Apply speed control Algorithms in Drv8301-69M

interrupt void mainISR(void)

{

static uint16_t stCnt = 0;

CTRL_Obj *obj = (CTRL_Obj *)ctrlHandle;

// 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;

}

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// compute the electrical angle

ENC_calcElecAngle(encHandle, HAL_getQepPosnCounts(halHandle));

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void ST_runPosConv(ST_Handle handle, ENC_Handle encHandle, CTRL_Handle ctrlHandle)

{

ST_Obj *stObj = (ST_Obj *)handle;

// get the electrical angle from the ENC module

   STPOSCONV_setElecAngle_erev(stObj->posConvHandle, ENC_getElecAngle(encHandle));

   if(USER_MOTOR_TYPE == MOTOR_Type_Induction) {

     // The CurrentVector feedback is only needed for ACIM

     // get the vector of the direct/quadrature current input vector values from CTRL

     STPOSCONV_setCurrentVector(stObj->posConvHandle, CTRL_getIdq_in_addr(ctrlHandle));

   }

// run the SpinTAC Position Converter

STPOSCONV_run(stObj->posConvHandle);

if(USER_MOTOR_TYPE == MOTOR_Type_Induction) {

// The Slip Velocity is only needed for ACIM

// update the slip velocity in electrical angle per second, Q24

SLIP_setSlipVelocity(slipHandle, STPOSCONV_getSlipVelocity(stObj->posConvHandle));

}

}

void ST_runVelCtl(ST_Handle handle, CTRL_Handle ctrlHandle)

{

   _iq speedFeedback, iqReference;

   ST_Obj *stObj = (ST_Obj *)handle;

   CTRL_Obj *ctrlObj = (CTRL_Obj *)ctrlHandle;

   // Get the mechanical speed in pu

   speedFeedback = STPOSCONV_getVelocityFiltered(stObj->posConvHandle);

// Run the SpinTAC Controller

// Note that the library internal ramp generator is used to set the speed reference

   STVELCTL_setVelocityReference(stObj->velCtlHandle, TRAJ_getIntValue(ctrlObj->trajHandle_spd));

STVELCTL_setAccelerationReference(stObj->velCtlHandle, _IQ(0.0));// Internal ramp generator does not provide Acceleration Reference

STVELCTL_setVelocityFeedback(stObj->velCtlHandle, speedFeedback);

STVELCTL_run(stObj->velCtlHandle);

// select SpinTAC Velocity Controller

iqReference = STVELCTL_getTorqueReference(stObj->velCtlHandle);

// Set the Iq reference that came out of SpinTAC Velocity Control

CTRL_setIq_ref_pu(ctrlHandle, iqReference);

}