Functions
fsp_err_t	RM_MOTOR_120_DEGREE_Open (motor_ctrl_t const p_ctrl, motor_cfg_t const const p_cfg)
	Configure the motor in register start mode. Implements motor_api_t::open. More...

fsp_err_t	RM_MOTOR_120_DEGREE_Close (motor_ctrl_t *const p_ctrl)
	Disables specified motor control block. Implements motor_api_t::close. More...

fsp_err_t	RM_MOTOR_120_DEGREE_Reset (motor_ctrl_t *const p_ctrl)
	Reset motor control block. Implements motor_api_t::reset. More...

fsp_err_t	RM_MOTOR_120_DEGREE_Run (motor_ctrl_t *const p_ctrl)
	Run motor (Start motor rotation). Implements motor_api_t::run. More...

fsp_err_t	RM_MOTOR_120_DEGREE_Stop (motor_ctrl_t *const p_ctrl)
	Stop motor (Stop motor rotation). Implements motor_api_t::stop. More...

fsp_err_t	RM_MOTOR_120_DEGREE_ErrorSet (motor_ctrl_t *const p_ctrl, motor_error_t const error)
	Set error information. Implements motor_api_t::errorSet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_SpeedSet (motor_ctrl_t *const p_ctrl, float const speed_rpm)
	Set speed reference[rpm]. Implements motor_api_t::speedSet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_StatusGet (motor_ctrl_t const p_ctrl, uint8_t const p_status)
	Get current control status. Implements motor_api_t::statusGet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_SpeedGet (motor_ctrl_t const p_ctrl, float const p_speed_rpm)
	Get rotational speed. Implements motor_api_t::speedGet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_WaitStopFlagGet (motor_ctrl_t const p_ctrl, motor_wait_stop_flag_t const p_flag_wait_stop)
	Get wait stop flag. Implements motor_api_t::waitStopFlagGet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_ErrorCheck (motor_ctrl_t const p_ctrl, uint16_t const p_error)
	Check the occurunce of error. Implements motor_api_t::errorCheck. More...

fsp_err_t	RM_MOTOR_120_DEGREE_PositionSet (motor_ctrl_t const p_ctrl, motor_speed_position_data_t const const p_position)
	Set position reference. Implements motor_api_t::positionSet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_AngleGet (motor_ctrl_t const p_ctrl, float const p_angle_rad)
	Set position reference. Implements motor_api_t::angleGet. More...

fsp_err_t	RM_MOTOR_120_DEGREE_FunctionSelect (motor_ctrl_t *const p_ctrl, motor_function_select_t const function)
	Select using function. Implements motor_api_t::functionSelect. More...

Detailed Description

Usual control of a SPM (Surface Permanent Magnet) motor on RA MCUs. This module implements the Motor 120 degree control (rm_motor_120_degree).

Overview

The motor 120 degree control is used to control a motor rotation in an appication. This module is implemented with using a SPM motor. User can start/stop motor rotation simply.

Features

The motor 120 degree module has below features.

Start/Stop a motor rotation
Error detection (over current, over speed, over voltage, low voltage)

Target Hardware

The below figure shows examples of target hardware of this Motor 120-degree Module.

Example of target hardware of motor 120-degree sensorless

Example of target hardware of motor 120-degree with hall sensor

Modulation

The modulation factor "m" is defined as follows.

Modulation factor

State transition

The below figure shows a state transition diagram. Internal state is managed by "SYSTEM MODE".

State transition diagram

(1) SYSTEM MODE "SYSTEM MODE" indicates the operating states of the system. The state transits on occurrence of each event (EVENT). "SYSTEM MODE" has 3 states that are motor drive stop (INACTIVE), motor drive (ACTIVE), and abnormal condition (ERROR).

(2) EVENT When "EVENT" occurs in each "SYSTEM MODE", "SYSTEM MODE" changes as shown the table in above figure, according to that "EVENT". The occurrence factors of each event are shown below.

EVENT name	Occurrence factor
STOP	by user operation
RUN	by user operation
ERROR	when the system detects an error
RESET	by user operation

Flowchart

The below figures show flowcharts of motor 120-degree module.

Main process

Current control process of 120-degree sensorless

Speed control process of 120-degree sensorless

Current control process of 120-degree with hall sensor

Speed control process of 120-degree with hall sensor

Over current detection interrupt process

Configuration

Build Time Configurations for rm_motor_120_degree

The following build time configurations are defined in fsp_cfg/rm_motor_120_degree_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 > Motor 120 degree control (rm_motor_120_degree)

This module can be added to the Stacks tab via New Stack > Motor > Motor 120 degree control (rm_motor_120_degree).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_120_degree0	Module name.
Limit of over current (A)	Must be a valid non-negative value.	4.0	Limit of over current.(Detection threshold)
Limit of over voltage (V)	Must be a valid non-negative value.	28.0	Limit of over voltage.(Detection threshold)
Limit of over speed (rpm)	Must be a valid non-negative value.	3000.0	Limit of over speed.(Detection threshold)
Limit of low voltage (V)	Must be a valid non-negative value.	14.0	Limit of low voltage.(Detection threshold)
Interrupts
Callback	Name must be a valid C symbol	NULL	A user callback function.

Clock Configuration

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

Pin Configuration

This module does not use I/O pins. Please set used pins on configuration of each hardware modules.

Usage Notes

Limitations

Set the limit of electric current with non-negative value.
Set the limit of input voltage with non-negative value.
Set the limit of rotational speed with non-negative value.

Examples

Basic Example

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

void motor_120_degree_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_120_DEGREE_Open(g_motor_120_degree0.p_ctrl, g_motor_120_degree0.p_cfg);
    assert(FSP_SUCCESS == err);
    /* Set speed reference before motor run */
    (void) RM_MOTOR_120_DEGREE_SpeedSet(g_motor_120_degree0.p_ctrl, DEF_120_DEGREE_SPEED_REF);
    /* Start motor rotation */
    (void) RM_MOTOR_120_DEGREE_Run(g_motor_120_degree0.p_ctrl);
    /* Get current status */
    (void) RM_MOTOR_120_DEGREE_StatusGet(g_motor_120_degree0.p_ctrl, &smpl_status);
    /* Get current motor speed */
    (void) RM_MOTOR_120_DEGREE_SpeedGet(g_motor_120_degree0.p_ctrl, &smpl_speed);
    /* Get wait stop flag */
    (void) RM_MOTOR_120_DEGREE_WaitStopFlagGet(g_motor_120_degree0.p_ctrl, &smpl_wait_stop_flag);
    /* Check error */
    (void) RM_MOTOR_120_DEGREE_ErrorCheck(g_motor_120_degree0.p_ctrl, &smpl_error);
    /* Stop motor rotation */
    (void) RM_MOTOR_120_DEGREE_Stop(g_motor_120_degree0.p_ctrl);
    (void) RM_MOTOR_120_DEGREE_ErrorSet(g_motor_120_degree0.p_ctrl, MOTOR_ERROR_OVER_CURRENT_HW);
    /* Reset the process. */
    (void) RM_MOTOR_120_DEGREE_Reset(g_motor_120_degree0.p_ctrl);
    /* Close the module. */
    (void) RM_MOTOR_120_DEGREE_Close(g_motor_120_degree0.p_ctrl);
}

Data Structures
struct	motor_120_degree_statemachine_t

struct	motor_120_degree_extended_cfg_t

Enumerations
enum	motor_120_degree_ctrl_status_t

enum	motor_120_degree_ctrl_event_t

Data Structure Documentation

◆ motor_120_degree_statemachine_t

struct motor_120_degree_statemachine_t

Statemachine structure for motor 120 degree

Data Fields
motor_120_degree_ctrl_status_t	status	The current system status.
motor_120_degree_ctrl_status_t	status_next	The next system status.
motor_120_degree_ctrl_event_t	current_event	The current event index.
uint16_t	u2_error_status	The error information.

◆ motor_120_degree_extended_cfg_t

struct motor_120_degree_extended_cfg_t

Extended configurations for motor 120 degree

Data Fields
motor_120_control_instance_t const *	p_motor_120_control_instance	120 degree control Instance
float	f_overcurrent_limit	Over-current limit (A)
float	f_overvoltage_limit	Over-voltage limit (V)
float	f_overspeed_limit	Over-speed limit (rpm)
float	f_lowvoltage_limit	Low-voltage limit (V)

Enumeration Type Documentation

◆ motor_120_degree_ctrl_status_t

enum motor_120_degree_ctrl_status_t

Control state

Enumerator
MOTOR_120_DEGREE_CTRL_STATUS_STOP	Stop mode.
MOTOR_120_DEGREE_CTRL_STATUS_RUN	Run mode.
MOTOR_120_DEGREE_CTRL_STATUS_ERROR	Error mode.

◆ motor_120_degree_ctrl_event_t

enum motor_120_degree_ctrl_event_t

Control event

Enumerator
MOTOR_120_DEGREE_CTRL_EVENT_STOP	Stop event.
MOTOR_120_DEGREE_CTRL_EVENT_RUN	Run event.
MOTOR_120_DEGREE_CTRL_EVENT_ERROR	Error event.
MOTOR_120_DEGREE_CTRL_EVENT_RESET	Reset event.

Function Documentation

◆ RM_MOTOR_120_DEGREE_Open()

fsp_err_t RM_MOTOR_120_DEGREE_Open	(	motor_ctrl_t *const	p_ctrl,
		motor_cfg_t const *const	p_cfg
	)

Configure the motor in register start mode. Implements motor_api_t::open.

Example:

    /* Initializes the module. */
    err = RM_MOTOR_120_DEGREE_Open(g_motor_120_degree0.p_ctrl, g_motor_120_degree0.p_cfg);

Return values

FSP_SUCCESS	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.

Note: This function should only be called once as motor configuration registers can only be written to once so subsequent calls will have no effect.

◆ RM_MOTOR_120_DEGREE_Close()

fsp_err_t RM_MOTOR_120_DEGREE_Close ( motor_ctrl_t *const p_ctrl )

Disables specified motor control block. Implements motor_api_t::close.

Example:

    /* Close the module. */
    (void) RM_MOTOR_120_DEGREE_Close(g_motor_120_degree0.p_ctrl);

Return values

FSP_SUCCESS	Successfully closed.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.

Note

◆ RM_MOTOR_120_DEGREE_Reset()

fsp_err_t RM_MOTOR_120_DEGREE_Reset ( motor_ctrl_t *const p_ctrl )

Reset motor control block. Implements motor_api_t::reset.

Example:

    /* Reset the process. */
    (void) RM_MOTOR_120_DEGREE_Reset(g_motor_120_degree0.p_ctrl);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.

Note

◆ RM_MOTOR_120_DEGREE_Run()

fsp_err_t RM_MOTOR_120_DEGREE_Run ( motor_ctrl_t *const p_ctrl )

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

Example:

    /* Start motor rotation */
    (void) RM_MOTOR_120_DEGREE_Run(g_motor_120_degree0.p_ctrl);

Return values

FSP_SUCCESS	Successfully started.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.

Note

◆ RM_MOTOR_120_DEGREE_Stop()

fsp_err_t RM_MOTOR_120_DEGREE_Stop ( motor_ctrl_t *const p_ctrl )

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

Example:

    /* Stop motor rotation */
    (void) RM_MOTOR_120_DEGREE_Stop(g_motor_120_degree0.p_ctrl);

Return values

FSP_SUCCESS	Successfully stopped.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.

Note

◆ RM_MOTOR_120_DEGREE_ErrorSet()

fsp_err_t RM_MOTOR_120_DEGREE_ErrorSet	(	motor_ctrl_t *const	p_ctrl,
		motor_error_t const	error
	)

Set error information. Implements motor_api_t::errorSet.

Example:

    (void) RM_MOTOR_120_DEGREE_ErrorSet(g_motor_120_degree0.p_ctrl, MOTOR_ERROR_OVER_CURRENT_HW);

Return values

FSP_SUCCESS	Successfully set error infomation.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.

Note

◆ RM_MOTOR_120_DEGREE_SpeedSet()

fsp_err_t RM_MOTOR_120_DEGREE_SpeedSet	(	motor_ctrl_t *const	p_ctrl,
		float const	speed_rpm
	)

Set speed reference[rpm]. Implements motor_api_t::speedSet.

Example:

    /* Set speed reference before motor run */
    (void) RM_MOTOR_120_DEGREE_SpeedSet(g_motor_120_degree0.p_ctrl, DEF_120_DEGREE_SPEED_REF);

Return values

FSP_SUCCESS	Successfully set speed reference.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.

Note

◆ RM_MOTOR_120_DEGREE_StatusGet()

fsp_err_t RM_MOTOR_120_DEGREE_StatusGet	(	motor_ctrl_t *const	p_ctrl,
		uint8_t *const	p_status
	)

Get current control status. Implements motor_api_t::statusGet.

Example:

    /* Get current status */
    (void) RM_MOTOR_120_DEGREE_StatusGet(g_motor_120_degree0.p_ctrl, &smpl_status);

Return values

FSP_SUCCESS	Successfully got current control status.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_POINTER	Data received pointer is invalid.

Note

◆ RM_MOTOR_120_DEGREE_SpeedGet()

fsp_err_t RM_MOTOR_120_DEGREE_SpeedGet	(	motor_ctrl_t *const	p_ctrl,
		float *const	p_speed_rpm
	)

Get rotational speed. Implements motor_api_t::speedGet.

Example:

    /* Get current motor speed */
    (void) RM_MOTOR_120_DEGREE_SpeedGet(g_motor_120_degree0.p_ctrl, &smpl_speed);

Return values

FSP_SUCCESS	Successfully got rotational speed.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_POINTER	Data received pointer is invalid.

Note

◆ RM_MOTOR_120_DEGREE_WaitStopFlagGet()

fsp_err_t RM_MOTOR_120_DEGREE_WaitStopFlagGet	(	motor_ctrl_t *const	p_ctrl,
		motor_wait_stop_flag_t *const	p_flag_wait_stop
	)

Get wait stop flag. Implements motor_api_t::waitStopFlagGet.

Example:

    /* Get wait stop flag */
    (void) RM_MOTOR_120_DEGREE_WaitStopFlagGet(g_motor_120_degree0.p_ctrl, &smpl_wait_stop_flag);

Return values

FSP_SUCCESS	Successfully got wait stop flag.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_POINTER	Data received pointer is invalid.

Note

◆ RM_MOTOR_120_DEGREE_ErrorCheck()

fsp_err_t RM_MOTOR_120_DEGREE_ErrorCheck	(	motor_ctrl_t *const	p_ctrl,
		uint16_t *const	p_error
	)

Check the occurunce of error. Implements motor_api_t::errorCheck.

Example:

    /* Check error */
    (void) RM_MOTOR_120_DEGREE_ErrorCheck(g_motor_120_degree0.p_ctrl, &smpl_error);

Return values

FSP_SUCCESS	Successfully error checke process.
FSP_ERR_ASSERTION	p_ctrl is NULL.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_POINTER	Data received pointer is invalid.

Note

◆ RM_MOTOR_120_DEGREE_PositionSet()

fsp_err_t RM_MOTOR_120_DEGREE_PositionSet	(	motor_ctrl_t *const	p_ctrl,
		motor_speed_position_data_t const *const	p_position
	)

Set position reference. Implements motor_api_t::positionSet.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Note

◆ RM_MOTOR_120_DEGREE_AngleGet()

fsp_err_t RM_MOTOR_120_DEGREE_AngleGet	(	motor_ctrl_t *const	p_ctrl,
		float *const	p_angle_rad
	)

Set position reference. Implements motor_api_t::angleGet.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Note

◆ RM_MOTOR_120_DEGREE_FunctionSelect()

fsp_err_t RM_MOTOR_120_DEGREE_FunctionSelect	(	motor_ctrl_t *const	p_ctrl,
		motor_function_select_t const	function
	)

Select using function. Implements motor_api_t::functionSelect.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Note

Functions

Detailed Description

Overview

Features

Target Hardware

Modulation

State transition

Flowchart

Configuration

Build Time Configurations for rm_motor_120_degree

Configurations for Motor > Motor 120 degree control (rm_motor_120_degree)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Data Structures

Enumerations

Data Structure Documentation

◆ motor_120_degree_statemachine_t

◆ motor_120_degree_extended_cfg_t

Enumeration Type Documentation

◆ motor_120_degree_ctrl_status_t

◆ motor_120_degree_ctrl_event_t

Function Documentation

◆ RM_MOTOR_120_DEGREE_Open()

◆ RM_MOTOR_120_DEGREE_Close()

◆ RM_MOTOR_120_DEGREE_Reset()

◆ RM_MOTOR_120_DEGREE_Run()

◆ RM_MOTOR_120_DEGREE_Stop()

◆ RM_MOTOR_120_DEGREE_ErrorSet()

◆ RM_MOTOR_120_DEGREE_SpeedSet()

◆ RM_MOTOR_120_DEGREE_StatusGet()

◆ RM_MOTOR_120_DEGREE_SpeedGet()

◆ RM_MOTOR_120_DEGREE_WaitStopFlagGet()

◆ RM_MOTOR_120_DEGREE_ErrorCheck()

◆ RM_MOTOR_120_DEGREE_PositionSet()

◆ RM_MOTOR_120_DEGREE_AngleGet()

◆ RM_MOTOR_120_DEGREE_FunctionSelect()