Embedded Software and Motor Control Libraries for PXR40xx

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

Function GFLIB_Sin_F16 The 7th order polynomial approximation of the sine function has a very good accuracy in the range [- π/2, π/2) of the argument, but in wider ranges the calculation error quickly increases. To minimize the error without having to use a higher order polynomial, the symmetry of the sine function sin(x) = sin( π - x) is utilized. Therefore, the input argument is transferred to be always in the range [- π/2, π/2) and the Taylor polynomial is calculated only in the range of the argument [- π/2, π/2). To make calculations more precise, the given argument value f16In (that is to be transferred into the range [-0.5, 0.5) due to the sine function symmetry) is shifted by 1 bit to the left (multiplied by 2). Then, the value of f16In 2 , used in the calculations, is in the range [-1, 1) instead of [-0.25, 0.25). Shifting the input value by 1 bit to the left will increase the accuracy of the calculated sin( π * f16In) function. Implementing such a scale on the approximation function described by equation GFLIB_Sin_Eq2, results in the following: Equation GFLIB_Sin_Eq3 Equation GFLIB_Sin_Eq3 can be further rewritten into the following form: Equation GFLIB_Sin_Eq4 where a 1 ... a 4 are coefficients of the approximation polynomial, which are calculated as follows (represented as 16-bit signed fractional numbers): Equation GFLIB_Sin_Eq5 Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 406 Freescale Semiconductor, Inc.
Therefore, the resulting equation has the following form: Equation GFLIB_Sin_Eq6 Figure 4-35 depicts a floating point sine function generated from Matlab and the approximated value of the sine function obtained from GFLIB_Sin_F16, plus their difference. The course of calculation accuracy as a function of the input angle can be observed from this figure. Figure 4-35. sin(x) vs. GFLIB_Sin_F16(f16In) Note The input angle (f16In) is normalized into the range [-1, 1). The function call is slightly different from common approach in the library set. The function can be called in four different ways: • With implementation postfix (i.e. GFLIB_Sin_F16(f16In, &pParam)), where the &pParam is pointer to Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 4 API References Freescale Semiconductor, Inc. 407
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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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Chapter 1 1.1 License Agreement IMP
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Agreement, and require that you sto
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Chapter 1 ENTIRE RISK ARISING OUT O
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confidential information. The Licen
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Chapter 2 Introduction The aim of t
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Chapter 2 Introduction 2.2 General
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For example if the MCLIB_DEFAULT_IM
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and gmclib.h. This was done to simp
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Chapter 2 Introduction Figure 2-4.
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In order to integrate the Embedded
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Figure 2-12. Opening the C editor f
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Figure 2-15. Selecting the include
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• Library binary files located in
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Chapter 2 Introduction In order to
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Figure 2-24. Principle of MCLib tes
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2.13.2 MCLib target-in-loop Testing
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Chapter 3 3.1 Function Index Table
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Table 3-1. Quick function reference
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Chapter 4 API References This secti
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F32); tFrac32 f32CoefBuf[FIR_NUMTAP
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Equation GDFLIB_FilterFIR_Eq1 where
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F32); } GDFLIB_FilterFIRInit (&Para
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F16); tFrac16 f16CoefBuf[FIR_NUMTAP
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F16); } GDFLIB_FilterFIRInit (&Para
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FLT); tFloat fltCoefBuf[FIR_NUMTAPS
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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 4-19. Course of the function
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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 ~
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 369 and 370: 4.70.2 Arguments Table 4-89. GFLIB_
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 389 and 390: 4.73.5 Re-entrancy The function is
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: 4.80.2 Arguments Table 4-101. GFLIB
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 431 and 432: Figure 4-44. Course of the function
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 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
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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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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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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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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 // ################
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} // input4 value = 0.45 fltIn4 = 0
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Chapter 5 5.1 Typedefs Index Table
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Chapter 6 Compound Data Types Table
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Table 6-1. Compound data types over
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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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6.41 GFLIB_CONTROLLER_PI_P_T_F32 #i
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6.44 GFLIB_CONTROLLER_PI_R_T_F32 #i
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Table 6-47. GFLIB_CONTROLLER_PIAW_P
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6.49.1 Description Structure contai
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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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Page 749 and 750:
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
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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
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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
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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
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8.59.2 Description Default approxim
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8.73.2 Description This function ca
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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_
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8.103.2 Description Definition of G
Page 815 and 816:
8.108.1 Macro Definition #define GF
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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
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8.133 Define GFLIB_HYST_DEFAULT #in
Page 829 and 830:
8.138 Define GFLIB_INTEGRATOR_TR_T
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Page 835 and 836:
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
Page 841 and 842:
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
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:
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Page 869 and 870:
8.225 Define GFLIB_UPPERLIMIT_DEFAU
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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
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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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