System debug
Documentation for variables in folder /driver/debug_adc
, /driver/core
, /driver/debug_diag
.
- 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.
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.
Value | Description |
---|---|
0 | Motor is steady |
1 | Motor is not connected during init. Phase B voltage differs from other voltages. |
2 | Motor 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).