LAUNCHXL-F28069M: About modifying user.hYanming Luo

hongwei Quan

Part Number: LAUNCHXL-F28069M
Other Parts Discussed in Thread: MOTORWARE

Dear Yanming Luo:I'm experimenting with instaspin Lab10e routines and I want to modify user.h externally, therefore, I replace the original constants with floating point variables. Error during compilation, CCS prompts "Type#28 expression must have a constant value", the reason is that the motor parameter definition in user.h #define USER_MOTOR_MAX_CURRENT (Motor_MaxCurrent_A), resulting in volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT，It contains_IQ(0.1 * USER_MOTOR_MAX_CURRENT ), other no problem，can you please help me with this issue? In addition, what should I pay attention to when modifying user.h with floating point numbers?

Looking forward to your help，Thanks!

over 4 years ago

0 hongwei Quan over 4 years ago

Prodigy 190 points

Sorry, wrong column，name should not be written。

0 Yanming Luo over 4 years ago in reply to hongwei Quan

TI__Guru** 117160 points

hongwei Quan said:
#define USER_MOTOR_MAX_CURRENT (Motor_MaxCurrent_A)

You should define USER_MOTOR_MAX_CURRENT to a constant value in user.h, not set this symbols to a variable.

Refer to the default user.h to set any definition symbols to a constant value, don't change their data type.

You may take a look at Chapter User Parameters (user.h) of InstaSPIN-FOC and InstaSPIN-MOTION User's Guide

https://www.ti.com/lit/spruhj1

0 hongwei Quan over 4 years ago in reply to Yanming Luo

Prodigy 190 points

Dear Yanming Luo:Thank you for your reply! I checked the manual and it seems that there is no way to modify user.h externally. Can you tell me how to use SCI to modify the motor parameter values?

Thanks!

0 Yanming Luo over 4 years ago in reply to hongwei Quan

TI__Guru** 117160 points

You may try to refer the the guide below to add the UART/SCI interface in the project.

motorware_hal_tutorial.pdf at "\ti\motorware\motorware_1_01_00_18\docs\tutorials"

And refer to the following 2 documentations to modify the motor parameters as the codes in user.c using the data from the SCI interface, please convert the receiving SCI data to the data type used by the motor parameters.

instaspin_labs.pdf at "\ti\motorware\motorware_1_01_00_18\docs\labs"

InstaSPIN-FOC and InstaSPIN-MOTION User's Guide http://www.ti.com/lit/ug/spruhj1h/spruhj1h.pdf

gUserParams.motor_numPolePairs = USER_MOTOR_NUM_POLE_PAIRS;
gUserParams.motor_ratedFlux = USER_MOTOR_RATED_FLUX;
gUserParams.motor_Rr = USER_MOTOR_Rr;
gUserParams.motor_Rs = USER_MOTOR_Rs;
gUserParams.motor_Ls_d = USER_MOTOR_Ls_d;
gUserParams.motor_Ls_q = USER_MOTOR_Ls_q;

And then call the following 3 functions to update the motor parameters.

// initialize the user parameters
USER_setParams(&gUserParams);

// set the default controller parameters
CTRL_setParams(ctrlHandle,&gUserParams);

// Sets the controller and estimator with motor parameters from the user.h file
CTRL_setUserMotorParams(ctrlHandle);

0 hongwei Quan over 4 years ago in reply to Yanming Luo

Prodigy 190 points

Dear Yanming Luo:thank you very much!

0 hongwei Quan over 4 years ago in reply to hongwei Quan

Prodigy 190 points

Dear Yanming Luo:A related question, can I use timer T2, does it conflict with routine content？

best regard！

0 Yanming Luo over 4 years ago in reply to hongwei Quan

TI__Guru** 117160 points

Yes, you can. The motor control algorithm doesn't use any CPU timers.

0 hongwei Quan over 4 years ago in reply to Yanming Luo

Prodigy 190 points

Dear Yanming Luo:

thanks!

best regard！

0 hongwei Quan over 4 years ago in reply to hongwei Quan

Prodigy 190 points

Dear Yanming Luo,Another related question: I want to modify the control parameters in user.h through SCI and save them in I2C, and then update them to the control program, for example, USER_PWM_FREQ_kHz/USER_IQ_FULL_SCALE_VOLTAGE_V, etc. Is it like modifying the motor parameters?
// initialize the user parameters
USER_setParams(&gUserParams);
// set the default controller parameters
CTRL_setParams(ctrlHandle,&gUserParams);
// Sets the controller and estimator with motor parameters from the user.h file
CTRL_setUserMotorParams(ctrlHandle);
This may cause the PWM/AD/interrupt period to change, if not, how to do it?
Looking forward to your reply! Thanks!

0 Yanming Luo over 4 years ago in reply to hongwei Quan

TI__Guru** 117160 points

Not recommend to change USER_PWM_FREQ_kHz/USER_IQ_FULL_SCALE_VOLTAGE_V that is related to much more parameters.

If you want, you have to change all of the variables related to USER_PWM_FREQ_kHz in gUserParams object variables, and then re-call all of the functions mentioned above, and re-configure the PWM.

0 hongwei Quan over 4 years ago in reply to Yanming Luo

Prodigy 190 points

Dear Yanming Luo：Understood

thanks!

best regard！

0 hongwei Quan over 4 years ago in reply to hongwei Quan

Prodigy 190 points

Dear Yanming Luo：Thank you very much for the previous help, I have completed the modification of user.h by SCI. Now have a related question and hope to get your help! When the motor is disconnected, it runs through the emulator loader, but the running motor is not started (gMotorVars.Flag_enableSys = true, gMotorVars.Flag_enableRun = false, gMotorVars.Flag_enableOffsetcalc=false), after that, the motor is connected(through a switch), and the run is started (gMotorVars.Flag_enableRun = true), the motor runs Jitter occurs, and the current waveform has severe harmonics. If the motor is always connected, and then load the program, this phenomenon does not occur. why is that?

0 Yanming Luo over 4 years ago in reply to hongwei Quan

TI__Guru** 117160 points

What do you mean "Jitter occurs"? Any series resistance and inductance on the switch?

0 hongwei Quan over 4 years ago in reply to Yanming Luo

Prodigy 190 points

Dear Yanming Luo：Hi,Thank you very much for your reply! , The meaning of jitter is from the waveform, it should be a smooth sine wave, but in fact, the waveform becomes very rough and there are many burrs, so the motor jitters and emits a large noise. Others have also proposed in the forum. There is no resistance or inductance element connected in series on the switch.

best regard！

0 hongwei Quan over 4 years ago in reply to hongwei Quan

Prodigy 190 points

Dear Yanming Luo:Very very sorry! I just checked the circuit and my description is wrong. Because the control power supply is separated from the power supply, the switch I am referring to is the power supply switch, not in series with the motor circuit, the motor is always connected. It means that when the power supply switch is not closed, the power supply has no voltage, and the operation jitters after loading the program, and when the power supply switch is closed, the power supply has voltage, and the loading program runs normally.

Sorry again.

best regard !

0 hongwei Quan over 4 years ago in reply to hongwei Quan

Prodigy 190 points

Dear Yanming Luo:Just now I tried again, recompiled and loaded the program, and this problem did not appear.

Thanks!

best regard！

0 Yanming Luo over 4 years ago in reply to hongwei Quan

TI__Guru** 117160 points

Good to know. Let's know if have any further questions. Close this thread first.

0 hongwei Quan over 4 years ago in reply to Yanming Luo

Prodigy 190 points

Dear Yanming Luo:ok!

Thanks!

best regard！

C2000™︎ microcontrollers

C2000 microcontrollers forum

LAUNCHXL-F28069M: About modifying user.hYanming Luo