#include "hpm_mcl_common.h"
#include "hpm_mcl_encoder.h"
#include "hpm_mcl_analog.h"
#include "hpm_mcl_control.h"
#include "hpm_mcl_drivers.h"
#include "hpm_mcl_path_plan.h"
#include "hpm_mcl_debug.h"
#include "hpm_mcl_hw_loop.h"

Data Structures
struct	mcl_loop_cfg_t
	Loop Configuration. More...

struct	mcl_hardware_clc_cfg_t
	Hardware configuration for CLC. More...

struct	mcl_offline_param_detection_rundata_t

struct	mcl_loop_t
	Loop operation data. More...

struct	mcl_motor_alignment_basic_cfg_t
	Basic alignment configuration (single-stage) More...

struct	mcl_motor_alignment_three_stage_cfg_t
	Three-stage alignment configuration. More...

union	mcl_motor_alignment_algorithm_cfg_t
	Motor alignment configuration union for different algorithms. More...

struct	mcl_motor_alignment_cfg_t
	Motor angle alignment configuration parameters. More...

Macros
#define	GET_MACRO(_1, _2, _3, _4, _5, _6, _7, _8, _9, NAME, ...) NAME

#define	hpm_mcl_loop_init(...) GET_MACRO(__VA_ARGS__, hpm_mcl_loop_init_v2, hpm_mcl_loop_init_v1, dummy, dummy, dummy, dummy, dummy, dummy)(__VA_ARGS__)
	Overloaded hpm_mcl_loop_init macro that supports both v1.9.0 and v1.10.0+ API. More...

Enumerations
enum	mcl_loop_status_t { loop_status_null = 0 , loop_status_init = 1 , loop_status_run = 2 , loop_status_fail = 3 }

enum	mcl_loop_mode_t { mcl_mode_foc = 1 , mcl_mode_block = 2 , mcl_mode_hardware_foc = 3 , mcl_mode_step_foc = 4 , mcl_mode_offline_param_detection = 5 , mcl_mode_hybrid_foc = 6 }
	Algorithms used in loops. More...

enum	mcl_loop_chn_t { loop_chn_id = 0 , loop_chn_iq = 1 }
	CLC channel. More...

enum	mcl_offline_param_detection_mode_t { offline_param_detection_mode_init = 0 , offline_param_detection_mode_rs = 1 , offline_param_detection_mode_ld = 2 , offline_param_detection_mode_lq = 3 , offline_param_detection_mode_ls = 4 , offline_param_detection_mode_flux = 5 , offline_param_detection_mode_wait = 6 , offline_param_detection_mode_end = 7 , offline_param_detection_mode_error = 8 }
	Internal use, process control in the process. More...

enum	mcl_motor_alignment_algorithm_t { mcl_alignment_algorithm_basic = 0 , mcl_alignment_algorithm_three_stage = 1 , mcl_alignment_algorithm_adaptive = 2 }
	Motor alignment algorithm types. More...

Functions
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...

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...

static hpm_mcl_stat_t	hpm_mcl_loop_init_v1 (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)
	Backward compatibility function for API used in v1.9.0 and earlier (without 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_loop (mcl_loop_t *loop)
	Motor Loop, Periodic Recall. More...

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...

static void	hpm_mcl_loop_enable (mcl_loop_t *loop)
	Enable Loop. More...

static void	hpm_mcl_loop_disable (mcl_loop_t *loop)
	Disable Loop. More...

static void	hpm_mcl_loop_enable_offline_param_detecion (mcl_loop_t *loop)
	Enables the loop's offline parameter detection. More...

static bool	hpm_mcl_loop_offline_param_detection_is_done (mcl_loop_t *loop)
	Get offline parameter is done. More...

static bool	hpm_mcl_loop_offline_param_detection_is_error (mcl_loop_t *loop)
	Get offline parameter is error. More...

static void	hpm_mcl_loop_offline_param_detection_get_result (mcl_loop_t loop, mcl_offline_param_detection_result_t result)
	Get offline parameter detection result. More...

static void	hpm_mcl_loop_mode_set (mcl_loop_t *loop, mcl_loop_mode_t mode)
	Set loop mode. More...

static void	hpm_mcl_enable_position_loop (mcl_loop_t *loop)
	Enable position loop. More...

static void	hpm_mcl_disable_position_loop (mcl_loop_t *loop)
	Disable position loop. More...

static void	hpm_mcl_enable_speed_loop (mcl_loop_t *loop)
	Enable speed loop. More...

static void	hpm_mcl_disable_speed_loop (mcl_loop_t *loop)
	Disable speed loop. More...

static hpm_mcl_stat_t	hpm_mcl_disable_dead_area_compensation (mcl_loop_t *loop)
	disable dead area compensation More...

static hpm_mcl_stat_t	hpm_mcl_enable_dead_area_compensation (mcl_loop_t *loop)
	enable dead area compensation More...

static hpm_mcl_stat_t	hpm_mcl_disable_dq_axis_decoupling (mcl_loop_t *loop)
	disable dq axis decoupling More...

static hpm_mcl_stat_t	hpm_mcl_enable_dq_axis_decoupling (mcl_loop_t *loop)
	enable dq axis decoupling More...

static uint32_t	hpm_mcl_get_current_loop_run_tick (mcl_loop_t *loop)
	Get current loop run tick. More...

Macro Definition Documentation

◆ GET_MACRO

#define GET_MACRO	(	_1,
		_2,
		_3,
		_4,
		_5,
		_6,
		_7,
		_8,
		_9,
		NAME,
		...
	)	NAME

◆ hpm_mcl_loop_init

#define hpm_mcl_loop_init ( ... ) GET_MACRO(__VA_ARGS__, hpm_mcl_loop_init_v2, hpm_mcl_loop_init_v1, dummy, dummy, dummy, dummy, dummy, dummy)(__VA_ARGS__)

Overloaded hpm_mcl_loop_init macro that supports both v1.9.0 and v1.10.0+ API.

Usage:

v1.9.0 API (8 parameters): hpm_mcl_loop_init(loop, cfg, mcl_cfg, encoder, analog, control, drivers, path)
v1.10.0+ API (9 parameters): hpm_mcl_loop_init(loop, cfg, mcl_cfg, encoder, analog, control, drivers, path, hw_loop)

Enumeration Type Documentation

◆ mcl_loop_chn_t

enum mcl_loop_chn_t

CLC channel.

Enumerator
loop_chn_id
loop_chn_iq

◆ mcl_loop_mode_t

enum mcl_loop_mode_t

Algorithms used in loops.

Enumerator
mcl_mode_foc
mcl_mode_block
mcl_mode_hardware_foc
mcl_mode_step_foc
mcl_mode_offline_param_detection
mcl_mode_hybrid_foc

◆ mcl_loop_status_t

enum mcl_loop_status_t

Enumerator
loop_status_null
loop_status_init
loop_status_run
loop_status_fail

◆ mcl_motor_alignment_algorithm_t

enum mcl_motor_alignment_algorithm_t

Motor alignment algorithm types.

Enumerator
mcl_alignment_algorithm_basic	Basic single-stage alignment
mcl_alignment_algorithm_three_stage	Enhanced three-stage alignment
mcl_alignment_algorithm_adaptive	Future: Adaptive alignment algorithm

◆ mcl_offline_param_detection_mode_t

enum mcl_offline_param_detection_mode_t

Internal use, process control in the process.

Enumerator
offline_param_detection_mode_init
offline_param_detection_mode_rs
offline_param_detection_mode_ld
offline_param_detection_mode_lq
offline_param_detection_mode_ls
offline_param_detection_mode_flux
offline_param_detection_mode_wait
offline_param_detection_mode_end
offline_param_detection_mode_error

Function Documentation

◆ hpm_mcl_disable_dead_area_compensation()

static hpm_mcl_stat_t hpm_mcl_disable_dead_area_compensation ( mcl_loop_t * loop )

inlinestatic

disable dead area compensation

Parameters

loop	mcl_loop_t

◆ hpm_mcl_disable_dq_axis_decoupling()

static hpm_mcl_stat_t hpm_mcl_disable_dq_axis_decoupling ( mcl_loop_t * loop )

inlinestatic

disable dq axis decoupling

Parameters

loop	mcl_loop_t

◆ hpm_mcl_disable_position_loop()

static void hpm_mcl_disable_position_loop ( mcl_loop_t * loop )

inlinestatic

Disable position loop.

Parameters

loop	mcl_loop_t

◆ hpm_mcl_disable_speed_loop()

static void hpm_mcl_disable_speed_loop ( mcl_loop_t * loop )

inlinestatic

Disable speed loop.

Parameters

loop	mcl_loop_t

◆ hpm_mcl_enable_dead_area_compensation()

static hpm_mcl_stat_t hpm_mcl_enable_dead_area_compensation ( mcl_loop_t * loop )

inlinestatic

enable dead area compensation

Parameters

loop	mcl_loop_t

◆ hpm_mcl_enable_dq_axis_decoupling()

static hpm_mcl_stat_t hpm_mcl_enable_dq_axis_decoupling ( mcl_loop_t * loop )

inlinestatic

enable dq axis decoupling

Parameters

loop	mcl_loop_t

◆ hpm_mcl_enable_position_loop()

static void hpm_mcl_enable_position_loop ( mcl_loop_t * loop )

inlinestatic

Enable position loop.

Parameters

loop	mcl_loop_t

◆ hpm_mcl_enable_speed_loop()

static void hpm_mcl_enable_speed_loop ( mcl_loop_t * loop )

inlinestatic

Enable speed loop.

Parameters

loop	mcl_loop_t

◆ hpm_mcl_get_current_loop_run_tick()

static uint32_t hpm_mcl_get_current_loop_run_tick ( mcl_loop_t * loop )

inlinestatic

Get current loop run tick.

Parameters

loop	mcl_loop_t

Returns: uint32_t tick

◆ 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()

static void hpm_mcl_loop_disable ( mcl_loop_t * loop )

inlinestatic

Disable Loop.

Parameters

loop	mcl_loop_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_enable()

static void hpm_mcl_loop_enable ( mcl_loop_t * loop )

inlinestatic

Enable Loop.

Parameters

loop	mcl_loop_t

◆ hpm_mcl_loop_enable_offline_param_detecion()

static void hpm_mcl_loop_enable_offline_param_detecion ( mcl_loop_t * loop )

inlinestatic

Enables the loop's offline parameter detection.

Parameters

loop	mcl_loop_t

◆ hpm_mcl_loop_init_v1()

static hpm_mcl_stat_t hpm_mcl_loop_init_v1	(	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
	)

inlinestatic

Backward compatibility function for API used in v1.9.0 and earlier (without hw_loop parameter)

Deprecated:: This function is provided for backward compatibility. Use hpm_mcl_loop_init_v2 instead.

◆ 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_mode_set()

static void hpm_mcl_loop_mode_set	(	mcl_loop_t *	loop,
		mcl_loop_mode_t	mode
	)

inlinestatic

Set loop mode.

Parameters

loop	mcl_loop_t
mode	mcl_loop_mode_t

◆ hpm_mcl_loop_offline_param_detection_get_result()

static void hpm_mcl_loop_offline_param_detection_get_result	(	mcl_loop_t *	loop,
		mcl_offline_param_detection_result_t *	result
	)

inlinestatic

Get offline parameter detection result.

Parameters

loop	mcl_loop_t
result	mcl_offline_param_detection_result_t

◆ hpm_mcl_loop_offline_param_detection_is_done()

static bool hpm_mcl_loop_offline_param_detection_is_done ( mcl_loop_t * loop )

inlinestatic

Get offline parameter is done.

Parameters

loop	mcl_loop_t

Returns: bool

◆ hpm_mcl_loop_offline_param_detection_is_error()

static bool hpm_mcl_loop_offline_param_detection_is_error ( mcl_loop_t * loop )

inlinestatic

Get offline parameter is error.

Parameters

loop	mcl_loop_t

Returns: true or false

◆ 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

Data Structures

Macros

Enumerations

Functions

Macro Definition Documentation

◆ GET_MACRO

◆ hpm_mcl_loop_init

Enumeration Type Documentation

◆ mcl_loop_chn_t

◆ mcl_loop_mode_t

◆ mcl_loop_status_t

◆ mcl_motor_alignment_algorithm_t

◆ mcl_offline_param_detection_mode_t

Function Documentation

◆ hpm_mcl_disable_dead_area_compensation()

◆ hpm_mcl_disable_dq_axis_decoupling()

◆ hpm_mcl_disable_position_loop()

◆ hpm_mcl_disable_speed_loop()

◆ hpm_mcl_enable_dead_area_compensation()

◆ hpm_mcl_enable_dq_axis_decoupling()

◆ hpm_mcl_enable_position_loop()

◆ hpm_mcl_enable_speed_loop()

◆ hpm_mcl_get_current_loop_run_tick()

◆ hpm_mcl_loop()

◆ hpm_mcl_loop_disable()

◆ hpm_mcl_loop_disable_all_user_set_value()

◆ hpm_mcl_loop_enable()

◆ hpm_mcl_loop_enable_offline_param_detecion()

◆ hpm_mcl_loop_init_v1()

◆ hpm_mcl_loop_init_v2()

◆ hpm_mcl_loop_mode_set()

◆ hpm_mcl_loop_offline_param_detection_get_result()

◆ hpm_mcl_loop_offline_param_detection_is_done()

◆ hpm_mcl_loop_offline_param_detection_is_error()

◆ hpm_mcl_loop_refresh_block()

◆ hpm_mcl_loop_set_current_d()

◆ hpm_mcl_loop_set_current_q()

◆ hpm_mcl_loop_set_position()

◆ hpm_mcl_loop_set_speed()

◆ hpm_mcl_loop_start_block()

◆ hpm_mcl_motor_angle_alignment()