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

struct	ST_VelId_t
	Defines the ST_VelId_t data. More...

Typedefs
typedef struct _ST_VELID_Handle_ *	ST_VELID_Handle

Enumerations
enum	ST_VelIdStatus_e { ST_VEL_ID_IDLE =0, ST_VEL_ID_INIT, ST_VEL_ID_BUSY }
	Enumeration for the Velocity Identify Status states. More...

Functions
static void	STVELID_setSampleTime_sec (ST_VELID_Handle handle, _iq24 sampleTime)
	Sets the Sample Time (cfg.T_sec) for SpinTAC Velocity Identify. More...

static void	STVELID_setOutputMaximum (ST_VELID_Handle handle, _iq24 outMax)
	Sets the Maximum Output (cfg.OutMax) for SpinTAC Velocity Identify. More...

static void	STVELID_setGoalSpeed (ST_VELID_Handle handle, _iq24 goalSpeed)
	Sets the Goal Speed of inertia identification (cfg.GoalSpeed) for SpinTAC Velocity Identify. More...

static _iq24	STVELID_getGoalSpeed (ST_VELID_Handle handle)
	Gets the Goal Speed of inertia identification (cfg.GoalSpeed) for SpinTAC Velocity Identify. More...

static void	STVELID_setLowPassFilterTime_tick (ST_VELID_Handle handle, int16_t lpfTime)
	Sets the Low Pass Filter Time Constant (cfg.LpfTime_tick) for SpinTAC Velocity Identify. More...

static void	STVELID_setTimeOut_sec (ST_VELID_Handle handle, _iq24 timeOut)
	Sets the Time Out Time (cfg.TimeOut_sec) for SpinTAC Velocity Identify. More...

static void	STVELID_setTorqueRampTime_sec (ST_VELID_Handle handle, _iq24 rampTime)
	Sets the Torque Ramp Time (cfg.RampTime_sec) for SpinTAC Velocity Identify. More...

static _iq24	STVELID_getTorqueRampTime_sec (ST_VELID_Handle handle)
	Gets the Torque Ramp Time (cfg.RampTime_sec) for SpinTAC Velocity Identify. More...

static void	STVELID_setSensorlessFeedback (ST_VELID_Handle handle, bool sensorless)
	Sets the feedback type (cfg.Sensorless) for SpinTAC Velocity Identify. More...

static void	STVELID_setVelocityFeedback (ST_VELID_Handle handle, _iq24 velFdb)
	Sets the Velocity Feedback (VelFdb) for SpinTAC Velocity Identify. More...

static _iq24	STVELID_getTorqueReference (ST_VELID_Handle handle)
	Gets the Torque (Iq) Reference value (Out) from SpinTAC Velocity Identify. More...

static void	STVELID_setTorqueReference (ST_VELID_Handle handle, _iq24 out)
	Sets the Torque (Iq) Reference (Out) for SpinTAC Velocity Identify. More...

static _iq24	STVELID_getInertiaEstimate (ST_VELID_Handle handle)
	Gets the System Inertia (InertiaEst) from SpinTAC Velocity Identify. More...

static _iq24	STVELID_getFrictionEstimate (ST_VELID_Handle handle)
	Gets the System Friction (FrictionEst) from SpinTAC Velocity Identify. More...

static void	STVELID_setEnable (ST_VELID_Handle handle, bool enb)
	Sets the Enable signal (ENB) for SpinTAC Velocity Identify. More...

static bool	STVELID_getEnable (ST_VELID_Handle handle)
	Gets the Enable signal (ENB) for SpinTAC Velocity Identify. More...

static ST_VelIdStatus_e	STVELID_getStatus (ST_VELID_Handle handle)
	Gets the Status value (STATUS) for SpinTAC Velocity Identify. More...

static uint16_t	STVELID_getErrorID (ST_VELID_Handle handle)
	Gets the Error value (ERR_ID) for SpinTAC Velocity Identify. More...

ST_VELID_Handle	STVELID_init (void *pMemory, const size_t numBytes)
	Initializes the SpinTAC Velocity Identify object. More...

void	STVELID_run (ST_VELID_Handle handle)
	Runs the SpinTAC Identify function. More...

Detailed Description

Data Structure Documentation

struct ST_VelIdCfg_t

Defines the ST_VelIdCfg_t data.

The ST_VelIdCfg_t object contains all configuration parameters of the Velocity ID object.

Definition at line 61 of file spintac_vel_id.h.

Data Fields
_iq24	GoalSpeed	Speed to reach in inertia estimation { unit: [pu/s], value range: (0, 1.0] }.
int16_t	LpfTime_tick	Low pass filter ISR ticks { unit: [ticks], value range: [1, 100] }.
_iq24	OutMax	Control signal limit { unit: [PU], value range: (0, 1.0] }.
_iq24	RampTime_sec	Torque acceleration ramp time { unit [s], value range: [T_sec, 25.0] }.
bool	Sensorless	Indicates if the FOC is using a sensorless estimator.
_iq24	T_sec	Sample time { unit: [s], value range: (0.0, 0.01] }.
_iq24	TimeOut_sec	Maximum time allowed for inertia estimation process { unit: [s], value range: [1.0, 10.0] }.

struct ST_VelId_t

Defines the ST_VelId_t data.

The ST_VelId_t object contains all parameters needed to perform Velocity ID

Definition at line 78 of file spintac_vel_id.h.

Data Fields
ST_VelIdCfg_t	cfg	Configuration substructure.
bool	ENB	Enable bit { false: enable; true: disable }.
uint16_t	ERR_ID	Error ID { 0: no error; others: see error code }.
_iq24	FrictionEst	Friction Coefficient { unit: [PU/(pu/s)], value range: positive _IQ24 value }.
_iq24	InertiaEst	Estimated Inertia { unit: [PU/(pu/s^2)], value range: positive _IQ24 value }.
_iq24	Out	control output { unit: [PU], value range: [-cfg.OutMax, cfg.OutMax] }
uint32_t	s0[9]
ST_VelIdStatus_e	STATUS	Status { ST_VEL_ID_IDLE, ST_VEL_ID_INIT, ST_VEL_ID_BUSY }.
_iq24	VelFdb	Velocity feedback { unit: [pu/s], value range: [-1.0, 1.0] }.

Typedef Documentation

typedef struct _ST_VELID_Handle_* ST_VELID_Handle

Definition at line 97 of file spintac_vel_id.h.

Enumeration Type Documentation

enum ST_VelIdStatus_e

Enumeration for the Velocity Identify Status states.

Enumerator
ST_VEL_ID_IDLE	Velocity Identify is in idle state, zero output.
ST_VEL_ID_INIT	Velocity Identify is in init state, validating configured parameters.
ST_VEL_ID_BUSY	Velocity Identify is in busy state, identifying system inertia.

Definition at line 51 of file spintac_vel_id.h.

Function Documentation

static bool STVELID_getEnable ( ST_VELID_Handle handle )

inlinestatic

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

Parameters

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

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

Definition at line 269 of file spintac_vel_id.h.

References ST_VelId_t::ENB.

static uint16_t STVELID_getErrorID ( ST_VELID_Handle handle )

inlinestatic

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

Parameters

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

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

Definition at line 287 of file spintac_vel_id.h.

References ST_VelId_t::ERR_ID.

static _iq24 STVELID_getFrictionEstimate ( ST_VELID_Handle handle )

inlinestatic

Gets the System Friction (FrictionEst) from SpinTAC Velocity Identify.

Parameters

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

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

Definition at line 249 of file spintac_vel_id.h.

References ST_VelId_t::FrictionEst.

static _iq24 STVELID_getGoalSpeed ( ST_VELID_Handle handle )

inlinestatic

Gets the Goal Speed of inertia identification (cfg.GoalSpeed) for SpinTAC Velocity Identify.

Parameters

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

Returns: _iq24 GoalSpeed Inertia identification goal speed { unit: [pu/s], Value range: (0.0, 1.0] }

Definition at line 139 of file spintac_vel_id.h.

References ST_VelId_t::cfg, and ST_VelIdCfg_t::GoalSpeed.

static _iq24 STVELID_getInertiaEstimate ( ST_VELID_Handle handle )

inlinestatic

Gets the System Inertia (InertiaEst) from SpinTAC Velocity Identify.

Parameters

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

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

Definition at line 240 of file spintac_vel_id.h.

References ST_VelId_t::InertiaEst.

static ST_VelIdStatus_e STVELID_getStatus ( ST_VELID_Handle handle )

inlinestatic

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

Parameters

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

Returns: ST_VelIdStatus_e STATUS Status { ST_VEL_ID_IDLE, ST_VEL_ID_INIT, ST_VEL_ID_BUSY }

Definition at line 278 of file spintac_vel_id.h.

References ST_VelId_t::STATUS.

static _iq24 STVELID_getTorqueRampTime_sec ( ST_VELID_Handle handle )

inlinestatic

Gets the Torque Ramp Time (cfg.RampTime_sec) for SpinTAC Velocity Identify.

Parameters

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

Returns: _iq24 RampTime_sec Torque acceleration ramp time { unit [s], Value range: [cfg.T_sec, 25.0] }

Definition at line 187 of file spintac_vel_id.h.

References ST_VelId_t::cfg, and ST_VelIdCfg_t::RampTime_sec.

static _iq24 STVELID_getTorqueReference ( ST_VELID_Handle handle )

inlinestatic

Gets the Torque (Iq) Reference value (Out) from SpinTAC Velocity Identify.

Parameters

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

Returns: _iq24 Out Torque (Iq) Reference { unit [PU], value range: [-cfg.OutMax, cfg.OutMax] }

Definition at line 220 of file spintac_vel_id.h.

References ST_VelId_t::Out.

ST_VELID_Handle STVELID_init	(	void *	pMemory,
		const size_t	numBytes
	)

Initializes the SpinTAC Velocity Identify object.

Parameters

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

Returns: ST_VELID_Handle handle The handle for the SpinTAC Velocity Identify Object

void STVELID_run ( ST_VELID_Handle handle )

Runs the SpinTAC Identify function.

Parameters

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

static void STVELID_setEnable	(	ST_VELID_Handle	handle,
		bool	enb
	)

inlinestatic

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

Parameters

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

Definition at line 258 of file spintac_vel_id.h.

References ST_VelId_t::ENB.

static void STVELID_setGoalSpeed	(	ST_VELID_Handle	handle,
		_iq24	goalSpeed
	)

inlinestatic

Sets the Goal Speed of inertia identification (cfg.GoalSpeed) for SpinTAC Velocity Identify.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	goalSpeed	Inertia identification goal speed { unit: [pu/s], Value range: (0.0, 1.0] }

Definition at line 128 of file spintac_vel_id.h.

References ST_VelId_t::cfg, and ST_VelIdCfg_t::GoalSpeed.

static void STVELID_setLowPassFilterTime_tick	(	ST_VELID_Handle	handle,
		int16_t	lpfTime
	)

inlinestatic

Sets the Low Pass Filter Time Constant (cfg.LpfTime_tick) for SpinTAC Velocity Identify.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	lpfTime	Low pass filter ISR ticks { unit: [ticks], value range: [1, 100] }

Definition at line 148 of file spintac_vel_id.h.

References ST_VelId_t::cfg, ST_VelIdCfg_t::LpfTime_tick, ST_VEL_ID_IDLE, and ST_VelId_t::STATUS.

static void STVELID_setOutputMaximum	(	ST_VELID_Handle	handle,
		_iq24	outMax
	)

inlinestatic

Sets the Maximum Output (cfg.OutMax) for SpinTAC Velocity Identify.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	outMax	Control signal high limit { unit: [PU], Value range: (0.0, 1.0] }

Definition at line 115 of file spintac_vel_id.h.

References ST_VelId_t::cfg, ST_VelIdCfg_t::OutMax, ST_VEL_ID_IDLE, and ST_VelId_t::STATUS.

static void STVELID_setSampleTime_sec	(	ST_VELID_Handle	handle,
		_iq24	sampleTime
	)

inlinestatic

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

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	sampleTime	Sample Time { unit: [s], value range: (0, 0.01] }

Definition at line 102 of file spintac_vel_id.h.

References ST_VelId_t::cfg, ST_VEL_ID_IDLE, ST_VelId_t::STATUS, and ST_VelIdCfg_t::T_sec.

static void STVELID_setSensorlessFeedback	(	ST_VELID_Handle	handle,
		bool	sensorless
	)

inlinestatic

Sets the feedback type (cfg.Sensorless) for SpinTAC Velocity Identify.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	sensorless	Indicates if the FOC is using a sensorless estimator { false: sensor; true: sensorless }

Definition at line 196 of file spintac_vel_id.h.

References ST_VelId_t::cfg, ST_VelIdCfg_t::Sensorless, ST_VEL_ID_IDLE, and ST_VelId_t::STATUS.

static void STVELID_setTimeOut_sec	(	ST_VELID_Handle	handle,
		_iq24	timeOut
	)

inlinestatic

Sets the Time Out Time (cfg.TimeOut_sec) for SpinTAC Velocity Identify.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	timeOut	Maximum time allowed for inertia estimation process { unit: [s], Value range: [1.0, 10.0] }

Definition at line 161 of file spintac_vel_id.h.

References ST_VelId_t::cfg, ST_VEL_ID_IDLE, ST_VelId_t::STATUS, and ST_VelIdCfg_t::TimeOut_sec.

static void STVELID_setTorqueRampTime_sec	(	ST_VELID_Handle	handle,
		_iq24	rampTime
	)

inlinestatic

Sets the Torque Ramp Time (cfg.RampTime_sec) for SpinTAC Velocity Identify.

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	rampTime	Torque acceleration ramp time { unit [s], Value range: [cfg.T_sec, 25.0] }

Definition at line 174 of file spintac_vel_id.h.

References ST_VelId_t::cfg, ST_VelIdCfg_t::RampTime_sec, ST_VEL_ID_IDLE, and ST_VelId_t::STATUS.

static void STVELID_setTorqueReference	(	ST_VELID_Handle	handle,
		_iq24	out
	)

inlinestatic

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

Parameters

[in]	handle	The handle for the SpinTAC Velocity Identify Object
[in]	out	Torque (Iq) Reference { unit [PU], value range: [-cfg.OutMax, cfg.OutMax] }

Definition at line 229 of file spintac_vel_id.h.

References ST_VelId_t::Out.

static void STVELID_setVelocityFeedback	(	ST_VELID_Handle	handle,
		_iq24	velFdb
	)

inlinestatic

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

Parameters

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

Definition at line 209 of file spintac_vel_id.h.

References ST_VelId_t::VelFdb.

Data Structures

Typedefs

Enumerations

Functions

Detailed Description

Data Structure Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation