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_UpperLimit_FLT 4.90.1 Declaration tFloat GFLIB_UpperLimit_FLT(tFloat fltIn, const GFLIB_UPPERLIMIT_T_FLT *const pParam); 4.90.2 Arguments Table 4-115. GFLIB_UpperLimit_FLT arguments Type Name Direction Description tFloat fltIn input Input value. const GFLIB_UPPERLIMIT_T _FLT *const 4.90.3 Return pParam input Pointer to the limits structure. The input value in case the input value is below the limit, or the upper limit if the input value is above the limit. 4.90.4 Description The GFLIB_UpperLimit function tests whether the input value is below the upper limit. If so, the input value will be returned. Otherwise, if the input value is above the upper limit, the upper limit will be returned. The upper limit fltUpperLimit can be found in the parameters structure, supplied to the function as a pointer pParam. 4.90.5 Re-entrancy The function is re-entrant. 4.90.6 Code Example #include "gflib.h" tFloat fltIn; tFloat fltOut; GFLIB_UPPERLIMIT_T_FLT flttrMyUpperLimit = GFLIB_UPPERLIMIT_DEFAULT_FLT; Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 438 Freescale Semiconductor, Inc.
void main(void) { // upper limit flttrMyUpperLimit.fltUpperLimit = 0.5; // input value = 0.75 fltIn = 0.75; } // output should be 0.5 fltOut = GFLIB_UpperLimit_FLT (fltIn,&flttrMyUpperLimit); // output should be 0.5 fltOut = GFLIB_UpperLimit (fltIn,&flttrMyUpperLimit,Define FLT); // ############################################################## // Available only if single precision floating point // implementation selected as default // ############################################################## // output should be 0.5 fltOut = GFLIB_UpperLimit (fltIn,&flttrMyUpperLimit); 4.91 Function GFLIB_VectorLimit_F32 This function limits the magnitude of the input vector. 4.91.1 Declaration tBool GFLIB_VectorLimit_F32(SWLIBS_2Syst_F32 *const pOut, const SWLIBS_2Syst_F32 *const pIn, const GFLIB_VECTORLIMIT_T_F32 *const pParam); 4.91.2 Arguments Table 4-116. GFLIB_VectorLimit_F32 arguments Type Name Direction Description const SWLIBS_2Syst_F32 *const SWLIBS_2Syst_F32 *const const GFLIB_VECTORLIMIT _T_F32 *const pIn input Pointer to the structure of the input vector. pOut output Pointer to the structure of the limited output vector. pParam input Pointer to the parameters structure. Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 4 API References Freescale Semiconductor, Inc. 439
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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 ~
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4.66.1 Declaration tFloat GFLIB_Low
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4.67.4 Description where: Equation
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It should be noted that the computa
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Table 4-86. GFLIB_Lut1D_F16 argumen
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Equation GFLIB_Lut1D_Eq4 where y, y
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4.69 Function GFLIB_Lut1D_FLT This
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Equation GFLIB_Lut1D_Eq4 where y, y
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Equation GFLIB_Lut2D_Eq4 Equation G
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Equation GFLIB_Lut2D_Eq16 It should
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} // output should be 0x7A03D70A ~
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The Table 4-92 contains 4 interpola
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Equation GFLIB_Lut2D_Eq13 5. Final
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FRAC16 (0.2), FRAC16 (0.21), FRAC16
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where: Equation GFLIB_Lut2D_Eq3 •
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Equation GFLIB_Lut2D_Eq10 6. The sa
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 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 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: 4.89.4 Description The GFLIB_UpperL
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
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 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
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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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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
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8.13.1 Macro Definition #define GDF
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Definition of GDFLIB_FILTER_IIR1_DE
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8.21.2 Description This function im
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8.25.2 Description Definition of GD
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Definition of GDFLIB_FILTER_MA_DEFA
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8.42.1 Macro Definition #define GFL
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8.46.2 Description Definition of GF
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8.51 Define GFLIB_ACOS_DEFAULT_FLT
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8.59.2 Description Default approxim
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Page 795 and 796:
Page 797 and 798:
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
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8.108.1 Macro Definition #define GF
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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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8.176 Define GFLIB_LUT1D_DEFAULT_FL
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8.184.2 Description Default value f
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8.198.2 Description This function i
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Definition of GFLIB_SIN_DEFAULT as
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8.225 Define GFLIB_UPPERLIMIT_DEFAU
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8.229 Define GFLIB_UPPERLIMIT_DEFAU
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
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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:
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Embedded Software and Motor Control Libraries for PXR40xx

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