Embedded Software and Motor Control Libraries for PXR40xx

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

Function Index Table 3-1. Quick function reference (continued) Type Name Arguments tFloat MLIB_Convert_FLTF32 register tFrac32 f32In1 register tFrac32 f32In2 tFrac16 MLIB_DivSat_F16 register tFrac16 f16In1 register tFrac16 f16In2 tFrac32 MLIB_DivSat_F32 register tFrac32 f32In1 register tFrac32 f32In2 tFrac16 MLIB_Div_F16 register tFrac16 f16In1 register tFrac16 f16In2 tFrac32 MLIB_Div_F32 register tFrac32 f32In1 register tFrac32 f32In2 tFloat MLIB_Div_FLT register tFloat fltIn1 register tFloat fltIn2 tFrac16 MLIB_MacSat_F16 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In3 tFrac32 MLIB_MacSat_F32 register tFrac32 f32In1 register tFrac32 f32In2 register tFrac32 f32In3 tFrac32 MLIB_MacSat_F32F16F16 register tFrac32 f32In1 register tFrac16 f16In2 register tFrac16 f16In3 tFrac16 MLIB_Mac_F16 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In3 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In3 tFrac32 MLIB_Mac_F32 register tFrac32 f32In1 register tFrac32 f32In2 register tFrac32 f32In3 register tFrac32 f32In1 register tFrac32 f32In2 register tFrac32 f32In3 tFrac32 MLIB_Mac_F32F16F16 register tFrac32 f32In1 register tFrac16 f16In2 register tFrac16 f16In3 register tFrac32 f32In1 register tFrac16 f16In2 register tFrac16 f16In3 tFloat MLIB_Mac_FLT register tFloat fltIn1 register tFloat fltIn2 register tFloat fltIn3 register tFloat fltIn1 register tFloat fltIn2 register tFloat fltIn3 tFrac16 MLIB_MulSat_F16 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In1 register tFrac16 f16In2 Table continues on the next page... Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 144 Freescale Semiconductor, Inc.
Table 3-1. Quick function reference (continued) Type Name Arguments tFrac32 MLIB_MulSat_F32 register tFrac32 f32In1 register tFrac32 f32In2 register tFrac32 f32In1 register tFrac32 f32In2 tFrac32 MLIB_MulSat_F32F16F16 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In1 register tFrac16 f16In2 tFrac16 MLIB_Mul_F16 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In1 register tFrac16 f16In2 tFrac32 MLIB_Mul_F32 register tFrac32 f32In1 register tFrac32 f32In2 register tFrac32 f32In1 register tFrac32 f32In2 tFrac32 MLIB_Mul_F32F16F16 register tFrac16 f16In1 register tFrac16 f16In2 register tFrac16 f16In1 register tFrac16 f16In2 tFloat MLIB_Mul_FLT register tFloat fltIn1 register tFloat fltIn2 register tFloat fltIn1 register tFloat fltIn2 tFrac16 MLIB_NegSat_F16 register tFrac16 f16In tFrac32 MLIB_NegSat_F32 register tFrac32 f32In tFrac16 MLIB_Neg_F16 register tFrac16 f16In tFrac32 MLIB_Neg_F32 register tFrac32 f32In tFloat MLIB_Neg_FLT register tFloat fltIn tU16 MLIB_Norm_F16 register tFrac16 f16In tU16 MLIB_Norm_F32 register tFrac32 f32In tFrac16 MLIB_Round_F16 register tFrac16 f16In1 register tU16 u16In2 tFrac32 MLIB_Round_F32 register tFrac32 f32In1 register tU16 u16In2 tFrac16 MLIB_ShBiSat_F16 register tFrac16 f16In1 register tS16 s16In2 tFrac32 MLIB_ShBiSat_F32 register tFrac32 f32In1 register tS16 s16In2 tFrac16 MLIB_ShBi_F16 register tFrac16 f16In1 register tS16 s16In2 tFrac32 MLIB_ShBi_F32 register tFrac32 f32In1 register tS16 s16In2 tFrac16 MLIB_ShLSat_F16 register tFrac16 f16In1 register tU16 u16In2 tFrac32 MLIB_ShLSat_F32 register tFrac32 f32In1 register tU16 u16In2 Table continues on the next page... Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 3 Freescale Semiconductor, Inc. 145
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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
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Page 93 and 94: Section number Title Page 8.294 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 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 143: 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
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 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 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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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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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
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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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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
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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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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
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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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Page 391 and 392:
Figure 4-32. GFLIB_Ramp functionali
Page 393 and 394:
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
Page 401 and 402:
The 9th order polynomial approximat
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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
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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
Page 429 and 430:
Page 431 and 432:
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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
Page 441 and 442:
Figure 4-46. Graphical interpretati
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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
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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
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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
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4.102.4 Description The quadrature
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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
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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
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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
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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
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
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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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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
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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
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4.123 Function MLIB_AddSat_F32 This
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Page 565 and 566:
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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.
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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denominator, the output value is un
Page 591 and 592:
Equation MLIB_Div_Eq1 Note Due to e
Page 593 and 594:
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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
Page 603 and 604:
} // 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
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
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} // 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
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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.
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Page 739 and 740:
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Page 743 and 744:
Page 745 and 746:
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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
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
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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_
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8.103.2 Description Definition of G
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8.108.1 Macro Definition #define GF
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Page 819 and 820:
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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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Page 847 and 848:
8.176 Define GFLIB_LUT1D_DEFAULT_FL
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Page 851 and 852:
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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Page 865 and 866:
Page 867 and 868:
Page 869 and 870:
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
Page 879 and 880:
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
Page 927:
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Embedded Software and Motor Control Libraries for PXR40xx

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