Functions
fsp_err_t	RM_MOTOR_120_CONTROL_HALL_Open (motor_120_control_ctrl_t const p_ctrl, motor_120_control_cfg_t const const p_cfg)
	Opens and configures the motor hall 120 detection module. Implements motor_120_control_api_t::open. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_Close (motor_120_control_ctrl_t *const p_ctrl)
	Disables specified motor hall 120 detection module. Implements motor_120_control_api_t::close. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_Run (motor_120_control_ctrl_t *const p_ctrl)
	Run motor (Start motor rotation). Implements motor_120_control_api_t::run. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_Stop (motor_120_control_ctrl_t *const p_ctrl)
	Stop motor (Stop motor rotation). Implements motor_120_control_api_t::stop. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_Reset (motor_120_control_ctrl_t *const p_ctrl)
	Reset variables of motor hall 120 detection module. Implements motor_120_control_api_t::reset. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_SpeedSet (motor_120_control_ctrl_t *const p_ctrl, float const speed_rpm)
	Set speed[rpm]. Implements motor_120_control_api_t::speedSet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_SpeedGet (motor_120_control_ctrl_t const p_ctrl, float const p_speed_rpm)
	Get speed. Implements motor_120_control_api_t::speedGet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_CurrentGet (motor_120_control_ctrl_t const p_ctrl, motor_120_driver_current_status_t const p_current_status)
	Get current. Implements motor_120_control_api_t::currentGet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_WaitStopFlagGet (motor_120_control_ctrl_t const p_ctrl, motor_120_control_wait_stop_flag_t const p_flag)
	Get wait stop flag. Implements motor_120_control_api_t::waitStopFlagGet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_TimeoutErrorFlagGet (motor_120_control_ctrl_t const p_ctrl, motor_120_control_timeout_error_flag_t const p_timeout_error_flag)
	Get timeout error flag. Implements motor_120_control_api_t::timeoutErrorFlagGet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_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. Implements motor_120_control_api_t::patternErrorFlagGet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_VoltageRefGet (motor_120_control_ctrl_t const p_ctrl, motor_120_control_voltage_ref_t const p_voltage_ref)
	Get voltage ref. Implements motor_120_control_api_t::voltageRefGet. More...

fsp_err_t	RM_MOTOR_120_CONTROL_HALL_ParameterUpdate (motor_120_control_ctrl_t const p_ctrl, motor_120_control_cfg_t const const p_cfg)
	Update the parameters of hall 120 detection module. Implements motor_120_control_api_t::parameterUpdate. More...

Detailed Description

Calculation process for the motor control on RA MCUs. This module implements the Motor 120-Degree Control Interface.

Overview

The motor current is used to control the electric current of motor rotation in an appication. This module should be called cyclically after the A/D conversion of electric current of each phase in an application. This module calculates each phase voltage with input current reference, electric current and rotor angle.

Features

The motor 120 control hall module has below features.

Calculate each phase(U/V/W) voltage.
Decoupling control.
Voltage error compensation.

Configuration

Build Time Configurations for rm_motor_120_control_hall

The following build time configurations are defined in fsp_cfg/rm_motor_120_control_hall_cfg.h:

Configuration	Options	Default	Description
Parameter Checking	Default (BSP) Enabled Disabled	Default (BSP)	If selected code for parameter checking is included in the build.

Configurations for Motor > 120-degree conduction control with Hall sensors (rm_motor_120_control_hall)

This module can be added to the Stacks tab via New Stack > Motor > 120-degree conduction control with Hall sensors (rm_motor_120_control_hall).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_120_control_hall0	Module name.
Conduction type	First 60 degree PWM Complementary First 60 degree PWM	First 60 degree PWM	Select conduction type
Timeout counts (msec)	Must be a valid non-negative value.	200	Counts to judge rotor unrotate
Maximum voltage (V)	Must be a valid non-negative value.	20.0	Maximum output voltage (V)
Minimum voltage (V)	Must be a valid non-negative value.	3.0	Minimum output voltage (V)
Speed PI decimation	Must be a valid non-negative value.	0	Speed PI control decimation count
Freerun timer frequency (MHz)	Must be a valid non-negative value.	120	Freerun timer frequency (MHz)
Speed LPF	Must be a valid non-negative value.	1.0	Speed LPF parameter
Step of speed reference change	Must be a valid non-negative value.	0.2	Speed ref change step
Start reference voltage (V)	Must be a valid non-negative value.	5.8	Reference voltage for boot mode (V)
Hall wait counts	Must be a valid non-negative value.	12	Wait counts of hall interrupts to start speed calculation
Stop judge time	Must be a valid non-negative value.	1000	Stop judge time
Minimum limit speed (rpm)	Must be a valid non-negative value.	550	Minimum limit speed (rpm) (mechanical angle)
PI control KP	Must be a valid non-negative value.	0.02	PI control gain of proportional term
PI control KI	Must be a valid non-negative value.	0.0005	PI control gain of integral term
PI control limit	Must be a valid non-negative value.	24.0	PI control limit of integral term
Hall interrupt mask value	Must be a valid non-negative value.	15	For limiting hall interrupt processing. Limited by the number of ADC interrupts
Motor Parameter
Pole pairs	Must be a valid non-negative value.	2	Pole pairs
Resistance (ohm)	Must be a valid non-negative value.	6.447	Resistance
Inductance of d-axis (H)	Must be a valid non-negative value.	0.0045	Inductance of d-axis
Inductance of q-axis (H)	Must be a valid non-negative value.	0.0045	Inductance of q-axis
Permanent magnetic flux (Wb)	Must be a valid non-negative value.	0.02159	Permanent magnetic flux
Motor Parameter > Rotor inertia (kgm^2)	Must be a valid non-negative value.	1.8	Rotor inertia
Interrupts
Callback	Name must be a valid C symbol	NULL	Callback function
Hall sensor port U	Manual Entry	BSP_IO_PORT_04_PIN_11	Hall sensor port U
Hall sensor port V	Manual Entry	BSP_IO_PORT_04_PIN_10	Hall sensor port V
Hall sensor port W	Manual Entry	BSP_IO_PORT_04_PIN_09	Hall sensor port W

Clock Configuration

This module doesn't depend on clock setting, because this module is a simple calculation process.

Pin Configuration

Depend on included ICU module.

Usage Notes

Limitations

Set the period of current control with none-negative value.
Set the reference voltage with none-negative value.

Examples

Basic Example

This is a basic example of minimal use of the motor 120 control hall in an application.

void motor_120_control_hall_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_120_CONTROL_HALL_Open(g_motor_120_control_hall0.p_ctrl, g_motor_120_control_hall0.p_cfg);
    assert(FSP_SUCCESS == err);
    /* Set speed reference before motor run */
    (void) RM_MOTOR_120_CONTROL_HALL_SpeedSet(g_motor_120_control_hall0.p_ctrl, DEF_120_CONTROL_HALL_TEST_SPEED_REF);
    /* Start motor rotation */
    (void) RM_MOTOR_120_CONTROL_HALL_Run(g_motor_120_control_hall0.p_ctrl);
    /* Get current motor speed */
    (void) RM_MOTOR_120_CONTROL_HALL_SpeedGet(g_motor_120_control_hall0.p_ctrl, &smpl_speed);
    /* Get current */
    (void) RM_MOTOR_120_CONTROL_HALL_CurrentGet(g_motor_120_control_hall0.p_ctrl, &smpl_current_status);
    /* Get wait stop flag */
    (void) RM_MOTOR_120_CONTROL_HALL_WaitStopFlagGet(g_motor_120_control_hall0.p_ctrl, &smpl_wait_stop_flag);
    /* Get timeout error flag */
    (void) RM_MOTOR_120_CONTROL_HALL_TimeoutErrorFlagGet(g_motor_120_control_hall0.p_ctrl, &smpl_timeout_error_flag);
    /* Get pattern error flag */
    (void) RM_MOTOR_120_CONTROL_HALL_PatternErrorFlagGet(g_motor_120_control_hall0.p_ctrl, &smpl_pattern_error_flag);
    /* Get voltage ref */
    (void) RM_MOTOR_120_CONTROL_HALL_VoltageRefGet(g_motor_120_control_hall0.p_ctrl, &smpl_voltage_ref);
    (void) RM_MOTOR_120_CONTROL_HALL_ParameterUpdate(g_motor_120_control_hall0.p_ctrl, g_motor_120_control_hall0.p_cfg);
    /* Stop motor rotation */
    (void) RM_MOTOR_120_CONTROL_HALL_Stop(g_motor_120_control_hall0.p_ctrl);
    /* Reset the process. */
    (void) RM_MOTOR_120_CONTROL_HALL_Reset(g_motor_120_control_hall0.p_ctrl);
    /* Close the module. */
    (void) RM_MOTOR_120_CONTROL_HALL_Close(g_motor_120_control_hall0.p_ctrl);
}

Data Structures
struct	motor_120_control_hall_extended_cfg_t

struct	motor_120_control_hall_instance_ctrl_t

Data Structure Documentation

◆ motor_120_control_hall_extended_cfg_t

struct motor_120_control_hall_extended_cfg_t

Extended configurations for motor 120 control hall

Data Fields
bsp_io_port_pin_t	port_hall_sensor_u	Hall sensor port U.
bsp_io_port_pin_t	port_hall_sensor_v	Hall sensor port V.
bsp_io_port_pin_t	port_hall_sensor_w	Hall sensor port W.
float	f4_start_refv	Reference voltage for boot mode.
uint32_t	u4_hall_wait_cnt	Wait counts of hall interrupts for speed calculation.
uint32_t	u4_stop_judge_time	Stop judge time.
uint32_t	u4_min_speed_rpm	Minimum limit speed (rpm) (mechanical angle)
uint32_t	u4_hall_interrupt_mask_value	For limiting hall interrupt processing. Limited by the number of ADC interrupts.
motor_120_driver_instance_t const *	p_motor_120_driver_instance	Motor 120 driver access module.
timer_instance_t const *	p_speed_cyclic_timer_instance	Cyclic process of speed control timer module.
timer_instance_t const *	p_speed_calc_timer_instance	Speed calculate timer module.
external_irq_instance_t const *	p_u_hall_irq_instance	U phase hall interrupt.
external_irq_instance_t const *	p_v_hall_irq_instance	V phase hall interrupt.
external_irq_instance_t const *	p_w_hall_irq_instance	W phase hall interrupt.

◆ motor_120_control_hall_instance_ctrl_t

struct motor_120_control_hall_instance_ctrl_t

120 control hall instance control block

Data Fields
uint32_t	open	Used to determine if the channel is configured.
motor_120_control_status_t	active	Flag to set active/inactive the motor 120 control.
motor_120_control_run_mode_t	run_mode	Drive mode.
motor_120_control_timeout_error_flag_t	timeout_error_flag	Timeout error status.
motor_120_control_pattern_error_flag_t	pattern_error_flag	Hall pattern error status.
motor_120_control_rotation_direction_t	direction	Rotational direction (0:CW ,1:CCW)
float	f4_speed_calc_base	Base counts to calculate rotation speed.
float	f_rpm2rad	Translate value to radian/second to rpm.
float	f4_v_ref	Voltage reference (output of speed PI control)
float	f4_ref_speed_rad	Motor speed reference.
float	f4_ref_speed_rad_ctrl	Motor speed reference for speed PI control.
float	f4_speed_rad	Motor speed.
uint32_t	u4_cnt_speed_pi	Counter for period of speed PI control.
motor_120_control_wait_stop_flag_t	flag_wait_stop	Flag for waiting for motor stop.
uint32_t	u4_cnt_wait_stop	Counter for waiting motor stop.
motor_120_driver_phase_pattern_t	v_pattern	Voltage pattern.
motor_120_control_speed_ref_t	flag_speed_ref	Speed reference flag.
motor_120_control_voltage_ref_t	flag_voltage_ref	Voltage reference flag.
uint32_t	u4_cnt_timeout	Counter for timeout error.
uint32_t	u4_hall_timer_cnt	Value of timer counter.
uint32_t	u4_pre_hall_timer_cnt	Previous value of timer counter.
int32_t	s4_timer_cnt_ave	Counts for 360 degrees.
uint32_t	u4_timer_cnt_buf[MOTOR_120_CONTROL_HALL_TIMES]	Counts for 60 degrees.
uint32_t	u4_timer_cnt_num	Array element number before 360 degrees.
float	f4_pi_ctrl_err	PI control error.
float	f4_pi_ctrl_refi	PI control buffer of integral term.
uint32_t	u4_hall_intr_cnt	For start timing of speed calculation.
uint32_t	u4_adc_interrupt_cnt	Number of ADC interrupt processing.
motor_120_control_cfg_t const *	p_cfg	Pointer of configuration structure.
timer_direction_t	timer_direction	Hold timer direction.
external_irq_callback_args_t	hall_interrupt_args	For call IRQ callbackSet function.
timer_callback_args_t	timer_args	For call timer callbackSet function.

Function Documentation

◆ RM_MOTOR_120_CONTROL_HALL_Open()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_Open	(	motor_120_control_ctrl_t *const	p_ctrl,
		motor_120_control_cfg_t const *const	p_cfg
	)

Opens and configures the motor hall 120 detection module. Implements motor_120_control_api_t::open.

Example:

    /* Initializes the module. */
    err = RM_MOTOR_120_CONTROL_HALL_Open(g_motor_120_control_hall0.p_ctrl, g_motor_120_control_hall0.p_cfg);

Return values

FSP_SUCCESS	Motor 120 driver successfully configured.
FSP_ERR_ASSERTION	Null pointer, or one or more configuration options is invalid.
FSP_ERR_ALREADY_OPEN	Module is already open. This module can only be opened once.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_Close()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_Close ( motor_120_control_ctrl_t *const p_ctrl )

Disables specified motor hall 120 detection module. Implements motor_120_control_api_t::close.

Example:

    /* Close the module. */
    (void) RM_MOTOR_120_CONTROL_HALL_Close(g_motor_120_control_hall0.p_ctrl);

Return values

FSP_SUCCESS	Successfully closed.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_120_CONTROL_HALL_Run()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_Run ( motor_120_control_ctrl_t *const p_ctrl )

Run motor (Start motor rotation). Implements motor_120_control_api_t::run.

Example:

    /* Start motor rotation */
    (void) RM_MOTOR_120_CONTROL_HALL_Run(g_motor_120_control_hall0.p_ctrl);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_120_CONTROL_HALL_Stop()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_Stop ( motor_120_control_ctrl_t *const p_ctrl )

Stop motor (Stop motor rotation). Implements motor_120_control_api_t::stop.

Example:

    /* Stop motor rotation */
    (void) RM_MOTOR_120_CONTROL_HALL_Stop(g_motor_120_control_hall0.p_ctrl);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_120_CONTROL_HALL_Reset()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_Reset ( motor_120_control_ctrl_t *const p_ctrl )

Reset variables of motor hall 120 detection module. Implements motor_120_control_api_t::reset.

Example:

    /* Reset the process. */
    (void) RM_MOTOR_120_CONTROL_HALL_Reset(g_motor_120_control_hall0.p_ctrl);

Return values

FSP_SUCCESS	Successfully reset.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_120_CONTROL_HALL_SpeedSet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_SpeedSet	(	motor_120_control_ctrl_t *const	p_ctrl,
		float const	speed_rpm
	)

Set speed[rpm]. Implements motor_120_control_api_t::speedSet.

Example:

    /* Set speed reference before motor run */
    (void) RM_MOTOR_120_CONTROL_HALL_SpeedSet(g_motor_120_control_hall0.p_ctrl, DEF_120_CONTROL_HALL_TEST_SPEED_REF);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_120_CONTROL_HALL_SpeedGet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_SpeedGet	(	motor_120_control_ctrl_t *const	p_ctrl,
		float *const	p_speed_rpm
	)

Get speed. Implements motor_120_control_api_t::speedGet.

Example:

    /* Get current motor speed */
    (void) RM_MOTOR_120_CONTROL_HALL_SpeedGet(g_motor_120_control_hall0.p_ctrl, &smpl_speed);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_CurrentGet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_CurrentGet	(	motor_120_control_ctrl_t *const	p_ctrl,
		motor_120_driver_current_status_t *const	p_current_status
	)

Get current. Implements motor_120_control_api_t::currentGet.

Example:

    /* Get current */
    (void) RM_MOTOR_120_CONTROL_HALL_CurrentGet(g_motor_120_control_hall0.p_ctrl, &smpl_current_status);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_WaitStopFlagGet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_WaitStopFlagGet	(	motor_120_control_ctrl_t *const	p_ctrl,
		motor_120_control_wait_stop_flag_t *const	p_flag
	)

Get wait stop flag. Implements motor_120_control_api_t::waitStopFlagGet.

Example:

    /* Get wait stop flag */
    (void) RM_MOTOR_120_CONTROL_HALL_WaitStopFlagGet(g_motor_120_control_hall0.p_ctrl, &smpl_wait_stop_flag);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_TimeoutErrorFlagGet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_TimeoutErrorFlagGet	(	motor_120_control_ctrl_t *const	p_ctrl,
		motor_120_control_timeout_error_flag_t *const	p_timeout_error_flag
	)

Get timeout error flag. Implements motor_120_control_api_t::timeoutErrorFlagGet.

Example:

    /* Get timeout error flag */
    (void) RM_MOTOR_120_CONTROL_HALL_TimeoutErrorFlagGet(g_motor_120_control_hall0.p_ctrl, &smpl_timeout_error_flag);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_PatternErrorFlagGet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_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. Implements motor_120_control_api_t::patternErrorFlagGet.

Example:

    /* Get pattern error flag */
    (void) RM_MOTOR_120_CONTROL_HALL_PatternErrorFlagGet(g_motor_120_control_hall0.p_ctrl, &smpl_pattern_error_flag);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_VoltageRefGet()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_VoltageRefGet	(	motor_120_control_ctrl_t *const	p_ctrl,
		motor_120_control_voltage_ref_t *const	p_voltage_ref
	)

Get voltage ref. Implements motor_120_control_api_t::voltageRefGet.

Example:

    /* Get voltage ref */
    (void) RM_MOTOR_120_CONTROL_HALL_VoltageRefGet(g_motor_120_control_hall0.p_ctrl, &smpl_voltage_ref);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_120_CONTROL_HALL_ParameterUpdate()

fsp_err_t RM_MOTOR_120_CONTROL_HALL_ParameterUpdate	(	motor_120_control_ctrl_t *const	p_ctrl,
		motor_120_control_cfg_t const *const	p_cfg
	)

Update the parameters of hall 120 detection module. Implements motor_120_control_api_t::parameterUpdate.

Example:

    (void) RM_MOTOR_120_CONTROL_HALL_ParameterUpdate(g_motor_120_control_hall0.p_ctrl, g_motor_120_control_hall0.p_cfg);

Return values

FSP_SUCCESS	Successfully data was updated.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_120_control_hall

Configurations for Motor > 120-degree conduction control with Hall sensors (rm_motor_120_control_hall)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Data Structures

Data Structure Documentation

◆ motor_120_control_hall_extended_cfg_t

◆ motor_120_control_hall_instance_ctrl_t

Function Documentation

◆ RM_MOTOR_120_CONTROL_HALL_Open()

◆ RM_MOTOR_120_CONTROL_HALL_Close()

◆ RM_MOTOR_120_CONTROL_HALL_Run()

◆ RM_MOTOR_120_CONTROL_HALL_Stop()

◆ RM_MOTOR_120_CONTROL_HALL_Reset()

◆ RM_MOTOR_120_CONTROL_HALL_SpeedSet()

◆ RM_MOTOR_120_CONTROL_HALL_SpeedGet()

◆ RM_MOTOR_120_CONTROL_HALL_CurrentGet()

◆ RM_MOTOR_120_CONTROL_HALL_WaitStopFlagGet()

◆ RM_MOTOR_120_CONTROL_HALL_TimeoutErrorFlagGet()

◆ RM_MOTOR_120_CONTROL_HALL_PatternErrorFlagGet()

◆ RM_MOTOR_120_CONTROL_HALL_VoltageRefGet()

◆ RM_MOTOR_120_CONTROL_HALL_ParameterUpdate()