interrupt void mainISR(void)
{
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
if(FW_getFlag_enableFw(fwHandle) == true)
{
FW_incCounter(fwHandle);
if(FW_getCounter(fwHandle) > FW_getNumIsrTicksPerFwTick(fwHandle))
{
_iq refValue;
_iq fbackValue;
_iq output;
FW_clearCounter(fwHandle);
refValue = gMotorVars.VsRef;
fbackValue = gMotorVars.Vs;
FW_run(fwHandle, refValue, fbackValue, &output);
CTRL_setId_ref_pu(ctrlHandle, output);
gMotorVars.IdRef_A = _IQmpy(CTRL_getId_ref_pu(ctrlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
}
}
else
{
CTRL_setId_ref_pu(ctrlHandle, _IQmpy(gMotorVars.IdRef_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));
}
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
uint32_t timer0Cnt;
uint32_t timer1Cnt;
// read the timer 1 value and update the CPU usage module
timer1Cnt = HAL_readTimerCnt(halHandle,1);
CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
// read the timer 0 value and update the FEM
timer0Cnt = HAL_readTimerCnt(halHandle,0);
FEM_updateCnts(femHandle,timer0Cnt);
FEM_run(femHandle);
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// setup the controller
CTRL_setup(ctrlHandle);
// read the timer 1 value and update the CPU usage module
timer1Cnt = HAL_readTimerCnt(halHandle,1);
CPU_USAGE_updateCnts(cpu_usageHandle,timer1Cnt);
// run the CPU usage module
CPU_USAGE_run(cpu_usageHandle);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
static uint16_t stCnt = 0;
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// Run the SpinTAC Components
if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
ST_runVelId(stHandle, ctrlHandle);
stCnt = 1;
}
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// setup the controller
CTRL_setup(ctrlHandle);
if(CTRL_getMotorType(ctrlHandle) == MOTOR_Type_Pm)
{
// reset Ls Q format to a higher value when Ls identification starts
CTRL_resetLs_qFmt(ctrlHandle, gMax_Ls_qFmt);
}
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
static uint16_t stCnt = 0;
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// Run the SpinTAC Components
if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
ST_runVelPlanTick(stHandle);
ST_runVelPlan(stHandle, ctrlHandle);
ST_runVelMove(stHandle, ctrlHandle);
ST_runVelCtl(stHandle, ctrlHandle);
stCnt = 1;
}
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// Check if speed reference signal is active
// If more than 2000 service routine cycles pass without signal, disable motor
if (gSpeedRef_Ok++ > 2000)
{
gSpeedRef_duty = _IQ(0);
gMotorVars.Flag_Run_Identify = 0;
gSpeedRef_Ok = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
_iq angle_pu = 0;
_iq speed_pu;
_iq speed_ref_pu = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_spd);
_iq speed_outMax_pu = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_spdMax);
MATH_vec2 Iab_pu;
MATH_vec2 Vab_pu;
MATH_vec2 Vdq_out_pu;
MATH_vec2 Vab_out_pu;
MATH_vec2 phasor;
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
{
uint_least16_t count_isr = CTRL_getCount_isr(ctrlHandle);
uint_least16_t numIsrTicksPerCtrlTick = CTRL_getNumIsrTicksPerCtrlTick(ctrlHandle);
// if needed, run the controller
if(count_isr >= numIsrTicksPerCtrlTick)
{
CTRL_State_e ctrlState = CTRL_getState(ctrlHandle);
bool flag_enableSpeedCtrl;
bool flag_enableCurrentCtrl;
MATH_vec2 Idq_offset_pu;
MATH_vec2 Vdq_offset_pu;
// reset the isr count
CTRL_resetCounter_isr(ctrlHandle);
// run Clarke transform on current
CLARKE_run(clarkeHandle_I,&gAdcData.I,&Iab_pu);
// run Clarke transform on voltage
CLARKE_run(clarkeHandle_V,&gAdcData.V,&Vab_pu);
{
// run the estimator
EST_run(estHandle, \
&Iab_pu, \
&Vab_pu, \
gAdcData.dcBus, \
speed_ref_pu);
flag_enableSpeedCtrl = EST_doSpeedCtrl(estHandle);
flag_enableCurrentCtrl = EST_doCurrentCtrl(estHandle);
}
// generate the motor electrical angle
angle_pu = EST_getAngle_pu(estHandle);
speed_pu = EST_getFm_pu(estHandle);
// compute the sin/cos phasor
CTRL_computePhasor(angle_pu,&phasor);
// set the phasor in the Park transform
PARK_setPhasor(parkHandle,&phasor);
// run the Park transform
PARK_run(parkHandle,&Iab_pu,CTRL_getIdq_in_addr(ctrlHandle));
// set the offset based on the Id trajectory
Idq_offset_pu.value[0] = TRAJ_getIntValue(((CTRL_Obj *)ctrlHandle)->trajHandle_Id);
Idq_offset_pu.value[1] = _IQ(0.0);
Vdq_offset_pu.value[0] = 0;
Vdq_offset_pu.value[1] = 0;
CTRL_setup_user(ctrlHandle,
angle_pu,
speed_ref_pu,
speed_pu,
speed_outMax_pu,
&Idq_offset_pu,
&Vdq_offset_pu,
flag_enableSpeedCtrl,
flag_enableCurrentCtrl);
// run the appropriate controller
if(ctrlState == CTRL_State_OnLine)
{
// run the online controller
CTRL_runPiOnly(ctrlHandle); //,&gAdcData,&gPwmData);
// get the controller output
CTRL_getVdq_out_pu(ctrlHandle,&Vdq_out_pu);
// set the phasor in the inverse Park transform
IPARK_setPhasor(iparkHandle,&phasor);
// run the inverse Park module
IPARK_run(iparkHandle,&Vdq_out_pu,&Vab_out_pu);
// run the space Vector Generator (SVGEN) module
SVGEN_run(svgenHandle,&Vab_out_pu,&(gPwmData.Tabc));
}
else if(ctrlState == CTRL_State_OffLine)
{
// run the offline controller
CTRL_runOffLine(ctrlHandle,halHandle,&gAdcData,&gPwmData);
}
}
else
{
// increment the isr count
CTRL_incrCounter_isr(ctrlHandle);
}
}
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
static uint16_t stCnt = 0;
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// run the current reconstruction algorithm
SVGENCURRENT_RunRegenCurrent(svgencurrentHandle, (MATH_vec3 *)(gAdcData.I.value));
// Run the SpinTAC Components
if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
ST_runVelMove(stHandle, ctrlHandle);
ST_runVelCtl(stHandle, ctrlHandle);
stCnt = 1;
}
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
// run the current ignore algorithm
{
uint16_t pwmValue_1 = HAL_readPwmCmpA(halHandle,PWM_Number_1);
uint16_t pwmValue_2 = HAL_readPwmCmpA(halHandle,PWM_Number_2);
uint16_t pwmValue_3 = HAL_readPwmCmpA(halHandle,PWM_Number_3);
// run the current ignore algorithm
SVGENCURRENT_RunIgnoreShunt(svgencurrentHandle,pwmValue_1,pwmValue_2,pwmValue_3);
}
// Set trigger point in the middle of the low side pulse
HAL_setTrigger(halHandle,SVGENCURRENT_getMinWidth(svgencurrentHandle));
if(FW_getFlag_enableFw(fwHandle) == true)
{
FW_incCounter(fwHandle);
if(FW_getCounter(fwHandle) > FW_getNumIsrTicksPerFwTick(fwHandle))
{
_iq refValue;
_iq fbackValue;
_iq output;
FW_clearCounter(fwHandle);
refValue = gMotorVars.VsRef;
fbackValue = gMotorVars.Vs;
FW_run(fwHandle, refValue, fbackValue, &output);
CTRL_setId_ref_pu(ctrlHandle, output);
gMotorVars.IdRef_A = _IQmpy(CTRL_getId_ref_pu(ctrlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
}
}
else
{
CTRL_setId_ref_pu(ctrlHandle, _IQmpy(gMotorVars.IdRef_A, _IQ(1.0/USER_IQ_FULL_SCALE_CURRENT_A)));
}
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
interrupt void mainISR(void)
{
static uint16_t stCnt = 0;
// toggle status LED
if(gLEDcnt++ > (uint_least32_t)(USER_ISR_FREQ_Hz / LED_BLINK_FREQ_Hz))
{
HAL_toggleLed(halHandle,(GPIO_Number_e)HAL_Gpio_LED2);
gLEDcnt = 0;
}
// acknowledge the ADC interrupt
HAL_acqAdcInt(halHandle,ADC_IntNumber_1);
// convert the ADC data
HAL_readAdcData(halHandle,&gAdcData);
// Run the SpinTAC Components
if(stCnt++ >= ISR_TICKS_PER_SPINTAC_TICK) {
ST_runVelCtl(stHandle, ctrlHandle);
stCnt = 1;
}
// run the controller
CTRL_run(ctrlHandle,halHandle,&gAdcData,&gPwmData);
// write the PWM compare values
HAL_writePwmData(halHandle,&gPwmData);
if (!(SpeedRef_krpm_previous == gMotorVars.SpeedRef_krpm)) {
Graph_Flag_Enable_update = true;
Graph_Counter = 0;
SpeedRef_krpm_previous = gMotorVars.SpeedRef_krpm;
}
gMotorVars.Iq_A = _IQmpy(CTRL_getIq_in_pu(ctrlHandle), _IQ(USER_IQ_FULL_SCALE_CURRENT_A));
// store graph value
if(Graph_Flag_Enable_update) {
if(Graph_Counter >= GRAPH_SIZE) {
Graph_Flag_Enable_update = false;
}
else {
if(Graph_Tick_Counter == 0) {
Graph_Data[Graph_Counter] = gMotorVars.Speed_krpm;
Graph_Data2[Graph_Counter] = gMotorVars.Iq_A;
Graph_Counter++;
Graph_Tick_Counter = Graph_Tick_Counter_Value - 1;
}
else {
Graph_Tick_Counter--;
}
}
}
// setup the controller
CTRL_setup(ctrlHandle);
return;
} // end of mainISR() function
