Embedded Software and Motor Control Libraries for PXR40xx

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$Set of General Math and Motor Control Functions for ARM Cortex ...$

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Chapter 1 ENTIRE RISK ARISING OUT OF THE USE OR PERFORMANCE OF THE SOFTWARE, OR ANY SYSTEMS YOU DESIGN USING THE SOFTWARE (IF ANY). NOTHING IN THIS AGREEMENT MAY BE CONSTRUED AS A WARRANTY OR REPRESENTATION BY FREESCALE THAT THE SOFTWARE OR ANY DERIVATIVE WORK DEVELOPED WITH OR INCORPORATING THE SOFTWARE WILL BE FREE FROM INFRINGEMENT OF THE INTELLECTUAL PROPERTY RIGHTS OF THIRD PARTIES. INDEMNITY: You agree to fully defend and indemnify Freescale from any and all claims, liabilities, and costs (including reasonable attorney's fees) related to (1) your use (including your sublicensee's use, if permitted) of the Software or (2) your violation of the terms and conditions of this Agreement. LIMITATION OF LIABILITY. IN NO EVENT WILL FREESCALE BE LIABLE, WHETHER IN CONTRACT, TORT, OR OTHERWISE, FOR ANY INCIDENTAL, SPECIAL, INDIRECT, CONSEQUENTIAL OR PUNITIVE DAMAGES, INCLUDING, BUT NOT LIMITED TO, DAMAGES FOR ANY LOSS OF USE, LOSS OF TIME, INCONVENIENCE, COMMERCIAL LOSS, OR LOST PROFITS, SAVINGS, OR REVENUES TO THE FULL EXTENT SUCH MAY BE DISCLAIMED BY LAW. COMPLIANCE WITH LAWS; EXPORT RESTRICTIONS: You must use the Software in accordance with all applicable U.S. laws, regulations and statutes. You agree that neither you nor your licensees (if any) intend to or will, directly or indirectly, export or transmit the Software to any country in violation of U.S. export restrictions. GOVERNMENT USE: Use of the Software and any corresponding documentation, if any, is provided with RESTRICTED RIGHTS. Use, duplication or disclosure by the Government is subject to restrictions as set forth in subparagraph (c)(1)(ii) of The Rights in Technical Data and Computer Software clause at DFARS 252.227-7013 or subparagraphs (c)(l) and (2) of the Commercial Computer Software--Restricted Rights at 48 CFR 52.227-19, as applicable. Manufacturer is Freescale, Inc., 6501 William Cannon Drive West, Austin, TX, 78735. HIGH RISK ACTIVITIES: You acknowledge that the Software is not fault tolerant and is not designed, manufactured or intended by Freescale for incorporation into products intended for use or resale in on-line control equipment in hazardous, dangerous to life or potentially life-threatening environments requiring fail-safe performance, such as in the operation of nuclear facilities, aircraft navigation or communication systems, air traffic control, direct life support machines or weapons systems, in which the failure of products could lead directly to death, personal injury or severe physical or environmental damage ("High Risk Activities"). You specifically represent and warrant that you will not use the Software or any derivative work of the Software for High Risk Activities. Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Freescale Semiconductor, Inc. 105
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Embedded Software and Motor Control
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Contents Section number Title Page
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Section number Title Page 4.4.6 Cod
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Section number Title Page 4.13 Func
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Section number Title Page 4.101 Fun
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Section number Title Page 4.109 Fun
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Section number Title Page 4.116.6 C
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Section number Title Page 4.123.5 R
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Section number Title Page 4.146.6 C
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Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
Page 53 and 54: Section number Title Page 6.17.2 Co
Page 63 and 64: Section number Title Page 8.9 Defin
Page 65 and 66: Section number Title Page 8.28 Defi
Page 73 and 74: Section number Title Page 8.104 Def
Page 101 and 102: Chapter 1 1.1 License Agreement IMP
Page 103: Agreement, and require that you sto
Page 107 and 108: confidential information. The Licen
Page 109 and 110: Chapter 2 Introduction The aim of t
Page 111 and 112: Chapter 2 Introduction 2.2 General
Page 113 and 114: For example if the MCLIB_DEFAULT_IM
Page 115 and 116: and gmclib.h. This was done to simp
Page 117 and 118: Chapter 2 Introduction Figure 2-4.
Page 119 and 120: In order to integrate the Embedded
Page 123 and 124: Figure 2-12. Opening the C editor f
Page 125 and 126: Figure 2-15. Selecting the include
Page 127 and 128: • Library binary files located in
Page 129 and 130: Chapter 2 Introduction In order to
Page 133 and 134: Figure 2-24. Principle of MCLib tes
Page 135 and 136: 2.13.2 MCLib target-in-loop Testing
Page 137 and 138: Chapter 3 3.1 Function Index Table
Page 139 and 140: Table 3-1. Quick function reference
Page 149 and 150: Chapter 4 API References This secti
Page 151 and 152: F32); tFrac32 f32CoefBuf[FIR_NUMTAP
Page 153 and 154: Equation GDFLIB_FilterFIR_Eq1 where
Page 155 and 156:
F32); } GDFLIB_FilterFIRInit (&Para
Page 157 and 158:
F16); tFrac16 f16CoefBuf[FIR_NUMTAP
Page 159 and 160:
Equation GDFLIB_FilterFIR_Eq1 where
Page 161 and 162:
F16); } GDFLIB_FilterFIRInit (&Para
Page 163 and 164:
FLT); tFloat fltCoefBuf[FIR_NUMTAPS
Page 165 and 166:
Equation GDFLIB_FilterFIR_Eq1 where
Page 167 and 168:
} } // ############################
Page 169 and 170:
4.8.3 Return The function returns a
Page 171 and 172:
macro during instance declaration o
Page 173 and 174:
4.9.6 Code Example #include "gdflib
Page 175 and 176:
signal entering the state delay-lin
Page 177 and 178:
4.11.2 Arguments Table 4-11. GDFLIB
Page 179 and 180:
A general form of the IIR filter ex
Page 181 and 182:
} flttrMyIIR1.trFiltCoeff.fltB0 = (
Page 183 and 184:
Page 185 and 186:
freq_bot = 400; freq_top = 625; T_s
Page 187 and 188:
4.15.4 Description This function cl
Page 189 and 190:
In order to implement the second or
Page 191 and 192:
} f16trMyIIR2.trFiltCoeff.f16B0 = F
Page 193 and 194:
Page 195 and 196:
eplaced by output from the previous
Page 197 and 198:
Note This function shall not be cal
Page 199 and 200:
call. The number of the filtered po
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
Page 209 and 210:
Figure 4-7. Course of the function
Page 211 and 212:
Figure 4-8. acos(x) vs. GFLIB_Acos(
Page 213 and 214:
4.26.2 Arguments Table 4-27. GFLIB_
Page 215 and 216:
Table 4-28. Integer polynomial coef
Page 217 and 218:
4.27 Function GFLIB_Acos_FLT This f
Page 219 and 220:
The arccos(x) values are then calcu
Page 221 and 222:
} // output should be 1.570796 fltA
Page 223 and 224:
Equation GFLIB_Asin_Eq3 Equation GF
Page 225 and 226:
4.28.5 Re-entrancy The function is
Page 227 and 228:
where: Equation GFLIB_Asin_Eq1 •
Page 229 and 230:
Page 231 and 232:
The computation algorithm for arcsi
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
Figure 4-20 depicts a floating poin
Page 239 and 240:
4.32.4 Description The GFLIB_Atan_F
Page 241 and 242:
Figure 4-22. atan(x) vs. GFLIB_Atan
Page 243 and 244:
Table 4-42. GFLIB_Atan_FLT argument
Page 245 and 246:
Figure 4-24. atan(x) vs. GFLIB_Atan
Page 247 and 248:
Page 249 and 250:
4.35.1 Declaration tFrac16 GFLIB_At
Page 251 and 252:
4.36 Function GFLIB_AtanYX_FLT The
Page 253 and 254:
4.37.1 Declaration tFrac32 GFLIB_At
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The algorithm can be easily justifi
Page 257 and 258:
The function has been tested to be
Page 259 and 260:
where: Equation GFLIB_AtanYXShifted
Page 261 and 262:
The function initialization paramet
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} Param.f16Kx = FRAC16 (0.879052013
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where: Equation GFLIB_AtanYXShifted
Page 267 and 268:
4.39.6 Code Example #include "gflib
Page 269 and 270:
Equation GFLIB_ControllerPIp_Eq1 ca
Page 271 and 272:
• f32PropGain - is the scaled val
Page 273 and 274:
where Equation GFLIB_ControllerPIp_
Page 275 and 276:
and where Equation GFLIB_Controller
Page 277 and 278:
Proportional-Integral (PI) algorith
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} // output should be 1.5e-2 fltOut
Page 281 and 282:
where T s [sec] is the sampling tim
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The bounds are described by a limit
Page 285 and 286:
(GFLIB_CONTROLLER_PIAW_P_T_F16). If
Page 287 and 288:
The sum of the scaled proportional
Page 289 and 290:
as default // #####################
Page 291 and 292:
where T s [sec] is the sampling tim
Page 293 and 294:
Page 295 and 296:
where Equation GFLIB_ControllerPIr_
Page 297 and 298:
} // output should be 0x00A3D70A f3
Page 299 and 300:
Equation GFLIB_ControllerPIr_Eq5 Th
Page 301 and 302:
GFLIB_CONTROLLER_PI_R_T_F16 trMyPI
Page 303 and 304:
Note All controller parameters and
Page 305 and 306:
Equation GFLIB_ControllerPIrAW_Eq2
Page 307 and 308:
The introduced scaling shift u16NSh
Page 309 and 310:
4.50 Function GFLIB_ControllerPIrAW
Page 311 and 312:
Equation GFLIB_ControllerPIrAW_Eq5
Page 313 and 314:
Note All controller parameters and
Page 315 and 316:
Transforming equation GFLIB_Control
Page 317 and 318:
4.52.1 Declaration tFrac32 GFLIB_Co
Page 319 and 320:
where a 1...a 5 are coefficients of
Page 321 and 322:
Page 323 and 324:
[- π, π ), the input f16In must b
Page 325 and 326:
Figure 4-26. cos(x) vs. GFLIB_Cos(f
Page 327 and 328:
Page 329 and 330:
Table 4-71. Approximation polynomia
Page 331 and 332:
4.55 Function GFLIB_Hyst_F32 This f
Page 333 and 334:
tFrac32 f32In; tFrac32 f32Out; GFLI
Page 335 and 336:
CAUTION For correct functionality,
Page 337 and 338:
Equation GFLIB_Hyst_Eq1 A graphical
Page 339 and 340:
4.58.4 Description The function GFL
Page 341 and 342:
void main(void) { // Setting parame
Page 343 and 344:
where E MAX is the input scale and
Page 345 and 346:
4.60.4 Description The function GFL
Page 347 and 348:
Page 349 and 350:
4.62.4 Description The GFLIB_Limit
Page 351 and 352:
Page 353 and 354:
} // output should be 0x60000000 ~
Page 355 and 356:
4.66.1 Declaration tFloat GFLIB_Low
Page 357 and 358:
4.67.4 Description where: Equation
Page 359 and 360:
It should be noted that the computa
Page 361 and 362:
Table 4-86. GFLIB_Lut1D_F16 argumen
Page 363 and 364:
Equation GFLIB_Lut1D_Eq4 where y, y
Page 365 and 366:
4.69 Function GFLIB_Lut1D_FLT This
Page 367 and 368:
Equation GFLIB_Lut1D_Eq4 where y, y
Page 369 and 370:
Page 371 and 372:
Equation GFLIB_Lut2D_Eq4 Equation G
Page 373 and 374:
Equation GFLIB_Lut2D_Eq16 It should
Page 375 and 376:
} // output should be 0x7A03D70A ~
Page 377 and 378:
The Table 4-92 contains 4 interpola
Page 379 and 380:
Equation GFLIB_Lut2D_Eq13 5. Final
Page 381 and 382:
FRAC16 (0.2), FRAC16 (0.21), FRAC16
Page 383 and 384:
where: Equation GFLIB_Lut2D_Eq3 •
Page 385 and 386:
Equation GFLIB_Lut2D_Eq10 6. The sa
Page 387 and 388:
0.88}; tFloat pfltTable2D[81] = {0.
Page 389 and 390:
Page 391 and 392:
Figure 4-32. GFLIB_Ramp functionali
Page 393 and 394:
If the desired (input) value is gre
Page 395 and 396:
4.76.3 Return The function returns
Page 397 and 398:
In mathematical terms, the function
Page 399 and 400:
Note The input and the output are i
Page 401 and 402:
The 9th order polynomial approximat
Page 403 and 404:
Figure 4-34. sin(x) vs. GFLIB_Sin_F
Page 405 and 406:
4.80.2 Arguments Table 4-101. GFLIB
Page 407 and 408:
Therefore, the resulting equation h
Page 409 and 410:
4.81 Function GFLIB_Sin_FLT This fu
Page 411 and 412:
Figure 4-36 depicts a floating poin
Page 413 and 414:
4.82.1 Declaration tFrac32 GFLIB_Sq
Page 415 and 416:
} // output should be 0x5A820000 ~
Page 417 and 418:
} // output should be 0x5A82 ~ FRAC
Page 419 and 420:
Figure 4-39. real sqrt(x) vs. GFLIB
Page 421 and 422:
Equation GFLIB_Tan_Eq1 Because both
Page 423 and 424:
Figure 4-41. tan(x) vs. GFLIB_Tan(f
Page 425 and 426:
4.86.1 Declaration tFrac16 GFLIB_Ta
Page 427 and 428:
Equation GFLIB_Tan_Eq3 The division
Page 429 and 430:
Page 431 and 432:
Page 433 and 434:
Figure 4-45. tan(x) vs. GFLIB_Tan(f
Page 435 and 436:
4.88.1 Declaration tFrac32 GFLIB_Up
Page 437 and 438:
4.89.4 Description The GFLIB_UpperL
Page 439 and 440:
void main(void) { // upper limit fl
Page 441 and 442:
Figure 4-46. Graphical interpretati
Page 443 and 444:
4.92.2 Arguments Table 4-117. GFLIB
Page 445 and 446:
Page 447 and 448:
• x in, y in and x out, y out are
Page 449 and 450:
4.94.2 Arguments Table 4-119. GMCLI
Page 451 and 452:
Page 453 and 454:
Page 455 and 456:
Page 457 and 458:
4.98.1 Declaration void GMCLIB_Clar
Page 459 and 460:
4.99.1 Declaration void GMCLIB_Clar
Page 461 and 462:
4.100.1 Declaration void GMCLIB_Dec
Page 463 and 464:
The feed-forward voltages u_dq_comp
Page 465 and 466:
Equation GMCLIB_DecouplingPMSM_Eq10
Page 467 and 468:
4.101.2 Arguments Table 4-126. GMCL
Page 469 and 470:
Equation GMCLIB_DecouplingPMSM_Eq4
Page 471 and 472:
Scaling of both equations into the
Page 473 and 474:
4.102.4 Description The quadrature
Page 475 and 476:
Page 477 and 478:
available DC bus voltage. Therefore
Page 479 and 480:
SWLIBS_2Syst_F32 f32OutAB; GMCLIB_E
Page 481 and 482:
• maximal amplitude of the DC bus
Page 483 and 484:
output beta component of the output
Page 485 and 486:
• actual amplitude of the DC bus
Page 487 and 488:
4.106 Function GMCLIB_Park_F32 This
Page 489 and 490:
4.107 Function GMCLIB_Park_F16 This
Page 491 and 492:
4.108 Function GMCLIB_Park_FLT This
Page 493 and 494:
4.109 Function GMCLIB_ParkInv_F32 T
Page 495 and 496:
4.110 Function GMCLIB_ParkInv_F16 T
Page 497 and 498:
4.111 Function GMCLIB_ParkInv_FLT T
Page 499 and 500:
4.112 Function GMCLIB_SvmStd_F32 Th
Page 501 and 502:
Figure 4-50. Basic space vectors Th
Page 503 and 504:
Figure 4-51. Projection of referenc
Page 505 and 506:
Equation GMCLIB_SvmStd_Eq7 Equation
Page 507 and 508:
Equation GMCLIB_SvmStd_Eq11 and equ
Page 509 and 510:
For the determination of auxiliary
Page 511 and 512:
Equation GMCLIB_SvmStd_Eq25 Equatio
Page 513 and 514:
} // output pwm dutycycles stored i
Page 515 and 516:
Top and bottom switches work in a c
Page 517 and 518:
Page 519 and 520:
Page 521 and 522:
Page 523 and 524:
For the determination of auxiliary
Page 525 and 526:
Equation GMCLIB_SvmStd_Eq25 Equatio
Page 527 and 528:
} // output pwm dutycycles stored i
Page 529 and 530:
such a vector allows a numerical de
Page 531 and 532:
Page 533 and 534:
Page 535 and 536:
Page 537 and 538:
Table 4-150. Determination of t_1 a
Page 539 and 540:
It should be pointed out that, in t
Page 541 and 542:
calculation precision in boundary i
Page 543 and 544:
Note Due to effectivity reason this
Page 545 and 546:
4.116.3 Return Absolute value of in
Page 547 and 548:
} // output should be FRAC16(0.25)
Page 549 and 550:
Page 551 and 552:
tFrac32 f32Out; void main(void) { /
Page 553 and 554:
4.120 Function MLIB_Add_F32 This fu
Page 555 and 556:
Page 557 and 558:
4.121.6 Code Example #include "mlib
Page 559 and 560:
4.122.4 Description This inline fun
Page 561 and 562:
4.123 Function MLIB_AddSat_F32 This
Page 563 and 564:
Page 565 and 566:
Page 567 and 568:
4.125.3 Return Converted input valu
Page 569 and 570:
Page 571 and 572:
and converted to the output format.
Page 573 and 574:
Equation MLIB_Convert_Eq1 Note Due
Page 575 and 576:
Page 577 and 578:
Page 579 and 580:
4.132 Function MLIB_ConvertPU_F32FL
Page 581 and 582:
4.133.3 Return Converted input valu
Page 583 and 584:
Page 585 and 586:
4.136 Function MLIB_ConvertPU_FLTF3
Page 587 and 588:
Page 589 and 590:
denominator, the output value is un
Page 591 and 592:
Equation MLIB_Div_Eq1 Note Due to e
Page 593 and 594:
Page 595 and 596:
} // output should be FRAC16(0.5) =
Page 597 and 598:
} // output should be FRAC32(0.3025
Page 599 and 600:
Page 601 and 602:
} f32Out = MLIB_Mac_F32F16F16(f32In
Page 603 and 604:
} // output should be FRAC16(0.3025
Page 605 and 606:
Page 607 and 608:
} // ##############################
Page 609 and 610:
4.147 Function MLIB_MacSat_F32F16F1
Page 611 and 612:
4.148.2 Arguments Table 4-185. MLIB
Page 613 and 614:
Table 4-186. MLIB_Mul_F32 arguments
Page 615 and 616:
void main(void) { // first input =
Page 617 and 618:
} // output should be 0x10000000 =
Page 619 and 620:
Page 621 and 622:
4.152.4 Description Single precisio
Page 623 and 624:
4.153 Function MLIB_MulSat_F32 This
Page 625 and 626:
Equation MLIB_MulSat_Eq1 Note Overf
Page 627 and 628:
Note Overflow is detected. The func
Page 629 and 630:
4.155.3 Return Fractional multiplic
Page 631 and 632:
} f16In2 = FRAC16 (0.75); // output
Page 633 and 634:
4.157.1 Declaration tFrac16 MLIB_Ne
Page 635 and 636:
Page 637 and 638:
Page 639 and 640:
Page 641 and 642:
4.162.1 Declaration tU16 MLIB_Norm_
Page 643 and 644:
4.163.4 Description This function r
Page 645 and 646:
Page 647 and 648:
} // output should be 0x10000000 ~
Page 649 and 650:
Page 651 and 652:
4.168.4 Description Based on sign o
Page 653 and 654:
Page 655 and 656:
} // output should be 0x4000 ~ FRAC
Page 657 and 658:
Page 659 and 660:
Note The shift amount cannot exceed
Page 661 and 662:
} u16In2 = 1; // output should be 0
Page 663 and 664:
} // ##############################
Page 665 and 666:
Subtraction of two fractional 16-bi
Page 667 and 668:
Page 669 and 670:
Page 671 and 672:
} // output should be 0x20000000 f3
Page 673 and 674:
} // as default // ################
Page 675 and 676:
} f32In3 = FRAC32 (0.35); // input4
Page 677 and 678:
Page 679 and 680:
} // output should be FRAC32(0.195)
Page 681 and 682:
} // as default // ################
Page 683 and 684:
Page 685 and 686:
} // input4 value = 0.45 fltIn4 = 0
Page 687 and 688:
Chapter 5 5.1 Typedefs Index Table
Page 689 and 690:
Chapter 6 Compound Data Types Table
Page 691 and 692:
Table 6-1. Compound data types over
Page 693 and 694:
6.2 GDFLIB_FILTER_IIR1_COEFF_T_F32
Page 695 and 696:
6.6 GDFLIB_FILTER_IIR1_T_FLT #inclu
Page 697 and 698:
6.9.2 Compound Type Members Table 6
Page 699 and 700:
6.13 GDFLIB_FILTER_MA_T_F16 #includ
Page 701 and 702:
6.17 GDFLIB_FILTERFIR_PARAM_T_F32 #
Page 703 and 704:
6.21 GDFLIB_FILTERFIR_STATE_T_FLT #
Page 705 and 706:
6.25.1 Description Array of approxi
Page 707 and 708:
6.29.2 Compound Type Members Table
Page 709 and 710:
Page 711 and 712:
Page 713 and 714:
6.41 GFLIB_CONTROLLER_PI_P_T_F32 #i
Page 715 and 716:
6.44 GFLIB_CONTROLLER_PI_R_T_F32 #i
Page 717 and 718:
Table 6-47. GFLIB_CONTROLLER_PIAW_P
Page 719 and 720:
6.49.1 Description Structure contai
Page 721 and 722:
Table 6-52. GFLIB_CONTROLLER_PIAW_R
Page 723 and 724:
Page 725 and 726:
6.59 GFLIB_INTEGRATOR_TR_T_F32 #inc
Page 727 and 728:
6.63 GFLIB_LIMIT_T_FLT #include 6.
Page 729 and 730:
Page 731 and 732:
6.71 GFLIB_LUT2D_T_F32 #include 6.
Page 733 and 734:
Page 735 and 736:
Page 737 and 738:
Page 739 and 740:
Page 741 and 742:
Page 743 and 744:
Page 745 and 746:
Page 747 and 748:
Page 749 and 750:
Chapter 7 7.1 Macro Definitions 7.1
Page 751 and 752:
#define GDFLIB_FILTERFIR_PARAM_T #d
Page 753 and 754:
#define GFLIB_ASIN_T #define GFLIB_
Page 755 and 756:
#define GFLIB_CONTROLLER_PI_R_T #de
Page 757 and 758:
#define GFLIB_LUT1D_DEFAULT #define
Page 759 and 760:
#define GFLIB_Tan #define GFLIB_UPP
Page 761 and 762:
#define INT32TOINT64 #define INT32_
Page 763 and 764:
Chapter 8 Macro References This sec
Page 765 and 766:
Definition of alias for GDFLIB_FILT
Page 767 and 768:
Definition of alias for GDFLIB_FILT
Page 769 and 770:
8.13.1 Macro Definition #define GDF
Page 771 and 772:
Definition of GDFLIB_FILTER_IIR1_DE
Page 773 and 774:
8.21.2 Description This function im
Page 775 and 776:
8.25.2 Description Definition of GD
Page 777 and 778:
Page 779 and 780:
Page 781 and 782:
Definition of GDFLIB_FILTER_MA_DEFA
Page 783 and 784:
8.42.1 Macro Definition #define GFL
Page 785 and 786:
8.46.2 Description Definition of GF
Page 787 and 788:
8.51 Define GFLIB_ACOS_DEFAULT_FLT
Page 789 and 790:
Page 791 and 792:
8.59.2 Description Default approxim
Page 793 and 794:
Page 795 and 796:
Page 797 and 798:
8.73.2 Description This function ca
Page 799 and 800:
8.77 Define GFLIB_ControllerPIp #in
Page 801 and 802:
Definition of GFLIB_CONTROLLER_PI_P
Page 803 and 804:
8.84 Define GFLIB_CONTROLLER_PI_P_D
Page 805 and 806:
Definition of GFLIB_CONTROLLER_PIAW
Page 807 and 808:
8.92 Define GFLIB_CONTROLLER_PIAW_P
Page 809 and 810:
8.96 Define GFLIB_CONTROLLER_PIAW_P
Page 811 and 812:
8.100 Define GFLIB_CONTROLLER_PI_R_
Page 813 and 814:
8.103.2 Description Definition of G
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8.108.1 Macro Definition #define GF
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8.120 Define GFLIB_COS_T #include
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8.124 Define GFLIB_COS_DEFAULT_F32
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8.129 Define GFLIB_HYST_T #include
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8.133 Define GFLIB_HYST_DEFAULT #in
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8.138 Define GFLIB_INTEGRATOR_TR_T
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8.150 Define GFLIB_LIMIT_T #include
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8.154 Define GFLIB_LIMIT_DEFAULT_F3
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8.159 Define GFLIB_LOWERLIMIT_T #in
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Definition of GFLIB_LOWERLIMIT_DEFA
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8.176 Define GFLIB_LUT1D_DEFAULT_FL
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8.184.2 Description Default value f
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8.198.2 Description This function i
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Definition of GFLIB_SIN_DEFAULT as
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8.225 Define GFLIB_UPPERLIMIT_DEFAU
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8.229 Define GFLIB_UPPERLIMIT_DEFAU
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8.237 Define GFLIB_VECTORLIMIT_DEFA
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8.242.1 Macro Definition #define GM
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8.246 Define GMCLIB_DECOUPLINGPMSM_
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8.249.2 Description Default value f
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Definition of GMCLIB_ELIMDCBUSRIP_D
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8.267.2 Description This function r
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8.273 Define MLIB_Mac #include 8.2
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8.278.1 Macro Definition #define ML
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8.283.2 Description This function s
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8.289 Define MCLIB_VERSION #include
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8.294.2 Description 8.295 Define MC
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8.300.1 Macro Definition #define MC
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8.305.2 Description Constant repres
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8.310.2 Description Value 0.25 in 3
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8.316 Define FLOAT_MIN #include 8.
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8.321.1 Macro Definition #define IN
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8.326.2 Description Type casting -
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8.332 Define INT16TOF32 #include 8
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8.337.1 Macro Definition #define F1
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8.342.1 Macro Definition #define F3
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8.347.1 Macro Definition #define FL
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8.352.2 Description Double to singl
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8.358 Define FLOAT_MINUS_1 #include
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8.363.2 Description Library identif
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Embedded Software and Motor Control Libraries for PXR40xx

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