CCS/TMS320F28035: HFI frequency

Thanks for your reply.  but I'm a little confused.

In bulid 9 block diagram,  there is no filter block  in d and q axis current loop , shown as below

In train video,  there is band filter block. shown as below

signals after low pass filter go into d and q axis current regulator. signals after hign pass filter go into  HFI to get zero or low speed position information.  do you mean  we don't need to filter d&q axis current feedback for current regulator?

Thanks for your reply. but I can not find any code related to  low  pass  filter in example project , shown as below

// =============================== LEVEL 9 ======================================
//      Level 9 uses high frequency injection at lower speeds to identify
//    rotor position, and uses eSMO discussed in LEVEL7 at higher speeds,
//    providing speed control over the entire range
// ==============================================================================
//  lsw=0: controller in RESET state without powering the motor
//  lsw=1: identify initial rotor position, change lsw to 2 if success else to 0
//  lsw=2: motor runs in speed loop

    /*************************************************************************
     * NOTE:-                                                                *
     * The executable for Initial Position Detection (IPD) and               *
     * High Frequency Injection (HFI) are in hfi.lib file, which are not     *
     * part of the downloadable version of control suite.                    *
     * Any attempt to build LEVEL9 code will result in error.                *
     * For access to the library and/or source code, the user is advised     *
     * to contact the nearest TI sales office.                               *
     * ***********************************************************************
     */

#if (BUILDLEVEL==LEVEL9)

// ------------------------------------------------------------------------------
//  Connect inputs of the RMP module and call the ramp control macro
// ------------------------------------------------------------------------------
    if(lsw != RUN_STATE) {
        rc1.TargetValue = 0;
        rc1.SetpointValue = 0;
    }
    else
        rc1.TargetValue = SpeedRef;
    RC_MACRO(rc1)

// ------------------------------------------------------------------------------
//  Connect inputs of the RAMP GEN module and call the ramp generator macro
// ------------------------------------------------------------------------------
    rg1.Freq = rc1.SetpointValue;
    RG_MACRO(rg1)
    ANGLE_WRAP(rg1.Out);

// ------------------------------------------------------------------------------
//    Connect inputs of the SPEED_EST module and call the estimated speed macro
// ------------------------------------------------------------------------------
    transition1.spd      = rc1.SetpointValue;
    transition1.angleHFI = hfi1.thetaEst;
    transition1.angleSMO = esmo1.Theta;
    ANGLE_TRANSIT(&transition1);

    speed3.EstimatedTheta = transition1.angle;

    if (lsw != RUN_STATE)
        speed3.OldEstimatedTheta = speed3.EstimatedTheta;
    SE_MACRO(speed3)

// ------------------------------------------------------------------------------
//  Measure the DC bus voltage in _IQ format
// ------------------------------------------------------------------------------
    volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7);

// ------------------------------------------------------------------------------
//  Measure phase currents, subtract the offset and normalize from (-0.5,+0.5) to (-1,+1).
//    Connect inputs of the CLARKE module and call the clarke transformation macro
// ------------------------------------------------------------------------------
    clarke1.As = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT1)-offsetA); // Phase A curr.
    clarke1.Bs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT2)-offsetB); // Phase B curr.
    CLARKE_MACRO(clarke1)
//    clarke1.Cs = _IQmpy2(_IQ12toIQ(AdcResult.ADCRESULT3)-offsetC); // Phase C curr.
//    CLARKE1_MACRO(clarke1)

// ------------------------------------------------------------------------------
//  Connect inputs of the PARK module and call the park trans. macro
// ------------------------------------------------------------------------------
    park1.Alpha  = clarke1.Alpha;
    park1.Beta   = clarke1.Beta;
    park1.Angle  = speed3.EstimatedTheta;
    park1.Sine   = _IQsinPU(park1.Angle);
    park1.Cosine = _IQcosPU(park1.Angle);
    PARK_MACRO(park1)

    hpf_Iq.In1 = park1.Qs;

// ------------------------------------------------------------------------------
// State Machine for motor control
// ------------------------------------------------------------------------------
    if(lsw == RESET_STATE)
    {
      // reset all PI regulators
      RESET_PI(pi_spd);
      RESET_PI(pi_id);
      RESET_PI(pi_iq);

      HFI_RESET(&hfi1);          // reset HFI module
      HPF_RESET(&hpf_Iq);        // reset HPF
      HPF_INIT(&hpf_coeff1);     // optional - to change HPF corner freq during debug

      dbc1.gain  = 0;
    }

    else if (lsw == IPD_STATE)
    {
      ZLSPD(&hpf_Iq, &hpf_coeff1, &hfi1, &ns_id1, &clarke1, &volt1);
      pi_id.Out = hfi1.duty;
      pi_iq.Out = 0;
      if(hfi1.HFI_Status == HFI_RUN_STATE)
      {
          lsw = RUN_STATE;
          pi_id.Out = 0;
      }
      else if(hfi1.HFI_Status == HFI_RESET_STATE)
      {
          lsw = RESET_STATE;
      }
    }

    else if (lsw == RUN_STATE)
    {
      // ------------------------------------------------------------------------------
      //    Connect inputs of the PI module and call the PID speed controller macro
      // ------------------------------------------------------------------------------
      if (++SpeedLoopCount >= SpeedLoopPrescaler)
      {
        pi_spd.Ref = rc1.SetpointValue;
        pi_spd.Fbk = speed3.EstimatedSpeed;
        PI_MACRO(pi_spd);
        SpeedLoopCount=0;
      }

      // ------------------------------------------------------------------------------
      //    Connect inputs of the PI module and call the PID IQ controller macro
      // ------------------------------------------------------------------------------
      pi_iq.Ref = pi_spd.Out;
      pi_iq.Fbk = park1.Qs;
      PI_MACRO(pi_iq);

      // ------------------------------------------------------------------------------
      //    Connect inputs of the PI module and call the PID ID controller macro
      // ------------------------------------------------------------------------------
      pi_id.Ref = 0;
      pi_id.Fbk = park1.Ds;
      PI_MACRO(pi_id);

      // Zero and low speed position detection
      if ( _IQabs(rc1.SetpointValue) <= transition1.spdHi )
      {
        ZLSPD(&hpf_Iq, &hpf_coeff1, &hfi1, &ns_id1, &clarke1, &volt1);
        pi_id.Out += hfi1.duty;
      }

//      dbc1.gain  = _IQ(0.5);             // comment to tune in debug environment
    }

// ------------------------------------------------------------------------------
//  Connect inputs of the INV_PARK module and call the inverse park trans. macro
// ------------------------------------------------------------------------------
    ipark1.Ds     = pi_id.Out;
    ipark1.Qs     = pi_iq.Out;
    ipark1.Sine   = park1.Sine;
    ipark1.Cosine = park1.Cosine;
    IPARK_MACRO(ipark1)

// ------------------------------------------------------------------------------
//    Connect inputs of the VOLT_CALC module and call the phase voltage macro
// ------------------------------------------------------------------------------
//    volt1.DcBusVolt = _IQ12toIQ(AdcResult.ADCRESULT7);
    volt1.MfuncV1 = svgen1.Ta;
    volt1.MfuncV2 = svgen1.Tb;
    volt1.MfuncV3 = svgen1.Tc;
    PHASEVOLT_MACRO(volt1)

// ------------------------------------------------------------------------------
//    Connect inputs of the eSMO_POS module and call the eSMO module
// ------------------------------------------------------------------------------
    if ((lsw == RUN_STATE) && (esmo1.Kslide  < smoK_set))
      esmo1.Kslide += _IQ(0.00001);
    esmo1.Ialpha   = clarke1.Alpha;
    esmo1.Ibeta    = clarke1.Beta;
    esmo1.Valpha   = volt1.Valpha;
    esmo1.Vbeta    = volt1.Vbeta;
    esmo1.runSpeed = speed3.EstimatedSpeed;
    esmo1.cmdSpeed = rc1.SetpointValue;
    eSMO_MODULE(&esmo1);

    /********************************************************************
     * Supplemental filter to remove jitters from esmo estimated angle
     * ******************************************************************/
//    esmo1.Theta = angleFilter(&pi_smo, &esmo1);  // Uncomment to include

// ------------------------------------------------------------------------------
//  Connect inputs of the SVGEN_DQ module and call the space-vector gen. macro
// ------------------------------------------------------------------------------
    svgen1.Ualpha = ipark1.Alpha;
    svgen1.Ubeta  = ipark1.Beta;
    SVGENDQ_MACRO(svgen1)

// ------------------------------------------------------------------------------
//  Connect inputs of the PWM_DRV module and call the PWM signal generation macro
// ------------------------------------------------------------------------------
    if (lsw != RUN_STATE)     dbc1.gain = 0;
//    else          dbc1.gain = _IQ(0.5);         // comment line to tune in debug
    pwm1.MfuncC1 = svgen1.Ta;
    pwm1.MfuncC2 = svgen1.Tb;
    pwm1.MfuncC3 = svgen1.Tc;

    if (hfi1.HFI_Status != HFI_NSID_STATE)        // not NSID state
    {
        /**********************************************
         * PWM Gen w Dead Band Compensation Macro
         *     if curA > 0   Ta = Ta + Tdt
         *     else          Ta = Ta - Tdt
         **********************************************/
        dbc1.scale = _IQdiv(_IQdiv2(pwm1.Deadband), dbc1.Ith);  // uncomment to tune in debug
        dbc1.Kdtc  = _IQmpy(dbc1.scale, dbc1.gain);             // uncomment to tune  "  "
        PWMwDBC_MACRO(1,2,3,pwm1,clarke1,dbc1);
    }

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module
// ------------------------------------------------------------------------------
    pwmdac1.MfuncC1 = speed3.EstimatedTheta;
    pwmdac1.MfuncC2 = pi_id.Out;
    PWMDAC_MACRO(6,pwmdac1)                              // PWMDAC 6A, 6B

    pwmdac1.MfuncC1 = rg1.Out;
    pwmdac1.MfuncC2 = pi_iq.Out;
    PWMDAC_MACRO(7,pwmdac1)                              // PWMDAC 7A, 7B

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(rg1.Out);
    DlogCh2 = (int16)_IQtoIQ15(clarke1.Bs);
    DlogCh3 = (int16)_IQtoIQ15(volt1.VphaseA);
    DlogCh4 = (int16)_IQtoIQ15(qep1.ElecTheta);

#endif // (BUILDLEVEL==LEVEL9)

as highlight part shows ,  d&q axis current feedback just come from signals after PARK transition, which is not filtered.

and no low pass filter is mentioned in HFI library document.   the library version which I got from FAE  is V13.1 .  is it the latest version?