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cce-mtb-xmc-bldc-scalar-hall/bldc_scalar_variables_config.c
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| /** | |
| * @file bldc_scalar_variables_config.c | |
| * @brief Data structure initialization as per user configurations | |
| * @date 2016-08-09 | |
| * | |
| ********************************************************************************************************************** | |
| * BLDC_SCALAR_CONTROL v1.0.2 - BLDC motor control using block commutation | |
| * Copyright (c) 2015-2016, Infineon Technologies AG | |
| * All rights reserved. | |
| * | |
| * Redistribution and use in source and binary forms, with or without modification,are permitted provided that the | |
| * following conditions are met: | |
| * | |
| * Redistributions of source code must retain the above copyright notice, this list of conditions and the following | |
| * disclaimer. | |
| * | |
| * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the | |
| * following disclaimer in the documentation and/or other materials provided with the distribution. | |
| * | |
| * Neither the name of the copyright holders nor the names of its contributors may be used to endorse or promote | |
| * products derived from this software without specific prior written permission. | |
| * | |
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, | |
| * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | |
| * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | |
| * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | |
| * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, | |
| * WHETHER IN CONTRACT, STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE | |
| * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. | |
| * | |
| * To improve the quality of the software, users are encouraged to share modifications, enhancements or bug fixes | |
| * with Infineon Technologies AG (dave@infineon.com). | |
| *********************************************************************************************************************** | |
| * | |
| * Change History | |
| * -------------- | |
| * | |
| * 2016-05-25: | |
| * - Initial version | |
| * | |
| * @endcond | |
| * | |
| */ | |
| /*********************************************************************************************************************** | |
| * HEADER FILES | |
| **********************************************************************************************************************/ | |
| #include "../ControlModule/bldc_scalar_control_hall.h" | |
| /*********************************************************************************************************************** | |
| * MACROS | |
| **********************************************************************************************************************/ | |
| /*********************************************************************************************************************** | |
| * DATA STRUCTURES | |
| **********************************************************************************************************************/ | |
| /************************START : Hall Learning ***********************************/ | |
| #if (MOTOR0_BLDC_SCALAR_HALL_LEARNING == 1U) | |
| /** Hall learning data structure*/ | |
| BLDC_SCALAR_HALL_LEARNING_t Motor0_BLDC_SCALAR_HallLearning = | |
| { | |
| .ol_pattup_count = (uint32_t)MOTOR0_BLDC_SCALAR_HALL_LEARNING_OL_COUNT, | |
| .ol_count = (uint32_t)BLDC_SCALAR_HALL_LEARNING_OPEN_LOOP_COUNT, | |
| .adapt_algoindex = (uint32_t)0, | |
| .capt_outpatt = {(uint16_t)0}, | |
| .amplitude = (uint16_t)MOTOR0_BLDC_SCALAR_HALL_LEARNING_OL_DUTY, | |
| .capt_hallpatt = {(uint8_t)0}, | |
| .ol_iter_count = (uint8_t)0, | |
| .ol_arrayindex = (uint8_t)0, | |
| .openloop_mc_pattern = { | |
| 0x0U, WH_VL_UOFF, WOFF_VL_UH, WL_VOFF_UH, | |
| WL_VH_UOFF, WOFF_VH_UL, WH_VOFF_UL, 0x00U, | |
| 0x0U, WH_VOFF_UL, WOFF_VH_UL, WL_VH_UOFF, | |
| WL_VOFF_UH, WOFF_VL_UH, WH_VL_UOFF, 0x00U | |
| }, | |
| }; | |
| #endif /* end of #if (MOTOR0_BLDC_SCALAR_HALL_LEARNING == 1U) */ | |
| /************************END : Hall Learning ***********************************/ | |
| /************************START : Speed Control ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEED_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) | |
| /** Speed control PI */ | |
| BLDC_SCALAR_PI_CONTROLLER_t Motor0_BLDC_SCALAR_SpeedControl_PI = | |
| { | |
| .uk_limit_min = -((int32_t)MOTOR0_BLDC_SCALAR_SPEED_PI_OP), | |
| .uk_limit_max = (int32_t)MOTOR0_BLDC_SCALAR_SPEED_PI_OP, | |
| .kp = (uint16_t)MOTOR0_BLDC_SCALAR_SPEED_KP, | |
| .ki = (uint16_t)MOTOR0_BLDC_SCALAR_SPEED_KI, | |
| .scale_kpki = (uint8_t)MOTOR0_BLDC_SCALAR_SPEED_PI_SCALE, | |
| .sat_state = 1U | |
| }; | |
| #endif /* end of #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEED_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) */ | |
| /************************END : Speed Control ***********************************/ | |
| /************************START : Current Control ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_CURRENT_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) | |
| /** Current control PI */ | |
| BLDC_SCALAR_PI_CONTROLLER_t Motor0_BLDC_SCALAR_CurrentControl_PI = | |
| { | |
| .uk_limit_min = -((int32_t)MOTOR0_BLDC_SCALAR_CURRENT_PI_OP), | |
| .uk_limit_max = (int32_t)MOTOR0_BLDC_SCALAR_CURRENT_PI_OP, | |
| .kp = (uint16_t)MOTOR0_BLDC_SCALAR_CURRENT_KP, | |
| .ki = (uint16_t)MOTOR0_BLDC_SCALAR_CURRENT_KI, | |
| .scale_kpki = (uint8_t)MOTOR0_BLDC_SCALAR_CURRENT_PI_SCALE, | |
| .sat_state = 1U | |
| }; | |
| #endif /* end of #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_CURRENT_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) */ | |
| /************************END : Current Control ***********************************/ | |
| /************************START : Voltage Compensation Filter ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_ENABLE_VOLT_COMPENSATION == 1U)) | |
| #if ((MOTOR0_BLDC_SCALAR_ENABLE_VOLT_COMPENSATION_FILTER == 1U)) | |
| /** Voltage compensation low pass filter*/ | |
| BLDC_SCALAR_PT1_FILTER_t Motor0_BLDC_SCALAR_PT1_VoltageComp = | |
| { | |
| .z1 = (int32_t)MOTOR0_BLDC_SCALAR_VOLTCOMP_FILTER_Z, | |
| .y_max = (int32_t)BLDC_SCALAR_PT1_VOLT_COMP_MAX_LIMIT, | |
| .y_min = (int32_t)BLDC_SCALAR_PT1_VOLT_COMP_MIN_LIMIT, | |
| .pt1_buf = (int32_t)BLDC_SCALAR_PT1_VOLT_COMP_BUF_VAL | |
| }; | |
| #endif | |
| #endif /* end of #if (MOTOR0_BLDC_SCALAR_ENABLE_VOLT_COMPENSATION == 1U) */ | |
| /************************END : Voltage Compensation Filter ***********************************/ | |
| /************************START : Direct current filter ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_VADC_ENABLE_IDC_LINK_MEASUREMENT == 1U)) | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_IDC_LINK_CURRENT_FILTER == 1U) | |
| /** Direct current low pass filter */ | |
| BLDC_SCALAR_PT1_FILTER_t Motor0_BLDC_SCALAR_PT1_DirectCurrent = | |
| { | |
| .z1 = (int32_t)MOTOR0_BLDC_SCALAR_CURRENT_FILTER_Z, | |
| .y_max = (int32_t)BLDC_SCALAR_PT1_LIMIT, | |
| .y_min = (int32_t)0, | |
| .pt1_buf = (int32_t)0 | |
| }; | |
| #endif | |
| #endif /* end of #if (MOTOR0_BLDC_SCALAR_ENABLE_IDC_LINK_CURRENT_FILTER == 1U) */ | |
| /************************END : Direct current filter ***********************************/ | |
| /************************START : Average current filter ***********************************/ | |
| #if (((MOTOR0_BLDC_SCALAR_VADC_ENABLE_IDC_AVERAGE_MEASUREMENT == 1U) || (MOTOR0_BLDC_SCALAR_ENABLE_AVERAGE_CURRENT_USING_IDC_LINK == 1U))) | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_IDC_AVERAGE_CURRENT_FILTER == 1U) | |
| /** Average current low pass filter */ | |
| BLDC_SCALAR_PT1_FILTER_t Motor0_BLDC_SCALAR_PT1_AverageCurrent = | |
| { | |
| .z1 = (int32_t)MOTOR0_BLDC_SCALAR_IDC_AVERAGE_CURRENT_FILTER_Z, | |
| .y_max = (int32_t)BLDC_SCALAR_PT1_LIMIT, | |
| .y_min = (int32_t)-BLDC_SCALAR_PT1_LIMIT, | |
| .pt1_buf = (int32_t)0 | |
| }; | |
| #endif | |
| #endif | |
| /************************END : Average current filter ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_VADC_ENABLE_POTENTIOMETER_MEASUREMENT == 1U)) | |
| #if (MOTOR0_BLDC_SCALAR_POTENTIOMETER_PT1_FILTER_ENABLE == 1U) | |
| /** Potentiometer low pass filter */ | |
| BLDC_SCALAR_PT1_FILTER_t Motor0_BLDC_SCALAR_PT1_Potentiometer = | |
| { | |
| .z1 = (int32_t)MOTOR0_BLDC_SCALAR_POTENTIOMETER_FILTER_Z, | |
| .y_max = (int32_t)BLDC_SCALAR_PT1_LIMIT, | |
| .y_min = (int32_t)-BLDC_SCALAR_PT1_LIMIT, | |
| .pt1_buf = (int32_t)0 | |
| }; | |
| #endif | |
| #endif | |
| /************************START : Ramp Generator ***********************************/ | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_RAMP == 1U) | |
| /** Linear Ramp */ | |
| BLDC_SCALAR_RAMP_t Motor0_BLDC_SCALAR_Ramp = | |
| { | |
| .set_value = 0, | |
| .ramp_up_rate = (uint32_t)(MOTOR0_BLDC_SCALAR_RAMP_UP_RATE_T), | |
| .ramp_down_rate = (uint32_t)(MOTOR0_BLDC_SCALAR_RAMP_DOWN_RATE_T), | |
| }; | |
| #endif /* end of #if (MOTOR0_BLDC_SCALAR_ENABLE_RAMP == 1U) */ | |
| /************************END : Ramp Generator ***********************************/ | |
| /************************START : Block commutation PWM generator ***********************************/ | |
| /** Data structure initialization of PWM_BC module */ | |
| BLDC_SCALAR_PWM_BC_t Motor0_BLDC_SCALAR_PWM_BC = | |
| { | |
| .ccu8_handle_ptr = &Motor0_BLDC_SCALAR_CCU8_PWM_Config, | |
| #if (MOTOR0_BLDC_SCALAR_MODULATION == BLDC_SCALAR_PWM_HIGHSIDE) | |
| .shadow_modulation_ptr = Motor0_BLDC_SCALAR_PWM_BC_HsShadowMod, | |
| #elif (MOTOR0_BLDC_SCALAR_MODULATION == BLDC_SCALAR_PWM_LOWSIDE) | |
| .shadow_modulation_ptr = Motor0_BLDC_SCALAR_PWM_BC_LsShadowMod, | |
| #elif (MOTOR0_BLDC_SCALAR_MODULATION == BLDC_SCALAR_PWM_HIGHSIDE_SYNCHRECTI) | |
| .shadow_modulation_ptr = Motor0_BLDC_SCALAR_PWM_BC_HsShadowMod_SyncRect, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_MODULATION == BLDC_SCALAR_PWM_HIGHSIDE) | |
| .immediate_modulation_ptr = Motor0_BLDC_SCALAR_PWM_BC_HsImmediateMod, | |
| #elif (MOTOR0_BLDC_SCALAR_MODULATION == BLDC_SCALAR_PWM_LOWSIDE) | |
| .immediate_modulation_ptr = Motor0_BLDC_SCALAR_PWM_BC_LsImmediateMod, | |
| #elif (MOTOR0_BLDC_SCALAR_MODULATION == BLDC_SCALAR_PWM_HIGHSIDE_SYNCHRECTI) | |
| .immediate_modulation_ptr = Motor0_BLDC_SCALAR_PWM_BC_HsImmediateMod_SyncRect, | |
| #endif | |
| .modulation_type = (PWM_BC_MOD_t)MOTOR0_BLDC_SCALAR_MODULATION, | |
| .ph_cmpval = {0U}, | |
| .ph_mcpatt_compmask = {(uint16_t)((uint32_t)0x1U << (uint32_t)(4U * MOTOR0_BLDC_SCALAR_CCU8_PH_U_SLICE_NUM)), | |
| (uint16_t)((uint32_t)0x1U << (uint32_t)(4U * MOTOR0_BLDC_SCALAR_CCU8_PH_V_SLICE_NUM)) , | |
| (uint16_t)((uint32_t)0x1U << (uint32_t)(4U * MOTOR0_BLDC_SCALAR_CCU8_PH_W_SLICE_NUM))}, | |
| .ph_bothside_compmask = { (uint16_t)((uint32_t)0x3U << (uint32_t)(4U * MOTOR0_BLDC_SCALAR_CCU8_PH_U_SLICE_NUM)), | |
| (uint16_t)((uint32_t)0x3U << (uint32_t)(4U * MOTOR0_BLDC_SCALAR_CCU8_PH_V_SLICE_NUM)) , | |
| (uint16_t)((uint32_t)0x3U << (uint32_t)(4U * MOTOR0_BLDC_SCALAR_CCU8_PH_W_SLICE_NUM)) }, | |
| .amplitude_scale = ((uint16_t)MOTOR0_BLDC_SCALAR_AMPLITUDE_SCALE) + 1U, | |
| .inverter_pin = (PWM_BC_INVERTERPINLEVEL_t)MOTOR0_BLDC_SCALAR_INVERTER_ENABLE_CONF | |
| }; | |
| /************************END : Block commutation PWM generator ***********************************/ | |
| /************************START : Speed and Position ***********************************/ | |
| /** Data structure initialization of SPEED_POS_HALL module */ | |
| BLDC_SCALAR_SPEED_POS_HALL_t Motor0_BLDC_SCALAR_SPEED_POS_HALL = | |
| { | |
| .index = 0U, | |
| .speedindex = 0U, | |
| .capval = (uint32_t)MOTOR0_BLDC_SCALAR_SPEED_CONSTANT_AVG, | |
| .speedcheck = 0U, | |
| .captureval = {0U,0U,0U,0U,0U,0U}, | |
| .speedaccum = 0U, | |
| .speed_constant = (uint32_t) MOTOR0_BLDC_SCALAR_SPEED_CONSTANT_AVG, | |
| }; | |
| /************************END : Speed and Position ***********************************/ | |
| /************************START : Current Measurement ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_VADC_ENABLE_IDC_LINK_MEASUREMENT == 1U) ||(MOTOR0_BLDC_SCALAR_VADC_ENABLE_IDC_AVERAGE_MEASUREMENT == 1U)) | |
| /** DC link current measurement */ | |
| BLDC_SCALAR_CURRENT_MEASUREMENT_t Motor0_BLDC_SCALAR_CurrentMeasurement = | |
| { | |
| .direct_dc_amplifier_offset = (int32_t)MOTOR0_BLDC_SCALAR_AMPL_OFFSET_T, | |
| .avg_dc_amplifier_offset = (int32_t)MOTOR0_BLDC_SCALAR_AMPL_OFFSET_T, | |
| .current_adc_scale = (uint32_t)MOTOR0_BLDC_SCALAR_CURRENT_ADC_SCALE, | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_OVER_CURRENT == 1U) | |
| .short_circuit_current = (int32_t)MOTOR0_BLDC_SCALAR_SHORTCIRCUIT_CURRENT_T, | |
| #endif | |
| .amplitude = &Motor0_BLDC_SCALAR.amplitude, | |
| #if ((MOTOR0_BLDC_SCALAR_VADC_ENABLE_IDC_LINK_MEASUREMENT == 1U)) | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_DEMAGNET_BLANKING == 1U) | |
| .demagnetization_blanking_count = (uint32_t)MOTOR0_BLDC_SCALAR_DEMAGNETIZATION_TIME_COUNT, | |
| #endif /* end of #if (MOTOR0_BLDC_SCALAR_ENABLE_DEMAGNET_BLANKING == 1U) */ | |
| #endif /* #if ((MOTOR0_BLDC_SCALAR_VADC_ENABLE_IDC_LINK_MEASUREMENT == 1U)) */ | |
| }; | |
| #endif | |
| /************************END : Current Measurement ***********************************/ | |
| /************************START : Control Schemes ***********************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_VOLTAGE_CTRL)) | |
| /** Voltage control */ | |
| BLDC_SCALAR_VOLTAGE_CONTROL_t Motor0_BLDC_SCALAR_VoltageControl = | |
| { | |
| .user_start_voltage_set = (int32_t)MOTOR0_BLDC_SCALAR_USER_RAMP_INITIAL_VOLTAGE_T, | |
| .user_voltage_set = (int32_t)MOTOR0_BLDC_SCALAR_USER_VOLTAGE_SET_T | |
| }; | |
| #endif | |
| /***********************************************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEED_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) | |
| /** Speed control */ | |
| BLDC_SCALAR_SPEED_CONTROL_t Motor0_BLDC_SCALAR_SpeedControl = | |
| { | |
| .user_start_speed_set = (int32_t)MOTOR0_BLDC_SCALAR_USER_RAMP_INITIAL_SPEED_T, | |
| .user_speed_set = (int32_t)MOTOR0_BLDC_SCALAR_USER_SPEED_SET_T | |
| }; | |
| #endif | |
| /***********************************************************/ | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_CURRENT_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) | |
| /** Current control */ | |
| BLDC_SCALAR_CURRENT_CONTROL_t Motor0_BLDC_SCALAR_CurrentControl = | |
| { | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_CURRENT_CTRL)) | |
| .user_start_current_set = (int32_t)MOTOR0_BLDC_SCALAR_USER_RAMP_INITIAL_CURRENT_T, | |
| .user_current_set = (int32_t)MOTOR0_BLDC_SCALAR_USER_CURRENT_SET_T, | |
| #endif | |
| .ref_current = 0, | |
| .fdbk_current = 0 | |
| }; | |
| #endif | |
| /***********************************************************/ | |
| /************************END : Control Schemes ***********************************/ | |
| /************************START : BLDC SCALAR ***********************************/ | |
| /** Hall sensor feedback */ | |
| BLDC_SCALAR_HALL_t Motor0_BLDC_SCALAR_Hall = | |
| { | |
| #if (MOTOR0_BLDC_SCALAR_HALL_POSITIVE_DIR_SEQ == BLDC_SCALAR_HALL_SEQ_1) | |
| .hall_pattern = { | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(0,0),(uint8_t)BLDC_SCALAR_HALL_MCM(3,1),(uint8_t)BLDC_SCALAR_HALL_MCM(6,2),(uint8_t)BLDC_SCALAR_HALL_MCM(2,3), | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(5,4),(uint8_t)BLDC_SCALAR_HALL_MCM(1,5),(uint8_t)BLDC_SCALAR_HALL_MCM(4,6),(uint8_t)BLDC_SCALAR_HALL_MCM(0,0), | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(0,0),(uint8_t)BLDC_SCALAR_HALL_MCM(5,1),(uint8_t)BLDC_SCALAR_HALL_MCM(3,2),(uint8_t)BLDC_SCALAR_HALL_MCM(1,3), | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(6,4),(uint8_t)BLDC_SCALAR_HALL_MCM(4,5),(uint8_t)BLDC_SCALAR_HALL_MCM(2,6),(uint8_t)BLDC_SCALAR_HALL_MCM(0,0) | |
| }, | |
| #else | |
| .hall_pattern = { | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(0,0),(uint8_t)BLDC_SCALAR_HALL_MCM(5,1),(uint8_t)BLDC_SCALAR_HALL_MCM(3,2),(uint8_t)BLDC_SCALAR_HALL_MCM(1,3), | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(6,4),(uint8_t)BLDC_SCALAR_HALL_MCM(4,5),(uint8_t)BLDC_SCALAR_HALL_MCM(2,6),(uint8_t)BLDC_SCALAR_HALL_MCM(0,0), | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(0,0),(uint8_t)BLDC_SCALAR_HALL_MCM(3,1),(uint8_t)BLDC_SCALAR_HALL_MCM(6,2),(uint8_t)BLDC_SCALAR_HALL_MCM(2,3), | |
| (uint8_t)BLDC_SCALAR_HALL_MCM(5,4),(uint8_t)BLDC_SCALAR_HALL_MCM(1,5),(uint8_t)BLDC_SCALAR_HALL_MCM(4,6),(uint8_t)BLDC_SCALAR_HALL_MCM(0,0), | |
| }, | |
| #endif | |
| #if ((MOTOR0_BLDC_SCALAR_HALL_LEARNING == 1U)) | |
| .hall_learning_flag = MOTOR0_BLDC_SCALAR_HALL_LEARNING, | |
| #endif | |
| }; | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_CATCH_FREE == 1U) | |
| BLDC_SCALAR_HALL_CATCH_FREE_t Motor0_BLDC_SCALAR_HALL_CatchFree = | |
| { | |
| .cf_max_speed = (int32_t)MOTOR0_BLDC_SCALAR_CATCH_FREE_MAX_LIMIT_T, | |
| .cf_detection_timeout = (uint32_t)MOTOR0_BLDC_SCALAR_CATCH_FREE_DETECTION_TIMEOUT_COUNT, | |
| }; | |
| #endif | |
| /** BLDC_SCALAR handle - contains the control parameters */ | |
| BLDC_SCALAR_t Motor0_BLDC_SCALAR = | |
| { | |
| .msm_state = BLDC_SCALAR_MSM_STOP, | |
| .error_status = (uint32_t)0, | |
| .period = (uint16_t)MOTOR0_BLDC_SCALAR_CCU8_PERIOD_REG, | |
| #if ((MOTOR0_BLDC_SCALAR_VADC_ENABLE_POTENTIOMETER_MEASUREMENT == 1U) && (MOTOR0_BLDC_SCALAR_ENABLE_BIDIRECTIONAL_CTRL == 0U)) | |
| .motor_set_direction = MOTOR0_BLDC_SCALAR_MOTOR_DIRECTION, | |
| #else | |
| .motor_set_direction = BLDC_SCALAR_POSITIVE_DIR, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_VADC_ENABLE_POTENTIOMETER_MEASUREMENT == 1U) | |
| .min_analogip_val = (int32_t)MOTOR0_BLDC_SCALAR_MIN_ANALOG_INPUT_LOW_LIMIT_T, | |
| #endif | |
| .amplitude_high_threshold = (uint32_t)MOTOR0_BLDC_SCALAR_AMPLITUDE_HIGH_THRESHOLD_T, | |
| .min_amplitude_configured = (uint32_t)MOTOR0_BLDC_SCALAR_MIN_AMPLITUDE_T, | |
| .min_amplitude = (uint32_t)MOTOR0_BLDC_SCALAR_MIN_AMPLITUDE_T, | |
| .max_amplitude = (uint32_t)MOTOR0_BLDC_SCALAR_MAX_AMPLITUDE_T, | |
| #if(MOTOR0_BLDC_SCALAR_CONTROL_LOOP_EXECUTION_RATE > 1U) | |
| .control_loop_exec_rate = (uint32_t)MOTOR0_BLDC_SCALAR_CONTROL_LOOP_EXECUTION_RATE, | |
| .control_loop_exec_count = 1U, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_BIDIRECTIONAL_CTRL == 1U) | |
| .min_speed = (int32_t)MOTOR0_BLDC_SCALAR_MIN_SPEED_T, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_RAMP_DOWN_VOLTAGE_CLAMPING == 1U) | |
| .max_dc_link_voltage = (((uint32_t)MOTOR0_BLDC_SCALAR_RAMP_DOWN_VOLTAGE_LIMIT_T * (uint32_t)MOTOR0_BLDC_SCALAR_VOLTAGE_ADC_SCALE) >> BLDC_SCALAR_SHIFT_14), | |
| #endif | |
| .nominal_dc_link_voltage = (uint32_t)MOTOR0_BLDC_SCALAR_NOMINAL_DC_LINK_VOLT_T, | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_OVER_CURRENT == 1U) | |
| .overcurrent_count = (uint32_t)MOTOR0_BLDC_SCALAR_CURRENT_PROTECTION_COUNT, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_UNDER_OVER_VOLTAGE == 1U) | |
| .over_under_voltage_count = (uint32_t)MOTOR0_BLDC_SCALAR_VOLTAGE_PROTECTION_COUNT, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_STALL_DETECTION == 1U) | |
| .stall_detection_count = (uint32_t)MOTOR0_BLDC_SCALAR_STALL_DETECTION_COUNT, | |
| .stall_min_amplitude = (uint32_t)MOTOR0_BLDC_SCALAR_MIN_AMPLITUDE_FOR_STALL_T, | |
| .stall_time_diff_ratio = (uint32_t)(MOTOR0_BLDC_SCALAR_STALL_TIME_DIFF_RATIO * BLDC_SCALAR_POW_4), | |
| .stall_check = 1U, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_BOOTSTRAP == 1U) | |
| .bootstrap_count = (uint32_t)MOTOR0_BLDC_SCALAR_BOOTSTRAP_COUNT, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_ENABLE_UNDER_OVER_VOLTAGE == 1U) | |
| .over_voltage_limit = (int32_t)MOTOR0_BLDC_SCALAR_MAX_DC_LINK_VOLTAGE_T, | |
| .under_voltage_limit = (int32_t)MOTOR0_BLDC_SCALAR_MIN_DC_LINK_VOLTAGE_T, | |
| #endif | |
| .speed_scale = (uint32_t)MOTOR0_BLDC_SCALAR_SPEED_SCALE, | |
| .current_scale = (uint32_t)MOTOR0_BLDC_SCALAR_CURRENT_SCALE, | |
| .voltage_scale = (uint32_t)MOTOR0_BLDC_SCALAR_VOLTAGE_SCALE, | |
| .speed_mech_scale = (uint32_t)MOTOR0_BLDC_SCALAR_SPEED_MECH_SCALE, | |
| #if ((MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEED_CTRL) || (MOTOR0_BLDC_SCALAR_CTRL_SCHEME == BLDC_SCALAR_SPEEDCURRENT_CTRL)) | |
| .speedcontrol_rate = MOTOR0_BLDC_SCALAR_SPEED_CTRL_EXECUTION_RATE, | |
| #endif | |
| #if (MOTOR0_BLDC_SCALAR_HALL_POSITIVE_DIR_SEQ == BLDC_SCALAR_HALL_SEQ_1) | |
| .mc_pattern = { | |
| /* high side synchronous rectification modulation - patterns are initialized in Init function*/ | |
| { | |
| 0x0U | |
| }, | |
| /* high side modulation */ | |
| { | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)0x00U, | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)0x00U | |
| }, | |
| /* low side modulation */ | |
| { | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)0x00U, | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)0x00U | |
| } | |
| }, | |
| #else | |
| .mc_pattern = { | |
| /* high side synchronous rectification modulation - patterns are initialized in Init function*/ | |
| { | |
| 0x0U | |
| }, | |
| /* high side modulation */ | |
| { | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)0x00U, | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)0x00U | |
| }, | |
| /* low side modulation */ | |
| { | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)0x00U, | |
| (uint16_t)0x0U, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_D, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_B, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_C, | |
| (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_F, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_E, (uint16_t)MOTOR0_BLDC_SCALAR_MC_PAT_A, (uint16_t)0x00U | |
| } | |
| }, | |
| #endif | |
| }; | |
| /************************END : BLDC SCALAR ***********************************/ | |