ctrlQEP.h File Reference

#include "sw/modules/iqmath/src/32b/IQmathLib.h"
#include "sw/modules/clarke/src/32b/clarke.h"
#include "sw/modules/park/src/32b/park.h"
#include "sw/modules/ipark/src/32b/ipark.h"
#include "sw/modules/motor/src/32b/motor.h"
#include "sw/modules/offset/src/32b/offset.h"
#include "sw/modules/pid/src/32b/pid.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/svgen/src/32b/svgen.h"
#include "sw/modules/traj/src/32b/traj.h"
#include "sw/modules/ctrl/src/32b/ctrl_obj.h"
#include "sw/modules/enc/src/32b/enc.h"
#include "sw/modules/types/src/types.h"
#include "hal_obj.h"

Go to the source code of this file.

Functions
bool	CTRL_doCurrentCtrl (CTRL_Handle handle)
	Determines if the current controllers should be run. More...
uint_least16_t	CTRL_getCount_current (CTRL_Handle handle)
	Gets the current loop count. More...
uint_least16_t	CTRL_getCount_isr (CTRL_Handle handle)
	Gets the isr count. More...
uint_least16_t	CTRL_getCount_speed (CTRL_Handle handle)
	Gets the speed loop count. More...
uint_least32_t	CTRL_getCount_state (CTRL_Handle handle)
	Gets the state count. More...
uint_least16_t	CTRL_getCount_traj (CTRL_Handle handle)
	Gets the trajectory loop count. More...
uint_least32_t	CTRL_getCtrlFreq (CTRL_Handle handle)
	Gets the controller execution frequency. More...
float_t	CTRL_getCtrlPeriod_sec (CTRL_Handle handle)
	Gets the controller execution period. More...
CTRL_ErrorCode_e	CTRL_getErrorCode (CTRL_Handle handle)
	Gets the error code from the controller (CTRL) object. More...
EST_Handle	CTRL_getEstHandle (CTRL_Handle handle)
	Gets the estimator handle for a given controller. More...
bool	CTRL_getFlag_enableCtrl (CTRL_Handle handle)
	Gets the enable controller flag value from the estimator. More...
bool	CTRL_getFlag_enableDcBusComp (CTRL_Handle handle)
	Gets the enable DC bus compensation flag value from the estimator. More...
bool	CTRL_getFlag_enablePowerWarp (CTRL_Handle handle)
	Gets the PowerWarp enable flag value from the estimator. More...
bool	CTRL_getFlag_enableOffset (CTRL_Handle handle)
	Gets the enable offset flag value from the controller. More...
bool	CTRL_getFlag_enableSpeedCtrl (CTRL_Handle handle)
	Gets the enable speed control flag value from the controller. More...
bool	CTRL_getFlag_enableUserMotorParams (CTRL_Handle handle)
	Gets the enable user motor parameters flag value from the controller. More...
void	CTRL_getGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, _iq *pKp, _iq *pKi, _iq *pKd)
	Gets the gain values for the specified controller. More...
void	CTRL_getIab_filt_pu (CTRL_Handle handle, MATH_vec2 *pIab_filt_pu)
	Gets the alpha/beta filtered current vector values from the controller. More...
MATH_vec2 *	CTRL_getIab_filt_addr (CTRL_Handle handle)
	Gets the alpha/beta filtered current vector memory address from the controller. More...
MATH_vec2 *	CTRL_getIab_in_addr (CTRL_Handle handle)
	Gets the alpha/beta current input vector memory address from the controller. More...
void	CTRL_getIab_in_pu (CTRL_Handle handle, MATH_vec2 *pIab_in_pu)
	Gets the alpha/beta current input vector values from the controller. More...
_iq	CTRL_getId_in_pu (CTRL_Handle handle)
	Gets the direct current input value from the controller. More...
_iq	CTRL_getId_ref_pu (CTRL_Handle handle)
	Gets the direct current (Id) reference value from the controller. More...
MATH_vec2 *	CTRL_getIdq_in_addr (CTRL_Handle handle)
	Gets the direct/quadrature current input vector memory address from the controller. More...
void	CTRL_getIdq_in_pu (CTRL_Handle handle, MATH_vec2 *pIdq_in_pu)
	Gets the direct/quadrature current input vector values from the controller. More...
void	CTRL_getIdq_ref_pu (CTRL_Handle handle, MATH_vec2 *pIdq_ref_pu)
	Gets the direct/quadrature current reference vector values from the controller. More...
_iq	CTRL_getIdRated_pu (CTRL_Handle handle)
	Gets the Id rated current value from the controller. More...
_iq	CTRL_getIq_in_pu (CTRL_Handle handle)
	Gets the quadrature current input value from the controller. More...
_iq	CTRL_getIq_ref_pu (CTRL_Handle handle)
	Gets the quadrature current (Iq) reference value from the controller. More...
_iq	CTRL_getKi (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the integral gain (Ki) value from the specified controller. More...
_iq	CTRL_getKd (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the derivative gain (Kd) value from the specified controller. More...
_iq	CTRL_getKp (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the proportional gain (Kp) value from the specified controller. More...
float_t	CTRL_getLhf (CTRL_Handle handle)
	Gets the high frequency inductance (Lhf) value from the controller. More...
_iq	CTRL_getMagCurrent_pu (CTRL_Handle handle)
	Gets the magnetizing current value from the controller. More...
_iq	CTRL_getMaxVsMag_pu (CTRL_Handle handle)
	Gets the maximum voltage vector. More...
_iq	CTRL_getMaximumSpeed_pu (CTRL_Handle handle)
	Gets the maximum speed value from the controller. More...
float_t	CTRL_getMotorRatedFlux (CTRL_Handle handle)
	Gets the motor rated flux from the controller. More...
MOTOR_Type_e	CTRL_getMotorType (CTRL_Handle handle)
	Gets the motor type from the controller. More...
uint_least16_t	CTRL_getNumCtrlTicksPerCurrentTick (CTRL_Handle handle)
	Gets the number of controller clock ticks per current controller clock tick. More...
uint_least16_t	CTRL_getNumCtrlTicksPerSpeedTick (CTRL_Handle handle)
	Gets the number of controller clock ticks per speed controller clock tick. More...
uint_least16_t	CTRL_getNumCtrlTicksPerTrajTick (CTRL_Handle handle)
	Gets the number of controller clock ticks per trajectory clock tick. More...
uint_least16_t	CTRL_getNumIsrTicksPerCtrlTick (CTRL_Handle handle)
	Gets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...
_iq	CTRL_getRefValue_pu (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the reference value from the specified controller. More...
float_t	CTRL_getRhf (CTRL_Handle handle)
	Gets the high frequency resistance (Rhf) value from the controller. More...
float_t	CTRL_getRoverL (CTRL_Handle handle)
	Gets the R/L value from the controller. More...
_iq	CTRL_getSpd_max_pu (CTRL_Handle handle)
	Gets the maximum speed value from the controller. More...
_iq *	CTRL_getSpd_out_addr (CTRL_Handle handle)
	Gets the output speed memory address from the controller. More...
_iq	CTRL_getSpd_out_pu (CTRL_Handle handle)
	Gets the output speed value from the controller. More...
_iq	CTRL_getSpd_ref_pu (CTRL_Handle handle)
	Gets the output speed reference value from the controller. More...
_iq	CTRL_getSpd_int_ref_pu (CTRL_Handle handle)
	Gets the output speed intermediate reference value from the controller. More...
CTRL_State_e	CTRL_getState (CTRL_Handle handle)
	Gets the controller state. More...
uint_least32_t	CTRL_getTrajFreq (CTRL_Handle handle)
	Gets the trajectory execution frequency. More...
_iq	CTRL_getTrajPeriod_sec (CTRL_Handle handle)
	Gets the trajectory execution period. More...
void	CTRL_getTrajStep (CTRL_Handle handle)
	Gets the trajectory step size. More...
_iq	CTRL_getUi (CTRL_Handle handle, const CTRL_Type_e ctrlType)
	Gets the integrator (Ui) value from the specified controller. More...
MATH_vec2 *	CTRL_getVab_in_addr (CTRL_Handle handle)
	Gets the alpha/beta voltage input vector memory address from the controller. More...
void	CTRL_getVab_in_pu (CTRL_Handle handle, MATH_vec2 *pVab_in_pu)
	Gets the alpha/beta voltage input vector values from the controller. More...
MATH_vec2 *	CTRL_getVab_out_addr (CTRL_Handle handle)
	Gets the alpha/beta voltage output vector memory address from the controller. More...
void	CTRL_getVab_out_pu (CTRL_Handle handle, MATH_vec2 *pVab_out_pu)
	Gets the alpha/beta voltage output vector values from the controller. More...
_iq *	CTRL_getVd_out_addr (CTRL_Handle handle)
	Gets the direct voltage output value memory address from the controller. More...
_iq	CTRL_getVd_out_pu (CTRL_Handle handle)
	Gets the direct voltage output value from the controller. More...
MATH_vec2 *	CTRL_getVdq_out_addr (CTRL_Handle handle)
	Gets the direct/quadrature voltage output vector memory address from the controller. More...
void	CTRL_getVdq_out_pu (CTRL_Handle handle, MATH_vec2 *pVdq_out_pu)
	Gets the direct/quadrature voltage output vector values from the controller. More...
void	CTRL_getVersion (CTRL_Handle handle, CTRL_Version *pVersion)
	Gets the controller version number. More...
_iq *	CTRL_getVq_out_addr (CTRL_Handle handle)
	Gets the quadrature voltage output value memory address from the controller. More...
_iq	CTRL_getVq_out_pu (CTRL_Handle handle)
	Gets the quadrature voltage output value from the controller. More...
uint_least32_t	CTRL_getWaitTime (CTRL_Handle handle, const CTRL_State_e ctrlState)
	Gets the wait time for a given state. More...
void	CTRL_getWaitTimes (CTRL_Handle handle, uint_least32_t *pWaitTimes)
	Gets the wait times from the estimator. More...
void	CTRL_incrCounter_current (CTRL_Handle handle)
	Increments the current counter. More...
void	CTRL_incrCounter_isr (CTRL_Handle handle)
	Increments the isr counter. More...
void	CTRL_incrCounter_speed (CTRL_Handle handle)
	Increments the speed counter. More...
void	CTRL_incrCounter_state (CTRL_Handle handle)
	Increments the state counter. More...
void	CTRL_incrCounter_traj (CTRL_Handle handle)
	Increments the trajectory counter. More...
CTRL_Handle	CTRL_initCtrl (const uint_least8_t estNumber, void *pMemory, const size_t numBytes)
	Initializes a specified controller. More...
bool	CTRL_isError (CTRL_Handle handle)
	Determines if there is a controller error. More...
void	CTRL_resetCounter_current (CTRL_Handle handle)
	Resets the current counter. More...
void	CTRL_resetCounter_isr (CTRL_Handle handle)
	Resets the isr counter. More...
void	CTRL_resetCounter_speed (CTRL_Handle handle)
	Resets the speed counter. More...
void	CTRL_resetCounter_state (CTRL_Handle handle)
	Resets the state counter. More...
void	CTRL_resetCounter_traj (CTRL_Handle handle)
	Resets the trajectory counter. More...
void	CTRL_run (CTRL_Handle handle, HAL_Handle halHandle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData, uint32_t electricalAngle)
	Runs the controller. More...
void	CTRL_runTraj (CTRL_Handle handle)
	Runs the trajectory. More...
void	CTRL_setCtrlFreq_Hz (CTRL_Handle handle, const uint_least32_t ctrlFreq_Hz)
	Sets the controller frequency. More...
void	CTRL_setCtrlPeriod_sec (CTRL_Handle handle, const float_t ctrlPeriod_sec)
	Sets the controller execution period. More...
void	CTRL_setErrorCode (CTRL_Handle handle, const CTRL_ErrorCode_e errorCode)
	Sets the error code in the controller. More...
void	CTRL_setEstParams (EST_Handle estHandle, USER_Params *pUserParams)
	Sets the default estimator parameters. More...
void	CTRL_setFlag_enableCtrl (CTRL_Handle handle, const bool state)
	Sets the enable controller flag value in the estimator. More...
void	CTRL_setFlag_enableDcBusComp (CTRL_Handle handle, const bool state)
	Sets the enable DC bus compensation flag value in the estimator. More...
void	CTRL_setFlag_enablePowerWarp (CTRL_Handle handle, const bool state)
	Sets the PowerWarp enable flag value in the estimator. More...
void	CTRL_setFlag_enableOffset (CTRL_Handle handle, const bool state)
	Sets the enable offset flag value in the estimator. More...
void	CTRL_setFlag_enableSpeedCtrl (CTRL_Handle handle, const bool state)
	Sets the enable speed control value in the estimator. More...
void	CTRL_setFlag_enableUserMotorParams (CTRL_Handle handle, const bool state)
	Sets the enable user motor parameters flag value in the estimator. More...
void	CTRL_setGains (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Kp, const _iq Ki, const _iq Kd)
	Sets the gain values for the specified controller. More...
void	CTRL_setIab_in_pu (CTRL_Handle handle, const MATH_vec2 *pIab_in_pu)
	Sets the alpha/beta current (Iab) input vector values in the controller. More...
void	CTRL_setIab_filt_pu (CTRL_Handle handle, const MATH_vec2 *pIab_filt_pu)
	Sets the alpha/beta filtered current vector values in the controller. More...
void	CTRL_setId_ref_pu (CTRL_Handle handle, const _iq Id_ref_pu)
	Sets the direct current (Id) reference value in the controller. More...
void	CTRL_setIdq_in_pu (CTRL_Handle handle, const MATH_vec2 *pIdq_in_pu)
	Sets the direct/quadrature current (Idq) input vector values in the controller. More...
void	CTRL_setIdq_ref_pu (CTRL_Handle handle, const MATH_vec2 *pIdq_ref_pu)
	Sets the direct/quadrature current (Idq) reference vector values in the controller. More...
void	CTRL_setIdRated_pu (CTRL_Handle handle, const _iq IdRated_pu)
	Sets the Id rated current value in the controller. More...
void	CTRL_setIq_ref_pu (CTRL_Handle handle, const _iq IqRef_pu)
	Sets the quadrature current (Iq) reference value in the controller. More...
void	CTRL_setKd (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Kd)
	Sets the derivative gain (Kd) value for the specified controller. More...
void	CTRL_setKi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Ki)
	Sets the integral gain (Ki) value for the specified controller. More...
void	CTRL_setKp (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Kp)
	Sets the proportional gain (Kp) value for the specified controller. More...
void	CTRL_setLhf (CTRL_Handle handle, const float_t Lhf)
	Sets the high frequency inductance (Lhf) value in the controller. More...
void	CTRL_setMagCurrent_pu (CTRL_Handle handle, const _iq magCurrent_pu)
	Sets the magnetizing current value in the controller. More...
void	CTRL_setMaxVsMag_pu (CTRL_Handle handle, const _iq maxVsMag)
	Sets the maximum voltage vector in the controller. More...
void	CTRL_setMaxAccel_pu (CTRL_Handle handle, const _iq maxAccel_pu)
	Sets the maximum acceleration of the speed controller. More...
void	CTRL_setMaximumSpeed_pu (CTRL_Handle handle, const _iq maxSpeed_pu)
	Sets the maximum speed value in the controller. More...
void	CTRL_setMotorParams (CTRL_Handle handle, const MOTOR_Type_e motorType, const uint_least16_t numPolePairs, const float_t ratedFlux, const float_t Ls_d, const float_t Ls_q, const float_t Rr, const float_t Rs)
	Sets the parameters for the motor in the controller. More...
void	CTRL_setParams (CTRL_Handle handle, USER_Params *pUserParams)
	Sets the controller parameters. More...
void	CTRL_setNumCtrlTicksPerCurrentTick (CTRL_Handle handle, const uint_least16_t numCtrlTicksPerCurrentTick)
	Sets the number of controller clock ticks per current controller clock tick. More...
void	CTRL_setNumCtrlTicksPerSpeedTick (CTRL_Handle handle, const uint_least16_t numCtrlTicksPerSpeedTick)
	Sets the number of controller clock ticks per speed controller clock tick. More...
void	CTRL_setNumCtrlTicksPerTrajTick (CTRL_Handle handle, const uint_least16_t numCtrlTicksPerTrajTick)
	Sets the number of controller clock ticks per trajectory clock tick. More...
void	CTRL_setNumIsrTicksPerCtrlTick (CTRL_Handle handle, const uint_least16_t numIsrTicksPerCtrlTick)
	Sets the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick. More...
void	CTRL_setRhf (CTRL_Handle handle, const float_t Rhf)
	Sets the high frequency resistance (Rhf) value in the controller. More...
void	CTRL_setRoverL (CTRL_Handle handle, const float_t RoverL)
	Sets the R/L value in the controller. More...
void	CTRL_setSpd_max_pu (CTRL_Handle handle, const _iq maxSpd_pu)
	Sets the maximum speed value in the controller. More...
void	CTRL_setSpd_out_pu (CTRL_Handle handle, const _iq spd_out_pu)
	Sets the output speed value in the controller. More...
void	CTRL_setSpd_ref_pu (CTRL_Handle handle, const _iq spd_ref_pu)
	Sets the output speed reference value in the controller. More...
void	CTRL_setSpd_ref_krpm (CTRL_Handle handle, const _iq spd_ref_krpm)
	Sets the output speed reference value in the controller. More...
void	CTRL_setState (CTRL_Handle handle, const CTRL_State_e state)
	Sets the controller state. More...
void	CTRL_setTrajFreq_Hz (CTRL_Handle handle, const uint_least32_t trajFreq_Hz)
	Sets the trajectory execution frequency. More...
void	CTRL_setTrajPeriod_sec (CTRL_Handle handle, const _iq trajPeriod_sec)
	Sets the trajectory execution period. More...
void	CTRL_setUi (CTRL_Handle handle, const CTRL_Type_e ctrlType, const _iq Ui)
	Sets the integrator (Ui) value in the specified controller. More...
void	CTRL_setupClarke_I (CTRL_Handle handle, uint_least8_t numCurrentSensors)
	Sets the number of current sensors. More...
void	CTRL_setupClarke_V (CTRL_Handle handle, uint_least8_t numVoltageSensors)
	Sets the number of voltage sensors. More...
void	CTRL_setupEstIdleState (CTRL_Handle handle)
	Sets up the controller and trajectory generator for the estimator idle state. More...
void	CTRL_setupEstOnLineState (CTRL_Handle handle)
	Sets up the controller and trajectory generator for the estimator online state. More...
void	CTRL_setUserMotorParams (CTRL_Handle handle)
	Sets the controller and estimator with motor parameters from the user.h file. More...
void	CTRL_setVab_in_pu (CTRL_Handle handle, const MATH_vec2 *pVab_in_pu)
	Sets the alpha/beta voltage input vector values in the controller. More...
void	CTRL_setVab_out_pu (CTRL_Handle handle, const MATH_vec2 *pVab_out_pu)
	Sets the alpha/beta current output vector values in the controller. More...
void	CTRL_setVdq_out_pu (CTRL_Handle handle, const MATH_vec2 *pVdq_out_pu)
	Sets the direct/quadrature voltage output vector values in the controller. More...
void	CTRL_setWaitTimes (CTRL_Handle handle, const uint_least32_t *pWaitTimes)
	Sets the wait times for the controller states. More...
void	CTRL_setup (CTRL_Handle handle)
	Sets up the controller (CTRL) object and all of the subordinate objects. More...
void	CTRL_setupCtrl (CTRL_Handle handle)
	Sets up the controllers. More...
void	CTRL_setupEst (CTRL_Handle handle)
	Sets up the estimator (CTRL) object. More...
void	CTRL_setupTraj (CTRL_Handle handle)
	Sets up the trajectory (TRAJ) object. More...
bool	CTRL_updateState (CTRL_Handle handle)
	Updates the controller state. More...
bool	CTRL_useZeroIq_ref (CTRL_Handle handle)
	Determines if a zero Iq current reference should be used in the controller. More...
void	CTRL_checkForErrors (CTRL_Handle handle)
	Checks for any controller errors and, if found, sets the controller state to the error state. More...
void	CTRL_computePhasor (const _iq angle_pu, MATH_vec2 *pPhasor)
	Computes a phasor for a given angle. More...
bool	CTRL_doSpeedCtrl (CTRL_Handle handle)
	Determines if the speed controller should be executed. More...
void	CTRL_runOffLine (CTRL_Handle handle, HAL_Handle halHandle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
	Runs the offline controller. More...
void	CTRL_setSpdMax (CTRL_Handle handle, const _iq spdMax)
	Sets maximum speed controller output. More...
_iq	CTRL_angleDelayComp (CTRL_Handle handle, const _iq angle_pu)
	Runs angle delay compensation. More...
void	CTRL_runOnLine (CTRL_Handle handle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData)
	Runs the online controller. More...
void	CTRL_runOnLine_User (CTRL_Handle handle, const HAL_AdcData_t *pAdcData, HAL_PwmData_t *pPwmData, uint32_t electricalAngle)
	Runs the online user controller. More...