Embedded Software and Motor Control Libraries for PXR40xx

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

License Agreement CHOICE OF LAW; VENUE; LIMITATIONS: You agree that the statutes and laws of the United States and the State of Texas, USA, without regard to conflicts of laws principles, will apply to all matters relating to this Agreement or the Software, and you agree that any litigation will be subject to the exclusive jurisdiction of the state or federal courts in Texas, USA. You agree that regardless of any statute or law to the contrary, any claim or cause of action arising out of or related to this Agreement or the Software must be filed within one (1) year after such claim or cause of action arose or be forever barred. PRODUCT LABELING: You are not authorized to use any Freescale trademarks, brand names, or logos. ENTIRE AGREEMENT: This Agreement constitutes the entire agreement between you and Freescale regarding the subject matter of this Agreement, and supersedes all prior communications, negotiations, understandings, agreements or representations, either written or oral, if any. This Agreement may only be amended in written form, executed by you and Freescale. SEVERABILITY: If any provision of this Agreement is held for any reason to be invalid or unenforceable, then the remaining provisions of this Agreement will be unimpaired and, unless a modification or replacement of the invalid or unenforceable provision is further held to deprive you or Freescale of a material benefit, in which case the Agreement will immediately terminate, the invalid or unenforceable provision will be replaced with a provision that is valid and enforceable and that comes closest to the intention underlying the invalid or unenforceable provision. NO WAIVER: The waiver by Freescale of any breach of any provision of this Agreement will not operate or be construed as a waiver of any other or a subsequent breach of the same or a different provision. CONFIDENTIAL INFORMATION: The Licensee agrees to retain the Confidential Information in confidence perpetually, with respect to Software in source code form (human readable), or for a period of 3 years from the date of receipt of the Confidential Information, with respect to all other Confidential Information. During this period the Licensee may not disclose Freescale's Confidential Information to any third party except where such disclosure is necessary in order to achieve the purpose of the license because the automotive customer requires disclosure in conjunction with the testing or purchase of an Authorized System and who have executed written agreements obligating them to protect such Confidential Information. During this period Licensee will also limit dissemination of the Confidential Information to its employees or contractors who have a need to know of the Confidential Information and who have executed written agreements obligating them to protect such Confidential Information, and may not use the Freescale's Confidential Information for any purpose not authorized by this Agreement. The Licensee further agrees to use the same degree of care, but no less than a reasonable degree of care, with Freescale's Confidential Information as it would with its own Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 106 Freescale Semiconductor, Inc.
confidential information. The Licensee may disclose Confidential Information as required by a court or under operation of law or order provided that the Licensee notifies Freescale of such requirement prior to disclosure, that the Licensee discloses only that information required, and that the Licensee allows Freescale the opportunity to object to such court or other legal body requiring such disclosure. Freescale Automotive Software License Agreement, v1.02, June 2011 Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 1 Freescale Semiconductor, Inc. 107
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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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Section number Title Page 6.17.2 Co
Page 55 and 56: Section number Title Page 6.36.2 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 and 104: Agreement, and require that you sto
Page 105: Chapter 1 ENTIRE RISK ARISING OUT O
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
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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
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Figure 4-8. acos(x) vs. GFLIB_Acos(
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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
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} // 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
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4.32.4 Description The GFLIB_Atan_F
Page 241 and 242:
Figure 4-22. atan(x) vs. GFLIB_Atan
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Table 4-42. GFLIB_Atan_FLT argument
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Figure 4-24. atan(x) vs. GFLIB_Atan
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Page 249 and 250:
4.35.1 Declaration tFrac16 GFLIB_At
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4.36 Function GFLIB_AtanYX_FLT The
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4.37.1 Declaration tFrac32 GFLIB_At
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The algorithm can be easily justifi
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The function has been tested to be
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where: Equation GFLIB_AtanYXShifted
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The function initialization paramet
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} Param.f16Kx = FRAC16 (0.879052013
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where: Equation GFLIB_AtanYXShifted
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4.39.6 Code Example #include "gflib
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Equation GFLIB_ControllerPIp_Eq1 ca
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• f32PropGain - is the scaled val
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where Equation GFLIB_ControllerPIp_
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and where Equation GFLIB_Controller
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Proportional-Integral (PI) algorith
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} // output should be 1.5e-2 fltOut
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where T s [sec] is the sampling tim
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The bounds are described by a limit
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(GFLIB_CONTROLLER_PIAW_P_T_F16). If
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The sum of the scaled proportional
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as default // #####################
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where T s [sec] is the sampling tim
Page 293 and 294:
Page 295 and 296:
where Equation GFLIB_ControllerPIr_
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} // output should be 0x00A3D70A f3
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Equation GFLIB_ControllerPIr_Eq5 Th
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GFLIB_CONTROLLER_PI_R_T_F16 trMyPI
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Note All controller parameters and
Page 305 and 306:
Equation GFLIB_ControllerPIrAW_Eq2
Page 307 and 308:
The introduced scaling shift u16NSh
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4.50 Function GFLIB_ControllerPIrAW
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Equation GFLIB_ControllerPIrAW_Eq5
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Note All controller parameters and
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Transforming equation GFLIB_Control
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4.52.1 Declaration tFrac32 GFLIB_Co
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where a 1...a 5 are coefficients of
Page 321 and 322:
Page 323 and 324:
[- π, π ), the input f16In must b
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Figure 4-26. cos(x) vs. GFLIB_Cos(f
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Page 329 and 330:
Table 4-71. Approximation polynomia
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4.55 Function GFLIB_Hyst_F32 This f
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tFrac32 f32In; tFrac32 f32Out; GFLI
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CAUTION For correct functionality,
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Equation GFLIB_Hyst_Eq1 A graphical
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4.58.4 Description The function GFL
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void main(void) { // Setting parame
Page 343 and 344:
where E MAX is the input scale and
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4.60.4 Description The function GFL
Page 347 and 348:
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4.62.4 Description The GFLIB_Limit
Page 351 and 352:
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} // output should be 0x60000000 ~
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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
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Table 4-86. GFLIB_Lut1D_F16 argumen
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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 ~
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The Table 4-92 contains 4 interpola
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Equation GFLIB_Lut2D_Eq13 5. Final
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FRAC16 (0.2), FRAC16 (0.21), FRAC16
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where: Equation GFLIB_Lut2D_Eq3 •
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Equation GFLIB_Lut2D_Eq10 6. The sa
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0.88}; tFloat pfltTable2D[81] = {0.
Page 389 and 390:
Page 391 and 392:
Figure 4-32. GFLIB_Ramp functionali
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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
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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
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} // output should be 0x5A820000 ~
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} // 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
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4.88.1 Declaration tFrac32 GFLIB_Up
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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
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• x in, y in and x out, y out are
Page 449 and 450:
4.94.2 Arguments Table 4-119. GMCLI
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Page 453 and 454:
Page 455 and 456:
Page 457 and 458:
4.98.1 Declaration void GMCLIB_Clar
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4.99.1 Declaration void GMCLIB_Clar
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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
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output beta component of the output
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• actual amplitude of the DC bus
Page 487 and 488:
4.106 Function GMCLIB_Park_F32 This
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4.107 Function GMCLIB_Park_F16 This
Page 491 and 492:
4.108 Function GMCLIB_Park_FLT This
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4.109 Function GMCLIB_ParkInv_F32 T
Page 495 and 496:
4.110 Function GMCLIB_ParkInv_F16 T
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4.111 Function GMCLIB_ParkInv_FLT T
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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 // ################
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} 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
Page 815 and 816:
8.108.1 Macro Definition #define GF
Page 817 and 818:
Page 819 and 820:
Page 821 and 822:
8.120 Define GFLIB_COS_T #include
Page 823 and 824:
8.124 Define GFLIB_COS_DEFAULT_F32
Page 825 and 826:
8.129 Define GFLIB_HYST_T #include
Page 827 and 828:
8.133 Define GFLIB_HYST_DEFAULT #in
Page 829 and 830:
8.138 Define GFLIB_INTEGRATOR_TR_T
Page 831 and 832:
Page 833 and 834:
Page 835 and 836:
8.150 Define GFLIB_LIMIT_T #include
Page 837 and 838:
8.154 Define GFLIB_LIMIT_DEFAULT_F3
Page 839 and 840:
8.159 Define GFLIB_LOWERLIMIT_T #in
Page 841 and 842:
Definition of GFLIB_LOWERLIMIT_DEFA
Page 843 and 844:
Page 845 and 846:
Page 847 and 848:
8.176 Define GFLIB_LUT1D_DEFAULT_FL
Page 849 and 850:
Page 851 and 852:
8.184.2 Description Default value f
Page 853 and 854:
Page 855 and 856:
Page 857 and 858:
8.198.2 Description This function i
Page 859 and 860:
Definition of GFLIB_SIN_DEFAULT as
Page 861 and 862:
Page 863 and 864:
Page 865 and 866:
Page 867 and 868:
Page 869 and 870:
8.225 Define GFLIB_UPPERLIMIT_DEFAU
Page 871 and 872:
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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