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FW version: Stable

System debug

Documentation for variables in folder /driver/debug_adc, /driver/core, /driver/debug_diag.

warning
  • The purpose of all these states is debugging of the control algorithm.
    • It is not for the end-user.
  • Its behavior is not consistent. Do NOT use them at production for any automation.
info

All the variables are states. No settings here.

Debug diag​

Debug info for driver diagnostic - /driver/debug_diag.

off_i_a, off_i_c, off_i_b [lsb]​

Offset at current measurement. Measured at 0 current. This offset is measured during the initialization phase.

off_i_b is not measured. It is computed from two previous offsets.

ua_scale, uc_scale [lsb]​

Phase A and C is calibrated. Phase B is the reference.

a0_motor_state​

Motor state during A0 diagnostic.

ValueDescription
0Motor is steady
1Motor is not connected during init. Phase B voltage differs from other voltages.
2Motor is moving

Debug core​

Motor control debug info - /driver/core.

timsync​

Watchdog between motor controll and the application. This raise /driver/state "Sync error"

timsync = DRIVER_PERIOD - INIT_TRIGG;

timirq​

Value of main driver timer.

Time stamp​

timstamp1 - timstamp7​

Used for debugging of time consumption of driver code blocks.

burden [%]​

Driver mcu load.

swdt​

Software watchdog for tick-to-isr control.

ocv [V]​

Open circuit voltage.

inven​

Recirculation equalization enabled.

Iqref [A]​

Q-axis current reference. Input to pid_iq regulator.

Iqrefr [A]​

Q-axis current reference (for braking). Input to pid_iq regulator.

Idref [A]​

D-axis current reference. Input to pid_id regulator.

Uqref [V]​

Voltage reference for Q-axis.

alpha [-1 - 1]​

beta [-1 - 1]​

iasquare, ivsquare, icsquare [A^2]​

Filtered square current values for each phase. This is used as input for the I2T protection.

Debug adc​

ADC debug info - /driver/debug_adc.

All the readings are in lsb 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. This reading works only if a motor sensor with analog input is used (sin/cos, resolver).