hpm_mcl_loop.c File Reference

#include "hpm_mcl_loop.h"
#include "hpm_csr_drv.h"

Functions
hpm_mcl_stat_t	hpm_mcl_loop_init_v2 (mcl_loop_t *loop, mcl_loop_cfg_t *cfg, mcl_cfg_t *mcl_cfg, mcl_encoder_t *encoder, mcl_analog_t *analog, mcl_control_t *control, mcl_drivers_t *drivers, mcl_path_plan_t *path, mcl_hw_loop_t *hw_loop)
	Initialisation loop data (API introduced in v1.10.0 with hw_loop parameter) More...
hpm_mcl_stat_t	hpm_mcl_loop_set_current_d (mcl_loop_t *loop, mcl_user_value_t id)
	Setting the d-axis current. More...
hpm_mcl_stat_t	hpm_mcl_loop_set_current_q (mcl_loop_t *loop, mcl_user_value_t iq)
	Setting the q-axis current. More...
hpm_mcl_stat_t	hpm_mcl_loop_set_speed (mcl_loop_t *loop, mcl_user_value_t speed)
	Setting the speed loop speed feed. More...
hpm_mcl_stat_t	hpm_mcl_loop_set_position (mcl_loop_t *loop, mcl_user_value_t position)
	Setting the position parameters. More...
hpm_mcl_stat_t	hpm_mcl_loop_disable_all_user_set_value (mcl_loop_t *loop)
	Invalid user-set values in all loops. More...
hpm_mcl_stat_t	hpm_mcl_detect_offline_para (mcl_loop_t *loop)
hpm_mcl_stat_t	hpm_mcl_current_foc_loop (mcl_loop_t *loop)
hpm_mcl_stat_t	hpm_mcl_step_foc_loop (mcl_loop_t *loop)
hpm_mcl_stat_t	hpm_mcl_block_loop (mcl_loop_t *loop)
hpm_mcl_stat_t	hpm_mcl_loop_refresh_block (mcl_loop_t *loop)
	Call this function in the interrupt function to update the motor's sector. More...
hpm_mcl_stat_t	hpm_mcl_loop_start_block (mcl_loop_t *loop)
	Call this function in the interrupt function to start the motor's sector. More...
hpm_mcl_stat_t	hpm_mcl_loop (mcl_loop_t *loop)
	Motor Loop, Periodic Recall. More...
hpm_mcl_stat_t	hpm_mcl_motor_angle_alignment_basic (mcl_loop_t *loop, mcl_motor_alignment_basic_cfg_t *cfg)
hpm_mcl_stat_t	hpm_mcl_motor_angle_alignment_three_stage (mcl_loop_t *loop, mcl_motor_alignment_three_stage_cfg_t *cfg)
hpm_mcl_stat_t	hpm_mcl_motor_angle_alignment (mcl_loop_t *loop, mcl_motor_alignment_cfg_t *cfg)
	Enhanced motor angle alignment algorithm with multiple algorithm support. More...

Function Documentation

hpm_mcl_block_loop()

hpm_mcl_stat_t hpm_mcl_block_loop

(

mcl_loop_t *

loop

)

hpm_mcl_current_foc_loop()

hpm_mcl_stat_t hpm_mcl_current_foc_loop

(

mcl_loop_t *

loop

)

current sample

hpm_mcl_detect_offline_para()

hpm_mcl_stat_t hpm_mcl_detect_offline_para

(

mcl_loop_t *

loop

)

Parameter detection function requires dead area compensation

hpm_mcl_loop()

hpm_mcl_stat_t hpm_mcl_loop

(

mcl_loop_t *

loop

)

Motor Loop, Periodic Recall.

Parameters

loop	mcl_loop_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_disable_all_user_set_value()

hpm_mcl_stat_t hpm_mcl_loop_disable_all_user_set_value

(

mcl_loop_t *

loop

)

Invalid user-set values in all loops.

Parameters

loop	mcl_loop_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_init_v2()

hpm_mcl_stat_t hpm_mcl_loop_init_v2	(	mcl_loop_t *	loop,
		mcl_loop_cfg_t *	cfg,
		mcl_cfg_t *	mcl_cfg,
		mcl_encoder_t *	encoder,
		mcl_analog_t *	analog,
		mcl_control_t *	control,
		mcl_drivers_t *	drivers,
		mcl_path_plan_t *	path,
		mcl_hw_loop_t *	hw_loop
	)

Initialisation loop data (API introduced in v1.10.0 with hw_loop parameter)

Parameters

loop	mcl_loop_t
cfg	mcl_loop_cfg_t
mcl_cfg	mcl_cfg_t
encoder	mcl_encoder_t
analog	mcl_analog_t
control	mcl_control_t
drivers	mcl_drivers_t
path	mcl_path_plan_t
hw_loop	mcl_hw_loop_t (can be NULL for backward compatibility)

Returns

hpm_mcl_stat_t

hpm_mcl_loop_refresh_block()

hpm_mcl_stat_t hpm_mcl_loop_refresh_block

(

mcl_loop_t *

loop

)

Call this function in the interrupt function to update the motor's sector.

Parameters

loop	mcl_loop_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_set_current_d()

hpm_mcl_stat_t hpm_mcl_loop_set_current_d	(	mcl_loop_t *	loop,
		mcl_user_value_t	id
	)

Setting the d-axis current.

Parameters

loop	mcl_loop_t
id	mcl_user_value_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_set_current_q()

hpm_mcl_stat_t hpm_mcl_loop_set_current_q	(	mcl_loop_t *	loop,
		mcl_user_value_t	iq
	)

Setting the q-axis current.

Parameters

loop	mcl_loop_t
iq	mcl_user_value_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_set_position()

hpm_mcl_stat_t hpm_mcl_loop_set_position	(	mcl_loop_t *	loop,
		mcl_user_value_t	position
	)

Setting the position parameters.

Parameters

loop	mcl_loop_t
position	mcl_user_value_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_set_speed()

hpm_mcl_stat_t hpm_mcl_loop_set_speed	(	mcl_loop_t *	loop,
		mcl_user_value_t	speed
	)

Setting the speed loop speed feed.

Parameters

loop	mcl_loop_t
speed	mcl_user_value_t

Returns

hpm_mcl_stat_t

hpm_mcl_loop_start_block()

hpm_mcl_stat_t hpm_mcl_loop_start_block

(

mcl_loop_t *

loop

)

Call this function in the interrupt function to start the motor's sector.

Parameters

loop	mcl_loop_t

Returns

hpm_mcl_stat_t

hpm_mcl_motor_angle_alignment()

hpm_mcl_stat_t hpm_mcl_motor_angle_alignment	(	mcl_loop_t *	loop,
		mcl_motor_alignment_cfg_t *	cfg
	)

Enhanced motor angle alignment algorithm with multiple algorithm support.

This function provides a flexible framework for motor alignment that supports various alignment algorithms. Users can choose from built-in algorithms or implement custom alignment strategies.

Supported algorithms:

• Basic: Single-stage alignment with configurable parameters
• Three-stage: Enhanced three-stage alignment for robust positioning
  • Stage 1: High current coarse alignment
  • Stage 2: Moderate current fine alignment
  • Stage 3: Low current stabilization

Parameters

loop	Motor control loop structure mcl_loop_t
cfg	Alignment configuration parameters mcl_motor_alignment_cfg_t

Returns

hpm_mcl_stat_t Success or error status

hpm_mcl_motor_angle_alignment_basic()

hpm_mcl_stat_t hpm_mcl_motor_angle_alignment_basic	(	mcl_loop_t *	loop,
		mcl_motor_alignment_basic_cfg_t *	cfg
	)

hpm_mcl_motor_angle_alignment_three_stage()

hpm_mcl_stat_t hpm_mcl_motor_angle_alignment_three_stage	(	mcl_loop_t *	loop,
		mcl_motor_alignment_three_stage_cfg_t *	cfg
	)

hpm_mcl_step_foc_loop()

hpm_mcl_stat_t hpm_mcl_step_foc_loop

(

mcl_loop_t *

loop

)