Embedded Software and Motor Control Libraries for PXR40xx

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

Supported Compilers 2.4 Supported Compilers The Embedded Software and Motor Control Libraries for MPXR40xx is written in ANSI- C99 ISO/IEC 9899:1999 standard language. The library was built and tested using the following compilers: 1. GreenHills MULTI for PPC version 5.2.4 2. Wind River Compiler version 5.9.1 3. CodeWarrior Development Studio for Freescale MPC55xx, MPC56xx Classic IDE, version 2.9 4. CodeWarrior Development Studio for Freescale MPC55xx, MPC56xx Eclipse IDE, version 10.2 The library is delivered in a library module "MCLIB_MPXR40xx_v0.91.a" for the Green Hills compiler. The library module is located in "C:\Program Files\Freescale\MCLIB for MPXR40xx v0.91\lib\ghs" folder (considering the default installation path). For the Wind River compiler, the "MCLIB_MPXR40xx_v0.91.a" library module is delivered within the installation package. The library module is located in "C:\Program Files\Freescale\MCLIB for MPXR40xx v0.91\lib\diab" folder (considering the default installation path). As Freescale is providing two version of CodeWarrior, there are two different sets of library modules available for the CodeWarrior compiler. For the CodeWarrior Classic IDE, two library modules "MCLIB_MPXR40xx_v0.91.\$suffix\$" are delivered. Based on representation of the char data type, two library modules are available: • "MCLIB_MPXR40xx_v0.91.PPCEABI.V.SC.a" for signed char data type • "MCLIB_MPXR40xx_v0.91.PPCEABI.V.UC.a" for unsigned char data type These library modules are located in "C:\Program Files\Freescale\MCLIB for MPXR40xx v0.91\lib\cw" folder (considering the default installation path). For the CodeWarrior Eclipse IDE, two library modules "MCLIB_MPXR40xx_v0.91.\ $suffix\$" are delivered. Based on representation of the char data type, two library modules are available: • "MCLIB_MPXR40xx_v0.91__VLE_SC_.a" for signed char data type • "MCLIB_MPXR40xx_v0.91__VLE_UC_.a" for unsigned char data type These library modules are located in "C:\Program Files\Freescale\MCLIB for MPXR40xx v0.91\lib\cw10x" folder (considering the default installation path). Together with the pre-compiled library modules, these are all the necessary header files. The interfaces to the algorithms included in this library have been combined into a single public interface header file for each respective sub-library, i.e. mlib.h, gflib.h, gdflib.h Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 114 Freescale Semiconductor, Inc.
and gmclib.h. This was done to simplify the number of files required for inclusion by application programs. Refer to the specific algorithm sections of this document for details on the software Application Programming Interface (API), definitions and functionality provided for the individual algorithms. 2.5 Matlab Integration In addition to the Embedded Software and Motor Control Libraries for MPXR40xx library modules, the Bit Accurate Models (BAM) are delivered in the installation package. These models can be used in the Matlab Simulink Toolbox to model the behavior of each function in real implementation. Each model consists of these three files: 1. _.BAM (e.g. GFLIB_Acos.BAM): Contains the Bit Accurate Model (BAM)) which can be included in the user Matlab Simulink model and refers to the S-function C file, and the S-function executable file. 2. __SF.c (e.g. GFLIB_Acos_SF.c): The S-function C file that calls a simple legacy function during the simulation. 3. __SF.mexw32 (e.g. GFLIB_Acos_SF.mexw32): Contains the compiled MATLAB S-function executable file created from the function C source file. All delivered functions are provided with Bit Accurate models in all applicable implementation versions. The user is thus responsible for selecting appropriate version of the Bit Accurate Model. To include the Bit Accurate Model in the user Simulink model, simply copy the BAM into the Simulink model. Note that the BAM parameters need to be properly set up. The structure of the Matlab files delivered with the Embedded Software and Motor Control Libraries for MPXR40xx is depicted in Figure 2-2. Figure 2-2. MCLib Matlab file structure Chapter 2 Introduction An example of Matlab Simulink model utilizing the Embedded Software and Motor Control Libraries for MPXR40xx Bit Accurate Models is depicted in Figure 2-3. Note that this schema is for the illustration only. Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Freescale Semiconductor, Inc. 115
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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
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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
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Page 103 and 104: Agreement, and require that you sto
Page 105 and 106: Chapter 1 ENTIRE RISK ARISING OUT O
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: For example if the MCLIB_DEFAULT_IM
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
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Equation GDFLIB_FilterFIR_Eq1 where
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} } // ############################
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4.8.3 Return The function returns a
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macro during instance declaration o
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4.9.6 Code Example #include "gdflib
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signal entering the state delay-lin
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4.11.2 Arguments Table 4-11. GDFLIB
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A general form of the IIR filter ex
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} flttrMyIIR1.trFiltCoeff.fltB0 = (
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freq_bot = 400; freq_top = 625; T_s
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4.15.4 Description This function cl
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In order to implement the second or
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} f16trMyIIR2.trFiltCoeff.f16B0 = F
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eplaced by output from the previous
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Note This function shall not be cal
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call. The number of the filtered po
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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_
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Table 4-28. Integer polynomial coef
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4.27 Function GFLIB_Acos_FLT This f
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The arccos(x) values are then calcu
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} // output should be 1.570796 fltA
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Equation GFLIB_Asin_Eq3 Equation GF
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4.28.5 Re-entrancy The function is
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where: Equation GFLIB_Asin_Eq1 •
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The computation algorithm for arcsi
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Figure 4-20 depicts a floating poin
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4.32.4 Description The GFLIB_Atan_F
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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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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
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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
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Equation GFLIB_ControllerPIrAW_Eq2
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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
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[- π, π ), the input f16In must b
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Figure 4-26. cos(x) vs. GFLIB_Cos(f
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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
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where E MAX is the input scale and
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4.60.4 Description The function GFL
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4.62.4 Description The GFLIB_Limit
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} // output should be 0x60000000 ~
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4.66.1 Declaration tFloat GFLIB_Low
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4.67.4 Description where: Equation
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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
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4.69 Function GFLIB_Lut1D_FLT This
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Equation GFLIB_Lut1D_Eq4 where y, y
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Equation GFLIB_Lut2D_Eq4 Equation G
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Equation GFLIB_Lut2D_Eq16 It should
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} // 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.
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Figure 4-32. GFLIB_Ramp functionali
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If the desired (input) value is gre
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4.76.3 Return The function returns
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In mathematical terms, the function
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Note The input and the output are i
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The 9th order polynomial approximat
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Figure 4-34. sin(x) vs. GFLIB_Sin_F
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4.80.2 Arguments Table 4-101. GFLIB
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Therefore, the resulting equation h
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4.81 Function GFLIB_Sin_FLT This fu
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Figure 4-36 depicts a floating poin
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4.82.1 Declaration tFrac32 GFLIB_Sq
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} // output should be 0x5A820000 ~
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} // output should be 0x5A82 ~ FRAC
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Figure 4-39. real sqrt(x) vs. GFLIB
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Equation GFLIB_Tan_Eq1 Because both
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Figure 4-41. tan(x) vs. GFLIB_Tan(f
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4.86.1 Declaration tFrac16 GFLIB_Ta
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Equation GFLIB_Tan_Eq3 The division
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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
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void main(void) { // upper limit fl
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Figure 4-46. Graphical interpretati
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4.92.2 Arguments Table 4-117. GFLIB
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• x in, y in and x out, y out are
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4.94.2 Arguments Table 4-119. GMCLI
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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
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The feed-forward voltages u_dq_comp
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Equation GMCLIB_DecouplingPMSM_Eq10
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4.101.2 Arguments Table 4-126. GMCL
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Equation GMCLIB_DecouplingPMSM_Eq4
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Scaling of both equations into the
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4.102.4 Description The quadrature
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Page 477 and 478:
available DC bus voltage. Therefore
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SWLIBS_2Syst_F32 f32OutAB; GMCLIB_E
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• 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
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4.106 Function GMCLIB_Park_F32 This
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4.107 Function GMCLIB_Park_F16 This
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4.108 Function GMCLIB_Park_FLT This
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4.109 Function GMCLIB_ParkInv_F32 T
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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
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Figure 4-50. Basic space vectors Th
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Figure 4-51. Projection of referenc
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Equation GMCLIB_SvmStd_Eq7 Equation
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Equation GMCLIB_SvmStd_Eq11 and equ
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For the determination of auxiliary
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Equation GMCLIB_SvmStd_Eq25 Equatio
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} // output pwm dutycycles stored i
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Top and bottom switches work in a c
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For the determination of auxiliary
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Equation GMCLIB_SvmStd_Eq25 Equatio
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} // output pwm dutycycles stored i
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such a vector allows a numerical de
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Page 533 and 534:
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Table 4-150. Determination of t_1 a
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It should be pointed out that, in t
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calculation precision in boundary i
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Note Due to effectivity reason this
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4.116.3 Return Absolute value of in
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} // output should be FRAC16(0.25)
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tFrac32 f32Out; void main(void) { /
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4.120 Function MLIB_Add_F32 This fu
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4.121.6 Code Example #include "mlib
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4.122.4 Description This inline fun
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4.123 Function MLIB_AddSat_F32 This
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4.125.3 Return Converted input valu
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Page 571 and 572:
and converted to the output format.
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Equation MLIB_Convert_Eq1 Note Due
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4.132 Function MLIB_ConvertPU_F32FL
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4.133.3 Return Converted input valu
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4.136 Function MLIB_ConvertPU_FLTF3
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denominator, the output value is un
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Equation MLIB_Div_Eq1 Note Due to e
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} // output should be FRAC16(0.5) =
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} // output should be FRAC32(0.3025
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} f32Out = MLIB_Mac_F32F16F16(f32In
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} // output should be FRAC16(0.3025
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} // ##############################
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4.147 Function MLIB_MacSat_F32F16F1
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4.148.2 Arguments Table 4-185. MLIB
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Table 4-186. MLIB_Mul_F32 arguments
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void main(void) { // first input =
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} // output should be 0x10000000 =
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4.152.4 Description Single precisio
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4.153 Function MLIB_MulSat_F32 This
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Equation MLIB_MulSat_Eq1 Note Overf
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Note Overflow is detected. The func
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4.155.3 Return Fractional multiplic
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} f16In2 = FRAC16 (0.75); // output
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4.157.1 Declaration tFrac16 MLIB_Ne
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4.162.1 Declaration tU16 MLIB_Norm_
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4.163.4 Description This function r
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} // output should be 0x10000000 ~
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4.168.4 Description Based on sign o
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} // output should be 0x4000 ~ FRAC
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Note The shift amount cannot exceed
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} u16In2 = 1; // output should be 0
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} // ##############################
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Subtraction of two fractional 16-bi
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} // output should be 0x20000000 f3
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} // as default // ################
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} f32In3 = FRAC32 (0.35); // input4
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} // output should be FRAC32(0.195)
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} // as default // ################
Page 683 and 684:
Page 685 and 686:
} // input4 value = 0.45 fltIn4 = 0
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Chapter 5 5.1 Typedefs Index Table
Page 689 and 690:
Chapter 6 Compound Data Types Table
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Table 6-1. Compound data types over
Page 693 and 694:
6.2 GDFLIB_FILTER_IIR1_COEFF_T_F32
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6.6 GDFLIB_FILTER_IIR1_T_FLT #inclu
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6.9.2 Compound Type Members Table 6
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6.13 GDFLIB_FILTER_MA_T_F16 #includ
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6.17 GDFLIB_FILTERFIR_PARAM_T_F32 #
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6.21 GDFLIB_FILTERFIR_STATE_T_FLT #
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6.25.1 Description Array of approxi
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6.29.2 Compound Type Members Table
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Page 711 and 712:
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6.41 GFLIB_CONTROLLER_PI_P_T_F32 #i
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6.44 GFLIB_CONTROLLER_PI_R_T_F32 #i
Page 717 and 718:
Table 6-47. GFLIB_CONTROLLER_PIAW_P
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6.49.1 Description Structure contai
Page 721 and 722:
Table 6-52. GFLIB_CONTROLLER_PIAW_R
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6.59 GFLIB_INTEGRATOR_TR_T_F32 #inc
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6.63 GFLIB_LIMIT_T_FLT #include 6.
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6.71 GFLIB_LUT2D_T_F32 #include 6.
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Chapter 7 7.1 Macro Definitions 7.1
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#define GDFLIB_FILTERFIR_PARAM_T #d
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#define GFLIB_ASIN_T #define GFLIB_
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#define GFLIB_CONTROLLER_PI_R_T #de
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#define GFLIB_LUT1D_DEFAULT #define
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#define GFLIB_Tan #define GFLIB_UPP
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#define INT32TOINT64 #define INT32_
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Chapter 8 Macro References This sec
Page 765 and 766:
Definition of alias for GDFLIB_FILT
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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
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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:
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8.59.2 Description Default approxim
Page 793 and 794:
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Page 797 and 798:
8.73.2 Description This function ca
Page 799 and 800:
8.77 Define GFLIB_ControllerPIp #in
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Definition of GFLIB_CONTROLLER_PI_P
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8.84 Define GFLIB_CONTROLLER_PI_P_D
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Definition of GFLIB_CONTROLLER_PIAW
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8.92 Define GFLIB_CONTROLLER_PIAW_P
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8.96 Define GFLIB_CONTROLLER_PIAW_P
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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:
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8.120 Define GFLIB_COS_T #include
Page 823 and 824:
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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