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32b/ctrl_obj.h
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1 #ifndef _CTRL_OBJ_H_
2 #define _CTRL_OBJ_H_
3 /* --COPYRIGHT--,BSD
4 * Copyright (c) 2012, Texas Instruments Incorporated
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 *
14 * * Redistributions in binary form must reproduce the above copyright
15 * notice, this list of conditions and the following disclaimer in the
16 * documentation and/or other materials provided with the distribution.
17 *
18 * * Neither the name of Texas Instruments Incorporated nor the names of
19 * its contributors may be used to endorse or promote products derived
20 * from this software without specific prior written permission.
21 *
22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
24 * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
25 * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
26 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
27 * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
28 * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
29 * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
30 * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
31 * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
32 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
33 * --/COPYRIGHT--*/
34
39
40
41 // **************************************************************************
42 // the includes
43
44 #include "sw/modules/types/src/types.h"
45 #include "sw/modules/iqmath/src/32b/IQmathLib.h"
46
47 #include "sw/modules/ctrl/src/ctrl_states.h"
48 #include "sw/modules/clarke/src/32b/clarke.h"
49 #include "sw/modules/park/src/32b/park.h"
50 #include "sw/modules/ipark/src/32b/ipark.h"
51 #include "sw/modules/motor/src/32b/motor.h"
52 #include "sw/modules/offset/src/32b/offset.h"
53 #include "sw/modules/pid/src/32b/pid.h"
54 #include "sw/modules/est/src/32b/est.h"
55 #include "sw/modules/svgen/src/32b/svgen.h"
56 #include "sw/modules/traj/src/32b/traj.h"
57
58
59
64
65
66
67 #ifdef __cplusplus
68 extern "C" {
69 #endif
70
71
72 // **************************************************************************
73 // the defines
74
75
79 #define CTRL_NUM_CONTROLLERS (2)
80
81
82 // **************************************************************************
83 // the typedefs
84
87 //typedef enum {
88 // CTRL_State_Error=0, //!< the controller error state
89 // CTRL_State_Idle, //!< the controller idle state
90 // CTRL_State_OffLine, //!< the controller offline state
91 // CTRL_State_OnLine, //!< the controller online state
92 // CTRL_numStates //!< the number of controller states
93 //} CTRL_State_e;
94
95
98 typedef enum
99 {
100 CTRL_ErrorCode_NoError=0,
101 CTRL_ErrorCode_IdClip,
102 CTRL_ErrorCode_EstError,
103 CTRL_numErrorCodes
104 } CTRL_ErrorCode_e;
105
106
109 typedef enum
110 {
111 CTRL_TargetProc_2806x=0,
112 CTRL_TargetProc_2805x,
113 CTRL_TargetProc_2803x,
114 CTRL_TargetProc_2802x,
115 CTRL_TargetProc_Unknown
116 } CTRL_TargetProc_e;
117
118
121 typedef enum
122 {
123 CTRL_Type_PID_spd=0,
124 CTRL_Type_PID_Id,
125 CTRL_Type_PID_Iq
126 } CTRL_Type_e;
127
128
131 typedef struct _CTRL_Version_
132 {
133 uint16_t rsvd;
134 CTRL_TargetProc_e targetProc;
135 uint16_t major;
136 uint16_t minor;
137 } CTRL_Version;
138
139
144 typedef struct _CTRL_Obj_
145 {
146 CTRL_Version version;
147
148 CTRL_State_e state;
149
150 CTRL_State_e prevState;
151
152 CTRL_ErrorCode_e errorCode;
153
154 CLARKE_Handle clarkeHandle_I;
155 CLARKE_Obj clarke_I;
156
157 CLARKE_Handle clarkeHandle_V;
158 CLARKE_Obj clarke_V;
159
160 EST_Handle estHandle;
161
162 PARK_Handle parkHandle;
163 PARK_Obj park;
164
165 PID_Handle pidHandle_Id;
166 PID_Obj pid_Id;
167
168 PID_Handle pidHandle_Iq;
169 PID_Obj pid_Iq;
170
171 PID_Handle pidHandle_spd;
172 PID_Obj pid_spd;
173
174 IPARK_Handle iparkHandle;
175 IPARK_Obj ipark;
176
177 SVGEN_Handle svgenHandle;
178 SVGEN_Obj svgen;
179
180 TRAJ_Handle trajHandle_Id;
181 TRAJ_Obj traj_Id;
182
183 TRAJ_Handle trajHandle_spd;
184 TRAJ_Obj traj_spd;
185
186 TRAJ_Handle trajHandle_spdMax;
187 TRAJ_Obj traj_spdMax;
188
189 MOTOR_Params motorParams;
190
191 uint_least32_t waitTimes[CTRL_numStates];
192
193 uint_least32_t counter_state;
194
195 uint_least16_t numIsrTicksPerCtrlTick;
196
197 uint_least16_t numCtrlTicksPerCurrentTick;
198
199 uint_least16_t numCtrlTicksPerSpeedTick;
200
201 uint_least16_t numCtrlTicksPerTrajTick;
202
203 uint_least32_t ctrlFreq_Hz;
204
205 uint_least32_t trajFreq_Hz;
206
207 _iq trajPeriod_sec;
208
209 float_t ctrlPeriod_sec;
210
211 _iq maxVsMag_pu;
212
213 MATH_vec2 Iab_in;
214
215 MATH_vec2 Iab_filt;
216
217 MATH_vec2 Idq_in;
218
219 MATH_vec2 Vab_in;
220
221 _iq spd_out;
222
223 MATH_vec2 Vab_out;
224
225 MATH_vec2 Vdq_out;
226
227 float_t Rhf;
228 float_t Lhf;
229 float_t RoverL;
230
231 _iq Kp_Id;
232 _iq Kp_Iq;
233 _iq Kp_spd;
234
235 _iq Ki_Id;
236 _iq Ki_Iq;
237 _iq Ki_spd;
238
239 _iq Kd_Id;
240 _iq Kd_Iq;
241 _iq Kd_spd;
242
243 _iq Ui_Id;
244 _iq Ui_Iq;
245 _iq Ui_spd;
246
247 MATH_vec2 Idq_ref;
248
249 _iq IdRated;
250
251 _iq spd_ref;
252
253 _iq spd_max;
254
255 uint_least16_t counter_current;
256
257 uint_least16_t counter_isr;
258
259 uint_least16_t counter_speed;
260
261 uint_least16_t counter_traj;
262
263 bool flag_enableCtrl;
264 bool flag_enableDcBusComp;
265 bool flag_enablePowerWarp;
266 bool flag_enableOffset;
267 bool flag_enableSpeedCtrl;
268 bool flag_enableUserMotorParams;
269
270 // NOTE: APPENDING ONLY WORKS BECAUSE WE HAVE ALLOCATED TWO CONTROLLERS IN PROTECTED RAM AND WE ARE ONLY USING THE FIRST ONE
271 MATH_vec2 Idq_offset_pu;
272 MATH_vec2 Vdq_offset_pu;
273 _iq angle_pu;
274 _iq speed_ref_pu;
275 _iq speed_fb_pu;
276 _iq speed_outMax_pu;
277 bool flag_enableCurrentCtrl;
278 } CTRL_Obj;
279
280
283 typedef struct _CTRL_Obj_ *CTRL_Handle;
284
285
286 #ifdef __cplusplus
287 }
288 #endif // extern "C"
289
291 #endif // end of _CTRL_OBJ_H_ definition
292
_CTRL_Obj_::Vdq_offset_pu
MATH_vec2 Vdq_offset_pu
the Vdq offset values, pu
Definition: 32b/ctrl_obj.h:272
CTRL_Type_PID_spd
PID Speed controller.
Definition: 32b/ctrl_obj.h:123
_CTRL_Obj_::pid_Iq
PID_Obj pid_Iq
the Iq PID controller object
Definition: 32b/ctrl_obj.h:169
_CTRL_Obj_::maxVsMag_pu
_iq maxVsMag_pu
the maximum voltage vector that is allowed, pu
Definition: 32b/ctrl_obj.h:211
_CTRL_Version_
Defines the controller (CTRL) version number.
Definition: 32b/ctrl_obj.h:131
_CTRL_Obj_::errorCode
CTRL_ErrorCode_e errorCode
the error code for the controller
Definition: 32b/ctrl_obj.h:152
_CTRL_Obj_::ipark
IPARK_Obj ipark
the inverse Park transform object
Definition: 32b/ctrl_obj.h:175
_CTRL_Obj_::iparkHandle
IPARK_Handle iparkHandle
the handle for the inverse Park transform
Definition: 32b/ctrl_obj.h:174
_CTRL_Obj_::traj_Id
TRAJ_Obj traj_Id
the Id trajectory generator object
Definition: 32b/ctrl_obj.h:181
types.h
Contains the public interface to the types definitions.
_CTRL_Obj_::Vab_in
MATH_vec2 Vab_in
the Vab input values
Definition: 32b/ctrl_obj.h:219
_CTRL_Obj_::Idq_ref
MATH_vec2 Idq_ref
the Idq reference values, pu
Definition: 32b/ctrl_obj.h:247
_CTRL_Obj_::numCtrlTicksPerSpeedTick
uint_least16_t numCtrlTicksPerSpeedTick
Defines the number of controller clock ticks per speed controller clock tick.
Definition: 32b/ctrl_obj.h:199
_CTRL_Obj_::Kd_Id
_iq Kd_Id
the desired Kd_Id value
Definition: 32b/ctrl_obj.h:239
_CTRL_Obj_::RoverL
float_t RoverL
the R/L value
Definition: 32b/ctrl_obj.h:229
_CTRL_Obj_::Ki_Iq
_iq Ki_Iq
the desired Ki_Iq value
Definition: 32b/ctrl_obj.h:236
_CLARKE_Obj_
Defines the CLARKE object.
Definition: 32b/clarke.h:75
_CTRL_Obj_::clarkeHandle_I
CLARKE_Handle clarkeHandle_I
the handle for the current Clarke transform
Definition: 32b/ctrl_obj.h:154
ctrl_states.h
_CTRL_Obj_::speed_ref_pu
_iq speed_ref_pu
the speed reference, pu
Definition: 32b/ctrl_obj.h:274
_CTRL_Obj_::Ki_Id
_iq Ki_Id
the desired Ki_Id value
Definition: 32b/ctrl_obj.h:235
_CTRL_Obj_::spd_ref
_iq spd_ref
the speed reference, pu
Definition: 32b/ctrl_obj.h:251
_CTRL_Obj_::numCtrlTicksPerTrajTick
uint_least16_t numCtrlTicksPerTrajTick
Defines the number of controller clock ticks per trajectory clock tick.
Definition: 32b/ctrl_obj.h:201
_MATH_vec2_
Defines a two element vector.
Definition: 32b/math.h:248
CTRL_numStates
the number of controller states
Definition: ctrl_states.h:39
offset.h
Contains the public interface to the offset (OFFSET) module routines.
_CTRL_Obj_::angle_pu
_iq angle_pu
the angle value, pu
Definition: 32b/ctrl_obj.h:273
_CTRL_Obj_::Kp_spd
_iq Kp_spd
the desired Kp_spd value
Definition: 32b/ctrl_obj.h:233
_CTRL_Version_::major
uint16_t major
the major release number
Definition: 32b/ctrl_obj.h:135
_CTRL_Obj_::spd_max
_iq spd_max
the maximum speed, pu
Definition: 32b/ctrl_obj.h:253
EST_Handle
struct _EST_Obj_ * EST_Handle
Defines the estimator (EST) handle.
Definition: 32b/est.h:52
_CTRL_Obj_::trajHandle_Id
TRAJ_Handle trajHandle_Id
the handle for the Id trajectory generator
Definition: 32b/ctrl_obj.h:180
pid.h
Contains the public interface to the Proportional-Integral-Derivative (PID) controller module routine...
_CTRL_Obj_::trajHandle_spd
TRAJ_Handle trajHandle_spd
the handle for the speed trajectory generator
Definition: 32b/ctrl_obj.h:183
_CTRL_Obj_::Vab_out
MATH_vec2 Vab_out
the Vab output values
Definition: 32b/ctrl_obj.h:223
_CTRL_Obj_::pidHandle_Id
PID_Handle pidHandle_Id
the handle for the Id PID controller
Definition: 32b/ctrl_obj.h:165
CTRL_TargetProc_2803x
2803x processor
Definition: 32b/ctrl_obj.h:113
CTRL_ErrorCode_e
CTRL_ErrorCode_e
Enumeration for the error codes.
Definition: 32b/ctrl_obj.h:98
_SVGEN_Obj_
Defines the Space Vector Generator object.
Definition: 32b/svgen.h:88
_CTRL_Obj_::ctrlPeriod_sec
float_t ctrlPeriod_sec
Defines the controller period, sec.
Definition: 32b/ctrl_obj.h:209
_CTRL_Obj_
Defines the controller (CTRL) object.
Definition: 32b/ctrl_obj.h:144
_CTRL_Obj_::Kp_Id
_iq Kp_Id
the desired Kp_Id value
Definition: 32b/ctrl_obj.h:231
CTRL_ErrorCode_EstError
estimator error code
Definition: 32b/ctrl_obj.h:102
est.h
Contains the public interface to the estimator (EST) module routines.
motor.h
_CTRL_Obj_::estHandle
EST_Handle estHandle
the handle for the parameter estimator
Definition: 32b/ctrl_obj.h:160
_CTRL_Obj_::Idq_offset_pu
MATH_vec2 Idq_offset_pu
the Idq offset values, pu
Definition: 32b/ctrl_obj.h:271
CTRL_TargetProc_e
CTRL_TargetProc_e
Enumeration for the target processors.
Definition: 32b/ctrl_obj.h:109
_IPARK_Obj_
Defines the IPARK object.
Definition: 32b/ipark.h:73
_CTRL_Obj_::flag_enableDcBusComp
bool flag_enableDcBusComp
a flag to enable the DC bus compensation in the controller
Definition: 32b/ctrl_obj.h:264
_iq
long _iq
Definition: 32b/IQmathLib.h:223
CTRL_Version
struct _CTRL_Version_ CTRL_Version
Defines the controller (CTRL) version number.
_CTRL_Obj_::Kd_Iq
_iq Kd_Iq
the desired Kd_Iq value
Definition: 32b/ctrl_obj.h:240
_CTRL_Obj_::flag_enableOffset
bool flag_enableOffset
a flag to enable offset estimation after idle state
Definition: 32b/ctrl_obj.h:266
_CTRL_Obj_::flag_enableCurrentCtrl
bool flag_enableCurrentCtrl
a flag to enable the current controllers
Definition: 32b/ctrl_obj.h:277
CTRL_Obj
struct _CTRL_Obj_ CTRL_Obj
Defines the controller (CTRL) object.
_CTRL_Obj_::trajHandle_spdMax
TRAJ_Handle trajHandle_spdMax
the handle for the maximum speed trajectory generator
Definition: 32b/ctrl_obj.h:186
_CTRL_Obj_::speed_fb_pu
_iq speed_fb_pu
the feedback speed value, pu
Definition: 32b/ctrl_obj.h:275
_CTRL_Obj_::Ui_spd
_iq Ui_spd
the desired Ui_spd value
Definition: 32b/ctrl_obj.h:245
_CTRL_Obj_::traj_spdMax
TRAJ_Obj traj_spdMax
the maximum speed trajectory generator object
Definition: 32b/ctrl_obj.h:187
_CTRL_Obj_::counter_state
uint_least32_t counter_state
the state counter
Definition: 32b/ctrl_obj.h:193
_CTRL_Obj_::state
CTRL_State_e state
the current state of the controller
Definition: 32b/ctrl_obj.h:148
_CTRL_Obj_::clarke_V
CLARKE_Obj clarke_V
the voltage Clarke transform object
Definition: 32b/ctrl_obj.h:158
_CTRL_Obj_::counter_isr
uint_least16_t counter_isr
the isr counter
Definition: 32b/ctrl_obj.h:257
_CTRL_Obj_::Kd_spd
_iq Kd_spd
the desired Kd_spd value
Definition: 32b/ctrl_obj.h:241
_CTRL_Version_::rsvd
uint16_t rsvd
reserved value
Definition: 32b/ctrl_obj.h:133
_CTRL_Obj_::Idq_in
MATH_vec2 Idq_in
the Idq input values
Definition: 32b/ctrl_obj.h:217
_CTRL_Obj_::flag_enablePowerWarp
bool flag_enablePowerWarp
a flag to enable PowerWarp
Definition: 32b/ctrl_obj.h:265
_CTRL_Obj_::speed_outMax_pu
_iq speed_outMax_pu
the maximum output of the speed PI control, pu
Definition: 32b/ctrl_obj.h:276
_CTRL_Obj_::pidHandle_spd
PID_Handle pidHandle_spd
the handle for the speed PID controller
Definition: 32b/ctrl_obj.h:171
_CTRL_Obj_::trajPeriod_sec
_iq trajPeriod_sec
Defines the trajectory period, sec.
Definition: 32b/ctrl_obj.h:207
_CTRL_Obj_::pid_Id
PID_Obj pid_Id
the Id PID controller object
Definition: 32b/ctrl_obj.h:166
CTRL_numErrorCodes
the number of controller error codes
Definition: 32b/ctrl_obj.h:103
_PARK_Obj_
Defines the PARK object.
Definition: 32b/park.h:73
_CTRL_Obj_::park
PARK_Obj park
the Park transform object
Definition: 32b/ctrl_obj.h:163
_CTRL_Obj_::prevState
CTRL_State_e prevState
the previous state of the controller
Definition: 32b/ctrl_obj.h:150
_CTRL_Obj_::pid_spd
PID_Obj pid_spd
the speed PID controller object
Definition: 32b/ctrl_obj.h:172
_CTRL_Obj_::Kp_Iq
_iq Kp_Iq
the desired Kp_Iq value
Definition: 32b/ctrl_obj.h:232
_CTRL_Obj_::parkHandle
PARK_Handle parkHandle
the handle for the Park object
Definition: 32b/ctrl_obj.h:162
_CTRL_Obj_::Iab_filt
MATH_vec2 Iab_filt
the Iab filtered values
Definition: 32b/ctrl_obj.h:215
_CTRL_Obj_::counter_current
uint_least16_t counter_current
the isr counter
Definition: 32b/ctrl_obj.h:255
_CTRL_Obj_::Vdq_out
MATH_vec2 Vdq_out
the Vdq output values
Definition: 32b/ctrl_obj.h:225
_CTRL_Obj_::waitTimes
uint_least32_t waitTimes[CTRL_numStates]
an array of wait times for each state, estimator clock counts
Definition: 32b/ctrl_obj.h:191
CTRL_State_e
CTRL_State_e
Enumeration for the controller states.
Definition: ctrl_states.h:34
_TRAJ_Obj_
Defines the trajectory (TRAJ) object.
Definition: 32b/traj.h:67
_CTRL_Obj_::spd_out
_iq spd_out
the speed output value
Definition: 32b/ctrl_obj.h:221
_CTRL_Obj_::clarkeHandle_V
CLARKE_Handle clarkeHandle_V
the handle for the voltage Clarke transform
Definition: 32b/ctrl_obj.h:157
_CTRL_Obj_::counter_traj
uint_least16_t counter_traj
the traj counter
Definition: 32b/ctrl_obj.h:261
_CTRL_Obj_::motorParams
MOTOR_Params motorParams
the motor parameters
Definition: 32b/ctrl_obj.h:189
_CTRL_Obj_::counter_speed
uint_least16_t counter_speed
the speed counter
Definition: 32b/ctrl_obj.h:259
_CTRL_Obj_::pidHandle_Iq
PID_Handle pidHandle_Iq
the handle for the Iq PID controller
Definition: 32b/ctrl_obj.h:168
_CTRL_Obj_::version
CTRL_Version version
the controller version
Definition: 32b/ctrl_obj.h:146
_CTRL_Obj_::IdRated
_iq IdRated
the Id rated current, pu
Definition: 32b/ctrl_obj.h:249
CTRL_ErrorCode_IdClip
Id clip error code.
Definition: 32b/ctrl_obj.h:101
traj.h
Contains public interface to various functions related to the trajectory (TRAJ) object.
CTRL_ErrorCode_NoError
no error error code
Definition: 32b/ctrl_obj.h:100
CTRL_Type_e
CTRL_Type_e
Enumeration for the controller (CTRL) types.
Definition: 32b/ctrl_obj.h:121
_CTRL_Obj_::flag_enableCtrl
bool flag_enableCtrl
a flag to enable the controller
Definition: 32b/ctrl_obj.h:263
_CTRL_Obj_::Ui_Iq
_iq Ui_Iq
the desired Ui_Iq value
Definition: 32b/ctrl_obj.h:244
_CTRL_Version_::targetProc
CTRL_TargetProc_e targetProc
the target processor
Definition: 32b/ctrl_obj.h:134
_CTRL_Obj_::ctrlFreq_Hz
uint_least32_t ctrlFreq_Hz
Defines the controller frequency, Hz.
Definition: 32b/ctrl_obj.h:203
CTRL_Type_PID_Iq
PID Iq controller.
Definition: 32b/ctrl_obj.h:125
park.h
Contains the public interface to the Park transform module routines.
_CTRL_Obj_::flag_enableUserMotorParams
bool flag_enableUserMotorParams
a flag to use known motor parameters from user.h file
Definition: 32b/ctrl_obj.h:268
CTRL_TargetProc_2805x
2805x processor
Definition: 32b/ctrl_obj.h:112
CTRL_Type_PID_Id
PID Id controller.
Definition: 32b/ctrl_obj.h:124
_CTRL_Obj_::trajFreq_Hz
uint_least32_t trajFreq_Hz
Defines the trajectory frequency, Hz.
Definition: 32b/ctrl_obj.h:205
_CTRL_Obj_::svgen
SVGEN_Obj svgen
the space vector generator object
Definition: 32b/ctrl_obj.h:178
CTRL_TargetProc_2802x
2802x processor
Definition: 32b/ctrl_obj.h:114
clarke.h
Contains the public interface to the Clarke transform (CLARKE) module routines.
ipark.h
Contains the public interface to the inverse Park transform (IPARK) module routines.
svgen.h
Contains the public interface to the Space Vector Generator (SVGEN) module routines.
_CTRL_Version_::minor
uint16_t minor
the minor release number
Definition: 32b/ctrl_obj.h:136
_CTRL_Obj_::Iab_in
MATH_vec2 Iab_in
the Iab input values
Definition: 32b/ctrl_obj.h:213
_CTRL_Obj_::numCtrlTicksPerCurrentTick
uint_least16_t numCtrlTicksPerCurrentTick
Defines the number of controller clock ticks per current controller clock tick.
Definition: 32b/ctrl_obj.h:197
IQmathLib.h
_MOTOR_Params_
Defines the motor parameters.
Definition: 32b/motor.h:80
_PID_Obj_
Defines the PID controller object.
Definition: 32b/pid.h:74
_CTRL_Obj_::numIsrTicksPerCtrlTick
uint_least16_t numIsrTicksPerCtrlTick
Defines the number of isr clock ticks per controller clock tick.
Definition: 32b/ctrl_obj.h:195
_CTRL_Obj_::Rhf
float_t Rhf
the Rhf value
Definition: 32b/ctrl_obj.h:227
_CTRL_Obj_::clarke_I
CLARKE_Obj clarke_I
the current Clarke transform object
Definition: 32b/ctrl_obj.h:155
_CTRL_Obj_::Ki_spd
_iq Ki_spd
the desired Ki_spd value
Definition: 32b/ctrl_obj.h:237
CTRL_TargetProc_Unknown
Unknown processor.
Definition: 32b/ctrl_obj.h:115
_CTRL_Obj_::traj_spd
TRAJ_Obj traj_spd
the speed trajectory generator object
Definition: 32b/ctrl_obj.h:184
CTRL_TargetProc_2806x
2806x processor
Definition: 32b/ctrl_obj.h:111
_CTRL_Obj_::Lhf
float_t Lhf
the Lhf value
Definition: 32b/ctrl_obj.h:228
CTRL_Handle
struct _CTRL_Obj_ * CTRL_Handle
Defines the CTRL handle.
Definition: 32b/ctrl_obj.h:283
_CTRL_Obj_::Ui_Id
_iq Ui_Id
the desired Ui_Id value
Definition: 32b/ctrl_obj.h:243
_CTRL_Obj_::flag_enableSpeedCtrl
bool flag_enableSpeedCtrl
a flag to enable the speed controller
Definition: 32b/ctrl_obj.h:267
float_t
float float_t
Defines the portable data type for 32 bit, signed floating-point data.
Definition: types.h:121
_CTRL_Obj_::svgenHandle
SVGEN_Handle svgenHandle
the handle for the space vector generator
Definition: 32b/ctrl_obj.h:177