Embedded Software and Motor Control Libraries for PXR40xx

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

Function GMCLIB_DecouplingPMSM_F16 vector 5[V] vector 10[V] vector 6[A] vector 4[A] void main(void) { // input values - scaling coefficients of given decoupling algorithm f32trDec.f32Kd = FRAC32 (0.625); f32trDec.s16KdShift = 6; f32trDec.f32Kq = FRAC32 (0.625); f32trDec.s16KqShift = 5; f32trUDQ.f32Arg1 = FRAC32 (5.0/U_MAX); // d quantity of input voltage f32trUDQ.f32Arg2 = FRAC32 (10.0/U_MAX); // q quantity of input voltage f32trIDQ.f32Arg1 = FRAC32 (6.0/I_MAX); // d quantity of measured current f32trIDQ.f32Arg2 = FRAC32 (4.0/I_MAX); // q quantity of measured current f32We = FRAC32 (100.0/W_MAX); // rotor angular velocity //output should be f32trUDecDQ.f32Arg1 ~ 0xA6666666 ~ FRAC32(-0.7)*50V ~=-35[V] //output should be f32trUDecDQ.f32Arg2 ~ 0x66666666 ~ FRAC32(0.8)*50V ~=40[V] GMCLIB_DecouplingPMSM_F32 (&f32trUDecDQ,&f32trUDQ,&f32trIDQ,f32We,&f32trDec); //output should be f32trUDecDQ.f32Arg1 ~ 0xA6666666 ~ FRAC32(-0.7)*50V ~=-35[V] //output should be f32trUDecDQ.f32Arg2 ~ 0x66666666 ~ FRAC32(0.8)*50V ~=40[V] GMCLIB_DecouplingPMSM (&f32trUDecDQ,&f32trUDQ,&f32trIDQ,f32We,&f32trDec,Define F32); ~=-35[V] ~=40[V] } // ############################################################## // Available only if 32-bit fractional implementation selected // as default // ############################################################## //output should be f32trUDecDQ.f32Arg1 ~ 0xA6666666 ~ FRAC32(-0.7)*50V //output should be f32trUDecDQ.f32Arg2 ~ 0x66666666 ~ FRAC32(0.8)*50V GMCLIB_DecouplingPMSM (&f32trUDecDQ,&f32trUDQ,&f32trIDQ,f32We,&f32trDec); 4.101 Function GMCLIB_DecouplingPMSM_F16 This function calculates the cross-coupling voltages to eliminate the dq axis coupling causing non-linearity of the field oriented control. 4.101.1 Declaration void GMCLIB_DecouplingPMSM_F16(SWLIBS_2Syst_F16 *const pUdqDec, const SWLIBS_2Syst_F16 *const pUdq, const SWLIBS_2Syst_F16 *const pIdq, tFrac16 f16AngularVel, const GMCLIB_DECOUPLINGPMSM_T_F16 *const pParam); Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 466 Freescale Semiconductor, Inc.
4.101.2 Arguments Table 4-126. GMCLIB_DecouplingPMSM_F16 arguments Type Name Direction Description SWLIBS_2Syst_F16 *const const SWLIBS_2Syst_F16 *const const SWLIBS_2Syst_F16 *const pUdqDec output Pointer to the structure containing direct (u df_dec) and quadrature (u qf_dec) components of the decoupled stator voltage vector to be applied on the motor terminals. pUdq input Pointer to the structure containing direct (u df) and quadrature (u qf) components of the stator voltage vector generated by the current controllers. pIdq input Pointer to the structure containing direct (i df) and quadrature (i qf) components of the stator current vector measured on the motor terminals. tFrac16 f16AngularVel input Rotor angular velocity in rad/sec, referred to as ( ef) in the detailed section of the documentation. const GMCLIB_DECOUPLIN GPMSM_T_F16 *const 4.101.3 Return Function returns no value. 4.101.4 Description pParam input Pointer to the structure containing k df and k qf coefficients (see the detailed section of the documentation) and scale parameters (k d_shift) and (k q_shift). The quadrature phase model of a PMSM motor, in a synchronous reference frame, is very popular for field oriented control structures because both controllable quantities, current and voltage, are DC values. This allows employing only simple controllers to force the machine currents into the defined states. The voltage equations of this model can be obtained by transforming the motor three phase voltage equations into a quadrature phase rotational frame, which is aligned and rotates synchronously with the rotor. Such a transformation, after some mathematical corrections, yields the following set of equations, describing the quadrature phase model of a PMSM motor, in a synchronous reference frame: Equation GMCLIB_DecouplingPMSM_Eq1 Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 4 API References Freescale Semiconductor, Inc. 467
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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
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0.88}; tFloat pfltTable2D[81] = {0.
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Figure 4-32. GFLIB_Ramp functionali
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If the desired (input) value is gre
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4.76.3 Return The function returns
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In mathematical terms, the function
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Note The input and the output are i
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The 9th order polynomial approximat
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Figure 4-34. sin(x) vs. GFLIB_Sin_F
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4.80.2 Arguments Table 4-101. GFLIB
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Therefore, the resulting equation h
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4.81 Function GFLIB_Sin_FLT This fu
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Figure 4-36 depicts a floating poin
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4.82.1 Declaration tFrac32 GFLIB_Sq
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: 4.86.5 Re-entrancy The function is
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
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: Equation GMCLIB_DecouplingPMSM_Eq10
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
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
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Figure 4-61. 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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such a vector allows a numerical de
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Figure 4-71. 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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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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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
Page 803 and 804:
8.84 Define GFLIB_CONTROLLER_PI_P_D
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Definition of GFLIB_CONTROLLER_PIAW
Page 807 and 808:
8.92 Define GFLIB_CONTROLLER_PIAW_P
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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
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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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Page 833 and 834:
Page 835 and 836:
8.150 Define GFLIB_LIMIT_T #include
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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
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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
Page 923 and 924:
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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