user2.h

#ifndef _USER_MTR2_H_
#define _USER_MTR2_H_
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//! \file   solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2806xF/src/user.h
//! \brief  Contains the public interface for user initialization data for the CTRL, HAL, and EST modules 
//!
//! (C) Copyright 2012, Texas Instruments, Inc.


// **************************************************************************
// the includes

// modules
#include "sw/modules/types/src/types.h"
#include "sw/modules/motor/src/32b/motor.h"
#include "sw/modules/est/src/32b/est.h"
#include "sw/modules/est/src/est_states.h"
#include "sw/modules/est/src/est_Flux_states.h"
#include "sw/modules/est/src/est_Ls_states.h"
#include "sw/modules/est/src/est_Rs_states.h"


// platforms
#include "sw/modules/fast/src/32b/userParams_eou.h"
#include "user_mtr_on_j5.h"

//!
//!
//! \defgroup USER USER
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif

// **************************************************************************
// the defines


//! \brief CURRENTS AND VOLTAGES
// **************************************************************************
//! \brief Defines the voltage scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_VOLTAGE_SF_2               ((float_t)((USER_ADC_FULL_SCALE_VOLTAGE_V_2)/(USER_IQ_FULL_SCALE_VOLTAGE_V_2)))

//! \brief Defines the current scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_CURRENT_SF_2               ((float_t)((USER_ADC_FULL_SCALE_CURRENT_A_2)/(USER_IQ_FULL_SCALE_CURRENT_A_2)))


//! \brief CLOCKS & TIMERS
// **************************************************************************
//! \brief Defines the system clock frequency, MHz
#define USER_SYSTEM_FREQ_MHz_2             (90.0)

//! \brief Defines the direct voltage (Vd) scale factor
//!
#define USER_VD_SF_2                 (0.95)

//! \brief Defines the Pulse Width Modulation (PWM) period, usec
//! \brief Compile time calculation
#define USER_PWM_PERIOD_usec_2       (1000.0/USER_PWM_FREQ_kHz_2)

//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz
//!
#define USER_ISR_FREQ_Hz_2           ((float_t)USER_PWM_FREQ_kHz_2 * 1000.0 / (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK_2)

//! \brief Defines the Interrupt Service Routine (ISR) period, usec
//!
#define USER_ISR_PERIOD_usec_2       (USER_PWM_PERIOD_usec_2 * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK_2)


//! \brief DECIMATION
// **************************************************************************
//! \brief Defines the controller frequency, Hz
//! \brief Compile time calculation
#define USER_CTRL_FREQ_Hz_2          (uint_least32_t)(USER_ISR_FREQ_Hz_2/USER_NUM_ISR_TICKS_PER_CTRL_TICK_2)

//! \brief Defines the estimator frequency, Hz
//! \brief Compile time calculation
#define USER_EST_FREQ_Hz_2           (uint_least32_t)(USER_CTRL_FREQ_Hz_2/USER_NUM_CTRL_TICKS_PER_EST_TICK_2)

//! \brief Defines the trajectory frequency, Hz
//! \brief Compile time calculation
#define USER_TRAJ_FREQ_Hz_2          (uint_least32_t)(USER_CTRL_FREQ_Hz_2/USER_NUM_CTRL_TICKS_PER_TRAJ_TICK_2)

//! \brief Defines the controller execution period, usec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_usec_2      (USER_ISR_PERIOD_usec_2 * USER_NUM_ISR_TICKS_PER_CTRL_TICK_2)

//! \brief Defines the controller execution period, sec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_sec_2       ((float_t)USER_CTRL_PERIOD_usec_2/(float_t)1000000.0)


//! \brief LIMITS
// **************************************************************************
//! \brief Defines the maximum current slope for Id trajectory during PowerWarp
//! \brief For Induction motors only, controls how fast Id input can change under PowerWarp control
#define USER_MAX_CURRENT_SLOPE_POWERWARP_2   (0.3*USER_MOTOR_RES_EST_CURRENT_2/USER_IQ_FULL_SCALE_CURRENT_A_2/USER_TRAJ_FREQ_Hz_2)  // 0.3*RES_EST_CURRENT / IQ_FULL_SCALE_CURRENT / TRAJ_FREQ Typical to produce 1-sec rampup/down

//! \brief Defines the starting maximum acceleration AND deceleration for the speed profiles, Hz/s
//! \brief Updated in run-time through user functions
//! \brief Inverter, motor, inertia, and load will limit actual acceleration capability
#define USER_MAX_ACCEL_Hzps_2                 (15.0)      // Given by excel spreadsheet. Default: 20.0

//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/s
//! \brief Only used during Motor ID (commission)
#define USER_MAX_ACCEL_EST_Hzps_2           (5.0)         // 5.0 Default, don't change

//! \brief Defines the maximum current slope for Id trajectory during estimation
#define USER_MAX_CURRENT_SLOPE_2           (USER_MOTOR_RES_EST_CURRENT_2/USER_IQ_FULL_SCALE_CURRENT_A_2/USER_TRAJ_FREQ_Hz_2)      // USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz Default, don't change

//! \brief Defines the fraction of IdRated to use during rated flux estimation
//!
#define USER_IDRATED_FRACTION_FOR_RATED_FLUX_2 (1.0)      // 1.0 Default, don't change

//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_IDRATED_FRACTION_FOR_L_IDENT_2    (1.0)      // 1.0 Default, don't change

//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_IDRATED_DELTA_2                  (0.00002)

//! \brief Defines the fraction of SpeedMax to use during inductance estimation
//!
#define USER_SPEEDMAX_FRACTION_FOR_L_IDENT_2  (1.0)      // 1.0 Default, don't change

//! \brief Defines flux fraction to use during inductance identification
//!
#define USER_FLUX_FRACTION_2           (1.0)            // 1.0 Default, don't change

//! \brief Defines the PowerWarp gain for computing Id reference
//! \brief Induction motors only
#define USER_POWERWARP_GAIN_2                   (1.0)         // 1.0 Default, don't change


//! \brief POLES
// **************************************************************************
//! \brief Defines the analog voltage filter pole location, rad/s
//! \brief Compile time calculation from Hz to rad/s
#define USER_VOLTAGE_FILTER_POLE_rps_2  (2.0 * MATH_PI * USER_VOLTAGE_FILTER_POLE_Hz_2)

//! \brief Defines the software pole location for the voltage and current offset estimation, rad/s
//! \brief Should not be changed from default of (20.0)
#define USER_OFFSET_POLE_rps_2            (20.0)   // 20.0 Default, do not change

//! \brief Defines the software pole location for the flux estimation, rad/s
//! \brief Should not be changed from default of (100.0)
#define USER_FLUX_POLE_rps_2              (100.0)   // 100.0 Default, do not change

//! \brief Defines the software pole location for the direction filter, rad/s
#define USER_DIRECTION_POLE_rps_2             (6.0)   // 6.0 Default, do not change

//! \brief Defines the software pole location for the speed control filter, rad/s
#define USER_SPEED_POLE_rps_2           (100.0)   // 100.0 Default, do not change

//! \brief Defines the software pole location for the DC bus filter, rad/s
#define USER_DCBUS_POLE_rps_2           (100.0)   // 100.0 Default, do not change

//! \brief Defines the convergence factor for the estimator
//! \brief Do not change from default for FAST
#define   USER_EST_KAPPAQ_2               (1.5)   // 1.5 Default, do not change

// **************************************************************************
// end the defines


//! \brief USER MOTOR & ID SETTINGS
// **************************************************************************
// this section defined in user_j1.h or user_j5.h

#ifndef USER_MOTOR_2
#error Motor is not defined in user.h
#endif

#ifndef USER_MOTOR_TYPE_2
#error The motor type is not defined in user.h
#endif

#ifndef USER_MOTOR_NUM_POLE_PAIRS_2
#error Number of motor pole pairs is not defined in user.h
#endif

#ifndef USER_MOTOR_Rr_2
#error The rotor resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Rs_2
#error The stator resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_d_2
#error The direct stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_q_2
#error The quadrature stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_RATED_FLUX_2
#error The rated flux of motor is not defined in user.h
#endif

#ifndef USER_MOTOR_MAGNETIZING_CURRENT_2
#error The magnetizing current is not defined in user.h
#endif

#ifndef USER_MOTOR_RES_EST_CURRENT_2
#error The resistance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_IND_EST_CURRENT_2
#error The inductance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_MAX_CURRENT_2
#error The maximum current is not defined in user.h
#endif

#ifndef USER_MOTOR_FLUX_EST_FREQ_Hz_2
#error The flux estimation frequency is not defined in user.h
#endif


// **************************************************************************
// the functions


//! \brief      Sets the user parameter values
//! \param[in]  pUserParams  The pointer to the user param structure
extern void USER_setParamsMtr2(USER_Params *pUserParams);


#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _USER_MTR2_H_ definition