Data Structures
struct	ST_VelCtlCfg_t
	Defines the ST_VelCtlCfg_t data. More...

struct	ST_VelCtl_t
	Defines the ST_VelCtl_t data. More...

Macros
#define	__ST_AXIS_ENUM__

#define	__ST_CTL_STATUS_ENUM__

Typedefs
typedef struct _ST_VELCTL_Handle_ *	ST_VELCTL_Handle

Enumerations
enum	ST_Axis_e { ST_AXIS0 =0, ST_AXIS1, ST_AXIS0 =0, ST_AXIS1, ST_AXIS0 =0, ST_AXIS1, ST_AXIS0 =0, ST_AXIS1 }
	Enumeration for the Axis Status states. More...

enum	ST_CtlStatus_e { ST_CTL_IDLE =0, ST_CTL_INIT, ST_CTL_CONF, ST_CTL_BUSY, ST_CTL_IDLE =0, ST_CTL_INIT, ST_CTL_CONF, ST_CTL_BUSY }
	Enumeration for the Control Status states. More...

Functions
static void	STVELCTL_setAxis (ST_VELCTL_Handle handle, ST_Axis_e axis)
	Sets the Axis (cfg.Axis) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setSampleTime_sec (ST_VELCTL_Handle handle, _iq24 sampleTime)
	Sets the Sample Time (cfg.T_sec) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getOutputMaximum (ST_VELCTL_Handle handle)
	Gets the Maximum Output (cfg.OutMax) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getOutputMinimum (ST_VELCTL_Handle handle)
	Gets the Minimum Output (cfg.OutMin) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setOutputMaximums (ST_VELCTL_Handle handle, _iq24 outMax, _iq24 outMin)
	Sets the Maximum Output (cfg.OutMax) and Minimum Output (cfg.OutMin) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setFilterEnableFlag (ST_VELCTL_Handle handle, bool filterEnable)
	Sets the Feedback Filter Enable Flag (cfg.FiltEN) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setVelocityReference (ST_VELCTL_Handle handle, _iq24 velRef)
	Sets the Velocity Reference (VelRef) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getVelocityReference (ST_VELCTL_Handle handle)
	Gets the Velocity Reference (VelRef) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setAccelerationReference (ST_VELCTL_Handle handle, _iq24 accRef)
	Sets the Acceleration Reference (AccRef) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setVelocityFeedback (ST_VELCTL_Handle handle, _iq24 velFdb)
	Sets the Velocity Feedback (VelFdb) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getVelocityFeedback (ST_VELCTL_Handle handle)
	Gets the Velocity Feedback (VelFdb) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setInertia (ST_VELCTL_Handle handle, _iq24 inertia)
	Sets the Inertia (Inertia) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getInertia (ST_VELCTL_Handle handle)
	Gets the Inertia (Inertia) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setFriction (ST_VELCTL_Handle handle, _iq24 friction)
	Sets the Friction (Friction) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getFriction (ST_VELCTL_Handle handle)
	Gets the Friction (Friction) from SpinTAC Velocity Controller. More...

static void	STVELCTL_setBandwidth_radps (ST_VELCTL_Handle handle, _iq20 bw)
	Sets the Bandwidth (Bw_radps) for SpinTAC Velocity Controller. More...

static _iq20	STVELCTL_getBandwidth_radps (ST_VELCTL_Handle handle)
	Gets the Bandwidth (Bw_radps) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setEnable (ST_VELCTL_Handle handle, bool enb)
	Sets the Enable signal (ENB) for SpinTAC Velocity Controller. More...

static bool	STVELCTL_getEnable (ST_VELCTL_Handle handle)
	Gets the Enable signal (ENB) for SpinTAC Velocity Controller. More...

static void	STVELCTL_setTorqueReference (ST_VELCTL_Handle handle, _iq24 out)
	Sets the Torque (Iq) Reference (Out) for SpinTAC Velocity Controller. More...

static _iq24	STVELCTL_getTorqueReference (ST_VELCTL_Handle handle)
	Gets the Torque (Iq) Reference (Out) for SpinTAC Velocity Controller. More...

static ST_CtlStatus_e	STVELCTL_getStatus (ST_VELCTL_Handle handle)
	Gets the Status value (STATUS) for SpinTAC Velocity Controller. More...

static uint16_t	STVELCTL_getErrorID (ST_VELCTL_Handle handle)
	Gets the Error value (ERR_ID) for SpinTAC Velocity Controller. More...

ST_VELCTL_Handle	STVELCTL_init (void *pMemory, const size_t numBytes)
	Initializes the SpinTAC Velocity Controller object. More...

void	STVELCTL_run (ST_VELCTL_Handle handle)
	Runs the SpinTAC Velocity Control Function. More...

Detailed Description

Data Structure Documentation

struct ST_VelCtlCfg_t

Defines the ST_VelCtlCfg_t data.

The ST_VelCtlCfg_t object contains all configuration parameters of the Velocity Control component

Definition at line 76 of file spintac_vel_ctl.h.

Data Fields
ST_Axis_e	Axis	Axis ID { ST_AXIS0: axis 0, ST_AXIS1: axis 1}.
bool	FiltEN	Enable low-pass Filter { false: Filter Disabled; true: Filter Enabled }.
_iq24	OutMax	Control signal upper limit { unit: [PU], value range: (-1.0, 1.0] }.
_iq24	OutMin	Control signal lower limit { unit: [PU], value range: [-1.0, OutMax) }.
_iq24	T_sec	Sample time { unit: [s], value range: (0.0, 0.01] }.

struct ST_VelCtl_t

Defines the ST_VelCtl_t data.

The ST_VelCtl_t object contains all parameters needed to perform Velocity Control

Definition at line 89 of file spintac_vel_ctl.h.

Data Fields
_iq24	AccRef	Feedforward input { unit: [pu/s^2] }.
_iq20	Bw_radps	Controller Bandwidth {unit: [rad/s], value range: [0.01, min(2000.0, 0.1/T_sec)] }.
ST_VelCtlCfg_t	cfg
bool	ENB	Enable bit { false: disable; true: enable }.
uint16_t	ERR_ID	Error ID { 0: no error; others: see error code }.
_iq24	Friction	Friction Coefficient { unit: [PU/(pu/s)], value range: positive _IQ24 value }.
_iq24	Inertia	System inertia { unit: [PU/(pu/s^2)], value range: positive _IQ24 value }.
_iq24	Out	Control output { unit: [PU], value range: [cfg.OutMin, cfg.OutMax] }.
uint32_t	s1[10]
ST_CtlStatus_e	STATUS	Status { ST_CTL_IDLE, ST_CTL_INIT, ST_CTL_CONF, ST_CTL_BUSY }.
_iq24	VelFdb	Feedback input { unit: [pu/s], value range: [-1.0, 1.0] }.
_iq24	VelRef	Reference input { unit: [pu/s], value range: [-1.0, 1.0] }.

Macro Definition Documentation

#define __ST_AXIS_ENUM__

Definition at line 50 of file spintac_vel_ctl.h.

#define __ST_CTL_STATUS_ENUM__

Definition at line 61 of file spintac_vel_ctl.h.

Typedef Documentation

typedef struct _ST_VELCTL_Handle_* ST_VELCTL_Handle

Definition at line 110 of file spintac_vel_ctl.h.

Enumeration Type Documentation

enum ST_Axis_e

Enumeration for the Axis Status states.

Enumerator
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.
ST_AXIS0	First Axis.
ST_AXIS1	Second Axis.

Definition at line 53 of file spintac_vel_ctl.h.

enum ST_CtlStatus_e

Enumeration for the Control Status states.

Enumerator
ST_CTL_IDLE	ST_CTL in idle state.
ST_CTL_INIT	ST_CTL in init state.
ST_CTL_CONF	ST_CTL in conf state.
ST_CTL_BUSY	ST_CTL in busy state.
ST_CTL_IDLE	ST_CTL in idle state.
ST_CTL_INIT	ST_CTL in init state.
ST_CTL_CONF	ST_CTL in conf state.
ST_CTL_BUSY	ST_CTL in busy state.

Definition at line 64 of file spintac_vel_ctl.h.

Function Documentation

static _iq20 STVELCTL_getBandwidth_radps ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Bandwidth (Bw_radps) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq20 Bw_radps Controller Bandwidth {unit: [rad/s] }

Definition at line 287 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Bw_radps.

static bool STVELCTL_getEnable ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Enable signal (ENB) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: bool ENB Enable bit { false: disable; true: enable }

Definition at line 307 of file spintac_vel_ctl.h.

References ST_VelCtl_t::ENB.

static uint16_t STVELCTL_getErrorID ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Error value (ERR_ID) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: uint16_t error Error ID { 0: no error; others: see error code }

Definition at line 347 of file spintac_vel_ctl.h.

References ST_VelCtl_t::ERR_ID.

static _iq24 STVELCTL_getFriction ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Friction (Friction) from SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 Friction Friction Coefficient { unit: [PU/(pu/s)], value range: positive _IQ24 value }

Definition at line 267 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Friction.

static _iq24 STVELCTL_getInertia ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Inertia (Inertia) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 Inertia System inertia { unit: [PU/(pu/s^2)], Value range: positive _IQ24 value }

Definition at line 247 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Inertia.

static _iq24 STVELCTL_getOutputMaximum ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Maximum Output (cfg.OutMax) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 OutMax Control signal upper limit { unit: [PU], value range: [-1.0, 1.0] }

Definition at line 141 of file spintac_vel_ctl.h.

References ST_VelCtl_t::cfg, and ST_VelCtlCfg_t::OutMax.

static _iq24 STVELCTL_getOutputMinimum ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Minimum Output (cfg.OutMin) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 OutMin Control signal lower limit { unit: [PU], value range: [-1.0, 1.0] }

Definition at line 150 of file spintac_vel_ctl.h.

References ST_VelCtl_t::cfg, and ST_VelCtlCfg_t::OutMin.

static ST_CtlStatus_e STVELCTL_getStatus ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Status value (STATUS) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: ST_CtlStatus_e STATUS Status { ST_CTL_IDLE, ST_CTL_INIT, ST_CTL_CONF, ST_CTL_BUSY }

Definition at line 337 of file spintac_vel_ctl.h.

References ST_VelCtl_t::STATUS.

static _iq24 STVELCTL_getTorqueReference ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Torque (Iq) Reference (Out) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 Out Control output { unit: [PU], value range: [cfg.OutMin, cfg.OutMax] }

Definition at line 328 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Out.

static _iq24 STVELCTL_getVelocityFeedback ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Velocity Feedback (VelFdb) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 VelFdb Feedback input { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 227 of file spintac_vel_ctl.h.

References ST_VelCtl_t::VelFdb.

static _iq24 STVELCTL_getVelocityReference ( ST_VELCTL_Handle handle )

inlinestatic

Gets the Velocity Reference (VelRef) for SpinTAC Velocity Controller.

Parameters

[in] handle The handle for the SpinTAC Velocity Controller Object

Returns: _iq24 VelRef Reference input { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 196 of file spintac_vel_ctl.h.

References ST_VelCtl_t::VelRef.

ST_VELCTL_Handle STVELCTL_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the SpinTAC Velocity Controller object.

Parameters

[in]	*pMemory	Pointer to the memory for ST_VelCtl_t
[in]	numBytes	The number of bytes in the ST_VelCtl_t

Returns: ST_VELCTL_Handle handle The handle for the SpinTAC Velocity Controller Object

void STVELCTL_run ( ST_VELCTL_Handle handle )

Runs the SpinTAC Velocity Control Function.

Parameters

[in] handle The Velocity Controller object handle

static void STVELCTL_setAccelerationReference	(	ST_VELCTL_Handle	handle,
		_iq24	accRef
	)

inlinestatic

Sets the Acceleration Reference (AccRef) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	accRef	Feedforward input { unit: [pu/s^2], _IQ24 value) }

Definition at line 205 of file spintac_vel_ctl.h.

References ST_VelCtl_t::AccRef.

static void STVELCTL_setAxis	(	ST_VELCTL_Handle	handle,
		ST_Axis_e	axis
	)

inlinestatic

Sets the Axis (cfg.Axis) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	axis	Axis ID { ST_AXIS0: axis 0, ST_AXIS1: axis 1}

Definition at line 115 of file spintac_vel_ctl.h.

References ST_VelCtlCfg_t::Axis, ST_VelCtl_t::cfg, ST_CTL_IDLE, and ST_VelCtl_t::STATUS.

static void STVELCTL_setBandwidth_radps	(	ST_VELCTL_Handle	handle,
		_iq20	bw
	)

inlinestatic

Sets the Bandwidth (Bw_radps) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	bw	Controller Bandwidth { unit: [rad/s] }

Definition at line 276 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Bw_radps.

static void STVELCTL_setEnable	(	ST_VELCTL_Handle	handle,
		bool	enb
	)

inlinestatic

Sets the Enable signal (ENB) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	enb	Enable bit { false: disable; true: enable }

Definition at line 296 of file spintac_vel_ctl.h.

References ST_VelCtl_t::ENB.

static void STVELCTL_setFilterEnableFlag	(	ST_VELCTL_Handle	handle,
		bool	filterEnable
	)

inlinestatic

Sets the Feedback Filter Enable Flag (cfg.FiltEN) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	filterEnable	Enable low-pass Filter { false: Filter Disabled; true: Filter Enabled }

Definition at line 172 of file spintac_vel_ctl.h.

References ST_VelCtl_t::cfg, ST_VelCtlCfg_t::FiltEN, ST_CTL_IDLE, and ST_VelCtl_t::STATUS.

static void STVELCTL_setFriction	(	ST_VELCTL_Handle	handle,
		_iq24	friction
	)

inlinestatic

Sets the Friction (Friction) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	friction	Friction Coefficient { unit: [PU/(pu/s)], value range: positive _IQ24 value }

Definition at line 256 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Friction.

static void STVELCTL_setInertia	(	ST_VELCTL_Handle	handle,
		_iq24	inertia
	)

inlinestatic

Sets the Inertia (Inertia) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	inertia	System inertia { unit: [PU/(pu/s^2)], Value range: positive _IQ24 value }

Definition at line 236 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Inertia.

static void STVELCTL_setOutputMaximums	(	ST_VELCTL_Handle	handle,
		_iq24	outMax,
		_iq24	outMin
	)

inlinestatic

Sets the Maximum Output (cfg.OutMax) and Minimum Output (cfg.OutMin) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	outMax	Control signal upper limit { unit: [PU], value range: [-1.0, 1.0] }
[in]	outMin	Control signal lower limit { unit: [PU], value range: [-1.0, OutMax] }

Definition at line 160 of file spintac_vel_ctl.h.

References ST_VelCtl_t::cfg, ST_VelCtlCfg_t::OutMax, and ST_VelCtlCfg_t::OutMin.

static void STVELCTL_setSampleTime_sec	(	ST_VELCTL_Handle	handle,
		_iq24	sampleTime
	)

inlinestatic

Sets the Sample Time (cfg.T_sec) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	sampleTime	Sample Time { unit: [s], value range: (0.0, 0.01] }

Definition at line 128 of file spintac_vel_ctl.h.

References ST_VelCtl_t::cfg, ST_CTL_IDLE, ST_VelCtl_t::STATUS, and ST_VelCtlCfg_t::T_sec.

static void STVELCTL_setTorqueReference	(	ST_VELCTL_Handle	handle,
		_iq24	out
	)

inlinestatic

Sets the Torque (Iq) Reference (Out) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	out	Control output { unit: [PU], value range: [cfg.OutMin, cfg.OutMax] }

Definition at line 317 of file spintac_vel_ctl.h.

References ST_VelCtl_t::Out.

static void STVELCTL_setVelocityFeedback	(	ST_VELCTL_Handle	handle,
		_iq24	velFdb
	)

inlinestatic

Sets the Velocity Feedback (VelFdb) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	velFdb	Feedback input { unit: [pu/s], value range: [-1.0, 1.0] }

Definition at line 216 of file spintac_vel_ctl.h.

References ST_VelCtl_t::VelFdb.

static void STVELCTL_setVelocityReference	(	ST_VELCTL_Handle	handle,
		_iq24	velRef
	)

inlinestatic

Sets the Velocity Reference (VelRef) for SpinTAC Velocity Controller.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Controller Object
[in]	velRef	Reference input { unit: [pu/s], value range: [-1, 1] }

Definition at line 185 of file spintac_vel_ctl.h.

References ST_VelCtl_t::VelRef.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Data Structure Documentation

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation