System debug
Documentation for variables in folder /driver/debug_adc, /driver/core, /driver/debug_diag.
- The purpose of these states is internal debugging of the control algorithm. It is not targeted to the user.
- The behavior may be redefined in each release. Do NOT use these variables for any automation.
All the variables are state variables.
Debug of the diagnostics
Debug info for driver diagnostic: /driver/debug_diag.
off_i_a, off_i_c, off_i_b [LSB]
Offset of current measurement. This offset is identified during the initialization phase. off_i_b is computed from the two other offsets.
ua_scale, uc_scale [LSB]
Voltage calibration scale for phase A and C. Phase B is used as a reference.
a0_motor_state
Inferred motor state during A0 diagnostic stage.
| Value | Description |
|---|---|
| 0 | Motor was steady |
| 1 | Motor was not connected. |
| 2 | Motor was moving |
Debug of the core
Debug info for motor control core: /driver/core.
timstamp1 - timstamp7, timsync, and timirq
Time stamps used for debugging and profiling of the core blocks.
burden [%]
Driver MCU loading burden.
swdt
Software watchdog for ISR synchronization. This raises the "sync error" in /driver/state
ocv [V]
AC open-circuit voltage (independent of coordinate transforms). Used for beep scheduling.
inven
Recirculation equalization mechanism state.
Iqref, Iqrefr [A]
Q-axis current reference. Input to the pid_iq.
Idref [A]
D-axis current reference. Input to the pid_id.
Uqref [V]
Q-axis voltage reference.
alpha, beta [-1 - +1]
Main electrical angle represented in trigonometric plane.
iasquare, ibsquare, icsquare [A^2]
Filtered square current values for each phase. Used as an input of the I2T protection.
Debug of the ADC
Debug info for the ADC: /driver/debug_adc. All the readings are in LSBs and they are unprocessed ADC outputs.
VREFINT
MCUTEMP
Reading of the internal MCU temperature sensor.
U_A, U_B, U_C
Reading of the phase voltages.
I_A, I_B, I_C
Reading of the phase currents.
U_U
Reading of the DC bus voltage.
SIN, COS
Reading of the motor sensor input. Works only if a motor sensor with analog input is used (sin/cos, resolver).