Detailed Description

Interface for motor 120 control functions.

Summary

The motor 120 control interface for speed calculation and setting, fixed cycle processing

Data Structures
struct	motor_120_control_callback_args_t

struct	motor_120_control_motor_parameter_t

struct	motor_120_control_cfg_t

struct	motor_120_control_api_t

struct	motor_120_control_instance_t

Typedefs
typedef void	motor_120_control_ctrl_t

Enumerations
enum	motor_120_control_event_t

enum	motor_120_conduction_type_t

enum	motor_120_control_status_t

enum	motor_120_control_run_mode_t

enum	motor_120_control_rotation_direction_t

enum	motor_120_control_wait_stop_flag_t

enum	motor_120_control_timeout_error_flag_t

enum	motor_120_control_pattern_error_flag_t

enum	motor_120_control_speed_ref_t

enum	motor_120_control_voltage_ref_t

Data Structure Documentation

◆ motor_120_control_callback_args_t

struct motor_120_control_callback_args_t

Callback function parameter data

Data Fields
motor_120_control_event_t	event	Event trigger.
void const *	p_context	Placeholder for user data.

◆ motor_120_control_motor_parameter_t

struct motor_120_control_motor_parameter_t

Motor parameter for motor 120 control

Data Fields
uint32_t	u4_motor_pp	Pole pairs.
float	f4_motor_r	Resistance (ohm)
float	f4_motor_ld	Inductance for d-axis (H)
float	f4_motor_lq	Inductance for q-axis (H)
float	f4_motor_m	Magnet flux (Wb)
float	f4_motor_j	Rotor inertia (kgm^2)

◆ motor_120_control_cfg_t

struct motor_120_control_cfg_t

Configuration parameters.

Data Fields
motor_120_conduction_type_t	conduction_type
	0:First 60 degree PWM, 1:Complementary first 60 degree PWM

uint32_t	u4_timeout_cnt
	Undetected time.

float	f4_max_drive_v
	Max output voltage (V)

float	f4_min_drive_v
	Min output voltage (V)

uint32_t	u4_speed_pi_decimation
	Speed PI control decimation counter.

uint32_t	u4_free_run_timer_freq
	Speed calc free run timer frequency (MHz)

float	f4_speed_lpf_k
	Speed LPF parameter.

float	f4_limit_speed_change
	Speed ref change limit.

float	f4_pi_ctrl_kp
	PI control error.

float	f4_pi_ctrl_ki
	PI control buffer of integral term.

float	f4_pi_ctrl_ilimit
	PI control limit of integral term.

motor_120_control_motor_parameter_t	motor_param
	Motor parameter.

void(*	p_callback )(motor_120_control_callback_args_t *p_args)
	Callback function.

void const *	p_context
	Placeholder for user data.

void const *	p_extend
	Extended configurations.

◆ motor_120_control_api_t

struct motor_120_control_api_t

Functions implemented at the HAL layer will follow these APIs.

Data Fields
fsp_err_t(*	open )(motor_120_control_ctrl_t const p_ctrl, motor_120_control_cfg_t const const p_cfg)

fsp_err_t(*	close )(motor_120_control_ctrl_t *const p_ctrl)

fsp_err_t(*	run )(motor_120_control_ctrl_t *const p_ctrl)

fsp_err_t(*	stop )(motor_120_control_ctrl_t *const p_ctrl)

fsp_err_t(*	reset )(motor_120_control_ctrl_t *const p_ctrl)

fsp_err_t(*	speedSet )(motor_120_control_ctrl_t *const p_ctrl, float const speed_rpm)

fsp_err_t(*	speedGet )(motor_120_control_ctrl_t const p_ctrl, float const p_speed_rpm)

fsp_err_t(*	currentGet )(motor_120_control_ctrl_t const p_ctrl, motor_120_driver_current_status_t const p_current_status)

fsp_err_t(*	waitStopFlagGet )(motor_120_control_ctrl_t const p_ctrl, motor_120_control_wait_stop_flag_t const p_flag)

fsp_err_t(*	timeoutErrorFlagGet )(motor_120_control_ctrl_t const p_ctrl, motor_120_control_timeout_error_flag_t const p_timeout_error_flag)

fsp_err_t(*	patternErrorFlagGet )(motor_120_control_ctrl_t const p_ctrl, motor_120_control_pattern_error_flag_t const p_pattern_error_flag)

fsp_err_t(*	voltageRefGet )(motor_120_control_ctrl_t const p_ctrl, motor_120_control_voltage_ref_t const p_voltage_ref)

fsp_err_t(*	parameterUpdate )(motor_120_control_ctrl_t const p_ctrl, motor_120_control_cfg_t const const p_cfg)

Field Documentation

◆ open

fsp_err_t(* motor_120_control_api_t::open) (motor_120_control_ctrl_t *const p_ctrl, motor_120_control_cfg_t const *const p_cfg)

Initialize the motor 120 control module.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_cfg	Pointer to configuration structure.

◆ close

fsp_err_t(* motor_120_control_api_t::close) (motor_120_control_ctrl_t *const p_ctrl)

Close the motor 120 control module

Parameters

[in] p_ctrl Pointer to control structure.

◆ run

fsp_err_t(* motor_120_control_api_t::run) (motor_120_control_ctrl_t *const p_ctrl)

Run the motor 120 control module

Parameters

[in] p_ctrl Pointer to control structure.

◆ stop

fsp_err_t(* motor_120_control_api_t::stop) (motor_120_control_ctrl_t *const p_ctrl)

Stop the motor 120 control module

Parameters

[in] p_ctrl Pointer to control structure.

◆ reset

fsp_err_t(* motor_120_control_api_t::reset) (motor_120_control_ctrl_t *const p_ctrl)

Reset variables of the motor 120 control module

Parameters

[in] p_ctrl Pointer to control structure.

◆ speedSet

fsp_err_t(* motor_120_control_api_t::speedSet) (motor_120_control_ctrl_t *const p_ctrl, float const speed_rpm)

Set speed[rpm]

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	speed_rpm	Pointer to get speed data[rpm]

◆ speedGet

fsp_err_t(* motor_120_control_api_t::speedGet) (motor_120_control_ctrl_t *const p_ctrl, float *const p_speed_rpm)

Get speed.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_speed_rpm	Pointer to get speed data[rpm]

◆ currentGet

fsp_err_t(* motor_120_control_api_t::currentGet) (motor_120_control_ctrl_t *const p_ctrl, motor_120_driver_current_status_t *const p_current_status)

Get phase current, Vdc and Va_max data.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_current_status	Pointer to get data structure.

◆ waitStopFlagGet

fsp_err_t(* motor_120_control_api_t::waitStopFlagGet) (motor_120_control_ctrl_t *const p_ctrl, motor_120_control_wait_stop_flag_t *const p_flag)

Get wait stop flag.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_flag	Pointer to wait stop flag

◆ timeoutErrorFlagGet

fsp_err_t(* motor_120_control_api_t::timeoutErrorFlagGet) (motor_120_control_ctrl_t *const p_ctrl, motor_120_control_timeout_error_flag_t *const p_timeout_error_flag)

Get timerout error flag.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_timeout_error_flag	Pointer to timeout error flag

◆ patternErrorFlagGet

fsp_err_t(* motor_120_control_api_t::patternErrorFlagGet) (motor_120_control_ctrl_t *const p_ctrl, motor_120_control_pattern_error_flag_t *const p_pattern_error_flag)

Get pattern error flag.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_pattern_error_flag	Pointer to pattern error flag

◆ voltageRefGet

fsp_err_t(* motor_120_control_api_t::voltageRefGet) (motor_120_control_ctrl_t *const p_ctrl, motor_120_control_voltage_ref_t *const p_voltage_ref)

Get voltage ref.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_voltage_ref	Pointer to flag voltage ref

◆ parameterUpdate

fsp_err_t(* motor_120_control_api_t::parameterUpdate) (motor_120_control_ctrl_t *const p_ctrl, motor_120_control_cfg_t const *const p_cfg)

Update configuration parameters for the calculation in the motor 120 control module

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_cfg	Pointer to configuration structure include update parameters.

◆ motor_120_control_instance_t

struct motor_120_control_instance_t

This structure encompasses everything that is needed to use an instance of this interface.

Data Fields
motor_120_control_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_120_control_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_120_control_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

◆ motor_120_control_ctrl_t

typedef void motor_120_control_ctrl_t

Control block. Allocate an instance specific control block to pass into the API calls.

Enumeration Type Documentation

◆ motor_120_control_event_t

enum motor_120_control_event_t

Events that can trigger a callback function

Enumerator
MOTOR_120_CONTROL_EVENT_ADC_FORWARD	Event before motor 120 driver process.
MOTOR_120_CONTROL_EVENT_ADC_BACKWARD	Event after motor 120 driver process.
MOTOR_120_CONTROL_EVENT_CYCLE_FORWARD	Before cyclic process of speed control.
MOTOR_120_CONTROL_EVENT_CYCLE_BACKWARD	After cyclic process of speed control.

◆ motor_120_conduction_type_t

enum motor_120_conduction_type_t

Enumerator
MOTOR_120_CONDUCTION_TYPE_FIRST60	First 60 degree PWM.
MOTOR_120_CONDUCTION_TYPE_COMPLEMENTARY	Complementary first 60 degree PWM.

◆ motor_120_control_status_t

enum motor_120_control_status_t

120 control status

Enumerator
MOTOR_120_CONTROL_STATUS_INACTIVE	120 control status inactive
MOTOR_120_CONTROL_STATUS_ACTIVE	120 control status active

◆ motor_120_control_run_mode_t

enum motor_120_control_run_mode_t

Run mode

Enumerator
MOTOR_120_CONTROL_RUN_MODE_INIT	Run mode init.
MOTOR_120_CONTROL_RUN_MODE_BOOT	Run mode boot.
MOTOR_120_CONTROL_RUN_MODE_DRIVE	Run mode drive.

◆ motor_120_control_rotation_direction_t

enum motor_120_control_rotation_direction_t

Rotation direction

Enumerator
MOTOR_120_CONTROL_ROTATION_DIRECTION_CW	Clockwise.
MOTOR_120_CONTROL_ROTATION_DIRECTION_CCW	Counter clockwise.
MOTOR_120_CONTROL_ROTATION_DIRECTION_MAX	Max value.

◆ motor_120_control_wait_stop_flag_t

enum motor_120_control_wait_stop_flag_t

Flag for waiting for motor stop

Enumerator
MOTOR_120_CONTROL_WAIT_STOP_FLAG_CLEAR	Wait stop flag clear.
MOTOR_120_CONTROL_WAIT_STOP_FLAG_SET	Wait stop flag set.

◆ motor_120_control_timeout_error_flag_t

enum motor_120_control_timeout_error_flag_t

Flag for timeout error status

Enumerator
MOTOR_120_CONTROL_TIMEOUT_ERROR_FLAG_CLEAR	Timeout error flag clear.
MOTOR_120_CONTROL_TIMEOUT_ERROR_FLAG_SET	Timeout error flag set.

◆ motor_120_control_pattern_error_flag_t

enum motor_120_control_pattern_error_flag_t

Flag for pattern error status

Enumerator
MOTOR_120_CONTROL_PATTERN_ERROR_FLAG_CLEAR	Pattern error flag clear.
MOTOR_120_CONTROL_PATTERN_ERROR_FLAG_SET	Pattern error flag set.

◆ motor_120_control_speed_ref_t

enum motor_120_control_speed_ref_t

Speed reference status

Enumerator
MOTOR_120_CONTROL_SPEED_REF_ZERO_CONST	Speed reference zero const.
MOTOR_120_CONTROL_SPEED_REF_OPENLOOP_1	Speed reference openloop 1.
MOTOR_120_CONTROL_SPEED_REF_OPENLOOP_2	Speed reference openloop 2.
MOTOR_120_CONTROL_SPEED_REF_OPENLOOP_3	Speed reference openloop 3.
MOTOR_120_CONTROL_SPEED_REF_CHANGE	Speed reference change.

◆ motor_120_control_voltage_ref_t

enum motor_120_control_voltage_ref_t

Voltage reference status

Enumerator
MOTOR_120_CONTROL_VOLTAGE_REF_ZERO_CONST	Voltage reference zero const.
MOTOR_120_CONTROL_VOLTAGE_REF_UP	Voltage reference up.
MOTOR_120_CONTROL_VOLTAGE_REF_CONST	Voltage reference const.
MOTOR_120_CONTROL_VOLTAGE_REF_OPENLOOP	Voltage reference opneloop.
MOTOR_120_CONTROL_VOLTAGE_REF_PI_OUTPUT	Voltage reference pi output.

Detailed Description

Summary

Data Structures

Typedefs

Enumerations

Data Structure Documentation

◆ motor_120_control_callback_args_t

◆ motor_120_control_motor_parameter_t

◆ motor_120_control_cfg_t

Data Fields

◆ motor_120_control_api_t

Data Fields

Field Documentation

◆ open

◆ close

◆ run

◆ stop

◆ reset

◆ speedSet

◆ speedGet

◆ currentGet

◆ waitStopFlagGet

◆ timeoutErrorFlagGet

◆ patternErrorFlagGet

◆ voltageRefGet

◆ parameterUpdate

◆ motor_120_control_instance_t

Typedef Documentation

◆ motor_120_control_ctrl_t

Enumeration Type Documentation

◆ motor_120_control_event_t

◆ motor_120_conduction_type_t

◆ motor_120_control_status_t

◆ motor_120_control_run_mode_t

◆ motor_120_control_rotation_direction_t

◆ motor_120_control_wait_stop_flag_t

◆ motor_120_control_timeout_error_flag_t

◆ motor_120_control_pattern_error_flag_t

◆ motor_120_control_speed_ref_t

◆ motor_120_control_voltage_ref_t