Embedded Software and Motor Control Libraries for PXR40xx

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

Library Integration into a Freescale CodeWarrior Classic IDE In order to use the library functions, the library master header files must be included into the application source code. This is done using the pre-processor directive \#include ".h", where can be gflib or gdflib or gmclib, depending on which library is to be employed. The master header files contain several additional header files that are needed for the Embedded Software and Motor Control Libraries for MPXR40xx integration into any user application. They include the "SWLIBS_Typedefs.h" header file which contains all general purpose data type definitions, the "mlib.h" header file containing all general math functions, the "SWLIBS_Defines.h" file containing common macro definitions and the "SWLIBS_MacroDisp.h" allowing the implementation based API call. Remember that by default there is no default implementation selected in the "SWLIBS_Config.h" thus the error message shall be displayed during the compilation requesting the default implementation selection. At this point, the Embedded Software and Motor Control Libraries for MPXR40xx is linked with the user project file, and hence the library functions can be exploited and flawlessly compiled/linked with the user application. 2.11 Library Integration into a Freescale CodeWarrior Classic IDE The release provides two library versions for the CodeWarrior environment. The library versions are different in the compilation options that were set while the library was compiled: • The library file with the suffix: .PPCEABI.V.SC.a, compilation options used: Power Architecture Embedded ABI, VLE instructions set, char type is signed. • The library file with the suffix: .PPCEABI.V.UC.a, compilation options used: Power Architecture EABI, VLE instruction set, char type is unsigned. The selection of the library version should follow those compilation options set for the CodeWarrior project. If the Embedded Software and Motor Control Libraries for MPXR40xx options and project options are different, warnings would be reported. In order to use the Embedded Software and Motor Control Libraries for MPXR40xx within a CodeWarrior GUI environment, it is necessary to provide the CodeWarrior GUI with information on access paths and to add the appropriate Embedded Software and Motor Control Libraries for MPXR40xx files to the project. The following files shall be added to the project: Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 126 Freescale Semiconductor, Inc.
• Library binary files located in the directory "C:\Program Files\Freescale\MCLIB for MPXR40xx v0.91\lib\cw" (note: this is the default location and may be modified during library installation) • Header files located in the directory "C:\Program Files\Freescale\MCLIB for MPXR40xx v0.91\include" (note: this is the default location and may be modified during library installation) An example of the procedure of how to add Embedded Software and Motor Control Libraries for MPXR40xx files to a CodeWarrior project is described in the step-by-step instructions below: 1. Create a new or open an existing CodeWarrior project, for which Embedded Software and Motor Control Libraries for MPXR40xx use is intended. 2. Add the library binary files and the header files to the CodeWarrior project. Files can be added by the use of mouse drag-and-drop or by selecting the action from the mouse right button menu in the project window. The CodeWarrior GUI may open a new window with information on new paths added to the project Access Paths list. 3. Now the Embedded Software and Motor Control Libraries for MPXR40xx is ready for use. After completing the procedure, the CodeWarrior project window may look like that in Figure 2-18. Figure 2-18. MCLib integration into a CodeWarrior project Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 2 Introduction Freescale Semiconductor, Inc. 127
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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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Section number Title Page 8.9 Defin
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Section number Title Page 8.28 Defi
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Section number Title Page 8.104 Def
Page 75 and 76: Section number Title Page 8.123 Def
Page 101 and 102: Chapter 1 1.1 License Agreement IMP
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 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: Figure 2-15. Selecting the include
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 161 and 162: F16); } GDFLIB_FilterFIRInit (&Para
Page 163 and 164: FLT); tFloat fltCoefBuf[FIR_NUMTAPS
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
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4.11.2 Arguments Table 4-11. GDFLIB
Page 179 and 180:
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
Page 193 and 194:
Page 195 and 196:
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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Page 203 and 204:
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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
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
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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
Page 321 and 322:
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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
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
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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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Page 371 and 372:
Equation GFLIB_Lut2D_Eq4 Equation G
Page 373 and 374:
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.
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
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4.76.3 Return The function returns
Page 397 and 398:
In mathematical terms, the function
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Note The input and the output are i
Page 401 and 402:
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
Page 423 and 424:
Figure 4-41. tan(x) vs. GFLIB_Tan(f
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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
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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
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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
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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
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
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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
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
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Equation GMCLIB_SvmStd_Eq11 and equ
Page 509 and 510:
For the determination of auxiliary
Page 511 and 512:
Equation GMCLIB_SvmStd_Eq25 Equatio
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} // 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
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} // 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
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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
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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:
} // ##############################
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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 =
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
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4.157.1 Declaration tFrac16 MLIB_Ne
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Page 637 and 638:
Page 639 and 640:
Page 641 and 642:
4.162.1 Declaration tU16 MLIB_Norm_
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4.163.4 Description This function r
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Page 647 and 648:
} // output should be 0x10000000 ~
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Page 651 and 652:
4.168.4 Description Based on sign o
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} // 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
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} // ##############################
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Subtraction of two fractional 16-bi
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Page 669 and 670:
Page 671 and 672:
} // output should be 0x20000000 f3
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} // as default // ################
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} f32In3 = FRAC32 (0.35); // input4
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Page 679 and 680:
} // 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
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
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6.13 GDFLIB_FILTER_MA_T_F16 #includ
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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.
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Page 731 and 732:
6.71 GFLIB_LUT2D_T_F32 #include 6.
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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
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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:
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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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