Other Parts Discussed in Thread: MOTORWARE
Tool/software:
E:\ti\motorware\motorware_1_01_00_18\sw\solutions\instaspin_foc\boards\boostxldrv8305_revA\f28x\f2802xF\projects\ccs\proj_lab20
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//! \file solutions/instaspin_foc/src/proj_lab20.c
//! \brief New ctrl Structure
//!
//! (C) Copyright 2011, Texas Instruments, Inc.
//! \defgroup PROJ_LAB20 PROJ_LAB20
//@{
//! \defgroup PROJ_LAB20_OVERVIEW Project Overview
//!
//! New ctrl Structure
//!
// **************************************************************************
// the includes
// system includes
#include <math.h>
#include "main.h"
// due to memory limitations, when building for F2802xF with CSM run mainISR from Flash
#ifdef FLASH
#pragma CODE_SECTION(mainISR,"ramfuncs");
#endif
// Include header files used in the main function
// **************************************************************************
// the defines
#define LED_BLINK_FREQ_Hz 5
// **************************************************************************
// the globals
uint_least16_t gCounter_updateGlobals = 0;
bool Flag_Latch_softwareUpdate = true;
MATH_vec3 gAdcBiasI;
MATH_vec3 gAdcBiasV;
CTRL_Handle ctrlHandle;
CLARKE_Handle clarkeHandle_I; //!< the handle for the current Clarke transform
CLARKE_Obj clarke_I; //!< the current Clarke transform object
CLARKE_Handle clarkeHandle_V; //!< the handle for the voltage Clarke transform
CLARKE_Obj clarke_V; //!< the voltage Clarke transform object
EST_Handle estHandle; //!< the handle for the estimator
IPARK_Handle iparkHandle; //!< the handle for the inverse Park transform
IPARK_Obj ipark; //!< the inverse Park transform object
PARK_Handle parkHandle; //!< the handle for the Park object
PARK_Obj park; //!< the Park transform object
SVGEN_Handle svgenHandle; //!< the handle for the space vector generator
SVGEN_Obj svgen; //!< the space vector generator object
#ifdef CSM_ENABLE
#pragma DATA_SECTION(halHandle,"rom_accessed_data");
#endif
HAL_Handle halHandle;
#ifdef CSM_ENABLE
#pragma DATA_SECTION(gUserParams,"rom_accessed_data");
#endif
USER_Params gUserParams;
HAL_PwmData_t gPwmData = {_IQ(0.0), _IQ(0.0), _IQ(0.0)};
HAL_AdcData_t gAdcData;
_iq gMaxCurrentSlope = _IQ(0.0);
#ifdef FAST_ROM_V1p6
CTRL_Obj *controller_obj;
#else
#ifdef CSM_ENABLE
#pragma DATA_SECTION(ctrl,"rom_accessed_data");
#endif
CTRL_Obj ctrl; //v1p7 format
#endif
uint16_t gLEDcnt = 0;
volatile MOTOR_Vars_t gMotorVars = MOTOR_Vars_INIT;
#ifdef FLASH
// Used for running BackGround in flash, and ISR in RAM
extern uint16_t *RamfuncsLoadStart, *RamfuncsLoadEnd, *RamfuncsRunStart;
#ifdef CSM_ENABLE
extern uint16_t *econst_start, *econst_end, *econst_ram_load;
extern uint16_t *switch_start, *switch_end, *switch_ram_load;
#endif
#endif
#ifdef DRV8301_SPI
// Watch window interface to the 8301 SPI
DRV_SPI_8301_Vars_t gDrvSpi8301Vars;
#endif
#ifdef DRV8305_SPI
// Watch window interface to the 8305 SPI
DRV_SPI_8305_Vars_t gDrvSpi8305Vars;
#endif
_iq gFlux_pu_to_Wb_sf;
_iq gFlux_pu_to_VpHz_sf;
_iq gTorque_Ls_Id_Iq_pu_to_Nm_sf;
_iq gTorque_Flux_Iq_pu_to_Nm_sf;
// **************************************************************************
// the functions
void main(void)
{
uint_least8_t estNumber = 0;
#ifdef FAST_ROM_V1p6
uint_least8_t ctrlNumber = 0;
#endif
// Only used if running from FLASH
// Note that the variable FLASH is defined by the project
#ifdef FLASH
// Copy time critical code and Flash setup code to RAM
// The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
// symbols are created by the linker. Refer to the linker files.
memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);
#ifdef CSM_ENABLE
//copy .econst to unsecure RAM
if(*econst_end - *econst_start)
{
memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
}
//copy .switch ot unsecure RAM
if(*switch_end - *switch_start)
{
memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
}
#endif
#endif
// initialize the hardware abstraction layer
halHandle = HAL_init(&hal,sizeof(hal));
// check for errors in user parameters
USER_checkForErrors(&gUserParams);
// store user parameter error in global variable
gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);
// do not allow code execution if there is a user parameter error
if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
{
for(;;)
{
gMotorVars.Flag_enableSys = false;
}
}
// initialize the user parameters
USER_setParams(&gUserParams);
// set the hardware abstraction layer parameters
HAL_setParams(halHandle,&gUserParams);
// initialize the controller
#ifdef FAST_ROM_V1p6
ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber); //v1p6 format (06xF and 06xM devices)
controller_obj = (CTRL_Obj *)ctrlHandle;
#else
ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif
{
CTRL_Version version;
// get the version number
CTRL_getVersion(ctrlHandle,&version);
gMotorVars.CtrlVersion = version;
}
// set the default controller parameters
CTRL_setParams(ctrlHandle,&gUserParams);
// initialize the Clarke modules
clarkeHandle_I = CLARKE_init(&clarke_I,sizeof(clarke_I));
clarkeHandle_V = CLARKE_init(&clarke_V,sizeof(clarke_V));
// set the number of current sensors
setupClarke_I(clarkeHandle_I,gUserParams.numCurrentSensors);
// set the number of voltage sensors
setupClarke_V(clarkeHandle_V,gUserParams.numVoltageSensors);
#ifdef FAST_ROM_V1p6
estHandle = controller_obj->estHandle;
#else
estHandle = ctrl.estHandle;
#endif
// initialize the inverse Park module
iparkHandle = IPARK_init(&ipark,sizeof(ipark));
// initialize the Park module
parkHandle = PARK_init(&park,sizeof(park));
// initialize the space vector generator module
svgenHandle = SVGEN_init(&svgen,sizeof(svgen));
// setup faults
HAL_setupFaults(halHandle);
// initialize the interrupt vector table
HAL_initIntVectorTable(halHandle);
// enable the ADC interrupts
HAL_enableAdcInts(halHandle);
// enable global interrupts
HAL_enableGlobalInts(halHandle);
// enable debug interrupts
HAL_enableDebugInt(halHandle);
// disable the PWM
HAL_disablePwm(halHandle);
#ifdef DRV8301_SPI
// turn on the DRV8301 if present
HAL_enableDrv(halHandle);
// initialize the DRV8301 interface
HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif
#ifdef DRV8305_SPI
// turn on the DRV8305 if present
HAL_enableDrv(halHandle);
// initialize the DRV8305 interface
HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif
// enable DC bus compensation
CTRL_setFlag_enableDcBusComp(ctrlHandle, true);
// compute scaling factors for flux and torque calculations
gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();
for(;;)
{
// Waiting for enable system flag to be set
while(!(gMotorVars.Flag_enableSys));
// Enable the Library internal PI. Iq is referenced by the speed PI now
CTRL_setFlag_enableSpeedCtrl(ctrlHandle, true);
// loop while the enable system flag is true
while(gMotorVars.Flag_enableSys)
{
CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;
// increment counters
gCounter_updateGlobals++;
// enable/disable the use of motor parameters being loaded from user.h
CTRL_setFlag_enableUserMotorParams(ctrlHandle,gMotorVars.Flag_enableUserParams);
// enable/disable Rs recalibration during motor startup
EST_setFlag_enableRsRecalc(obj->estHandle,gMotorVars.Flag_enableRsRecalc);
// enable/disable automatic calculation of bias values
CTRL_setFlag_enableOffset(ctrlHandle,gMotorVars.Flag_enableOffsetcalc);
if(CTRL_isError(ctrlHandle))
{
// set the enable controller flag to false
CTRL_setFlag_enableCtrl(ctrlHandle,false);
// set the enable system flag to false
gMotorVars.Flag_enableSys = false;
// disable the PWM
HAL_disablePwm(halHandle);
}
else
{
// update the controller state
bool flag_ctrlStateChanged = CTRL_updateState(ctrlHandle);
// enable or disable the control
CTRL_setFlag_enableCtrl(ctrlHandle, gMotorVars.Flag_Run_Identify);
if(flag_ctrlStateChanged)
{
CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);
if(ctrlState == CTRL_State_OffLine)
{
// enable the PWM
HAL_enablePwm(halHandle);
}
else if(ctrlState == CTRL_State_OnLine)
{
if(gMotorVars.Flag_enableOffsetcalc == true)
{
uint_least16_t cnt;
// update the ADC bias values
HAL_updateAdcBias(halHandle);
// record the current bias
for(cnt=0;cnt<3;cnt++)
gAdcBiasI.value[cnt] = HAL_getBias(halHandle,HAL_SensorType_Current,cnt);
// record the voltage bias
for(cnt=0;cnt<3;cnt++)
gAdcBiasV.value[cnt] = HAL_getBias(halHandle,HAL_SensorType_Voltage,cnt);
gMotorVars.Flag_enableOffsetcalc = false;
}
else
{
uint_least16_t cnt;
// set the current bias
for(cnt=0;cnt<3;cnt++)
HAL_setBias(halHandle,HAL_SensorType_Current,cnt,gAdcBiasI.value[cnt]);
// set the voltage bias
for(cnt=0;cnt<3;cnt++)
HAL_setBias(halHandle,HAL_SensorType_Voltage,cnt,gAdcBiasV.value[cnt]);
}
// enable the PWM
HAL_enablePwm(halHandle);
}
else if(ctrlState == CTRL_State_Idle)
{
// disable the PWM
HAL_disablePwm(halHandle);
gMotorVars.Flag_Run_Identify = false;
}
if((CTRL_getFlag_enableUserMotorParams(ctrlHandle) == true) &&
(ctrlState > CTRL_State_Idle) &&
(gMotorVars.CtrlVersion.minor == 6))
{
// call this function to fix 1p6
USER_softwareUpdate1p6(ctrlHandle);
}
}
}
if(EST_isMotorIdentified(obj->estHandle))
{
// set the current ramp
EST_setMaxCurrentSlope_pu(obj->estHandle,gMaxCurrentSlope);
gMotorVars.Flag_MotorIdentified = true;
// set the speed reference
CTRL_setSpd_ref_krpm(ctrlHandle,gMotorVars.SpeedRef_krpm);
// set the speed acceleration
CTRL_setMaxAccel_pu(ctrlHandle,_IQmpy(MAX_ACCEL_KRPMPS_SF,gMotorVars.MaxAccel_krpmps));
if(Flag_Latch_softwareUpdate)
{
Flag_Latch_softwareUpdate = false;
USER_calcPIgains(ctrlHandle);
// initialize the watch window kp and ki current values with pre-calculated values
gMotorVars.Kp_Idq = CTRL_getKp(ctrlHandle,CTRL_Type_PID_Id);
gMotorVars.Ki_Idq = CTRL_getKi(ctrlHandle,CTRL_Type_PID_Id);
// initialize the watch window kp and ki values with pre-calculated values
gMotorVars.Kp_spd = CTRL_getKp(ctrlHandle,CTRL_Type_PID_spd);
gMotorVars.Ki_spd = CTRL_getKi(ctrlHandle,CTRL_Type_PID_spd);
}
}
else
{
Flag_Latch_softwareUpdate = true;
// the estimator sets the maximum current slope during identification
gMaxCurrentSlope = EST_getMaxCurrentSlope_pu(obj->estHandle);
}
// when appropriate, update the global variables
if(gCounter_updateGlobals >= NUM_MAIN_TICKS_FOR_GLOBAL_VARIABLE_UPDATE)
{
// reset the counter
gCounter_updateGlobals = 0;
updateGlobalVariables_motor(ctrlHandle);
}
// update Kp and Ki gains
updateKpKiGains(ctrlHandle);
// enable/disable the forced angle
EST_setFlag_enableForceAngle(obj->estHandle,gMotorVars.Flag_enableForceAngle);
// enable or disable power warp
CTRL_setFlag_enablePowerWarp(ctrlHandle,gMotorVars.Flag_enablePowerWarp);
#ifdef DRV8301_SPI
HAL_writeDrvData(halHandle,&gDrvSpi8301Vars);
HAL_readDrvData(halHandle,&gDrvSpi8301Vars);
#endif
#ifdef DRV8305_SPI
HAL_writeDrvData(halHandle,&gDrvSpi8305Vars);
HAL_readDrvData(halHandle,&gDrvSpi8305Vars);
#endif
} // end of while(gFlag_enableSys) loop
// disable the PWM
HAL_disablePwm(halHandle);
// set the default controller parameters (Reset the control to re-identify the motor)
CTRL_setParams(ctrlHandle,&gUserParams);
gMotorVars.Flag_Run_Identify = false;
} // end of for(;;) loop
} // end of main() function
interrupt void mainISR(void)
{
_iq angle_pu = 0;
_iq speed_pu;
_iq speed_ref_pu = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_spd);
_iq speed_outMax_pu = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_spdMax);
MATH_vec2 Iab_pu;
MATH_vec2 Vab_pu;
MATH_vec2 Vdq_out_pu;
MATH_vec2 Vab_out_pu;
MATH_vec2 phasor;
// toggle status LED
if(++gLEDcnt >= (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
{
uint_least16_t count_isr = CTRL_getCount_isr(ctrlHandle);
uint_least16_t numIsrTicksPerCtrlTick = CTRL_getNumIsrTicksPerCtrlTick(ctrlHandle);
// if needed, run the controller
if(count_isr >= numIsrTicksPerCtrlTick)
{
CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);
bool flag_enableSpeedCtrl;
bool flag_enableCurrentCtrl;
MATH_vec2 Idq_offset_pu;
MATH_vec2 Vdq_offset_pu;
// reset the isr count
CTRL_resetCounter_isr(ctrlHandle);
// run Clarke transform on current
CLARKE_run(clarkeHandle_I,&gAdcData.I,&Iab_pu);
// run Clarke transform on voltage
CLARKE_run(clarkeHandle_V,&gAdcData.V,&Vab_pu);
{
// run the estimator
EST_run(estHandle,
&Iab_pu,
&Vab_pu,
gAdcData.dcBus,
speed_ref_pu);
flag_enableSpeedCtrl = EST_doSpeedCtrl(estHandle);
flag_enableCurrentCtrl = EST_doCurrentCtrl(estHandle);
// get the original angle and speed
angle_pu = EST_getAngle_pu(estHandle);
speed_pu = EST_getFm_pu(estHandle);
// compute the sin/cos phasor with compensated angle
CTRL_computePhasor(angle_pu,&phasor);
// set the phasor in the Park transform
PARK_setPhasor(parkHandle,&phasor);
// run the Park transform
PARK_run(parkHandle,&Iab_pu,CTRL_getIdq_in_addr(ctrlHandle));
// set the offset based on the Id trajectory
Idq_offset_pu.value[0] = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_Id);
Idq_offset_pu.value[1] = _IQ(0.0);
Vdq_offset_pu.value[0] = 0;
Vdq_offset_pu.value[1] = 0;
CTRL_setup_user(ctrlHandle,
angle_pu,
speed_ref_pu,
speed_pu,
speed_outMax_pu,
&Idq_offset_pu,
&Vdq_offset_pu,
flag_enableSpeedCtrl,
flag_enableCurrentCtrl);
// run the appropriate controller
if(ctrlState == CTRL_State_OnLine)
{
// run the online controller
CTRL_runPiOnly(ctrlHandle); //,&gAdcData,&gPwmData);
// get the controller output
CTRL_getVdq_out_pu(ctrlHandle,&Vdq_out_pu);
// set the phasor in the inverse Park transform
IPARK_setPhasor(iparkHandle,&phasor);
// run the inverse Park module
IPARK_run(iparkHandle,&Vdq_out_pu,&Vab_out_pu);
// run the space Vector Generator (SVGEN) module
SVGEN_run(svgenHandle,&Vab_out_pu,&(gPwmData.Tabc));
}
else if(ctrlState == CTRL_State_OffLine)
{
// run the offline controller
CTRL_runOffLine(ctrlHandle,halHandle,&gAdcData,&gPwmData);
}
}
}
else
{
// increment the isr count
CTRL_incrCounter_isr(ctrlHandle);
}
}
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
return;
} // end of mainISR() function
void setupClarke_I(CLARKE_Handle handle,const uint_least8_t numCurrentSensors)
{
_iq alpha_sf,beta_sf;
// initialize the Clarke transform module for current
if(numCurrentSensors == 3)
{
alpha_sf = _IQ(MATH_ONE_OVER_THREE);
beta_sf = _IQ(MATH_ONE_OVER_SQRT_THREE);
}
else if(numCurrentSensors == 2)
{
alpha_sf = _IQ(1.0);
beta_sf = _IQ(MATH_ONE_OVER_SQRT_THREE);
}
else
{
alpha_sf = _IQ(0.0);
beta_sf = _IQ(0.0);
}
// set the parameters
CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
CLARKE_setNumSensors(handle,numCurrentSensors);
return;
} // end of setupClarke_I() function
void setupClarke_V(CLARKE_Handle handle,const uint_least8_t numVoltageSensors)
{
_iq alpha_sf,beta_sf;
// initialize the Clarke transform module for voltage
if(numVoltageSensors == 3)
{
alpha_sf = _IQ(MATH_ONE_OVER_THREE);
beta_sf = _IQ(MATH_ONE_OVER_SQRT_THREE);
}
else
{
alpha_sf = _IQ(0.0);
beta_sf = _IQ(0.0);
}
// set the parameters
CLARKE_setScaleFactors(handle,alpha_sf,beta_sf);
CLARKE_setNumSensors(handle,numVoltageSensors);
return;
} // end of setupClarke_V() function
void updateGlobalVariables_motor(CTRL_Handle handle)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;
// get the speed estimate
gMotorVars.Speed_krpm = EST_getSpeed_krpm(obj->estHandle);
// get the real time speed reference coming out of the speed trajectory generator
gMotorVars.SpeedTraj_krpm = _IQmpy(CTRL_getSpd_int_ref_pu(handle),EST_get_pu_to_krpm_sf(obj->estHandle));
// get the torque estimate
gMotorVars.Torque_Nm = USER_computeTorque_Nm(handle, gTorque_Flux_Iq_pu_to_Nm_sf, gTorque_Ls_Id_Iq_pu_to_Nm_sf);
// get the magnetizing current
gMotorVars.MagnCurr_A = EST_getIdRated(obj->estHandle);
// get the rotor resistance
gMotorVars.Rr_Ohm = EST_getRr_Ohm(obj->estHandle);
// get the stator resistance
gMotorVars.Rs_Ohm = EST_getRs_Ohm(obj->estHandle);
// get the stator inductance in the direct coordinate direction
gMotorVars.Lsd_H = EST_getLs_d_H(obj->estHandle);
// get the stator inductance in the quadrature coordinate direction
gMotorVars.Lsq_H = EST_getLs_q_H(obj->estHandle);
// get the flux in V/Hz in floating point
gMotorVars.Flux_VpHz = EST_getFlux_VpHz(obj->estHandle);
// get the flux in Wb in fixed point
gMotorVars.Flux_Wb = USER_computeFlux(handle, gFlux_pu_to_Wb_sf);
// get the controller state
gMotorVars.CtrlState = CTRL_getState(handle);
// get the estimator state
gMotorVars.EstState = EST_getState(obj->estHandle);
// Get the DC buss voltage
gMotorVars.VdcBus_kV = _IQmpy(gAdcData.dcBus,_IQ(USER_IQ_FULL_SCALE_VOLTAGE_V/1000.0));
return;
} // end of updateGlobalVariables_motor() function
void updateKpKiGains(CTRL_Handle handle)
{
if((gMotorVars.CtrlState == CTRL_State_OnLine) && (gMotorVars.Flag_MotorIdentified == true) && (Flag_Latch_softwareUpdate == false))
{
// set the kp and ki speed values from the watch window
CTRL_setKp(handle,CTRL_Type_PID_spd,gMotorVars.Kp_spd);
CTRL_setKi(handle,CTRL_Type_PID_spd,gMotorVars.Ki_spd);
// set the kp and ki current values for Id and Iq from the watch window
CTRL_setKp(handle,CTRL_Type_PID_Id,gMotorVars.Kp_Idq);
CTRL_setKi(handle,CTRL_Type_PID_Id,gMotorVars.Ki_Idq);
CTRL_setKp(handle,CTRL_Type_PID_Iq,gMotorVars.Kp_Idq);
CTRL_setKi(handle,CTRL_Type_PID_Iq,gMotorVars.Ki_Idq);
}
return;
} // end of updateKpKiGains() function
//@} //defgroup
// end of file
Hello, I use the 20a routine, and I think the function of the field 11a. // compensate angle for PWM delay angle_pu = angleDelayComp(speed_pu, angle_pu); But I don't know where to put it. Is it before IPARK? How to achieve it
