Page Comparison

MCL_INIT_PRM_MAX_PHASE_CURRENT_AMP

float

40.0f

Maximum phase current.

MCL

MCL_INIT_PRM_MAX_ADC_VREF_PIN_VOLTAGE

float

3.3f

Maximum ADC Vref pin voltage.

MCL_INIT_PRM_MAX_PHASE_SHUNT_RES_OHM

float

12.0f

Maximum phase shunt resistor value[Ω].

DEFAULT_MCL_MOTION_PAR_MECH_SPEED_LOW_PASS_FILTER_HZ

uint16_t

1500

Mechanical speed low pass filter's cut-off frequency[Hz].

MCL Motion

DEFAULT_MCL_MOTION_PAR_FIELDWEAK_CONTROLLER_KP

float

0.0f

Proportional gain of the field-weakening controller.

DEFAULT_MCL_MOTION_PAR_FIELDWEAK_CONTROLLER_KI

float

0.2f

Integral gain of the field-weakening controller.

DEFAULT_MCL_MOTION_PAR_FIELDWEAK_START_VOLTAGE_RATIO

float

1.1f

Threshold voltage vector magnitude to start field-weakening. Value is less than maximum voltage vector magnitude to allow a transition region.

DEFAULT_MCL_MOTION_PAR_STALL_DETECTION_SPEED_DIFFERENCE

uint16_t

300

Speed difference threshold to detect stall.

DEFAULT_MCL_MOTION_PAR_STALL_DETECTION_TIME_MS

uint32_t

3000

Time[ms] it takes to set stall error.

DEFAULT_MCL_FOC_CTRL_PAR_CURRENT_AMP_GAIN

float

20.0f

DRV8323 gate driver current sense amplifiers gate. It gains the measured current value through shunt resistor. It is using for the current measurement purposes.

MCL Foc Control

DEFAULT_MCL_FOC_CTRL_PAR_DCBUS_VOLTAGE_OFFSET_DIGITS

int8_t

10

Experimentally determinced DC-bus Voltage offset value.

DEFAULT_MCL_FOC_CTRL_PAR_NUMBER_OF_CURRENT_OFFSET_MEAS

uint8_t

8

Number of measurements to calculate average current offset.

DEFAULT_MCL_FOC_CTRL_PAR_CURRENT_OFFSET_THRESHOLD_DIG

uint8_t

48

88

It is the threshold value that defines the range where the average Current Offset value can be found.

Ideal current offset = 2048 (The half of the 12-bit ADC’s max range)
Minimum current offset range = (2048 - 88)
Maximum current offset range = (2048 + 88)

DEFAULT_MCL_FOC_CTRL_PAR_MAX_DUTY_CYCLE_PERCENT

float

96.0f

Maximum allowed duty cycle percentage.

DEFAULT_MCL_PSE_PAR_SPEED_EST_METHOD

MCL_SPEED_EST_METHOD_E

MCL_SPEED_EST_QEI

Speed estimation method.

MCL_SPEED_EST_QEI - Quadrature Encoder Interface

MCL_SPEED_EST_HALL_SENSOR - Hall Sensor

MCL Position and Speed Estimation

DEFAULT_MCL_PSE_PAR_MAF_CAPTURE_SIZE

uint8_t

4

Moving average filter size. Captured position is filtered with a MAF. It is designed experimentally and disabled by default.

DEFAULT_MCL_CAL_PAR_REQUESTED_VOLTAGE

float

0.12f

Length of the voltage vector used for calibration in units of the commutation. The direction is always Vd.

MCL Calibration

DEFAULT_MCL_CAL_PAR_SAMPLING_SPEED_RPM

int16_t

12

Rotor speed at calibration stage. Slow speeds are generally more accurate.

DEFAULT_MCL_CAL_PAR_NUM_OF_TURNS

int16_t

4

Number of turns (mechanical angle, electrical angle) of the linear regression in one direction.

DEFAULT_MCL_CAL_PAR_WAIT_TIME_BETWEEN_EACH_SAMPLE_MS

uint16_t

1

Adding wait time[ms] when turing left and right before performing linear regression on another sample of (mechanical angle, electrical angle). During the calibration process, the motor rotating occurs using the samples of the mechanical and electrical angles. This parameter specifies the waiting time between two samples. It is one of the parameters that should be checked when proper calibration doesn't occur.

DEFAULT_MCL_CAL_PAR_WAIT_AFTER_ALIGNMENT_MS

uint16_t

500

Add wait time[ms] delay after each alignment process. During the calibration process, motor positioning alignment is performed during initial alignment, direction change and validation states. This parameter represents the waiting time after each motor alignment. It is one of the parameters that should be checked when proper calibration doesn't occur.

DEFAULT_MCL_CAL_PAR_MAX_DEVIATION_ANGLE

uint16_t

4000

Deviation angle of hall sensor position when turning CW and CCW. Angle is in digits (2^16 is 360 degrees). Maximum electrical angle deviation when validating the calibration values, unit complies with Angle definition above.