NXP Semiconductors DSP56800E Manuale utente

GMCLIB User's Guide

DSP56800E

Document Number: DSP56800EGMCLIBUG

Rev. 2, 10/2015

GMCLIB User's Guide, Rev. 2, 10/2015

2 Freescale Semiconductor, Inc.

Contents

Section number Title Page

Chapter 1

Library

1.1 Introduction.................................................................................................................................................................... 5

1.2 Library integration into project (CodeWarrior™ Development Studio) .......................................................................7

Chapter 2

Algorithms in detail

2.1 GMCLIB_Clark..............................................................................................................................................................17

2.2 GMCLIB_ClarkInv........................................................................................................................................................ 18

2.3 GMCLIB_Park............................................................................................................................................................... 20

2.4 GMCLIB_ParkInv..........................................................................................................................................................21

2.5 GMCLIB_DecouplingPMSM........................................................................................................................................ 23

2.6 GMCLIB_ElimDcBusRipFOC...................................................................................................................................... 27

2.7 GMCLIB_ElimDcBusRip.............................................................................................................................................. 31

2.8 GMCLIB_SvmStd..........................................................................................................................................................36

2.9 GMCLIB_SvmIct...........................................................................................................................................................51

2.10 GMCLIB_SvmU0n........................................................................................................................................................ 55

2.11 GMCLIB_SvmU7n........................................................................................................................................................ 59

GMCLIB User's Guide, Rev. 2, 10/2015

Freescale Semiconductor, Inc. 3

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4 Freescale Semiconductor, Inc.

Chapter 1

Library

1.1 Introduction

1.1.1 Overview

This user's guide describes the General Motor Control Library (GMCLIB) for the family

of DSP56800E core-based digital signal controllers. This library contains optimized

functions.

1.1.2 Data types

GMCLIB supports several data types: (un)signed integer, fractional, and accumulator.

The integer data types are useful for general-purpose computation; they are familiar to

the MPU and MCU programmers. The fractional data types enable powerful numeric and

digital-signal-processing algorithms to be implemented. The accumulator data type is a

combination of both; that means it has the integer and fractional portions.

The following list shows the integer types defined in the libraries:

•Unsigned 16-bit integer —<0 ; 65535> with the minimum resolution of 1

•Signed 16-bit integer —<-32768 ; 32767> with the minimum resolution of 1

•Unsigned 32-bit integer —<0 ; 4294967295> with the minimum resolution of 1

•Signed 32-bit integer —<-2147483648 ; 2147483647> with the minimum resolution

of 1

The following list shows the fractional types defined in the libraries:

•Fixed-point 16-bit fractional —<-1 ; 1 - 2-15> with the minimum resolution of 2-15

•Fixed-point 32-bit fractional —<-1 ; 1 - 2-31> with the minimum resolution of 2-31

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The following list shows the accumulator types defined in the libraries:

•Fixed-point 16-bit accumulator —<-256.0 ; 256.0 - 2-7> with the minimum

resolution of 2-7

•Fixed-point 32-bit accumulator —<-65536.0 ; 65536.0 - 2-15> with the minimum

resolution of 2-15

1.1.3 API definition

GMCLIB uses the types mentioned in the previous section. To enable simple usage of the

algorithms, their names use set prefixes and postfixes to distinguish the functions'

versions. See the following example:

f32Result = MLIB_Mac_F32lss(f32Accum, f16Mult1, f16Mult2);

where the function is compiled from four parts:

• MLIB—this is the library prefix

• Mac—the function name—Multiply-Accumulate

• F32—the function output type

• lss—the types of the function inputs; if all the inputs have the same type as the

output, the inputs are not marked

The input and output types are described in the following table:

Table 1-1. Input/output types

Type Output Input

frac16_t F16 s

frac32_t F32 l

acc32_t A32 a

1.1.4 Supported compilers

GMCLIB for the DSP56800E core is written in assembly language with C-callable

interface. The library is built and tested using the following compilers:

• CodeWarrior™ Development Studio

For the CodeWarrior™ Development Studio, the library is delivered in the gmclib.lib

file.

Introduction

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6 Freescale Semiconductor, Inc.

The interfaces to the algorithms included in this library are combined into a single public

interface include file, gmclib.h. This is done to lower the number of files required to be

included in your application.

1.1.5 Special issues

1. The equations describing the algorithms are symbolic. If there is positive 1, the

number is the closest number to 1 that the resolution of the used fractional type

allows. If there are maximum or minimum values mentioned, check the range

allowed by the type of the particular function version.

2. The library functions require the core saturation mode to be turned off, otherwise the

results can be incorrect. Several specific library functions are immune to the setting

of the saturation mode.

3. The library functions round the result (the API contains Rnd) to the nearest (two's

complement rounding) or to the nearest even number (convergent round). The mode

used depends on the core option mode register (OMR) setting. See the core manual

for details.

4. All non-inline functions are implemented without storing any of the volatile registers

(refer to the compiler manual) used by the respective routine. Only the non-volatile

registers (C10, D10, R5) are saved by pushing the registers on the stack. Therefore, if

the particular registers initialized before the library function call are to be used after

the function call, it is necessary to save them manually.

1.2 Library integration into project (CodeWarrior™

Development Studio)

This section provides a step-by-step guide to quickly and easily integrate the GMCLIB

into an empty project using CodeWarrior™ Development Studio. This example uses the

MC56F8257 part, and the default installation path (C:\Freescale\FSLESL

\DSP56800E_FSLESL_4.2) is supposed. If you have a different installation path, you

must use that path instead.

1.2.1 New project

To start working on an application, create a new project. If the project already exists and

is open, skip to the next section. Follow the steps given below to create a new project.

1. Launch CodeWarrior™ Development Studio.

Chapter 1 Library

GMCLIB User's Guide, Rev. 2, 10/2015

Freescale Semiconductor, Inc. 7

2. Choose File > New > Bareboard Project, so that the "New Bareboard Project" dialog

appears.

3. Type a name of the project, for example, MyProject01.

4. If you don't use the default location, untick the “Use default location” checkbox, and

type the path where you want to create the project folder; for example, C:

\CWProjects\MyProject01, and click Next. See Figure 1-1.

Figure 1-1. Project name and location

5. Expand the tree by clicking the 56800/E (DSC) and MC56F8257. Select the

Application option and click Next. See Figure 1-2.

Figure 1-2. Processor selection

6. Now select the connection that will be used to download and debug the application.

In this case, select the option P&E USB MultiLink Universal[FX] / USB MultiLink

and Freescale USB TAP, and click Next. See Figure 1-3.

Library integration into project (CodeWarrior™ Development Studio)

GMCLIB User's Guide, Rev. 2, 10/2015

8 Freescale Semiconductor, Inc.

Figure 1-3. Connection selection

7. From the options given, select the Simple Mixed Assembly and C language, and

click Finish. See Figure 1-4.

Figure 1-4. Language choice

The new project is now visible in the left-hand part of CodeWarrior™ Development

Studio. See Figure 1-5.

Figure 1-5. Project folder

1.2.2 Library path variable

To make the library integration easier, create a variable that will hold the information

about the library path.

1. Right-click the MyProject01 node in the left-hand part and click Properties, or select

Project > Properties from the menu. The project properties dialog appears.

Chapter 1 Library

GMCLIB User's Guide, Rev. 2, 10/2015

Freescale Semiconductor, Inc. 9

2. Expand the Resource node and click Linked Resources. See Figure 1-6.

Figure 1-6. Project properties

3. Click the 'New…' button on the right-hand side.

4. In the dialog that appears (see Figure 1-7), type this variable name into the Name

box: FSLESL_LOC

5. Select the library parent folder by clicking 'Folder…' or just typing the following

path into the Location box: C:\Freescale\FSLESL\DSP56800E_FSLESL_4.2_CW

and click OK.

6. Click OK in the previous dialog.

Library integration into project (CodeWarrior™ Development Studio)

GMCLIB User's Guide, Rev. 2, 10/2015

10 Freescale Semiconductor, Inc.

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