float/user.c

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// **************************************************************************
// the includes

#include "user.h"


// **************************************************************************
// the defines
#ifdef __TMS320C28XX_CLA__
#pragma CODE_SECTION(USER_setParams,"Cla1Prog2");
#endif


// **************************************************************************
// the typedefs


// **************************************************************************
// the functions


void USER_setParams(USER_Params *pUserParams)
{
  pUserParams->dcBus_nominal_V = USER_NOMINAL_DC_BUS_VOLTAGE_V;

  pUserParams->numIsrTicksPerCtrlTick = USER_NUM_ISR_TICKS_PER_CTRL_TICK;
  pUserParams->numIsrTicksPerEstTick = USER_NUM_ISR_TICKS_PER_EST_TICK;
  pUserParams->numIsrTicksPerTrajTick = USER_NUM_ISR_TICKS_PER_TRAJ_TICK;

  pUserParams->numCtrlTicksPerCurrentTick = USER_NUM_CTRL_TICKS_PER_CURRENT_TICK;
  pUserParams->numCtrlTicksPerSpeedTick = USER_NUM_CTRL_TICKS_PER_SPEED_TICK;

  pUserParams->numCurrentSensors = USER_NUM_CURRENT_SENSORS;
  pUserParams->numVoltageSensors = USER_NUM_VOLTAGE_SENSORS;

  pUserParams->systemFreq_MHz = USER_SYSTEM_FREQ_MHz;

  pUserParams->pwmPeriod_usec = USER_PWM_PERIOD_usec;

  pUserParams->voltage_sf = USER_VOLTAGE_SF;

  pUserParams->current_sf = USER_CURRENT_SF;

  pUserParams->dcBusPole_rps = USER_DCBUS_POLE_rps;

  pUserParams->offsetPole_rps = USER_OFFSET_POLE_rps;

  pUserParams->speedPole_rps = USER_SPEED_POLE_rps;

  pUserParams->voltageFilterPole_rps = USER_VOLTAGE_FILTER_POLE_rps;

  pUserParams->maxDutyCycle = USER_MAX_DUTY_CYCLE;

  pUserParams->motor_type = USER_MOTOR_TYPE;

  pUserParams->motor_numPolePairs = USER_MOTOR_NUM_POLE_PAIRS;
  pUserParams->motor_numEncSlots = USER_MOTOR_NUM_ENC_SLOTS;

  pUserParams->motor_ratedFlux_Wb = USER_MOTOR_RATED_FLUX_VpHz / MATH_TWO_PI;

  pUserParams->motor_Rr_d_Ohm = USER_MOTOR_Rr_Ohm;
  pUserParams->motor_Rr_q_Ohm = USER_MOTOR_Rr_Ohm;

  pUserParams->motor_Rs_a_Ohm = USER_MOTOR_Rs_Ohm;
  pUserParams->motor_Rs_b_Ohm = USER_MOTOR_Rs_Ohm;

  pUserParams->motor_Rs_d_Ohm = USER_MOTOR_Rs_Ohm;
  pUserParams->motor_Rs_q_Ohm = USER_MOTOR_Rs_Ohm;

  pUserParams->motor_Ls_d_H = USER_MOTOR_Ls_d_H;
  pUserParams->motor_Ls_q_H = USER_MOTOR_Ls_q_H;

  pUserParams->maxCurrent_A = USER_MOTOR_MAX_CURRENT_A;

  pUserParams->IdRated_A = USER_MOTOR_MAGNETIZING_CURRENT_A;

  pUserParams->Vd_sf = USER_VD_SF;
  pUserParams->maxVsMag_V = USER_NOMINAL_DC_BUS_VOLTAGE_V;

  /*LDRA_INSPECTED 139 S MR12 14.3 ""Its a compile time flag providing user a choice to use or bypass motor identification; so OK"*/
  if(USER_BYPASS_MOTOR_ID == 1)
    {
      // Marathon 56H17T2001
//      pUserParams->BWc_rps = MATH_TWO_PI * 100.0;
//      pUserParams->BWdelta = (float_t)4.0;
//      pUserParams->Kctrl_Wb_p_kgm2 = 3.0 * pUserParams->motor_numPolePairs * 0.1 / (2.0 * 0.0001); // 3.0 * numPolesPairs * rotorFlux_Wb / (2.0 * J_kg_m2);

      // Estun
//      pUserParams->BWc_rps = MATH_TWO_PI * 40.0;
//      pUserParams->BWdelta = (float_t)4.0;
//      pUserParams->Kctrl_Wb_p_kgm2 = 3.0 * pUserParams->motor_numPolePairs * 0.0625 / (2.0 * 0.000031); // 3.0 * numPolesPairs * rotorFlux_Wb / (2.0 * J_kg_m2);

      // Anaheim
      pUserParams->BWc_rps = MATH_TWO_PI * (float_t)100.0;
      pUserParams->BWdelta = (float_t)4.0;
      pUserParams->Kctrl_Wb_p_kgm2 = (float_t)3.0 * pUserParams->motor_numPolePairs * pUserParams->motor_ratedFlux_Wb /(float_t) (2.0 * 0.000004802); // 3.0 * pUserParams->motor_numPolePairs * 0.1 / (2.0 * 0.00001);

      // nidec_fan
//      pUserParams->BWc_rps = MATH_TWO_PI * (float_t)4000.0;
//      pUserParams->BWdelta = (float_t)4.0;
//      pUserParams->Kctrl_Wb_p_kgm2 = (float_t)3.0 * pUserParams->motor_numPolePairs * pUserParams->motor_ratedFlux_Wb /(float_t) (2.0 * 0.000004802); // 3.0 * pUserParams->motor_numPolePairs * 0.1 / (2.0 * 0.00001);
    }
  else
    {
      pUserParams->BWc_rps = MATH_TWO_PI * (float_t)100.0;
      pUserParams->BWdelta = (float_t)10.0;
      pUserParams->Kctrl_Wb_p_kgm2 = (float_t)3.0 * pUserParams->motor_numPolePairs * (float_t)(0.001) / (float_t)(2.0 * 0.000001); // 3.0 * pUserParams->motor_numPolePairs * 0.1 / (2.0 * 0.00001);
    }

  pUserParams->angleDelayed_sf_sec = (float_t)0.5 * USER_CTRL_PERIOD_sec;

  pUserParams->fluxExcFreq_Hz = USER_MOTOR_FLUX_EXC_FREQ_Hz;

  pUserParams->calWaitTime[CAL_State_Error]           = 0;
  pUserParams->calWaitTime[CAL_State_Idle]            = 0;
  pUserParams->calWaitTime[CAL_State_AdcOffset]       = (int_least32_t)( 5.0 * USER_CTRL_FREQ_Hz);
  pUserParams->calWaitTime[CAL_State_Done]            = 0;

  pUserParams->ctrlWaitTime[CTRL_State_Error]         = 0;
  pUserParams->ctrlWaitTime[CTRL_State_Idle]          = 0;
  pUserParams->ctrlWaitTime[CTRL_State_OnLine]        = 0;

  pUserParams->estWaitTime[EST_State_Error]           = 0;
  pUserParams->estWaitTime[EST_State_Idle]            = 0;
  pUserParams->estWaitTime[EST_State_RoverL]          = (int_least32_t)( 5.0 * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_Rs]              = 0;
  pUserParams->estWaitTime[EST_State_RampUp]          = (int_least32_t)((USER_MOTOR_FLUX_EXC_FREQ_Hz / USER_MAX_ACCEL_Hzps + (float_t)1.0) * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_ConstSpeed]      = (int_least32_t)( 1.0 * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_IdRated]         = (int_least32_t)(20.0 * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_RatedFlux_OL]    = (int_least32_t)( 1.0 * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_RatedFlux]       = 0;
  pUserParams->estWaitTime[EST_State_RampDown]        = (int_least32_t)( 0.0 * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_LockRotor]       = 0;
  pUserParams->estWaitTime[EST_State_Ls]              = 0;
  pUserParams->estWaitTime[EST_State_Rr]              = (int_least32_t)( 5.0 * USER_EST_FREQ_Hz);
  pUserParams->estWaitTime[EST_State_MotorIdentified] = 0;
  pUserParams->estWaitTime[EST_State_OnLine]          = 0;

  pUserParams->FluxWaitTime[EST_Flux_State_Error]     = 0;
  pUserParams->FluxWaitTime[EST_Flux_State_Idle]      = 0;
  pUserParams->FluxWaitTime[EST_Flux_State_CL1]       = (int_least32_t)(10.0 * USER_EST_FREQ_Hz);
  pUserParams->FluxWaitTime[EST_Flux_State_CL2]       = (int_least32_t)( 0.2 * USER_EST_FREQ_Hz);
  pUserParams->FluxWaitTime[EST_Flux_State_Fine]      = (int_least32_t)(20.0 * USER_EST_FREQ_Hz);
  pUserParams->FluxWaitTime[EST_Flux_State_Done]      = 0;

  pUserParams->LsWaitTime[EST_Ls_State_Error]        = 0;
  pUserParams->LsWaitTime[EST_Ls_State_Idle]         = 0;
  pUserParams->LsWaitTime[EST_Ls_State_RampUp]       = (int_least32_t)(10.0 * USER_EST_FREQ_Hz);
  pUserParams->LsWaitTime[EST_Ls_State_Coarse]       = (int_least32_t)(30.0 * USER_EST_FREQ_Hz);
  pUserParams->LsWaitTime[EST_Ls_State_Fine]         = (int_least32_t)(30.0 * USER_EST_FREQ_Hz);
  pUserParams->LsWaitTime[EST_Ls_State_Done]         = 0;

  pUserParams->RrWaitTime[EST_Rr_State_Error]        = 0;
  pUserParams->RrWaitTime[EST_Rr_State_Idle]         = 0;
  pUserParams->RrWaitTime[EST_Rr_State_RampUp]       = (int_least32_t)( 1.0 * USER_EST_FREQ_Hz);
  pUserParams->RrWaitTime[EST_Rr_State_Coarse]       = (int_least32_t)(10.0 * USER_EST_FREQ_Hz);
  pUserParams->RrWaitTime[EST_Rr_State_Fine]         = (int_least32_t)(30.0 * USER_EST_FREQ_Hz);
  pUserParams->RrWaitTime[EST_Rr_State_Done]         = 0;

  pUserParams->RsWaitTime[EST_Rs_State_Error]        = 0;
  pUserParams->RsWaitTime[EST_Rs_State_Idle]         = 0;
  pUserParams->RsWaitTime[EST_Rs_State_RampUp]       = (int_least32_t)( 1.0 * USER_EST_FREQ_Hz);
  pUserParams->RsWaitTime[EST_Rs_State_Coarse]       = (int_least32_t)( 2.0 * USER_EST_FREQ_Hz);
  pUserParams->RsWaitTime[EST_Rs_State_Fine]         = (int_least32_t)(10.0 * USER_EST_FREQ_Hz);
  pUserParams->RsWaitTime[EST_Rs_State_Done]         = 0;

  pUserParams->trajWaitTime[EST_Traj_State_Error]    = 0;
  pUserParams->trajWaitTime[EST_Traj_State_Idle]     = 0;
  pUserParams->trajWaitTime[EST_Traj_State_Est]      = 0;
  pUserParams->trajWaitTime[EST_Traj_State_OnLine]   = 0;

  pUserParams->ctrlFreq_Hz = USER_CTRL_FREQ_Hz;

  pUserParams->estFreq_Hz = USER_EST_FREQ_Hz;

  pUserParams->RoverL_excFreq_Hz = USER_R_OVER_L_EXC_FREQ_Hz;

  pUserParams->trajFreq_Hz = USER_TRAJ_FREQ_Hz;

  pUserParams->ctrlPeriod_sec = USER_CTRL_PERIOD_sec;

  pUserParams->maxAccel_Hzps = USER_MAX_ACCEL_Hzps;

  pUserParams->maxCurrent_resEst_A = USER_MOTOR_RES_EST_CURRENT_A;
  pUserParams->maxCurrent_indEst_A = USER_MOTOR_IND_EST_CURRENT_A;

  pUserParams->maxCurrentDelta_A = USER_MAX_CURRENT_DELTA_A;
  pUserParams->maxCurrentDelta_pw_A = USER_MAX_CURRENT_DELTA_PW_A;

  pUserParams->IdRated_delta_A = USER_IDRATED_DELTA_A;

  pUserParams->forceAngleFreq_Hz = USER_FORCE_ANGLE_FREQ_Hz;

  pUserParams->indEst_speedMaxFraction = USER_SPEEDMAX_FRACTION_FOR_L_IDENT;

  pUserParams->IdRatedFraction_indEst = USER_IDRATED_FRACTION_FOR_L_IDENT;

  pUserParams->pwGain = USER_PW_GAIN;

  pUserParams->Kp_min_VpA = (float_t)0.001;
  pUserParams->Kp_max_VpA = (float_t)1000.0;

  pUserParams->RoverL_Kp_sf = USER_R_OVER_L_KP_SF;
  pUserParams->RoverL_min_rps = MATH_TWO_PI * (float_t)5.0;
  pUserParams->RoverL_max_rps = MATH_TWO_PI * (float_t)5000.0;

  pUserParams->oneOverDcBus_min_invV = (float_t)1.0 / (float_t)400.0;
  pUserParams->oneOverDcBus_max_invV = (float_t)1.0 / (float_t)10.0;

  pUserParams->Ls_d_H = (float_t)1.0e-6;
  pUserParams->Ls_q_H = (float_t)1.0e-6;
  pUserParams->Ls_coarseDelta_H = (float_t)0.0000001;
  pUserParams->Ls_fineDelta_H   = (float_t)0.00000001;
  pUserParams->Ls_min_H = (float_t)0.000001;
  pUserParams->Ls_max_H = (float_t)100.0;

  pUserParams->Rr_Ohm = (float_t)0.0;
  pUserParams->Rr_coarseDelta_Ohm = (float_t)0.0001;
  pUserParams->Rr_fineDelta_Ohm =   (float_t)0.00001;
  pUserParams->Rr_min_Ohm = (float_t)0.0;
  pUserParams->Rr_max_Ohm = (float_t)1000.0;

  pUserParams->Rs_Ohm = (float_t)0.0;
  pUserParams->Rs_coarseDelta_Ohm = (float_t)0.01;
  pUserParams->Rs_fineDelta_Ohm = (float_t)0.00001;
  pUserParams->Rs_min_Ohm = (float_t)0.001;
  pUserParams->Rs_max_Ohm = (float_t)1000.0;

  pUserParams->RsOnLine_DeltaInc_Ohm = (float_t)0.00001;
  pUserParams->RsOnLine_DeltaDec_Ohm = (float_t)0.00001;
  pUserParams->RsOnLine_min_Ohm = (float_t)0.001;
  pUserParams->RsOnLine_max_Ohm = (float_t)1000.0;

  pUserParams->RsOnLine_angleDelta_rad = (float_t)0.00001;
  pUserParams->RsOnLine_pole_rps = MATH_TWO_PI * (float_t)0.2;

  pUserParams->flag_bypassMotorId = USER_BYPASS_MOTOR_ID;

  return;
} // end of USER_setParams() function

// end of file