What are the new features in motorware 13?

MotorWare _13 is available for download

I'll post more tomorrow

MotorWare updates:

• Major updates:
  • Added proj_lab2c to HVKIT and DRV8312
  • Added project labs for 2805x control card
  • Added fixed point calculation of flux and torque to allow using those variables inside the ISR
  • Added USER_x functions to user.c and user.h common to all labs
  • Added symbols only libraries for IQ and RTS for all 2x and 5x projects and edited their link order to save user's memory space
  • When enablePWM and disablePWM are called, removed the EN_GATE clear or set, so that DRV8301 remains ON
  • Negated Tabc values in all HAL_writePwmData functions
  • In svgen.h, function SVGEN_run(), implemented (Vx - Vcom) instead of (Vcom - Vx) for a standard SVM
  • Negate Tabc values in mainISR of lab2a, since this lab runs SVGEN_run() from ROM, which has (Vcom - Vx) instead of the standard (Vx - Vcom)
  • Redefined #define USER_ZEROSPEEDLIMIT   (1.0 / USER_IQ_FULL_SCALE_FREQ_Hz) to create a dependency with USER_IQ_FULL_SCALE_FREQ_Hz, so it is in Hertz
  • Redefined #define USER_FORCE_ANGLE_FREQ_Hz   (USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz) to make it the same as USER_ZEROSPEEDLIMIT
• Resolved the following bugs:
  • Fix linker warning 10063-D
  • 6x Flash Builds don't have #define FLASH
  • Inductance is off when CTRL vs EST tick rate is greater than 1
  • Add more comments to fpu32 work around
  • Add IQmath and RTS symbols libraries to all 2802xF projects
  • Pull the calculated bias values as in lab 3a, in the remaining labs
  • est.h has brief error for EST_setFlag_enableRsOnLine
  • Fix comment in offset.h
  • Update IQmath.lib we use in motorware from 1.5c to 1.6 so that Log functions are included
  • Need new symbols only library without IQmath and/or RTS symbols
  • swap the polarity of svgen and the PWM
  • Move memCopy.c and memCopy.h one folder up
  • DRV_disablePwm() doesn't disable DRV8301
  • The handle definitions need to be corrected
  • USER_checkForErrors add variable check
  • Fix comment in clk.c
  • Low inductance issues
  • ADC_VoltageRefSrc_e are wrong
  • In HAL_setupClks() function, enable internal oscillator before disabling other oscillators
  • Fix some comments in clk.c
  • Update new names for functions SCI_isRxDataReady & SCI_isTxReady in sci.c
  • getFlux_pu and qFmt Bug
• Fixed oscillator source selection sequence issue in hal.c
• Fixed some comments in the clk drivers
• Fixed function name in sci.c files for all devices
• Added USER_x function prototypes to all user.h files under instaspin_foc
• Updated all projects under instaspin_foc with new USER_x functions implemented in user.c
• Regrouped memory blocks in F28026F.cmd to have continuous memory available
• Regrouped memory blocks in F28027F.cmd
• Fixed ADC_VoltageRefSrc_e enumeration with the right shift value
• updated handle definition for drivers and modules
• Added RTS and IQ symbols in 5x ROM to reduce user's memory utilization
• Changed remaining _Handle_ to _Obj_ definitions
• Added RTS and IQ symbols to all 5x projects and edit link order to minimize user's memory utilization
• Removed symbols libraries that aren't implemented in released products
• Added a few missing symbols libraries
• Removed #ifdef POSITION in the .cmd file for motion, since log function is executed from symbols only
• Added IQ math symbols library to position projects for hvkit
• Removed adding IQlog.h since log function is in symbols only library
• Fixed a link to hal_obj instead of user.h
• Removed "POSITION" and added symbols only library for 6x / motion / position projects for IQlog function
• For 5x and 2x projects where a DRV8301 device is present, configure the EN_GATE output to 1 when configuring GPIOs
• Added a check in user.c for USER_MOTOR_FLUX_EST_FREQ_Hz < (USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz)
• Moved memCopy.c and memCopy.h one level up, since there is no dependency of 32b or float.
• Changed all project references from 32b/memCopy.c to memCopy.c and from 32b/memCopy.h to memCopy.h
• Added lab2c to 8312 and hvkit boards, and all processors
• Fixed typo in EST_setFlag_enableRsOnLine() function description
• Fixed typo in offset.h
• Loaded bias values in all labs
• Changed where the software patch is called for version 1.6
• Changed all .ccsproject to its simplest form
• Added "FLASH" to some projects that needed it
• Added missing "void" to two function prototypes in hal.h
• Lab 12 renamed to Lab 12b
• Added Lab 12a for sensored inertia id
• Corrected bug with torque output in all labs
• Added motor parameter id code from lab 02c into 05c
• Added SLIP module to handle the slip compensation
• Modified ctrlQEP.h/ctrlQEP.c to take an electrical angle as an input instead of encoder handle
• SpinTAC library updated to 2.2.7
  • Added the ability to have conditional actions in SpinTAC Plan, actions can be set to trigger if a condition is true
  • The configuration of all components can now be modified when in reset
  • Fixed bug in Position Convert that cause issues when electrical angles are not defined from 0 to 1
  • Removed 1013 error for bandwidth saturation, bandwidth will still saturate but no error will be displayed
  • Modified compile settings to save memory in customer projects
• Added PWM_Number_8 to pwm.h of 6x
• Remove the ignore of this warning: 10063-D by removing the "code_start" reference in .cproject files
• Added PIE_enableTimer0Int to pie for future use
• Added HAL_enableTimer0Int, HAL_acqTimer0Int and HAL_readGpio to hal for future use
• Fixed build name from Debug to Release
• Removed CodeStartBranch.asm from the exclude list for Release configuration to be consistent with Flash configuration