DSP-2 Library for Simulink
Contents
1. 100 Locked Figure 41 DSP 2 robotic controller blockset NOTE When you are developing code for DSP 2 robotic controller the following DSP 2 device driver blocks are not allowed in Sumulink model e DSP 2 Analog Input Output e DSP 2 Digital Input Output e DSP 2 CAN Read Write e DSP 2 PWM e DSP 2 PWM2 e DSP 2 Encoder CHAPTER 4 DSP 2 BLOCK REFERENCES 46 Analog Input Description DSP 2 robotic controller has four 12 bits analog to digital converters ADC with the input range from 10 V to 10 V An output of Analog Input block has ranges from 10 V to 10 V Block Parameters Analog Input DSP2 RO0B_4l mask Analog Input block for OSP 2 Robotic Board Parameters Offset port Sample time 1 for nhereted z Figure 42 GUI of DSP 2 robotic controller Analog Input block Parameters Analog input channel Analog input channel of DSP 2 robotic controller from which DSP 2 controller reads data Offset port If this option is selected block input port appears Value connected to this input port is subtracted from ADC data Sample time Sample time must be an integer multiple of the base sample time Fixed sample time parameter CHAPTER 4 DSP 2 BLOCK REFERENCES 47 Analog Output Description DSP 2 robotic controller has four 12 bit digital to analog converters DAC DSP RC with the output ranges from 10 V to 10 V With parameter Analog Output Figure 43 can be selected on which analog ch2. Start time 0 0 Stop time inf Solver options eio 1 isci fro continuous states i Fixed step size 150e 6 Mode Auto Output options UK Cancel Help Apply Figure 8 Solver page CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 10 When all the mentioned parameters are set to the correct values you can start a build process with single click on Build button on RTW page After successful compilation the following message in MATLAB command window will appear Figure 9 8 successful completion of the ERT code generation process for the DPSF 2 board Figure 9 MATLAB command window Successful completion of RTW build procedure Now you must run the DSP Terminal the shortcut is located on the desktop to download generated code to DSP 2 controller In DSP Terminal Options page 1 Figure 10 you can navigate to directory in which the generated code is located Note that generated code appears with extension hex Select appropriate file and press Download button to download code to DSP 2 controller If the download is not possible first reset the DSP 2 controller with Reset button If an option Download generated code to the DSP 2 controller on the RTW options page 1 Figure 16 is selected then downloading process is automatically invoked 88 Successful completion of the ERT code generation process for the DSP 2 board 22 Downloading generated code to the DSP2 board CHAPTER 3 DSP 2 LIBRARY FOR SIMULI
3. 33 PRBS Description PRBS block generates Pseudo Random Bipolar Sequence which is mainly used in the system identification In GUI you can set the following parameters Amplitude Mean value and Sample time Block Parameters PRES S Furnction mask Pseudo Random Bipolar Sequence block Parameters Amplitude BWR Mean value 0 Sample time 1 for inhereted ls AA Lancel Help Figure 34 GUI of DSP 2 PRBS block Parameters Amplitude Parameter Amplitude defines amplitude of generated prbs signal Generated signal has two output states e Mean value Amplitude e Mean value Amplitude Mean value Mean value of the generated prbs signal Sample time Sample time must be an integer multiple of the base sample time Fixed sample time parameter CHAPTER 4 DSP 2 BLOCK REFERENCES 34 Incremental Encoder Description Block DSP 2 ENC enables sampling of the position and speed of an aoe incremental encoder that is connected to DSP 2 controller Figure 35 shows Beare the GUI of DSP 2 Encoder block In this GUI you can set two parameters Mode and Gain The meaning of these parameters is explained in Parameters section below To ensure the correct operation of incremental encoder you must set parameter Num of pulses per revolution which is located on RTW Options page 2 Figure 17 This parameter appears only if DSP 2 target is selected As the name of the parameter says you must set the number of pu
4. Configuration window Figure 11 Select the variable which you want to change in online mode and click Add to Table button to add parameter to Global CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 12 tunable parameters table Parameters Storage Class and Storage type qualifier leave to the default values Because an example is the best way to understand the theory of operation an example is presented in the subsection Model Parameter Configuration temp Description Define the global tunable parameters for your model These parameters affect 1 the simulation by providing the ability to tune parameters during execution and 2 the generated code by enabling access to parameters by other modules source list Global tunable parameters MATLAB workspace ka Storage class Storage type qualifier simulinkGlobal Auto a Mw SimulinkGlobal Auto w SimulinkGlobal Auto w Refresh list Me Figure 11 Tunable Parameters page in MATLAB 6 5 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 13 J DSP Terminal 1 5 2001 FERI SES a FesetkDownload cor Prerr0PwEr 04ck 0 Figure 12 DSP Terminal Parameters page Example In this example we ll show how to define exported parameters We have a Simulink model shown in Figure 13 In Discrete Time integrator we define parameters as shown in Figure 14 the parameters that we want to export are in GUI of Discrete Time Integrator signed as IC LL and UL If we want to change these paramete
5. DSP 2 controller can be found in DSP 2 user s manual TPE A gt ax i BIR C dedi FER j A A ue iad br i x T ma F pa i p EXILI EA E A i aren Figure 1 Photograph of the DSP 2 controller CHAPTER 2 DSP 2 CONTROLLER SERIAL PORT FLASH 8 Power supply SRAM OWS 2 ORK x 20 TM 320C32 60 EEPROM 2 16 Be XDS510 i MPSD Port CAN SAE81C90 ADM232A _RS232 interface XCS40PQ240 INCR ENC RS485 LTC485 EA interface Boundary A D D A IJO Scan Logic interface interface A D AID A D A D 00kS s 12bit 12bit 12bit 12bit Peeli E EN SS EA OAV id OY pa ALS LS Figure 2 Block scheme of the DSP 2 controller EEPROM interface CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 5 3 DSP 2 library for Simulink After successful installation of the DSP 2 library installation process is explained in chapter 3 1 this library can be opened with dsp2lib command in MATLAB command window DSP 2 library will appear Figure 3 It contains the following blocks e Basic Blockset subsystem contains the DSP 2 device driver blockset Figure 25 e Robotic Blockset Subsystem contains Simulink blocks for DSP 2 robotic controller Figure 41 e Doc DSP 2 documentations in pdf format e Demos link to DSP 2 basic examples e New model more about this option can be found in chapter 3 2 on page 7 e About general information s about DSP 2 library for Simulink Tah
6. E E e 47 DIO ta IIT T euva ee ewan Chan pecan a AG gad aa wie ee ue es 48 DIGIEAISOUL Uriarte 49 ENCON Ramsar oh eat ce a ie 50 Encoder POSITION POSO seron a A ta 52 Ads R LT PLANTS ia cdas 54 5 BLOCKS THAT ARE NOT SUPPORTED WITH EMBEDDED C FORMAT 55 TABLE OF FIGURES Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Figure 30 Figure 31 Figure 32 Figure 33 Figure 34 Figure 35 Figure 36 Figure 37 Figure 38 Figure 39 Figure 40 Figure 41 Figure 42 Figure 43 Figure 44 Figure 45 Figure 46 Figure 47 Figure 48 Figure 49 ll TABLE OF FIGURES PRotodrapn Of he DSP 2 CONTO NS Esad oca 3 Block scheme of the DSP 2 controller errereen EAE rr 4 DSP 2 OKAY TOF SINUINK arain i aa AA AAA 5 els si ITS CID ary BROWSER ici D new MOG SGU TTT 7 NEW SIMUUINK Modelado ai 8 RIW page itp MATLAB 6 AAA IA 9 SO Ver Dadas 9 MATLAB command window Successful completion of RTW build procedure 10 DSP Terminal Options PAQC cccccccccccnnncccnoncncnonnn rn rrnn rra rr rr rr 11 Tunable Parameters page in MATLAB 6 5 ee 12 DSP Terminal Parameters page Ke ETO TE at RAR E A ETEL Tt TREE 13 SIMPIS SIMUMAK MOJO aii daa i
7. Library dsp7lib File Edit View DSP 2 Library for Simulink Faculty of Electrical Engineering and Computer Science Smetanova 17 2000 Maribor Slovenia INSTITUTE OF ROBOTICS Figure 3 DSP 2 library for Simulink Note Blocks in basic and robotic blockset can also be accessed in Simulink Library Browser Just open the Simulink and click on plus sign near DSP 2 controller text Figure 4 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 6 ba simulink Library Browser File Edit View Help E Sal Find Welcome to Simulink Tip For more tips see the Simulink documentation Simulink C Basi a L7 Aerospace Blockset Basic Blockset CDMA Reference Blockset R Communications Blockset Plants Plants S Control System Toolbox Ml DSP Elockset Robotic Robotic Controller Blockset S DSP 2 controller Basic Blockset H Plants J Robotic Controller Blockset K Dials amp Gauges Blockset Dutchroll Blockset for Simulink N Embedded Target for Motorola MPC5 M Embedded Target for TI C6000 DSP Wa Fixed Point Blockset MA Fuzzy Logic Toolbox Gal MPC Blocks S NCD Blockset R Neural Network Blockset M Real Time Windows Target S Real Time Workshop 111 Ready Figure 4 Simulink Library Browser 3 1 DSP 2 library setup Before the installation of DSP 2 library for Simulink the following software must have been installed on personal computer e MATLAB 6 5 6 5 1 or 6 5 2 e Real Time Worksho
8. Name Analog Input 1 Gain mooo Analog Input 2 Name Analog Input 2 Gain Oversampling Factor Carcel teo Figure 27 GUI of DSP 2 Al Oversampling block Outputs Outputs Al X X 1 2 Output AIX X 1 2 is oversampled value of the signal connected to Analog Input X Oversampling means that the signal is measured n times during one period of PWM signal Output AIX X 1 2 is the vector with n elements Dimension of this vector is defined with Oversampling Factor parameter in block GUI Parameters Analog Input X Name X 1 2 For each output channel the user can assign custom name This name will appear in Terminal GUI after executable code deploying on the DSP 2 target CHAPTER 4 DSP 2 BLOCK REFERENCES 26 Additional notes Analog Input X Gain X 1 2 Each sampled value in analog input channel X X 1 2 can be scaled with parameter Gain Oversampling Factor Oversampling factor defines how many times the signal will be measured in one period of PWM signal Parameter range 1 lt Oversampling Factor lt 8 Default value 1 Note In the Oversampling Factor field the user can enter the variable name If the variable is not yet defined in MATLAB workspace the size of each output vectors will be automatically set to 1 Sample time Sample time must be an integer multiple of the base sample time Fixed Sample time parameter After deploying executable code generated fro
9. with Embedded C format Code for Embedded C format does not support the following blocks e Continuous o No blocks are supported e Discrete o First Order Hold e Functions and tables o MATLAB Fcn o Following S function M files or Fortran S function and noninlined C MEX S functions o Algebraic Constraint o Matrix Gain e Nonlinear o Rate Limiter e Sinks o XY Graph o Display e Sources o Clock o Pulse Generator o Ramp o Repeating Sequence o Signal Generator
10. NK 11 Mi DSP Terminal 1 5 2001 FERI Pause Scroll SaveToFile Parins Trigger 0 r Q Pre samples E 200001 DSP reset Program download FesetkDownload com PrErr 0PwErr 0Ack 0 Figure 10 DSP Terminal Options page 3 4 Online changing of block parameters DSP 2 library in combination with DSP Terminal enables online changing of the Simulink block parameters while the code is executed on the DSP 2 controller Parameters of blocks which are placed in Simulink model must be stored in local or global variable in MATLAB workspace as real scalar values Which parameters are changeable in online mode depends on Inline parameters button on Advanced page If Inline Parameters button on the Advanced page is NOT selected than all scalar parameters of each block placed in the Simulink model will appear in the Parameter Inspector window of DSP Terminal When the Simulink model is pretty complex a lot of parameters appear in the Parameter Inspector window Usually we want to change only a few parameters in online mode therefore option described in the next section is much more appropriate If the Inline Parameters button is selected than you can define which parameters you want to tune in online mode This can be done on Tunable parameters page Figure 11 This page appears if you select Configure button on Advanced Page The list of MATLAB workspace variables is placed on the left side of the Model Parameter
11. P 2 BLOCK REFERENCES 22 4 DSP 2 block references 4 1 DSP 2 device driver blockset In the following subsections detailed description of individual DSP 2 device driver blocks are explained CHAPTER 4 DSP 2 BLOCK REFERENCES 23 Library dsp2lib1 AE DSP 2 device driver blockset contains File Edit View the following blocks e Analog Input DSP 2 device driver blockset e Analog Output DSF 2 DSF 2 aa F ee e Analog Output Differential DSP 2 e Digital Input DI 0 DO 4 o e Digital Output DSP 2 FA DSP 2 TA pepa 0x880020 e From Address n G e To Address Temp Temp DSP 2 CAM e PRBS IDO IDO e Analog Input Oversampling a C E EJ al wa FO E C1 i rar e Incremental Encoder ae e Modulator e PWM e To File e To Terminal Pulse e From Terminal Generator e Transformation blocks PROS ER Figure 25 DSP 2 device driver blockset CHAPTER 4 DSP 2 BLOCK REFERENCES 24 Analog Input Description DSP 2 controller has three fast analog inputs signed with 0 1 2 in GUI See and one slow analog input which has an 8 1 multiplexer placed on its E input signed with 3 0 to 3 7 in GUI Algorithm of this block is made so that at the start of each ISR DSP performs sampling of all three fast analog inputs and one of eight signals that are connected to multiplexer In each interrupt sampling of different port of slow analog input is executed Because multiplexer type is 8 1 that means that
12. University of Maribor Faculty of Electrical Engineering and Computer Science Smetanova ulica 17 2000 Maribor L Slovenia La pra INSTITUTE OF ROBOTICS DSP 2 Library for Simulink User s Manual Author Darko HERCOG dsp2lib version 1 5 1 Terminal version 1 5 6 MATLAB version 6 5 Contact darko hercog uni mb si March 2007 DSP 2 Library for Simulink TABLE OF CONTENT 1 TABLE OF CONTENT L PREFACE A a e or idoS 1 2 DSP 2 CONTROLLER cu rida 2 3 DSP 2 LIBRARY FOR SI IMUELINK iii 5 Se Le DSP Z LIBRARY SETUP anta dar taa ao iaa 6 32 CREATING A NEW MODEL raid riada oir 7 Bro CODE GENERATION ai AAA A Ea 8 3 4 ONLINE CHANGING OF BLOCK PARAMETERS e 11 325 IDSIP Z OPTIONS id NAAA A Gc we eae Ree 15 BiG DSP 2 DEMOS maera a aaa Nusa na ay areas eae ae oa dh eee is a hin water a tae 20 4 DSP 2 BLOCK REFERENCES 0 a 22 4 1 DSP 2 DEVICE DRIVER BLOCKSE TS pr di a es 22 A OS INDIE AAA AAA AAA A AAA 24 A alog Beie d eU ees aeii anal 25 ANSIO OUPO Ea AA dara 27 Analog Output Different 28 DIED Eesti tried 29 Birahi EBIT 00 nent enn aaa 30 Scao te soaker e a Sten er Sent oo no 31 TOA ios 32 PRD NR E R 33 Incremental ENCO a di tios 34 Us T ae A A O O RT A A eats Gee eaten Cone ae 36 SAT 0 IC 37 A on O eat sad aa een aaa ae 38 Al HTHH 40 Er TPI eS dias 42 kran S OMM aO S uti abri a nea eaten ate 44 4 2 DSP 2 ROBOTIC CONTROLLER DEVICE DRIVER BLOCKSET x x 45 ANACO Lat e di ana 46 oso A e ee E TOO gu
13. an 4095 quants or smaller than O the signal is limited to 4095 or O respectively Caution If at least one of the DSP 2 Analog Output block exists in the Simulink model than block AO_DIFF is not allowed to be in the model Block Parameters Analog Output DSP2_A0 mask DSP analog output block Parameters Analog Output O Show Output Sample Time 1 for inhereted s a Cancel Help Figure 29 GUI of DSP 2 Analog Output block Table 2 Analog output ranges DSP 2 analog output DSP 2 analog output D A converter output V range Oto 4 095 O to 4 095 O to 4 095 O to 4 095 Parameters Analog output We can select to which analog output on DSP 2 controller DSP will send block input data Show input This option is used only in the simulation If option is selected than block input appears In the simulation block input values are copied to the block output Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If sample time is set to 1 then sample time is inherited from driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 28 Analog Output Differential Description Block Analog Output Differential enables biporar analog output generation on the AOUT port of the DSP 2 controller DSP 2 40 Caution If this block exists in the Simulink model than block Analog Output DSP 2 AO is not allowed to be in
14. and threshold Block Parameters Digital Output DSP2 DU mask DSP2 digital output block Parameterz Digital Output lt Operation C maller Threshold o Show Output Sample Time 1 for inhereted z qo Cancel Help Figure 31 GUI of DSP 2 Digital Output block Digital output Select to which digital output DSP will sends data Operation Greater If the input signal is greater than the threshold then the output is set to 1 else to 0 Smaller If the input signal is smaller than the threshold then the output is set to 1 else to 0 Threshold Threshold must be a scalar real number The meaning of this parameter is explained in Operation parameter Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If the sample time is set to 1 then the sample time is inherited from the driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 31 From Address Description Block DSP 2 From Address Figure 32 enables digital signal processor to get EPA the data from the address in memory In GUI of DSP 2 From Address block canal you can set two parameters Address and Initial value We can select Address only from drop down menu because this disables input of the wrong address Parameter Initial value defines the value to which the selected address is set in the initialization stage of the DSP 2 controller Default value of mentioned
15. annel of DSP 2 robotic controller block input data will be send If the block input signal is greater than 10 or smaller than 10 the input signal is limited to 10 or 10 respectively Block Parameters Analog Output DSP2R0B_40 mask Analog Output block for OSP 2 Robotic Board Parameters Figure 43 GUI of DSP 2 robotic controller Analog Output block Parameters Analog output channel Analog output channel of the DSP 2 robotic controller to which DSP sends block input data Sample Time Sample time must be an integer multiply of the base sample time Fixed step size parameter If sample time is set to 1 then sample time is inherited from driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 48 Digital Input Description DSP 2 robotic controller has 16 optically isolated logical inputs Which input to use can be selected with the parameter Digital Input Figure 44 On the DSP 2RC ee ate hae output of this block signal with the logical value 0 or 1 appears Block Parameters Digital Input DSP2R0B_0l mask Digital Input block for OSP 2 Robotic Board Parameters Sample time 1 for inhereted 2 RO Figure 44 GUI of DSP 2 robotic controller Digital Input block Parameters Digital input channel Digital input channel of the DSP 2 robotic controller from which DSP gets data Sample time Sample time must be an integer multiple of the base sample time Fixed Sample
16. aracters Parameter must be entered in single quotes CHAPTER 4 DSP 2 BLOCK REFERENCES 44 Transformations Description DSP 2 library contains blocks for the following transformations DR f R2D p RPM 2 rads E radis 2 RPM E transformation from ab to dq system of coordinates d cos fi a sin fi b q sin fi a cos fi b transformation from dq to ab system of coordinates a cos fi d sin fi d b sin fi d cost fi q transformation from 3 phase to 2 phase system of coordinates L l ae L S m above transformation equation is valid if i 1 i O Conversion from Degrees to Radians A 180 Conversion from Radians to Degrees E T D Conversion from RPMS to rad s adis ARPM 30 Conversion from rad s to RPMS RPM E trad 5 TT CHAPTER 4 DSP 2 BLOCK REFERENCES 45 4 2 DSP 2 robotic controller device driver blockset DSP 2 robotic controller blocks can be used in Simulink model only if DSP 2 robotic controller is attached to the DSP 2 controller In the following subsections individual DSP 2 robotic controller blocks are explained DSP 2 robotic controller blockset contains the following blocks j gz mn L Library dsp roblib isl ES File Edit View e Analog Input DSP 2 robotic controller e Analog Output device driver blockset e Digital Input e Digital Output AD 0 e Encoder Position Preset e From Terminal DSP 2 RC e To Terminal Pos Preset
17. at every 8 th interrupt sampling on the same port of slow analog input is performed Voltage ranges of analog inputs are shown in table below Table 1 All A D converters are 12 bit that means that on output of A D converter we get a unipolar input range signal from O to 4095 quants while at bipolar from 2048 to 2047 quants On the output of this block we get value of quants stated in table below Block Parameters Analog Input DSP2_Al mask DSP analog input block Parameters Analog Input i gt Show Input Sample time 1 for nkhereted z Cancel Help Figure 26 GUI of DSP 2 Analog Input block Table 1 Analog input ranges aaa ee aaa DSP 2 input range V A D converter output quant o O to 4 095 O to 4095 2 048 to 2 047 2048 to 2047 2 048 to 2 047 2048 to 2047 3 0 to 3 7 2 048 to 2 047 2048 to 2047 Parameters Analog input Analog input from which DSP reads data Sample time Sample time must be an integer multiple of the base sample time Fixed sample time parameter CHAPTER 4 DSP 2 BLOCK REFERENCES 25 Analog Input Oversampling Description Analog Input Oversampling block enables oversampling of the signals connected to the analog inputs 0 1 2 of DSP 2 controller Oversampling means that these signal are measured n times during one period of PWM K Signal Block Parameters Analog Input Oversampling DSP2_AlOVERSAMPLING mask Parameters Analog Input 1
18. eee 14 GUI of Discrete Time INtegrator cccccccccccncccccnncnonocnnnncrnn rra e RT rra 14 DSP Terminal Parameters page inicio narra ii 15 DS P2 OPUON ita Ms act 16 DS B Z ODIOS zan 17 DOS P22 OPUS a Aa 17 DSP Z OPUS 44 ia AAA A 18 DSP 2 roDotic controller Options Ubica 18 DSP 2 robotic controller Options 1 occcccccccccnnnccccnncncncn cnn rr rra 19 DSP 2 ropotic controller Options 2 seda 19 DSP 2 robotic controller Options 3 c cc cccce eee e eee eeee cece eeeeeeeeeeeeeeeeeessenenes 20 SZ OCR OS eich aeaciie ne s eh os ech deans tic 21 DSP 2 Gevice driver DOCK Sell a 23 GUI of DSP 2 Analog Input DIOCK ccc ee e 24 GUI of DSP 2 Al Oversamp ling DIOCK c cece cece cece eee ceee nets eeeeeeeeeeseeneeeeeeas 25 Automatically added objects to the Terminal GUI ccc cece cesses eee eeeeeeeees 26 GUI of DSP 2 Analog Output DIOCK xx ee 27 GUI of DSP 2 Digital Input DIOCK aia iris 29 GUI of DSP 2 Digital OUtPUt DIOCK voor aida 30 GUI of DSP 2 From Address block oococcccocccccccccccccncnn cnn rr rr 31 GUI OF DSP 2 To AGGress DIO 32 GUI lt DSP 2 PRBS DOCK aida O 33 GUI OFr DSP 2 ENCOder DIOCK eestitosivhiariian sania ess 34 GUI Of DSP 2 Modulator DIOCK psnarrvicio rra ii 36 GUO DSPE PWM S10 Errata 37 GUl OT pT 2 10 FIle DIOCK ara tinas IE 38 GUI of DSP 2 To Terminal DIOCK c cece cece cece ceee sees eee eeeeeeeeeneeeeeeeeettsnaaaay 40 GUI of DSP 2 From T
19. erminal block ooooocccccccccnccnnnoccnnnnnn e T 42 DSP FODOUE CONLFOIEr DIOCKS Ola citan a aaa 45 GUI of DSP 2 robotic controller Analog Input block ccc K 46 GUI of DSP 2 robotic controller Analog Output block ccc cence eee ees 47 GUI of DSP 2 robotic controller Digital Input DIOCK e cece cece eee ee ee ee ee anes 48 GUI of DSP 2 robotic controller Digital Output DIOCK ccc cece cece eee eee eee eees 49 GUI of DSP 2 robotic controller Encoder block ccc cece cece eeeeeeeeeeeeeeeeeeneees 50 GUI of DSP 2 robotic controller Encoder Preset block ccc cece eee ee eee e cena 52 ADDA INteiface Gal CO di RN 54 DEMO With 3 phase DOGG iias cds iniie meaner Verna A E aceon 54 USED SYMBOLS USED SYMBOLS A D Analog to Digital converter D A Digital to Analog converter DSP Digital Signal Processor FPGA Field Programmable Gate Array GUI Graphical User Interface ISR Interrupt Service Routine PC Personal Computer PWM Pulse Width Modulation RTW Real Time Workshop TI Texas Instruments GUT s Name Path Advanced page Simulink model gt Simulation gt Parameters gt Advanced Diagnostic page Simulink model gt Simulation gt Parameters gt Diagnostic Options page DSP Terminal gt Options Parameters page DSP Terminal gt Parameters RTW options page RTW page gt category DSP 2 options i i 1 4 RTW page Simulink model gt Simulation gt Parameters gt Real Time Wo
20. iption of each block of DSP 2 device driver blockset and DSP 2 robotic controller blockset Chapter 5 contains a list of Simulink blocks that are not supported with Real Time workshop Embedded Coder CHAPTER 2 DSP 2 CONTROLLER 2 2 DSP 2 controller As mentioned before the DSP 2 controller was developed at Institute of Robotics on Faculty of Electrical Engineering and Computer Science The DSP 2 controller is a high performance floating point digital signal processor DSP based inverter controller designed primarily to control a three phase AC motor The controller is based on Texas Instruments TMS320C32 DSP and Field Programmable Gate Array FPGA XCS40 4PQ240C member of Xilinx Spartan Family The key features of DSP 2 controller are e DSP TMS320C32 60MHz e DSP serial interface e Two timer general purpose I O pins e DSP MPSD interface for XDS510 emulator e FLASH 256K x 8 70ns e SRAM 128K x 32 OWS e channel simultaneous 12bit A D with serial output e Conversion and transfer to register in FPGA 2 6 us for all four channels e One channel with unipolar input range O to 4 095 V or O to 40 95 mA with 100 OHM Shunt resistor e Two channels with bipolar input range 2 048 V to 2 047 V or 20 48 mA to 20 47 mA with 100 OHM shunt resistor e One channel with input multiplexer to select one of eight voltage input signals e First order input RC filters time constant 33 us for 1 and i3 and 100 us for udc e Two channel 12bit D A conve
21. it enables online changing of the variable values Block has four parameters Variable name Initial value Type and Unit Block creates new variable with the name equal to Variable name parameter After the code generation and downloading process in the upper part of DSP Terminal Visual page for each DSP 2 From Terminal block in the Simulink model the following objects appear figure below e Option box option is disabled e Text box the same name as we assigned in the parameter Variable name in GUI of DSP 2 From Terminal block is displayed e Edit box the value of the variable at the time of observation is displayed e Text box Unit the same name as we assign in the parameter Unit in GUI of DSP 2 From Terminal block is displayed K 1124 TE Now we can change the variable value by entering different value in Edit box Block Parameters From Terminal DSP2 ET mask DSP2 from terminal block Parameters Variable name Initial value Show Input Sample Time 1 for nhereted z ee Cancel Help Figure 40 GUI of DSP 2 From Terminal block CHAPTER 4 DSP 2 BLOCK REFERENCES 43 Parameters Variable name String of alphanumeric characters Parameter must be entered in single quotes Type This option is not implemented yet Initial value Scalar real number The value to which DSP initializes the variable in the initialization stage of DSP 2 controller Unit String of alphanumeric ch
22. l encoders that are connected to the DSP 2 robotic controller In block GUI Figure 46 you can set two parameters Encoder and Mode The meaning of these parameters is explained in Parameters section below To ensure the correct operation of incremental encoders Num of lines per revolution and Hardware Multiplication parameters for each connected encoder must have been defined on DSP 2 robotic controller options i i 1 4 Figure 20 Figure 21 Figure 22 Figure 23 Note that these parameters appear only if the DSP 2 controller target is selected Block Parameters Encoder DSP2ROB_ENC mask Encoder block for DSP 2 Robotic Board Parameters Mode Position Position Unit radians Sample time 1 for inhereted E Cancel Help Figure 46 GUI of DSP 2 robotic controller Encoder block Parameters Encoder Encoder of DSP 2 robotic controller from which DSP gets data Mode Speed if speed is selected then speed in rad s radian second of incremental encoder appears on the output of this block Position if Position is select then the position of incremental encoder IN appears on the output of the block With the parameter Position Unit the user can define position in radians or in pulses Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If the sample time is set to 1 then the sample time is inherited from the driving block Defaul
23. le name Format and Unit All parameters except Target page of DSP Terminal must be entered within single quotes Block Parameters To Terminal DSP2_TT mask SFZ to terminal block Parameters Target page of DSF Terminal arable name T emp Cancel Help Figure 39 GUI of DSP 2 To Terminal block Target page of DSP Terminal Text Page If this option is selected the value of the block input signal appears in Text page of DSP Terminal Visual Page If this option is selected the value of the block input signal will appears in Visual page of DSP Terminal Variable name The name of the variable that holds the input data Format Block input signal is stored to variable in float format therefore the parameter Format must be of type X Yf where X is the number of all and Y number of decimal places Unit Unit name appears after the variable value CHAPTER 4 DSP 2 BLOCK REFERENCES 41 Example Let us assume that we set the block parameters to the following values e Target page of DSP Terminal Variable Text Page e name Current e Format 3 1f e Unit A If in a moment of observation the value of the block input signal is equal to 50 then on the Text page of the DSP Terminal appears the next line Current 50 0 A CHAPTER 4 DSP 2 BLOCK REFERENCES 42 From Terminal Description DSP 2 FT L Temp DSP 2 From Terminal Figure 40 is source block In combination with DSP Terminal
24. lope of the block input signal Afterwards encoder position will be preset to the value defined in parameter Encoder Position Preset Value i 1 3 when the encoder reference signal will appear disappear Note If you use this option and position preset occur immediately after positive slope of block input signal turn Invert reference signal CHAPTER 4 DSP 2 BLOCK REFERENCES 53 parameter on DSP 2 robotic controller options i 1 3 page to the opposite value Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If the sample time is set to 1 then the sample time is inherited from the driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 54 4 3 DSP 2 Plants In addition to the DSP 2 learning module Institute of Robotics provides DSP 2 plants which can be easily connected to DSP 2 learning module These plants are Buck converter DC motor Figure 49 ADDA interface card Figure 48 etc Documentation of these plants which include description of Simulink blocks and description of demonstration examples could be found on the following internet address http www ro feri uni mb si projekti dsp2 documentation htm _ _ _ AENA ey ddd ADDA interface card Figure 48 ADDA interface card Figure 49 DC motor with 3 phase H bridge CHAPTER 5 BLOCKS THAT ARE NOT SUPPORTED WITH EMBEDDED C FORMAT 55 5 Blocks that are not supported
25. lses that appear on the output of the encoder in one revolution Default value of this parameter is set to 10000 Block Parameters Encoder DSP2_ENC mask DSP2 Encoder block Parameters Show Input Sample time 1 for nhereted s Ts Cancel Help Figure 35 GUI of DSP 2 Encoder block Parameters Mode Speed if speed is selected then speed in rad s radian second of incremental encoder appears on the output of this block Position if Position is select then the position of incremental encoder in radians appears on the output of block Gain With parameter Gain we can scale speed or position to the desired units Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If the sample time is set to 1 then the sample time is inherited from the driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 35 CHAPTER 4 DSP 2 BLOCK REFERENCES 36 Modulator Description Block Modulator transforms the desired voltage vector which is given in a b system of coordinates to the relative time length of transistors conduction Desired voltage vector is given with two inputs while calculated switching times appear on the output of the block This block is used in combination with DSP 2 PWM block You can connect outputs of DSP 2 Modulator with T1 T2 and T3 inputs of the DSP 2 PWM block Block Parameters Modulator DSP2 MOD mask DSP Modula
26. m Simulink model which contains DSP 2 Analog Input Oversampling block one numerical control OS MODE and two numerical indicators automatically appear in DSP Terminal GUI Figure 28 The names of indicators are equal to the names entered in Analog Input X Name X 1 2 field in block GUI If the variable OS MODE Oversampling Mode is set to O then all in graph presented variables are sampled on the DSP 2 controller with the basic Sampling period This period is equal to Fixed step size parameter in Simulink model If the variable OS MODE Oversampling Mode is set to 1 then all in graph presented variables are sampled with the oversampling period This period is defined as basic sampling period gii T le oversampling factor Note Note If OS MODE ts set to O this does not mean that the block output vectors are empty Oversampling is executing independent from OS MODE variable If OS MODE is set to O then all in graph presented variables are sampled with basic sampling period Al os PT Al os Figure 28 Automatically added objects to the Terminal GUI CHAPTER 4 DSP 2 BLOCK REFERENCES 21 Analog Output Description DSP 2 controller has only two analog outputs With parameter Analog Ses Output Figure 29 can be selected on which output DSP sends block will input data Both D A converters are 12 bit and have the output range from O to 4 095V If block input signal is greater th
27. p e Real Time Embedded Coder e TI compiler for C3x4x family of DSP processors Code Composer CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 7 Installation process Put CD with DSP 2 library in your CD drive After a while setup GUI will appear It is recommended that you select default settings in all GUI s that will appear in setup process Setup program will copy all program files and documentations to C FERI dsp2lib matlab6p5 folder The shortcut to DSP Terminal will be created on desktop Deinstallation process In Control panel select Add or Remove Programs In Add or Remove Programs window find DSP 2 Library for Simulink and select Remove 3 2 Creating a new model If you want to build a new Simulink model which will target DSP 2 controller it is recommended that you double click the block New Model in the DSP 2 library After this GUI in which you must enter new model name will appear Figure 5 All the model parameters will be initialized so that the Build process will successfully generate executable code suitable for DSP 2 controller from Simulink model Enter newe model name OF Cancel Figure 5 new model GUI After entering model name new Simulink model will appear Figure 6 Now you can add DSP 2 blocks or built in Simulink blocks in new Simulink model CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 8 Ta temp File Edit View Simulation Format Tools Help NY p Nam bs Edit Parameters Update Paramete
28. parameter is O Block Parameters From Address DSP2 FA mask DSP from address block Parameters Access E Initial value o Sample time 1 for nkhereted s roo Cancel Help Figure 32 GUI of DSP 2 From Address block Parameters Address Address in DSP 2 memory from which DSP gets data Initial value The value to which DSP initializes address selected by Address parameter in DSP 2 memory in the initialization stage of DSP 2 controller Sample time Sample time must be an integer multiple of the base sample time Fixed sample time parameter CHAPTER 4 DSP 2 BLOCK REFERENCES 32 To Address Description This block is similar to DSP 2 From Address block with one exception This block is sink block and enables digital signal processor to store the block DSP 2 TT input value to the address specified in the parameter Address in float format Figure 33 Block Parameters To Address DSP2 TA mask SFZ to address block Parameters Access E lt Sample time 1 for nhereted s a Cancel Help Figure 33 GUI of DSP 2 To Address block Parameters Address Address in DSP 2 memory to which DSP stores the block input data Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If the sample time is set to 1 then the sample time is inherited from the driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES
29. ptions 3 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 18 simulation Parameters example Solver Workspace 1 0 Diagnostics Advanced Real Time Workshop Categor DSP 2 Options 4 External Mode ka Build Options External mode TCP IP Address NNN NNN AU NNN TCP IP Port 14001 UK Cancel Help Apply Figure 19 DSP 2 options 4 Simulation Parameters example Salver Workspace 1 0 Diagnostics Advanced Real Time Workshop Category DSP 2 Robotic Controller Options 0 ka Build Options Incremental encoder U number of lines per revolution 10000 incremental encoder U hardware multiplication l4 Incremental encoder U preset value U Incremental encoder 0 invert reference signal Figure 20 DSP 2 robotic controller Options 0 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK simulation Parameters example Options Incremental encoder 1 number of lines per revolution 10000 Incremental encoder 1 hardware multiplication l4 Incremental encoder 1 preset value U Incremental encoder 1 invert reference signal Options Incremental encoder 2 number of lines per revolution 10000 Incremental encoder Z hardware multiplication 4 Incremental encoder Z preset value U Incremental encoder 2 invert reference signal E Figure 22 DSP 2 robotic controller Options 2 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 20 simulation Parameters example Salver Wo
30. rkshop Solver page Simulink model gt Simulation gt Parameters gt Solver Text page DSP Terminal gt Text Tunable parameters Advanced page gt Configure button page Visual page DSP Terminal gt Visual Robotic controller RTW page gt category DSP 2 Robotic Options i 0 3 Options page 111 CHAPTER 1 PREFACE 1 1 Preface The present user s manual describes the DSP 2 library for Simulink DSP 2 library for Simulink enables block programming of DSP 2 controller with simulation program MATLAB Simulink The DSP 2 controller was developed at Institute of Robotics on Faculty of Electrical Engineering and Computer Science University of Maribor Slovenia The DSP 2 controller is a high performance floating point digital signal processor DSP based inverter controller designed primarily to control a three phase AC motor The controller is based on Texas Instruments TMS320C32 DSP and Field Programmable Gate Array FPGA XCS40 4PQ240C member of Xilinx Spartan Family more information about DSP 2 controller can be found in DSP 2 user s manual Quick overview of each chapter in this user s manual Chapter 2 briefly describes main features of DSP 2 controller Chapter 3 describes DSP 2 library for Simulink It is explained how to install this library to MATLAB environment how to generate code from Simulink block diagram and how to change variables or parameters of Simulink model in online mode Chapter 4 contains full descr
31. rkspace 1 0 Diagnostics Advanced Real Time Workshop Category DSP 2 Robotic Controller Options 3 ka Build Options incremental encoder 3 number of lines per revolution 10000 Incremental encoder 3 hardware multiplicatiore 4 Incremental encoder 3 preset value U Incremental encoder 3 invert reference signal Figure 23 DSP 2 robotic controller Options 3 3 6 DSP 2 demos DSP 2 Library for Simulink contains a set of Simulink demo models These demos are available at MATLAB demos in the Blocksets section Figure 24 To access DSP 2 demos enter demos in MATLAB command window and then navigate to Blocksets gt DSP 2 Library for Simulink Figure 24 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 21 Fie Edit View Go Web Window Help Help Mavigator 2 S mnr es DSP 2 Library for Simulink a Contents Index Search Demos Fav gt Getting Started with Demos DSP 2 Library for Simulink fa MATLAB ade bolas DSP 2 Library for Simulink integrates MATLAB and i Simulink G E Blocksets Simulink with OSP 2 controller The software suite lets you develop and validate digital control or signal processing algorithms fram concept through 3 1 Aerospace code and automates rapid prototyping on your Ti CDMA Reference DSP 2 controller E communications AG DSP Sap DSP 2 Library for Simulink Ga Basic DC Motor Control DSP 2 robotic board a L Figure 24 DSP 2 demos CHAPTER 4 DS
32. rs FixedStepDiscrete Figure 6 New Simulink model 3 3 Code generation How to generate executable code from Simulink model Just open RTW page Figure 8 If you created a new model as described in chapter 3 2 then all parameters are predefined so that you just click on Build button and code generation process will start Otherwise you must set the following parameters Real Time Workshop page On RTW page in Category option select Target configuration The Category section will appear Set parameters to the following values o System target file ert_dsp2 tic o Template makefile ert_dsp2 tmf o Make command make_rtw Solver page Simulation time e Start time O e Stop time inf Solver options e Type Fixed step and discrete no continuous states CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 9 e Fixed step size this parameter define interrupt period It can be set to 50e 6 or greater but smaller than 250us e Mode auto Simulation Parameters untitled Solver Workspace 1 0 Diagnostics Advanced Real Time Workshop Category T arget configuration ka Bug Configuration Sistem target file ert dep tle Browse Template maketile ert dep traf Make command make tw 0 Generate code only Stateflow options UK Cancel Help Apply Figure 7 RTW page in MATLAB 6 5 Simulation Parameters untitled Solver Workspace 1 0 Diagnostics Advanced Real Time Workshop Simulation time
33. rs in online mode we must add these parameters to Tunable parameters page Figure 11 Note that parameters UL LL and IC must be defined in MATLAB workspace before you start build procedure In our example this parameters has the following values C 50 UL 100 LL 0 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK File Edit view Simulation Format Tools Help D ld S gt Normal DSP 2 TT Intez Out Discrete Time Integrator 100 FixedStepDiscrete Figure 13 Simple Simulink model 14 Block Parameters Discrete Time Integrator Discrete Time Integrator Discrete time integration of the input signal Parameters Integrator method AO External reset either Initial condition source internal Initial condition Limit output Upper saturation limit Lower saturation limit C Show saturation port C Show state port Sample time 1 for inherited Figure 14 GUI of Discrete Time Integrator Now we can build the code from Simulink model and download the generated code to DSP 2 controller After a few seconds we can see that in DSP Terminal Parameters page the same parameters as we assigned in Tunable parameters page Figure 15 appear Now you can change parameters values if this is not possible use Unlock button by entering a different value to Value cell near parameter Name cell while the generated code is executing on the DSP 2 controller In DSP Terminal visual page you can obser
34. rter with serial input and unipolar output O to 4 V e RS232 full duplex interface with fixed Baud Rate 57600 b s 8bits 1stop No parity e RS485 interface not implemented in this firmware version April 17 2000 e RS422 receiver for incremental encoder e Three logic inputs and logic one output all optically isolated 12 V passive e Bridge protection circuit e Interlock between bottom and top IGBT activation and dead time e Minimum pulse width minimum pause width e Inthe presence of the fault signal the bridge is shut down unconditionally e Three phase synchronous pulse width modulator e Twelve bit up down counter for triangle generation e Symmetrical output pulses CHAPTER 2 DSP 2 CONTROLLER e 66 6 ns time resolution e generates interrupt pulses ones or twice in one modulator period e Incremental encoder speed measurement with improved MT method e 66 6 ns time resolution e Position register contain position increment during sampling period e Time register contain relative time in one modulator period of last position change e Booth registers are saved on interrupt and are available until next interrupt e Stand alone operation Program is preloaded in FLASH e Operation with personal computer e Code Composer software development environment e Standard RS232 serial interface 57600 Bd and Terminal software e MPSD interface for XDS510 emulator e Multipoint communications RS485 and CAN e Controller dimensions 161 x 130 mm More about
35. sk DSP2 Ph block Parameters Enable level Cancel Help Figure 37 GUI of DSP 2 PWM block Enable level Parameter must be a positive scalar value When the value of input signal which is connected to the input EN is greater than parameter Enable level then PWM starts working CHAPTER 4 DSP 2 BLOCK REFERENCES 38 To File Description EN psp pTO FILE Figure 38 shows the GUI of DSP 2 To File block This is an example of dynamic GUI because content of GUI is changing dynamically depending on parameter Num of input vars When the signal which is connected to input EN becomes greater than the parameter Enable level all block input signals except of input EN are stored to temporary buffer on DSP 2 controller The size of this buffer can be changed with parameter Buffer size on RTW Options page 2 Figure 17 Because DSP 2 controller memory size is limited it is recommended that this parameter does not exceed 20000 Input signals share out buffer size in equal parts That means if you set Buffer size 20000 and Num of input vars 4 then each input signal occupies 5000 locations in the buffer When the buffer is full the transfer of buffer data from DSP to PC is performed DSP Terminal program must run on PC Buffer data is store in file with the name that is enter in parameter File name Block Parameters To File DSP2_TO_FILE mask DSP2 To File block Parameterz Number of input vars z Enable le
36. t value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 51 CHAPTER 4 DSP 2 BLOCK REFERENCES 52 Encoder Position Preset Description Parameters Block Encoder Preset enables encoder i i 0 3 position preset In block GUI Figure 46 you can set two parameters Encoder and Consider reference Signal The meaning of these parameters is explained in Parameters section below To ensure the correct operation of incremental encoders Encoder Position Preset Value i 0 3 and or Invert reference signal parameters for each connected encoder must have been defined on DSP 2 robotic controller options Figure 20 Figure 21 Figure 22 Figure 23 Note that these parameters appear only if the DSP 2 controller target is selected Block Parameters Encoder Position Preset DSP2ROB_ENC_POS PRESET mask DSP 2 Robotic Board encoder position preset block Parameters Consider encoder reference signal Mo Cancel Help Figure 47 GUI of DSP 2 robotic controller Encoder Preset block Encoder Encoder of DSP 2 robotic controller Consider reference signal No If this option is selected encoder position will be preset on the positive slope of the block input signal to the value that is defined in parameter Encoder i Position Preset Value i 1 3 Note Use this option only if your encoder does NOT contains reference signal Yes If this option is selected encoder position preset mode will be started on the positive s
37. the model Table 3 Analog Output Differential output range DSP 2 analog Block input range DSP 2 output range V output quants AOUT 4096 to 4 095 Parameters None CHAPTER 4 DSP 2 BLOCK REFERENCES 29 Digital input Description Figure 30 shows GUI of DSP 2 Digital Input block DSP 2 controller has 3 un optically isolated logical inputs Which input to use can be selected with the Ee parameter Digital input On the output of this block appears the signal which has the logical value 0 or 1 Block Parameters Digital Input DSP2_DI mask DSP digital input block Parameters Digital input SS Show Input Sample time 1 for inhereted a me eE Cancel Help Figure 30 GUI of DSP 2 Digital Input block Parameters Digital input Digital input of DSP 2 controller from which DSP gets data Show input The meaning of this parameter is the same as in DSP 2 Analog Input block Sample time Sample time must be an integer multiple of the base sample time Fixed sample time parameter CHAPTER 4 DSP 2 BLOCK REFERENCES 30 Digital Output Description DOISP 2 DO 1 Parameters Figure 31 shows the GUI of the digital output block DSP 2 controller has only one optically isolated logic output In the GUI of this block you can set the following parameters Digital output Threshold and Operation The value of the output signal is depending of height of the input signal operation
38. time parameter CHAPTER 4 DSP 2 BLOCK REFERENCES 49 Digital Output Description DSP 2 robotic controller has 8 optically isolated logic output In the GUI of this block Figure 45 the following parameters can be set Digital output DSP 2 HC Threshold and Operation The value of the output signal is depending of height of the input signal operation and threshold parameters Block Parameters Digital Output DSP2AOB_DO mask Digital Output block for OSP 2 Robotic Board Parameters Digital output channel Operation Smaller Threshold Figure 45 GUI of DSP 2 robotic controller Digital Output block Parameters Digital output channel Select to which digital output channel of DSP 2 robotic controller DSP will sends data Operation Greater If the input signal is greater than the threshold then the output is set to 1 else to 0 Smaller If the input signal is smaller than the threshold then the output is set to 1 else to 0 Threshold Threshold must be a scalar real number The meaning of this parameter is explained in Operation parameter Sample time Sample time must be an integer multiply of the base sample time Fixed step size parameter If the sample time is set to 1 then the sample time is inherited from the driving block Default value is 1 CHAPTER 4 DSP 2 BLOCK REFERENCES 50 Encoder Description Block DSP 2 Encoder enables sampling of the position and speed of incrementa
39. to the appropriate value when the DSP 2 CAN Read and or DSP 2 CAN Write blocks are used in the Simulink model DSP 2 options 4 External mode Figure 19 Options on this page are NOT implemented yet Parameter External mode MUST be UNSELECTED DSP 2 robotic controller options i 1 0 3 These options are explained in DSP 2 robotic controller device driver blockset section on page 45 simulation Parameters example Solver Workspace 1 0 Diagnostics Advanced Real Time Workshop Category DSP Uptions 1 ka Build Options mw Download generated code to the OSP 2 controller Create LabVlEW virtual instrument We Show Exported Signals in DSF Terminal i Initialize internal data i Initialize external lO data Include Terminate function Figure 16 DSP 2 options 1 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 17 simulation Parameters example Solver Workspace 1 0 Diagnostics Advanced Real Time Workshop Category DSP 2 Options 2 ka Build Options Incremental encoder number of lines per revolution 10000 Modulator dead time 0 250 40 Modulator rele delay zl 05 Capture number of samples 250 Capture buffer size 0000 Figure 17 DSP 2 options 2 simulation Parameters example Salver Workspace 1 0 Diagnostics Advanced Real Time Workshop Category DSP 2 Options 3 Conmnunication ka Build Options CAN Baud Rate 1000000 Figure 18 DSP 2 o
40. tor block Parameters Cancel Help Figure 36 GUI of DSP 2 Modulator block Parameters None CHAPTER 4 DSP 2 BLOCK REFERENCES 37 PWM Description Parameters Block DSP 2 PWM Figure 37 has only one parameter Enable level When the value of the input signal which is connected to input EN is greater than the mentioned parameter the pulse width modulator which is located in FPGA starts working In each ISR the values of T1 T2 and T3 inputs of this block are transferred to registers W_MOD_T1 W_MOD_T2 and W_MOD_T3 look at DSP 2 User s guide of PWM Period of the PWM is egal to the half of the interrupt period Fixed Step Size on the Solver page Input ranges of T1 T2 and T3 inputs are from O to Timax Where Timax can be calculated from the following equation Interrupt period s i 1 2 3 A 2 66 6 10 s When the output of the PWM is set to 1 the upper transistor is active and at the value 0 the lower transistor is active Immediate transition between the conduction of the upper and the lower IGBT transistor is not allowed Transistors must be in inactive state for a while Duration of inactive state or dead time can be set with the parameter Modulator dead time in Options page 2 Figure 17 This option appears only if the DSP 2 target is selected Default value of parameter Modulator dead time is set to 40 units 1 unit is 66 6ns Block Parameters PWM DSP2 Pil ma
41. ve effects of changes CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK l DSP Terminal 1 5 2001 FERI CAMA TLABSpSiworkitemp_dsp _ riwidsp b hex Parameter Parameter name value visual Parameters TesetiDownload Com PrErr 0PwEr 0Ack 482 Figure 15 DSP Terminal Parameters page 3 5 DSP 2 options 15 DER In this section some additional DSP 2 options are explained These options are placed on the RTW options page DSP 2 options 1 Figure 16 e Download generated code to the DSP 2 controller if this option is selected then DSP Terminal is automatically invoked when RTW terminates with the code generation process e Create LabVIEW virtual instrument If LabVIEW 7 0 and DSP 2 add on toolkit for LabVIEW are installed on PC LabVIEW virtual instrument will be automatically created during executable code generation More information s about this option can be found in LabVIEW virtual instrument for DSP 2 controller document e All other options on this page are Simulink built in options therefore explanation of these options can be found in the Simulink documentation DSP 2 options 2 Figure 17 Individual options of this page are explained in the description of the related block DSP 2 options 3 Communication Figure 18 CHAPTER 3 DSP 2 LIBRARY FOR SIMULINK 16 Currently ony one option exists on this page Option CAN Baud Rate defines baud rate for CAN bus communication This option must be initialized
42. vel File name datoteka dat Format Ba et Decimation Var name 1 Cancel Help Figure 38 GUI of DSP 2 To File block CHAPTER 4 DSP 2 BLOCK REFERENCES 39 Parameters Number of input vars Number of block inputs Enable level When the signal which is connected to the input EN becomes greater than the parameter Enable level all block input signals except of input EN are temporary stored to the buffer File name The name of the file that holds the block input data Format Block input signals are stored to the buffer and then to the file in the float format therefore parameter Format must be of type X Yf where X is the number of all and Y number of decimal places Decimation The Decimation parameter is the decimation factor It can be set to any positive integer d and allows you to write data to buffer in every dth interrupt The default decimation is set to 1 writes data to buffer in every ISR Var name The name of input signal CHAPTER 4 DSP 2 BLOCK REFERENCES 40 To Terminal Description D3P2 TT Temp Parameters Figure 39 shows GUI of the DSP 2 To Terminal block which enables sending of the block input data to the serial bus of DSP 2 controller If DSP Terminal is running on PC then you can monitor block input data in DSP Terminal Text or Visual page In GUI you can set the following parameters Target page of DSP Terminal Variab
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