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user.c
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user.c
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//#############################################################################
//
// FILE: user.c
//
// TITLE: C28x InstaSPIN function for setting initialization data for the
// CTRL, HAL, and EST modules (floating point)
//
//#############################################################################
// $Copyright:
// Copyright (C) 2017-2023 Texas Instruments Incorporated - http://www.ti.com/
// 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 Texas Instruments Incorporated 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
// OWNER 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.
// $
//#############################################################################
#include "user_motor_1.h"
#include "user_motor_2.h"
#include "hal.h"
#ifdef __TMS320C28XX_CLA__
#pragma CODE_SECTION(USER_setParams,"Cla1Prog2");
#endif
//*****************************************************************************
//
// USER_setParams
//
//*****************************************************************************
void USER_setDualMotorParams(USER_Params *pUserParams,
const HAL_MotorNum_e motorNum)
{
if(motorNum == HAL_MTR_1)
{
pUserParams->dcBus_nominal_V = USER_M1_NOMINAL_DC_BUS_VOLTAGE_V;
pUserParams->numIsrTicksPerCtrlTick = 1;
pUserParams->numIsrTicksPerEstTick = 1;
pUserParams->numIsrTicksPerTrajTick = 1;
pUserParams->numCtrlTicksPerCurrentTick = 1;
pUserParams->numCtrlTicksPerSpeedTick = USER_M1_NUM_ISR_TICKS_PER_SPEED_TICK;
pUserParams->numCurrentSensors = USER_M1_NUM_CURRENT_SENSORS;
pUserParams->numVoltageSensors = USER_M1_NUM_VOLTAGE_SENSORS;
pUserParams->systemFreq_MHz = USER_SYSTEM_FREQ_MHz;
pUserParams->pwmPeriod_usec = USER_M1_PWM_PERIOD_usec;
pUserParams->voltage_sf = USER_M1_VOLTAGE_SF;
pUserParams->current_sf = USER_M1_CURRENT_SF;
pUserParams->dcBusPole_rps = USER_M1_DCBUS_POLE_rps;
pUserParams->offsetPole_rps = USER_M1_OFFSET_POLE_rps;
pUserParams->speedPole_rps = USER_M1_SPEED_POLE_rps;
pUserParams->voltageFilterPole_rps = USER_M1_VOLTAGE_FILTER_POLE_rps;
pUserParams->maxVsMag_pu = USER_M1_MAX_VS_MAG_PU;
pUserParams->motor_type = USER_M1_MOTOR_TYPE;
pUserParams->motor_numPolePairs = USER_M1_MOTOR_NUM_POLE_PAIRS;
pUserParams->motor_numEncSlots = USER_M1_MOTOR_NUM_ENC_SLOTS;
pUserParams->motor_ratedFlux_Wb = USER_M1_MOTOR_RATED_FLUX_VpHz / MATH_TWO_PI;
pUserParams->motor_Rr_d_Ohm = USER_M1_MOTOR_Rr_Ohm;
pUserParams->motor_Rr_q_Ohm = USER_M1_MOTOR_Rr_Ohm;
pUserParams->motor_Rs_a_Ohm = USER_M1_MOTOR_Rs_Ohm;
pUserParams->motor_Rs_b_Ohm = USER_M1_MOTOR_Rs_Ohm;
pUserParams->motor_Rs_d_Ohm = USER_M1_MOTOR_Rs_Ohm;
pUserParams->motor_Rs_q_Ohm = USER_M1_MOTOR_Rs_Ohm;
pUserParams->motor_Ls_d_H = USER_M1_MOTOR_Ls_d_H;
pUserParams->motor_Ls_q_H = USER_M1_MOTOR_Ls_q_H;
pUserParams->maxCurrent_A = USER_M1_MOTOR_MAX_CURRENT_A;
pUserParams->IdRated_A = USER_M1_MOTOR_MAGNETIZING_CURRENT_A;
pUserParams->Vd_sf = USER_M1_VD_SF;
pUserParams->maxVsMag_V = USER_M1_MOTOR_RATED_VOLTAGE_V;
if((USER_M1_BYPASS_MOTOR_ID == 1) && (pUserParams->flag_bypassMotorId == true))
{
pUserParams->BWc_rps = MATH_TWO_PI * (float32_t)400.0;
pUserParams->BWdelta = (float32_t)10.0;
pUserParams->Kctrl_Wb_p_kgm2 = (float32_t)3.0 *
pUserParams->motor_numPolePairs *
pUserParams->motor_ratedFlux_Wb /
(float32_t) (2.0 * USER_M1_MOTOR_INERTIA_Kgm2);
}
else
{
pUserParams->flag_bypassMotorId = false;
pUserParams->BWc_rps = MATH_TWO_PI * (float32_t)100.0;
pUserParams->BWdelta = (float32_t)10.0;
pUserParams->Kctrl_Wb_p_kgm2 = (float32_t)3.0 *
pUserParams->motor_numPolePairs *
(float32_t)(0.001) /
(float32_t)(2.0 * 0.000001); // 3.0 * pUserParams->motor_numPolePairs * 0.1 / (2.0 * 0.00001);
}
pUserParams->angleDelayed_sf_sec = (float32_t)0.5 * USER_M1_CTRL_PERIOD_sec;
pUserParams->fluxExcFreq_Hz = USER_M1_MOTOR_FLUX_EXC_FREQ_Hz;
pUserParams->ctrlWaitTime[CTRL_STATE_ERROR] = 0;
pUserParams->ctrlWaitTime[CTRL_STATE_IDLE] = 0;
pUserParams->ctrlWaitTime[CTRL_STATE_ONLINE] = 0;
pUserParams->estWaitTime[EST_STATE_ERROR] = 0;
pUserParams->estWaitTime[EST_STATE_IDLE] = 0;
pUserParams->estWaitTime[EST_STATE_ROVERL] = (int_least32_t)(5.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_RS] = 0;
pUserParams->estWaitTime[EST_STATE_RAMPUP] = (int_least32_t)((USER_M1_MOTOR_FLUX_EXC_FREQ_Hz / USER_M1_MAX_ACCEL_Hzps + (float32_t)1.0) * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_CONSTSPEED] = (int_least32_t)(1.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_IDRATED] = (int_least32_t)(20.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_RATEDFLUX_OL] = (int_least32_t)(1.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_RATEDFLUX] = 0;
pUserParams->estWaitTime[EST_STATE_RAMPDOWN] = (int_least32_t)(0.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_LOCKROTOR] = 0;
pUserParams->estWaitTime[EST_STATE_LS] = 0;
pUserParams->estWaitTime[EST_STATE_RR] = (int_least32_t)(5.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_MOTORIDENTIFIED] = 0;
pUserParams->estWaitTime[EST_STATE_ONLINE] = 0;
pUserParams->FluxWaitTime[EST_FLUX_STATE_ERROR] = 0;
pUserParams->FluxWaitTime[EST_FLUX_STATE_IDLE] = 0;
pUserParams->FluxWaitTime[EST_FLUX_STATE_CL1] = (int_least32_t)(10.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->FluxWaitTime[EST_FLUX_STATE_CL2] = (int_least32_t)(0.2 * USER_M1_ISR_FREQ_Hz);
pUserParams->FluxWaitTime[EST_FLUX_STATE_FINE] = (int_least32_t)(20.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->FluxWaitTime[EST_FLUX_STATE_DONE] = 0;
pUserParams->LsWaitTime[EST_LS_STATE_ERROR] = 0;
pUserParams->LsWaitTime[EST_LS_STATE_IDLE] = 0;
pUserParams->LsWaitTime[EST_LS_STATE_RAMPUP] = (int_least32_t)(10.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->LsWaitTime[EST_LS_STATE_COARSE] = (int_least32_t)(30.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->LsWaitTime[EST_LS_STATE_FINE] = (int_least32_t)(30.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->LsWaitTime[EST_LS_STATE_DONE] = 0;
pUserParams->RrWaitTime[EST_RR_STATE_ERROR] = 0;
pUserParams->RrWaitTime[EST_RR_STATE_IDLE] = 0;
pUserParams->RrWaitTime[EST_RR_STATE_RAMPUP] = (int_least32_t)(1.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->RrWaitTime[EST_RR_STATE_COARSE] = (int_least32_t)(10.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->RrWaitTime[EST_RR_STATE_FINE] = (int_least32_t)(30.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->RrWaitTime[EST_RR_STATE_DONE] = 0;
pUserParams->RsWaitTime[EST_RS_STATE_ERROR] = 0;
pUserParams->RsWaitTime[EST_RS_STATE_IDLE] = 0;
pUserParams->RsWaitTime[EST_RS_STATE_RAMPUP] = (int_least32_t)(1.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->RsWaitTime[EST_RS_STATE_COARSE] = (int_least32_t)(2.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->RsWaitTime[EST_RS_STATE_FINE] = (int_least32_t)(10.0 * USER_M1_ISR_FREQ_Hz);
pUserParams->RsWaitTime[EST_RS_STATE_DONE] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_ERROR] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_IDLE] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_EST] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_ONLINE] = 0;
pUserParams->ctrlFreq_Hz = USER_M1_ISR_FREQ_Hz;
pUserParams->estFreq_Hz = USER_M1_ISR_FREQ_Hz;
pUserParams->RoverL_excFreq_Hz = USER_M1_R_OVER_L_EXC_FREQ_Hz;
pUserParams->trajFreq_Hz = USER_M1_ISR_FREQ_Hz;
pUserParams->ctrlPeriod_sec = USER_M1_CTRL_PERIOD_sec;
pUserParams->maxAccel_Hzps = USER_M1_MAX_ACCEL_Hzps;
pUserParams->maxCurrent_resEst_A = USER_M1_MOTOR_RES_EST_CURRENT_A;
pUserParams->maxCurrent_indEst_A = USER_M1_MOTOR_IND_EST_CURRENT_A;
pUserParams->maxCurrentDelta_A = USER_M1_MAX_CURRENT_DELTA_A;
pUserParams->maxCurrentDelta_pw_A = USER_M1_MAX_CURRENT_DELTA_PW_A;
pUserParams->IdRated_delta_A = USER_M1_IDRATED_DELTA_A;
pUserParams->forceAngleFreq_Hz = USER_M1_FORCE_ANGLE_FREQ_Hz;
pUserParams->indEst_speedMaxFraction = USER_M1_SPEEDMAX_FRACTION_FOR_L_IDENT;
pUserParams->IdRatedFraction_indEst = USER_M1_IDRATED_FRACTION_FOR_L_IDENT;
pUserParams->pwGain = USER_M1_PW_GAIN;
pUserParams->Kp_min_VpA = (float32_t)0.001;
pUserParams->Kp_max_VpA = (float32_t)1000.0;
pUserParams->RoverL_Kp_sf = USER_M1_R_OVER_L_KP_SF;
pUserParams->RoverL_min_rps = MATH_TWO_PI * (float32_t)5.0;
pUserParams->RoverL_max_rps = MATH_TWO_PI * (float32_t)5000.0;
pUserParams->oneOverDcBus_min_invV = (float32_t)1.0 / (float32_t)400.0;
pUserParams->oneOverDcBus_max_invV = (float32_t)1.0 / (float32_t)10.0;
pUserParams->Ls_d_H = (float32_t)1.0e-6;
pUserParams->Ls_q_H = (float32_t)1.0e-6;
pUserParams->Ls_coarseDelta_H = (float32_t)0.0000001;
pUserParams->Ls_fineDelta_H = (float32_t)0.00000001;
pUserParams->Ls_min_H = (float32_t)0.000001;
pUserParams->Ls_max_H = (float32_t)100.0;
pUserParams->Rr_Ohm = (float32_t)0.0;
pUserParams->Rr_coarseDelta_Ohm = (float32_t)0.0001;
pUserParams->Rr_fineDelta_Ohm = (float32_t)0.00001;
pUserParams->Rr_min_Ohm = (float32_t)0.0;
pUserParams->Rr_max_Ohm = (float32_t)1000.0;
pUserParams->Rs_Ohm = (float32_t)0.0;
pUserParams->Rs_coarseDelta_Ohm = (float32_t)0.01;
pUserParams->Rs_fineDelta_Ohm = (float32_t)0.00001;
pUserParams->Rs_min_Ohm = (float32_t)0.001;
pUserParams->Rs_max_Ohm = (float32_t)1000.0;
pUserParams->RsOnLine_DeltaInc_Ohm = (float32_t)0.00001;
pUserParams->RsOnLine_DeltaDec_Ohm = (float32_t)0.00001;
pUserParams->RsOnLine_min_Ohm = (float32_t)0.001;
pUserParams->RsOnLine_max_Ohm = (float32_t)1000.0;
pUserParams->RsOnLine_angleDelta_rad = (float32_t)0.00001;
pUserParams->RsOnLine_pole_rps = MATH_TWO_PI * (float32_t)0.2;
pUserParams->maxFrequency_Hz = USER_M1_MOTOR_FREQ_MAX_HZ;
}
else if(motorNum == HAL_MTR_2)
{
pUserParams->dcBus_nominal_V = USER_M2_NOMINAL_DC_BUS_VOLTAGE_V;
pUserParams->numIsrTicksPerCtrlTick = 1;
pUserParams->numIsrTicksPerEstTick = 1;
pUserParams->numIsrTicksPerTrajTick = 1;
pUserParams->numCtrlTicksPerCurrentTick = 1;
pUserParams->numCtrlTicksPerSpeedTick = USER_M2_NUM_ISR_TICKS_PER_SPEED_TICK;
pUserParams->numCurrentSensors = USER_M2_NUM_CURRENT_SENSORS;
pUserParams->numVoltageSensors = USER_M2_NUM_VOLTAGE_SENSORS;
pUserParams->systemFreq_MHz = USER_SYSTEM_FREQ_MHz;
pUserParams->pwmPeriod_usec = USER_M2_PWM_PERIOD_usec;
pUserParams->voltage_sf = USER_M2_VOLTAGE_SF;
pUserParams->current_sf = USER_M2_CURRENT_SF;
pUserParams->dcBusPole_rps = USER_M2_DCBUS_POLE_rps;
pUserParams->offsetPole_rps = USER_M2_OFFSET_POLE_rps;
pUserParams->speedPole_rps = USER_M2_SPEED_POLE_rps;
pUserParams->voltageFilterPole_rps = USER_M2_VOLTAGE_FILTER_POLE_rps;
pUserParams->maxVsMag_pu = USER_M2_MAX_VS_MAG_PU;
pUserParams->motor_type = USER_M2_MOTOR_TYPE;
pUserParams->motor_numPolePairs = USER_M2_MOTOR_NUM_POLE_PAIRS;
pUserParams->motor_numEncSlots = USER_M2_MOTOR_NUM_ENC_SLOTS;
pUserParams->motor_ratedFlux_Wb = USER_M2_MOTOR_RATED_FLUX_VpHz / MATH_TWO_PI;
pUserParams->motor_Rr_d_Ohm = USER_M2_MOTOR_Rr_Ohm;
pUserParams->motor_Rr_q_Ohm = USER_M2_MOTOR_Rr_Ohm;
pUserParams->motor_Rs_a_Ohm = USER_M2_MOTOR_Rs_Ohm;
pUserParams->motor_Rs_b_Ohm = USER_M2_MOTOR_Rs_Ohm;
pUserParams->motor_Rs_d_Ohm = USER_M2_MOTOR_Rs_Ohm;
pUserParams->motor_Rs_q_Ohm = USER_M2_MOTOR_Rs_Ohm;
pUserParams->motor_Ls_d_H = USER_M2_MOTOR_Ls_d_H;
pUserParams->motor_Ls_q_H = USER_M2_MOTOR_Ls_q_H;
pUserParams->maxCurrent_A = USER_M2_MOTOR_MAX_CURRENT_A;
pUserParams->IdRated_A = USER_M2_MOTOR_MAGNETIZING_CURRENT_A;
pUserParams->Vd_sf = USER_M2_VD_SF;
pUserParams->maxVsMag_V = USER_M2_MOTOR_RATED_VOLTAGE_V;
if((USER_M2_BYPASS_MOTOR_ID == 1) && (pUserParams->flag_bypassMotorId == true))
{
// BOSCH BLDC-Motor F016L68035, 36 V-, 16,11 A
pUserParams->BWc_rps = MATH_TWO_PI * (float32_t)400.0;
pUserParams->BWdelta = (float32_t)10.0;
pUserParams->Kctrl_Wb_p_kgm2 = (float32_t)3.0 *
pUserParams->motor_numPolePairs *
pUserParams->motor_ratedFlux_Wb /
(float32_t) (2.0 * USER_M2_MOTOR_INERTIA_Kgm2);
}
else
{
pUserParams->flag_bypassMotorId = false;
pUserParams->BWc_rps = MATH_TWO_PI * (float32_t)400.0;
pUserParams->BWdelta = (float32_t)10.0;
pUserParams->Kctrl_Wb_p_kgm2 = (float32_t)3.0 *
pUserParams->motor_numPolePairs *
(float32_t)(0.001) /
(float32_t)(2.0 * 0.000001); // 3.0 * pUserParams->motor_numPolePairs * 0.1 / (2.0 * 0.00001);
}
pUserParams->angleDelayed_sf_sec = (float32_t)0.5 * USER_M2_CTRL_PERIOD_sec;
pUserParams->fluxExcFreq_Hz = USER_M2_MOTOR_FLUX_EXC_FREQ_Hz;
pUserParams->ctrlWaitTime[CTRL_STATE_ERROR] = 0;
pUserParams->ctrlWaitTime[CTRL_STATE_IDLE] = 0;
pUserParams->ctrlWaitTime[CTRL_STATE_ONLINE] = 0;
pUserParams->estWaitTime[EST_STATE_ERROR] = 0;
pUserParams->estWaitTime[EST_STATE_IDLE] = 0;
pUserParams->estWaitTime[EST_STATE_ROVERL] = (int_least32_t)(5.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_RS] = 0;
pUserParams->estWaitTime[EST_STATE_RAMPUP] = (int_least32_t)((USER_M2_MOTOR_FLUX_EXC_FREQ_Hz / USER_M2_MAX_ACCEL_Hzps + (float32_t)1.0) * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_CONSTSPEED] = (int_least32_t)(1.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_IDRATED] = (int_least32_t)(20.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_RATEDFLUX_OL] = (int_least32_t)(1.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_RATEDFLUX] = 0;
pUserParams->estWaitTime[EST_STATE_RAMPDOWN] = (int_least32_t)(0.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_LOCKROTOR] = 0;
pUserParams->estWaitTime[EST_STATE_LS] = 0;
pUserParams->estWaitTime[EST_STATE_RR] = (int_least32_t)(5.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->estWaitTime[EST_STATE_MOTORIDENTIFIED] = 0;
pUserParams->estWaitTime[EST_STATE_ONLINE] = 0;
pUserParams->FluxWaitTime[EST_FLUX_STATE_ERROR] = 0;
pUserParams->FluxWaitTime[EST_FLUX_STATE_IDLE] = 0;
pUserParams->FluxWaitTime[EST_FLUX_STATE_CL1] = (int_least32_t)(10.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->FluxWaitTime[EST_FLUX_STATE_CL2] = (int_least32_t)(0.2 * USER_M2_ISR_FREQ_Hz);
pUserParams->FluxWaitTime[EST_FLUX_STATE_FINE] = (int_least32_t)(20.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->FluxWaitTime[EST_FLUX_STATE_DONE] = 0;
pUserParams->LsWaitTime[EST_LS_STATE_ERROR] = 0;
pUserParams->LsWaitTime[EST_LS_STATE_IDLE] = 0;
pUserParams->LsWaitTime[EST_LS_STATE_RAMPUP] = (int_least32_t)(10.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->LsWaitTime[EST_LS_STATE_COARSE] = (int_least32_t)(30.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->LsWaitTime[EST_LS_STATE_FINE] = (int_least32_t)(30.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->LsWaitTime[EST_LS_STATE_DONE] = 0;
pUserParams->RrWaitTime[EST_RR_STATE_ERROR] = 0;
pUserParams->RrWaitTime[EST_RR_STATE_IDLE] = 0;
pUserParams->RrWaitTime[EST_RR_STATE_RAMPUP] = (int_least32_t)(1.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->RrWaitTime[EST_RR_STATE_COARSE] = (int_least32_t)(10.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->RrWaitTime[EST_RR_STATE_FINE] = (int_least32_t)(30.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->RrWaitTime[EST_RR_STATE_DONE] = 0;
pUserParams->RsWaitTime[EST_RS_STATE_ERROR] = 0;
pUserParams->RsWaitTime[EST_RS_STATE_IDLE] = 0;
pUserParams->RsWaitTime[EST_RS_STATE_RAMPUP] = (int_least32_t)(1.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->RsWaitTime[EST_RS_STATE_COARSE] = (int_least32_t)(2.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->RsWaitTime[EST_RS_STATE_FINE] = (int_least32_t)(10.0 * USER_M2_ISR_FREQ_Hz);
pUserParams->RsWaitTime[EST_RS_STATE_DONE] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_ERROR] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_IDLE] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_EST] = 0;
pUserParams->trajWaitTime[EST_TRAJ_STATE_ONLINE] = 0;
pUserParams->ctrlFreq_Hz = USER_M2_ISR_FREQ_Hz;
pUserParams->estFreq_Hz = USER_M2_ISR_FREQ_Hz;
pUserParams->RoverL_excFreq_Hz = USER_M2_R_OVER_L_EXC_FREQ_Hz;
pUserParams->trajFreq_Hz = USER_M2_ISR_FREQ_Hz;
pUserParams->ctrlPeriod_sec = USER_M2_CTRL_PERIOD_sec;
pUserParams->maxAccel_Hzps = USER_M2_MAX_ACCEL_Hzps;
pUserParams->maxCurrent_resEst_A = USER_M2_MOTOR_RES_EST_CURRENT_A;
pUserParams->maxCurrent_indEst_A = USER_M2_MOTOR_IND_EST_CURRENT_A;
pUserParams->maxCurrentDelta_A = USER_M2_MAX_CURRENT_DELTA_A;
pUserParams->maxCurrentDelta_pw_A = USER_M2_MAX_CURRENT_DELTA_PW_A;
pUserParams->IdRated_delta_A = USER_M2_IDRATED_DELTA_A;
pUserParams->forceAngleFreq_Hz = USER_M2_FORCE_ANGLE_FREQ_Hz;
pUserParams->indEst_speedMaxFraction = USER_M2_SPEEDMAX_FRACTION_FOR_L_IDENT;
pUserParams->IdRatedFraction_indEst = USER_M2_IDRATED_FRACTION_FOR_L_IDENT;
pUserParams->pwGain = USER_M2_PW_GAIN;
pUserParams->Kp_min_VpA = (float32_t)0.001;
pUserParams->Kp_max_VpA = (float32_t)1000.0;
pUserParams->RoverL_Kp_sf = USER_M2_R_OVER_L_KP_SF;
pUserParams->RoverL_min_rps = MATH_TWO_PI * (float32_t)5.0;
pUserParams->RoverL_max_rps = MATH_TWO_PI * (float32_t)5000.0;
pUserParams->oneOverDcBus_min_invV = (float32_t)1.0 / (float32_t)400.0;
pUserParams->oneOverDcBus_max_invV = (float32_t)1.0 / (float32_t)10.0;
pUserParams->Ls_d_H = (float32_t)1.0e-6;
pUserParams->Ls_q_H = (float32_t)1.0e-6;
pUserParams->Ls_coarseDelta_H = (float32_t)0.0000001;
pUserParams->Ls_fineDelta_H = (float32_t)0.00000001;
pUserParams->Ls_min_H = (float32_t)0.000001;
pUserParams->Ls_max_H = (float32_t)100.0;
pUserParams->Rr_Ohm = (float32_t)0.0;
pUserParams->Rr_coarseDelta_Ohm = (float32_t)0.0001;
pUserParams->Rr_fineDelta_Ohm = (float32_t)0.00001;
pUserParams->Rr_min_Ohm = (float32_t)0.0;
pUserParams->Rr_max_Ohm = (float32_t)1000.0;
pUserParams->Rs_Ohm = (float32_t)0.0;
pUserParams->Rs_coarseDelta_Ohm = (float32_t)0.01;
pUserParams->Rs_fineDelta_Ohm = (float32_t)0.00001;
pUserParams->Rs_min_Ohm = (float32_t)0.001;
pUserParams->Rs_max_Ohm = (float32_t)1000.0;
pUserParams->RsOnLine_DeltaInc_Ohm = (float32_t)0.00001;
pUserParams->RsOnLine_DeltaDec_Ohm = (float32_t)0.00001;
pUserParams->RsOnLine_min_Ohm = (float32_t)0.001;
pUserParams->RsOnLine_max_Ohm = (float32_t)1000.0;
pUserParams->RsOnLine_angleDelta_rad = (float32_t)0.00001;
pUserParams->RsOnLine_pole_rps = MATH_TWO_PI * (float32_t)0.2;
pUserParams->maxFrequency_Hz = USER_M2_MOTOR_FREQ_MAX_HZ;
}
return;
} // end of USER_setParams() function
// end of file