CTRL_Obj_::Idq_in, and _MATH_vec2_::value.

static void CTRL_getIdq_offset_A | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIdq_offset_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 470 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

static MATH_vec2* CTRL_getIdq_offset_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct/quadrature offset current vector memory address

Definition at line 484 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A.

static void CTRL_getIdq_ref_A | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIdq_ref_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 495 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

static MATH_vec2* CTRL_getIdq_ref_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct/quadrature reference current vector memory address

Definition at line 509 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A.

void CTRL_getIdq_ref_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pIdq_ref_pu
| ) |  |

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

Parameters

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

Definition at line 123 of file 32b/ctrl.c.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

_iq CTRL_getIdRated_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the Id rated current value from the controller.

Parameters

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

Returns
  The Id rated current value, pu

Definition at line 381 of file 32b/ctrl.h.

References _CTRL_Obj_::IdRated.

Referenced by CTRL_getMagCurrent_pu().

static float_t CTRL_getIq_A | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature current value, A

Definition at line 520 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

Referenced by CTRL_run().

static float_t* CTRL_getIq_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature current memory address

Definition at line 531 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

_iq CTRL_getIq_in_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the quadrature current input value from the controller.

Parameters

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

Returns
  The quadrature current input value, pu

Definition at line 392 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_in, and _MATH_vec2_::value.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static float_t CTRL_getIq_offset_A | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature current offset value, A

Definition at line 542 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

Referenced by CTRL_run().

static float_t* CTRL_getIq_offset_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature offset current memory address

Definition at line 553 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

static _iq CTRL_getIq_offset_pu | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature current offset value, pu

Definition at line 403 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_offset_pu, and _MATH_vec2_::value.

Referenced by CTRL_getRefValue_Iq_pu().

static float_t CTRL_getIq_ref_A | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature reference current value, A

Definition at line 564 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

static float_t* CTRL_getIq_ref_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature reference current memory address

Definition at line 575 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

_iq CTRL_getIq_ref_pu | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Returns
  The quadrature current reference value, pu

Definition at line 414 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

Referenced by CTRL_getRefValue_Iq_pu(), CTRL_runOnLine(), and CTRL_runOnLine_User().

static _iq* CTRL_getIq_ref_pu_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature current reference memory address

Definition at line 435 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

Referenced by CTRL_runPiOnly().

static float_t CTRL_getKctrl_Wb_p_kgm2 | ( | CTRL_Handle | handle | ) |
| inline static

Gets the speed controller constant.

Parameters

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

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

Definition at line 139 of file float/ctrl.h.

References _CTRL_Obj_::Kctrl_Wb_p_kgm2.

_iq CTRL_getKd | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType
| ) |  |
| inline

Gets the derivative gain (Kd) value from the specified controller.

Parameters

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

Returns
  The Kd value

Definition at line 473 of file 32b/ctrl.h.

References _IQ, CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Kd_Id, _CTRL_Obj_::Kd_Iq, and _CTRL_Obj_::Kd_spd.

Referenced by CTRL_getGains().

static float_t CTRL_getKi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType
| ) |  |
| inline

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

Parameters

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

Returns
  The Ki value

Definition at line 447 of file 32b/ctrl.h.

References _IQ, CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Ki_Id, _CTRL_Obj_::Ki_Iq, and _CTRL_Obj_::Ki_spd.

Referenced by CTRL_getGains(), and CTRL_setup().

static float_t CTRL_getKp | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType
| ) |  |
| inline

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

Parameters

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

Returns
  The Kp value

Definition at line 499 of file 32b/ctrl.h.

References _IQ, CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Kp_Id, _CTRL_Obj_::Kp_Iq, and _CTRL_Obj_::Kp_spd.

Referenced by CTRL_getGains(), CTRL_runOnLine(), CTRL_runOnLine_User(), CTRL_runPiOnly(), and CTRL_setup().

float_t CTRL_getLhf | ( | CTRL_Handle | handle | ) |
| inline

Gets the high frequency inductance (Lhf) value from the controller.

Parameters

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

Returns
  The Lhf value

Definition at line 524 of file 32b/ctrl.h.

References _CTRL_Obj_::Lhf.

_iq CTRL_getMagCurrent_pu | ( | CTRL_Handle | handle | ) |

Gets the magnetizing current value from the controller.

Parameters

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

Returns
  The magnetizing current value, pu

Definition at line 134 of file 32b/ctrl.c.

References CTRL_getIdRated_pu().

_iq CTRL_getMaximumSpeed_pu | ( | CTRL_Handle | handle | ) |

Gets the maximum speed value from the controller.

Parameters

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

Returns
  The maximum speed value, pu

Definition at line 141 of file 32b/ctrl.c.

References CTRL_getSpd_max_pu().

_iq CTRL_getMaxVsMag_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the maximum voltage vector.

Parameters

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

Returns
  The maximum voltage vector (value betwen 0 and 4/3)

Definition at line 541 of file 32b/ctrl.h.

References _CTRL_Obj_::maxVsMag_pu.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static float_t CTRL_getMaxVsMag_V | ( | CTRL_Handle | handle | ) |
| inline static

Gets the maximum stator voltage magnitude value.

Parameters

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

Returns
  The maximum stator voltage magnitude value, V

Definition at line 161 of file float/ctrl.h.

References _CTRL_Obj_::maxVsMag_V.

Referenced by CTRL_computeOutputLimits_Id(), and CTRL_computeOutputLimits_Iq().

float_t CTRL_getMotorRatedFlux | ( | CTRL_Handle | handle | ) |
| inline

Gets the motor rated flux from the controller.

Parameters

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

Returns
  The motor rated flux, V*sec

Definition at line 558 of file 32b/ctrl.h.

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

static MOTOR_Type_e CTRL_getMotorType | ( | CTRL_Handle | handle | ) |
| inline

Gets the motor type from the controller.

Gets the motor type.

Parameters

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

Returns
  The motor type

Definition at line 569 of file 32b/ctrl.h.

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

static int_least16_t CTRL_getNumCtrlTicksPerCurrentTick | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Returns
  The number of controller clock ticks per estimator clock tick

Parameters

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

Returns
  The number of controller clock ticks per controller clock tick

Definition at line 580 of file 32b/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerCurrentTick.

Referenced by CTRL_run().

static int_least16_t CTRL_getNumCtrlTicksPerSpeedTick | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Returns
  The number of controller clock ticks per speed clock tick

Definition at line 591 of file 32b/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerSpeedTick.

Referenced by CTRL_run().

uint_least16_t CTRL_getNumCtrlTicksPerTrajTick | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

Returns
  The number of controller clock ticks per trajectory clock tick

Definition at line 602 of file 32b/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerTrajTick.

Referenced by CTRL_setup(), and CTRL_setup_user().

static int_least16_t CTRL_getNumIsrTicksPerCtrlTick | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

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

Definition at line 613 of file 32b/ctrl.h.

References _CTRL_Obj_::numIsrTicksPerCtrlTick.

Referenced by CTRL_run().

static float_t CTRL_getRefValue | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType
| ) |  |
| inline static

Gets the reference value from the specified controller.

Parameters

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

Returns
  The reference value

Definition at line 708 of file float/ctrl.h.

References CTRL_Type_PI_Id, CTRL_Type_PI_Iq, CTRL_Type_PI_spd, PI_getRefValue(), _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, and _CTRL_Obj_::piHandle_spd.

static _iq CTRL_getRefValue_Id_pu | ( | CTRL_Handle | handle | ) |
| inline static

Gets the reference value for the Id current controller.

Parameters

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

Definition at line 649 of file 32b/ctrl.h.

References _IQ, CTRL_getFlag_enableSpeedCtrl(), CTRL_getId_offset_pu(), and CTRL_getId_ref_pu().

Referenced by CTRL_runPiOnly().

static _iq CTRL_getRefValue_Iq_pu | ( | CTRL_Handle | handle | ) |
| inline static

Gets the reference value for the Iq current controller.

Parameters

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

Definition at line 424 of file 32b/ctrl.h.

References CTRL_getIq_offset_pu(), and CTRL_getIq_ref_pu().

Referenced by CTRL_runPiOnly().

_iq CTRL_getRefValue_pu | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType
| ) |  |
| inline

Gets the reference value from the specified controller.

Parameters

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

Returns
  The reference value, pu

Definition at line 625 of file 32b/ctrl.h.

References _IQ, CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, PID_getRefValue(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, and _CTRL_Obj_::pidHandle_spd.

static _iq CTRL_getRefValue_spd_pu | ( | CTRL_Handle | handle | ) |
| inline static

Gets the reference value for the speed controller.

Parameters

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

Definition at line 668 of file 32b/ctrl.h.

References _CTRL_Obj_::speed_ref_pu.

Referenced by CTRL_runPiOnly().

float_t CTRL_getRhf | ( | CTRL_Handle | handle | ) |
| inline

Gets the high frequency resistance (Rhf) value from the controller.

Parameters

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

Returns
  The Rhf value

Definition at line 679 of file 32b/ctrl.h.

References _CTRL_Obj_::Rhf.

float_t CTRL_getRoverL | ( | CTRL_Handle | handle | ) |
| inline

Gets the R/L value from the controller.

Parameters

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

Returns
  The the R/L value

Definition at line 690 of file 32b/ctrl.h.

References _CTRL_Obj_::RoverL.

_iq CTRL_getSpd_int_ref_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the output speed intermediate reference value from the controller.

Parameters

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

Returns
  The output speed intermediate reference value, pu

Definition at line 745 of file 32b/ctrl.h.

References TRAJ_getIntValue(), and _CTRL_Obj_::trajHandle_spd.

_iq CTRL_getSpd_max_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the maximum speed value from the controller.

Parameters

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

Returns
  The maximum speed value, pu

Definition at line 701 of file 32b/ctrl.h.

References _CTRL_Obj_::spd_max.

Referenced by CTRL_getMaximumSpeed_pu().

_iq * CTRL_getSpd_out_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the output speed memory address from the controller.

Parameters

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

Returns
  The output speed memory address

Definition at line 712 of file 32b/ctrl.h.

References _CTRL_Obj_::spd_out.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

_iq CTRL_getSpd_out_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the output speed value from the controller.

Parameters

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

Returns
  The output speed value, pu

Definition at line 723 of file 32b/ctrl.h.

References _CTRL_Obj_::spd_out.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

_iq CTRL_getSpd_ref_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the output speed reference value from the controller.

Parameters

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

Returns
  The output speed reference value, pu

Definition at line 734 of file 32b/ctrl.h.

References _CTRL_Obj_::spd_ref.

static float_t CTRL_getSpeed_fb_Hz | ( | CTRL_Handle | handle | ) |
| inline static

Gets the feedback speed value from the controller.

Parameters

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

Returns
  The feedback speed value, Hz

Definition at line 738 of file float/ctrl.h.

References _CTRL_Obj_::speed_fb_Hz.

Referenced by CTRL_run().

static float_t CTRL_getSpeed_out_A | ( | CTRL_Handle | handle | ) |
| inline static

Gets the output value from the speed controller.

Parameters

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

Returns
  The output value, A

Definition at line 749 of file float/ctrl.h.

References _CTRL_Obj_::speed_out_A.

Referenced by CTRL_run().

static float_t* CTRL_getSpeed_out_A_addr | ( | CTRL_Handle | handle | ) |
| inline static

Gets the output value memory address from the speed controller.

Parameters

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

Returns
  The output value memory address

Definition at line 760 of file float/ctrl.h.

References _CTRL_Obj_::speed_out_A.

Referenced by CTRL_run().

static float_t CTRL_getSpeed_outMax_A | ( | CTRL_Handle | handle | ) |
| inline static

Gets the maximum value for the speed controller.

Parameters

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

Returns
  The maximum output value, A

Definition at line 771 of file float/ctrl.h.

References _CTRL_Obj_::speed_outMax_A.

Referenced by CTRL_run().

static _iq CTRL_getSpeed_outMax_pu | ( | CTRL_Handle | handle | ) |
| inline static

Gets the maximum output value for the speed controller.

Parameters

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

Returns
  The maximum output value, pu

Definition at line 756 of file 32b/ctrl.h.

References _CTRL_Obj_::speed_outMax_pu.

Referenced by CTRL_runPiOnly().

static float_t CTRL_getSpeed_outMin_A | ( | CTRL_Handle | handle | ) |
| inline static

Gets the minimum value for the speed controller.

Parameters

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

Returns
  The minimum output value, A

Definition at line 782 of file float/ctrl.h.

References _CTRL_Obj_::speed_outMin_A.

Referenced by CTRL_run().

static float_t CTRL_getSpeed_ref_Hz | ( | CTRL_Handle | handle | ) |
| inline static

Gets the output speed reference value from the controller.

Parameters

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

Returns
  The output speed reference value, Hz

Definition at line 793 of file float/ctrl.h.

References _CTRL_Obj_::speed_ref_Hz.

Referenced by CTRL_run().

static float_t CTRL_getSpeedCtrlPeriod_sec | ( | CTRL_Handle | handle | ) |
| inline static

Gets the speed controller period.

Parameters

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

Returns
  The speed controller period, sec

Definition at line 804 of file float/ctrl.h.

References _CTRL_Obj_::speedCtrlPeriod_sec.

static CTRL_State_e CTRL_getState | ( | CTRL_Handle | handle | ) |
| inline

Gets the controller state.

Parameters

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

Returns
  The controller state

Definition at line 767 of file 32b/ctrl.h.

References _CTRL_Obj_::state.

Referenced by CTRL_isError(), CTRL_isIdle(), CTRL_isNotIdle(), CTRL_run(), CTRL_setup_user(), and CTRL_updateState().

uint_least32_t CTRL_getTrajFreq | ( | CTRL_Handle | handle | ) |
| inline

Gets the trajectory execution frequency.

Parameters

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

Returns
  The trajectory execution frequency, Hz

Definition at line 778 of file 32b/ctrl.h.

References _CTRL_Obj_::trajFreq_Hz.

_iq CTRL_getTrajPeriod_sec | ( | CTRL_Handle | handle | ) |
| inline

Gets the trajectory execution period.

Parameters

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

Returns
  The trajectory execution period, sec

Definition at line 789 of file 32b/ctrl.h.

References _CTRL_Obj_::trajPeriod_sec.

void CTRL_getTrajStep | ( | CTRL_Handle | handle | ) |

Gets the trajectory step size.

Parameters

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

static float_t CTRL_getUi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType
| ) |  |
| inline

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

Parameters

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

Returns
  The Ui value

Parameters

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

Returns
  The Ui value

Definition at line 806 of file 32b/ctrl.h.

References _IQ, CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Ui_Id, _CTRL_Obj_::Ui_Iq, and _CTRL_Obj_::Ui_spd.

Referenced by CTRL_setup().

MATH_vec2 * CTRL_getVab_in_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the alpha/beta voltage input vector memory address from the controller.

Parameters

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

Returns
  The alpha/beta voltage input vector memory address

Definition at line 831 of file 32b/ctrl.h.

References _CTRL_Obj_::Vab_in.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

void CTRL_getVab_in_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pVab_in_pu
| ) |  |

Gets the alpha/beta voltage input vector values from the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [out] | pVab_in_pu | The vector for the alpha/beta voltage input vector values, pu

Definition at line 148 of file 32b/ctrl.c.

References _CTRL_Obj_::Vab_in, and _MATH_vec2_::value.

MATH_vec2 * CTRL_getVab_out_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the alpha/beta voltage output vector memory address from the controller.

Parameters

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

Returns
  The alpha/beta voltage output vector memory address

Definition at line 848 of file 32b/ctrl.h.

References _CTRL_Obj_::Vab_out.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

void CTRL_getVab_out_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pVab_out_pu
| ) |  |

Gets the alpha/beta voltage output vector values from the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [out] | pVab_out_pu | The vector for the alpha/beta voltage output vector values, pu

Definition at line 159 of file 32b/ctrl.c.

References _CTRL_Obj_::Vab_out, and _MATH_vec2_::value.

static float_t CTRL_getVd_offset_V | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct voltage offset value, V

Definition at line 878 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

Referenced by CTRL_run().

static float_t* CTRL_getVd_offset_V_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct offset voltage value memory address

Definition at line 889 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

_iq * CTRL_getVd_out_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the direct voltage output value memory address from the controller.

Parameters

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

Returns
  The direct voltage output value memory address

Definition at line 865 of file 32b/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_out.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

_iq CTRL_getVd_out_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the direct voltage output value from the controller.

Parameters

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

Returns
  The direct voltage output value, pu

Definition at line 876 of file 32b/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_out.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

static float_t CTRL_getVd_sf | ( | CTRL_Handle | handle | ) |
| inline static

Gets the direct voltage scale factor.

Parameters

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

Returns
  The direct voltage scale factor

Definition at line 150 of file float/ctrl.h.

References _CTRL_Obj_::Vd_sf.

Referenced by CTRL_computeOutputLimits_Id().

static float_t CTRL_getVd_V | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct voltage value, V

Definition at line 856 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_V.

static float_t* CTRL_getVd_V_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct voltage value memory address

Definition at line 867 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_V.

static void CTRL_getVdq_offset_V | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pVdq_offset_V
| ) |  |
| inline static

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

Parameters

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

Definition at line 925 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

static MATH_vec2* CTRL_getVdq_offset_V_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct/quadrature offset voltage vector memory address

Definition at line 939 of file float/ctrl.h.

References _CTRL_Obj_::Vdq_offset_V.

MATH_vec2 * CTRL_getVdq_out_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the direct/quadrature voltage output vector memory address from the controller.

Parameters

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

Returns
  The direct/quadrature voltage output vector memory address

Definition at line 887 of file 32b/ctrl.h.

References _CTRL_Obj_::Vdq_out.

Referenced by CTRL_runOnLine(), and CTRL_runOnLine_User().

void CTRL_getVdq_out_pu | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pVdq_out_pu
| ) |  |

Gets the direct/quadrature voltage output vector values from the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [out] | pVdq_out_pu | The vector for the direct/quadrature voltage output vector values, pu

Definition at line 170 of file 32b/ctrl.c.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_out.

static void CTRL_getVdq_V | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pVdq_V
| ) |  |
| inline static

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

Parameters

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

Definition at line 900 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_V.

Referenced by CTRL_run().

static MATH_vec2* CTRL_getVdq_V_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The direct/quadrature voltage vector memory address

Definition at line 914 of file float/ctrl.h.

References _CTRL_Obj_::Vdq_V.

void CTRL_getVersion | ( | CTRL_Handle | handle,
|  | CTRL_Version * | pVersion
| ) |  |

Gets the controller version number.

Parameters

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

Definition at line 58 of file float/ctrl.c.

References _CTRL_Version_::major, _CTRL_Version_::minor, _CTRL_Version_::rsvd, _CTRL_Version_::targetProc, and _CTRL_Obj_::version.

static float_t CTRL_getVq_offset_V | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature voltage offset value, V

Definition at line 978 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

Referenced by CTRL_run().

static float_t* CTRL_getVq_offset_V_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature voltage value memory address

Definition at line 989 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

_iq * CTRL_getVq_out_addr | ( | CTRL_Handle | handle | ) |
| inline

Gets the quadrature voltage output value memory address from the controller.

Parameters

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

Returns
  The quadrature voltage output value memory address

Definition at line 910 of file 32b/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_out.

Referenced by CTRL_runOnLine(), CTRL_runOnLine_User(), and CTRL_runPiOnly().

_iq CTRL_getVq_out_pu | ( | CTRL_Handle | handle | ) |
| inline

Gets the quadrature voltage output value from the controller.

Parameters

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

Returns
  The quadrature voltage output value, pu

Definition at line 921 of file 32b/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_out.

static float_t CTRL_getVq_V | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature voltage value, pu

Definition at line 956 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_V.

static float_t* CTRL_getVq_V_addr | ( | CTRL_Handle | handle | ) |
| inline static

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

Parameters

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

Returns
  The quadrature voltage value memory address

Definition at line 967 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_V.

static int_least32_t CTRL_getWaitTime | ( | CTRL_Handle | handle,
|  | const CTRL_State_e | state
| ) |  |
| inline

Gets the wait time for a given state.

Parameters

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

Returns
  The wait time, controller clock counts

Parameters

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

Returns
  The wait time, controller clock counts

Definition at line 933 of file 32b/ctrl.h.

References _CTRL_Obj_::waitTimes.

Referenced by CTRL_updateState().

void CTRL_getWaitTimes | ( | CTRL_Handle | handle,
|  | uint_least32_t * | pWaitTimes
| ) |  |

Gets the wait times from the estimator.

Parameters

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

Definition at line 181 of file 32b/ctrl.c.

References CTRL_numStates, and _CTRL_Obj_::waitTimes.

void CTRL_getWaitTimes | ( | CTRL_Handle | handle,
|  | int_least32_t * | pWaitTimes
| ) |  |

Gets the wait times from the controller.

Parameters

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

Definition at line 71 of file float/ctrl.c.

References CTRL_numStates, and _CTRL_Obj_::waitTimes.

static void CTRL_incrCounter_current | ( | CTRL_Handle | handle | ) |
| inline

Increments the current counter.

Parameters

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

Definition at line 949 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_current.

Referenced by CTRL_run(), CTRL_setup(), and CTRL_setup_user().

static void CTRL_incrCounter_isr | ( | CTRL_Handle | handle | ) |
| inline

Increments the isr counter.

Parameters

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

Definition at line 967 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_isr.

Referenced by CTRL_run().

static void CTRL_incrCounter_speed | ( | CTRL_Handle | handle | ) |
| inline

Increments the speed counter.

Parameters

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

Definition at line 985 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_speed.

Referenced by CTRL_run(), CTRL_setup(), and CTRL_setup_user().

static void CTRL_incrCounter_state | ( | CTRL_Handle | handle | ) |
| inline

Increments the state counter.

Parameters

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

Definition at line 1003 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_state.

Referenced by CTRL_run(), and CTRL_setup_user().

void CTRL_incrCounter_traj | ( | CTRL_Handle | handle | ) |
| inline

Increments the trajectory counter.

Parameters

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

Definition at line 1021 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_traj.

Referenced by CTRL_run(), and CTRL_setup_user().

CTRL_Handle CTRL_init | ( | void * | pMemory,
|  | const size_t | numBytes
| ) |  |

Initializes the controller.

Parameters

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

Returns
  The controller (CTRL) object handle

Definition at line 85 of file float/ctrl.c.

References CTRL_MAJOR_RELEASE_NUMBER, CTRL_MINOR_RELEASE_NUMBER, CTRL_setVersion(), CTRL_TargetProc_2806x, _CTRL_Obj_::pi_Id, PI_init(), _CTRL_Obj_::pi_Iq, _CTRL_Obj_::pi_spd, _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, and _CTRL_Obj_::piHandle_spd.

CTRL_Handle CTRL_initCtrl | ( | const uint_least8_t | estNumber,
|  | void * | pMemory,
|  | const size_t | numBytes
| ) |  |

Initializes a specified controller.

Initializes all handles required for field oriented control and FAST observer interface. Returns a handle to the CTRL object.

Parameters

  [in] | ctrlNumber | The controller number
  [in] | estNumber | The estimator number

Returns
  The controller (CTRL) object handle

static bool CTRL_isEnabled | ( | CTRL_Handle | handle | ) |
| inline static

Determines if the controller is enabled.

Parameters

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

Definition at line 1120 of file float/ctrl.h.

References _CTRL_Obj_::flag_enable.

static bool CTRL_isError | ( | CTRL_Handle | handle | ) |
| inline

Determines if there is a controller error.

Parameters

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

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

Definition at line 1053 of file 32b/ctrl.h.

References CTRL_getState(), and CTRL_State_Error.

static bool CTRL_isIdle | ( | CTRL_Handle | handle | ) |
| inline static

Determines if the controller is in the idle state.

Parameters

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

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

Definition at line 1150 of file float/ctrl.h.

References CTRL_getState(), and CTRL_State_Idle.

static bool CTRL_isNotIdle | ( | CTRL_Handle | handle | ) |
| inline static

Determines if the controller is not in the idle state.

Parameters

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

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

Definition at line 1167 of file float/ctrl.h.

References CTRL_getState(), and CTRL_State_Idle.

Referenced by CTRL_updateState().

void CTRL_reset | ( | CTRL_Handle | handle | ) |

Resets the controller.

Parameters

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

Definition at line 130 of file float/ctrl.c.

References CTRL_setIdq_A(), CTRL_setIdq_offset_A(), CTRL_setSpeed_fb_Hz(), CTRL_setSpeed_out_A(), CTRL_setSpeed_ref_Hz(), CTRL_setVdq_offset_V(), CTRL_setVdq_V(), PI_setUi(), _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, and _CTRL_Obj_::piHandle_spd.

Referenced by CTRL_updateState().

static void CTRL_resetCounter_current | ( | CTRL_Handle | handle | ) |
| inline

Resets the current counter.

Parameters

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

Definition at line 1071 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_current.

Referenced by CTRL_run(), CTRL_runOnLine(), CTRL_runOnLine_User(), CTRL_runPiOnly(), and CTRL_setParams().

static void CTRL_resetCounter_isr | ( | CTRL_Handle | handle | ) |
| inline

Resets the isr counter.

Parameters

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

Definition at line 1083 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_isr.

Referenced by CTRL_run(), and CTRL_setParams().

static void CTRL_resetCounter_speed | ( | CTRL_Handle | handle | ) |
| inline

Resets the speed counter.

Parameters

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

Definition at line 1095 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_speed.

Referenced by CTRL_run(), CTRL_runOnLine(), CTRL_runOnLine_User(), CTRL_runPiOnly(), and CTRL_setParams().

static void CTRL_resetCounter_state | ( | CTRL_Handle | handle | ) |
| inline

Resets the state counter.

Parameters

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

Definition at line 1107 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_state.

Referenced by CTRL_setParams(), and CTRL_updateState().

void CTRL_resetCounter_traj | ( | CTRL_Handle | handle | ) |
| inline

Resets the trajectory counter.

Parameters

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

Definition at line 1119 of file 32b/ctrl.h.

References _CTRL_Obj_::counter_traj.

Referenced by CTRL_setParams(), CTRL_setup(), and CTRL_setup_user().

void CTRL_run | ( | CTRL_Handle | handle,
|  | HAL_Handle | halHandle,
|  | const HAL_AdcData_t * | pAdcData,
|  | HAL_PwmData_t * | pPwmData,
|  | uint32_t | electricalAngle
| ) |  |

Runs the controller.

The CTRL_run function implements the field oriented control. There are two parts to CTRL_run, CTRL_runOffline, CTRL_runOnline, and CTRL_runOnlineUser.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | halHandle | The hardware abstraction layer (HAL) handle
  [in] | pAdcData | The pointer to the ADC data
  [out] | pPwmData | The pointer to the PWM data
  [in] | electricalAngle | The electrical angle in Q24

Definition at line 195 of file ctrlQEP.c.

References _IQ, CTRL_getCount_isr(), CTRL_getNumIsrTicksPerCtrlTick(), CTRL_getState(), CTRL_incrCounter_current(), CTRL_incrCounter_isr(), CTRL_incrCounter_speed(), CTRL_incrCounter_state(), CTRL_incrCounter_traj(), CTRL_resetCounter_isr(), CTRL_runOffLine(), CTRL_runOnLine(), CTRL_runOnLine_User(), CTRL_State_Idle, CTRL_State_OffLine, CTRL_State_OnLine, EST_getState(), EST_State_MotorIdentified, _CTRL_Obj_::estHandle, _CTRL_Obj_::numIsrTicksPerCtrlTick, _HAL_PwmData_t_::Tabc, and _MATH_vec3_::value.

void CTRL_run | ( | CTRL_Handle | handle,
|  | HAL_Handle | halHandle,
|  | const HAL_AdcData_t * | pAdcData,
|  | HAL_PwmData_t * | pPwmData
| ) |  |

Runs the controller.

The CTRL_run function implements the field oriented control. There are two parts to CTRL_run, CTRL_runOffline, CTRL_runOnline, and CTRL_runOnlineUser.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | halHandle | The hardware abstraction layer (HAL) handle
  [in] | pAdcData | The pointer to the ADC data
  [out] | pPwmData | The pointer to the PWM data

Definition at line 195 of file 32b/ctrl.c.

References _IQ, CTRL_getCount_isr(), CTRL_getNumIsrTicksPerCtrlTick(), CTRL_getState(), CTRL_incrCounter_current(), CTRL_incrCounter_isr(), CTRL_incrCounter_speed(), CTRL_incrCounter_state(), CTRL_incrCounter_traj(), CTRL_resetCounter_isr(), CTRL_runOffLine(), CTRL_runOnLine(), CTRL_runOnLine_User(), CTRL_State_Idle, CTRL_State_OffLine, CTRL_State_OnLine, EST_getState(), EST_State_MotorIdentified, _CTRL_Obj_::estHandle, _HAL_PwmData_t_::Tabc, and _MATH_vec3_::value.

static void CTRL_run | ( | CTRL_Handle | handle,
|  | MATH_vec2 * | pVdq_V
| ) |  |
| inline static

Run the controller.

Parameters

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

Definition at line 2001 of file float/ctrl.h.

References CTRL_computeOutputLimits_Id(), CTRL_computeOutputLimits_Iq(), CTRL_getCount_current(), CTRL_getCount_speed(), CTRL_getFlag_enableCurrentCtrl(), CTRL_getFlag_enableSpeedCtrl(), CTRL_getFlag_useZeroIq_ref(), CTRL_getId_A(), CTRL_getId_offset_A(), CTRL_getIq_A(), CTRL_getIq_offset_A(), CTRL_getNumCtrlTicksPerCurrentTick(), CTRL_getNumCtrlTicksPerSpeedTick(), CTRL_getSpeed_fb_Hz(), CTRL_getSpeed_out_A(), CTRL_getSpeed_out_A_addr(), CTRL_getSpeed_outMax_A(), CTRL_getSpeed_outMin_A(), CTRL_getSpeed_ref_Hz(), CTRL_getVd_offset_V(), CTRL_getVdq_V(), CTRL_getVq_offset_V(), CTRL_incrCounter_state(), CTRL_resetCounter_current(), CTRL_resetCounter_speed(), CTRL_setId_ref_A(), CTRL_setIq_ref_A(), CTRL_setSpeed_out_A(), CTRL_setVdq_V(), PI_run_series(), PI_setMinMax(), _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, _CTRL_Obj_::piHandle_spd, and _MATH_vec2_::value.

void CTRL_runOffLine | ( | CTRL_Handle | handle,
|  | HAL_Handle | halHandle,
|  | const HAL_AdcData_t * | pAdcData,
|  | HAL_PwmData_t * | pPwmData
| ) |  |
| inline

Runs the offline controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | halHandle | The hardware abstraction layer (HAL) handle
  [in] | pAdcData | The pointer to the ADC data
  [out] | pPwmData | The pointer to the PWM data

Definition at line 2089 of file 32b/ctrl.h.

References _IQ, HAL_runOffsetEst(), _HAL_PwmData_t_::Tabc, and _MATH_vec3_::value.

Referenced by CTRL_run().

void CTRL_runOnLine | ( | CTRL_Handle | handle,
|  | const HAL_AdcData_t * | pAdcData,
|  | HAL_PwmData_t * | pPwmData
| ) |  |
| inline

Runs the online controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pAdcData | The pointer to the ADC data
  [out] | pPwmData | The pointer to the PWM data

Definition at line 2158 of file 32b/ctrl.h.

References _IQ, _IQabs, _IQmpy, CLARKE_run(), _CTRL_Obj_::clarkeHandle_I, _CTRL_Obj_::clarkeHandle_V, CTRL_computePhasor(), CTRL_doCurrentCtrl(), CTRL_doSpeedCtrl(), CTRL_getFlag_enableDcBusComp(), CTRL_getFlag_enableSpeedCtrl(), CTRL_getIab_in_addr(), CTRL_getId_in_pu(), CTRL_getId_ref_pu(), CTRL_getIdq_in_addr(), CTRL_getIq_in_pu(), CTRL_getIq_ref_pu(), CTRL_getKp(), CTRL_getMaxVsMag_pu(), CTRL_getSpd_out_addr(), CTRL_getSpd_out_pu(), CTRL_getVab_in_addr(), CTRL_getVab_out_addr(), CTRL_getVd_out_addr(), CTRL_getVd_out_pu(), CTRL_getVdq_out_addr(), CTRL_getVq_out_addr(), CTRL_resetCounter_current(), CTRL_resetCounter_speed(), CTRL_setSpd_out_pu(), CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_useZeroIq_ref(), _HAL_AdcData_t_::dcBus, EST_doCurrentCtrl(), EST_doSpeedCtrl(), EST_getAngle_pu(), EST_getFm_pu(), EST_getOneOverDcBus_pu(), EST_run(), EST_setId_ref_pu(), EST_setIq_ref_pu(), EST_updateId_ref_pu(), _CTRL_Obj_::estHandle, _HAL_AdcData_t_::I, IPARK_run(), IPARK_setPhasor(), _CTRL_Obj_::iparkHandle, PARK_run(), PARK_setPhasor(), _CTRL_Obj_::parkHandle, PID_run(), PID_run_spd(), PID_setKp(), PID_setMinMax(), PID_setUi(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, _CTRL_Obj_::pidHandle_spd, SVGEN_run(), _CTRL_Obj_::svgenHandle, _HAL_PwmData_t_::Tabc, TRAJ_getIntValue(), _CTRL_Obj_::trajHandle_Id, _CTRL_Obj_::trajHandle_spd, _CTRL_Obj_::trajHandle_spdMax, and _HAL_AdcData_t_::V.

Referenced by CTRL_run().

void CTRL_runOnLine_User | ( | CTRL_Handle | handle,
|  | const HAL_AdcData_t * | pAdcData,
|  | HAL_PwmData_t * | pPwmData,
|  | uint32_t | electricalAngle
| ) |  |
| inline

Runs the online user controller.

An implementation of the field oriented control. The online user controller is executed in user's memory i.e. RAM/FLASH and can be changed in any way suited to the user.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pAdcData | The pointer to the ADC data
  [out] | pPwmData | The pointer to the PWM data
  [in] | electricalAngle | The electrical angle in Q24

Definition at line 2064 of file ctrlQEP.h.

References _IQmpy, _IQsqrt, _CTRL_Obj_::angle_pu, CLARKE_run(), _CTRL_Obj_::clarkeHandle_I, _CTRL_Obj_::clarkeHandle_V, CTRL_angleDelayComp(), CTRL_computePhasor(), CTRL_doCurrentCtrl(), CTRL_doSpeedCtrl(), CTRL_getFlag_enableDcBusComp(), CTRL_getFlag_enableSpeedCtrl(), CTRL_getIab_in_addr(), CTRL_getId_in_pu(), CTRL_getId_ref_pu(), CTRL_getIdq_in_addr(), CTRL_getIq_in_pu(), CTRL_getIq_ref_pu(), CTRL_getKp(), CTRL_getMaxVsMag_pu(), CTRL_getSpd_out_addr(), CTRL_getSpd_out_pu(), CTRL_getVab_in_addr(), CTRL_getVab_out_addr(), CTRL_getVd_out_addr(), CTRL_getVd_out_pu(), CTRL_getVdq_out_addr(), CTRL_getVq_out_addr(), CTRL_resetCounter_current(), CTRL_resetCounter_speed(), CTRL_Type_PID_Id, CTRL_Type_PID_Iq, _HAL_AdcData_t_::dcBus, EST_getAngle_pu(), EST_getFm_pu(), EST_getOneOverDcBus_pu(), EST_run(), EST_updateId_ref_pu(), _CTRL_Obj_::estHandle, _HAL_AdcData_t_::I, IPARK_run(), IPARK_setPhasor(), _CTRL_Obj_::iparkHandle, PARK_run(), PARK_setPhasor(), _CTRL_Obj_::parkHandle, PID_run(), PID_run_spd(), PID_setKp(), PID_setMinMax(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, _CTRL_Obj_::pidHandle_spd, SVGEN_run(), _CTRL_Obj_::svgenHandle, _HAL_PwmData_t_::Tabc, TRAJ_getIntValue(), _CTRL_Obj_::trajHandle_Id, _CTRL_Obj_::trajHandle_spd, _CTRL_Obj_::trajHandle_spdMax, and _HAL_AdcData_t_::V.

void CTRL_runOnLine_User | ( | CTRL_Handle | handle,
|  | const HAL_AdcData_t * | pAdcData,
|  | HAL_PwmData_t * | pPwmData
| ) |  |
| inline

Runs the online user controller.

An implementation of the field oriented control. The online user controller is executed in user's memory i.e. RAM/FLASH and can be changed in any way suited to the user.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pAdcData | The pointer to the ADC data
  [out] | pPwmData | The pointer to the PWM data

Definition at line 2343 of file 32b/ctrl.h.

References _IQmpy, _IQsqrt, CLARKE_run(), _CTRL_Obj_::clarkeHandle_I, _CTRL_Obj_::clarkeHandle_V, CTRL_angleDelayComp(), CTRL_computePhasor(), CTRL_doCurrentCtrl(), CTRL_doSpeedCtrl(), CTRL_getFlag_enableDcBusComp(), CTRL_getFlag_enableSpeedCtrl(), CTRL_getIab_in_addr(), CTRL_getId_in_pu(), CTRL_getId_ref_pu(), CTRL_getIdq_in_addr(), CTRL_getIq_in_pu(), CTRL_getIq_ref_pu(), CTRL_getKp(), CTRL_getMaxVsMag_pu(), CTRL_getSpd_out_addr(), CTRL_getSpd_out_pu(), CTRL_getVab_in_addr(), CTRL_getVab_out_addr(), CTRL_getVd_out_addr(), CTRL_getVd_out_pu(), CTRL_getVdq_out_addr(), CTRL_getVq_out_addr(), CTRL_resetCounter_current(), CTRL_resetCounter_speed(), CTRL_Type_PID_Id, CTRL_Type_PID_Iq, _HAL_AdcData_t_::dcBus, EST_getAngle_pu(), EST_getFm_pu(), EST_getOneOverDcBus_pu(), EST_run(), EST_updateId_ref_pu(), _CTRL_Obj_::estHandle, _HAL_AdcData_t_::I, IPARK_run(), IPARK_setPhasor(), _CTRL_Obj_::iparkHandle, PARK_run(), PARK_setPhasor(), _CTRL_Obj_::parkHandle, PID_run(), PID_run_spd(), PID_setKp(), PID_setMinMax(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, _CTRL_Obj_::pidHandle_spd, SVGEN_run(), _CTRL_Obj_::svgenHandle, _HAL_PwmData_t_::Tabc, TRAJ_getIntValue(), _CTRL_Obj_::trajHandle_Id, _CTRL_Obj_::trajHandle_spd, _CTRL_Obj_::trajHandle_spdMax, and _HAL_AdcData_t_::V.

Referenced by CTRL_run().

void CTRL_runPiOnly | ( | CTRL_Handle | handle | ) |
| inline

Runs the online controller.

Parameters

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

Definition at line 2513 of file 32b/ctrl.h.

References _IQ, _IQmpy, CTRL_addVdq_offset(), CTRL_computeOutputLimits_Id(), CTRL_computeOutputLimits_Iq(), CTRL_doCurrentCtrl(), CTRL_doSpeedCtrl(), CTRL_getFbackValue_spd_pu(), CTRL_getFlag_enableDcBusComp(), CTRL_getFlag_enableSpeedCtrl(), CTRL_getId_in_pu(), CTRL_getIq_in_pu(), CTRL_getIq_ref_pu_addr(), CTRL_getKp(), CTRL_getMaxVsMag_pu(), CTRL_getRefValue_Id_pu(), CTRL_getRefValue_Iq_pu(), CTRL_getRefValue_spd_pu(), CTRL_getSpeed_outMax_pu(), CTRL_getVd_out_addr(), CTRL_getVd_out_pu(), CTRL_getVq_out_addr(), CTRL_resetCounter_current(), CTRL_resetCounter_speed(), CTRL_setIq_ref_pu(), CTRL_Type_PID_Id, CTRL_Type_PID_Iq, EST_getOneOverDcBus_pu(), EST_setId_ref_pu(), EST_setIq_ref_pu(), EST_updateId_ref_pu(), _CTRL_Obj_::estHandle, PID_run(), PID_run_spd(), PID_setKp(), PID_setMinMax(), PID_setUi(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, and _CTRL_Obj_::pidHandle_spd.

void CTRL_runTraj | ( | CTRL_Handle | handle | ) |

Runs the trajectory.

Parameters

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

Referenced by CTRL_setup(), and CTRL_setup_user().

static void CTRL_setAngle_pu | ( | CTRL_Handle | handle,
|  | const _iq | angle_pu
| ) |  |
| inline static

Sets the angle value, pu.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | angle_pu | The angle value, pu

Definition at line 1150 of file 32b/ctrl.h.

References _CTRL_Obj_::angle_pu.

Referenced by CTRL_setup_user().

static void CTRL_setBWc_rps | ( | CTRL_Handle | handle,
|  | const float_t | BWc_rps
| ) |  |
| inline static

Sets the current controller bandwidth.

Parameters

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

Definition at line 1237 of file float/ctrl.h.

References _CTRL_Obj_::BWc_rps.

Referenced by CTRL_setParams().

static void CTRL_setBWdelta | ( | CTRL_Handle | handle,
|  | const float_t | BWdelta
| ) |  |
| inline static

Sets the bandwidth scale factor used to maximize phase margin.

Parameters

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

Definition at line 1250 of file float/ctrl.h.

References _CTRL_Obj_::BWdelta.

Referenced by CTRL_setParams().

void CTRL_setCtrlFreq_Hz | ( | CTRL_Handle | handle,
|  | const uint_least32_t | ctrlFreq_Hz
| ) |  |
| inline

Sets the controller frequency.

Parameters

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

Definition at line 1163 of file 32b/ctrl.h.

References _CTRL_Obj_::ctrlFreq_Hz.

Referenced by CTRL_setParams().

static void CTRL_setCtrlFreq_Hz | ( | CTRL_Handle | handle,
|  | const float_t | ctrlFreq_Hz
| ) |  |
| inline static

Sets the controller frequency.

Parameters

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

Definition at line 1263 of file float/ctrl.h.

References _CTRL_Obj_::ctrlFreq_Hz.

static void CTRL_setCtrlPeriod_sec | ( | CTRL_Handle | handle,
|  | const float_t | ctrlPeriod_sec
| ) |  |
| inline

Sets the controller execution period.

Parameters

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

Definition at line 1176 of file 32b/ctrl.h.

References _CTRL_Obj_::ctrlPeriod_sec.

Referenced by CTRL_setParams().

static void CTRL_setCurrentCtrlPeriod_sec | ( | CTRL_Handle | handle,
|  | const float_t | currentCtrlPeriod_sec
| ) |  |
| inline static

Sets the current controller period value.

Parameters

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

Definition at line 1289 of file float/ctrl.h.

References _CTRL_Obj_::currentCtrlPeriod_sec.

Referenced by CTRL_setParams().

static void CTRL_setErrorCode | ( | CTRL_Handle | handle,
|  | const CTRL_ErrorCode_e | errorCode
| ) |  |
| inline

Sets the error code in the controller.

Parameters

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

Definition at line 1189 of file 32b/ctrl.h.

References _CTRL_Obj_::errorCode.

Referenced by CTRL_checkForErrors(), and CTRL_setParams().

void CTRL_setEstParams | ( | EST_Handle | estHandle,
|  | USER_Params * | pUserParams
| ) |  |

Sets the default estimator parameters.

Copies all scale factors that are defined in the file user.h and used by CTRL into the CTRL object.

Parameters

  [in] | estHandle | The estimator (EST) handle
  [in] | pUserParams | The pointer to the user parameters

Referenced by CTRL_setParams().

static void CTRL_setFlag_enable | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline static

Sets the enable controller flag value in the controller.

Parameters

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

Definition at line 1315 of file float/ctrl.h.

References _CTRL_Obj_::flag_enable.

Referenced by CTRL_setParams().

void CTRL_setFlag_enableCtrl | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline

Sets the enable controller flag value in the estimator.

Enables/Disables the sensorless controller. The first time this function is called and the function CTRL_setFlag_enableUserMotorParams() is not set true, motor commissioning is performed and then subsequent times it is called the motor starts to run.

Parameters

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

Definition at line 1214 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableCtrl.

Referenced by CTRL_setParams(), and CTRL_updateState().

static void CTRL_setFlag_enableCurrentCtrl | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline static

Sets the enable current controllers flag value in the controller.

Parameters

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

Definition at line 1227 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableCurrentCtrl.

Referenced by CTRL_setParams(), and CTRL_setup_user().

void CTRL_setFlag_enableDcBusComp | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline

Sets the enable DC bus compensation flag value in the estimator.

The DC bus compensation algorithm will compensate the Iq and Id PI controller's proportional gains for DC bus variations.

Parameters

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

Definition at line 1242 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableDcBusComp.

Referenced by CTRL_setParams().

void CTRL_setFlag_enableOffset | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline

Sets the enable offset flag value in the estimator.

Parameters

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

Definition at line 1271 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableOffset.

Referenced by CTRL_setParams().

void CTRL_setFlag_enablePowerWarp | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline

Sets the PowerWarp enable flag value in the estimator.

PowerWarp is only used when controlling an induction motor. PowerWarp adjusts field levels so that the least amount of power is used according to the load on the motor.

Parameters

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

Definition at line 1258 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enablePowerWarp.

Referenced by CTRL_setParams().

static void CTRL_setFlag_enableSpeedCtrl | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline

Sets the enable speed control value in the estimator.

Sets the enable speed control value in the controller.

Parameters

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

Definition at line 1284 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableSpeedCtrl.

Referenced by CTRL_setParams(), CTRL_setup(), and CTRL_setup_user().

void CTRL_setFlag_enableUserMotorParams | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline

Sets the enable user motor parameters flag value in the estimator.

When this function is called with a true parameter, the motor parameters in user.h are used instead of performing a motor commissioning at startup.

Parameters

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

Definition at line 1300 of file 32b/ctrl.h.

References _CTRL_Obj_::flag_enableUserMotorParams.

Referenced by CTRL_setParams().

static void CTRL_setFlag_resetInt_Id | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline static

Sets the reset Id integrator flag value in the controller.

Parameters

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

Definition at line 1354 of file float/ctrl.h.

References _CTRL_Obj_::flag_resetInt_Id.

Referenced by CTRL_setParams(), CTRL_setUi(), and CTRL_setup().

static void CTRL_setFlag_resetInt_Iq | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline static

Sets the reset Iq integrator flag value in the controller.

Parameters

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

Definition at line 1367 of file float/ctrl.h.

References _CTRL_Obj_::flag_resetInt_Iq.

Referenced by CTRL_setParams(), CTRL_setUi(), and CTRL_setup().

static void CTRL_setFlag_resetInt_spd | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline static

Sets the reset speed integrator flag value in the controller.

Parameters

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

Definition at line 1380 of file float/ctrl.h.

References _CTRL_Obj_::flag_resetInt_spd.

Referenced by CTRL_setParams(), CTRL_setUi(), and CTRL_setup().

static void CTRL_setFlag_useZeroIq_ref | ( | CTRL_Handle | handle,
|  | const bool | state
| ) |  |
| inline static

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

Parameters

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

Definition at line 1393 of file float/ctrl.h.

References _CTRL_Obj_::flag_useZeroIq_ref.

Referenced by CTRL_setParams(), and CTRL_setup().

void CTRL_setGains | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const _iq | Kp,
|  | const _iq | Ki,
|  | const _iq | Kd
| ) |  |

Sets the gain values for the specified controller.

Parameters

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

Definition at line 262 of file 32b/ctrl.c.

References CTRL_setKd(), CTRL_setKi(), and CTRL_setKp().

Referenced by CTRL_setParams(), and USER_calcPIgains().

static void CTRL_setGains | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const float_t | Kp,
|  | const float_t | Ki
| ) |  |
| inline static

Sets the gain values for the specified controller.

Parameters

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

Definition at line 1601 of file float/ctrl.h.

References CTRL_setKi(), and CTRL_setKp().

void CTRL_setIab_filt_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIab_filt_pu
| ) |  |

Sets the alpha/beta filtered current vector values in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pIab_filt_pu | The vector of the alpha/beta filtered current vector values, pu

void CTRL_setIab_in_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIab_in_pu
| ) |  |
| inline

Sets the alpha/beta current (Iab) input vector values in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pIab_in_pu | The vector of the alpha/beta current input vector values, pu

Definition at line 1323 of file 32b/ctrl.h.

References _CTRL_Obj_::Iab_in, and _MATH_vec2_::value.

Referenced by CTRL_setParams().

static void CTRL_setId_A | ( | CTRL_Handle | handle,
|  | const float_t | Id_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1406 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

static void CTRL_setId_offset_A | ( | CTRL_Handle | handle,
|  | const float_t | Id_offset_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1419 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

static void CTRL_setId_ref_A | ( | CTRL_Handle | handle,
|  | const float_t | Id_ref_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1432 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

Referenced by CTRL_run().

void CTRL_setId_ref_pu | ( | CTRL_Handle | handle,
|  | const _iq | Id_ref_pu
| ) |  |
| inline

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | Id_ref_pu | The direct current reference value, pu

Definition at line 1343 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

static void CTRL_setIdq_A | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIdq_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1445 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

Referenced by CTRL_reset(), CTRL_setParams(), and CTRL_setup().

void CTRL_setIdq_in_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIdq_in_pu
| ) |  |
| inline

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pIdq_in_pu | The vector of the direct/quadrature current input vector values, pu

Definition at line 1356 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_in, and _MATH_vec2_::value.

Referenced by CTRL_setParams().

static void CTRL_setIdq_offset_A | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIdq_offset_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1459 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

Referenced by CTRL_reset(), CTRL_setParams(), and CTRL_setup().

static void CTRL_setIdq_offset_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIdq_offset_pu
| ) |  |
| inline static

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pIdq_offset_pu | The vector of the direct/quadrature current offset vector values, pu

Definition at line 1370 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_offset_pu, and _MATH_vec2_::value.

Referenced by CTRL_setup_user().

static void CTRL_setIdq_ref_A | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIdq_ref_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1473 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

Referenced by CTRL_setParams().

void CTRL_setIdq_ref_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pIdq_ref_pu
| ) |  |
| inline

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pIdq_ref_pu | The vector of the direct/quadrature current reference vector values, pu

Definition at line 1384 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

Referenced by CTRL_setParams().

void CTRL_setIdRated_pu | ( | CTRL_Handle | handle,
|  | const _iq | IdRated_pu
| ) |  |
| inline

Sets the Id rated current value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | IdRated_pu | The Id rated current value, pu

Definition at line 1398 of file 32b/ctrl.h.

References _CTRL_Obj_::IdRated.

Referenced by CTRL_setMagCurrent_pu(), and CTRL_setParams().

static void CTRL_setImmediateUi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const _iq | Ui
| ) |  |
| inline static

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

Parameters

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

Definition at line 1411 of file 32b/ctrl.h.

References CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, PID_setUi(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, and _CTRL_Obj_::pidHandle_spd.

static void CTRL_setIq_A | ( | CTRL_Handle | handle,
|  | const float_t | Iq_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1487 of file float/ctrl.h.

References _CTRL_Obj_::Idq_A, and _MATH_vec2_::value.

static void CTRL_setIq_offset_pu | ( | CTRL_Handle | handle,
|  | const float_t | Iq_offset_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1500 of file float/ctrl.h.

References _CTRL_Obj_::Idq_offset_A, and _MATH_vec2_::value.

static void CTRL_setIq_ref_A | ( | CTRL_Handle | handle,
|  | const float_t | Iq_ref_A
| ) |  |
| inline static

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

Parameters

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

Definition at line 1513 of file float/ctrl.h.

References _CTRL_Obj_::Idq_ref_A, and _MATH_vec2_::value.

Referenced by CTRL_run().

void CTRL_setIq_ref_pu | ( | CTRL_Handle | handle,
|  | const _iq | IqRef_pu
| ) |  |
| inline

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | IqRef_pu | The quadrature current reference value, pu

Definition at line 1435 of file 32b/ctrl.h.

References _CTRL_Obj_::Idq_ref, and _MATH_vec2_::value.

Referenced by CTRL_runPiOnly().

static void CTRL_setKctrl_Wb_p_kgm2 | ( | CTRL_Handle | handle,
|  | const float_t | Kctrl_Wb_p_kgm2
| ) |  |
| inline static

Sets the speed controller constant.

Parameters

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

Definition at line 1526 of file float/ctrl.h.

References _CTRL_Obj_::Kctrl_Wb_p_kgm2.

Referenced by CTRL_setParams().

void CTRL_setKd | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const _iq | Kd
| ) |  |
| inline

Sets the derivative gain (Kd) value for the specified controller.

Parameters

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

Definition at line 1449 of file 32b/ctrl.h.

References CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Kd_Id, _CTRL_Obj_::Kd_Iq, and _CTRL_Obj_::Kd_spd.

Referenced by CTRL_setGains().

void CTRL_setKi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const _iq | Ki
| ) |  |
| inline

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

Parameters

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

Definition at line 1474 of file 32b/ctrl.h.

References CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Ki_Id, _CTRL_Obj_::Ki_Iq, and _CTRL_Obj_::Ki_spd.

Referenced by CTRL_setGains().

static void CTRL_setKi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const float_t | Ki
| ) |  |
| inline static

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

Parameters

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

Definition at line 1540 of file float/ctrl.h.

References CTRL_Type_PI_Id, CTRL_Type_PI_Iq, CTRL_Type_PI_spd, _CTRL_Obj_::Ki_Id, _CTRL_Obj_::Ki_Iq, and _CTRL_Obj_::Ki_spd_ApHz.

Referenced by CTRL_setGains().

void CTRL_setKp | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const _iq | Kp
| ) |  |
| inline

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

Parameters

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

Definition at line 1499 of file 32b/ctrl.h.

References CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Kp_Id, _CTRL_Obj_::Kp_Iq, and _CTRL_Obj_::Kp_spd.

Referenced by CTRL_setGains().

static void CTRL_setKp | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const float_t | Kp
| ) |  |
| inline static

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

Parameters

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

Definition at line 1570 of file float/ctrl.h.

References CTRL_Type_PI_Id, CTRL_Type_PI_Iq, CTRL_Type_PI_spd, _CTRL_Obj_::Kp_Id_VpA, _CTRL_Obj_::Kp_Iq_VpA, and _CTRL_Obj_::Kp_spd_ApHz.

Referenced by CTRL_setGains().

void CTRL_setLhf | ( | CTRL_Handle | handle,
|  | const float_t | Lhf
| ) |  |
| inline

Sets the high frequency inductance (Lhf) value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | Lhf | The Lhf value

Definition at line 1523 of file 32b/ctrl.h.

References _CTRL_Obj_::Lhf.

Referenced by CTRL_setParams().

void CTRL_setMagCurrent_pu | ( | CTRL_Handle | handle,
|  | const _iq | magCurrent_pu
| ) |  |

Sets the magnetizing current value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | magCurrent_pu | The magnetizing current value, pu

Definition at line 274 of file 32b/ctrl.c.

References CTRL_setIdRated_pu().

void CTRL_setMaxAccel_pu | ( | CTRL_Handle | handle,
|  | const _iq | maxAccel_pu
| ) |  |
| inline

Sets the maximum acceleration of the speed controller.

Sets the maximum acceleration rate of the speed reference.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | maxAccel_pu | The maximum acceleration (value betwen 0 and 1)

Definition at line 1556 of file 32b/ctrl.h.

References _TRAJ_Obj_::maxDelta, and _CTRL_Obj_::traj_spd.

void CTRL_setMaximumSpeed_pu | ( | CTRL_Handle | handle,
|  | const _iq | maxSpeed_pu
| ) |  |

Sets the maximum speed value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | maxSpeed_pu | The maximum speed value, pu

Definition at line 283 of file 32b/ctrl.c.

References CTRL_setSpd_max_pu().

void CTRL_setMaxVsMag_pu | ( | CTRL_Handle | handle,
|  | const _iq | maxVsMag
| ) |  |
| inline

Sets the maximum voltage vector in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | maxVsMag | The maximum voltage vector (value betwen 0 and 4/3)

Definition at line 1542 of file 32b/ctrl.h.

References _CTRL_Obj_::maxVsMag_pu.

Referenced by CTRL_setParams().

static void CTRL_setMaxVsMag_V | ( | CTRL_Handle | handle,
|  | const float_t | maxVsMag_V
| ) |  |
| inline static

Sets the maximum stator voltage magnitude value.

Parameters

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

Definition at line 1614 of file float/ctrl.h.

References _CTRL_Obj_::maxVsMag_V.

Referenced by CTRL_setParams().

void CTRL_setMotorParams | ( | CTRL_Handle | handle,
|  | const MOTOR_Type_e | motorType,
|  | const uint_least16_t | numPolePairs,
|  | const float_t | ratedFlux,
|  | const float_t | Ls_d,
|  | const float_t | Ls_q,
|  | const float_t | Rr,
|  | const float_t | Rs
| ) |  |
| inline

Sets the parameters for the motor in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | motorType | The motor type
  [in] | numPolePairs | The number of motor pole pairs
  [in] | ratedFlux | The rated flux value, V*sec
  [in] | Ls_d | The direct stator inductance, Henry
  [in] | Ls_q | The quadrature stator inductance, Henry
  [in] | Rr | The rotor resistance, ohm
  [in] | Rs | The stator resitance, ohm

Definition at line 1581 of file 32b/ctrl.h.

References _MOTOR_Params_::Ls_d_H, _MOTOR_Params_::Ls_q_H, _CTRL_Obj_::motorParams, _MOTOR_Params_::numPolePairs, _MOTOR_Params_::ratedFlux_VpHz, _MOTOR_Params_::Rr_Ohm, _MOTOR_Params_::Rs_Ohm, and _MOTOR_Params_::type.

Referenced by CTRL_setParams().

static void CTRL_setMotorParams | ( | CTRL_Handle | handle,
|  | const MOTOR_Type_e | motorType,
|  | const uint_least16_t | numPolePairs,
|  | const float_t | ratedFlux_Wb,
|  | const float_t | Ls_d_H,
|  | const float_t | Ls_q_H,
|  | const float_t | Rs_d_Ohm,
|  | const float_t | Rs_q_Ohm,
|  | const float_t | Rr_d_Ohm,
|  | const float_t | Rr_q_Ohm
| ) |  |
| inline static

Sets the parameters for the motor in the controller.

Parameters

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

Definition at line 1635 of file float/ctrl.h.

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

void CTRL_setNumCtrlTicksPerCurrentTick | ( | CTRL_Handle | handle,
|  | const uint_least16_t | numCtrlTicksPerCurrentTick
| ) |  |
| inline

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

Parameters

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

Definition at line 1615 of file 32b/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerCurrentTick.

Referenced by CTRL_setParams().

static void CTRL_setNumCtrlTicksPerCurrentTick | ( | CTRL_Handle | handle,
|  | const int_least16_t | numCtrlTicksPerCurrentTick
| ) |  |
| inline static

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

Parameters

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

Definition at line 1665 of file float/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerCurrentTick.

void CTRL_setNumCtrlTicksPerSpeedTick | ( | CTRL_Handle | handle,
|  | const uint_least16_t | numCtrlTicksPerSpeedTick
| ) |  |
| inline

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

Parameters

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

Definition at line 1629 of file 32b/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerSpeedTick.

Referenced by CTRL_setParams().

static void CTRL_setNumCtrlTicksPerSpeedTick | ( | CTRL_Handle | handle,
|  | const int_least16_t | numCtrlTicksPerSpeedTick
| ) |  |
| inline static

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

Parameters

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

Definition at line 1679 of file float/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerSpeedTick.

void CTRL_setNumCtrlTicksPerTrajTick | ( | CTRL_Handle | handle,
|  | const uint_least16_t | numCtrlTicksPerTrajTick
| ) |  |
| inline

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | numCtrlTicksPerTrajTick | The number of controller clock ticks per trajectory clock tick

Definition at line 1643 of file 32b/ctrl.h.

References _CTRL_Obj_::numCtrlTicksPerTrajTick.

Referenced by CTRL_setParams().

void CTRL_setNumIsrTicksPerCtrlTick | ( | CTRL_Handle | handle,
|  | const uint_least16_t | numIsrTicksPerCtrlTick
| ) |  |
| inline

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

Parameters

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

Definition at line 1657 of file 32b/ctrl.h.

References _CTRL_Obj_::numIsrTicksPerCtrlTick.

Referenced by CTRL_setParams().

static void CTRL_setNumIsrTicksPerCtrlTick | ( | CTRL_Handle | handle,
|  | const int_least16_t | numIsrTicksPerCtrlTick
| ) |  |
| inline static

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

Parameters

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

Definition at line 1693 of file float/ctrl.h.

References _CTRL_Obj_::numIsrTicksPerCtrlTick.

void CTRL_setParams | ( | CTRL_Handle | handle,
|  | USER_Params * | pUserParams
| ) |  |

Sets the controller parameters.

This function allows for updates in scale factors during real-time operation of the controller.

Parameters

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

This function allows for updates in scale factors during real-time operation of the controller.

Parameters

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

Definition at line 292 of file 32b/ctrl.c.

References _IQ, _USER_Params_::BWc_rps, _USER_Params_::BWdelta, CTRL_ErrorCode_NoError, CTRL_resetCounter_current(), CTRL_resetCounter_isr(), CTRL_resetCounter_speed(), CTRL_resetCounter_state(), CTRL_resetCounter_traj(), CTRL_setBWc_rps(), CTRL_setBWdelta(), CTRL_setCtrlFreq_Hz(), CTRL_setCtrlPeriod_sec(), CTRL_setCurrentCtrlPeriod_sec(), CTRL_setErrorCode(), CTRL_setEstParams(), CTRL_setFlag_enable(), CTRL_setFlag_enableCtrl(), CTRL_setFlag_enableCurrentCtrl(), CTRL_setFlag_enableDcBusComp(), CTRL_setFlag_enableOffset(), CTRL_setFlag_enablePowerWarp(), CTRL_setFlag_enableSpeedCtrl(), CTRL_setFlag_enableUserMotorParams(), CTRL_setFlag_resetInt_Id(), CTRL_setFlag_resetInt_Iq(), CTRL_setFlag_resetInt_spd(), CTRL_setFlag_useZeroIq_ref(), CTRL_setGains(), CTRL_setIab_in_pu(), CTRL_setIdq_A(), CTRL_setIdq_in_pu(), CTRL_setIdq_offset_A(), CTRL_setIdq_ref_A(), CTRL_setIdq_ref_pu(), CTRL_setIdRated_pu(), CTRL_setKctrl_Wb_p_kgm2(), CTRL_setLhf(), CTRL_setMaxVsMag_pu(), CTRL_setMaxVsMag_V(), CTRL_setMotorParams(), CTRL_setNumCtrlTicksPerCurrentTick(), CTRL_setNumCtrlTicksPerSpeedTick(), CTRL_setNumCtrlTicksPerTrajTick(), CTRL_setNumIsrTicksPerCtrlTick(), CTRL_setRhf(), CTRL_setRoverL(), CTRL_setSpd_out_pu(), CTRL_setSpd_ref_pu(), CTRL_setSpeed_fb_Hz(), CTRL_setSpeed_out_A(), CTRL_setSpeed_outMax_A(), CTRL_setSpeed_outMin_A(), CTRL_setSpeed_ref_Hz(), CTRL_setSpeedCtrlPeriod_sec(), CTRL_setState(), CTRL_setTrajFreq_Hz(), CTRL_setTrajPeriod_sec(), CTRL_setUi(), CTRL_setupClarke_I(), CTRL_setupClarke_V(), CTRL_setVab_in_pu(), CTRL_setVab_out_pu(), CTRL_setVd_sf(), CTRL_setVdq_offset_V(), CTRL_setVdq_out_pu(), CTRL_setVdq_V(), CTRL_setWaitTimes(), CTRL_State_Idle, CTRL_Type_PI_Id, CTRL_Type_PI_Iq, CTRL_Type_PI_spd, CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _USER_Params_::ctrlFreq_Hz, _USER_Params_::ctrlPeriod_sec, _USER_Params_::ctrlWaitTime, _USER_Params_::dcBus_nominal_V, _CTRL_Obj_::estHandle, _USER_Params_::IdRated, _USER_Params_::iqFullScaleCurrent_A, _USER_Params_::iqFullScaleFreq_Hz, _USER_Params_::Kctrl_Wb_p_kgm2, MATH_TWO_OVER_THREE, MATH_TWO_PI, _USER_Params_::maxCurrent, _USER_Params_::maxCurrent_A, _USER_Params_::maxVsMag_pu, _USER_Params_::maxVsMag_V, _USER_Params_::motor_Ls_d, _USER_Params_::motor_Ls_d_H, _USER_Params_::motor_Ls_q, _USER_Params_::motor_Ls_q_H, _USER_Params_::motor_numPolePairs, _USER_Params_::motor_ratedFlux, _USER_Params_::motor_ratedFlux_Wb, _USER_Params_::motor_Rr, _USER_Params_::motor_Rr_d_Ohm, _USER_Params_::motor_Rr_q_Ohm, _USER_Params_::motor_Rs, _USER_Params_::motor_Rs_d_Ohm, _USER_Params_::motor_Rs_q_Ohm, _USER_Params_::motor_type, _USER_Params_::numCtrlTicksPerCurrentTick, _USER_Params_::numCtrlTicksPerSpeedTick, _USER_Params_::numCtrlTicksPerTrajTick, _USER_Params_::numCurrentSensors, _USER_Params_::numIsrTicksPerCtrlTick, _USER_Params_::numVoltageSensors, PI_setMinMax(), PID_setGains(), PID_setMinMax(), PID_setUi(), _CTRL_Obj_::pidHandle_Id, _CTRL_Obj_::pidHandle_Iq, _CTRL_Obj_::pidHandle_spd, _CTRL_Obj_::piHandle_Id, _CTRL_Obj_::piHandle_Iq, _CTRL_Obj_::piHandle_spd, SVGEN_setMaxModulation(), _CTRL_Obj_::svgenHandle, TRAJ_setIntValue(), TRAJ_setMaxDelta(), TRAJ_setMaxValue(), TRAJ_setMinValue(), TRAJ_setTargetValue(), _USER_Params_::trajFreq_Hz, _CTRL_Obj_::trajHandle_Id, _CTRL_Obj_::trajHandle_spd, _CTRL_Obj_::trajHandle_spdMax, and _USER_Params_::Vd_sf.

void CTRL_setRhf | ( | CTRL_Handle | handle,
|  | const float_t | Rhf
| ) |  |
| inline

Sets the high frequency resistance (Rhf) value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | Rhf | The Rhf value

Definition at line 1671 of file 32b/ctrl.h.

References _CTRL_Obj_::Rhf.

Referenced by CTRL_setParams().

void CTRL_setRoverL | ( | CTRL_Handle | handle,
|  | const float_t | RoverL
| ) |  |
| inline

Sets the R/L value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | RoverL | The R/L value

Definition at line 1684 of file 32b/ctrl.h.

References _CTRL_Obj_::RoverL.

Referenced by CTRL_setParams().

void CTRL_setSpd_max_pu | ( | CTRL_Handle | handle,
|  | const _iq | maxSpd_pu
| ) |  |
| inline

Sets the maximum speed value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | maxSpd_pu | The maximum speed value, pu

Definition at line 1710 of file 32b/ctrl.h.

References _CTRL_Obj_::spd_max.

Referenced by CTRL_setMaximumSpeed_pu().

void CTRL_setSpd_out_pu | ( | CTRL_Handle | handle,
|  | const _iq | spd_out_pu
| ) |  |
| inline

Sets the output speed value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | spd_out_pu | The output speed value, pu

Definition at line 1723 of file 32b/ctrl.h.

References _CTRL_Obj_::spd_out.

Referenced by CTRL_runOnLine(), and CTRL_setParams().

void CTRL_setSpd_ref_krpm | ( | CTRL_Handle | handle,
|  | const _iq | spd_ref_krpm
| ) |  |

Sets the output speed reference value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | spd_ref_krpm | The output speed reference value, krpm

Definition at line 475 of file 32b/ctrl.c.

References _IQmpy, EST_get_krpm_to_pu_sf(), _CTRL_Obj_::estHandle, and _CTRL_Obj_::spd_ref.

void CTRL_setSpd_ref_pu | ( | CTRL_Handle | handle,
|  | const _iq | spd_ref_pu
| ) |  |

Sets the output speed reference value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | spd_ref_pu | The output speed reference value, pu

Definition at line 465 of file 32b/ctrl.c.

References _CTRL_Obj_::spd_ref.

Referenced by CTRL_setParams().

void CTRL_setSpdMax | ( | CTRL_Handle | handle,
|  | const _iq | spdMax
| ) |  |
| inline

Sets maximum speed controller output.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | spdMax | The maximum allowed output of the speed controller

Definition at line 2108 of file 32b/ctrl.h.

References TRAJ_setIntValue(), and _CTRL_Obj_::trajHandle_spdMax.

static void CTRL_setSpeed_fb_Hz | ( | CTRL_Handle | handle,
|  | const float_t | speed_fb_Hz
| ) |  |
| inline static

Sets the feedback speed value in the controller.

Parameters

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

Definition at line 1713 of file float/ctrl.h.

References _CTRL_Obj_::speed_fb_Hz.

Referenced by CTRL_reset(), CTRL_setParams(), and CTRL_setup().

static void CTRL_setSpeed_fb_pu | ( | CTRL_Handle | handle,
|  | const _iq | speed_fb_pu
| ) |  |
| inline static

Sets the feedback speed value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | speed_fb_pu | The feedback speed value, pu

Definition at line 1697 of file 32b/ctrl.h.

References _CTRL_Obj_::speed_fb_pu.

Referenced by CTRL_setup_user().

static void CTRL_setSpeed_out_A | ( | CTRL_Handle | handle,
|  | const float_t | speed_out_A
| ) |  |
| inline static

Sets the maximum output value for the speed controller.

Parameters

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

Definition at line 1726 of file float/ctrl.h.

References _CTRL_Obj_::speed_out_A.

Referenced by CTRL_reset(), CTRL_run(), and CTRL_setParams().

static void CTRL_setSpeed_outMax_A | ( | CTRL_Handle | handle,
|  | const float_t | speed_outMax_A
| ) |  |
| inline static

Sets the maximum output value for the speed controller.

Parameters

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

Definition at line 1739 of file float/ctrl.h.

References _CTRL_Obj_::speed_outMax_A.

Referenced by CTRL_setParams().

static void CTRL_setSpeed_outMax_pu | ( | CTRL_Handle | handle,
|  | const _iq | speed_outMax_pu
| ) |  |
| inline static

Sets the maximum output value for the speed controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | speed_outMax_pu | The maximum output value for the speed controller

Definition at line 1736 of file 32b/ctrl.h.

References _CTRL_Obj_::speed_outMax_pu.

Referenced by CTRL_setup_user().

static void CTRL_setSpeed_outMin_A | ( | CTRL_Handle | handle,
|  | const float_t | speed_outMin_A
| ) |  |
| inline static

Sets the minimum output value for the speed controller.

Parameters

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

Definition at line 1752 of file float/ctrl.h.

References _CTRL_Obj_::speed_outMin_A.

Referenced by CTRL_setParams().

static void CTRL_setSpeed_ref_Hz | ( | CTRL_Handle | handle,
|  | const float_t | speed_ref_Hz
| ) |  |
| inline static

Sets the output speed reference value in the controller.

Parameters

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

Definition at line 1765 of file float/ctrl.h.

References _CTRL_Obj_::speed_ref_Hz.

Referenced by CTRL_reset(), CTRL_setParams(), and CTRL_setup().

static void CTRL_setSpeed_ref_pu | ( | CTRL_Handle | handle,
|  | const _iq | speed_ref_pu
| ) |  |
| inline static

Sets the output speed reference value in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | speed_ref_pu | The output speed reference value, pu

Definition at line 1749 of file 32b/ctrl.h.

References _CTRL_Obj_::speed_ref_pu.

Referenced by CTRL_setup_user().

static void CTRL_setSpeedCtrlPeriod_sec | ( | CTRL_Handle | handle,
|  | const float_t | speedCtrlPeriod_sec
| ) |  |
| inline static

Sets the speed controller period value.

Parameters

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

Definition at line 1778 of file float/ctrl.h.

References _CTRL_Obj_::speedCtrlPeriod_sec.

Referenced by CTRL_setParams().

static void CTRL_setState | ( | CTRL_Handle | handle,
|  | const CTRL_State_e | state
| ) |  |
| inline

Sets the controller state.

Parameters

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

Definition at line 1774 of file 32b/ctrl.h.

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

Referenced by CTRL_checkForErrors(), CTRL_setParams(), and CTRL_updateState().

void CTRL_setTrajFreq_Hz | ( | CTRL_Handle | handle,
|  | const uint_least32_t | trajFreq_Hz
| ) |  |
| inline

Sets the trajectory execution frequency.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | trajFreq_Hz | The trajectory execution frequency, Hz

Definition at line 1788 of file 32b/ctrl.h.

References _CTRL_Obj_::trajFreq_Hz.

Referenced by CTRL_setParams().

void CTRL_setTrajPeriod_sec | ( | CTRL_Handle | handle,
|  | const _iq | trajPeriod_sec
| ) |  |
| inline

Sets the trajectory execution period.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | trajPeriod_sec | The trajectory execution period, sec

Definition at line 1801 of file 32b/ctrl.h.

References _CTRL_Obj_::trajPeriod_sec.

Referenced by CTRL_setParams().

static void CTRL_setUi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const float_t | Ui
| ) |  |
| inline static

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

Parameters

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

Definition at line 1805 of file float/ctrl.h.

References CTRL_setFlag_resetInt_Id(), CTRL_setFlag_resetInt_Iq(), CTRL_setFlag_resetInt_spd(), CTRL_Type_PI_Id, CTRL_Type_PI_Iq, CTRL_Type_PI_spd, _CTRL_Obj_::Ui_Id_V, _CTRL_Obj_::Ui_Iq_V, and _CTRL_Obj_::Ui_spd_A.

void CTRL_setUi | ( | CTRL_Handle | handle,
|  | const CTRL_Type_e | ctrlType,
|  | const _iq | Ui
| ) |  |
| inline

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

Parameters

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

Definition at line 1815 of file 32b/ctrl.h.

References CTRL_Type_PID_Id, CTRL_Type_PID_Iq, CTRL_Type_PID_spd, _CTRL_Obj_::Ui_Id, _CTRL_Obj_::Ui_Iq, and _CTRL_Obj_::Ui_spd.

Referenced by CTRL_setParams().

static void CTRL_setup | ( | CTRL_Handle | handle,
|  | const float_t | speed_ref_Hz,
|  | const float_t | speed_fb_Hz,
|  | const MATH_vec2 * | pIdq_A,
|  | const MATH_vec2 * | pIdq_offset_A,
|  | const MATH_vec2 * | pVdq_offset_V,
|  | const bool | flag_enableSpeedCtrl,
|  | const bool | flag_enableCurrentCtrl,
|  | const bool | flag_useZeroIq_ref
| ) |  |
| inline static

Sets up the user controller (CTRL) object.

Parameters

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

Definition at line 1913 of file float/ctrl.h.

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

void CTRL_setup | ( | CTRL_Handle | handle | ) |

Sets up the controller (CTRL) object and all of the subordinate objects.

Is responsible for updating the CTRL state machine and must be called in the same timing sequence as CTRL_run().

Parameters

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

Definition at line 489 of file 32b/ctrl.c.

References CTRL_getCount_traj(), CTRL_getNumCtrlTicksPerTrajTick(), CTRL_resetCounter_traj(), CTRL_runTraj(), _CTRL_Obj_::numCtrlTicksPerTrajTick, TRAJ_getIntValue(), and _CTRL_Obj_::trajHandle_Id.

void CTRL_setup_user | ( | CTRL_Handle | handle,
|  | const _iq | angle_pu,
|  | const _iq | speed_ref_pu,
|  | const _iq | speed_fb_pu,
|  | const _iq | speed_outMax_pu,
|  | const MATH_vec2 * | pIdq_offset_pu,
|  | const MATH_vec2 * | pVdq_offset_pu,
|  | const bool | flag_enableSpeedCtrl,
|  | const bool | flag_enableCurrentCtrl
| ) |  |

Sets up the speed and current controllers.

Definition at line 570 of file 32b/ctrl.c.

References CTRL_getCount_traj(), CTRL_getNumCtrlTicksPerTrajTick(), CTRL_getState(), CTRL_incrCounter_current(), CTRL_incrCounter_speed(), CTRL_incrCounter_state(), CTRL_incrCounter_traj(), CTRL_resetCounter_traj(), CTRL_runTraj(), CTRL_setAngle_pu(), CTRL_setFlag_enableCurrentCtrl(), CTRL_setFlag_enableSpeedCtrl(), CTRL_setIdq_offset_pu(), CTRL_setSpeed_fb_pu(), CTRL_setSpeed_outMax_pu(), CTRL_setSpeed_ref_pu(), CTRL_setVdq_offset_pu(), and CTRL_State_OnLine.

void CTRL_setupClarke_I | ( | CTRL_Handle | handle,
|  | uint_least8_t | numCurrentSensors
| ) |  |

Sets the number of current sensors.

Different algorithms are used for calculating the Clarke transform when different number of currents are read in.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | numCurrentSensors | The number of current sensors

Definition at line 513 of file 32b/ctrl.c.

References _IQ, CLARKE_setNumSensors(), CLARKE_setScaleFactors(), _CTRL_Obj_::clarkeHandle_I, MATH_ONE_OVER_SQRT_THREE, and MATH_ONE_OVER_THREE.

Referenced by CTRL_setParams().

void CTRL_setupClarke_V | ( | CTRL_Handle | handle,
|  | uint_least8_t | numVoltageSensors
| ) |  |

Sets the number of voltage sensors.

Different algorithms are used for calculating the Clarke transform when different number of voltages are read in.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | numVoltageSensors | The number of voltage sensors

Definition at line 544 of file 32b/ctrl.c.

References _IQ, CLARKE_setNumSensors(), CLARKE_setScaleFactors(), _CTRL_Obj_::clarkeHandle_V, MATH_ONE_OVER_SQRT_THREE, and MATH_ONE_OVER_THREE.

Referenced by CTRL_setParams().

void CTRL_setupCtrl | ( | CTRL_Handle | handle | ) |

Sets up the controllers.

Parameters

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

Referenced by CTRL_updateState().

void CTRL_setupEst | ( | CTRL_Handle | handle | ) |

Sets up the estimator (CTRL) object.

Parameters

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

void CTRL_setupEstIdleState | ( | CTRL_Handle | handle | ) |

Sets up the controller and trajectory generator for the estimator idle state.

Parameters

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

Referenced by CTRL_updateState().

void CTRL_setupEstOnLineState | ( | CTRL_Handle | handle | ) |

Sets up the controller and trajectory generator for the estimator online state.

Parameters

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

Referenced by CTRL_updateState().

void CTRL_setupTraj | ( | CTRL_Handle | handle | ) |

Sets up the trajectory (TRAJ) object.

Parameters

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

Referenced by CTRL_updateState().

void CTRL_setUserMotorParams | ( | CTRL_Handle | handle | ) |

Sets the controller and estimator with motor parameters from the user.h file.

Parameters

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

Referenced by CTRL_updateState().

void CTRL_setVab_in_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pVab_in_pu
| ) |  |
| inline

Sets the alpha/beta voltage input vector values in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pVab_in_pu | The vector of alpha/beta voltage input vector values, pu

Definition at line 1882 of file 32b/ctrl.h.

References _CTRL_Obj_::Vab_in, and _MATH_vec2_::value.

Referenced by CTRL_setParams().

void CTRL_setVab_out_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pVab_out_pu
| ) |  |
| inline

Sets the alpha/beta current output vector values in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pVab_out_pu | The vector of alpha/beta current output vector values, pu

Definition at line 1896 of file 32b/ctrl.h.

References _CTRL_Obj_::Vab_out, and _MATH_vec2_::value.

Referenced by CTRL_setParams().

static void CTRL_setVd_sf | ( | CTRL_Handle | handle,
|  | const float_t | Vd_sf
| ) |  |
| inline static

Sets the direct voltage scale factor.

Parameters

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

Definition at line 1841 of file float/ctrl.h.

References _CTRL_Obj_::Vd_sf.

Referenced by CTRL_setParams().

static void CTRL_setVdq_offset_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pVdq_offset_pu
| ) |  |
| inline static

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

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pVdq_offset_pu | The vector of the direct/quadrature voltage offset vector values, pu

Definition at line 1910 of file 32b/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_pu.

Referenced by CTRL_setup_user().

static void CTRL_setVdq_offset_V | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pVdq_offset_V
| ) |  |
| inline static

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

Parameters

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

Definition at line 1868 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_offset_V.

Referenced by CTRL_reset(), CTRL_setParams(), and CTRL_setup().

void CTRL_setVdq_out_pu | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pVdq_out_pu
| ) |  |
| inline

Sets the direct/quadrature voltage output vector values in the controller.

Parameters

  [in] | handle | The controller (CTRL) handle
  [in] | pVdq_out_pu | The vector of direct/quadrature voltage output vector values, pu

Definition at line 1924 of file 32b/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_out.

Referenced by CTRL_setParams().

static void CTRL_setVdq_V | ( | CTRL_Handle | handle,
|  | const MATH_vec2 * | pVdq_V
| ) |  |
| inline static

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

Parameters

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

Definition at line 1854 of file float/ctrl.h.

References _MATH_vec2_::value, and _CTRL_Obj_::Vdq_V.

Referenced by CTRL_reset(), CTRL_run(), and CTRL_setParams().

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

Sets the controller version.

Parameters

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

Definition at line 296 of file float/ctrl.c.

References _CTRL_Version_::major, _CTRL_Version_::minor, _CTRL_Version_::rsvd, _CTRL_Version_::targetProc, and _CTRL_Obj_::version.

Referenced by CTRL_init().

void CTRL_setWaitTimes | ( | CTRL_Handle | handle,
|  | const int_least32_t * | pWaitTimes
| ) |  |

Sets the wait times for the controller states.

Parameters

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

Definition at line 310 of file float/ctrl.c.

References CTRL_numStates, and _CTRL_Obj_::waitTimes.

Referenced by CTRL_setParams().

void CTRL_setWaitTimes | ( | CTRL_Handle | handle,
|  | const uint_least32_t * | pWaitTimes
| ) |  |

Sets the wait times for the controller states.

Parameters

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

Definition at line 628 of file 32b/ctrl.c.

References CTRL_numStates, and _CTRL_Obj_::waitTimes.

Referenced by CTRL_setParams().

bool CTRL_updateState | ( | CTRL_Handle | handle | ) |

Updates the controller state.

Parameters

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

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

Definition at line 642 of file 32b/ctrl.c.

References _IQ30, CTRL_checkForErrors(), CTRL_getCount_state(), CTRL_getFlag_enable(), CTRL_getFlag_enableCtrl(), CTRL_getFlag_enableOffset(), CTRL_getFlag_enableUserMotorParams(), CTRL_getState(), CTRL_getWaitTime(), CTRL_isNotIdle(), CTRL_reset(), CTRL_resetCounter_state(), CTRL_setFlag_enableCtrl(), CTRL_setState(), CTRL_setupCtrl(), CTRL_setupEstIdleState(), CTRL_setupEstOnLineState(), CTRL_setupTraj(), CTRL_setUserMotorParams(), CTRL_State_Error, CTRL_State_Idle, CTRL_State_OffLine, CTRL_State_OnLine, EST_isIdle(), EST_isLockRotor(), EST_isMotorIdentified(), EST_isOnLine(), EST_setIdle(), EST_setIdle_all(), EST_setRs_pu(), EST_updateState(), _CTRL_Obj_::estHandle, _CTRL_Obj_::flag_enableCtrl, _CTRL_Obj_::flag_enableUserMotorParams, TRAJ_getTargetValue(), and _CTRL_Obj_::trajHandle_Id.

bool CTRL_useZeroIq_ref | ( | CTRL_Handle | handle | ) |
| inline

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

Parameters

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

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

Definition at line 1972 of file 32b/ctrl.h.

References EST_useZeroIq_ref(), and _CTRL_Obj_::estHandle.

Referenced by CTRL_runOnLine().