MATH AND MOTOR CONTROL LIBRARY
32-BIT MICROCONTROLLER
FM3 Family
USER MANUAL
Publication Number FM3_AN706-00091-1v0-E
Revision 1.0
Issue Date September 19, 2014
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Target products
This user manual describes all the FM3 series MCUs.
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Table of Contents
1. Introduction .............................................................................................................................................. 6
1.1 About Document ............................................................................................................................. 6
1.2 Definitions, Acronyms and Abbreviations ....................................................................................... 6
1.3 Document Overview ....................................................................................................................... 6
2. System Scope .......................................................................................................................................... 7
2.1 Firmware Architecture .................................................................................................................... 7
2.2 Software Environment .................................................................................................................... 8
2.3 Hardware Environment ................................................................................................................... 8
3. Library Module Description .................................................................................................................... 9
3.1 UMOLIB .......................................................................................................................................... 9
3.1.1 UMO_Add32Sat .................................................................................................................. 9
3.1.2 UMO_Sub32Sat ................................................................................................................ 10
3.1.3 UMO_Mul32Sat ................................................................................................................. 10
3.1.4 UMO_Div32Sat ................................................................................................................. 11
3.1.5 UMO_Abs32Sat ................................................................................................................ 12
3.1.6 UMO_Neg32Sat ................................................................................................................ 13
3.1.7 UMO_Rnd32 ..................................................................................................................... 13
3.1.8 UMO_LLS32 ..................................................................................................................... 14
3.1.9 UMO_LRS32 ..................................................................................................................... 14
3.1.10 UMO_ROL32 .................................................................................................................... 15
3.1.11 UMO_ROR32 .................................................................................................................... 16
3.1.12 UMO_Qnm ........................................................................................................................ 16
3.1.13 UMO_Rep32 ..................................................................................................................... 17
3.2 UMFLIB ........................................................................................................................................ 17
3.2.1 UMF_Sin 18
3.2.2 UMF_Cos 18
3.2.3 UMF_Tan 19
3.2.4 UMF_Arcsin ...................................................................................................................... 20
3.2.5 UMF_Arccos ..................................................................................................................... 20
3.2.6 UMF_Arctan ...................................................................................................................... 21
3.2.7 UMF_Sqrt 22
3.2.8 UMF_Lut1D ....................................................................................................................... 22
3.2.9 UMF_Sign ......................................................................................................................... 24
3.3 BFLIB ........................................................................................................................................... 25
3.3.1 BF_Lmt 25
3.3.2 BF_Hyst 26
3.3.3 BF_Ramp 27
3.3.4 BF_Intg 28
3.4 UDFLIB ......................................................................................................................................... 29
3.4.1 UDF_FilterAvg ................................................................................................................... 29
3.4.2 UDF_AvgFilter_Slide ......................................................................................................... 29
3.4.3 UDF_Filter1stOrd .............................................................................................................. 31
3.5 BMCLIB ........................................................................................................................................ 33
3.5.1 BMC_ClarkeTrans ............................................................................................................. 33
3.5.2 BMC_ParkTrans ................................................................................................................ 33
3.5.3 BMC_ClarkeInvTrans ........................................................................................................ 34
3.5.4 BMC_ParkInvTrans ........................................................................................................... 35
3.5.5 BMC_Pid 36
3.5.6 BMC_SvmCalc .................................................................................................................. 37
3.5.7 BMC_Ovm ......................................................................................................................... 38
3.6 AMCLIB ........................................................................................................................................ 41
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3.6.1 AMC_PllEstimate .............................................................................................................. 41
3.6.2 AMC_AvgSpdCalc............................................................................................................. 42
3.6.3 AMC_GetDeltaAngleByEncoder_A ................................................................................... 43
3.6.4 AMC_Hall 45
4. Reference Documents ........................................................................................................................... 48
5. Additional Information .......................................................................................................................... 49
6. Appendix ................................................................................................................................................ 50
6.1 Data Type Description .................................................................................................................. 50
6.2 Data Format Description ............................................................................................................... 50
Figures
Figure 2-1: Relationship between Each Sub-library ................................................................................... 7
Figure 2-2: Block Diagram for Motor Control Using MMCL ........................................................................ 8
Figure 3-1: Addition with Saturation Diagram ............................................................................................. 9
Figure 3-2: Difference with Saturation Diagram........................................................................................ 10
Figure 3-3: Product with Saturation Diagram ............................................................................................ 11
Figure 3-4: Product with Saturation Diagram ............................................................................................ 11
Figure 3-5: UMO_LLS32 Diagram ............................................................................................................ 14
Figure 3-6: UMO_LRS32 Diagram ........................................................................................................... 15
Figure 3-7: UMO_ROL32 Diagram ........................................................................................................... 15
Figure 3-8: UMO_ROR32 Diagram .......................................................................................................... 16
Figure 3-9: Hysteresis Function Diagram ................................................................................................. 26
Figure 3-10: Signal Ramp Diagram .......................................................................................................... 27
Figure 3-11: Average Sliding Filter Diagram ............................................................................................. 30
Figure 3-12: Overview of under-modulation module................................................................................. 38
Figure 3-13: Overview of New Over-PWM Module................................................................................... 39
Figure 3-14: Overview of AMC_PllEstimate ............................................................................................. 42
Figure 3-15: Overview of AMC_AvgSpdCalc ............................................................................................ 43
Figure 3-16: QPRC Configuration Example ............................................................................................. 45
Figure 3-17: Hall Module Diagram............................................................................................................ 46
Figure 3-18: Correct Angle and Rotor Speed Generated by Hall Edge Interrupt ...................................... 47
Tables
Table 2-1: Software Environment ............................................................................................................... 8
Table 2-2: Hardware Environment .............................................................................................................. 8
Table 3-1: Key Variable Lists for SVPWM Calculation Function ............................................................... 37
Table 3-2: Variable Lists for Over-PWM function ...................................................................................... 39
Table 3-3: Variable Lists for Rotor Observer Function .............................................................................. 41
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1. Introduction
1.1
About Document
This user manual describes how to use and implement the library functions provided by the Math and Motor
Control Library.
The purpose of the Math and Motor control library is to make basic elements of motor control application,
such as basic arithmetical operation, general digital filter, basic algorithm etc. Customers all over the world
could use these elements to build their motor control system rapidly to shorten their development cycle.
The MMCL is based on the SPANSION Cortex-M3 microcontrollers. All modules in the MMCL are described
in detail in the following chapters.
1.2
1.3
Definitions, Acronyms and Abbreviations
API
Application Programming Interface
MMCL
Math and motor control library
UMOLIB
Universal Math Operation Library
UMFLIB
Universal Math Function Library
BFLIB
Basic Function Library
UDFLIB
Universal Digital Filter Library
BMCLIB
Basic Motor Control Library
AMCLIB
Advanced Motor Control Library
Document Overview
The rest of document is organized as the following:
Chapter 2 explains System Development Environment.
Chapter 3 explains Firmware Architecture.
Chapter 4 explains Firmware State Machine
Chapter 5 explains Firmware Module Description.
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2. System Scope
In the motor control field, the basic element of motor control is also important in addition to different motor
control solutions .The math function and motor control library including the basic elements should be built so
that global customers could use them to build their motor control system rapidly.
2.1
Firmware Architecture
The relationship between each sub library of Math and Motor library is shown in Figure 2-1.The function of
each sub library is shown below:
UMOLIB
- Universal Math Operation Library
UMFLIB
- Universal Math Function Library
BFLIB
- Basic Function Library
UDFLIB
- Universal Digital Filter Library
BMCLIB
- Basic Motor Control Library
AMCLIB
- Advanced Motor Control Library
BMCLIB
UMFLIB
AMCLIB
BFLIB
UDFLIB
UMOLIB
Figure 2-1: Relationship between Each Sub-library
The block diagram of the motor control with the MMCL is shown in Figure 2-2.The basic inverter motor
control can be accomplished by this library.
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Firmware
Motor
Basic
Startup
Protect
BMC_Pid
ωref
PI
BMC_ParkInvTrans
BMC_Pid
Iqref
Vq
PI
Idref
d,q
Park
BMC_Pid
0
Vα
Vd
PI
-1
α,β
Vβ
Hardware
BMC_SvmCalc
Ovm_Calc
Over
-PWM
SVPWM
3-Phase
Bridge
Field
weaken
Iq
Isα
d,q
α,β
BMC_ClarkeTrans
θestim
Sensor-less
Observer
ωmR
A
C
B
Clarke
Park
Id
Ia
α,β
Ib
Isβ
a,b,c
BMC_ParkTrans
Isβ
Isα
Vαr
M
Vβr
Hall Capture
Hall or QPRC signal
QPRC
Rotor Position and Speed
MMCL Block
Other Block
Figure 2-2: Block Diagram for Motor Control Using MMCL
2.2
Software Environment
Table 2-1: Software Environment
Item
2.3
Details
Operating System
Windows 7 /XP
Compiler
IAR 6.60 or above
Development language
C and Assembly
Hardware Environment
Table 2-2: Hardware Environment
Item
Spansion inverter demo
board
Emulator
8
Details
General motor control evaluation board:
LVPS (Low voltage power supply inverter board)
ADPT (FM3)
J-link (SWD)
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3. Library Module Description
Each of the modules in the MMCL will be described in detail in this chapter.
3.1
UMOLIB
All functions in the Universal Math Operation Library (UMOLIB) are shown below.
3.1.1
Name
Description
UMO_Add32Sat
32-bit add with saturation
UMO_Sub32Sat
32-bit subtraction with saturation
UMO_Mul32Sat
32-bit product with saturation (32-bit input / 32-bit output)
UMO_Div32Sat
32-bit division with saturation (32-bit input / 32-bit output)
UMO_Abs32Sat
32-bit absolute value with saturation
UMO_Neg32Sat
32-bit negative value with saturation
UMO_Rnd32
32-bit round value
UMO_LLS32
32-bit logic shift left
UMO_LRS32
32-bit logic shift right
UMO_ROL32
32-bit rotational shift left
UMO_ROR32
32-bit rotational shift right
UMO_Qnm
32-bit Qn format transformation
UMO_Rep32
32-bit reciprocal value
UMO_Add32Sat
This function outputs the sum of 2 numbers. If the sum exceeds the limitation of signed 32-bit value, the
output will be limited to the 32-bit boundary value.
Output
0x7fffffff
Sum of 2 numbers
0x8000000
0
Figure 3-1: Addition with Saturation Diagram
Prototype
int32_t UMO_Add32Sat(int32_t x, int32_t y);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0x80000000~0x7fffffff
Number 1
\
y
In
signed int
0x80000000~0x7fffffff
Number 2
Description
This function calculates the sum of ‘number 1’ and ‘number 2’. If the sum is within the range of [-2147483648,
2147483647], the function outputs the result directly. Otherwise the limitation value is outputted.
−2147483648 𝑥 + 𝑦 < −2147483648
𝑜𝑢𝑡𝑝𝑢𝑡 = { 2147483647 , 𝑥 + 𝑦 > 2147483647
𝑥−𝑦
𝑒𝑙𝑠𝑒
Special Result
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NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Add32Sat (0x7ffffff0, 0xff);
}
3.1.2
UMO_Sub32Sat
This function outputs the difference of 2 numbers. If the difference exceeds the limitation of signed 32-bit
value, the output will be limited to the 32-bit boundary value.
Output
0x7fffffff
Difference of 2
numbers
0x8000000
0
Figure 3-2: Difference with Saturation Diagram
Prototype
int32_t UMO_Sub32Sat(int32_t x, int32_t y);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0x80000000~0x7fffffff
Number 1
\
y
In
signed int
0x80000000~0x7fffffff
Number 2
Description
This function calculates the difference of ‘number 1’ and ‘number 2’. If the difference is within the range of
[-2147483648, 2147483647], the function outputs the result directly. Otherwise the limitation value is
outputted.
−2147483648 𝑥 − 𝑦 < −2147483648
𝑜𝑢𝑡𝑝𝑢𝑡 = { 2147483647 , 𝑥 − 𝑦 > 2147483647
𝑥−𝑦
𝑒𝑙𝑠𝑒
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Sub32Sat (0x7ffffff0, 0xff);
}
3.1.3
UMO_Mul32Sat
This function outputs the product of 2 numbers. If the product exceeds the limitation of signed 32-bit value,
the output will be limited to the 32-bit boundary value.
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Output
0x7fffffff
Multiply of 2 numbers
0x8000000
0
Figure 3-3: Product with Saturation Diagram
Prototype
int32_t UMO_Mul32Sat(int32_t x, int32_t y);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0x80000000~0x7fffffff
Number 1
\
y
In
signed int
0x80000000~0x7fffffff
Number 2
Description
This function calculates the product of ‘number 1’ and ‘number 2’. If the product is within the range of
[-2147483648, 2147483647], the function outputs the result directly. Otherwise the limitation value is
outputted.
−2147483648 𝑥 × 𝑦 < −2147483648
𝑜𝑢𝑡𝑝𝑢𝑡 = { 2147483647 , 𝑥 × 𝑦 > 2147483647
𝑥×𝑦
𝑒𝑙𝑠𝑒
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Mul32Sat (0x7ffffff0, 0xff);
}
3.1.4
UMO_Div32Sat
This function output the division of 2 numbers. If the division exceeds the limitation of signed 32-bit value,
the output will be limited to the 32-bit boundary value.
Output
0x7fffffff
Division of 2 numbers
0x8000000
0
Figure 3-4: Product with Saturation Diagram
Prototype
int32_t UMO_Div32Sat(int32_t x, int32_t y);
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IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0x80000000~0x7fffffff
Number 1
\
y
In
signed int
0x80000000~0x7fffffff
Number 2
Description
This function calculates the division of ‘number 1’ and ‘number 2’. If the division is within the range of
[-2147483648, 2147483647], the function outputs the result directly. Otherwise the limitation value is
outputted.
−2147483648 𝑥/𝑦 < −2147483647
𝑜𝑢𝑡𝑝𝑢𝑡 = { 2147483647 , 𝑥/𝑦 > 2147483647
𝑥/𝑦
𝑒𝑙𝑠𝑒
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Div32Sat (0x7ffffff0, 0xff);
}
3.1.5
UMO_Abs32Sat
This function outputs the absolute value. If the result exceeds the limitation of signed 32-bit value, the output
will be limited to the 32-bit boundary value ( [-2147483648, 2147483647] ).
Prototype
int32_t UMO_Abs32Sat(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input value
signed int
0x80000000~0x7fffffff
Description
This function calculates the absolute of input value. If the result is within the range of [-2147483648,
2147483647], the function outputs the result directly. Otherwise the limitation value is outputted.
2147483647 𝑥 < −2147483647
𝑜𝑢𝑡𝑝𝑢𝑡 = {2147483647 , 𝑥 > 2147483647
|𝑥|
𝑒𝑙𝑠𝑒
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Abs32Sat (-2147483648);
}
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3.1.6
M A N U A L
UMO_Neg32Sat
This function outputs the negative value. If the result exceeds the limitation of signed 32-bit value, the output
will be limited to the 32-bit boundary value ( [-2147483648, 2147483647] ).
Prototype
int32_t UMO_Neg32Sat(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input value
signed int
0x80000000~0x7fffffff
Description
This function calculates the negative value of input value. If the result is within the range of [-2147483648,
2147483647], the function outputs the result directly. Otherwise the limitation value is outputted.
2147483647 𝑥 < −2147483647
𝑜𝑢𝑡𝑝𝑢𝑡 = {−2147483648 , 𝑥 > 2147483647
−𝑥
𝑒𝑙𝑠𝑒
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Neg32Sat (-2147483648);
}
3.1.7
UMO_Rnd32
This function outputs the round value.
Prototype
int32_t UMO_Rnd32(int32_t x, int32_t Qn);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0x80000000~0x7fffffff
input value
\
Qn
In
signed int
0 ~ 31
Qn format of x
Description
This function calculates the round value of input value.
⌊𝑥⌋ + 1 𝑖𝑓 𝑥 𝑖𝑠 𝑎 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙𝑠 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙 𝑝𝑎𝑟𝑡 𝑖𝑠 𝑔𝑟𝑒𝑎𝑡𝑒𝑟 𝑡ℎ𝑎𝑛 0.5
𝑖𝑓 𝑥 𝑖𝑠 𝑎 𝑝𝑜𝑠𝑖𝑡𝑖𝑣𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙𝑠 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙 𝑝𝑎𝑟𝑡 𝑖𝑠 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 0.5
⌊𝑥⌋
𝑜𝑢𝑡𝑝𝑢𝑡 = ⌈𝑥⌉ − 1 , 𝑖𝑓 𝑥 𝑖𝑠 𝑎 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙𝑠 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙 𝑝𝑎𝑟𝑡 𝑖𝑠 𝑔𝑟𝑒𝑎𝑡𝑒𝑟 𝑡ℎ𝑎𝑛 0.5
𝑖𝑓 𝑥 𝑖𝑠 𝑎 𝑛𝑒𝑔𝑎𝑡𝑖𝑣𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙𝑠 𝑎𝑛𝑑 𝑡ℎ𝑒 𝑑𝑒𝑐𝑖𝑚𝑎𝑙 𝑝𝑎𝑟𝑡 𝑖𝑠 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 0.5
⌈𝑥⌉
{ 𝑥
𝑖𝑓 𝑥 𝑖𝑠 𝑎 𝑖𝑛𝑡𝑒𝑟𝑔𝑒𝑟
Special Result
NA
Use Case
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U S E R
int32_t
M A N U A L
gr;
void main(void)
{
gr = UMO_Rnd32 (6, 2);
}
3.1.8
UMO_LLS32
This function logic shifts a value to the left direction.
Prototype
int32_t UMO_LLS32(int32_t x, int32_t ShiftLength);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0 ~ 0xffffffff
input value
\
ShiftLength
In
signed int
0 ~ 32
How many bits are to be
shifted
Description
This function shifts x to the left, the shift length is given by ‘ShiftLength’. If ShiftLength equals 2, the following
figure shows the operation details.
Original value x:
Bit 31
…
Bit 2
Bit 1
Bit 0
…
Bit 0
0
0
Result (ShiftLength = 2):
Bit 29
Figure 3-5: UMO_LLS32 Diagram
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_LLS32 (6, 2);
}
3.1.9
UMO_LRS32
This function logic shifts a value to the right direction.
Prototype
int32_t UMO_LRS32(int32_t x, int32_t ShiftLength);
IO Parameters
Structure
14
Name
I/O Data Type Range
Description
\
x
In
signed int
0 ~ 0xffffffff
input value
\
ShiftLength
In
signed int
0 ~ 32
How many bits are to be
shifted
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Description
This function shifts x to the right, the shift length is given by ‘ShiftLength’. If the ‘ShiftLength’ equals 2, the
following figure shows the operation details.
Original value x:
Bit 31
…
Bit 2
Bit 1
Bit 0
0
Bit31
…
Bit2
Result (ShiftLength = 2):
0
Figure 3-6: UMO_LRS32 Diagram
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_LRS32 (6, 2);
}
3.1.10
UMO_ROL32
This function rotating shifts a value to the left direction.
Prototype
int32_t UMO_ROL32(int32_t x, int32_t ShiftLength);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0 ~ 0xffffffff
input value
\
ShiftLength
In
signed int
0 ~ 32
How many bits are to be
shifted
Description
This function rotating shifts x to left, the shift length is given by ‘ShiftLength’. If ShiftLength equals 2, the
following figure shows the operation details.
Original value x:
Bit 31
…
Bit 2
Bit 1
Bit 0
…
Bit 0
Bit31
Bit30
Result (ShiftLength = 2):
Bit 29
Figure 3-7: UMO_ROL32 Diagram
Special Result
NA
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Use Case
int32_t
gr;
void main(void)
{
gr = UMO_ROL32 (6, 2);
}
3.1.11
UMO_ROR32
This function rotating shifts a value to the right direction.
Prototype
int32_t UMO_ROR32(int32_t x, int32_t ShiftLength);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0 ~ 0xffffffff
input value
\
ShiftLength
In
signed int
0 ~ 32
How many bits are to be
shifted
Description
This function shifts x to right, the shift length is given by ‘ShiftLength’. If ShiftLength equals 2, the following
figure shows the operation details.
Original value x:
Bit 31
…
Bit 2
Bit 1
Bit 0
Bit0
Bit31
…
Bit2
Result (ShiftLength = 2):
Bit1
Figure 3-8: UMO_ROR32 Diagram
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_ROR32 (6, 2);
}
3.1.12
UMO_Qnm
This function transfers a Qn format value to a Qm format value.
Prototype
int32_t UMO_Qnm(int32_t x, int32_t Qn, int32_t Qm);
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U S E R
M A N U A L
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
x
In
signed int
0 ~ 0xffffffff
input value
\
Qn
In
signed int
0 ~ 31
Original Qn format of x
\
Qm
In
signed int
0 ~ 31
Target Qm format of x
Description
This function transfers a Qn format value to a Qm format value.
For example, 1 (Q0) can be transferred to 0x100 (Q8) by calling this function: UMO_Qnm(1, 0, 8).
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Qnm (0x100, 8, 0);
}
3.1.13
UMO_Rep32
This function calculates the reciprocal.
Prototype
int32_t UMO_Rep32(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input value with Q15 format
signed int
0x80000000~0x7fffffff
Description
This function calculates the reciprocal. The input value is Q15 format, and the output value is also Q15
format.
For example, to calculate the reciprocal of 0.5, we can set x=16384 (Q15), then the output result is
1
( ) = 65536(Q15) .
0.5
Special Result
If x = 0, the output should be 0x7fffffff.
Use Case
int32_t
gr;
void main(void)
{
gr = UMO_Rep32 (32768);
}
3.2
UMFLIB
All functions in the Universal Math Operation Library (UMFLIB) are shown below:
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U S E R
3.2.1
M A N U A L
Name
Description
UMF_Sin
Sine function
UMF_Cos
Cosine function
UMF_Tan
Tangent function
UMF_Arcsin
Arc-sin function
UMF_Arccos
Arc-cos function
UMF_Arctan
Arc-tan function
UMF_Sqrt
square-root function
UMF_Lut1D
linear interpolation function
UMF_Sign
Sign function
UMF_Sin
This function calculates the sine value.
Prototype
int32_t UMF_Sin(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input positive value
signed int
0 ~ 0x7fffffff
Description
This function calculates the sine value.
The input value x should be positive. This function outputs a Q12 value.
The relation between x value and the real angle (degree) is as follows.
x
Angle(degree)
0
0 * 360 / 1024
1
1 * 360 / 1024
2
2 * 360 / 1024
…
…
n
n * 360 / 1024
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Sin (256);
}
3.2.2
UMF_Cos
This function calculates the cosine value.
Prototype
int32_t UMF_Cos(int32_t x);
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M A N U A L
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input positive value
signed int
0 ~ 0x7fffffff
Description
This function calculates the cosine value.
The input value x should be positive. This function outputs a Q12 value.
The relation between x value and the real angle (degree) is as follows.
x
Angle(degree)
0
0 * 360 / 1024
1
1 * 360 / 1024
2
2 * 360 / 1024
…
…
n
n * 360 / 1024
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Cos (256);
}
3.2.3
UMF_Tan
This function calculates the tangent value.
Prototype
int32_t UMF_Tan(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
x
In
signed int
Description
0x80000000 ~ 0x7fffffff input value
Description
This function calculates the tangent value and outputs a Q12 value
The relation between x value and the real angle (degree) is as follows.
September 19, 2014, FM3_AN706-00091-1v0-E
x
Angle(degree)
-n
-n * 360 / 1024
…
…
-1
-1 * 360 / 1024
0
0 * 360 / 1024
1
1 * 360 / 1024
…
…
n
n * 360 / 1024
19
U S E R
M A N U A L
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Tan (256);
}
3.2.4
UMF_Arcsin
This function calculates the arc-sine value.
Prototype
int32_t UMF_Arcsin(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input value with Q12 format
signed int
-4096 ~ 4096
Description
This function calculates the arc-sine value. The input value is Q12 format which is in the range of [-4096,
4096].
This function outputs an angle value which is in the range of [-256, 256]. The relation between output value
and the real angle (degree) is as follows.
output
Angle(degree)
-256
-256 * 360 / 1024
…
…
-1
-1 * 360 / 1024
0
0 * 360 / 1024
1
1 * 360 / 1024
…
…
256
256 * 360 / 1024
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Arcsin (128);
}
3.2.5
UMF_Arccos
This function calculates the arc-cosine value.
Prototype
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U S E R
M A N U A L
int32_t UMF_Arccos(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input value with Q12 format
signed int
-4096 ~ 4096
Description
This function calculates the arc-cosine value. The input value is Q12 format which is in the range of [-4096,
4096].
This function outputs an angle value which is in the range of [-256, 256]. The relation between output value
and the real angle (degree) is as follows.
output
Angle(degree)
-256
-256 * 360 / 1024
…
…
-1
-1 * 360 / 1024
0
0 * 360 / 1024
1
1 * 360 / 1024
…
…
256
256 * 360 / 1024
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Arccos (128);
}
3.2.6
UMF_Arctan
This function calculates the arc-tangent value.
Prototype
int32_t UMF_Arctan(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
x
In
signed int
Description
0x80000000 ~ 0x7fffffff input value with Q12 format
Description
This function calculates the arc-tangent value. The input value is Q12 format.
This function outputs an angle value which is in the range of [-256, 256]. The relation between output value
and the real angle (degree) is as follows.
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U S E R
M A N U A L
output
Angle(degree)
-256
-256 * 360 / 1024
…
…
-1
-1 * 360 / 1024
0
0 * 360 / 1024
1
1 * 360 / 1024
…
…
256
256 * 360 / 1024
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Arctan (327680);
}
3.2.7
UMF_Sqrt
This function calculates the square-root value.
Prototype
int32_t UMF_Sqrt(int32_t x);
IO Parameters
Structure
\
Name
I/O Data Type Range
Description
x
In
input value with Qk format, k
should be even and in the
range of [0, 30]
signed int
0 ~ 0x7fffffff
Description
This function calculates the square-root value.
The input value is Qk format, k should be even and in the range of [0, 30].
This function outputs a Qm value, m = k / 2.
For example, if x = 65536 (Q12, the real value is 16), the output should be 256 (Q6, the real value is 4).
Special Result
NA
Use Case
int32_t
gr;
void main(void)
{
gr = UMF_Sqrt (65536);
}
3.2.8
UMF_Lut1D
The function UMF_ Lut1D returns the linear interpolation value between two of the points.
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M A N U A L
Prototype
int32_t UMF_Lut1D(int32_t x,int32_t x0,int32_t y0,int32_t x1,int32_t y1);
IO Parameters
Structure Name
I/O
Data Type Range
Description
\
x
In
signed long 0x80000000 ~ the input value between two points
0x7fffffff
\
x0
In
signed long 0x80000000 ~ the abscissa value of the first point
0x7fffffff
\
y0
In
signed long 0x80000000 ~ the ordinate value of the first point
0x7fffffff
\
x1
In
signed long 0x80000000 ~ the abscissa value of the second point
0x7fffffff
\
y1
In
signed long 0x80000000 ~ the ordinate value of the second point
0x7fffffff
\
y
Out
signed long 0x80000000 ~ The return value by the linear interpolation
0x7fffffff
function
Description
The UMF_Lut1D function calculates the value between two points by the linear interpolation function as the
following equations and diagram show:
𝑦 = 𝑦0 + (𝑥 − 𝑥0) ∗
𝑦1 − 𝑦0
𝑥1 − 𝑥0
(x1,y1)
(x,y)
𝑦 = 𝑦0 + (𝑥 − 𝑥0) ∗
𝑦1 − 𝑦0
𝑥1 − 𝑥0
(x0,y0)
Special Result
The abscissa value can’t be the same due to the over-flow will happen at this condition.
Use Case
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U S E R
M A N U A L
int32_t x,y;
int32_t x0,y0;
int32_t x1,y1;
void main(void)
{
while(1)
{
y= UMF_Lut1D(x,x0,y0,x1,y1);
}
}
3.2.9
UMF_Sign
The function UMF_Sign returns the sign of the argument
Prototype
int32_t UMF_Sign(int32_t x);
IO Parameters
Structure
\
Name
I/O
Data Type
Range
Description
x
In
signed long 0x800000000 ~ 0x7fffffff
Input value
Description
The function UMF_Sign calculates the sign of the input value as the following equation shows:
1 𝑤ℎ𝑒𝑛 𝑥 > 0
𝑦 = { 0 𝑤ℎ𝑒𝑛 𝑥 = 0
−1 𝑤ℎ𝑒𝑛 𝑥 < 0
Special Result
NA
Use Case
int32_t x,y;
void main(void)
{
while(1)
{
y= UMF_ Sign (x);
}
}
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U S E R
3.3
M A N U A L
BFLIB
All functions in the Basic Function Library (BFLIB) are shown below.
3.3.1
Name
Description
BF_Lmt
Limitation Function
BF_Hyst
Hysteresis Function
BF_Ramp
Signal Integration Function
BF_Intg
Signal Ramp Function
BF_Lmt
The limitation function BF_Lmt returns the input value by the upper or lower limit. The result stays to the
limitation value when the limit is achieved; otherwise it stays the same as input.
Prototypes
int32_t BF_Lmt(int32_t i32In, stc_Lmt_t *LmtStc);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
i32In
In
signed int
0x80000000~0x7fffffff
Input value
i32UpLmt
In
signed int
0x80000000~0x7fffffff
Max value for the limitation
i32LwLmt
In
signed int
0x80000000~0x7fffffff
Min value for the limitation
stc_Lmt_t
Description
The input value will be the same with output if the input value is between the upper and lower limits. On the
other hand, the input value will be limited to the upper or lower value as the equation shows
i32In when i32LwLmt ≤ i32In ≤ i32UpLmt
i32In = { i32UpLmt
wheni32In ≥ i32UpLmt
i32LwLmt
wheni32In ≤ i32LwLmt
The upper and lower limits can be found in the limitation structure ’stc_Lmt_t’.
Special Result
The upper limitation value must be greater than the lower limitation when these values are set by the user.
Use Case
stc_Lmt_t BF_StcLmt;
int32_t
v1, gr;
void main(void)
{
BF_ StcLmt. i32UpLmt = -100;
BF_ StcLmt. i32UpLmt = 100;
while(1)
{
v1 = 22;
v1 = BF_Lmt(v1,&BF_StcLmt);//output should be v1=22
v1 = 111;
v1 = BF_Lmt(v1,&BF_StcLmt); //output should be v1=100
v1 = -111;
v1 = BF_Lmt(v1,&BF_StcLmt); //output should be v1=-100
}
}
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U S E R
3.3.2
M A N U A L
BF_Hyst
The hysteresis function returns the function ON or OFF value. It is can be used to the function ON\OFF
based on the input value to avoid the frequently entry or exit the function at one of the input conditions.
Switch off
In
Switch on
Figure 3-9: Hysteresis Function Diagram
Prototype
int32_t BF_Hyst(int32_t i32In, stc_Hyst_t *HystStc);
IO Parameters
Structure
Name
I/O Data Type Range
Description
\
i32In
In
signed int
0x80000000~0x7fffffff
Input value
i32SwOn
In
signed int
0x80000000~0x7fffffff
Threshold value for state on
i32SwOff
In
signed int
0x80000000~0x7fffffff
Threshold
cOutState
Out char
TRUE/FALSE
output state by hysteresis
TRUE – function ON
FALSE – function OFF
stc_Hyst_t
value for state off
Description
The hysteresis function ‘BF_Hyst’ can be used to output hysteresis relay signal. The function switches the
output between the two Threshold ‘i32SwOn’ and ‘i32SwOff’ that are in the structure ‘stc_Hyst_t’.
When the value of the input is higher than the upper threshold i32SwOn, the output value is equal to TRUE.
When the input value is lower than the lower threshold i32SwOff, the output value is equal to FALSE. When
the input value is between the two threshold values, the output state will not change.
𝑦={
𝑇𝑅𝑈𝐸
𝑦
𝐹𝐴𝐿𝑆𝐸
𝑤ℎ𝑒𝑛 𝑖32𝐼𝑛 ≥ i32SwOn
𝑤ℎ𝑒𝑛 𝑖32𝐼𝑛 𝑏𝑒𝑡𝑤𝑒𝑒𝑛 i32SwOn 𝑎𝑛𝑑 i32SwOff
𝑤ℎ𝑒𝑛 𝑖32𝐼𝑛 ≤ i32SwOff
Special Result
NA
Use Case
stc_Hyst_t BF_StcHyst;
int32_t
v1, gr;
void main(void)
{
BF_ StcHyst. i32SwOn = -100;
BF_ StcHyst. i32SwOff = 100;
while(1)
{
gr = BF_Hyst(v1,&BF_StcHyst);//’gr’ changes to 0 or 1 based on the ‘v1’
}
}
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U S E R
3.3.3
M A N U A L
BF_Ramp
The function is used for the ramp output that can be used to make the middle signal approach the
destination value by the setting slope.
Prototype
void
BF_Ramp(&BF_StcRamp);
IO Parameters
Structure
stc_Ramp_t
Name
I/O
Data Type Range
Description
i32RampEndVal
In
signed int 0x80000000~0x7fffffff
Ramp end value
i32RampMidVal
I/O
signed int 0x80000000~0x7fffffff
Ramp value
i32RampStep
In
signed int 0x80000000~0x7fffffff
Step value for the ramp
i32RampCnt
inner signed int 0x80000000~0x7fffffff
Counter for the ramp
execution
i32RampCount
In
signed int 0x80000000~0x7fffffff
Time for the ramp
execution
cRampState
out
char
State for the ramp
process, 1--up,
0--keep,2--down
0,1,2
Description
The function of signal ramp ‘BF_Ramp’ can be used for the signal changing with the setting slope such as
the speed accelerate or decelerate and other similar signals. The ramp out signal ‘i32RampMidVal’ can be
changed with the slope as ‘i32RampStep’ and ‘i32RampCount’ setting.
i32RampStep
Ramp
down step
Keep
Ramp
up step
i32RampCount
Figure 3-10: Signal Ramp Diagram
Special Result
If the result is greater than 0x7FFF or smaller than 0x8000, the output overflows.
The signal changing step ‘i32RampStep’ and execution counter ‘i32RampStep’ must be positive values.
Otherwise the ramp output can’t approach the destination value or an unexpected value may appear.
Use Case
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U S E R
M A N U A L
stc_Ramp_t BF_StcRamp;
int32_t
v1, gr;
void main(void)
{
BF_StcRamp.i32RampCount = 10;
BF_StcRamp.i32RampEndVal = 100;
BF_StcRamp.i32RampStep=12;
while(1)
{
/** BF_StcRamp. i32RampMidVal will approach the ‘i32RampEndVal’ */
BF_Ramp(&BF_StcRamp);
}
}
3.3.4
BF_Intg
The function is used for the signal integration.
Prototype
void BF_Intg(int32_t i32In,stc_Integrat_t *IntgStc);
IO Parameters
Structure
Name
I/O
Data Type
\
Range
Description
i32In
In
signed long 0x80000000~0x7fffffff Input value
stc_Integrat_t
i32IntgOut
out
signed long 0x80000000~0x7fffffff Integration output
stc_Integrat_t
i32IntgMax
Inner signed long 0x80000000~0x7fffffff Max value of integration
stc_Integrat_t
i32IntgMin
inner signed int
value
0x80000000~0x7fffffff Min value of integration
Description
The function returns the integrated value of the input signal with anti-windup. When the output of the
integration ‘IntgStc-> i32IntgOut’ exceeds the maximum or minimum limitation, it will stay to the limitation.
For the discrete of the digital input signal, the integration function can be simplified as following:
yn = yn−1 + xn
Special Result
NA
Use Case
stc_Integrat_t BF_StcIntg;
int32_t
v1, gr;
void main(void)
{
BF_StcIntg.i32IntgMax = 0x7fff;
BF_StcIntg.i32IntgMin = 0x8000;
while(1)
{
BF_Intg(v1,&BF_StcIntg);
}
}
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U S E R
3.4
M A N U A L
UDFLIB
All functions in the Universal Digital Filter Library (UDFLIB) are shown below.
Name
Description
UDF_FilterAvg
Moving Average Filter
UDF_AvgFilter_Slide Moving Average Filter with buffer
UDF_Filter1stOrd
3.4.1
1st order low pass filter
UDF_FilterAvg
The function UDF_FilterAvg is used for the moving average filter.
Prototype
int32_t
UDF_FilterAvg(int16_t i16In, stc_FilterAvg_t *pFilter);
IO Parameters
Structure
Name
I/O
Data Type Range
Description
\
i16In
In
signed int
Input value
i32Sum
Inner signed long 0x80000000~0x7fffffff Output for moving average filter
stc_Integrat_t i16Depth
0x8000~0x7fff
signed long 0x80000000~0x7fffffff Filter depth is 2i16Depth
In
Description
This function returns the filter value of input signal value by the moving average filter. The algorithm used in
this filter is shown as following equations.
i32Sum += i16In
out = i32Sum ≫ i16Depth
i32Sum −= out
The related variables can be found in the structure ‘stc_FilterAvg_t’.
Special Result
The filter depth ‘i16Depth’ must be greater than 0.
Use Case
stc_FilterAvg_t
int32_t
UDF_StcFilterAvg;
v1, gr;
void main(void)
{
UDF_StcFilterAvg.i16Depth = 2;
UDF_StcFilterAvg.i32Sum = v1*((1<<UDF_StcFilterAve.i16Depth )-1)
while(1)
{
gr = UDF_FilterAve(v1,&UDF_StcFilterAve);
}
}
3.4.2
UDF_AvgFilter_Slide
The function UDF_ AvgFilter_Slide is used for the moving average filter.
Prototype
int32_t UDF_AvrFilter_Slide(stc_AvrFilterSliding_t *pstcAvrFilterSliding,
int32_t ElementVal);
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U S E R
M A N U A L
IO Parameters
Structure
\
Name
I/O
Data
Type
ElementVal
In
signed int 0x80000000~0x7fffffff Current input
pContainer
Inner signed int 0x80000000~0x7fffffff A container (named as
container array) to hold history
inputs
HowManyDots
Inner signed int Not greater than the How many elements is used for
length of container average filter
array.
stc_AvrFilterSliding_t Sum
Range
Description
Inner signed int 0x80000000~0x7fffffff Sum of all the elements in
container array.
ElementNo
Inner unsigned Not greater than the The element which serial
short
length of container number is ElementNo in
array.
container array will be replaced
by current input value
(ElementVal)
FlagFull
Inner boolean_t
0 or 1
To denote if the container array
is full.
Description
This function returns a filtered value according to the following procedure.
Below figure shows a 5-element average sliding filter.
Input element
Container array
Output result
E1
E1
0
0
0
0
E1
E2
E1
E2
0
0
0
(E1+E2)/2
E3
E1
E2
E3
0
0
(E1+E2+E3)/3
E4
E1
E2
E3
E4
0
(E1+E2+E3+E4)/4
E5
E1
E2
E3
E4
E5
(E1+E2+E3+E4+E5)/5
E6
E6
E2
E3
E4
E5
(E6+E2+E3+E4+E5)/5
E7
E6
E7
E3
E4
E5
(E6+E7+E3+E4+E5)/5
E8
E6
E7
E8
E4
E5
(E6+E7+E8+E4+E5)/5
…
…
…
Figure 3-11: Average Sliding Filter Diagram
Special Result
NA
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U S E R
M A N U A L
Use Case
int32_t ContainerArray[5];
stc_AvgFilterSliding_t
UDF_StcFilterAvg;
int32_t gr, gin = 100;
void main(void)
{
UDF_StcFilterAvg.HowManyDots = sizeof(ContainerArray) / sizeof(int32_t);
UDF_StcFilterAvg.pContainer = &(ContainerArray[0]);
UDF_StcFilterAvg.ElementNo = 0;
Set a breakpoint here. Set a new ‘gin’
value every time program stops at this
breakpoint. Then the output can be
observed by ‘gr’.
UDF_StcFilterAvg.Sum = 0;
UDF_StcFilterAvg.FlagFull = FALSE;
while(1)
{
gr = UDF_AvgFilter_Slide(&UDF_StcFilterAvg, gin);
}
}
3.4.3
UDF_Filter1stOrd
st
The function returns the value by the 1 order low pass filter.
Prototype
void UDF_Filter1stOrd(int32_t i32In, int32_t*i32Out, stc_Filter1stOrd_t *LPFPar);
IO Parameters
Structure
Name
I/O
Data Type
\
i32In
In
signed long 0x80000000~0x7fffffff Input value
\
i32Out
out
signed long 0x80000000~0x7fffffff The output value by the filter
Q12_LPFK
In
signed long 0x80000000~0x7fffffff The coefficient for the filter
stc_Filter1stOrd_t Q20_LowBits
Range
Description
Inner signed long 0x80000000~0x7fffffff The accumulation buffer for
the filter
Description
st
This function outputs the filter value of input signal value by 1 low pass filter. The algorithm used in this filter
is shown as following equations
y n = y n−1 + Coe ∗ (xn − xn−1 )
st
Where: Coe is the coefficient of the 1 order LPF
The related variables can be found in the structure ‘stc_Filter1stOrd_t’.
Special Result
NA
Use Case
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31
U S E R
M A N U A L
stc_Filter1stOrd_t UDF_StcFilter1s;
int32_t
v1, gr;
void main(void)
{
UDF_StcFilter1stASM.Q12_LPFK = Q12(0.004);
UDF_StcFilter1stASM.Q20_LowBits = 0;
while(1)
{
UDF_Filter1stOrd(v1,&v3,&UDF_StcFilter1st);
}
}
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U S E R
3.5
M A N U A L
BMCLIB
The Basic Motor Control Library (BMCLIB) generates the basic functions of motor control algorithm. All
functions in the BMCLIB are shown below.
Name
Description
BMC_ClarkeTrans
Clark Transformation
BMC_ParkTrans
Park Transformation
BMC_ClarkeInvTrans Inverse Clark Transformation
3.5.1
BMC_ParkInvTrans
Inverse Park Transformation
BMC_Pid
PID Controller Functions
BMC_SvmCalc
SVPWM
BMC_Ovm
Over -PWM
BMC_ClarkeTrans
The function BMC_ClarkeTrans returns the value by Clarke coordinates transform.
Prototype
void BMC_ClarkeTrans(stc_UVWAx_t * Input,stc_AlphBetaAx_t * Output);
IO Parameters
Structure
stc_UVWAx_t
Name
I/O
Data Type
Range
Description
i32Q8_U
In
signed long 0x80000000~0x7fffffff U phase value
i32Q8_V
In
signed long 0x80000000~0x7fffffff V phase value
i32Q8_W
In
signed long 0x80000000~0x7fffffff W phase value
stc_AlphBetaAx_t i32Q8_Xa
Out
signed long 0x80000000~0x7fffffff Value on alpha-axis
i32Q8_Xb
Out
signed long 0x80000000~0x7fffffff Value on beta-axis
Description
The Clarke Transformation is used to transform the 3-phase (U/V/W) stationary coordinates to the 2-phase
(alpha-beta) orthogonal coordinates as the following equations shown:
Iα = Iu
Iβ = (Iu + 2Iw)/√3
Special Result
NA
Use Case
stc_UVWAx_t
Motor_3sCurrent;
stc_AlphBetaAx_t Motor_2sCurrent;
void main(void)
{
while(1)
{
BMC_ClarkeTrans(&Motor_3sCurrent,&Motor_2sCurrent);
}
}
3.5.2
BMC_ParkTrans
The function ‘BMC_ParkTrans’ returns the value by Park coordinates transform.
Prototype
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U S E R
M A N U A L
void BMC_ParkTrans(stc_AlphBetaAx_t * Input,stc_dqAx_t * Output);
IO Parameters
Structure
Name
I/O Data Type
Range
Description
stc_AlphBetaAx_t i32Q8_Xa
In
signed long 0x80000000~0x7fffffff Value on alpha-axis
i32Q8_Xb
In
signed long 0x80000000~0x7fffffff Value on beta-axis
i32Q12_Cos
In
signed long 0x80000000~0x7fffffff Sin value of rotor position
i32Q12_Sin
In
signed long 0x80000000~0x7fffffff Cos value of rotor position
i32Q8_d
Out signed long 0x80000000~0x7fffffff Value on D-axis
i32Q8_q
Out signed long 0x80000000~0x7fffffff Value on Q-axis
stc_dqAx_t
component
component
Description
The Park Transformation function ‘BMC_ParkTrans’ transforms values on the 2-phase (α − β) stationary
orthogonal coordinates to the two-phase (d − q) rotational orthogonal coordinates as the following equations
shown:
Id = Iα ∗ Cosθ + Iβ ∗ Sinθ
Iq = −Iα ∗ Sinθ + Iβ ∗ Cosθ
Where: θ is the rotor ele-angle.
Special Result
NA
Use Case
stc_AlphBetaAx_t Motor_2sCurrent;
stc_dqAx_t Motor_2rCurrent;
void main(void)
{
while(1)
{
BMC_ClarkeInvTrans(&Motor_2sCurrent,&Motor_3sCurrent);
}
}
3.5.3
BMC_ClarkeInvTrans
The Inverse Clarke function ‘BMC_ClarkeInvTrans’ returns the value by Inverse Clarke Transform
Prototype
void BMC_ClarkeInvTrans(stc_AlphBetaAx_t * Input,stc_UVWAx_t * Output);
IO Parameters
Structure
Name
I/O
Data Type
stc_AlphBetaAx_t
i32Q8_Xa
In
signed long 0x80000000~0x7fffffff Value on alpha-axis
i32Q8_Xb
In
signed long 0x80000000~0x7fffffff Value on beta-axis
i32Q8_U
Out
signed long 0x80000000~0x7fffffff U phase value
i32Q8_V
Out
signed long 0x80000000~0x7fffffff V phase value
i32Q8_W
Out
signed long 0x80000000~0x7fffffff W phase value
stc_UVWAx_t
Range
Description
Description
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U S E R
M A N U A L
The Inverse Clarke Transformation function ‘BMC_ClarkeInvTrans’ transforms the values from the 2-phase
(α − β) orthogonal coordinates to the 3-phase (U/V/W) coordinates.
Iu = Iα
Iv = (√3 ∗ Iα − Iβ )/2
Iw = −(√3 ∗ Iα + Iβ )/2
Special Result
NA
Use Case
stc_UVWAx_t
Motor_3sCurrent;
stc_AlphBetaAx_t Motor_2sCurrent;
void main(void)
{
while(1)
{
BMC_ClarkeInvTrans(&Motor_2sCurrent,&Motor_3sCurrent);
}
}
3.5.4
BMC_ParkInvTrans
The Inverse Park function ‘BMC_ParkInvTrans’ returns the value by Inverse Park Transform.
Prototype
void BMC_ParkInvTrans(stc_dqAx_t * Input,stc_AlphBetaAx_t * Output);
IO Parameters
Structure
stc_dqAx_t
Name
I/O Data Type
Range
Description
i32Q12_Cos
In
signed long 0x80000000~0x7fffffff Sin value of rotor position
i32Q12_Sin
In
signed long 0x80000000~0x7fffffff Cos value of rotor position
i32Q8_d
In
signed long 0x80000000~0x7fffffff Value on D-axis component
i32Q8_q
In
signed long 0x80000000~0x7fffffff Value on Q-axis
stc_AlphBetaAx_t i32Q8_Xa
In
signed long 0x80000000~0x7fffffff Value on alpha-axis
component
i32Q8_Xb
In
signed long 0x80000000~0x7fffffff Value on beta-axis
Description
The Inverse Park Transformation function ‘BMC_ParkInvTrans transforms values on the 2-phase (d-q)
rotational orthogonal coordinates to the 2-phase (α-β) stationary orthogonal coordinates as the following
equations shown:
Iα = Id ∗ Cosθ − Iq ∗ Sinθ
Iβ = Id ∗ Sinθ + Iq ∗ Cosθ
Where: θ is the rotor ele-angle
Special Result
NA
Use Case
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U S E R
M A N U A L
stc_dqAx_t Motor_2rCurrent;
stc_AlphBetaAx_t Motor_2sCurrent;
void main(void)
{
while(1)
{
BMC_ParkInvTrans(&Motor_2rCurrent,&Motor_2sCurrent);
}
}
3.5.5
BMC_Pid
The PID function ‘BMC_Pid’ returns the value that corrects the error between the input value and the
reference value by the PID regulator.
Prototype
void BMC_Pid(stc_Pid_t *pstcPid, int32_t i32QN_E0);
IO Parameters
Structure Name
\
stc_Pid_t
I/O
Data Type
Range
Description
i32QN_E0
In
signed long 0x80000000~0x7fffffff Error between the current and
reference value
i32Q15_Kp
In
signed long 0x80000000~0x7fffffff Factor of P-regulator
i32Q15_Ki
In
signed long 0x80000000~0x7fffffff Factor of I-regulator
i32Q15_Kd
In
signed long 0x80000000~0x7fffffff Factor of D-regulator
i32QN_OutMax
Inner signed long 0x80000000~0x7fffffff PID output upper limit
i32QN_OutMin
Inner signed long 0x80000000~0x7fffffff PID output lower limit
i32QN_EAbsMax
\
Inner signed long 0x80000000~0x7fffffff Input error limitation
i32QN_E1
Inner signed long 0x80000000~0x7fffffff Error of last time
i32QN_E2
Inner signed long 0x80000000~0x7fffffff Error of the time before last
i32QN_Out1
Inner signed long 0x80000000~0x7fffffff Last PID output
i32QN_Du0
Inner signed long 0x80000000~0x7fffffff Keep decimal part of PID
regulating result to decrease
calculation error
Return
Out
signed long 0x80000000~0x7fffffff The regulated value
Description
The BMC_Pid function calculates the Proportional-Integral (PI) algorithm according to the equations below.
The regulator output is limited and the limit values (i32QN_OutMax and i32QN_OutMin) are set by the user.
Out = Kp ∗ Err + Ki ∫ Err
Where: Err is the error between the current and reference value; Kp is Factor of PI regulator; Ki is the Factor
of PI regulator.
Special Result
NA
Use Case
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U S E R
stc_Pid_t
M A N U A L
CompCtrl_stcIqPidReg;
int32_t
PiEr;
// the error between the current and reference value
int32_t
PiOut; // the output of PID regulator
void main(void)
{
/** Init the PID parameter of CompCtrl_stcIqPidReg before the execution */
while(1)
{
BMC_Pid(&CompCtrl_stcIqPidReg, PiEr);
PiOut = CompCtrl_stcIqPidReg.i32QN_Out1;
}
}
3.5.6
BMC_SvmCalc
The BMC_SvmCalc function realizes the calculation of the space vector pulse width modulation.
Prototype
void BMC_SvmCalc(stc_svm_calc_t *obj);
IO Parameters
Table 3-1: Key Variable Lists for SVPWM Calculation Function
Structure
Name
I/O
Data Type
Range
Description
In
signed long 0x80000000~
0x7fffffff
Alpha component of reference voltage
vector
In
signed long 0x80000000~
0x7fffffff
Beta component of reference voltage
vector
In
signed long 0x80000000~
0x7fffffff
DC-Link voltage
In
signed long 0x80000000~
0x7fffffff
The ratio of the maximum duty and cycle
u16Cylce
In
unsigned int 0x8000~0x7fff Cycle of SVPWM
u16DutyMax
In
unsigned int 0x8000~0x7fff Maximum duty of SVPWM
In
signed long 0x8000~0x7fff Alpha component of compensated voltage
vector
In
signed long 0x8000~0x7fff Beta component of compensated voltage
vector
i32QN_VaIn
i32QN_VbIn
i32QN_VdcIn
i32Q30_DutyK0
stc_
i32QN_VaReal
svm_calc_t
i32QN_VbReal
u16T1
Out unsigned int 0x8000~0x7fff Duration of the first active vector
u16T2
Out unsigned int 0x8000~0x7fff Duration of the second active vector
u16Uon
Out unsigned int 0x8000~0x7fff Comparison value for phase u
u16Von
Out unsigned int 0x8000~0x7fff Comparison value for phase v
u16Won
Out unsigned int 0x8000~0x7fff Comparison value for phase w
u16Sector
Out unsigned int 0x8000~0x7fff The sector number where the real voltage
vector resides in
u16OvFlag
Out unsigned int 0x8000~0x7fff Out of modulation range flag
Description
The SVPWM function ‘BMC_SvmCalc’ can be used to calculate the SVPWM sector and the comparison
value with MFT for each phase.
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U S E R
M A N U A L
The diagram of the BMC_SvmCalc is shown as Figure 3-12, and the description for each variable can be
found in Table 3-1.
u16T1
u16T2
i32QN_VaIn
i32QN_VaIn
i32QN_VaIn
Vα
i32QN_VaIn
i32QN_VaIn
Vα
i32QN_VaIn
BMC_SvmCalc
Vα
u16Uon
u16Von
u16Won
u16Sector
i32QN_VaReal
i32QN_VbReal
u16OvFlag
Figure 3-12: Overview of under-modulation module
Special Result
NA
Use Case
/** initialize the MFT and OCCP peripheral can be found in the sample projection */
void Motor_Process(void)
{
/** other function execution*/
if (Motor_stcRunPar.u8Status == MOTOR_RUNNING)
{
while (Adc_stcSample.u8CompCompleteFlag != 1);
Adc_stcSample.u8CompCompleteFlag = 0;
/** other function execution*/
/** below for the SVPWM calculation */
Motor_stcSvmCalc.i32QN_VaIn = Motor_stcVabRef.i32Q8_Xa;
Motor_stcSvmCalc.i32QN_VbIn = Motor_stcVabRef.i32Q8_Xb;
Motor_stcSvmCalc.i32QN_VdcIn = Motor_stcRunPar.i32Q8_Vbus;
BMC_SvmCalc(&Motor_stcSvmCalc);
Motor_stcSvmGen.i16Aon = Motor_stcSvmCalc.u16Uon;
Motor_stcSvmGen.i16Bon = Motor_stcSvmCalc.u16Von;
Motor_stcSvmGen.i16Con = Motor_stcSvmCalc.u16Won;
Motor_stcSvmGen.i16T1 = Motor_stcSvmCalc.u16T1;
Motor_stcSvmGen.i16T2 = Motor_stcSvmCalc.u16T2;
Motor_stcSvmGen.i8Sector = Motor_stcSvmCalc.u16Sector;
Motor_stcVabReal.i32Q8_Xa = Motor_stcSvmCalc.i32QN_VaReal;
Motor_stcVabReal.i32Q8_Xb = Motor_stcSvmCalc.i32QN_VbReal;
}
}
3.5.7
BMC_Ovm
The BMC_OvmCalc function realizes the over space vector pulse width modulation
Prototype
void BMC_OvmCalc(stc_ovm_calc_t* obj) ;
IO Parameters
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M A N U A L
Table 3-2: Variable Lists for Over-PWM function
Structure
Name
Range
Description
In
signed
long
0x80000000~0x7fffffff
The alpha component of the
reference voltage vector
In
signed
long
0x80000000~0x7fffffff
The beta component of the
reference voltage vector
In
signed
long
0x80000000~0x7fffffff
i32Q16_Mi
Out signed
long
0x80000000~0x7fffffff
i32Q16_MiMax
Out signed
long
0x80000000~0x7fffffff
i32QN_Vdcf
Out signed
long
0x80000000~0x7fffffff
i32QN_Du0
Out signed
long
0x80000000~0x7fffffff
The remained bits of filtered
DC-Link voltage
i32QN_VaOut
Out signed
long
0x80000000~0x7fffffff
The alpha component of the
compensated voltage vector
i32QN_VbOut
Out signed
long
0x80000000~0x7fffffff
The beta component of the
compensated voltage vector
i32QN_VaIn
i32QN_VbIn
i32QN_VdcIn
stc_ovm_calc_t
I/O Data Type
The sampled DC-Link voltage
The modulation index
The maximal modulation index
allowed
The filtered DC-link voltage
Description
The Over-PWM function ‘BMC_OvmCalc’ can be used to calculate the SVPWM sector and the comparison
value with MFT for each phase.
The diagram of the BMC_OvmCalc is shown as Figure 3-13 and the description for each variable can be
found in Table 3-2
Over-modulation
i32QN_VaOut
i32QN_VbIn
BMC_OvmCalc
i32QN_VdcIn
Vdc
i32QN_VbOut
i32QN_Vdcf
i32Q16_Mi
Figure 3-13: Overview of New Over-PWM Module
Special Result
NA
Use Case
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U S E R
M A N U A L
/** init over-SVPWM at motor start stage when the motor is started */
void Motor_Start(uint16_t u16SampleFreq)
{
stc_ovm_cfg_t OvmCfg;
OvmCfg.i32Q15_C0
= Q15(0.01);
OvmCfg.i32Q16_MiMax = 65000;
OvmCfg.u8OvmEn
= 0;
BMC_OvmInit(&OvmCfg ,&Motor_stcOvmCalc);
}
void Motor_Process(void)
{
/** other function execution*/
if (Motor_stcRunPar.u8Status == MOTOR_RUNNING)
{
while (Adc_stcSample.u8CompCompleteFlag != 1);
Adc_stcSample.u8CompCompleteFlag = 0;
/** other function execution*/
/** below for the Over-PWM calculation */
Motor_stcOvmCalc.i32QN_VaIn = Motor_stcVabRef.i32Q8_Xa;
Motor_stcOvmCalc.i32QN_VbIn = Motor_stcVabRef.i32Q8_Xb;
Motor_stcOvmCalc.i32QN_VdcIn= Q30mpy(Motor_stcRunPar.i32Q8_Vbus,0x3F5C28F5);
BMC_OvmCalc(&Motor_stcOvmCalc);
Motor_stcVabRef.i32Q8_Xa = Motor_stcOvmCalc.i32QN_VaOut;
Motor_stcVabRef.i32Q8_Xb = Motor_stcOvmCalc.i32QN_VbOut;
}
}
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U S E R
3.6
M A N U A L
AMCLIB
Advanced Motor Control Library (AMCLIB) generates the advanced functions of motor control algorithm. All
functions in the AMCLIB are shown below.
3.6.1
Name
Description
AMC_PllEstimate
Sensor-less Angle Observer
AMC_AvgSpdCalc
Speed Calculator
AMC_Hall
HALL
AMC_GetDeltaAngleByEncoder_A
QPRC
AMC_PllEstimate
The AMC_PllEstimate function returns the values for the rotor position and speed by the sensor-less angle
observer.
Prototype
void AMC_PllEstimate(stc_ebemf_pll_t *pstcEstimPar,
stc_AlphBetaAx_t *pstc2sVol,
stc_AlphBetaAx_t *pstc2sCurrent);
IO Parameters
Note: there are so many variables used for the ‘AMC_PllEstimate’ function. Most of the inner used variables
are ignored in this table. The description in detail can be found in the H files ‘AMCLIB.h’.
Table 3-3: Variable Lists for Rotor Observer Function
Structure
Name
I/O
Data
Type
Range
Description
i32Q8_Res
In
signed
long
0~0x7fffffff
The coefficient for phase
resistance of motor
i32Q8_Lddt
In
signed
long
0~0x7fffffff
The coefficient for the
d-axis inductance of motor
i32Q12_LdLq
In
signed
long
0~0x7fffffff
The coefficient for the
D-axis and
Q-axis
inductance of motor
i32Q12_RecipKe
In
signed
long
0~0x7fffffff
Reciprocal of the BEMF of
motor
stc_AlphBetaAx_t i32Q8_Xa
In
signed
long
0x80000000~0x7fffffff Value on alpha-axis
i32Q8_Xb
In
signed
long
0x80000000~0x7fffffff Value on beta-axis
i32Q22_ElecAngle
Out signed
long
0~2
i32Q8_EstimWmHz
Out signed
long
0x80000000~0x7fffffff Real-time rotor speed
i32Q8_EstimWmHzf
Out signed
long
0x80000000~0x7fffffff Filtered rotor speed
stc_ebemf_pll_t
stc_ebemf_pll_t
22
22
Rotor angle, 2 =360deg
Description
The sensor-less angle observer function ‘AMC_PllEstimate ‘ can be used to calculate the rotor speed and
angle by the PLL estimator.
The diagram of the AMC_PllEstimate is shown as Figure 3-14 and the description for each variable can be
found in Table 3-3
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U S E R
M A N U A L
Rotor Observer
Motor parameter
pstc2sVol ->i32Q8_Xa
i32Q22_ElecAngle
AMC_PllEstimate
pstc2sVol
Vdc ->i32Q8_Xb
i32Q8_EstimWmHz
i32Q8_EstimWmHzf
pstc2sCurrent ->i32Q8_Xa
pstc2sCurrent l ->i32Q8_Xa
Figure 3-14: Overview of AMC_PllEstimate
Special Result
NA
Use Case
/* Global variable definitions*/
stc_AlphBetaAx_t
Motor_stcVabReal;
stc_AlphBetaAx_t
Motor_stcIabSensed;
stc_ebemf_pll_t
Motor_stcPll;
/** init over-SVPWM at motor start stage when the motor is started */
void Motor_Start(uint16_t u16SampleFreq)
{
AMC_PllEstimateInit(u16SampleFreq);
}
void Motor_Process(void)
{
/** other function execution*/
if (Motor_stcRunPar.u8Status == MOTOR_RUNNING)
{
while (Adc_stcSample.u8CompCompleteFlag != 1);
Adc_stcSample.u8CompCompleteFlag = 0;
/** other function execution*/
/** below for the rotor angle observer */
AMC_PllEstimate(&Motor_stcPll, &Motor_stcVabReal, &Motor_stcIabSensed);
}
}
3.6.2
AMC_AvgSpdCalc
The AMC_AvgSpdCalc function returns the rotor average speed.
Prototype
void AMC_AvgSpdCalc(stc_avergae_speed_t *pstcAver, int32_t i32Q22_ElecAngle);
IO Parameters
Structure
stc_ebemf_pll_t
stc_avergae_speed
Name
I/O
Data
Type
Range
22
Description
i32Q22_ElecAngle
In
Signed 0~2
long
The
real-time
angle
rotor
i32Q8_AvWmHz
Out
signed 0x80000000~0x7fffffff The average speed in
long
each ele-cycle
Note: The inner used variables are ignored in this table. The description in detail can be found in the H files
‘AMCLIB.h’
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M A N U A L
Description
The rotor speed calculation function ‘AMC_AvgSpdCalc’ returns the average speed of rotor in each
ele-cycle.
The diagram of the AMC_AvgSpdCalc is shown as Figure 3-14 and the description for each variable can be
found in Table 3-3
Speed Calculator
i32Q22_ElecAngle
i32Q8_AvWmHz
AMC_AvgSpdCalc
Figure 3-15: Overview of AMC_AvgSpdCalc
Special Result
NA
Use Case
/* Global variable definitions*/
stc_avergae_speed_t
Motor_stcAverSpd;
int32_t Comp_f32PolePairs = 6 // the pole pairs of rotor
uint8_t
Comp_u8AvrThetaCalcFreq = 2;
// 1->one electrical circle,
// 2->two electrical circle
/** init relevant variables at motor start stage when the motor is started */
void Motor_Start(uint16_t u16SampleFreq)
{
AMC_AvgSpdInit(&Motor_stcAverSpd,
Q12(u16SampleFreq/4096.0f/Comp_f32PolePairs),
Comp_u8AvrThetaCalcFreq);
}
void Motor_Process(void)
{
/** other function execution*/
if (Motor_stcRunPar.u8Status == MOTOR_RUNNING)
{
while (Adc_stcSample.u8CompCompleteFlag != 1);
Adc_stcSample.u8CompCompleteFlag = 0;
/** other function execution*/
/** below for the rotor angle observer */
AMC_AvgSpdCalc(&Motor_stcAverSpd, Motor_stcPll.i32Q22_ElecAngle);
}
}
3.6.3
AMC_GetDeltaAngleByEncoder_A
This function is to calculate variation of the rotor position by QPRC unit.
Three types of variation can be selected by user: angle value (degree), angle value (rad), and QPRC
counter value. Before applying this function, the following QPRC mode should be configured:
1.
QPRC position counting mode should be configured to work mode 2 (Phase difference count mode).
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M A N U A L
2.
QPRC revolution counting should be configured to work mode 2 (The revolution counter can count up or
down with an output value of position counter only).
3.
ZIN signal should be disabled.
4.
QMPR register (QPRC Maximum Position Register) should be configured to 4 times of the encoder
resolution.
Prototype
int32_t AMC_GetDeltaAngleByEncoder_A(uint8_t WhichQPRC,
int32_t *pLastPosiCnt,
int32_t Val_QMPR);
IO Parameters
Structure
Name
I/O
Data Type
\
WhichQPRC
In
unsigned char
\
pLastPosiCnt
In
Pointer of signed
int
\
Val_QMPR
In
signed int
Range
0x00~0xff
\
Description
Which QPRC is to be operated
Point to the variable address of
QPRC last position counter.
0x80000000~0x7fffffff The maximum position counter
for the rotor running a cycle.
Description
Below figure shows how QPRC position counter works. For the detailed description, please refer to the
hardware manual.
Below figure shows how QPRC revolution counter works. For the detailed description, please refer to the
hardware manual.
Below figure shows the QPRC configuration details.
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Figure 3-16: QPRC Configuration Example
Special Result
NA
Use Case
NA
3.6.4
AMC_Hall
The HALL function returns the rotor angle and speed value in the PWC interrupt ISR generated by the hall
input signal.
Prototype
void AMC_Hall(void);
IO Parameters
Note: there are so many variables used for the HALL function, most of the inner used variables are ignored
in this table. The detailed description can be found in the H files ‘AMCLIB.h’
Structure
Name
stc_HallCapture_t cIsrEn
I/O
Data Type
Range
Description
In
char
u8AStatu
In
unsigned char
u8BStatu
In
unsigned char 0 or 1
Status on the Hall B Port
u8CStatu
In
unsigned char 0 or 1
Status on the Hall B Port
u8AllStatus
Out
unsigned char
0~7
Hall Status
u8StatusNumber
Out
unsigned char
0~7
Hall status number
cStatuRunFault
Out
char
TRUE/FALSE Hall status fault flag
cHallSearchComplete
Out
char
TRUE/FALSE Hall search function doing
over flags
Out
char
TRUE/FALSE Hall status exception
cStatuError
stc_PosiCalHall_t u8AllStatus
TRUE/FALSE The hall interrupt enable
0 or 1
Status on the Hall A Port
Out
unsigned char
0~7
Hall all status
u8StatuFaultRecoverCnt
Out
unsigned char
0~255
Check
recover
i32Q22_CorrectAngle
Out
signed long
0~2
u32APulseWidth
Out
signed long
0~0x7fffffff
record the A hall pulse count
i32Q4_AHallSpd
Out
signed long
0~0x7fffffff
Q4 format A hall speed
i32Q4_SpdKts
inner signed long
0~0x7fffffff
Q4 format speed calculation
factor
cAPulseOver
Out
TRUE/FALSE The pulse count over flow
flag
stc_SpdCalHall_t
September 19, 2014, FM3_AN706-00091-1v0-E
char
22
status
weather
Hall search angle
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Description
The Hall function ‘AMC_Hall’ returns the rotor correct angle and speed by the PWC timer function (pulse
width measurement function) through the hall signal. The output of this function is as the equation shows.
𝜔𝑟𝑎𝑑 = 𝐾𝑡/𝑇𝐻
𝜃𝑐𝑜𝑟𝑟𝑒𝑐𝑡 = 𝜃ℎ𝑎𝑙𝑙
Where:
Kt is coefficient for speed calculation,
TH is the time of half Hall cycle
Figure 3-17 and Figure 3-18 can be taken for your reference for the Hall module. There are mainly three
variables for the rotor angle and speed calculation shown as Figure 3-17. When the edge appears on any of
the hall signal, the PWC interrupt is entered and the Hall function ‘AMC_Hall’ is called in the interrupt ISR.
AMC_Hall
𝐻𝑎
Hall statues judge
Posi_stcCalHall.i32
Q22_CorrectAngle
𝐻𝑏
Rotor correct angle
𝐻𝑐
Rotor real-time speed
Posi_stcCalHall.
u8AllStatus
Spd_stcCalHall.u
32APulseWidth
Figure 3-17: Hall Module Diagram
Example: 010
110
6
5
4
3
2
1
101
: C statue<<2 | B statue<<1 | A
statue
100
011
011
010
001
001
PWC ISR trigger by Hall
𝜃𝑐𝑜𝑟𝑟𝑒𝑐𝑡 = 𝜃ℎ𝑎𝑙𝑙
0 degree --------------> 360 degree
𝜔𝑟𝑎𝑑 = 𝐾𝑡/𝑇𝐻
𝜃𝑟𝑜𝑡𝑜𝑟 = 𝜃𝑐𝑜𝑟𝑟𝑒𝑐𝑡 + 𝜔𝑟𝑎𝑑 × 𝑡
Where: Kt is coefficient for speed calculation, 𝑇𝐻 is the time
of the half cycle of Hall cycle
46
: 6 positions was known by
hall interrupt
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Figure 3-18: Correct Angle and Rotor Speed Generated by Hall Edge Interrupt
Special Result
NA
Use Case
/** initialize the port and key variable before the hall function is used */
/*
1. initialize the hall port and PWC peripheral at the power stage, function shown as following:
AMC_HallInit()
2. initialize the key variables at the motor start initial, function shown as following
Init_MMCL()
*/
__root void ISR_Base_Timer(void)
{
AMC_Hall();
//the rotor angle and speed will output after the function execution
}
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4. Reference Documents
[1]. Cortex-M3 r2p0 Technical Reference Manual, 2008
[2]. ARMv7-M Architecture Application Level Reference Manual, 2008
[3]. MB9BF500A-DS706-00021-1v0-E (MB9B500 Data Sheet)
[4]. MB9Bxxx-MN706-00002-1v0-E (MB9Axxx/MB9Bxxx Series Peripheral Manual)
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5. Additional Information
For more Information on Spansion semiconductor products, visit the following websites:
English version address:
http://www.spansion.com/Products/microcontrollers/Pages/default.aspx
Chinese version address:
http://www.spansion.com/CN/Products/microcontrollers/Pages/index.aspx
Please contact your local support team for any technical question
America: [email protected]
China:
[email protected]
Europe: [email protected]
Japan: [email protected]
Other: http://www.spansion.com/Support/SES/Pages/Ask-Spansion.aspx
September 19, 2014, FM3_AN706-00091-1v0-E
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6. Appendix
6.1
Data Type Description
The data types used in the MMCL are defined in the following table.
Name
6.2
Description
boolean_t
basic boolean type
int8_t
signed 8-bit integer type
unt8_t
unsigned 8-bit integer type
char_t
signed 8-bit integer type
int16_t
signed 16-bit integer type
uint16_t
unsigned 16-bit integer type
int32_t
signed 32-bit integer type
uint32_t
unsigned 32-bit integer type
Data Format Description
There are many Qn formats in the motor control field. The typical data formats of common used variables
are shown as following table.
Type
Format
Description
8
Voltage
Q8
2 =1V
Current
Q8
2 =1A
Rotor Angle
Q22
2
Rotor Speed
Q8
8
22
8
=360
o
8
2 =1rpm or 2 =1Hz
The other data format used in the sample project can take this table for the reference.
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AN706-00091-1v0-E
Spansion Controller Manual
FM3 Family
32-BIT MICROCONTROLLER
MATH AND MOTOR CONTROL LIBRARY
September 2014 Rev. 1.0
Published:
Edited:
Spansion Inc.
Marketing Communications Dept.
September 19, 2014, FM3_AN706-00091-1v0-E
51
U S E R
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Colophon
The products described in this document are designed, developed and manufactured as contemplated for general use,
including without limitation, ordinary industrial use, general office use, personal use, and household use, but are not
designed, developed and manufactured as contemplated (1) for any use that includes fatal risks or dangers that, unless
extremely high safety is secured, could have a serious effect to the public, and could lead directly to death, personal injury,
severe physical damage or other loss (i.e., nuclear reaction control in nuclear facility, aircraft flight control, air traffic control,
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chance of failure is intolerable (i.e., submersible repeater and artificial satellite). Please note that Spansion will not be liable
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The contents of this document are subject to change without notice. This document may contain information on a Spansion
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Copyright © 2013 Spansion Inc. All rights reserved. Spansion , the Spansion logo, MirrorBit , MirrorBit Eclipse ,
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FM3_AN706-00091-1v0-E, September 19, 2014