Embedded Software and Motor Control Libraries for PXR40xx

More documents

Recommendations

Info

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

Function GFLIB_IntegratorTR_F16 4.59.4 Description The function GFLIB_IntegratorTR_F16 implements a discrete integrator using trapezoidal (Bilinear) transformation. The continuous time domain representation of the integrator is defined as: Equation GFLIB_IntegratorTR_Eq1 The transfer function for this integrator, in a continuous time domain, is described using the Laplace transformation as follows: Equation GFLIB_IntegratorTR_Eq2 Transforming equation GFLIB_IntegratorTR_Eq2 into a digital time domain using Bilinear transformation, leads to the following transfer function: Equation GFLIB_IntegratorTR_Eq3 where T s is the sampling period of the system. The discrete implementation of the digital transfer function GFLIB_IntegratorTR_Eq3 is as follows: Equation GFLIB_IntegratorTR_Eq4 Considering fractional maths implementation, the integrator input and output maximal values (scales) must be known. Then the discrete implementation is given as follows: Equation GFLIB_IntegratorTR_Eq5 Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 342 Freescale Semiconductor, Inc.
where E MAX is the input scale and U MAX is the output scale. Then integrator constant C1 is defined as: Equation GFLIB_IntegratorTR_Eq6 In order to implement the discrete form integrator as in GFLIB_IntegratorTR_Eq5 on a fixed point platform, the value of C1 f coefficient must reside in a the fractional range [-1,1). Therefore, scaling must be introduced as follows: Equation GFLIB_IntegratorTR_Eq7 The introduced scaling is chosen such that coefficient f16C1 fits into fractional range [-1,1). To simplify the implementation, this scaling is chosen to be a power of 2, so the final scaling is a simple shift operation using the u16NShift variable. Hence, the shift is calculated as: Equation GFLIB_IntegratorTR_Eq8 Note All parameters and states used by the function can be reset during declaration using the GFLIB_INTEGRATOR_TR_DEFAULT_F16 macro. 4.59.5 Re-entrancy The function is re-entrant. 4.59.6 Code Example #include "gflib.h" tFrac16 f16In; tFrac16 f16Out; Chapter 4 API References // Definition of one integrator instance GFLIB_INTEGRATOR_TR_T_F16 trMyIntegrator = GFLIB_INTEGRATOR_TR_DEFAULT_F16; Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Freescale Semiconductor, Inc. 343
Page 1 and 2:
Embedded Software and Motor Control
Page 3 and 4:
Contents Section number Title Page
Page 5 and 6:
Section number Title Page 4.4.6 Cod
Page 7 and 8:
Section number Title Page 4.13 Func
Page 9 and 10:
Page 11 and 12:
Page 13 and 14:
Page 15 and 16:
Page 17 and 18:
Page 19 and 20:
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Section number Title Page 4.101 Fun
Page 31 and 32:
Section number Title Page 4.109 Fun
Page 33 and 34:
Section number Title Page 4.116.6 C
Page 35 and 36:
Section number Title Page 4.123.5 R
Page 37 and 38:
Page 39 and 40:
Page 41 and 42:
Section number Title Page 4.146.6 C
Page 43 and 44:
Page 45 and 46:
Page 47 and 48:
Page 49 and 50:
Page 51 and 52:
Page 53 and 54:
Section number Title Page 6.17.2 Co
Page 55 and 56:
Page 57 and 58:
Page 59 and 60:
Page 61 and 62:
Page 63 and 64:
Section number Title Page 8.9 Defin
Page 65 and 66:
Section number Title Page 8.28 Defi
Page 67 and 68:
Page 69 and 70:
Page 71 and 72:
Page 73 and 74:
Section number Title Page 8.104 Def
Page 75 and 76:
Page 77 and 78:
Page 79 and 80:
Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Page 91 and 92:
Page 93 and 94:
Page 95 and 96:
Page 97 and 98:
Page 99 and 100:
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 121 and 122:
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 131 and 132:
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 141 and 142:
Page 143 and 144:
Page 145 and 146:
Page 147 and 148:
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:
Page 161 and 162:
F16); } GDFLIB_FilterFIRInit (&Para
Page 163 and 164:
FLT); tFloat fltCoefBuf[FIR_NUMTAPS
Page 165 and 166:
Page 167 and 168:
} } // ############################
Page 169 and 170:
4.8.3 Return The function returns a
Page 171 and 172:
macro during instance declaration o
Page 173 and 174:
4.9.6 Code Example #include "gdflib
Page 175 and 176:
signal entering the state delay-lin
Page 177 and 178:
4.11.2 Arguments Table 4-11. GDFLIB
Page 179 and 180:
A general form of the IIR filter ex
Page 181 and 182:
} flttrMyIIR1.trFiltCoeff.fltB0 = (
Page 183 and 184:
Page 185 and 186:
freq_bot = 400; freq_top = 625; T_s
Page 187 and 188:
4.15.4 Description This function cl
Page 189 and 190:
In order to implement the second or
Page 191 and 192:
} f16trMyIIR2.trFiltCoeff.f16B0 = F
Page 193 and 194:
Page 195 and 196:
eplaced by output from the previous
Page 197 and 198:
Note This function shall not be cal
Page 199 and 200:
call. The number of the filtered po
Page 201 and 202:
Page 203 and 204:
Page 205 and 206:
Page 207 and 208:
Page 209 and 210:
Figure 4-7. Course of the function
Page 211 and 212:
Figure 4-8. acos(x) vs. GFLIB_Acos(
Page 213 and 214:
4.26.2 Arguments Table 4-27. GFLIB_
Page 215 and 216:
Table 4-28. Integer polynomial coef
Page 217 and 218:
4.27 Function GFLIB_Acos_FLT This f
Page 219 and 220:
The arccos(x) values are then calcu
Page 221 and 222:
} // output should be 1.570796 fltA
Page 223 and 224:
Equation GFLIB_Asin_Eq3 Equation GF
Page 225 and 226:
4.28.5 Re-entrancy The function is
Page 227 and 228:
where: Equation GFLIB_Asin_Eq1 •
Page 229 and 230:
Page 231 and 232:
The computation algorithm for arcsi
Page 233 and 234:
Page 235 and 236:
Page 237 and 238:
Figure 4-20 depicts a floating poin
Page 239 and 240:
4.32.4 Description The GFLIB_Atan_F
Page 241 and 242:
Figure 4-22. atan(x) vs. GFLIB_Atan
Page 243 and 244:
Table 4-42. GFLIB_Atan_FLT argument
Page 245 and 246:
Figure 4-24. atan(x) vs. GFLIB_Atan
Page 247 and 248:
4.34.2 Arguments Table 4-44. GFLIB_
Page 249 and 250:
4.35.1 Declaration tFrac16 GFLIB_At
Page 251 and 252:
4.36 Function GFLIB_AtanYX_FLT The
Page 253 and 254:
4.37.1 Declaration tFrac32 GFLIB_At
Page 255 and 256:
The algorithm can be easily justifi
Page 257 and 258:
The function has been tested to be
Page 259 and 260:
where: Equation GFLIB_AtanYXShifted
Page 261 and 262:
The function initialization paramet
Page 263 and 264:
} Param.f16Kx = FRAC16 (0.879052013
Page 265 and 266:
where: Equation GFLIB_AtanYXShifted
Page 267 and 268:
4.39.6 Code Example #include "gflib
Page 269 and 270:
Equation GFLIB_ControllerPIp_Eq1 ca
Page 271 and 272:
• f32PropGain - is the scaled val
Page 273 and 274:
where Equation GFLIB_ControllerPIp_
Page 275 and 276:
and where Equation GFLIB_Controller
Page 277 and 278:
Proportional-Integral (PI) algorith
Page 279 and 280:
} // output should be 1.5e-2 fltOut
Page 281 and 282:
where T s [sec] is the sampling tim
Page 283 and 284:
The bounds are described by a limit
Page 285 and 286:
(GFLIB_CONTROLLER_PIAW_P_T_F16). If
Page 287 and 288:
The sum of the scaled proportional
Page 289 and 290:
as default // #####################
Page 291 and 292: where T s [sec] is the sampling tim
Page 293 and 294: 4.46.2 Arguments Table 4-56. GFLIB_
Page 295 and 296: where Equation GFLIB_ControllerPIr_
Page 297 and 298: } // output should be 0x00A3D70A f3
Page 299 and 300: Equation GFLIB_ControllerPIr_Eq5 Th
Page 301 and 302: GFLIB_CONTROLLER_PI_R_T_F16 trMyPI
Page 303 and 304: Note All controller parameters and
Page 305 and 306: Equation GFLIB_ControllerPIrAW_Eq2
Page 307 and 308: The introduced scaling shift u16NSh
Page 309 and 310: 4.50 Function GFLIB_ControllerPIrAW
Page 311 and 312: Equation GFLIB_ControllerPIrAW_Eq5
Page 313 and 314: Note All controller parameters and
Page 315 and 316: Transforming equation GFLIB_Control
Page 317 and 318: 4.52.1 Declaration tFrac32 GFLIB_Co
Page 319 and 320: where a 1...a 5 are coefficients of
Page 321 and 322: 4.52.5 Re-entrancy The function is
Page 323 and 324: [- π, π ), the input f16In must b
Page 325 and 326: Figure 4-26. cos(x) vs. GFLIB_Cos(f
Page 329 and 330: Table 4-71. Approximation polynomia
Page 331 and 332: 4.55 Function GFLIB_Hyst_F32 This f
Page 333 and 334: tFrac32 f32In; tFrac32 f32Out; GFLI
Page 335 and 336: CAUTION For correct functionality,
Page 337 and 338: Equation GFLIB_Hyst_Eq1 A graphical
Page 339 and 340: 4.58.4 Description The function GFL
Page 341: void main(void) { // Setting parame
Page 345 and 346: 4.60.4 Description The function GFL
Page 349 and 350: 4.62.4 Description The GFLIB_Limit
Page 353 and 354: } // output should be 0x60000000 ~
Page 355 and 356: 4.66.1 Declaration tFloat GFLIB_Low
Page 357 and 358: 4.67.4 Description where: Equation
Page 359 and 360: It should be noted that the computa
Page 361 and 362: Table 4-86. GFLIB_Lut1D_F16 argumen
Page 363 and 364: Equation GFLIB_Lut1D_Eq4 where y, y
Page 365 and 366: 4.69 Function GFLIB_Lut1D_FLT This
Page 367 and 368: Equation GFLIB_Lut1D_Eq4 where y, y
Page 371 and 372: Equation GFLIB_Lut2D_Eq4 Equation G
Page 373 and 374: Equation GFLIB_Lut2D_Eq16 It should
Page 375 and 376: } // output should be 0x7A03D70A ~
Page 377 and 378: The Table 4-92 contains 4 interpola
Page 379 and 380: Equation GFLIB_Lut2D_Eq13 5. Final
Page 381 and 382: FRAC16 (0.2), FRAC16 (0.21), FRAC16
Page 383 and 384: where: Equation GFLIB_Lut2D_Eq3 •
Page 385 and 386: Equation GFLIB_Lut2D_Eq10 6. The sa
Page 387 and 388: 0.88}; tFloat pfltTable2D[81] = {0.
Page 391 and 392: Figure 4-32. GFLIB_Ramp functionali
Page 393 and 394:
If the desired (input) value is gre
Page 395 and 396:
4.76.3 Return The function returns
Page 397 and 398:
In mathematical terms, the function
Page 399 and 400:
Note The input and the output are i
Page 401 and 402:
The 9th order polynomial approximat
Page 403 and 404:
Figure 4-34. sin(x) vs. GFLIB_Sin_F
Page 405 and 406:
4.80.2 Arguments Table 4-101. GFLIB
Page 407 and 408:
Therefore, the resulting equation h
Page 409 and 410:
4.81 Function GFLIB_Sin_FLT This fu
Page 411 and 412:
Figure 4-36 depicts a floating poin
Page 413 and 414:
4.82.1 Declaration tFrac32 GFLIB_Sq
Page 415 and 416:
} // output should be 0x5A820000 ~
Page 417 and 418:
} // output should be 0x5A82 ~ FRAC
Page 419 and 420:
Figure 4-39. real sqrt(x) vs. GFLIB
Page 421 and 422:
Equation GFLIB_Tan_Eq1 Because both
Page 423 and 424:
Figure 4-41. tan(x) vs. GFLIB_Tan(f
Page 425 and 426:
4.86.1 Declaration tFrac16 GFLIB_Ta
Page 427 and 428:
Equation GFLIB_Tan_Eq3 The division
Page 429 and 430:
Page 431 and 432:
Page 433 and 434:
Figure 4-45. tan(x) vs. GFLIB_Tan(f
Page 435 and 436:
4.88.1 Declaration tFrac32 GFLIB_Up
Page 437 and 438:
4.89.4 Description The GFLIB_UpperL
Page 439 and 440:
void main(void) { // upper limit fl
Page 441 and 442:
Figure 4-46. Graphical interpretati
Page 443 and 444:
4.92.2 Arguments Table 4-117. GFLIB
Page 445 and 446:
Page 447 and 448:
• x in, y in and x out, y out are
Page 449 and 450:
4.94.2 Arguments Table 4-119. GMCLI
Page 451 and 452:
Page 453 and 454:
Page 455 and 456:
Page 457 and 458:
4.98.1 Declaration void GMCLIB_Clar
Page 459 and 460:
4.99.1 Declaration void GMCLIB_Clar
Page 461 and 462:
4.100.1 Declaration void GMCLIB_Dec
Page 463 and 464:
The feed-forward voltages u_dq_comp
Page 465 and 466:
Equation GMCLIB_DecouplingPMSM_Eq10
Page 467 and 468:
4.101.2 Arguments Table 4-126. GMCL
Page 469 and 470:
Equation GMCLIB_DecouplingPMSM_Eq4
Page 471 and 472:
Scaling of both equations into the
Page 473 and 474:
4.102.4 Description The quadrature
Page 475 and 476:
Page 477 and 478:
available DC bus voltage. Therefore
Page 479 and 480:
SWLIBS_2Syst_F32 f32OutAB; GMCLIB_E
Page 481 and 482:
• maximal amplitude of the DC bus
Page 483 and 484:
output beta component of the output
Page 485 and 486:
• actual amplitude of the DC bus
Page 487 and 488:
4.106 Function GMCLIB_Park_F32 This
Page 489 and 490:
4.107 Function GMCLIB_Park_F16 This
Page 491 and 492:
4.108 Function GMCLIB_Park_FLT This
Page 493 and 494:
4.109 Function GMCLIB_ParkInv_F32 T
Page 495 and 496:
4.110 Function GMCLIB_ParkInv_F16 T
Page 497 and 498:
4.111 Function GMCLIB_ParkInv_FLT T
Page 499 and 500:
4.112 Function GMCLIB_SvmStd_F32 Th
Page 501 and 502:
Figure 4-50. Basic space vectors Th
Page 503 and 504:
Figure 4-51. Projection of referenc
Page 505 and 506:
Equation GMCLIB_SvmStd_Eq7 Equation
Page 507 and 508:
Equation GMCLIB_SvmStd_Eq11 and equ
Page 509 and 510:
For the determination of auxiliary
Page 511 and 512:
Equation GMCLIB_SvmStd_Eq25 Equatio
Page 513 and 514:
} // output pwm dutycycles stored i
Page 515 and 516:
Top and bottom switches work in a c
Page 517 and 518:
Page 519 and 520:
Page 521 and 522:
Page 523 and 524:
For the determination of auxiliary
Page 525 and 526:
Equation GMCLIB_SvmStd_Eq25 Equatio
Page 527 and 528:
} // output pwm dutycycles stored i
Page 529 and 530:
such a vector allows a numerical de
Page 531 and 532:
Page 533 and 534:
Page 535 and 536:
Page 537 and 538:
Table 4-150. Determination of t_1 a
Page 539 and 540:
It should be pointed out that, in t
Page 541 and 542:
calculation precision in boundary i
Page 543 and 544:
Note Due to effectivity reason this
Page 545 and 546:
4.116.3 Return Absolute value of in
Page 547 and 548:
} // output should be FRAC16(0.25)
Page 549 and 550:
Page 551 and 552:
tFrac32 f32Out; void main(void) { /
Page 553 and 554:
4.120 Function MLIB_Add_F32 This fu
Page 555 and 556:
Page 557 and 558:
4.121.6 Code Example #include "mlib
Page 559 and 560:
4.122.4 Description This inline fun
Page 561 and 562:
4.123 Function MLIB_AddSat_F32 This
Page 563 and 564:
Page 565 and 566:
Page 567 and 568:
4.125.3 Return Converted input valu
Page 569 and 570:
Page 571 and 572:
and converted to the output format.
Page 573 and 574:
Equation MLIB_Convert_Eq1 Note Due
Page 575 and 576:
Page 577 and 578:
Page 579 and 580:
4.132 Function MLIB_ConvertPU_F32FL
Page 581 and 582:
4.133.3 Return Converted input valu
Page 583 and 584:
Page 585 and 586:
4.136 Function MLIB_ConvertPU_FLTF3
Page 587 and 588:
Page 589 and 590:
denominator, the output value is un
Page 591 and 592:
Equation MLIB_Div_Eq1 Note Due to e
Page 593 and 594:
Page 595 and 596:
} // output should be FRAC16(0.5) =
Page 597 and 598:
} // output should be FRAC32(0.3025
Page 599 and 600:
Page 601 and 602:
} f32Out = MLIB_Mac_F32F16F16(f32In
Page 603 and 604:
} // output should be FRAC16(0.3025
Page 605 and 606:
Page 607 and 608:
} // ##############################
Page 609 and 610:
4.147 Function MLIB_MacSat_F32F16F1
Page 611 and 612:
4.148.2 Arguments Table 4-185. MLIB
Page 613 and 614:
Table 4-186. MLIB_Mul_F32 arguments
Page 615 and 616:
void main(void) { // first input =
Page 617 and 618:
} // output should be 0x10000000 =
Page 619 and 620:
Page 621 and 622:
4.152.4 Description Single precisio
Page 623 and 624:
4.153 Function MLIB_MulSat_F32 This
Page 625 and 626:
Equation MLIB_MulSat_Eq1 Note Overf
Page 627 and 628:
Note Overflow is detected. The func
Page 629 and 630:
4.155.3 Return Fractional multiplic
Page 631 and 632:
} f16In2 = FRAC16 (0.75); // output
Page 633 and 634:
4.157.1 Declaration tFrac16 MLIB_Ne
Page 635 and 636:
Page 637 and 638:
Page 639 and 640:
Page 641 and 642:
4.162.1 Declaration tU16 MLIB_Norm_
Page 643 and 644:
4.163.4 Description This function r
Page 645 and 646:
Page 647 and 648:
} // output should be 0x10000000 ~
Page 649 and 650:
Page 651 and 652:
4.168.4 Description Based on sign o
Page 653 and 654:
Page 655 and 656:
} // output should be 0x4000 ~ FRAC
Page 657 and 658:
Page 659 and 660:
Note The shift amount cannot exceed
Page 661 and 662:
} u16In2 = 1; // output should be 0
Page 663 and 664:
} // ##############################
Page 665 and 666:
Subtraction of two fractional 16-bi
Page 667 and 668:
Page 669 and 670:
Page 671 and 672:
} // output should be 0x20000000 f3
Page 673 and 674:
} // as default // ################
Page 675 and 676:
} f32In3 = FRAC32 (0.35); // input4
Page 677 and 678:
Page 679 and 680:
} // output should be FRAC32(0.195)
Page 681 and 682:
} // as default // ################
Page 683 and 684:
Page 685 and 686:
} // input4 value = 0.45 fltIn4 = 0
Page 687 and 688:
Chapter 5 5.1 Typedefs Index Table
Page 689 and 690:
Chapter 6 Compound Data Types Table
Page 691 and 692:
Table 6-1. Compound data types over
Page 693 and 694:
6.2 GDFLIB_FILTER_IIR1_COEFF_T_F32
Page 695 and 696:
6.6 GDFLIB_FILTER_IIR1_T_FLT #inclu
Page 697 and 698:
6.9.2 Compound Type Members Table 6
Page 699 and 700:
6.13 GDFLIB_FILTER_MA_T_F16 #includ
Page 701 and 702:
6.17 GDFLIB_FILTERFIR_PARAM_T_F32 #
Page 703 and 704:
6.21 GDFLIB_FILTERFIR_STATE_T_FLT #
Page 705 and 706:
6.25.1 Description Array of approxi
Page 707 and 708:
6.29.2 Compound Type Members Table
Page 709 and 710:
Page 711 and 712:
Page 713 and 714:
6.41 GFLIB_CONTROLLER_PI_P_T_F32 #i
Page 715 and 716:
6.44 GFLIB_CONTROLLER_PI_R_T_F32 #i
Page 717 and 718:
Table 6-47. GFLIB_CONTROLLER_PIAW_P
Page 719 and 720:
6.49.1 Description Structure contai
Page 721 and 722:
Table 6-52. GFLIB_CONTROLLER_PIAW_R
Page 723 and 724:
Page 725 and 726:
6.59 GFLIB_INTEGRATOR_TR_T_F32 #inc
Page 727 and 728:
6.63 GFLIB_LIMIT_T_FLT #include 6.
Page 729 and 730:
Page 731 and 732:
6.71 GFLIB_LUT2D_T_F32 #include 6.
Page 733 and 734:
Page 735 and 736:
Page 737 and 738:
Page 739 and 740:
Page 741 and 742:
Page 743 and 744:
Page 745 and 746:
Page 747 and 748:
Page 749 and 750:
Chapter 7 7.1 Macro Definitions 7.1
Page 751 and 752:
#define GDFLIB_FILTERFIR_PARAM_T #d
Page 753 and 754:
#define GFLIB_ASIN_T #define GFLIB_
Page 755 and 756:
#define GFLIB_CONTROLLER_PI_R_T #de
Page 757 and 758:
#define GFLIB_LUT1D_DEFAULT #define
Page 759 and 760:
#define GFLIB_Tan #define GFLIB_UPP
Page 761 and 762:
#define INT32TOINT64 #define INT32_
Page 763 and 764:
Chapter 8 Macro References This sec
Page 765 and 766:
Definition of alias for GDFLIB_FILT
Page 767 and 768:
Definition of alias for GDFLIB_FILT
Page 769 and 770:
8.13.1 Macro Definition #define GDF
Page 771 and 772:
Definition of GDFLIB_FILTER_IIR1_DE
Page 773 and 774:
8.21.2 Description This function im
Page 775 and 776:
8.25.2 Description Definition of GD
Page 777 and 778:
Page 779 and 780:
Page 781 and 782:
Definition of GDFLIB_FILTER_MA_DEFA
Page 783 and 784:
8.42.1 Macro Definition #define GFL
Page 785 and 786:
8.46.2 Description Definition of GF
Page 787 and 788:
8.51 Define GFLIB_ACOS_DEFAULT_FLT
Page 789 and 790:
Page 791 and 792:
8.59.2 Description Default approxim
Page 793 and 794:
Page 795 and 796:
Page 797 and 798:
8.73.2 Description This function ca
Page 799 and 800:
8.77 Define GFLIB_ControllerPIp #in
Page 801 and 802:
Definition of GFLIB_CONTROLLER_PI_P
Page 803 and 804:
8.84 Define GFLIB_CONTROLLER_PI_P_D
Page 805 and 806:
Definition of GFLIB_CONTROLLER_PIAW
Page 807 and 808:
8.92 Define GFLIB_CONTROLLER_PIAW_P
Page 809 and 810:
8.96 Define GFLIB_CONTROLLER_PIAW_P
Page 811 and 812:
8.100 Define GFLIB_CONTROLLER_PI_R_
Page 813 and 814:
8.103.2 Description Definition of G
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
Page 873 and 874:
Page 875 and 876:
8.237 Define GFLIB_VECTORLIMIT_DEFA
Page 877 and 878:
8.242.1 Macro Definition #define GM
Page 879 and 880:
8.246 Define GMCLIB_DECOUPLINGPMSM_
Page 881 and 882:
8.249.2 Description Default value f
Page 883 and 884:
Page 885 and 886:
Definition of GMCLIB_ELIMDCBUSRIP_D
Page 887 and 888:
Page 889 and 890:
8.267.2 Description This function r
Page 891 and 892:
8.273 Define MLIB_Mac #include 8.2
Page 893 and 894:
8.278.1 Macro Definition #define ML
Page 895 and 896:
8.283.2 Description This function s
Page 897 and 898:
8.289 Define MCLIB_VERSION #include
Page 899 and 900:
8.294.2 Description 8.295 Define MC
Page 901 and 902:
8.300.1 Macro Definition #define MC
Page 903 and 904:
8.305.2 Description Constant repres
Page 905 and 906:
8.310.2 Description Value 0.25 in 3
Page 907 and 908:
8.316 Define FLOAT_MIN #include 8.
Page 909 and 910:
8.321.1 Macro Definition #define IN
Page 911 and 912:
8.326.2 Description Type casting -
Page 913 and 914:
8.332 Define INT16TOF32 #include 8
Page 915 and 916:
8.337.1 Macro Definition #define F1
Page 917 and 918:
8.342.1 Macro Definition #define F3
Page 919 and 920:
8.347.1 Macro Definition #define FL
Page 921 and 922:
8.352.2 Description Double to singl
Page 923 and 924:
8.358 Define FLOAT_MINUS_1 #include
Page 925 and 926:
8.363.2 Description Library identif
Page 927:
How to Reach Us: Home Page: www.fre
show all

Embedded Software and Motor Control Libraries for PXR40xx

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?