NXP Semiconductors ARM Cortex M0+ User manual

GMCLIB User's Guide
ARM® Cortex® M0+
NXP Semiconductors Document identifier: CM0GMCLIBUG
User Guide Rev. 5, 01 November 2021

Contents
Chapter 1 Library................................................................................................... 5
1.1 Introduction................................................................................................................................5
1.1.1 Overview..................................................................................................................................... 5
1.1.2 Data types................................................................................................................................... 5
1.1.3 API definition............................................................................................................................... 5
1.1.4 Supported compilers................................................................................................................... 6
1.1.5 Library configuration....................................................................................................................6
1.1.6 Special issues............................................................................................................................. 6
1.2 Library integration into project (MCUXpresso IDE) .................................................................. 6
1.3 Library integration into project (Keil µVision) ............................................................................9
1.4 Library integration into project (IAR Embedded Workbench) ................................................. 17
Chapter 2 Algorithms in detail..............................................................................23
2.1 GMCLIB_Clark.........................................................................................................................23
2.1.1 Available versions..................................................................................................................... 23
2.1.2 Declaration................................................................................................................................ 23
2.1.3 Function use..............................................................................................................................23
2.2 GMCLIB_ClarkInv....................................................................................................................24
2.2.1 Available versions..................................................................................................................... 24
2.2.2 Declaration................................................................................................................................ 24
2.2.3 Function use..............................................................................................................................24
2.3 GMCLIB_Park..........................................................................................................................25
2.3.1 Available versions..................................................................................................................... 25
2.3.2 Declaration................................................................................................................................ 25
2.3.3 Function use..............................................................................................................................26
2.4 GMCLIB_ParkInv.....................................................................................................................26
2.4.1 Available versions..................................................................................................................... 26
2.4.2 Declaration................................................................................................................................ 27
2.4.3 Function use..............................................................................................................................27
2.5 GMCLIB_DecouplingPMSM.................................................................................................... 28
2.5.1 Available versions..................................................................................................................... 29
2.5.2 GMCLIB_DECOUPLINGPMSM_T_A32 type description..........................................................30
2.5.3 Declaration................................................................................................................................ 30
2.5.4 Function use..............................................................................................................................30
2.6 GMCLIB_DTCompLut1D.........................................................................................................31
2.6.1 Available versions..................................................................................................................... 33
2.6.2 GMCLIB_DTCOMPLUT1D_T_F16 type description................................................................. 34
2.6.3 Declaration................................................................................................................................ 34
2.6.4 Function use..............................................................................................................................34
2.7 GMCLIB_ElimDcBusRipFOC.................................................................................................. 35
2.7.1 Available versions..................................................................................................................... 37
2.7.2 Declaration................................................................................................................................ 38
2.7.3 Function use..............................................................................................................................38
2.8 GMCLIB_ElimDcBusRip..........................................................................................................38
2.8.1 Available versions..................................................................................................................... 41
2.8.2 Declaration................................................................................................................................ 41
2.8.3 Function use..............................................................................................................................41
2.9 GMCLIB_SvmStdShifted......................................................................................................... 42
2.9.1 Available versions..................................................................................................................... 45
2.9.1.1 GMCLIB_SVMSTDSHIFTED_T_F16 type description.................................................................46
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2.9.2 GMCLIB_ADC_CONFIG_T_F16 type description..................................................................... 46
2.9.3 GMCLIB_PWM_CONFIG_T_F16 type description....................................................................46
2.9.4 GMCLIB_PHASE_INDEX_T type description........................................................................... 47
2.9.5 Declaration................................................................................................................................ 47
2.9.6 Function use..............................................................................................................................47
2.10 GMCLIB_SvmStd.................................................................................................................. 48
2.10.1 Available versions................................................................................................................... 59
2.10.2 Declaration.............................................................................................................................. 59
2.10.3 Function use............................................................................................................................60
2.11 GMCLIB_SvmIct....................................................................................................................60
2.11.1 Available versions................................................................................................................... 62
2.11.2 Declaration.............................................................................................................................. 62
2.11.3 Function use............................................................................................................................62
2.12 GMCLIB_SvmU0n................................................................................................................. 63
2.12.1 Available versions................................................................................................................... 64
2.12.2 Declaration.............................................................................................................................. 65
2.12.3 Function use............................................................................................................................65
2.13 GMCLIB_SvmU7n................................................................................................................. 65
2.13.1 Available versions................................................................................................................... 67
2.13.2 Declaration.............................................................................................................................. 67
2.13.3 Function use............................................................................................................................68
2.14 GMCLIB_SvmDpwm..............................................................................................................68
2.14.1 Available versions................................................................................................................... 69
2.14.2 Declaration.............................................................................................................................. 70
2.14.3 Function use............................................................................................................................70
2.15 GMCLIB_SvmExDpwm......................................................................................................... 70
2.15.1 Available versions................................................................................................................... 72
2.15.2 Declaration.............................................................................................................................. 72
2.15.3 Function use............................................................................................................................72
Appendix A Library types..................................................................................... 74
A.1 bool_t.......................................................................................................................................74
A.2 uint8_t......................................................................................................................................74
A.3 uint16_t....................................................................................................................................75
A.4 uint32_t....................................................................................................................................76
A.5 int8_t........................................................................................................................................76
A.6 int16_t......................................................................................................................................77
A.7 int32_t......................................................................................................................................77
A.8 frac8_t..................................................................................................................................... 78
A.9 frac16_t................................................................................................................................... 79
A.10 frac32_t................................................................................................................................. 79
A.11 acc16_t..................................................................................................................................80
A.12 acc32_t..................................................................................................................................81
A.13 float_t.....................................................................................................................................81
A.14 GMCLIB_3COOR_T_F16......................................................................................................84
A.15 GMCLIB_3COOR_T_FLT......................................................................................................84
A.16 GMCLIB_2COOR_AB_T_F16............................................................................................... 85
A.17 GMCLIB_2COOR_AB_T_F32............................................................................................... 85
A.18 GMCLIB_2COOR_ALBE_T_F16...........................................................................................86
A.19 GMCLIB_2COOR_ALBE_T_FLT...........................................................................................86
A.20 GMCLIB_2COOR_DQ_T_F16...............................................................................................86
A.21 GMCLIB_2COOR_DQ_T_F32...............................................................................................87
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A.22 GMCLIB_2COOR_DQ_T_FLT.............................................................................................. 87
A.23 GMCLIB_2COOR_SINCOS_T_F16...................................................................................... 87
A.24 GMCLIB_2COOR_SINCOS_T_FLT......................................................................................88
A.25 FALSE...................................................................................................................................88
A.26 TRUE.................................................................................................................................... 89
A.27 FRAC8.................................................................................................................................. 89
A.28 FRAC16................................................................................................................................ 89
A.29 FRAC32................................................................................................................................ 90
A.30 ACC16...................................................................................................................................90
A.31 ACC32...................................................................................................................................90
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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 ARM Cortex M0+ core-based
microcontrollers. 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
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:
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Table 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 ARM Cortex M0+ core is written in C language or assembly language with C-callable interface depending on the
specific function. The library is built and tested using the following compilers:
• MCUXpresso IDE
• IAR Embedded Workbench
• Keil µVision
For the MCUXpresso IDE, the library is delivered in the
gmclib.a file.
For the Kinetis Design Studio, the library is delivered in the gmclib.a file.
For the IAR Embedded Workbench, the library is delivered in the
gmclib.a file.
For the Keil µVision, the library is delivered in the gmclib.lib file.
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 Library configuration
GMCLIB for the ARM Cortex M0+ core is written in C language or assembly language with C-callable interface depending on the
specific function. Some functions from this library are inline type, which are compiled together with project using this library. The
optimization level for inline function is usually defined by the specific compiler setting. It can cause an issue especially when high
optimization level is set. Therefore the optimization level for all inline assembly written functions is defined by compiler pragmas
using macros. The configuration header file RTCESL_cfg.h is located in: specific library folder\MLIB\Include . The optimization
level can be changed by modifying the macro value for specific compiler. In case of any change the library functionality is
not guaranteed.
Similarly as optimization level the Memory-mapped divide and square root module support can be disable or enable by defined
symbol RTCESL_MMDVSQ_ON or RTCESL_MMDVSQ_OFF in project setting described in the Memory-mapped divide and
square root support cheaper for specific compiler.
1.1.6 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 that round the result (the API contains Rnd) round to nearest (half up).
1.2 Library integration into project (MCUXpresso IDE)
This section provides a step-by-step guide on how to quickly and easily include GMCLIB into any MCUXpresso SDK example or
new SDK project using MCUXpresso IDE. The SDK based project uses RTCESL from SDK package.
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Adding RTCESL component to project
The MCUXpresso SDK package is necessary to add any example or new project and RTCESL component. In case the
package has not been downloaded go to mcuxpresso.nxp.com, build the final MCUXpresso SDK package for required board and
download it.
After package is dowloaded, open the MCUXpresso IDE and drag&drop the SDK package in zip format to the Installed SDK
window of the MCUXpresso IDE. After SDK package is dropped the mesage accepting window appears as can be show in
following figure.
Figure 1. MCUXpresso IDE - imporing the SDK package to MCUXpresso IDE
Click OK to confirm the SDK package import. Find the Quickstart panel in left bottom part of the MCUXpresso IDE and click New
project... item or Import SDK example(s)... to add rtcesl component to the project.
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Figure 2. MCUXpresso IDE - create new project or Import SDK example(s)
Then select your board, and clik Next button.
Figure 3. MCUXpresso IDE - selecting the board
Find the Middleware tab in the Components part of the window and click on the checkbox to be the rtcesl component ticked. Last
step is to click the Finish button and wait for project creating with all RTCESL libraries and include paths.
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Figure 4. MCUXpresso IDE - selecting rtcesl component
Type the #include syntax into the code where you want to call the library functions. In the left-hand dialog, open the required .c
file. After the file opens, include the following lines into the #include section:
#include "mlib.h"
#include "gflib.h"
#include "gmclib.h"
When you click the Build icon (hammer), the project is compiled without errors.
1.3 Library integration into project (Keil µVision)
This section provides a step-by-step guide on how to quickly and easily include GMCLIB into an empty project or any
MCUXpresso SDK example or demo application projects using Keil µVision. This example uses the default installation path
(C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL). If you have a different installation path, use that path instead. If any MCUXpresso
SDK project is intended to use (for example hello_world project) go to Memory-mapped divide and square root support chapter
otherwise read next chapter.
NXP pack installation for new project (without MCUXpresso SDK)
This example uses the NXP MKV10Z32xxx7 part, and the default installation path (C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL)
is supposed. If the compiler has never been used to create any NXP MCU-based projects before, check whether the NXP MCU
pack for the particular device is installed. Follow these steps:
1. Launch Keil µVision.
2. In the main menu, go to Project > Manage > Pack Installer….
3. In the left-hand dialog (under the Devices tab), expand the All Devices > Freescale (NXP) node.
4. Look for a line called "KVxx Series" and click it.
5. In the right-hand dialog (under the Packs tab), expand the Device Specific node.
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6. Look for a node called "Keil::Kinetis_KVxx_DFP." If there are the Install or Update options, click the button to install/
update the package. See Figure 5.
7. When installed, the button has the "Up to date" title. Now close the Pack Installer.
Figure 5. Pack Installer
New project (without MCUXpresso SDK)
To start working on an application, create a new project. If the project already exists and is opened, skip to the next section. Follow
these steps to create a new project:
1. Launch Keil µVision.
2. In the main menu, select Project > New µVision Project…, and the Create New Project dialog appears.
3. Navigate to the folder where you want to create the project, for example C:\KeilProjects\MyProject01. Type the name of the
project, for example MyProject01. Click Save. See Figure 6.
Figure 6. Create New Project dialog
4. In the next dialog, select the Software Packs in the very first box.
5. Type 'kv10' into the Search box, so that the device list is reduced to the KV10 devices.
6. Expand the KV10 node.
7. Click the MKV10Z32xxx7 node, and then click OK. See Figure 7.
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Figure 7. Select Device dialog
8. In the next dialog, expand the Device node, and tick the box next to the Startup node. See Figure 8.
9. Expand the CMSIS node, and tick the box next to the CORE node.
Figure 8. Manage Run-Time Environment dialog
10. Click OK, and a new project is created. The new project is now visible in the left-hand part of Keil µVision. See Figure 9.
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Figure 9. Project
Memory-mapped divide and square root support
Some Kinetis platforms contain a peripheral module dedicated for division and square root. This section shows how to turn the
memory-mapped divide and square root (MMDVSQ) support on and off.
1. In the main menu, go to Project > Options for Target 'Target1'…, and a dialog appears.
2. Select the C/C++ tab. See Figure 10.
3. In the Include Preprocessor Symbols text box, type the following:
• RTCESL_MMDVSQ_ON—to turn the hardware division and square root support on
• RTCESL_MMDVSQ_OFF—to turn the hardware division and square root support off
If neither of these two defines is defined, the hardware division and square root support is turned off by default.
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Figure 10. Preprocessor symbols
4. Click OK in the main dialog.
See the device reference manual to verify whether the device contains the MMDVSQ module.
Linking the files into the project
GMCLIB requires MLIB and GFLIB to be included too. The following steps show how to include all dependent modules.
To include the library files in the project, create groups and add them.
1. Right-click the Target 1 node in the left-hand part of the Project tree, and select Add Group… from the menu. A new group
with the name New Group is added.
2. Click the newly created group, and press F2 to rename it to RTCESL.
3. Right-click the RTCESL node, and select Add Existing Files to Group 'RTCESL'… from the menu.
4. Navigate into the library installation folder C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\MLIB\Include, and select the
mlib.h
file. If the file does not appear, set the Files of type filter to Text file. Click Add. See Figure 11.
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Figure 11. Adding .h files dialog
5. Navigate to the parent folder C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\MLIB, and select the mlib.lib file. If the file does
not appear, set the Files of type filter to Library file. Click Add. See Figure 12.
Figure 12. Adding .lib files dialog
6. Navigate into the library installation folder C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\GFLIB\Include, and select the gflib.h
file. If the file does not appear, set the Files of type filter to Text file. Click Add.
7. Navigate to the parent folder C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\GFLIB, and select the gflib.lib file. If the file does
not appear, set the Files of type filter to Library file. Click Add.
8. Navigate into the library installation folder C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\GMCLIB\Include, and select the
gmclib.h file. If the file does not appear, set the Files of type filter to Text file. Click Add.
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9. Navigate to the parent folder C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\GMCLIB, and select the gmclib.lib file. If the file
does not appear, set the Files of type filter to Library file. Click Add.
10. Now, all necessary files are in the project tree; see Figure 13. Click Close.
Figure 13. Project workspace
Library path setup
The following steps show the inclusion of all dependent modules.
1. In the main menu, go to Project > Options for Target 'Target1'…, and a dialog appears.
2. Select the C/C++ tab. See Figure 14.
3. In the Include Paths text box, type the following paths (if there are more paths, they must be separated by ';') or add them
by clicking the … button next to the text box:
• "C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\MLIB\Include"
• "C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\GFLIB\Include"
• "C:\NXP\RTCESL\CM0_RTCESL_4.7_KEIL\GMCLIB\Include"
4. Click OK.
5. Click OK in the main dialog.
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Figure 14. Library path addition
Type the #include syntax into the code. Include the library into a source file. In the new project, it is necessary to create a
source file:
1. Right-click the Source Group 1 node, and Add New Item to Group 'Source Group 1'… from the menu.
2. Select the C File (
.c ) option, and type a name of the file into the Name box, for example ' main.c '. See Figure 15.
Figure 15. Adding new source file dialog
3. Click Add, and a new source file is created and opened up.
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4. In the opened source file, include the following lines into the #include section, and create a main function:
#include "mlib.h"
#include "gflib.h"
#include "gmclib.h"
int main(void)
{
while(1);
}
When you click the Build (F7) icon, the project will be compiled without errors.
1.4 Library integration into project (IAR Embedded Workbench)
This section provides a step-by-step guide on how to quickly and easily include the GMCLIB into an empty project or any
MCUXpresso SDK example or demo application projects using IAR Embedded Workbench. This example uses the default
installation path (C:\NXP\RTCESL\CM0_RTCESL_4.7_IAR). If you have a different installation path, use that path instead. If any
MCUXpresso SDK project is intended to use (for example hello_world project) go to Memory-mapped divide and square root
support chapter otherwise read next chapter.
New project (without MCUXpresso SDK)
This example uses the NXP MKV10Z32xxx7 part, and the default installation path (C:\NXP\RTCESL\CM0_RTCESL_4.7_IAR) is
supposed. To start working on an application, create a new project. If the project already exists and is opened, skip to the next
section. Perform these steps to create a new project:
1. Launch IAR Embedded Workbench.
2. In the main menu, select Project > Create New Project… so that the "Create New Project" dialog appears. See Figure 16.
Figure 16. Create New Project dialog
3. Expand the C node in the tree, and select the "main" node. Click OK.
4. Navigate to the folder where you want to create the project, for example, C:\IARProjects\MyProject01. Type the name of the
project, for example, MyProject01. Click Save, and a new project is created. The new project is now visible in the left-hand
part of IAR Embedded Workbench. See Figure 17.
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Figure 17. New project
5. In the main menu, go to Project > Options…, and a dialog appears.
6. In the Target tab, select the Device option, and click the button next to the dialog to select the MCU. In this example, select
NXP > KV1x > NXP MKV10Z32xxx7 Click OK. See Figure 18.
Figure 18. Options dialog
Memory-mapped divide and square root support
Some Kinetis platforms contain a peripheral module dedicated to division and square root. This section shows how to turn the
memory-mapped divide and square root (MMDVSQ) support on and off.
1. In the main menu, go to Project > Options…, and a dialog appears.
2. In the left-hand column, select C/C++ Compiler.
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3. In the right-hand part of the dialog, click the Preprocessor tab (it can be hidden in the right; use the arrow icons
for navigation).
4. In the text box (at the Defined symbols: (one per line)), type the following (See Figure 19):
• RTCESL_MMDVSQ_ON—to turn the hardware division and square root support on
• RTCESL_MMDVSQ_OFF—to turn the hardware division and square root support off
If neither of these two defines is defined, the hardware division and square root support is turned off by default.
Figure 19. Defined symbols
5. Click OK in the main dialog.
See the device reference manual to verify whether the device contains the MMDVSQ module.
Library path variable
To make the library integration easier, create a variable that will hold the information about the library path.
1. In the main menu, go to Tools > Configure Custom Argument Variables…, and a dialog appears.
2. Click the New Group button, and another dialog appears. In this dialog, type the name of the group PATH, and click OK.
See Figure 20.
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Figure 20. New Group
3. Click on the newly created group, and click the Add Variable button. A dialog appears.
4. Type this name: RTCESL_LOC
5. To set up the value, look for the library by clicking the '…' button, or just type the installation path into the box:
C:\NXP\RTCESL\CM0_RTCESL_4.7_IAR. Click OK.
6. In the main dialog, click OK. See Figure 21.
Figure 21. New variable
Linking the files into the project
GMCLIB requires MLIB and GFLIB to be included too. The following steps show the inclusion of all dependent modules.
To include the library files into the project, create groups and add them.
1. Go to the main menu Project > Add Group…
2. Type RTCESL, and click OK.
3. Click on the newly created node RTCESL, go to Project > Add Group…, and create a MLIB subgroup.
4. Click on the newly created node MLIB, and go to the main menu Project > Add Files… See Figure 23.
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