Embedded Software and Motor Control Libraries for PXR40xx

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

Function MLIB_MacSat_F16 Equation MLIB_MacSat_Eq1 Note Due to effectivity reason this function is implemented as inline and thus is not ANSI-C compliant. 4.147.5 Re-entrancy The function is re-entrant. 4.147.6 Code Example #include "mlib.h" tFrac32 f32In1; tFrac16 f16In2; tFrac16 f16In3; tFrac32 f32Out; void main(void) { // input1 value = 0.25 f32In1 = FRAC32 (0.25); } // input2 value = 0.15 f16In2 = FRAC16 (0.15); // input3 value = 0.35 f16In3 = FRAC16 (0.35); // output should be FRAC32(0.3025) = 0x26B851EB f32Out = MLIB_MacSat_F32F16F16(f32In1, f16In2, f16In3); // output should be FRAC32(0.3025) = 0x26B851EB f32Out = MLIB_MacSat (f32In1, f16In2, f16In3, F32F16F16); 4.148 Function MLIB_MacSat_F16 This function implements the multiply accumulate function saturated if necessary. 4.148.1 Declaration tFrac16 MLIB_MacSat_F16(register tFrac16 f16In1, register tFrac16 f16In2, register tFrac16 f16In3); Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 610 Freescale Semiconductor, Inc.
4.148.2 Arguments Table 4-185. MLIB_MacSat_F16 arguments Type Name Direction Description register tFrac16 f16In1 input Input value to be add. register tFrac16 f16In2 input First value to be multiplied. register tFrac16 f16In3 input Second value to be multiplied. 4.148.3 Return Multiplied second and third input value with adding of first input value. The output value is saturated if necessary. 4.148.4 Description This inline function returns the multiplied second and third input value with adding of first input value. The input values as well as output value is considered as 16-bit fractional values. The output saturation is implemented in this function, thus in case the output value is outside the (-1, 1) interval, the output value is limited to the boundary value. The output of the function is defined by the following simple equation: Equation MLIB_MacSat_Eq1 Note Due to effectivity reason this function is implemented as inline and thus is not ANSI-C compliant. 4.148.5 Re-entrancy The function is re-entrant. Embedded Software and Motor Control Libraries for PXR40xx, Rev. 1.0 Chapter 4 API References Freescale Semiconductor, Inc. 611
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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 4-20 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
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} // output should be 0x5A820000 ~
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} // output should be 0x5A82 ~ FRAC
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Figure 4-39. real sqrt(x) vs. GFLIB
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Equation GFLIB_Tan_Eq1 Because both
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Figure 4-41. tan(x) vs. GFLIB_Tan(f
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4.86.1 Declaration tFrac16 GFLIB_Ta
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Equation GFLIB_Tan_Eq3 The division
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Figure 4-45. tan(x) vs. GFLIB_Tan(f
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4.88.1 Declaration tFrac32 GFLIB_Up
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4.89.4 Description The GFLIB_UpperL
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void main(void) { // upper limit fl
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Figure 4-46. Graphical interpretati
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4.92.2 Arguments Table 4-117. GFLIB
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• x in, y in and x out, y out are
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4.94.2 Arguments Table 4-119. GMCLI
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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
Page 559 and 560: 4.122.4 Description This inline fun
Page 561 and 562: 4.123 Function MLIB_AddSat_F32 This
Page 563 and 564: Note Due to effectivity reason this
Page 565 and 566: 4.124.5 Re-entrancy The function is
Page 567 and 568: 4.125.3 Return Converted input valu
Page 571 and 572: and converted to the output format.
Page 573 and 574: Equation MLIB_Convert_Eq1 Note Due
Page 575 and 576: 4.129.5 Re-entrancy The function is
Page 577 and 578: 4.130.6 Code Example #include "mlib
Page 579 and 580: 4.132 Function MLIB_ConvertPU_F32FL
Page 581 and 582: 4.133.3 Return Converted input valu
Page 585 and 586: 4.136 Function MLIB_ConvertPU_FLTF3
Page 589 and 590: denominator, the output value is un
Page 591 and 592: Equation MLIB_Div_Eq1 Note Due to e
Page 595 and 596: } // output should be FRAC16(0.5) =
Page 597 and 598: } // output should be FRAC32(0.3025
Page 601 and 602: } f32Out = MLIB_Mac_F32F16F16(f32In
Page 603 and 604: } // output should be FRAC16(0.3025
Page 607 and 608: } // ##############################
Page 609: 4.147 Function MLIB_MacSat_F32F16F1
Page 613 and 614: Table 4-186. MLIB_Mul_F32 arguments
Page 615 and 616: void main(void) { // first input =
Page 617 and 618: } // output should be 0x10000000 =
Page 621 and 622: 4.152.4 Description Single precisio
Page 623 and 624: 4.153 Function MLIB_MulSat_F32 This
Page 625 and 626: Equation MLIB_MulSat_Eq1 Note Overf
Page 627 and 628: Note Overflow is detected. The func
Page 629 and 630: 4.155.3 Return Fractional multiplic
Page 631 and 632: } f16In2 = FRAC16 (0.75); // output
Page 633 and 634: 4.157.1 Declaration tFrac16 MLIB_Ne
Page 641 and 642: 4.162.1 Declaration tU16 MLIB_Norm_
Page 643 and 644: 4.163.4 Description This function r
Page 647 and 648: } // output should be 0x10000000 ~
Page 649 and 650: 4.167.2 Arguments Table 4-204. MLIB
Page 651 and 652: 4.168.4 Description Based on sign o
Page 655 and 656: } // output should be 0x4000 ~ FRAC
Page 657 and 658: 4.172.2 Arguments Table 4-209. MLIB
Page 659 and 660: 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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4.177.2 Arguments Table 4-214. MLIB
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4.177.8 Code Example #include "mlib
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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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4.181.4 Description This inline fun
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} // output should be FRAC32(0.195)
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} // as default // ################
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4.183.4 Description This inline fun
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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
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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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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
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Definition of GFLIB_LOWERLIMIT_DEFA
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8.176 Define GFLIB_LUT1D_DEFAULT_FL
Page 849 and 850:
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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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