3.3.23.3 mcRefI_ReferenceControl

C

/* Floating point reference control */
void mcRefI_ReferenceControl(  tmcRef_Parameters_s * const pParameters,
                                                    const float32_t command, float32_t * const pOut )

/* Fixed point reference control */
void mcRefI_ReferenceControl(  tmcRef_Parameters_s * const pParameters,
                                                    const int16_t command, int16_t * const pOut )

Summary

This function performs the reference control.

Description

This function controls the reference speed input, allowing for smooth acceleration or deceleration to achieve a target command value. It adjusts the reference based on specified parameters and clamps it within defined limits. The diagram below illustrates the reference control process.

Precondition

The reference control module must be initialized and enabled.

Parameters


Param	Description
pParameters	A pointer to the reference control module parameter structure
command	The target command value to which the reference should be adjusted. Please refer the generated header for the exact data type.
pOut	A pointer to a variable where the resulting reference value will be stored. Please refer the generated header for the exact data type.

Returns

None

Example

// Define the Reference control module data structure
tmcRef_Parameters_s params;

// Define the parameters for floating point reference control 
float32_t commandRef = 10.0f;
float32_t nRef;

// Define the parameters for fixed point reference control 
int16_t commandRef =10;
int16_t nRef;

/** Reference control  */
mcRefI_ReferenceControl(&params, commandRef, &nRef);

Remarks

Refer the generated header file for the exact function signature.