%% Quadrature Encoder Offset Calibration for PMSM Motor
% This example calculates the offset between the |d|-axis of the rotor and encoder index pulse position as detected by the quadrature encoder sensor. The control algorithm (available in the field-oriented control and parameter estimation examples) uses this offset value to compute an accurate and precise position of the |d|-axis of rotor. The controller needs this position to implement the field-oriented control (FOC) correctly in the rotor flux reference frame (d-q reference frame), and therefore, run the permanent magnet synchronous motor (PMSM) correctly.
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% Copyright 2020 The MathWorks, Inc.

%% Models
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% The example includes these models: 
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% * *mcb_pmsm_qep_offset_f28069m*
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% * *mcb_pmsm_qep_offset_f28069mLaunchPad*
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% * *mcb_pmsm_qep_offset_f28379d*
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% You can use these models only for code generation. You can use the open_system command to open the Simulink(R) model. For example, use this command for a F28069M based controller:
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open_system('mcb_pmsm_qep_offset_f28069m.slx');
%%
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% For the model names that you can use for different hardware configurations, see the Required Hardware topic in the Generate Code and Deploy Model to Target Hardware section.
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%% Required MathWorks(R) Products
% 
% *To generate code and deploy model:*
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% *1.* For the models: *mcb_pmsm_qep_offset_f28069m* and *mcb_pmsm_qep_offset_f28069mLaunchPad*
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% * Motor Control Blockset(TM)
% * Embedded Coder(R)
% * Embedded Coder(R) Support Package for Texas Instruments(TM) C2000(TM) Processors
% * Fixed-Point Designer(TM)
%
% *2.* For the model: *mcb_pmsm_qep_offset_f28379d*
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% * Motor Control Blockset(TM)
% * Embedded Coder(R)
% * Embedded Coder(R) Support Package for Texas Instruments(TM) C2000(TM) Processors
% * Fixed-Point Designer(TM) (only needed for optimized code generation)
% 
%% Generate Code and Deploy Model to Target Hardware
% This section instructs you to generate code and run the motor by using open-loop control.
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% The example uses a host and a target model. The host model is a user interface to the controller hardware board.  You can run the host model on the host computer. The prerequisite to use the host model is to deploy the target model to the controller hardware board.
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% The host model uses serial communication to command the target model and run the motor in an open-loop configuration. You can use the host model to control the motor rotations and validate the direction of rotation of motor. The *Incorrect motor direction* LED in the host model turns red to indicate that the motor is running in the opposite direction. When the LED turns red, you must reverse the motor phase connections (from ABC to CBA) to change the direction of rotation. The host model displays the calculated offset value.
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% *Required Hardware*
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% This example supports these hardware configurations. Use the target model name (highlighted in bold) to open the model for the corresponding hardware configuration, from the MATLAB(R) command prompt.
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% * F28069M controller card + DRV8312-69M-KIT inverter: *mcb_pmsm_qep_offset_f28069m*
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% For connections related to the preceding hardware configuration, see <docid:mcb_gs#mw_5f4d03ef-ffbd-4718-a6c2-499733b1529e Hardware Connections for DRV8312-69M-KIT board>.
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% * LAUNCHXL-F28069M controller + BOOSTXL-DRV8305 inverter: *mcb_pmsm_qep_offset_f28069mLaunchPad*
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% * LAUNCHXL-F28379D controller + (BOOSTXL-3PHGANINV or BOOSTXL-DRV8305) inverter: *mcb_pmsm_qep_offset_f28379d*
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% To configure the model *mcb_pmsm_qep_offset_f28379d*, set the *Inverter Enable Logic* field (in the *Configuration* panel of target model) to:
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% * *Active High*: To use the model with BOOSTXL-DRV8305 inverter.
% * *Active Low*: To use the model with BOOSTXL-3PHGANINV inverter.
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% *NOTE:* When using BOOSTXL-3PHGANINV inverter, ensure that proper insulation is available between bottom layer of BOOSTXL-3PHGANINV and the LAUNCHXL board. 
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% For connections related to the preceding hardware configurations, see <docid:mcb_gs#mw_8a869325-5b0d-4631-afd5-05a23622cc5c Hardware Connections for LAUNCHXL board>.
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% *Generate Code and Run Model on Target Hardware*
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% *1.* Complete the hardware connections.
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% *2.* Open the target model for the hardware configuration that you want to use. If you want to change the default hardware configuration settings for the target model, see <docid:mcb_gs#mw_3286e9a5-4b65-4b84-9133-a92130b252bc Model Configuration
% Parameters for Sensors>.
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% *3.* Update these motor parameters in the *Configuration* panel of the target model. 
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% * *Number of Pole Pairs*
% * *QEP Slits*
% * *PWM Frequency [Hz]*
% * *Data type for control algorithm*
% * *Vd Ref in Per Unit voltage*
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% *3.* Load a sample program to CPU2 of LAUNCHXL-F28379D, for example, program that operates the CPU2 blue LED by using GPIO31 (c28379D_cpu2_blink.slx), to ensure that CPU2 is not mistakenly configured to use the board peripherals intended for CPU1.
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% *4.* Click *Build, Deploy & Start* on the *Hardware* tab to deploy the target model to the hardware.
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% *5.* Click the *host model* hyperlink in the target model to open the associated host model. You can also use the open_system command to open the host model. For example, use this command for a F28069M based controller:
%%
open_system('mcb_pmsm_host_offsetComputation_f28069m.slx'); 
%%
% For details about the serial communication between the host and target
% models, see <docid:mcb_gs#mw_7d703f4b-0b29-4ec7-a42b-0b300f580ccc Communication between Host and Target>.
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% You can use the Time Scope in the host model to monitor the rotor position and offset values.
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% *6.* In the Host Serial Setup block mask of the host model, select a *Port name*.
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% *7.* Click *Run* on the *Simulation* tab to run the host model. The motor
% runs and calibration begins when you start simulation. After calibration
% completes, simulation ends and the motor stops automatically.
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% *9.* See the *Calibration Status* section to know the status of calibration
% process:
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% * *Calibration in progress* LED turns orange when the motor starts
% running. Notice the rotor position and offset value variations in the
% Time Scope (the position signal indicates a ramp signal with an amplitude
% between 0 and 1). After calibration completes this LED turns grey.
% 
% * *Calibration complete* LED turns green when calibration completes. Then
% the *Calibration Output* field displays the computed offset value.
% 
% * *Incorrect motor direction* LED turns red if the motor runs in the
% opposite direction. Then the Calibration Output
% field displays the value "NaN." Turn
% off the DC power supply (24V) and reverse the motor phase connections
% from ABC to CBA. Repeat steps 5 to 8 and check if the Calibration complete LED is
% green. Verify that the Calibration Output field displays the offset
% value.
% 
% *Note*: This example does not support simulation.
% 
% During emergency, cick the *Emergency Motor Stop* button to stop the
% motor immediately.
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% For examples that implement FOC using a quadrature encoder sensor, you must update the computed quadrature encoder offset value in the pmsm.PositionOffset parameter in the model initialization script linked to the example. For instructions, see <docid:mcb_gs#mw_dd32d1fd-68d8-4cfd-8dea-ef7f7ed008c0 Estimate Control Gains from Motor Parameters>.
% 