Modules
	IPD_HFI_OVERVIEW

Typedefs
typedef struct IPD_HFI_Obj *	IPD_HFI_Handle
	Defines the IPD_HFI handle. More...

Enumerations
enum	IPD_HFI_State_e { IPD_HFI_State_Error = 0, IPD_HFI_State_Idle = 1, IPD_HFI_State_Coarse = 2, IPD_HFI_State_Fine = 3, IPD_HFI_State_OnLine = 4, IPD_HFI_State_NumStates = 5 }
	Defines the initial position detection, high frequency injection (IPD_HFI) states. More...

enum	IPD_HFI_TRAJ_State_e { IPD_HFI_TRAJ_State_Idle = 0, IPD_HFI_TRAJ_State_Coarse = 1, IPD_HFI_TRAJ_State_Fine = 2, IPD_HFI_TRAJ_State_NumStates = 3 }
	Defines the trajectory states. More...

Functions
static void	IPD_HFI_computePhasor (const _iq angle_pu, MATH_vec2 *pPhasor)
	Computes a phasor for a given angle. More...

void	IPD_HFI_disable (IPD_HFI_Handle handle)
	Disables the initial position detection, high frequency injection (IPD_HFI) module. More...

void	IPD_HFI_enable (IPD_HFI_Handle handle)
	Enables the initial position detection, high frequency injection (IPD_HFI) module. More...

_iq	IPD_HFI_getAngle_pu (IPD_HFI_Handle handle)
	Gets the angle value from the estimator. More...

_iq	IPD_HFI_getKspd_pu (IPD_HFI_Handle handle)
	Gets the speed gain value. More...

_iq	IPD_HFI_getSpeed_pu (IPD_HFI_Handle handle)
	Gets the speed value from the estimator. More...

_iq	IPD_HFI_getSpeed_lp_pu (IPD_HFI_Handle handle)
	Gets the low pass filtered speed value from the estimator. More...

IPD_HFI_State_e	IPD_HFI_getState (IPD_HFI_Handle handle)
	Gets the estimator state. More...

_iq	IPD_HFI_getVdValue (IPD_HFI_Handle handle)
	Gets the current trajectory magnitude value. More...

IPD_HFI_Handle	IPD_HFI_init (void)
	Initializes the initial position detection, high frequency injection (IPD_HFI) module. More...

bool	IPD_HFI_isEnabled (IPD_HFI_Handle handle)
	Returns a boolean value denoting if the module is enabled (true) or not (false) More...

bool	IPD_HFI_isOnLine (IPD_HFI_Handle handle)
	Denotes whether the module is online (true) or not (false) More...

void	IPD_HFI_run (IPD_HFI_Handle handle, const MATH_vec2 *pIab_pu)
	Runs the initial position detection, high frequency injection (IPD_HFI) algorithm. More...

void	IPD_HFI_setAngle_pu (IPD_HFI_Handle handle, const _iq angle_pu)
	Sets the angle value in the module. More...

void	IPD_HFI_setFlag_motorSpinning (IPD_HFI_Handle handle, const bool value)
	Sets the value of the motor spinning flag. More...

void	IPD_HFI_setHpf_Idq_Params (IPD_HFI_Handle handle, const _iq b0, const _iq b1, const _iq a1, const _iq x1, const _iq y1)
	Sets the Idq high pass filter parameters. More...

void	IPD_HFI_setId_sum (IPD_HFI_Handle handle, const _iq Id_sum_pu)
	Sets the integral value for the direct current in the estimator. More...

void	IPD_HFI_setKspd_pu (IPD_HFI_Handle handle, const _iq Kspd_pu)
	Sets the speed gain value. More...

void	IPD_HFI_setLpf_spd_Params (IPD_HFI_Handle handle, const _iq b0, const _iq b1, const _iq a1, const _iq x1, const _iq y1)
	Sets the speed low pass filter parameters. More...

void	IPD_HFI_setParams (IPD_HFI_Handle handle, float_t estFreq_Hz, float_t excFreq_Hz, float_t lpFilterCutOffFreq_Hz, float_t hpFilterCutOffFreq_Hz, float_t iqFullScaleFreq_Hz, float_t Kspd, float_t excMag_coarse_pu, float_t excMag_fine_pu, float_t waitTime_coarse_sec, float_t waitTime_fine_sec)
	Sets the initial position detection, high frequency injection (IPD_HFI) parameters. More...

void	IPD_HFI_setSpeed_pu (IPD_HFI_Handle handle, const _iq speed_pu)
	Sets the speed value in the estimator. More...

void	IPD_HFI_setSpeed_lp_pu (IPD_HFI_Handle handle, const _iq speed_lp_pu)
	Sets the low pass filtered speed value in the estimator. More...

void	IPD_HFI_setTrajMags (IPD_HFI_Handle handle, const _iq *pMags)
	Sets the trajectory magnitudes in the estimator. More...

void	IPD_HFI_setTrajParams (IPD_HFI_Handle handle, const uint_least32_t period, const uint_least32_t targetPeriod, const _iq pTrajMags, const uint_least32_t pTrajPeriods)
	Sets the trajectory parameters in the estimator. More...

void	IPD_HFI_setTrajPeriods (IPD_HFI_Handle handle, const uint_least32_t *pPeriods)
	Sets the periods for each trajectory state. More...

void	IPD_HFI_setWaitTimes (IPD_HFI_Handle handle, const uint_least32_t *pWaitTimes)
	Sets the wait times for each estimator state. More...

void	IPD_HFI_updateState (IPD_HFI_Handle handle)
	Updates the state. More...

Detailed Description

Typedef Documentation

typedef struct IPD_HFI_Obj* IPD_HFI_Handle

Defines the IPD_HFI handle.

Definition at line 96 of file ipd_hfi.h.

Enumeration Type Documentation

enum IPD_HFI_State_e

Defines the initial position detection, high frequency injection (IPD_HFI) states.

Enumerator
IPD_HFI_State_Error	the error state
IPD_HFI_State_Idle	the idle state
IPD_HFI_State_Coarse	the coarse angle detection state
IPD_HFI_State_Fine	the fine angle detection state
IPD_HFI_State_OnLine	the online state
IPD_HFI_State_NumStates	the total number of states

Definition at line 72 of file ipd_hfi.h.

enum IPD_HFI_TRAJ_State_e

Defines the trajectory states.

Enumerator
IPD_HFI_TRAJ_State_Idle	the idle trajectory state
IPD_HFI_TRAJ_State_Coarse	the coarse trajectory state
IPD_HFI_TRAJ_State_Fine	the fine trajectory state
IPD_HFI_TRAJ_State_NumStates	the total number of states

Definition at line 85 of file ipd_hfi.h.

Function Documentation

static void IPD_HFI_computePhasor	(	const _iq	angle_pu,
		MATH_vec2 *	pPhasor
	)

inlinestatic

Computes a phasor for a given angle.

Parameters

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

Definition at line 110 of file ipd_hfi.h.

References _IQcosPU, _IQsinPU, and _MATH_vec2_::value.

void IPD_HFI_disable ( IPD_HFI_Handle handle )

Disables the initial position detection, high frequency injection (IPD_HFI) module.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

void IPD_HFI_enable ( IPD_HFI_Handle handle )

Enables the initial position detection, high frequency injection (IPD_HFI) module.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

_iq IPD_HFI_getAngle_pu ( IPD_HFI_Handle handle )

Gets the angle value from the estimator.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Returns: The angle value, pu

_iq IPD_HFI_getKspd_pu ( IPD_HFI_Handle handle )

Gets the speed gain value.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Returns: The speed gain value, pu

_iq IPD_HFI_getSpeed_lp_pu ( IPD_HFI_Handle handle )

Gets the low pass filtered speed value from the estimator.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Returns: The low pass filtered speed value, pu

_iq IPD_HFI_getSpeed_pu ( IPD_HFI_Handle handle )

Gets the speed value from the estimator.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Returns: The speed value, pu

IPD_HFI_State_e IPD_HFI_getState ( IPD_HFI_Handle handle )

Gets the estimator state.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Returns: The estimator state

_iq IPD_HFI_getVdValue ( IPD_HFI_Handle handle )

Gets the current trajectory magnitude value.

Parameters

[in] handle The initial position detection, high frequency injection trajectory generation (IPD_HFI_TRAJ) handle

Returns: The current trajectory magnitude value, pu

IPD_HFI_Handle IPD_HFI_init ( void )

Initializes the initial position detection, high frequency injection (IPD_HFI) module.

Parameters

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

Returns: The initial position detection, high frequency injection (IPD_HFI) object handle

bool IPD_HFI_isEnabled ( IPD_HFI_Handle handle )

Returns a boolean value denoting if the module is enabled (true) or not (false)

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Returns: The boolean value

bool IPD_HFI_isOnLine ( IPD_HFI_Handle handle )

Denotes whether the module is online (true) or not (false)

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

void IPD_HFI_run	(	IPD_HFI_Handle	handle,
		const MATH_vec2 *	pIab_pu
	)

Runs the initial position detection, high frequency injection (IPD_HFI) algorithm.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	pIab_pu	The pointer to the alpha/beta current values, pu

void IPD_HFI_setAngle_pu	(	IPD_HFI_Handle	handle,
		const _iq	angle_pu
	)

Sets the angle value in the module.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	angle_pu	The desired angle value, pu

void IPD_HFI_setFlag_motorSpinning	(	IPD_HFI_Handle	handle,
		const bool	value
	)

Sets the value of the motor spinning flag.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	value	The desired flag value

void IPD_HFI_setHpf_Idq_Params	(	IPD_HFI_Handle	handle,
		const _iq	b0,
		const _iq	b1,
		const _iq	a1,
		const _iq	x1,
		const _iq	y1
	)

Sets the Idq high pass filter parameters.

y[n] = b0*x[n] + b1*x[n-1] - a1*y[n-1]

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	b0	The filter coefficient value for z^0
[in]	b1	The filter coefficient value for z^(-1)
[in]	a1	The filter coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

void IPD_HFI_setId_sum	(	IPD_HFI_Handle	handle,
		const _iq	Id_sum_pu
	)

Sets the integral value for the direct current in the estimator.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	Id_sum	The desired integral value, pu

void IPD_HFI_setKspd_pu	(	IPD_HFI_Handle	handle,
		const _iq	Kspd_pu
	)

Sets the speed gain value.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	Kspd_pu	The desired speed gain value, pu

void IPD_HFI_setLpf_spd_Params	(	IPD_HFI_Handle	handle,
		const _iq	b0,
		const _iq	b1,
		const _iq	a1,
		const _iq	x1,
		const _iq	y1
	)

Sets the speed low pass filter parameters.

y[n] = b0*x[n] + b1*x[n-1] - a1*y[n-1]

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	b0	The filter coefficient value for z^0
[in]	b1	The filter coefficient value for z^(-1)
[in]	a1	The filter coefficient value for z^(-1)
[in]	x1	The input value at time sample n=-1
[in]	y1	The output value at time sample n=-1

void IPD_HFI_setParams	(	IPD_HFI_Handle	handle,
		float_t	estFreq_Hz,
		float_t	excFreq_Hz,
		float_t	lpFilterCutOffFreq_Hz,
		float_t	hpFilterCutOffFreq_Hz,
		float_t	iqFullScaleFreq_Hz,
		float_t	Kspd,
		float_t	excMag_coarse_pu,
		float_t	excMag_fine_pu,
		float_t	waitTime_coarse_sec,
		float_t	waitTime_fine_sec
	)

Sets the initial position detection, high frequency injection (IPD_HFI) parameters.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	estFreq_Hz	The estimation frequency of the IPD algorithm, Hz
[in]	excFreq_Hz	The excitation frequency of the IPD algorithm, Hz
[in]	lpFilterCutOffFreq_Hz	The lowpass filter cutoff frequency, Hz
[in]	hpFilterCutOffFreq_Hz	The highpass filter cutoff frequency, Hz
[in]	iqFullScaleFreq_Hz	The IQ full scale frequency, Hz
[in]	Kspd	The speed gain value
[in]	excMag_coarse_pu	The excitation magnitude during coarse position detection, Hz
[in]	excMag_fine_pu	The excitation magnitude during fine position detection, Hz
[in]	waitTime_coarse_sec	The wait time for coarse position detection, sec
[in]	waitTime_fine_sec	The wait time for fine position detection, sec

void IPD_HFI_setSpeed_lp_pu	(	IPD_HFI_Handle	handle,
		const _iq	speed_lp_pu
	)

Sets the low pass filtered speed value in the estimator.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	speed_lp	The desired low pass filtered speed value, pu

void IPD_HFI_setSpeed_pu	(	IPD_HFI_Handle	handle,
		const _iq	speed_pu
	)

Sets the speed value in the estimator.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	speed_lp	The desired speed value, pu

void IPD_HFI_setTrajMags	(	IPD_HFI_Handle	handle,
		const _iq *	pMags
	)

Sets the trajectory magnitudes in the estimator.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	period	The trajectory period for the current state, counts
[in]	pTrajMags	The pointer to the trajectory magnitude values for each trajectory state, counts

void IPD_HFI_setTrajParams	(	IPD_HFI_Handle	handle,
		const uint_least32_t	period,
		const uint_least32_t	targetPeriod,
		const _iq *	pTrajMags,
		const uint_least32_t *	pTrajPeriods
	)

Sets the trajectory parameters in the estimator.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	period	The trajectory period for the current state, counts
[in]	pTrajMags	The pointer to the trajectory magnitude values for each trajectory state, counts
[in]	pTrajPeriods	The pointer to the trajectory period values for each trajectory state, counts

void IPD_HFI_setTrajPeriods	(	IPD_HFI_Handle	handle,
		const uint_least32_t *	pPeriods
	)

Sets the periods for each trajectory state.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	pPeriods	The pointer to the trajectory period values for each trajectory state, counts

void IPD_HFI_setWaitTimes	(	IPD_HFI_Handle	handle,
		const uint_least32_t *	pWaitTimes
	)

Sets the wait times for each estimator state.

Parameters

[in]	handle	The initial position detection, high frequency injection (IPD_HFI) handle
[in]	pWaitTimes	The pointer to the wait times, counts

void IPD_HFI_updateState ( IPD_HFI_Handle handle )

Updates the state.

Parameters

[in] handle The initial position detection, high frequency injection (IPD_HFI) handle

Modules

Typedefs

Enumerations

Functions

Detailed Description

Typedef Documentation

Enumeration Type Documentation

Function Documentation