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float/est.h
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1 #ifndef _EST_H_
2 #define _EST_H_
3
9
10
11 // **************************************************************************
12 // the includes
13
14 // modules
15 #include "sw/modules/math/src/float/math.h"
16
17 #include "sw/modules/ctrl/src/float/ctrl_obj.h"
18 #include "sw/modules/est/src/est_states.h"
19 #include "sw/modules/user/src/float/userParams.h"
20
25
26
27 // Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h
29
30 #ifdef __cplusplus
31 extern "C" {
32 #endif
33
34
35 // **************************************************************************
36 // the defines
37
38
39 // **************************************************************************
40 // the typedefs
41
44 typedef enum
45 {
46 EST_RsOnLineFilterType_Current=0,
47 EST_RsOnLineFilterType_Voltage
48 } EST_RsOnLineFilterType_e;
49
50
53 typedef struct _EST_InputData_
54 {
55 int_least32_t timeStamp;
56
57 MATH_vec2 Iab_A;
58 MATH_vec2 Vab_V;
59 float_t dcBus_V;
60 float_t speed_ref_Hz;
61 } EST_InputData_t;
62
63
66 typedef struct _EST_OutputData_
67 {
68 int_least32_t timeStamp;
69
70 float_t angle_rad;
71
72 float_t fe_rps;
73 float_t fm_rps;
74 float_t fm_lp_rps;
75 float_t fmDot_rps2;
76 float_t fslip_rps;
77
78 MATH_vec2 Eab_V;
79 MATH_vec2 Edq_V;
80
81 int_least8_t direction;
82
83 float_t oneOverDcBus_invV;
84 } EST_OutputData_t;
85
86
89 typedef struct _EST_Obj_ *EST_Handle;
90
91
92 // **************************************************************************
93 // the globals
94
95
96 // **************************************************************************
97 // the function prototypes
98
103 extern float_t EST_computeLmag_H(EST_Handle handle,const float_t current_A);
104 extern float_t cla_EST_computeLmag_H(EST_Handle handle,const float_t current_A);
105
106
110 extern float_t EST_computePower_W(EST_Handle handle);
111 extern float_t cla_EST_computePower_W(EST_Handle handle);
112
113
117 extern float_t EST_computeTorque_Nm(EST_Handle handle);
118 extern float_t cla_EST_computeTorque_Nm(EST_Handle handle);
119
120
124 extern void EST_configureCtrl(EST_Handle handle,CTRL_Handle ctrlHandle);
125 extern void cla_EST_configureCtrl(EST_Handle handle,CTRL_Handle ctrlHandle);
126
127
130 extern void EST_configureTraj(EST_Handle handle);
131 extern void cla_EST_configureTraj(EST_Handle handle);
132
133
136 extern void EST_disable(EST_Handle handle);
137 extern void cla_EST_disable(EST_Handle handle);
138
139
142 extern void EST_disableTraj(EST_Handle handle);
143 extern void cla_EST_disableTraj(EST_Handle handle);
144
145
149 extern bool EST_doCurrentCtrl(EST_Handle handle);
150 extern bool cla_EST_doCurrentCtrl(EST_Handle handle);
151
152
156 extern bool EST_doSpeedCtrl(EST_Handle handle);
157 extern bool cla_EST_doSpeedCtrl(EST_Handle handle);
158
159
162 extern void EST_enable(EST_Handle handle);
163 extern void cla_EST_enable(EST_Handle handle);
164
165
168 extern void EST_enableTraj(EST_Handle handle);
169 extern void cla_EST_enableTraj(EST_Handle handle);
170
171
175 extern float_t EST_get_rpm_to_rps_sf(EST_Handle handle);
176 extern float_t cla_EST_get_rpm_to_rps_sf(EST_Handle handle);
177
178
182 extern float_t EST_get_rps_to_rpm_sf(EST_Handle handle);
183 extern float_t cla_EST_get_rps_to_rpm_sf(EST_Handle handle);
184
185
189 extern float_t EST_getAccel_rps2(EST_Handle handle);
190 extern float_t cla_EST_getAccel_rps2(EST_Handle handle);
191
192
196 extern float_t EST_getAngle_est_rad(EST_Handle handle);
197 extern float_t cla_EST_getAngle_est_rad(EST_Handle handle);
198
199
209 extern float_t EST_getAngle_rad(EST_Handle handle);
210 extern float_t cla_EST_getAngle_rad(EST_Handle handle);
211
212
216 extern float_t EST_getAngle_traj_rad(EST_Handle handle);
217 extern float_t cla_EST_getAngle_traj_rad(EST_Handle handle);
218
219
224 extern float_t EST_getAngleDelta_rad(EST_Handle handle);
225 extern float_t cla_EST_getAngleDelta_rad(EST_Handle handle);
226
227
231 extern float_t EST_getAngleDelta_est_rad(EST_Handle handle);
232 extern float_t cla_EST_getAngleDelta_est_rad(EST_Handle handle);
233
234
238 extern float_t EST_getAngleDelta_traj_rad(EST_Handle handle);
239 extern float_t cla_EST_getAngleDelta_traj_rad(EST_Handle handle);
240
241
245 extern int_least16_t EST_getCount_isr(EST_Handle handle);
246 extern int_least16_t cla_EST_getCount_isr(EST_Handle handle);
247
248
252 extern float_t EST_getDcBus_V(EST_Handle handle);
253 extern float_t cla_EST_getDcBus_V(EST_Handle handle);
254
255
259 extern void EST_getEab_V(EST_Handle handle,MATH_vec2 *pEab_V);
260 extern void cla_EST_getEab_V(EST_Handle handle,MATH_vec2 *pEab_V);
261
262
266 extern void EST_getEdq_V(EST_Handle handle,MATH_vec2 *pEdq_V);
267 extern void cla_EST_getEdq_V(EST_Handle handle,MATH_vec2 *pEdq_V);
268
269
273 extern EST_ErrorCode_e EST_getErrorCode(EST_Handle handle);
274 extern EST_ErrorCode_e cla_EST_getErrorCode(EST_Handle handle);
275
276
282 extern float_t EST_getFe_Hz(EST_Handle handle);
283 extern float_t cla_EST_getFe_Hz(EST_Handle handle);
284
285
289 extern float_t EST_getFe_abs_max_rps(EST_Handle handle);
290 extern float_t cla_EST_getFe_abs_max_rps(EST_Handle handle);
291
292
298 extern float_t EST_getFe_rps(EST_Handle handle);
299 extern float_t cla_EST_getFe_rps(EST_Handle handle);
300
301
305 extern bool EST_getFlag_bypassLockRotor(EST_Handle handle);
306 extern bool cla_EST_getFlag_bypassLockRotor(EST_Handle handle);
307
308
312 extern bool EST_getFlag_enable(EST_Handle handle);
313 extern bool cla_EST_getFlag_enable(EST_Handle handle);
314
315
319 extern bool EST_getFlag_enableForceAngle(EST_Handle handle);
320 extern bool cla_EST_getFlag_enableForceAngle(EST_Handle handle);
321
322
326 extern bool EST_getFlag_enablePowerWarp(EST_Handle handle);
327 extern bool cla_EST_getFlag_enablePowerWarp(EST_Handle handle);
328
329
344 extern bool EST_getFlag_enableRsOnLine(EST_Handle handle);
345 extern bool cla_EST_getFlag_enableRsOnLine(EST_Handle handle);
346
347
359 extern bool EST_getFlag_enableRsRecalc(EST_Handle handle);
360 extern bool cla_EST_getFlag_enableRsRecalc(EST_Handle handle);
361
362
366 extern bool EST_getFlag_enableTraj(EST_Handle handle);
367 extern bool cla_EST_getFlag_enableTraj(EST_Handle handle);
368
369
384 extern bool EST_getFlag_estComplete(EST_Handle handle);
385 extern bool cla_EST_getFlag_estComplete(EST_Handle handle);
386
387
391 extern bool EST_getFlag_motorIdentified(EST_Handle handle);
392 extern bool cla_EST_getFlag_motorIdentified(EST_Handle handle);
393
394
398 extern bool EST_getFlag_nearZeroSpeed(EST_Handle handle);
399 extern bool cla_EST_getFlag_nearZeroSpeed(EST_Handle handle);
400
401
421 extern bool EST_getFlag_updateRs(EST_Handle handle);
422 extern bool cla_EST_getFlag_updateRs(EST_Handle handle);
423
424
440 extern float_t EST_getFlux_Wb(EST_Handle handle);
441 extern float_t cla_EST_getFlux_Wb(EST_Handle handle);
442
443
447 extern EST_Flux_State_e EST_getFluxState(EST_Handle handle);
448 extern EST_Flux_State_e cla_EST_getFluxState(EST_Handle handle);
449
450
466 extern float_t EST_getFm_Hz(EST_Handle handle);
467 extern float_t cla_EST_getFm_Hz(EST_Handle handle);
468
469
473 extern float_t EST_getFm_lp_Hz(EST_Handle handle);
474 extern float_t cla_EST_getFm_lp_Hz(EST_Handle handle);
475
476
480 extern float_t EST_getFm_lp_rps(EST_Handle handle);
481 extern float_t cla_EST_getFm_lp_rps(EST_Handle handle);
482
483
499 extern float_t EST_getFm_rps(EST_Handle handle);
500 extern float_t cla_EST_getFm_rps(EST_Handle handle);
501
502
506 extern float_t EST_getForceAngleDelta_rad(EST_Handle handle);
507 extern float_t cla_EST_getForceAngleDelta_rad(EST_Handle handle);
508
509
521 extern bool EST_getForceAngleStatus(EST_Handle handle);
522 extern bool cla_EST_getForceAngleStatus(EST_Handle handle);
523
524
529 extern float_t EST_getFreqBeta_lp(EST_Handle handle);
530 extern float_t cla_EST_getFreqBeta_lp(EST_Handle handle);
531
532
541 extern float_t EST_getFslip_Hz(EST_Handle handle);
542 extern float_t cla_EST_getFslip_Hz(EST_Handle handle);
543
544
553 extern float_t EST_getFslip_rps(EST_Handle handle);
554 extern float_t cla_EST_getFslip_rps(EST_Handle handle);
555
556
560 extern void EST_getIab_A(EST_Handle handle,MATH_vec2 *pIab_A);
561 extern void cla_EST_getIab_A(EST_Handle handle,MATH_vec2 *pIab_A);
562
563
567 extern void EST_getIab_lp_A(EST_Handle handle,MATH_vec2 *pIab_lp_A);
568 extern void cla_EST_getIab_lp_A(EST_Handle handle,MATH_vec2 *pIab_lp_A);
569
570
574 extern float_t EST_getIab_beta_lp(EST_Handle handle);
575 extern float_t cla_EST_getIab_beta_lp(EST_Handle handle);
576
577
581 extern void EST_getIdq_A(EST_Handle handle,MATH_vec2 *pIdq_A);
582 extern void cla_EST_getIdq_A(EST_Handle handle,MATH_vec2 *pIdq_A);
583
584
588 extern void EST_getIdq_lp_A(EST_Handle handle,MATH_vec2 *pIdq_lp_A);
589 extern void cla_EST_getIdq_lp_A(EST_Handle handle,MATH_vec2 *pIdq_lp_A);
590
591
595 extern void EST_getIdq_ref_A(EST_Handle handle,MATH_vec2 *pIdq_ref_A);
596 extern void cla_EST_getIdq_ref_A(EST_Handle handle,MATH_vec2 *pIdq_ref_A);
597
598
602 extern float_t EST_getIdRated_A(EST_Handle handle);
603 extern float_t cla_EST_getIdRated_A(EST_Handle handle);
604
605
609 extern float_t EST_getIdRated_delta_A(EST_Handle handle);
610 extern float_t cla_EST_getIdRated_delta_A(EST_Handle handle);
611
612
617 extern float_t EST_getIdRated_indEst_A(EST_Handle handle);
618 extern float_t cla_EST_getIdRated_indEst_A(EST_Handle handle);
619
620
624 extern float_t EST_getIntValue_Id_A(EST_Handle handle);
625 extern float_t cla_EST_getIntValue_Id_A(EST_Handle handle);
626
627
631 extern float_t EST_getIntValue_Iq_A(EST_Handle handle);
632 extern float_t cla_EST_getIntValue_Iq_A(EST_Handle handle);
633
634
638 extern float_t EST_getIntValue_spd_Hz(EST_Handle handle);
639 extern float_t cla_EST_getIntValue_spd_Hz(EST_Handle handle);
640
641
645 extern float_t EST_getLhf_H(EST_Handle handle);
646 extern float_t cla_EST_getLhf_H(EST_Handle handle);
647
648
652 extern float_t EST_getLmag_H(EST_Handle handle);
653 extern float_t cla_EST_getLmag_H(EST_Handle handle);
654
655
659 extern float_t EST_getLs_coarseDelta_H(EST_Handle handle);
660 extern float_t cla_EST_getLs_coarseDelta_H(EST_Handle handle);
661
662
666 extern float_t EST_getLs_d_H(EST_Handle handle);
667 extern float_t cla_EST_getLs_d_H(EST_Handle handle);
668
669
676 extern void EST_getLs_dq_H(EST_Handle handle,MATH_vec2 *pLs_dq_H);
677 extern void cla_EST_getLs_dq_H(EST_Handle handle,MATH_vec2 *pLs_dq_H);
678
679
683 extern float_t EST_getLs_fineDelta_H(EST_Handle handle);
684 extern float_t cla_EST_getLs_fineDelta_H(EST_Handle handle);
685
686
690 extern float_t EST_getLs_H(EST_Handle handle);
691 extern float_t cla_EST_getLs_H(EST_Handle handle);
692
693
697 extern float_t EST_getLs_q_H(EST_Handle handle);
698 extern float_t cla_EST_getLs_q_H(EST_Handle handle);
699
700
704 extern float_t EST_getMaxCurrentDelta_A(EST_Handle handle);
705 extern float_t cla_EST_getMaxCurrentDelta_A(EST_Handle handle);
706
707
712 extern float_t EST_getMaxCurrentDelta_pw_A(EST_Handle handle);
713 extern float_t cla_EST_getMaxCurrentDelta_pw_A(EST_Handle handle);
714
715
719 extern float_t EST_getMaxDelta_Id_A(EST_Handle handle);
720 extern float_t cla_EST_getMaxDelta_Id_A(EST_Handle handle);
721
722
726 extern float_t EST_getMaxDelta_Iq_A(EST_Handle handle);
727 extern float_t cla_EST_getMaxDelta_Iq_A(EST_Handle handle);
728
729
733 extern float_t EST_getMaxDelta_spd_Hz(EST_Handle handle);
734 extern float_t cla_EST_getMaxDelta_spd_Hz(EST_Handle handle);
735
736
740 extern float_t EST_getMaxSpeedDelta_Hz(EST_Handle handle);
741 extern float_t cla_EST_getMaxSpeedDelta_Hz(EST_Handle handle);
742
743
747 extern float_t EST_getMaxValue_Id_A(EST_Handle handle);
748 extern float_t cla_EST_getMaxValue_Id_A(EST_Handle handle);
749
750
754 extern float_t EST_getMaxValue_Iq_A(EST_Handle handle);
755 extern float_t cla_EST_getMaxValue_Iq_A(EST_Handle handle);
756
757
761 extern float_t EST_getMaxValue_spd_Hz(EST_Handle handle);
762 extern float_t cla_EST_getMaxValue_spd_Hz(EST_Handle handle);
763
764
768 extern float_t EST_getMinValue_Id_A(EST_Handle handle);
769 extern float_t cla_EST_getMinValue_Id_A(EST_Handle handle);
770
771
775 extern float_t EST_getMinValue_Iq_A(EST_Handle handle);
776 extern float_t cla_EST_getMinValue_Iq_A(EST_Handle handle);
777
778
782 extern float_t EST_getMinValue_spd_Hz(EST_Handle handle);
783 extern float_t cla_EST_getMinValue_spd_Hz(EST_Handle handle);
784
785
789 extern int_least16_t EST_getNumIsrTicksPerEstTick(EST_Handle handle);
790 extern int_least16_t cla_EST_getNumIsrTicksPerEstTick(EST_Handle handle);
791
792
796 extern int_least16_t EST_getNumIsrTicksPerTrajTick(EST_Handle handle);
797 extern int_least16_t cla_EST_getNumIsrTicksPerTrajTick(EST_Handle handle);
798
799
803 extern float_t EST_getOneOverDcBus_invV(EST_Handle handle);
804 extern float_t cla_EST_getOneOverDcBus_invV(EST_Handle handle);
805
806
810 extern float_t EST_getPwGain(EST_Handle handle);
811 extern float_t cla_EST_getPwGain(EST_Handle handle);
812
813
817 extern float_t EST_getRhf_Ohm(EST_Handle handle);
818 extern float_t cla_EST_getRhf_Ohm(EST_Handle handle);
819
820
824 extern float_t EST_getRoverL_rps(EST_Handle handle);
825 extern float_t cla_EST_getRoverL_rps(EST_Handle handle);
826
827
831 extern float_t EST_getRr_coarseDelta_Ohm(EST_Handle handle);
832 extern float_t cla_EST_getRr_coarseDelta_Ohm(EST_Handle handle);
833
834
838 extern float_t EST_getRr_d_Ohm(EST_Handle handle);
839 extern float_t cla_EST_getRr_d_Ohm(EST_Handle handle);
840
841
848 extern void EST_getRr_dq_Ohm(EST_Handle handle,MATH_vec2 *pRr_dq_Ohm);
849 extern void cla_EST_getRr_dq_Ohm(EST_Handle handle,MATH_vec2 *pRr_dq_Ohm);
850
851
855 extern float_t EST_getRr_fineDelta_Ohm(EST_Handle handle);
856 extern float_t cla_EST_getRr_fineDelta_Ohm(EST_Handle handle);
857
858
862 extern float_t EST_getRr_Ohm(EST_Handle handle);
863 extern float_t cla_EST_getRr_Ohm(EST_Handle handle);
864
865
869 extern float_t EST_getRr_q_Ohm(EST_Handle handle);
870 extern float_t cla_EST_getRr_q_Ohm(EST_Handle handle);
871
872
876 extern float_t EST_getRs_a_Ohm(EST_Handle handle);
877 extern float_t cla_EST_getRs_a_Ohm(EST_Handle handle);
878
879
886 extern void EST_getRs_ab_Ohm(EST_Handle handle,MATH_vec2 *pRs_ab_Ohm);
887 extern void cla_EST_getRs_ab_Ohm(EST_Handle handle,MATH_vec2 *pRs_ab_Ohm);
888
889
893 extern float_t EST_getRs_b_Ohm(EST_Handle handle);
894 extern float_t cla_EST_getRs_b_Ohm(EST_Handle handle);
895
896
900 extern float_t EST_getRs_coarseDelta_Ohm(EST_Handle handle);
901 extern float_t cla_EST_getRs_coarseDelta_Ohm(EST_Handle handle);
902
903
907 extern float_t EST_getRs_d_Ohm(EST_Handle handle);
908 extern float_t cla_EST_getRs_d_Ohm(EST_Handle handle);
909
910
917 extern void EST_getRs_dq_Ohm(EST_Handle handle,MATH_vec2 *pRs_dq_Ohm);
918 extern void cla_EST_getRs_dq_Ohm(EST_Handle handle,MATH_vec2 *pRs_dq_Ohm);
919
920
924 extern float_t EST_getRs_fineDelta_Ohm(EST_Handle handle);
925 extern float_t cla_EST_getRs_fineDelta_Ohm(EST_Handle handle);
926
927
931 extern float_t EST_getRs_q_Ohm(EST_Handle handle);
932 extern float_t cla_EST_getRs_q_Ohm(EST_Handle handle);
933
934
938 extern float_t EST_getRs_Ohm(EST_Handle handle);
939 extern float_t cla_EST_getRs_Ohm(EST_Handle handle);
940
941
945 extern float_t EST_getRsOnLine_Ohm(EST_Handle handle);
946 extern float_t cla_EST_getRsOnLine_Ohm(EST_Handle handle);
947
948
952 extern float_t EST_getRsOnLineAngle_rad(EST_Handle handle);
953 extern float_t cla_EST_getRsOnLineAngle_rad(EST_Handle handle);
954
955
959 extern float_t EST_getRsOnLineAngleDelta_rad(EST_Handle handle);
960 extern float_t cla_EST_getRsOnLineAngleDelta_rad(EST_Handle handle);
961
962
966 extern float_t EST_getRsOnLineId_mag_A(EST_Handle handle);
967 extern float_t cla_EST_getRsOnLineId_mag_A(EST_Handle handle);
968
969
973 extern float_t EST_getRsOnLineId_A(EST_Handle handle);
974 extern float_t cla_EST_getRsOnLineId_A(EST_Handle handle);
975
976
986 extern void EST_getRsOnLineLpFilterParams(EST_Handle handle,const EST_RsOnLineFilterType_e filterType,
987 const uint_least8_t filterNumber,
988 float_t *b0,float_t *b1,float_t *a1,
989 float_t *x1,float_t *y1);
990 extern void cla_EST_getRsOnLineLpFilterParams(EST_Handle handle,const EST_RsOnLineFilterType_e filterType,
991 const uint_least8_t filterNumber,
992 float_t *b0,float_t *b1,float_t *a1,
993 float_t *x1,float_t *y1);
994
995
999 extern int_least8_t EST_getSignOfDirection(EST_Handle handle);
1000 extern int_least8_t cla_EST_getSignOfDirection(EST_Handle handle);
1001
1002
1006 extern float_t EST_getSpeed_ref_Hz(EST_Handle handle);
1007 extern float_t cla_EST_getSpeed_ref_Hz(EST_Handle handle);
1008
1009
1013 extern float_t EST_getSpeed_rpm(EST_Handle handle);
1014 extern float_t cla_EST_getSpeed_rpm(EST_Handle handle);
1015
1016
1020 extern EST_State_e EST_getState(EST_Handle handle);
1021 extern EST_State_e cla_EST_getState(EST_Handle handle);
1022
1023
1027 extern float_t EST_getTargetValue_Id_A(EST_Handle handle);
1028 extern float_t cla_EST_getTargetValue_Id_A(EST_Handle handle);
1029
1030
1034 extern float_t EST_getTargetValue_Iq_A(EST_Handle handle);
1035 extern float_t cla_EST_getTargetValue_Iq_A(EST_Handle handle);
1036
1037
1041 extern float_t EST_getTargetValue_spd_Hz(EST_Handle handle);
1042 extern float_t cla_EST_getTargetValue_spd_Hz(EST_Handle handle);
1043
1044
1048 extern float_t EST_getTorque_sf(EST_Handle handle);
1049 extern float_t cla_EST_getTorque_sf(EST_Handle handle);
1050
1051
1055 extern int_least16_t EST_getTrajCount_isr(EST_Handle handle);
1056 extern int_least16_t cla_EST_getTrajCount_isr(EST_Handle handle);
1057
1058
1062 extern EST_Traj_State_e EST_getTrajState(EST_Handle handle);
1063 extern EST_Traj_State_e cla_EST_getTrajState(EST_Handle handle);
1064
1065
1069 extern void EST_getVab_V(EST_Handle handle,MATH_vec2 *pVab_V);
1070 extern void cla_EST_getVab_V(EST_Handle handle,MATH_vec2 *pVab_V);
1071
1072
1076 extern void EST_getVdq_lp_V(EST_Handle handle,MATH_vec2 *pVdq_lp_V);
1077 extern void cla_EST_getVdq_lp_V(EST_Handle handle,MATH_vec2 *pVdq_lp_V);
1078
1079
1083 extern void EST_getVdq_V(EST_Handle handle,MATH_vec2 *pVdq_V);
1084 extern void cla_EST_getVdq_V(EST_Handle handle,MATH_vec2 *pVdq_V);
1085
1086
1089 extern void EST_incrCounter_isr(EST_Handle handle);
1090 extern void cla_EST_incrCounter_isr(EST_Handle handle);
1091
1092
1095 extern void EST_incrTrajCounter_isr(EST_Handle handle);
1096 extern void cla_EST_incrTrajCounter_isr(EST_Handle handle);
1097
1098
1102 extern EST_Handle EST_initEst(const uint_least8_t estNumber);
1103 extern EST_Handle cla_EST_initEst(const uint_least8_t estNumber);
1104
1105
1108 extern bool EST_isEnabled(EST_Handle handle);
1109 extern bool cla_EST_isEnabled(EST_Handle handle);
1110
1111
1115 extern bool EST_isError(EST_Handle handle);
1116 extern bool cla_EST_isError(EST_Handle handle);
1117
1118
1122 extern bool EST_isIdle(EST_Handle handle);
1123 extern bool cla_EST_isIdle(EST_Handle handle);
1124
1125
1129 extern bool EST_isLockRotor(EST_Handle handle);
1130 extern bool cla_EST_isLockRotor(EST_Handle handle);
1131
1132
1136 extern bool EST_isMotorIdentified(EST_Handle handle);
1137 extern bool cla_EST_isMotorIdentified(EST_Handle handle);
1138
1139
1143 extern bool EST_isNotOnLine(EST_Handle handle);
1144 extern bool cla_EST_isNotOnLine(EST_Handle handle);
1145
1146
1150 extern bool EST_isOnLine(EST_Handle handle);
1151 extern bool cla_EST_isOnLine(EST_Handle handle);
1152
1153
1156 extern bool EST_isTrajEnabled(EST_Handle handle);
1157 extern bool cla_EST_isTrajEnabled(EST_Handle handle);
1158
1159
1163 extern bool EST_isTrajError(EST_Handle handle);
1164 extern bool cla_EST_isTrajError(EST_Handle handle);
1165
1166
1169 extern void EST_resetCounter_isr(EST_Handle handle);
1170 extern void cla_EST_resetCounter_isr(EST_Handle handle);
1171
1172
1175 extern void EST_resetCounter_state(EST_Handle handle);
1176 extern void cla_EST_resetCounter_state(EST_Handle handle);
1177
1178
1181 extern void EST_resetTrajCounter_isr(EST_Handle handle);
1182 extern void cla_EST_resetTrajCounter_isr(EST_Handle handle);
1183
1184
1189 extern void EST_run(EST_Handle handle,
1190 const EST_InputData_t *pInputData,
1191 EST_OutputData_t *pOutputData);
1192 extern void cla_EST_run(EST_Handle handle,
1193 const EST_InputData_t *pInputData,
1194 EST_OutputData_t *pOutputData);
1195
1196
1202 extern float_t EST_runPowerWarp(EST_Handle handle,const float_t Id_int_A,const float_t Iq_A);
1203 extern float_t cla_EST_runPowerWarp(EST_Handle handle,const float_t Id_int_A,const float_t Iq_A);
1204
1205
1208 extern void EST_runTraj(EST_Handle handle);
1209 extern void cla_EST_runTraj(EST_Handle handle);
1210
1211
1215 extern void EST_setAccel_rps2(EST_Handle handle,const float_t accel_rps2);
1216 extern void cla_EST_setAccel_rps2(EST_Handle handle,const float_t accel_rps2);
1217
1218
1233 extern void EST_setAngle_rad(EST_Handle handle,const float_t angle_rad);
1234 extern void cla_EST_setAngle_rad(EST_Handle handle,const float_t angle_rad);
1235
1236
1240 extern void EST_setAngle_est_rad(EST_Handle handle,const float_t angle_rad);
1241 extern void cla_EST_setAngle_est_rad(EST_Handle handle,const float_t angle_rad);
1242
1243
1258 extern void EST_setAngle_np1_rad(EST_Handle handle,const float_t angle_np1_rad);
1259 extern void cla_EST_setAngle_np1_rad(EST_Handle handle,const float_t angle_np1_rad);
1260
1261
1265 extern void EST_setAngle_traj_rad(EST_Handle handle,const float_t angle_rad);
1266 extern void cla_EST_setAngle_traj_rad(EST_Handle handle,const float_t angle_rad);
1267
1268
1272 extern void EST_setAngleDelta_est_rad(EST_Handle handle,const float_t delta_rad);
1273 extern void cla_EST_setAngleDelta_est_rad(EST_Handle handle,const float_t delta_rad);
1274
1275
1279 extern void EST_setAngleDelta_traj_rad(EST_Handle handle,const float_t delta_rad);
1280 extern void cla_EST_setAngleDelta_traj_rad(EST_Handle handle,const float_t delta_rad);
1281
1282
1286 extern void EST_setCount_isr(EST_Handle handle,const int_least16_t value);
1287 extern void cla_EST_setCount_isr(EST_Handle handle,const int_least16_t value);
1288
1289
1293 extern void EST_setCount_state(EST_Handle handle,const int_least32_t value);
1294 extern void cla_EST_setCount_state(EST_Handle handle,const int_least32_t value);
1295
1296
1300 extern void EST_setCount_traj(EST_Handle handle,const int_least16_t value);
1301 extern void cla_EST_setCount_traj(EST_Handle handle,const int_least16_t value);
1302
1303
1307 extern void EST_setDcBus_V(EST_Handle handle,const float_t dcBus_V);
1308 extern void cla_EST_setDcBus_V(EST_Handle handle,const float_t dcBus_V);
1309
1310
1314 extern void EST_setFe_Hz(EST_Handle handle,const float_t fe_Hz);
1315 extern void cla_EST_setFe_Hz(EST_Handle handle,const float_t fe_Hz);
1316
1317
1321 extern void EST_setFe_abs_max_rps(EST_Handle handle,const float_t fe_abs_max_rps);
1322 extern void cla_EST_setFe_abs_max_rps(EST_Handle handle,const float_t fe_abs_max_rps);
1323
1324
1328 extern void EST_setFe_rps(EST_Handle handle,const float_t fe_rps);
1329 extern void cla_EST_setFe_rps(EST_Handle handle,const float_t fe_rps);
1330
1331
1335 extern void EST_setFlag_bypassLockRotor(EST_Handle handle,const bool state);
1336 extern void cla_EST_setFlag_bypassLockRotor(EST_Handle handle,const bool state);
1337
1338
1342 extern void EST_setFlag_enable(EST_Handle handle,const bool state);
1343 extern void cla_EST_setFlag_enable(EST_Handle handle,const bool state);
1344
1345
1351 extern void EST_setFlag_enableForceAngle(EST_Handle handle,const bool state);
1352 extern void cla_EST_setFlag_enableForceAngle(EST_Handle handle,const bool state);
1353
1354
1358 extern void EST_setFlag_enablePowerWarp(EST_Handle handle,const bool state);
1359 extern void cla_EST_setFlag_enablePowerWarp(EST_Handle handle,const bool state);
1360
1361
1373 extern void EST_setFlag_enableRsOnLine(EST_Handle handle,const bool state);
1374 extern void cla_EST_setFlag_enableRsOnLine(EST_Handle handle,const bool state);
1375
1376
1388 extern void EST_setFlag_enableRsRecalc(EST_Handle handle,const bool state);
1389 extern void cla_EST_setFlag_enableRsRecalc(EST_Handle handle,const bool state);
1390
1391
1395 extern void EST_setFlag_estComplete(EST_Handle handle,const bool state);
1396 extern void cla_EST_setFlag_estComplete(EST_Handle handle,const bool state);
1397
1398
1402 extern void EST_setFlag_motorIdentified(EST_Handle handle,const bool state);
1403 extern void cla_EST_setFlag_motorIdentified(EST_Handle handle,const bool state);
1404
1405
1423 extern void EST_setFlag_updateRs(EST_Handle handle,const bool state);
1424 extern void cla_EST_setFlag_updateRs(EST_Handle handle,const bool state);
1425
1426
1430 extern void EST_setFm_Hz(EST_Handle handle,const float_t fm_Hz);
1431 extern void cla_EST_setFm_Hz(EST_Handle handle,const float_t fm_Hz);
1432
1433
1437 extern void EST_setFm_lp_Hz(EST_Handle handle,const float_t fm_lp_Hz);
1438 extern void cla_EST_setFm_lp_Hz(EST_Handle handle,const float_t fm_lp_Hz);
1439
1440
1444 extern void EST_setFm_lp_rps(EST_Handle handle,const float_t fm_lp_rps);
1445 extern void cla_EST_setFm_lp_rps(EST_Handle handle,const float_t fm_lp_rps);
1446
1447
1451 extern void EST_setFm_rps(EST_Handle handle,const float_t fm_rps);
1452 extern void cla_EST_setFm_rps(EST_Handle handle,const float_t fm_rps);
1453
1454
1458 extern void EST_setFslip_Hz(EST_Handle handle,const float_t fslip_Hz);
1459 extern void cla_EST_setFslip_Hz(EST_Handle handle,const float_t fslip_Hz);
1460
1461
1465 extern void EST_setFslip_rps(EST_Handle handle,const float_t fslip_rps);
1466 extern void cla_EST_setFslip_rps(EST_Handle handle,const float_t fslip_rps);
1467
1468
1472 extern void EST_setForceAngleDelta_rad(EST_Handle handle,const float_t angleDelta_rad);
1473 extern void cla_EST_setForceAngleDelta_rad(EST_Handle handle,const float_t angleDelta_rad);
1474
1475
1480 extern void EST_setFreqBeta_lp(EST_Handle handle,const float_t beta_rad);
1481 extern void cla_EST_setFreqBeta_lp(EST_Handle handle,const float_t beta_rad);
1482
1483
1487 extern void EST_setId_ref_A(EST_Handle handle,const float_t Id_ref_A);
1488 extern void cla_EST_setId_ref_A(EST_Handle handle,const float_t Id_ref_A);
1489
1490
1493 extern void EST_setIdle(EST_Handle handle);
1494 extern void cla_EST_setIdle(EST_Handle handle);
1495
1496
1500 extern void EST_setIdq_ref_A(EST_Handle handle,const MATH_vec2 *pIdq_ref_A);
1501 extern void cla_EST_setIdq_ref_A(EST_Handle handle,const MATH_vec2 *pIdq_ref_A);
1502
1503
1507 extern void EST_setIdRated_A(EST_Handle handle,const float_t IdRated_A);
1508 extern void cla_EST_setIdRated_A(EST_Handle handle,const float_t IdRated_A);
1509
1510
1514 extern void EST_setIdRated_delta_A(EST_Handle handle,const float_t IdRated_delta_A);
1515 extern void cla_EST_setIdRated_delta_A(EST_Handle handle,const float_t IdRated_delta_A);
1516
1517
1521 extern void EST_setIntValue_Id_A(EST_Handle handle,const float_t intValue_A);
1522 extern void cla_EST_setIntValue_Id_A(EST_Handle handle,const float_t intValue_A);
1523
1524
1528 extern void EST_setIntValue_Iq_A(EST_Handle handle,const float_t intValue_A);
1529 extern void cla_EST_setIntValue_Iq_A(EST_Handle handle,const float_t intValue_A);
1530
1531
1535 extern void EST_setIntValue_spd_Hz(EST_Handle handle,const float_t intValue_Hz);
1536 extern void cla_EST_setIntValue_spd_Hz(EST_Handle handle,const float_t intValue_Hz);
1537
1538
1542 extern void EST_setIq_ref_A(EST_Handle handle,const float_t Iq_ref_A);
1543 extern void cla_EST_setIq_ref_A(EST_Handle handle,const float_t Iq_ref_A);
1544
1545
1549 extern void EST_setLhf_H(EST_Handle handle,const float_t Lhf_H);
1550 extern void cla_EST_setLhf_H(EST_Handle handle,const float_t Lhf_H);
1551
1552
1556 extern void EST_setLs_coarseDelta_H(EST_Handle handle,const float_t Ls_delta_H);
1557 extern void cla_EST_setLs_coarseDelta_H(EST_Handle handle,const float_t Ls_delta_H);
1558
1559
1563 extern void EST_setLs_d_H(EST_Handle handle,const float_t Ls_d_H);
1564 extern void cla_EST_setLs_d_H(EST_Handle handle,const float_t Ls_d_H);
1565
1566
1570 extern void EST_setLs_dq_H(EST_Handle handle,const MATH_vec2 *pLs_dq_H);
1571 extern void cla_EST_setLs_dq_H(EST_Handle handle,const MATH_vec2 *pLs_dq_H);
1572
1573
1577 extern void EST_setLs_fineDelta_H(EST_Handle handle,const float_t Ls_delta_H);
1578 extern void cla_EST_setLs_fineDelta_H(EST_Handle handle,const float_t Ls_delta_H);
1579
1580
1584 extern void EST_setLs_H(EST_Handle handle,const float_t Ls_H);
1585 extern void cla_EST_setLs_H(EST_Handle handle,const float_t Ls_H);
1586
1587
1591 extern void EST_setLs_q_H(EST_Handle handle,const float_t Ls_q_H);
1592 extern void cla_EST_setLs_q_H(EST_Handle handle,const float_t Ls_q_H);
1593
1594
1598 extern void EST_setNumIsrTicksPerEstTick(EST_Handle handle,const int_least16_t numIsrTicksPerEstTick);
1599 extern void cla_EST_setNumIsrTicksPerEstTick(EST_Handle handle,const int_least16_t numIsrTicksPerEstTick);
1600
1601
1605 extern void EST_setNumIsrTicksPerTrajTick(EST_Handle handle,const int_least16_t numIsrTicksPerTrajTick);
1606 extern void cla_EST_setNumIsrTicksPerTrajTick(EST_Handle handle,const int_least16_t numIsrTicksPerTrajTick);
1607
1608
1612 extern void EST_setMaxCurrentDelta_A(EST_Handle handle,const float_t maxCurrentDelta_A);
1613 extern void cla_EST_setMaxCurrentDelta_A(EST_Handle handle,const float_t maxCurrentDelta_A);
1614
1615
1620 extern void EST_setMaxCurrentDelta_pw_A(EST_Handle handle,const float_t maxCurrentDelta_A);
1621 extern void cla_EST_setMaxCurrentDelta_pw_A(EST_Handle handle,const float_t maxCurrentDelta_A);
1622
1623
1627 extern void EST_setMaxDelta_Id_A(EST_Handle handle,const float_t maxDelta_A);
1628 extern void cla_EST_setMaxDelta_Id_A(EST_Handle handle,const float_t maxDelta_A);
1629
1630
1634 extern void EST_setMaxDelta_Iq_A(EST_Handle handle,const float_t maxDelta_A);
1635 extern void cla_EST_setMaxDelta_Iq_A(EST_Handle handle,const float_t maxDelta_A);
1636
1637
1641 extern void EST_setMaxDelta_spd_Hz(EST_Handle handle,const float_t maxDelta_Hz);
1642 extern void cla_EST_setMaxDelta_spd_Hz(EST_Handle handle,const float_t maxDelta_Hz);
1643
1644
1648 extern void EST_setMaxSpeedDelta_Hz(EST_Handle handle,const float_t maxSpeedDelta_Hz);
1649 extern void cla_EST_setMaxSpeedDelta_Hz(EST_Handle handle,const float_t maxSpeedDelta_Hz);
1650
1651
1655 extern void EST_setMaxValue_Id_A(EST_Handle handle,const float_t maxValue_A);
1656 extern void cla_EST_setMaxValue_Id_A(EST_Handle handle,const float_t maxValue_A);
1657
1658
1662 extern void EST_setMaxValue_Iq_A(EST_Handle handle,const float_t maxValue_A);
1663 extern void cla_EST_setMaxValue_Iq_A(EST_Handle handle,const float_t maxValue_A);
1664
1665
1669 extern void EST_setMaxValue_spd_Hz(EST_Handle handle,const float_t maxValue_Hz);
1670 extern void cla_EST_setMaxValue_spd_Hz(EST_Handle handle,const float_t maxValue_Hz);
1671
1672
1676 extern void EST_setMinValue_Id_A(EST_Handle handle,const float_t minValue_A);
1677 extern void cla_EST_setMinValue_Id_A(EST_Handle handle,const float_t minValue_A);
1678
1679
1683 extern void EST_setMinValue_Iq_A(EST_Handle handle,const float_t minValue_A);
1684 extern void cla_EST_setMinValue_Iq_A(EST_Handle handle,const float_t minValue_A);
1685
1686
1690 extern void EST_setMinValue_spd_Hz(EST_Handle handle,const float_t minValue_Hz);
1691 extern void cla_EST_setMinValue_spd_Hz(EST_Handle handle,const float_t minValue_Hz);
1692
1693
1697 extern void EST_setParams(EST_Handle handle,USER_Params *pUserParams);
1698 extern void cla_EST_setParams(EST_Handle handle,USER_Params *pUserParams);
1699
1700
1704 extern void EST_setPwGain(EST_Handle handle,const float_t pwGain);
1705 extern void cla_EST_setPwGain(EST_Handle handle,const float_t pwGain);
1706
1707
1711 extern void EST_setRhf_Ohm(EST_Handle handle,const float_t Rhf_Ohm);
1712 extern void cla_EST_setRhf_Ohm(EST_Handle handle,const float_t Rhf_Ohm);
1713
1714
1718 extern void EST_setRoverL_rps(EST_Handle handle,const float_t RoverL_rps);
1719 extern void cla_EST_setRoverL_rps(EST_Handle handle,const float_t RoverL_rps);
1720
1721
1725 extern void EST_setRr_coarseDelta_Ohm(EST_Handle handle,const float_t Rr_coarseDelta_Ohm);
1726 extern void cla_EST_setRr_coarseDelta_Ohm(EST_Handle handle,const float_t Rr_coarseDelta_Ohm);
1727
1728
1732 extern void EST_setRr_d_Ohm(EST_Handle handle,const float_t Rr_d_Ohm);
1733 extern void cla_EST_setRr_d_Ohm(EST_Handle handle,const float_t Rr_d_Ohm);
1734
1735
1739 extern void EST_setRr_dq_Ohm(EST_Handle handle,const MATH_vec2 *pRr_dq_Ohm);
1740 extern void cla_EST_setRr_dq_Ohm(EST_Handle handle,const MATH_vec2 *pRr_dq_Ohm);
1741
1742
1746 extern void EST_setRr_fineDelta_Ohm(EST_Handle handle,const float_t Rr_fineDelta_Ohm);
1747 extern void cla_EST_setRr_fineDelta_Ohm(EST_Handle handle,const float_t Rr_fineDelta_Ohm);
1748
1749
1753 extern void EST_setRr_max_Ohm(EST_Handle handle,const float_t Rr_max_Ohm);
1754 extern void cla_EST_setRr_max_Ohm(EST_Handle handle,const float_t Rr_max_Ohm);
1755
1756
1760 extern void EST_setRr_min_Ohm(EST_Handle handle,const float_t Rr_min_Ohm);
1761 extern void cla_EST_setRr_min_Ohm(EST_Handle handle,const float_t Rr_min_Ohm);
1762
1763
1767 extern void EST_setRr_Ohm(EST_Handle handle,const float_t Rr_Ohm);
1768 extern void cla_EST_setRr_Ohm(EST_Handle handle,const float_t Rr_Ohm);
1769
1770
1774 extern void EST_setRr_q_Ohm(EST_Handle handle,const float_t Rr_q_Ohm);
1775 extern void cla_EST_setRr_q_Ohm(EST_Handle handle,const float_t Rr_q_Ohm);
1776
1777
1781 extern void EST_setRs_a_Ohm(EST_Handle handle,const float_t Rs_a_Ohm);
1782 extern void cla_EST_setRs_a_Ohm(EST_Handle handle,const float_t Rs_a_Ohm);
1783
1784
1788 extern void EST_setRs_ab_Ohm(EST_Handle handle,const MATH_vec2 *pRs_ab_Ohm);
1789 extern void cla_EST_setRs_ab_Ohm(EST_Handle handle,const MATH_vec2 *pRs_ab_Ohm);
1790
1791
1795 extern void EST_setRs_b_Ohm(EST_Handle handle,const float_t Rs_b_Ohm);
1796 extern void cla_EST_setRs_b_Ohm(EST_Handle handle,const float_t Rs_b_Ohm);
1797
1798
1802 extern void EST_setRs_coarseDelta_Ohm(EST_Handle handle,const float_t Rs_coarseDelta_Ohm);
1803 extern void cla_EST_setRs_coarseDelta_Ohm(EST_Handle handle,const float_t Rs_coarseDelta_Ohm);
1804
1805
1809 extern void EST_setRs_d_Ohm(EST_Handle handle,const float_t Rs_d_Ohm);
1810 extern void cla_EST_setRs_d_Ohm(EST_Handle handle,const float_t Rs_d_Ohm);
1811
1812
1816 extern void EST_setRs_dq_Ohm(EST_Handle handle,const MATH_vec2 *pRs_dq_Ohm);
1817 extern void cla_EST_setRs_dq_Ohm(EST_Handle handle,const MATH_vec2 *pRs_dq_Ohm);
1818
1819
1823 extern void EST_setRs_fineDelta_Ohm(EST_Handle handle,const float_t Rs_fineDelta_Ohm);
1824 extern void cla_EST_setRs_fineDelta_Ohm(EST_Handle handle,const float_t Rs_fineDelta_Ohm);
1825
1826
1830 extern void EST_setRs_Ohm(EST_Handle handle,const float_t Rs_Ohm);
1831 extern void cla_EST_setRs_Ohm(EST_Handle handle,const float_t Rs_Ohm);
1832
1833
1837 extern void EST_setRs_q_Ohm(EST_Handle handle,const float_t Rs_q_Ohm);
1838 extern void cla_EST_setRs_q_Ohm(EST_Handle handle,const float_t Rs_q_Ohm);
1839
1840
1844 extern void EST_setRsOnLine_beta_rad(EST_Handle handle,const float_t beta_rad);
1845 extern void cla_EST_setRsOnLine_beta_rad(EST_Handle handle,const float_t beta_rad);
1846
1847
1851 extern void EST_setRsOnLine_Ohm(EST_Handle handle,const float_t Rs_Ohm);
1852 extern void cla_EST_setRsOnLine_Ohm(EST_Handle handle,const float_t Rs_Ohm);
1853
1854
1858 extern void EST_setRsOnLineAngle_rad(EST_Handle handle,const float_t angle_rad);
1859 extern void cla_EST_setRsOnLineAngle_rad(EST_Handle handle,const float_t angle_rad);
1860
1861
1865 extern void EST_setRsOnLineAngleDelta_rad(EST_Handle handle,const float_t angleDelta_rad);
1866 extern void cla_EST_setRsOnLineAngleDelta_rad(EST_Handle handle,const float_t angleDelta_rad);
1867
1868
1872 extern void EST_setRsOnLineId_A(EST_Handle handle,const float_t Id_A);
1873 extern void cla_EST_setRsOnLineId_A(EST_Handle handle,const float_t Id_A);
1874
1875
1879 extern void EST_setRsOnLineId_mag_A(EST_Handle handle,const float_t Id_mag_A);
1880 extern void cla_EST_setRsOnLineId_mag_A(EST_Handle handle,const float_t Id_mag_A);
1881
1882
1892 extern void EST_setRsOnLineLpFilterParams(EST_Handle handle,const EST_RsOnLineFilterType_e filterType,
1893 const uint_least8_t filterNumber,
1894 const float_t b0,const float_t b1,const float_t a1,
1895 const float_t x1,const float_t y1);
1896 extern void cla_EST_setRsOnLineLpFilterParams(EST_Handle handle,const EST_RsOnLineFilterType_e filterType,
1897 const uint_least8_t filterNumber,
1898 const float_t b0,const float_t b1,const float_t a1,
1899 const float_t x1,const float_t y1);
1900
1901
1905 extern void EST_setSpeed_ref_Hz(EST_Handle handle,const float_t speed_ref_Hz);
1906 extern void cla_EST_setSpeed_ref_Hz(EST_Handle handle,const float_t speed_ref_Hz);
1907
1908
1912 extern void EST_setTargetValue_Id_A(EST_Handle handle,const float_t targetValue_A);
1913 extern void cla_EST_setTargetValue_Id_A(EST_Handle handle,const float_t targetValue_A);
1914
1915
1919 extern void EST_setTargetValue_Iq_A(EST_Handle handle,const float_t targetValue_A);
1920 extern void cla_EST_setTargetValue_Iq_A(EST_Handle handle,const float_t targetValue_A);
1921
1922
1926 extern void EST_setTargetValue_spd_Hz(EST_Handle handle,const float_t targetValue_Hz);
1927 extern void cla_EST_setTargetValue_spd_Hz(EST_Handle handle,const float_t targetValue_Hz);
1928
1929
1935 extern void EST_setupTraj(EST_Handle handle,
1936 CTRL_Handle ctrlHandle,
1937 const float_t targetValue_spd_Hz,
1938 const float_t targetValue_Id_A);
1939 extern void cla_EST_setupTraj(EST_Handle handle,
1940 CTRL_Handle ctrlHandle,
1941 const float_t targetValue_spd_Hz,
1942 const float_t targetValue_Id_A);
1943
1944
1948 extern void EST_updateId_ref_A(EST_Handle handle,float_t *pId_ref_A);
1949 extern void cla_EST_updateId_ref_A(EST_Handle handle,float_t *pId_ref_A);
1950
1951
1956 extern bool EST_updateState(EST_Handle handle,const float_t Id_target_A);
1957 extern bool cla_EST_updateState(EST_Handle handle,const float_t Id_target_A);
1958
1959
1963 extern bool EST_updateTrajState(EST_Handle handle);
1964 extern bool cla_EST_updateTrajState(EST_Handle handle);
1965
1966
1970 extern bool EST_useZeroIq_ref(EST_Handle handle);
1971 extern bool cla_EST_useZeroIq_ref(EST_Handle handle);
1972
1973
1974 #ifdef __cplusplus
1975 }
1976 #endif // extern "C"
1977
1979 #endif // end of _EST_H_ definition
1980
cla_EST_getIntValue_Iq_A
float_t cla_EST_getIntValue_Iq_A(EST_Handle handle)
cla_EST_getMaxCurrentDelta_A
float_t cla_EST_getMaxCurrentDelta_A(EST_Handle handle)
cla_EST_configureCtrl
void cla_EST_configureCtrl(EST_Handle handle, CTRL_Handle ctrlHandle)
cla_EST_computeLmag_H
float_t cla_EST_computeLmag_H(EST_Handle handle, const float_t current_A)
EST_isError
bool EST_isError(EST_Handle handle)
Determines if there is an estimator error.
EST_setRr_coarseDelta_Ohm
void EST_setRr_coarseDelta_Ohm(EST_Handle handle, const float_t Rr_coarseDelta_Ohm)
Sets the coarse delta rotor resistance value in the estimator.
EST_getRsOnLine_Ohm
float_t EST_getRsOnLine_Ohm(EST_Handle handle)
Gets the online stator resistance value in Ohms ( ).
EST_enableTraj
void EST_enableTraj(EST_Handle handle)
Enables the estimator trajectory generator.
EST_run
void EST_run(EST_Handle handle, const EST_InputData_t *pInputData, EST_OutputData_t *pOutputData)
Runs the estimator.
cla_EST_isLockRotor
bool cla_EST_isLockRotor(EST_Handle handle)
EST_setFlag_enableForceAngle
void EST_setFlag_enableForceAngle(EST_Handle handle, const bool state)
Sets the enable force angle flag in the estimator.
cla_EST_getRsOnLineId_A
float_t cla_EST_getRsOnLineId_A(EST_Handle handle)
cla_EST_getLs_dq_H
void cla_EST_getLs_dq_H(EST_Handle handle, MATH_vec2 *pLs_dq_H)
cla_EST_getSpeed_rpm
float_t cla_EST_getSpeed_rpm(EST_Handle handle)
cla_EST_setupTraj
void cla_EST_setupTraj(EST_Handle handle, CTRL_Handle ctrlHandle, const float_t targetValue_spd_Hz, const float_t targetValue_Id_A)
cla_EST_getSignOfDirection
int_least8_t cla_EST_getSignOfDirection(EST_Handle handle)
EST_setCount_traj
void EST_setCount_traj(EST_Handle handle, const int_least16_t value)
Sets the ISR count value in the estimator trajectory.
cla_EST_getTrajState
EST_Traj_State_e cla_EST_getTrajState(EST_Handle handle)
EST_resetTrajCounter_isr
void EST_resetTrajCounter_isr(EST_Handle handle)
Resets the trajectory ISR counter.
cla_EST_getIab_A
void cla_EST_getIab_A(EST_Handle handle, MATH_vec2 *pIab_A)
cla_EST_enableTraj
void cla_EST_enableTraj(EST_Handle handle)
cla_EST_setIdRated_A
void cla_EST_setIdRated_A(EST_Handle handle, const float_t IdRated_A)
EST_getRs_ab_Ohm
void EST_getRs_ab_Ohm(EST_Handle handle, MATH_vec2 *pRs_ab_Ohm)
Gets the alpha/beta stator resistance values from the estimator in Ohms ( ).
EST_computePower_W
float_t EST_computePower_W(EST_Handle handle)
Computes the power in Watts (W)
_EST_OutputData_::angle_rad
float_t angle_rad
the estimated angle value at t = m+1, rad
Definition: float/est.h:70
cla_EST_getLs_fineDelta_H
float_t cla_EST_getLs_fineDelta_H(EST_Handle handle)
cla_EST_setFlag_enableRsRecalc
void cla_EST_setFlag_enableRsRecalc(EST_Handle handle, const bool state)
EST_getTargetValue_Iq_A
float_t EST_getTargetValue_Iq_A(EST_Handle handle)
Gets the target value from the Iq trajectory generator.
EST_getFlag_enableForceAngle
bool EST_getFlag_enableForceAngle(EST_Handle handle)
Gets the enable force angle flag value from the estimator.
EST_getFlag_estComplete
bool EST_getFlag_estComplete(EST_Handle handle)
Gets the value of the flag which denotes when the estimation is complete.
EST_setRsOnLineLpFilterParams
void EST_setRsOnLineLpFilterParams(EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint_least8_t filterNumber, const float_t b0, const float_t b1, const float_t a1, const float_t x1, const float_t y1)
Sets the online stator resistance filter parameters.
cla_EST_setFm_Hz
void cla_EST_setFm_Hz(EST_Handle handle, const float_t fm_Hz)
EST_setFm_lp_Hz
void EST_setFm_lp_Hz(EST_Handle handle, const float_t fm_lp_Hz)
Sets the low pass filtered asynchronous/mechanical frequency in the estimator.
EST_getFlux_Wb
float_t EST_getFlux_Wb(EST_Handle handle)
Gets the flux value in Webers (Wb).
cla_EST_setIntValue_spd_Hz
void cla_EST_setIntValue_spd_Hz(EST_Handle handle, const float_t intValue_Hz)
EST_setForceAngleDelta_rad
void EST_setForceAngleDelta_rad(EST_Handle handle, const float_t angleDelta_rad)
Sets the force angle delta value in the estimator in radians (rad).
EST_incrTrajCounter_isr
void EST_incrTrajCounter_isr(EST_Handle handle)
Increments the ISR counter in the trajectory generator.
cla_EST_setRs_a_Ohm
void cla_EST_setRs_a_Ohm(EST_Handle handle, const float_t Rs_a_Ohm)
cla_EST_getFlag_motorIdentified
bool cla_EST_getFlag_motorIdentified(EST_Handle handle)
_EST_OutputData_::fslip_rps
float_t fslip_rps
the slip frequency estimate, rad/sec
Definition: float/est.h:76
EST_setRsOnLineId_mag_A
void EST_setRsOnLineId_mag_A(EST_Handle handle, const float_t Id_mag_A)
Sets the Id magnitude value used for online stator resistance estimation in Ampere (A)...
cla_EST_getIab_lp_A
void cla_EST_getIab_lp_A(EST_Handle handle, MATH_vec2 *pIab_lp_A)
cla_EST_updateTrajState
bool cla_EST_updateTrajState(EST_Handle handle)
EST_ErrorCode_e
EST_ErrorCode_e
Enumeration for the estimator error codes.
Definition: est_states.h:38
EST_getRr_coarseDelta_Ohm
float_t EST_getRr_coarseDelta_Ohm(EST_Handle handle)
Gets the coarse delta rotor resistance value from the estimator.
EST_updateState
bool EST_updateState(EST_Handle handle, const float_t Id_target_A)
Updates the estimator state.
cla_EST_setIdRated_delta_A
void cla_EST_setIdRated_delta_A(EST_Handle handle, const float_t IdRated_delta_A)
cla_EST_setId_ref_A
void cla_EST_setId_ref_A(EST_Handle handle, const float_t Id_ref_A)
cla_EST_setRsOnLine_Ohm
void cla_EST_setRsOnLine_Ohm(EST_Handle handle, const float_t Rs_Ohm)
cla_EST_getTorque_sf
float_t cla_EST_getTorque_sf(EST_Handle handle)
EST_getRr_q_Ohm
float_t EST_getRr_q_Ohm(EST_Handle handle)
Gets the quadrature rotor resistance value in Ohms ( ).
cla_EST_computeTorque_Nm
float_t cla_EST_computeTorque_Nm(EST_Handle handle)
EST_getIdq_lp_A
void EST_getIdq_lp_A(EST_Handle handle, MATH_vec2 *pIdq_lp_A)
Gets the Idq low pass filtered current vector in Ampere (A).
EST_setRr_min_Ohm
void EST_setRr_min_Ohm(EST_Handle handle, const float_t Rr_min_Ohm)
Sets the minimum rotor resistance value for saturation.
EST_getDcBus_V
float_t EST_getDcBus_V(EST_Handle handle)
Gets the DC bus value from the estimator in volts (V)
cla_EST_getRr_q_Ohm
float_t cla_EST_getRr_q_Ohm(EST_Handle handle)
EST_setCount_state
void EST_setCount_state(EST_Handle handle, const int_least32_t value)
Sets the state count in the estimator.
EST_getOneOverDcBus_invV
float_t EST_getOneOverDcBus_invV(EST_Handle handle)
Gets the inverse of the DC bus voltage in 1/Volt (1/V).
cla_EST_getIdq_lp_A
void cla_EST_getIdq_lp_A(EST_Handle handle, MATH_vec2 *pIdq_lp_A)
cla_EST_setPwGain
void cla_EST_setPwGain(EST_Handle handle, const float_t pwGain)
cla_EST_getVdq_V
void cla_EST_getVdq_V(EST_Handle handle, MATH_vec2 *pVdq_V)
EST_setAngle_est_rad
void EST_setAngle_est_rad(EST_Handle handle, const float_t angle_rad)
Sets the angle value at t = n in the estimator in radians (rad).
_EST_InputData_::timeStamp
int_least32_t timeStamp
a time stamp for the input data buffer
Definition: float/est.h:55
EST_setRs_a_Ohm
void EST_setRs_a_Ohm(EST_Handle handle, const float_t Rs_a_Ohm)
Sets the alpha stator resistance value used in the estimator in Ohm ( ).
cla_EST_getLhf_H
float_t cla_EST_getLhf_H(EST_Handle handle)
EST_getFreqBeta_lp
float_t EST_getFreqBeta_lp(EST_Handle handle)
Gets the value used to set the pole location in the low-pass filter of the frequency estimator in rad...
EST_OutputData_t
struct _EST_OutputData_ EST_OutputData_t
Defines the estimator (EST) output data.
EST_getRoverL_rps
float_t EST_getRoverL_rps(EST_Handle handle)
Gets the R/L value from the estimator.
EST_setRr_d_Ohm
void EST_setRr_d_Ohm(EST_Handle handle, const float_t Rr_d_Ohm)
Sets the direct rotor resistance value used in the estimator in Ohm ( ).
cla_EST_get_rps_to_rpm_sf
float_t cla_EST_get_rps_to_rpm_sf(EST_Handle handle)
cla_EST_getFlux_Wb
float_t cla_EST_getFlux_Wb(EST_Handle handle)
EST_getRsOnLineLpFilterParams
void EST_getRsOnLineLpFilterParams(EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint_least8_t filterNumber, float_t *b0, float_t *b1, float_t *a1, float_t *x1, float_t *y1)
Gets the online stator resistance filter parameters.
EST_setCount_isr
void EST_setCount_isr(EST_Handle handle, const int_least16_t value)
Sets the ISR count in the estimator.
cla_EST_getAngleDelta_est_rad
float_t cla_EST_getAngleDelta_est_rad(EST_Handle handle)
EST_getFlag_enablePowerWarp
bool EST_getFlag_enablePowerWarp(EST_Handle handle)
Gets the enable power warp flag value from the trajectory generator.
EST_setMaxCurrentDelta_pw_A
void EST_setMaxCurrentDelta_pw_A(EST_Handle handle, const float_t maxCurrentDelta_A)
Sets the maximum power warp current delta value used in the estimator in Ampere (A).
cla_EST_setFe_rps
void cla_EST_setFe_rps(EST_Handle handle, const float_t fe_rps)
math.h
Contains the public interface to the math (MATH) module routines.
EST_getFlag_motorIdentified
bool EST_getFlag_motorIdentified(EST_Handle handle)
Gets the motor identified flag state in the estimator.
_MATH_vec2_
Defines a two element vector.
Definition: 32b/math.h:248
EST_getIntValue_Iq_A
float_t EST_getIntValue_Iq_A(EST_Handle handle)
Gets the intermediate value from the Iq trajectory generator.
EST_setRsOnLineAngle_rad
void EST_setRsOnLineAngle_rad(EST_Handle handle, const float_t angle_rad)
Sets the angle value in the estimator.
EST_setLs_d_H
void EST_setLs_d_H(EST_Handle handle, const float_t Ls_d_H)
Sets the direct stator inductance value in the estimator in Henry (H).
cla_EST_setFm_lp_rps
void cla_EST_setFm_lp_rps(EST_Handle handle, const float_t fm_lp_rps)
EST_getCount_isr
int_least16_t EST_getCount_isr(EST_Handle handle)
Gets the ISR count from the estimator.
cla_EST_setRs_dq_Ohm
void cla_EST_setRs_dq_Ohm(EST_Handle handle, const MATH_vec2 *pRs_dq_Ohm)
cla_EST_getAngleDelta_traj_rad
float_t cla_EST_getAngleDelta_traj_rad(EST_Handle handle)
EST_setMinValue_spd_Hz
void EST_setMinValue_spd_Hz(EST_Handle handle, const float_t minValue_Hz)
Sets the minimum value in the speed trajectory generator.
EST_isOnLine
bool EST_isOnLine(EST_Handle handle)
Determines if the estimator is ready for online control.
cla_EST_setRr_max_Ohm
void cla_EST_setRr_max_Ohm(EST_Handle handle, const float_t Rr_max_Ohm)
cla_EST_getMaxValue_Iq_A
float_t cla_EST_getMaxValue_Iq_A(EST_Handle handle)
EST_getLhf_H
float_t EST_getLhf_H(EST_Handle handle)
Gets the Lhf value from the estimator.
EST_getFlag_updateRs
bool EST_getFlag_updateRs(EST_Handle handle)
Gets the value of the flag which enables the updating of the stator resistance (Rs) value...
EST_setFslip_rps
void EST_setFslip_rps(EST_Handle handle, const float_t fslip_rps)
Sets the slip frequency in the estimator.
EST_setMinValue_Iq_A
void EST_setMinValue_Iq_A(EST_Handle handle, const float_t minValue_A)
Sets the minimum value in the Iq trajectory generator.
EST_setTargetValue_Id_A
void EST_setTargetValue_Id_A(EST_Handle handle, const float_t targetValue_A)
Sets the target value in the Id trajectory generator.
cla_EST_setRr_Ohm
void cla_EST_setRr_Ohm(EST_Handle handle, const float_t Rr_Ohm)
cla_EST_getFm_lp_Hz
float_t cla_EST_getFm_lp_Hz(EST_Handle handle)
cla_EST_getFslip_rps
float_t cla_EST_getFslip_rps(EST_Handle handle)
EST_setFm_Hz
void EST_setFm_Hz(EST_Handle handle, const float_t fm_Hz)
Sets the asynchronous/mechanical frequency in the estimator.
EST_Handle
struct _EST_Obj_ * EST_Handle
Defines the estimator (EST) handle.
Definition: float/est.h:89
_EST_OutputData_::fmDot_rps2
float_t fmDot_rps2
the mechanical acceleration estimate, rad/sec^2
Definition: float/est.h:75
EST_setIdle
void EST_setIdle(EST_Handle handle)
Sets the estimator to idle.
EST_setDcBus_V
void EST_setDcBus_V(EST_Handle handle, const float_t dcBus_V)
Sets the DC bus voltage in the estimator in Volt (V).
cla_EST_setRsOnLineId_A
void cla_EST_setRsOnLineId_A(EST_Handle handle, const float_t Id_A)
cla_EST_setFlag_enable
void cla_EST_setFlag_enable(EST_Handle handle, const bool state)
cla_EST_setRhf_Ohm
void cla_EST_setRhf_Ohm(EST_Handle handle, const float_t Rhf_Ohm)
cla_EST_isEnabled
bool cla_EST_isEnabled(EST_Handle handle)
EST_setRs_ab_Ohm
void EST_setRs_ab_Ohm(EST_Handle handle, const MATH_vec2 *pRs_ab_Ohm)
Sets the alpha/beta stator resistance values used in the estimator in Ohm ( ).
cla_EST_setParams
void cla_EST_setParams(EST_Handle handle, USER_Params *pUserParams)
EST_incrCounter_isr
void EST_incrCounter_isr(EST_Handle handle)
Increments the ISR counter in the estimator.
cla_EST_setMaxCurrentDelta_pw_A
void cla_EST_setMaxCurrentDelta_pw_A(EST_Handle handle, const float_t maxCurrentDelta_A)
cla_EST_setAngleDelta_traj_rad
void cla_EST_setAngleDelta_traj_rad(EST_Handle handle, const float_t delta_rad)
EST_getSpeed_ref_Hz
float_t EST_getSpeed_ref_Hz(EST_Handle handle)
Gets the reference speed value from the estimator.
ctrl_obj.h
Defines the structures for the CTRL object.
cla_EST_setNumIsrTicksPerEstTick
void cla_EST_setNumIsrTicksPerEstTick(EST_Handle handle, const int_least16_t numIsrTicksPerEstTick)
EST_getRr_d_Ohm
float_t EST_getRr_d_Ohm(EST_Handle handle)
Gets the direct rotor resistance value in Ohm ( ).
cla_EST_getRs_q_Ohm
float_t cla_EST_getRs_q_Ohm(EST_Handle handle)
EST_getRs_coarseDelta_Ohm
float_t EST_getRs_coarseDelta_Ohm(EST_Handle handle)
Gets the coarse delta stator resistance value from the estimator.
EST_getIab_beta_lp
float_t EST_getIab_beta_lp(EST_Handle handle)
Gets the beta value for the Iab low pass filter.
_CTRL_Obj_
Defines the controller (CTRL) object.
Definition: 32b/ctrl_obj.h:144
EST_getAngleDelta_traj_rad
float_t EST_getAngleDelta_traj_rad(EST_Handle handle)
Gets the angle delta estimate for t = n+1 from the trajectory in radians (rad).
_USER_Params_
Defines a structure for the user parameters.
Definition: fast/src/32b/userParams.h:193
cla_EST_getRsOnLineId_mag_A
float_t cla_EST_getRsOnLineId_mag_A(EST_Handle handle)
EST_getFe_abs_max_rps
float_t EST_getFe_abs_max_rps(EST_Handle handle)
Gets the absolute maximum electrical frequency of the motor in rad/sec.
cla_EST_getMinValue_Id_A
float_t cla_EST_getMinValue_Id_A(EST_Handle handle)
EST_getFslip_rps
float_t EST_getFslip_rps(EST_Handle handle)
Gets the slip frequency of the motor in rad/sec.
cla_EST_getIab_beta_lp
float_t cla_EST_getIab_beta_lp(EST_Handle handle)
EST_isEnabled
bool EST_isEnabled(EST_Handle handle)
Determines if the estimator (EST) is enabled.
cla_EST_getMaxDelta_Iq_A
float_t cla_EST_getMaxDelta_Iq_A(EST_Handle handle)
EST_getMaxValue_spd_Hz
float_t EST_getMaxValue_spd_Hz(EST_Handle handle)
Gets the maximum value from the speed trajectory generator.
cla_EST_getAngleDelta_rad
float_t cla_EST_getAngleDelta_rad(EST_Handle handle)
cla_EST_configureTraj
void cla_EST_configureTraj(EST_Handle handle)
cla_EST_setIntValue_Iq_A
void cla_EST_setIntValue_Iq_A(EST_Handle handle, const float_t intValue_A)
EST_setupTraj
void EST_setupTraj(EST_Handle handle, CTRL_Handle ctrlHandle, const float_t targetValue_spd_Hz, const float_t targetValue_Id_A)
Sets up the trajectory generator.
cla_EST_isIdle
bool cla_EST_isIdle(EST_Handle handle)
EST_setMaxDelta_spd_Hz
void EST_setMaxDelta_spd_Hz(EST_Handle handle, const float_t maxDelta_Hz)
Sets the maximum delta value in the speed trajectory generator.
cla_EST_setFm_lp_Hz
void cla_EST_setFm_lp_Hz(EST_Handle handle, const float_t fm_lp_Hz)
EST_getAccel_rps2
float_t EST_getAccel_rps2(EST_Handle handle)
Gets the mechanical acceleration from the estimator.
cla_EST_setRs_coarseDelta_Ohm
void cla_EST_setRs_coarseDelta_Ohm(EST_Handle handle, const float_t Rs_coarseDelta_Ohm)
EST_getAngleDelta_rad
float_t EST_getAngleDelta_rad(EST_Handle handle)
Gets the angle delta estimate for t = n+1 from the estimator.
EST_setParams
void EST_setParams(EST_Handle handle, USER_Params *pUserParams)
Sets the estimator parameters using the user parameters structreu.
cla_EST_getTargetValue_Iq_A
float_t cla_EST_getTargetValue_Iq_A(EST_Handle handle)
EST_setFm_rps
void EST_setFm_rps(EST_Handle handle, const float_t fm_rps)
Sets the asynchronous/mechanical frequency in the estimator.
cla_EST_getAngle_rad
float_t cla_EST_getAngle_rad(EST_Handle handle)
_EST_OutputData_::Eab_V
MATH_vec2 Eab_V
the alpha/beta back-EMF estimates, V
Definition: float/est.h:78
cla_EST_getRs_fineDelta_Ohm
float_t cla_EST_getRs_fineDelta_Ohm(EST_Handle handle)
EST_getFslip_Hz
float_t EST_getFslip_Hz(EST_Handle handle)
Gets the slip frequency of the motor in Hertz (Hz).
_EST_OutputData_::timeStamp
int_least32_t timeStamp
a time stamp for the output data buffer
Definition: float/est.h:68
cla_EST_setAngle_rad
void cla_EST_setAngle_rad(EST_Handle handle, const float_t angle_rad)
cla_EST_getAngle_traj_rad
float_t cla_EST_getAngle_traj_rad(EST_Handle handle)
EST_get_rpm_to_rps_sf
float_t EST_get_rpm_to_rps_sf(EST_Handle handle)
Gets the rpm to rad/sec scale factor.
EST_configureTraj
void EST_configureTraj(EST_Handle handle)
Configures the trajectory generator for each of the estimator states.
cla_EST_setLs_q_H
void cla_EST_setLs_q_H(EST_Handle handle, const float_t Ls_q_H)
EST_setRr_fineDelta_Ohm
void EST_setRr_fineDelta_Ohm(EST_Handle handle, const float_t Rr_fineDelta_Ohm)
Sets the fine delta rotor resistance value in the estimator.
est_states.h
Contains the states for the estimator (EST) module routines.
cla_EST_doCurrentCtrl
bool cla_EST_doCurrentCtrl(EST_Handle handle)
EST_setAngleDelta_traj_rad
void EST_setAngleDelta_traj_rad(EST_Handle handle, const float_t delta_rad)
Sets the trajectory angle delta value.
EST_setFm_lp_rps
void EST_setFm_lp_rps(EST_Handle handle, const float_t fm_lp_rps)
Sets the low pass filtered asynchronous/mechanical frequency in the estimator.
EST_setAccel_rps2
void EST_setAccel_rps2(EST_Handle handle, const float_t accel_rps2)
Sets the mechanical acceleration in the estimator.
EST_setRs_b_Ohm
void EST_setRs_b_Ohm(EST_Handle handle, const float_t Rs_b_Ohm)
Sets the beta stator resistance value used in the estimator in Ohm ( ).
EST_setLs_H
void EST_setLs_H(EST_Handle handle, const float_t Ls_H)
Sets the stator inductance value in the estimator in Henry (H).
cla_EST_getFlag_updateRs
bool cla_EST_getFlag_updateRs(EST_Handle handle)
cla_EST_getRr_fineDelta_Ohm
float_t cla_EST_getRr_fineDelta_Ohm(EST_Handle handle)
cla_EST_setFlag_estComplete
void cla_EST_setFlag_estComplete(EST_Handle handle, const bool state)
cla_EST_setLs_H
void cla_EST_setLs_H(EST_Handle handle, const float_t Ls_H)
EST_setFlag_updateRs
void EST_setFlag_updateRs(EST_Handle handle, const bool state)
Sets the update stator resistance (Rs) flag in the estimator.
cla_EST_getFe_rps
float_t cla_EST_getFe_rps(EST_Handle handle)
EST_computeTorque_Nm
float_t EST_computeTorque_Nm(EST_Handle handle)
Computes the torque value in per Newton-meter (Nm)
EST_isTrajEnabled
bool EST_isTrajEnabled(EST_Handle handle)
Determines if the trajectory generator is enabled.
cla_EST_setLs_fineDelta_H
void cla_EST_setLs_fineDelta_H(EST_Handle handle, const float_t Ls_delta_H)
EST_setMaxCurrentDelta_A
void EST_setMaxCurrentDelta_A(EST_Handle handle, const float_t maxCurrentDelta_A)
Sets the maximum current delta value in the estimator in Ampere (A).
_EST_InputData_::speed_ref_Hz
float_t speed_ref_Hz
the speed reference value, Hz
Definition: float/est.h:60
cla_EST_getRsOnLine_Ohm
float_t cla_EST_getRsOnLine_Ohm(EST_Handle handle)
EST_getRsOnLineAngle_rad
float_t EST_getRsOnLineAngle_rad(EST_Handle handle)
Gets the angle value from the estimator.
cla_EST_getRhf_Ohm
float_t cla_EST_getRhf_Ohm(EST_Handle handle)
cla_EST_setForceAngleDelta_rad
void cla_EST_setForceAngleDelta_rad(EST_Handle handle, const float_t angleDelta_rad)
EST_setIntValue_Id_A
void EST_setIntValue_Id_A(EST_Handle handle, const float_t intValue_A)
Sets the intermediate value in the Id trajectory generator.
EST_getIntValue_Id_A
float_t EST_getIntValue_Id_A(EST_Handle handle)
Gets the intermediate value from the Id trajectory generator.
cla_EST_setRs_d_Ohm
void cla_EST_setRs_d_Ohm(EST_Handle handle, const float_t Rs_d_Ohm)
EST_getFm_lp_Hz
float_t EST_getFm_lp_Hz(EST_Handle handle)
Gets the low pass filtered mechanical frequency of the motor in Hz.
EST_setIq_ref_A
void EST_setIq_ref_A(EST_Handle handle, const float_t Iq_ref_A)
Sets the quadrature current (Iq) reference value in the estimator in Ampere (A).
cla_EST_getFlag_nearZeroSpeed
bool cla_EST_getFlag_nearZeroSpeed(EST_Handle handle)
cla_EST_getRs_a_Ohm
float_t cla_EST_getRs_a_Ohm(EST_Handle handle)
EST_setTargetValue_Iq_A
void EST_setTargetValue_Iq_A(EST_Handle handle, const float_t targetValue_A)
Sets the target value in the Iq trajectory generator.
EST_setLhf_H
void EST_setLhf_H(EST_Handle handle, const float_t Lhf_H)
Sets the Lhf value in the estimator.
EST_setAngle_np1_rad
void EST_setAngle_np1_rad(EST_Handle handle, const float_t angle_np1_rad)
Sets the angle value at t = n+1 in the estimator in radians (rad).
cla_EST_getFe_Hz
float_t cla_EST_getFe_Hz(EST_Handle handle)
cla_EST_runPowerWarp
float_t cla_EST_runPowerWarp(EST_Handle handle, const float_t Id_int_A, const float_t Iq_A)
EST_enable
void EST_enable(EST_Handle handle)
Enables the estimator.
cla_EST_getFlag_enableForceAngle
bool cla_EST_getFlag_enableForceAngle(EST_Handle handle)
cla_EST_setRsOnLineAngleDelta_rad
void cla_EST_setRsOnLineAngleDelta_rad(EST_Handle handle, const float_t angleDelta_rad)
cla_EST_getState
EST_State_e cla_EST_getState(EST_Handle handle)
EST_getFlag_enableRsOnLine
bool EST_getFlag_enableRsOnLine(EST_Handle handle)
Gets the value of the flag which enables online stator resistance (Rs) estimation.
EST_getLs_d_H
float_t EST_getLs_d_H(EST_Handle handle)
Gets the direct stator inductance value in Henries (H).
EST_setFlag_enableRsRecalc
void EST_setFlag_enableRsRecalc(EST_Handle handle, const bool state)
Sets the enable stator resistance (Rs) re-calculation flag in the estimator.
cla_EST_setRr_q_Ohm
void cla_EST_setRr_q_Ohm(EST_Handle handle, const float_t Rr_q_Ohm)
cla_EST_updateId_ref_A
void cla_EST_updateId_ref_A(EST_Handle handle, float_t *pId_ref_A)
cla_EST_getMaxCurrentDelta_pw_A
float_t cla_EST_getMaxCurrentDelta_pw_A(EST_Handle handle)
EST_getRs_dq_Ohm
void EST_getRs_dq_Ohm(EST_Handle handle, MATH_vec2 *pRs_dq_Ohm)
Gets the direct/quadrature stator resistance values from the estimator in Ohms ( ).
EST_isNotOnLine
bool EST_isNotOnLine(EST_Handle handle)
Determines if the estimator is not ready for online control.
EST_getForceAngleStatus
bool EST_getForceAngleStatus(EST_Handle handle)
Gets the status of the force angle operation in the estimator.
EST_getIdq_A
void EST_getIdq_A(EST_Handle handle, MATH_vec2 *pIdq_A)
Gets the Idq current vector in Ampere (A)
EST_configureCtrl
void EST_configureCtrl(EST_Handle handle, CTRL_Handle ctrlHandle)
Configures the controller for each of the estimator states.
cla_EST_setRr_d_Ohm
void cla_EST_setRr_d_Ohm(EST_Handle handle, const float_t Rr_d_Ohm)
EST_setRs_Ohm
void EST_setRs_Ohm(EST_Handle handle, const float_t Rs_Ohm)
Sets the stator resistance value used in the estimator in Ohm ( ).
EST_setFlag_enablePowerWarp
void EST_setFlag_enablePowerWarp(EST_Handle handle, const bool state)
Sets the enable PowerWarp flag in the estimator.
cla_EST_getVdq_lp_V
void cla_EST_getVdq_lp_V(EST_Handle handle, MATH_vec2 *pVdq_lp_V)
EST_getFlag_nearZeroSpeed
bool EST_getFlag_nearZeroSpeed(EST_Handle handle)
Gets the near zero speed flag state.
EST_State_e
EST_State_e
Enumeration for the estimator states.
Definition: est_states.h:51
EST_setLs_fineDelta_H
void EST_setLs_fineDelta_H(EST_Handle handle, const float_t Ls_delta_H)
Sets the delta stator inductance value during fine estimation.
EST_getMaxDelta_spd_Hz
float_t EST_getMaxDelta_spd_Hz(EST_Handle handle)
Gets the maximum delta value from the speed trajectory generator.
cla_EST_isMotorIdentified
bool cla_EST_isMotorIdentified(EST_Handle handle)
EST_getLs_H
float_t EST_getLs_H(EST_Handle handle)
Gets the stator inductance value in Henry (H)
EST_getAngle_traj_rad
float_t EST_getAngle_traj_rad(EST_Handle handle)
Gets the trajectory angle from the estimator.
cla_EST_isError
bool cla_EST_isError(EST_Handle handle)
EST_setMaxDelta_Iq_A
void EST_setMaxDelta_Iq_A(EST_Handle handle, const float_t maxDelta_A)
Sets the maximum delta value in the Iq trajectory generator.
EST_getErrorCode
EST_ErrorCode_e EST_getErrorCode(EST_Handle handle)
Gets the error code from the estimator.
EST_setFreqBeta_lp
void EST_setFreqBeta_lp(EST_Handle handle, const float_t beta_rad)
Sets the value used to set the low pass filter pole location in the frequency estimator in radians (r...
cla_EST_setMaxDelta_spd_Hz
void cla_EST_setMaxDelta_spd_Hz(EST_Handle handle, const float_t maxDelta_Hz)
EST_getVab_V
void EST_getVab_V(EST_Handle handle, MATH_vec2 *pVab_V)
Gets the Vab voltage vector in Volts (V)
EST_doSpeedCtrl
bool EST_doSpeedCtrl(EST_Handle handle)
Determines if speed control should be performed during motor identification.
cla_EST_setLs_dq_H
void cla_EST_setLs_dq_H(EST_Handle handle, const MATH_vec2 *pLs_dq_H)
EST_setRs_q_Ohm
void EST_setRs_q_Ohm(EST_Handle handle, const float_t Rs_q_Ohm)
Sets the quadrature stator resistance value used in the estimator in Ohm ( ).
EST_setNumIsrTicksPerTrajTick
void EST_setNumIsrTicksPerTrajTick(EST_Handle handle, const int_least16_t numIsrTicksPerTrajTick)
Sets the number of Interrupt Service Routine (ISR) clock ticks per estimator trajectory clock tick...
cla_EST_getNumIsrTicksPerTrajTick
int_least16_t cla_EST_getNumIsrTicksPerTrajTick(EST_Handle handle)
cla_EST_isNotOnLine
bool cla_EST_isNotOnLine(EST_Handle handle)
cla_EST_setRs_fineDelta_Ohm
void cla_EST_setRs_fineDelta_Ohm(EST_Handle handle, const float_t Rs_fineDelta_Ohm)
EST_setIntValue_Iq_A
void EST_setIntValue_Iq_A(EST_Handle handle, const float_t intValue_A)
Sets the intermediate value in the Iq trajectory generator.
EST_initEst
EST_Handle EST_initEst(const uint_least8_t estNumber)
Initializes the estimator.
cla_EST_setRr_min_Ohm
void cla_EST_setRr_min_Ohm(EST_Handle handle, const float_t Rr_min_Ohm)
EST_setFe_abs_max_rps
void EST_setFe_abs_max_rps(EST_Handle handle, const float_t fe_abs_max_rps)
Sets the absolute maximum electrical frequency in the estimator.
cla_EST_getForceAngleDelta_rad
float_t cla_EST_getForceAngleDelta_rad(EST_Handle handle)
EST_setMinValue_Id_A
void EST_setMinValue_Id_A(EST_Handle handle, const float_t minValue_A)
Sets the minimum value in the Id trajectory generator.
cla_EST_getDcBus_V
float_t cla_EST_getDcBus_V(EST_Handle handle)
cla_EST_getRsOnLineAngle_rad
float_t cla_EST_getRsOnLineAngle_rad(EST_Handle handle)
EST_getIdRated_A
float_t EST_getIdRated_A(EST_Handle handle)
Gets the Id rated current value from the estimator in Ampere (A).
cla_EST_getFluxState
EST_Flux_State_e cla_EST_getFluxState(EST_Handle handle)
_EST_OutputData_::fm_lp_rps
float_t fm_lp_rps
the low pass filtered mechanical frequency estimate, rad/sec
Definition: float/est.h:74
cla_EST_getMaxValue_spd_Hz
float_t cla_EST_getMaxValue_spd_Hz(EST_Handle handle)
EST_setIdRated_A
void EST_setIdRated_A(EST_Handle handle, const float_t IdRated_A)
Sets the Id rated current value in the estimator in Ampere (A).
cla_EST_getRoverL_rps
float_t cla_EST_getRoverL_rps(EST_Handle handle)
cla_EST_getMinValue_spd_Hz
float_t cla_EST_getMinValue_spd_Hz(EST_Handle handle)
EST_getLs_q_H
float_t EST_getLs_q_H(EST_Handle handle)
Gets the stator inductance value in the quadrature coordinate direction in Henries (H)...
cla_EST_getRs_ab_Ohm
void cla_EST_getRs_ab_Ohm(EST_Handle handle, MATH_vec2 *pRs_ab_Ohm)
EST_getTargetValue_spd_Hz
float_t EST_getTargetValue_spd_Hz(EST_Handle handle)
Gets the target value from the speed trajectory generator.
EST_Traj_State_e
EST_Traj_State_e
Enumeration for the trajectory generator states.
Definition: est_Traj_states.h:45
cla_EST_setMaxDelta_Iq_A
void cla_EST_setMaxDelta_Iq_A(EST_Handle handle, const float_t maxDelta_A)
EST_getAngle_rad
float_t EST_getAngle_rad(EST_Handle handle)
Gets the angle estimate for t = n+1 from the estimator in radians (rad).
cla_EST_setAngle_traj_rad
void cla_EST_setAngle_traj_rad(EST_Handle handle, const float_t angle_rad)
_EST_OutputData_::oneOverDcBus_invV
float_t oneOverDcBus_invV
the DC Bus inverse, 1/V
Definition: float/est.h:83
EST_disableTraj
void EST_disableTraj(EST_Handle handle)
Disables the estimator trajectory generator.
cla_EST_getAngle_est_rad
float_t cla_EST_getAngle_est_rad(EST_Handle handle)
cla_EST_setCount_traj
void cla_EST_setCount_traj(EST_Handle handle, const int_least16_t value)
cla_EST_setFlag_enableRsOnLine
void cla_EST_setFlag_enableRsOnLine(EST_Handle handle, const bool state)
EST_getFm_rps
float_t EST_getFm_rps(EST_Handle handle)
Gets the mechanical frequency of the motor in rad/sec.
EST_setRoverL_rps
void EST_setRoverL_rps(EST_Handle handle, const float_t RoverL_rps)
Sets the R/L value in the estimator.
EST_getTargetValue_Id_A
float_t EST_getTargetValue_Id_A(EST_Handle handle)
Gets the target value from the Id trajectory generator.
EST_getRsOnLineId_mag_A
float_t EST_getRsOnLineId_mag_A(EST_Handle handle)
Gets the Id magnitude value used for online stator resistance estimation in Ampere (A)...
cla_EST_setDcBus_V
void cla_EST_setDcBus_V(EST_Handle handle, const float_t dcBus_V)
cla_EST_setFe_Hz
void cla_EST_setFe_Hz(EST_Handle handle, const float_t fe_Hz)
cla_EST_initEst
EST_Handle cla_EST_initEst(const uint_least8_t estNumber)
EST_getState
EST_State_e EST_getState(EST_Handle handle)
Gets the state of the estimator.
EST_getRs_b_Ohm
float_t EST_getRs_b_Ohm(EST_Handle handle)
Gets the beta stator resistance value in Ohms ( ).
cla_EST_setRs_b_Ohm
void cla_EST_setRs_b_Ohm(EST_Handle handle, const float_t Rs_b_Ohm)
EST_getAngleDelta_est_rad
float_t EST_getAngleDelta_est_rad(EST_Handle handle)
Gets the angle delta estimate for t = n+1 from the estimator in radians (rad).
EST_getAngle_est_rad
float_t EST_getAngle_est_rad(EST_Handle handle)
Gets the estimated angle from the estimator.
EST_setFlag_motorIdentified
void EST_setFlag_motorIdentified(EST_Handle handle, const bool state)
Sets the motor identified flag state in the estimator.
cla_EST_setAngle_est_rad
void cla_EST_setAngle_est_rad(EST_Handle handle, const float_t angle_rad)
cla_EST_incrTrajCounter_isr
void cla_EST_incrTrajCounter_isr(EST_Handle handle)
EST_getRr_fineDelta_Ohm
float_t EST_getRr_fineDelta_Ohm(EST_Handle handle)
Gets the fine delta rotor resistance value from the estimator.
cla_EST_getRr_coarseDelta_Ohm
float_t cla_EST_getRr_coarseDelta_Ohm(EST_Handle handle)
cla_EST_setFlag_enablePowerWarp
void cla_EST_setFlag_enablePowerWarp(EST_Handle handle, const bool state)
EST_Flux_State_e
EST_Flux_State_e
Enumeration for the estimator states.
Definition: est_Flux_states.h:46
EST_getFm_lp_rps
float_t EST_getFm_lp_rps(EST_Handle handle)
Gets the low pass filtered mechanical frequency of the motor in rad/sec.
EST_useZeroIq_ref
bool EST_useZeroIq_ref(EST_Handle handle)
Determines if a zero Iq current reference should be used in the controller.
EST_setRhf_Ohm
void EST_setRhf_Ohm(EST_Handle handle, const float_t Rhf_Ohm)
Sets the Rhf value in the estimator.
cla_EST_getRr_Ohm
float_t cla_EST_getRr_Ohm(EST_Handle handle)
EST_updateId_ref_A
void EST_updateId_ref_A(EST_Handle handle, float_t *pId_ref_A)
Updates the Id reference value used for online stator resistance estimation in Ampere (A)...
EST_setFlag_estComplete
void EST_setFlag_estComplete(EST_Handle handle, const bool state)
Sets the estimation complete flag in the estimator.
EST_getFluxState
EST_Flux_State_e EST_getFluxState(EST_Handle handle)
Gets the flux estimator state.
cla_EST_getMaxSpeedDelta_Hz
float_t cla_EST_getMaxSpeedDelta_Hz(EST_Handle handle)
cla_EST_getFlag_bypassLockRotor
bool cla_EST_getFlag_bypassLockRotor(EST_Handle handle)
EST_getEdq_V
void EST_getEdq_V(EST_Handle handle, MATH_vec2 *pEdq_V)
Gets the direct/quadrature back EMF voltage vector from the estimator.
EST_getRs_a_Ohm
float_t EST_getRs_a_Ohm(EST_Handle handle)
Gets the alpha stator resistance value in Ohms ( ).
cla_EST_setRs_Ohm
void cla_EST_setRs_Ohm(EST_Handle handle, const float_t Rs_Ohm)
EST_setLs_coarseDelta_H
void EST_setLs_coarseDelta_H(EST_Handle handle, const float_t Ls_delta_H)
Sets the delta stator inductance value during coarse estimation.
EST_getRhf_Ohm
float_t EST_getRhf_Ohm(EST_Handle handle)
Gets the Rhf value from the estimator.
cla_EST_setFlag_updateRs
void cla_EST_setFlag_updateRs(EST_Handle handle, const bool state)
cla_EST_getFm_Hz
float_t cla_EST_getFm_Hz(EST_Handle handle)
EST_setRr_Ohm
void EST_setRr_Ohm(EST_Handle handle, const float_t Rr_Ohm)
Sets the rotor resistance value used in the estimator in Ohm ( ).
EST_setFlag_enableRsOnLine
void EST_setFlag_enableRsOnLine(EST_Handle handle, const bool state)
Sets the enable Rs online flag in the estimator.
EST_getFe_rps
float_t EST_getFe_rps(EST_Handle handle)
Gets the electrical frequency of the motor in rad/sec.
cla_EST_getIdRated_A
float_t cla_EST_getIdRated_A(EST_Handle handle)
cla_EST_getOneOverDcBus_invV
float_t cla_EST_getOneOverDcBus_invV(EST_Handle handle)
EST_getMaxValue_Iq_A
float_t EST_getMaxValue_Iq_A(EST_Handle handle)
Gets the maximum value from the Iq trajectory generator.
EST_setRsOnLineId_A
void EST_setRsOnLineId_A(EST_Handle handle, const float_t Id_A)
Sets the Id value in the online stator resistance estimator in Ampere (A).
EST_getMaxValue_Id_A
float_t EST_getMaxValue_Id_A(EST_Handle handle)
Gets the maximum value from the Id trajectory generator.
EST_getNumIsrTicksPerEstTick
int_least16_t EST_getNumIsrTicksPerEstTick(EST_Handle handle)
Gets the number of Interrupt Service Routine (ISR) clock ticks per estimator clock tick...
EST_getIab_A
void EST_getIab_A(EST_Handle handle, MATH_vec2 *pIab_A)
Gets the Iab current vector in Ampere (A).
cla_EST_setRsOnLine_beta_rad
void cla_EST_setRsOnLine_beta_rad(EST_Handle handle, const float_t beta_rad)
EST_setRsOnLine_Ohm
void EST_setRsOnLine_Ohm(EST_Handle handle, const float_t Rs_Ohm)
Sets the stator resistance value in the online stator resistance estimator in Ohm ( )...
cla_EST_runTraj
void cla_EST_runTraj(EST_Handle handle)
cla_EST_disableTraj
void cla_EST_disableTraj(EST_Handle handle)
cla_EST_setMinValue_Iq_A
void cla_EST_setMinValue_Iq_A(EST_Handle handle, const float_t minValue_A)
EST_setId_ref_A
void EST_setId_ref_A(EST_Handle handle, const float_t Id_ref_A)
Sets the direct current (Id) reference value in the estimator in Ampere (A).
EST_getForceAngleDelta_rad
float_t EST_getForceAngleDelta_rad(EST_Handle handle)
Gets the force angle delta value from the estimator in radians (rad).
EST_getIdRated_delta_A
float_t EST_getIdRated_delta_A(EST_Handle handle)
Gets the Id rated delta current value from the estimator in Ampere (A)
EST_setNumIsrTicksPerEstTick
void EST_setNumIsrTicksPerEstTick(EST_Handle handle, const int_least16_t numIsrTicksPerEstTick)
Sets the number of Interrupt Service Routine (ISR) clock ticks per estimator clock tick...
cla_EST_setTargetValue_spd_Hz
void cla_EST_setTargetValue_spd_Hz(EST_Handle handle, const float_t targetValue_Hz)
EST_setLs_q_H
void EST_setLs_q_H(EST_Handle handle, const float_t Ls_q_H)
Sets the quadrature stator inductance value in the estimator in Henry (H).
EST_setAngleDelta_est_rad
void EST_setAngleDelta_est_rad(EST_Handle handle, const float_t delta_rad)
Sets the estimated angle delta value.
EST_setRr_dq_Ohm
void EST_setRr_dq_Ohm(EST_Handle handle, const MATH_vec2 *pRr_dq_Ohm)
Sets the direct/quadrature rotor resistance values used in the estimator in Ohm ( )...
EST_getMinValue_Id_A
float_t EST_getMinValue_Id_A(EST_Handle handle)
Gets the minimum value from the Id trajectory generator.
EST_setIdq_ref_A
void EST_setIdq_ref_A(EST_Handle handle, const MATH_vec2 *pIdq_ref_A)
Sets the direct/quadrature current (Idq) reference value in the estimator in Ampere (A)...
EST_getRsOnLineAngleDelta_rad
float_t EST_getRsOnLineAngleDelta_rad(EST_Handle handle)
Gets the delta angle value from the estimator.
EST_getRs_Ohm
float_t EST_getRs_Ohm(EST_Handle handle)
Gets the stator resistance value in Ohms ( ).
EST_computeLmag_H
float_t EST_computeLmag_H(EST_Handle handle, const float_t current_A)
Computes the magnetizing inductance in Henries (H)
EST_setMaxValue_spd_Hz
void EST_setMaxValue_spd_Hz(EST_Handle handle, const float_t maxValue_Hz)
Sets the maximum value in the speed trajectory generator.
cla_EST_setTargetValue_Iq_A
void cla_EST_setTargetValue_Iq_A(EST_Handle handle, const float_t targetValue_A)
EST_getTorque_sf
float_t EST_getTorque_sf(EST_Handle handle)
Gets the torque scale factor for the torque equation.
EST_doCurrentCtrl
bool EST_doCurrentCtrl(EST_Handle handle)
Determines if current control should be performed during motor identification.
EST_getRs_q_Ohm
float_t EST_getRs_q_Ohm(EST_Handle handle)
Gets the quadrature stator resistance value in Ohms ( ).
cla_EST_getForceAngleStatus
bool cla_EST_getForceAngleStatus(EST_Handle handle)
EST_setAngle_rad
void EST_setAngle_rad(EST_Handle handle, const float_t angle_rad)
Sets the angle value at t = n in both the estimator and trajectory in radians (rad).
_EST_InputData_
Defines the estimator (EST) input data.
Definition: float/est.h:53
cla_EST_setMaxValue_Iq_A
void cla_EST_setMaxValue_Iq_A(EST_Handle handle, const float_t maxValue_A)
cla_EST_setLs_coarseDelta_H
void cla_EST_setLs_coarseDelta_H(EST_Handle handle, const float_t Ls_delta_H)
EST_runTraj
void EST_runTraj(EST_Handle handle)
Runs the trajectory generator.
cla_EST_getFm_lp_rps
float_t cla_EST_getFm_lp_rps(EST_Handle handle)
EST_getLs_dq_H
void EST_getLs_dq_H(EST_Handle handle, MATH_vec2 *pLs_dq_H)
Gets the direct/quadrature stator inductance values from the estimator in Henry (H).
EST_getFm_Hz
float_t EST_getFm_Hz(EST_Handle handle)
Gets the mechanical frequency of the motor in Hertz (Hz).
cla_EST_getRs_coarseDelta_Ohm
float_t cla_EST_getRs_coarseDelta_Ohm(EST_Handle handle)
cla_EST_getEdq_V
void cla_EST_getEdq_V(EST_Handle handle, MATH_vec2 *pEdq_V)
cla_EST_getRsOnLineAngleDelta_rad
float_t cla_EST_getRsOnLineAngleDelta_rad(EST_Handle handle)
cla_EST_getFm_rps
float_t cla_EST_getFm_rps(EST_Handle handle)
cla_EST_getLmag_H
float_t cla_EST_getLmag_H(EST_Handle handle)
EST_setTargetValue_spd_Hz
void EST_setTargetValue_spd_Hz(EST_Handle handle, const float_t targetValue_Hz)
Sets the target value in the speed trajectory generator.
cla_EST_setMinValue_spd_Hz
void cla_EST_setMinValue_spd_Hz(EST_Handle handle, const float_t minValue_Hz)
cla_EST_getNumIsrTicksPerEstTick
int_least16_t cla_EST_getNumIsrTicksPerEstTick(EST_Handle handle)
cla_EST_setMaxDelta_Id_A
void cla_EST_setMaxDelta_Id_A(EST_Handle handle, const float_t maxDelta_A)
EST_getRr_dq_Ohm
void EST_getRr_dq_Ohm(EST_Handle handle, MATH_vec2 *pRr_dq_Ohm)
Gets the direct/quadrature rotor resistance values from the estimator in Ohms ( ).
EST_getVdq_lp_V
void EST_getVdq_lp_V(EST_Handle handle, MATH_vec2 *pVdq_lp_V)
Gets the low pass filtered Vdq voltage vector in Volts (V)
cla_EST_getEab_V
void cla_EST_getEab_V(EST_Handle handle, MATH_vec2 *pEab_V)
EST_runPowerWarp
float_t EST_runPowerWarp(EST_Handle handle, const float_t Id_int_A, const float_t Iq_A)
Runs PowerWarp.
cla_EST_setSpeed_ref_Hz
void cla_EST_setSpeed_ref_Hz(EST_Handle handle, const float_t speed_ref_Hz)
EST_setRsOnLineAngleDelta_rad
void EST_setRsOnLineAngleDelta_rad(EST_Handle handle, const float_t angleDelta_rad)
Sets the rotating angle delta in the online stator resistance estimator in radians.
cla_EST_getLs_coarseDelta_H
float_t cla_EST_getLs_coarseDelta_H(EST_Handle handle)
EST_setFslip_Hz
void EST_setFslip_Hz(EST_Handle handle, const float_t fslip_Hz)
Sets the slip frequency in the estimator.
EST_getIab_lp_A
void EST_getIab_lp_A(EST_Handle handle, MATH_vec2 *pIab_lp_A)
Gets the low pass filtered Iab current vector in Ampere (A).
cla_EST_setFslip_rps
void cla_EST_setFslip_rps(EST_Handle handle, const float_t fslip_rps)
cla_EST_resetCounter_isr
void cla_EST_resetCounter_isr(EST_Handle handle)
cla_EST_setIq_ref_A
void cla_EST_setIq_ref_A(EST_Handle handle, const float_t Iq_ref_A)
EST_setAngle_traj_rad
void EST_setAngle_traj_rad(EST_Handle handle, const float_t angle_rad)
Sets the angle value at t = n in the trajectory in radians (rad).
cla_EST_setIntValue_Id_A
void cla_EST_setIntValue_Id_A(EST_Handle handle, const float_t intValue_A)
cla_EST_doSpeedCtrl
bool cla_EST_doSpeedCtrl(EST_Handle handle)
EST_isMotorIdentified
bool EST_isMotorIdentified(EST_Handle handle)
Determines if the motor has been identified.
_EST_InputData_::dcBus_V
float_t dcBus_V
the DC bus voltage value, V
Definition: float/est.h:59
cla_EST_setAccel_rps2
void cla_EST_setAccel_rps2(EST_Handle handle, const float_t accel_rps2)
cla_EST_setRs_q_Ohm
void cla_EST_setRs_q_Ohm(EST_Handle handle, const float_t Rs_q_Ohm)
cla_EST_resetTrajCounter_isr
void cla_EST_resetTrajCounter_isr(EST_Handle handle)
EST_getRs_d_Ohm
float_t EST_getRs_d_Ohm(EST_Handle handle)
Gets the direct stator resistance value in Ohms ( ).
EST_getMaxDelta_Iq_A
float_t EST_getMaxDelta_Iq_A(EST_Handle handle)
Gets the maximum delta value from the Iq trajectory generator.
EST_RsOnLineFilterType_Current
Current Filter.
Definition: float/est.h:46
cla_EST_getIntValue_spd_Hz
float_t cla_EST_getIntValue_spd_Hz(EST_Handle handle)
EST_isLockRotor
bool EST_isLockRotor(EST_Handle handle)
Determines if the estimator is waiting for the rotor to be locked.
cla_EST_getVab_V
void cla_EST_getVab_V(EST_Handle handle, MATH_vec2 *pVab_V)
EST_resetCounter_state
void EST_resetCounter_state(EST_Handle handle)
Resets the state counter.
cla_EST_setFslip_Hz
void cla_EST_setFslip_Hz(EST_Handle handle, const float_t fslip_Hz)
cla_EST_isOnLine
bool cla_EST_isOnLine(EST_Handle handle)
EST_get_rps_to_rpm_sf
float_t EST_get_rps_to_rpm_sf(EST_Handle handle)
Gets the rad/sec to rpm scale factor.
EST_getEab_V
void EST_getEab_V(EST_Handle handle, MATH_vec2 *pEab_V)
Gets the alpha/beta back EMF voltage vector from the estimator.
cla_EST_getTargetValue_spd_Hz
float_t cla_EST_getTargetValue_spd_Hz(EST_Handle handle)
EST_setRsOnLine_beta_rad
void EST_setRsOnLine_beta_rad(EST_Handle handle, const float_t beta_rad)
Sets the beta of the filters used for online stator resistance estimation in radians (rad)...
cla_EST_setRs_ab_Ohm
void cla_EST_setRs_ab_Ohm(EST_Handle handle, const MATH_vec2 *pRs_ab_Ohm)
cla_EST_getLs_H
float_t cla_EST_getLs_H(EST_Handle handle)
EST_setMaxDelta_Id_A
void EST_setMaxDelta_Id_A(EST_Handle handle, const float_t maxDelta_A)
Sets the maximum delta value in the Id trajectory generator.
cla_EST_setFm_rps
void cla_EST_setFm_rps(EST_Handle handle, const float_t fm_rps)
EST_getRsOnLineId_A
float_t EST_getRsOnLineId_A(EST_Handle handle)
Gets the Id value used for online stator resistance estimation in Ampere (A).
EST_getIdq_ref_A
void EST_getIdq_ref_A(EST_Handle handle, MATH_vec2 *pIdq_ref_A)
Gets the Idq current vector reference in Ampere (A).
cla_EST_setCount_isr
void cla_EST_setCount_isr(EST_Handle handle, const int_least16_t value)
cla_EST_setRsOnLineId_mag_A
void cla_EST_setRsOnLineId_mag_A(EST_Handle handle, const float_t Id_mag_A)
cla_EST_useZeroIq_ref
bool cla_EST_useZeroIq_ref(EST_Handle handle)
EST_getMaxSpeedDelta_Hz
float_t EST_getMaxSpeedDelta_Hz(EST_Handle handle)
Gets the maximum acceleration value used in the estimator in Hertz (Hz).
_EST_InputData_::Iab_A
MATH_vec2 Iab_A
the alpha/beta current values, A
Definition: float/est.h:57
EST_setLs_dq_H
void EST_setLs_dq_H(EST_Handle handle, const MATH_vec2 *pLs_dq_H)
Sets the direct/quadrature stator inductance vector values in the estimator in Henry (H)...
cla_EST_setFlag_enableForceAngle
void cla_EST_setFlag_enableForceAngle(EST_Handle handle, const bool state)
EST_setPwGain
void EST_setPwGain(EST_Handle handle, const float_t pwGain)
Sets the power warp gain in the trajectory generator.
cla_EST_setIdle
void cla_EST_setIdle(EST_Handle handle)
cla_EST_isTrajError
bool cla_EST_isTrajError(EST_Handle handle)
_EST_OutputData_::fe_rps
float_t fe_rps
the electrical frequency estimate, rad/sec
Definition: float/est.h:72
EST_getSpeed_rpm
float_t EST_getSpeed_rpm(EST_Handle handle)
Gets the speed value in revolutions per second (rpm).
EST_setRr_q_Ohm
void EST_setRr_q_Ohm(EST_Handle handle, const float_t Rr_q_Ohm)
Sets the quadrature rotor resistance value used in the estimator in Ohm ( ).
cla_EST_setMaxSpeedDelta_Hz
void cla_EST_setMaxSpeedDelta_Hz(EST_Handle handle, const float_t maxSpeedDelta_Hz)
cla_EST_incrCounter_isr
void cla_EST_incrCounter_isr(EST_Handle handle)
cla_EST_getSpeed_ref_Hz
float_t cla_EST_getSpeed_ref_Hz(EST_Handle handle)
cla_EST_getIdq_ref_A
void cla_EST_getIdq_ref_A(EST_Handle handle, MATH_vec2 *pIdq_ref_A)
cla_EST_setFlag_motorIdentified
void cla_EST_setFlag_motorIdentified(EST_Handle handle, const bool state)
EST_setRs_d_Ohm
void EST_setRs_d_Ohm(EST_Handle handle, const float_t Rs_d_Ohm)
Sets the direct stator resistance value used in the estimator in Ohm ( ).
EST_InputData_t
struct _EST_InputData_ EST_InputData_t
Defines the estimator (EST) input data.
EST_isIdle
bool EST_isIdle(EST_Handle handle)
Determines if the estimator is idle.
EST_getLs_fineDelta_H
float_t EST_getLs_fineDelta_H(EST_Handle handle)
Gets the delta stator inductance value during fine estimation.
cla_EST_setRr_fineDelta_Ohm
void cla_EST_setRr_fineDelta_Ohm(EST_Handle handle, const float_t Rr_fineDelta_Ohm)
cla_EST_getRr_d_Ohm
float_t cla_EST_getRr_d_Ohm(EST_Handle handle)
cla_EST_getLs_d_H
float_t cla_EST_getLs_d_H(EST_Handle handle)
cla_EST_getIdq_A
void cla_EST_getIdq_A(EST_Handle handle, MATH_vec2 *pIdq_A)
cla_EST_setRoverL_rps
void cla_EST_setRoverL_rps(EST_Handle handle, const float_t RoverL_rps)
EST_setSpeed_ref_Hz
void EST_setSpeed_ref_Hz(EST_Handle handle, const float_t speed_ref_Hz)
Sets the reference speed in the estimator.
EST_setRs_fineDelta_Ohm
void EST_setRs_fineDelta_Ohm(EST_Handle handle, const float_t Rs_fineDelta_Ohm)
Sets the fine delta stator resistance value.
cla_EST_setMinValue_Id_A
void cla_EST_setMinValue_Id_A(EST_Handle handle, const float_t minValue_A)
cla_EST_setMaxCurrentDelta_A
void cla_EST_setMaxCurrentDelta_A(EST_Handle handle, const float_t maxCurrentDelta_A)
cla_EST_updateState
bool cla_EST_updateState(EST_Handle handle, const float_t Id_target_A)
cla_EST_enable
void cla_EST_enable(EST_Handle handle)
EST_getFlag_enable
bool EST_getFlag_enable(EST_Handle handle)
Gets the enable estimator flag value.
cla_EST_setRsOnLineLpFilterParams
void cla_EST_setRsOnLineLpFilterParams(EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint_least8_t filterNumber, const float_t b0, const float_t b1, const float_t a1, const float_t x1, const float_t y1)
EST_getMaxDelta_Id_A
float_t EST_getMaxDelta_Id_A(EST_Handle handle)
Gets the maximum delta value from the Id trajectory generator.
cla_EST_getFreqBeta_lp
float_t cla_EST_getFreqBeta_lp(EST_Handle handle)
_EST_InputData_::Vab_V
MATH_vec2 Vab_V
the alpha/beta current values, V
Definition: float/est.h:58
EST_isTrajError
bool EST_isTrajError(EST_Handle handle)
Determines if there is an error in the trajectory generator.
cla_EST_getFlag_enable
bool cla_EST_getFlag_enable(EST_Handle handle)
cla_EST_getRs_Ohm
float_t cla_EST_getRs_Ohm(EST_Handle handle)
cla_EST_getRs_d_Ohm
float_t cla_EST_getRs_d_Ohm(EST_Handle handle)
EST_setFlag_enable
void EST_setFlag_enable(EST_Handle handle, const bool state)
Sets the enable estimator flag value in the estimator.
cla_EST_getRr_dq_Ohm
void cla_EST_getRr_dq_Ohm(EST_Handle handle, MATH_vec2 *pRr_dq_Ohm)
cla_EST_getIdRated_delta_A
float_t cla_EST_getIdRated_delta_A(EST_Handle handle)
cla_EST_getFlag_enableTraj
bool cla_EST_getFlag_enableTraj(EST_Handle handle)
EST_setFe_rps
void EST_setFe_rps(EST_Handle handle, const float_t fe_rps)
Sets the electrical frequency in the estimator.
EST_setMaxValue_Id_A
void EST_setMaxValue_Id_A(EST_Handle handle, const float_t maxValue_A)
Sets the maximum value in the Id trajectory generator.
cla_EST_getMinValue_Iq_A
float_t cla_EST_getMinValue_Iq_A(EST_Handle handle)
EST_getTrajState
EST_Traj_State_e EST_getTrajState(EST_Handle handle)
Gets the trajectory generator state.
EST_setMaxValue_Iq_A
void EST_setMaxValue_Iq_A(EST_Handle handle, const float_t maxValue_A)
Sets the maximum value in the Iq trajectory generator.
EST_getLs_coarseDelta_H
float_t EST_getLs_coarseDelta_H(EST_Handle handle)
Gets the delta stator inductance value during coarse estimation.
EST_setRs_dq_Ohm
void EST_setRs_dq_Ohm(EST_Handle handle, const MATH_vec2 *pRs_dq_Ohm)
Sets the direct/quadrature stator resistance values used in the estimator in Ohm ( )...
cla_EST_getRs_dq_Ohm
void cla_EST_getRs_dq_Ohm(EST_Handle handle, MATH_vec2 *pRs_dq_Ohm)
EST_getMaxCurrentDelta_A
float_t EST_getMaxCurrentDelta_A(EST_Handle handle)
Gets the maximum current slope value used in the estimator in Amperes (A).
cla_EST_setAngleDelta_est_rad
void cla_EST_setAngleDelta_est_rad(EST_Handle handle, const float_t delta_rad)
EST_getMaxCurrentDelta_pw_A
float_t EST_getMaxCurrentDelta_pw_A(EST_Handle handle)
Gets the maximum power warp current slope value used in the estimator in Amperes (A).
cla_EST_setNumIsrTicksPerTrajTick
void cla_EST_setNumIsrTicksPerTrajTick(EST_Handle handle, const int_least16_t numIsrTicksPerTrajTick)
cla_EST_setFreqBeta_lp
void cla_EST_setFreqBeta_lp(EST_Handle handle, const float_t beta_rad)
cla_EST_getErrorCode
EST_ErrorCode_e cla_EST_getErrorCode(EST_Handle handle)
cla_EST_setFlag_bypassLockRotor
void cla_EST_setFlag_bypassLockRotor(EST_Handle handle, const bool state)
EST_getPwGain
float_t EST_getPwGain(EST_Handle handle)
Gets the power warp gain from the trajectory generator.
cla_EST_resetCounter_state
void cla_EST_resetCounter_state(EST_Handle handle)
EST_getIdRated_indEst_A
float_t EST_getIdRated_indEst_A(EST_Handle handle)
Gets the Id current value used for inductance estimation of induction motors in Ampere (A)...
cla_EST_run
void cla_EST_run(EST_Handle handle, const EST_InputData_t *pInputData, EST_OutputData_t *pOutputData)
cla_EST_getAccel_rps2
float_t cla_EST_getAccel_rps2(EST_Handle handle)
EST_RsOnLineFilterType_Voltage
Voltage Filter.
Definition: float/est.h:47
cla_EST_getRs_b_Ohm
float_t cla_EST_getRs_b_Ohm(EST_Handle handle)
cla_EST_getFlag_enableRsRecalc
bool cla_EST_getFlag_enableRsRecalc(EST_Handle handle)
cla_EST_getFlag_enableRsOnLine
bool cla_EST_getFlag_enableRsOnLine(EST_Handle handle)
cla_EST_getRsOnLineLpFilterParams
void cla_EST_getRsOnLineLpFilterParams(EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const uint_least8_t filterNumber, float_t *b0, float_t *b1, float_t *a1, float_t *x1, float_t *y1)
cla_EST_getMaxDelta_spd_Hz
float_t cla_EST_getMaxDelta_spd_Hz(EST_Handle handle)
cla_EST_computePower_W
float_t cla_EST_computePower_W(EST_Handle handle)
cla_EST_setLs_d_H
void cla_EST_setLs_d_H(EST_Handle handle, const float_t Ls_d_H)
EST_getRr_Ohm
float_t EST_getRr_Ohm(EST_Handle handle)
Gets the rotor resistance value in Ohms ( ).
cla_EST_setAngle_np1_rad
void cla_EST_setAngle_np1_rad(EST_Handle handle, const float_t angle_np1_rad)
cla_EST_setFe_abs_max_rps
void cla_EST_setFe_abs_max_rps(EST_Handle handle, const float_t fe_abs_max_rps)
cla_EST_setRr_coarseDelta_Ohm
void cla_EST_setRr_coarseDelta_Ohm(EST_Handle handle, const float_t Rr_coarseDelta_Ohm)
EST_disable
void EST_disable(EST_Handle handle)
Disables the estimator.
cla_EST_disable
void cla_EST_disable(EST_Handle handle)
EST_getMinValue_Iq_A
float_t EST_getMinValue_Iq_A(EST_Handle handle)
Gets the minimum value from the Iq trajectory generator.
cla_EST_getTrajCount_isr
int_least16_t cla_EST_getTrajCount_isr(EST_Handle handle)
cla_EST_setTargetValue_Id_A
void cla_EST_setTargetValue_Id_A(EST_Handle handle, const float_t targetValue_A)
cla_EST_getMaxValue_Id_A
float_t cla_EST_getMaxValue_Id_A(EST_Handle handle)
userParams.h
Contains the user related definitions.
cla_EST_get_rpm_to_rps_sf
float_t cla_EST_get_rpm_to_rps_sf(EST_Handle handle)
EST_getFe_Hz
float_t EST_getFe_Hz(EST_Handle handle)
Gets the electrical frequency of the motor in Hertz (Hz).
cla_EST_getIntValue_Id_A
float_t cla_EST_getIntValue_Id_A(EST_Handle handle)
cla_EST_getFlag_estComplete
bool cla_EST_getFlag_estComplete(EST_Handle handle)
cla_EST_getIdRated_indEst_A
float_t cla_EST_getIdRated_indEst_A(EST_Handle handle)
cla_EST_getCount_isr
int_least16_t cla_EST_getCount_isr(EST_Handle handle)
EST_setIdRated_delta_A
void EST_setIdRated_delta_A(EST_Handle handle, const float_t IdRated_delta_A)
Sets the Id rated delta current value in the estimator in Ampere (A)
EST_setRr_max_Ohm
void EST_setRr_max_Ohm(EST_Handle handle, const float_t Rr_max_Ohm)
Sets the maximum rotor resistance maximum value for saturation.
EST_getRs_fineDelta_Ohm
float_t EST_getRs_fineDelta_Ohm(EST_Handle handle)
Gets the fine delta stator resistance value from the estimator.
cla_EST_getFlag_enablePowerWarp
bool cla_EST_getFlag_enablePowerWarp(EST_Handle handle)
_EST_OutputData_::direction
int_least8_t direction
the rotational direction estimate, unitless
Definition: float/est.h:81
cla_EST_setRr_dq_Ohm
void cla_EST_setRr_dq_Ohm(EST_Handle handle, const MATH_vec2 *pRr_dq_Ohm)
cla_EST_setMaxValue_spd_Hz
void cla_EST_setMaxValue_spd_Hz(EST_Handle handle, const float_t maxValue_Hz)
EST_setIntValue_spd_Hz
void EST_setIntValue_spd_Hz(EST_Handle handle, const float_t intValue_Hz)
Sets the intermediate value in the speed trajectory generator.
EST_getIntValue_spd_Hz
float_t EST_getIntValue_spd_Hz(EST_Handle handle)
Gets the intermediate value from the speed trajectory generator.
cla_EST_setLhf_H
void cla_EST_setLhf_H(EST_Handle handle, const float_t Lhf_H)
cla_EST_isTrajEnabled
bool cla_EST_isTrajEnabled(EST_Handle handle)
cla_EST_setIdq_ref_A
void cla_EST_setIdq_ref_A(EST_Handle handle, const MATH_vec2 *pIdq_ref_A)
EST_getVdq_V
void EST_getVdq_V(EST_Handle handle, MATH_vec2 *pVdq_V)
Gets the Vdq voltage vector in Volts (V)
cla_EST_setRsOnLineAngle_rad
void cla_EST_setRsOnLineAngle_rad(EST_Handle handle, const float_t angle_rad)
_EST_OutputData_
Defines the estimator (EST) output data.
Definition: float/est.h:66
EST_getFlag_enableRsRecalc
bool EST_getFlag_enableRsRecalc(EST_Handle handle)
Gets the enable stator resistance re-calibrate flag value from the estimator.
cla_EST_setMaxValue_Id_A
void cla_EST_setMaxValue_Id_A(EST_Handle handle, const float_t maxValue_A)
cla_EST_getMaxDelta_Id_A
float_t cla_EST_getMaxDelta_Id_A(EST_Handle handle)
EST_resetCounter_isr
void EST_resetCounter_isr(EST_Handle handle)
Resets the isr counter.
EST_RsOnLineFilterType_e
EST_RsOnLineFilterType_e
Enumeration for the Rs online filter types.
Definition: float/est.h:44
EST_setMaxSpeedDelta_Hz
void EST_setMaxSpeedDelta_Hz(EST_Handle handle, const float_t maxSpeedDelta_Hz)
Sets the maximum speed delta value during estimation.
cla_EST_getFe_abs_max_rps
float_t cla_EST_getFe_abs_max_rps(EST_Handle handle)
EST_setRs_coarseDelta_Ohm
void EST_setRs_coarseDelta_Ohm(EST_Handle handle, const float_t Rs_coarseDelta_Ohm)
Sets the coarse delta stator resistance value.
cla_EST_getPwGain
float_t cla_EST_getPwGain(EST_Handle handle)
EST_updateTrajState
bool EST_updateTrajState(EST_Handle handle)
Updates the trajectory generator state.
_EST_OutputData_::Edq_V
MATH_vec2 Edq_V
the direction/quadrature back-EMF estimates, V
Definition: float/est.h:79
EST_getMinValue_spd_Hz
float_t EST_getMinValue_spd_Hz(EST_Handle handle)
Gets the minimum value from the speed trajectory generator.
EST_setFe_Hz
void EST_setFe_Hz(EST_Handle handle, const float_t fe_Hz)
Sets the electrical frequency in the estimator.
_EST_OutputData_::fm_rps
float_t fm_rps
the mechanical frequency estimate, rad/sec
Definition: float/est.h:73
EST_getFlag_bypassLockRotor
bool EST_getFlag_bypassLockRotor(EST_Handle handle)
Gets the bypass lock rotor flag value.
EST_getFlag_enableTraj
bool EST_getFlag_enableTraj(EST_Handle handle)
Gets the enable trajectory flag value from the trajectory generator.
EST_setFlag_bypassLockRotor
void EST_setFlag_bypassLockRotor(EST_Handle handle, const bool state)
Sets the bypass lock rotor flag value in the estimator.
cla_EST_getLs_q_H
float_t cla_EST_getLs_q_H(EST_Handle handle)
float_t
float float_t
Defines the portable data type for 32 bit, signed floating-point data.
Definition: types.h:121
EST_getNumIsrTicksPerTrajTick
int_least16_t EST_getNumIsrTicksPerTrajTick(EST_Handle handle)
Gets the number of Interrupt Service Routine (ISR) clock ticks per estimator trajectory clock tick...
cla_EST_getTargetValue_Id_A
float_t cla_EST_getTargetValue_Id_A(EST_Handle handle)
EST_getLmag_H
float_t EST_getLmag_H(EST_Handle handle)
Gets the magnetizing inductance value in Henry (H).
EST_getSignOfDirection
int_least8_t EST_getSignOfDirection(EST_Handle handle)
Gets the sign of the direction value in 8 bit signed integer (int_least8_t).
cla_EST_getFslip_Hz
float_t cla_EST_getFslip_Hz(EST_Handle handle)
EST_getTrajCount_isr
int_least16_t EST_getTrajCount_isr(EST_Handle handle)
Gets the trajectory ISR count from the estimator.
cla_EST_setCount_state
void cla_EST_setCount_state(EST_Handle handle, const int_least32_t value)