ADC and PWM modulation (rm_motor_120_driver)

Functions
fsp_err_t	RM_MOTOR_120_DRIVER_Open (motor_120_driver_ctrl_t *const p_ctrl, motor_120_driver_cfg_t const *const p_cfg)
	Opens and configures the motor 120 driver module. Implements motor_120_driver_api_t::open. More...
fsp_err_t	RM_MOTOR_120_DRIVER_Close (motor_120_driver_ctrl_t *const p_ctrl)
	Disables specified motor 120 driver module. Implements motor_120_driver_api_t::close. More...
fsp_err_t	RM_MOTOR_120_DRIVER_Run (motor_120_driver_ctrl_t *const p_ctrl)
	Run motor (Start motor rotation). Implements motor_120_driver_api_t::run. More...
fsp_err_t	RM_MOTOR_120_DRIVER_Stop (motor_120_driver_ctrl_t *const p_ctrl)
	Stop motor (Stop motor rotation). Implements motor_120_driver_api_t::stop. More...
fsp_err_t	RM_MOTOR_120_DRIVER_Reset (motor_120_driver_ctrl_t *const p_ctrl)
	Reset variables of motor 120 driver module. Implements motor_120_driver_api_t::reset. More...
fsp_err_t	RM_MOTOR_120_DRIVER_PhaseVoltageSet (motor_120_driver_ctrl_t *const p_ctrl, float const u_voltage, float const v_voltage, float const w_voltage)
	Set phase voltage data to calculate PWM duty. Implements motor_120_driver_api_t::phaseVoltageSet. More...
fsp_err_t	RM_MOTOR_120_DRIVER_PhasePatternSet (motor_120_driver_ctrl_t *const p_ctrl, motor_120_driver_phase_pattern_t const pattern)
	Set phase voltage pattern. Implements motor_120_driver_api_t::phasePatternSet. More...
fsp_err_t	RM_MOTOR_120_DRIVER_CurrentGet (motor_120_driver_ctrl_t *const p_ctrl, motor_120_driver_current_status_t *const p_current_status)
	Get calculated phase current, Vdc & Va_max data. Implements motor_120_driver_api_t::currentGet. More...
fsp_err_t	RM_MOTOR_120_DRIVER_CurrentOffsetCalc (motor_120_driver_ctrl_t *const p_ctrl)
	current offset detection. Implements motor_120_driver_api_t::currentOffsetCalc More...
fsp_err_t	RM_MOTOR_120_DRIVER_FlagCurrentOffsetGet (motor_120_driver_ctrl_t *const p_ctrl, motor_120_driver_flag_offset_calc_t *const p_flag_offset)
	Get the flag of finish current offset detection. Implements motor_120_driver_api_t::flagCurrentOffsetGet. More...
fsp_err_t	RM_MOTOR_120_DRIVER_ParameterUpdate (motor_120_driver_ctrl_t *const p_ctrl, motor_120_driver_cfg_t const *const p_cfg)
	Update the parameters of 120 driver module. Implements motor_120_driver_api_t::parameterUpdate. More...

Detailed Description

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

Overview

The motor 120 degree driver module is used to translate phase voltage to PWM duty and output PWM, and detect phase current, voltage and main line voltage. This module should be called cyclically at included A/D conversion finish interrupt.

Image of Current Control Module(yellow block)

Features

The motor 120 degree driver module has below features.

• Calculate each phase(U/V/W) PWM duty according to reference and output PWM.
• Detect each phase current, phase voltage and main line voltage.
• Detect and correct A/D offset at phase current and voltage channel

Configuration

Build Time Configurations for rm_motor_120_driver

The following build time configurations are defined in fsp_cfg/rm_motor_120_driver_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.
ADC_B Support	Enabled Disabled	Disabled	Select ADC_B module support.
Shared ADC support	Enabled Disabled	Disabled	Select Shared ADC support.
Support Motor Number	Must be greater than 1.	1

Configurations for Motor > ADC and PWM modulation (rm_motor_120_driver)

This module can be added to the Stacks tab via New Stack > Motor > ADC and PWM modulation (rm_motor_120_driver).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_120_driver0	Module name.
120 degree control type	Sensorless Hall	Sensorless	120 degree control type
PWM output port UP	Manual Entry	BSP_IO_PORT_06_PIN_01	PWM output port UP
PWM output port UN	Manual Entry	BSP_IO_PORT_06_PIN_00	PWM output port UN
PWM output port VP	Manual Entry	BSP_IO_PORT_01_PIN_13	PWM output port VP
PWM output port VN	Manual Entry	BSP_IO_PORT_01_PIN_14	PWM output port VN
PWM output port WP	Manual Entry	BSP_IO_PORT_01_PIN_11	PWM output port WP
PWM output port WN	Manual Entry	BSP_IO_PORT_01_PIN_12	PWM output port WN
PWM timer frequency (MHz)	Must be a valid positive integer.	120	GPT PWM timer frequency
PWM carrier period (Microseconds)	Must be a valid positive integer.	50	GPT PWM carrier period
Dead time (Raw counts)	Must be a valid positive integer.	240	GPT PWM dead time
Current range (A)	Must be a valid non-negative value.	27.5	Current range to measure(Maximum input current)
Voltage range (V)	Must be a valid non-negative value.	111.0	Voltage range to measure(Maximum input main line voltage)
Resolution of A/D conversion	Must be a valid Resolution of ADC.	0xFFF	Resolution of A/D conversion
Offset of A/D conversion for current	Must be a valid non-negative value.	0x745	Offset of A/D conversion for current
Conversion level of A/D conversion for voltage	Must be a valid non-negative value.	0.66	Conversion level of A/D conversion for voltage
Counts for current offset measurement	Must be a valid positive integer.	500	How many times to measure current offset
Input voltage	Must be a valid non-negative value.	24.0	Input voltage
A/D conversion channel for U phase current	Value must be a supported channel number	0	Specify the A/D channel for U phase current
A/D conversion channel for W phase current	Value must be a supported channel number	2	Specify the A/D channel for W phase current
A/D conversion channel for main line voltage	Value must be a supported channel number	5	Specify the A/D channel for main line voltage
A/D conversion channel for U phase voltage	Value must be a supported channel number	18	Specify the A/D channel for U phase voltage
A/D conversion channel for V phase voltage	Value must be a supported channel number	20	Specify the A/D channel for V phase voltage
A/D conversion channel for W phase voltage	Value must be a supported channel number	6	Specify the A/D channel for W phase voltage
A/D conversion unit for U phase current	Must be a valid non-negative value.	0	Specify the A/D unit for U phase current
A/D conversion unit for W phase current	Must be a valid non-negative value.	0	Specify the A/D unit for W phase current
A/D conversion unit for main line voltage	Must be a valid non-negative value.	0	Specify the A/D unit for main line voltage
A/D conversion unit for U phase voltage	Must be a valid non-negative value.	0	Specify the A/D unit for U phase voltage
A/D conversion unit for V phase voltage	Must be a valid non-negative value.	0	Specify the A/D unit for V phase voltage
A/D conversion unit for W phase voltage	Must be a valid non-negative value.	0	Specify the A/D unit for W phase voltage
GTIOCA stop level	Pin Level Low Pin Level High	Pin Level High	Select the behavior of the output pin when the timer is stopped.
GTIOCB stop level	Pin Level Low Pin Level High	Pin Level High	Select the behavior of the output pin when the timer is stopped.
ADC interrupt module	1st 2nd	1st	Select from which module ADC intterupt happens
Modulation
Maximum duty	Must be a valid non-negative value.	0.9375	Maximum duty of PWM
Interrupts
Callback	Name must be a valid C symbol	NULL	A user callback function. If this callback function is provided, it is called at A/D conversion finish interrupt.

Clock Configuration

Set used clock with included GPT timer.

Pin Configuration

Depend on included GPT three phase module and ADC module.

Usage Notes

Limitations

Basically no limitation exists.

Examples

Basic Example

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

void motor_120_driver_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;


    /* Initializes the module. */
    err = RM_MOTOR_120_DRIVER_Open(&g_motor_120_driver0.p_ctrl, &g_motor_120_driver0.p_cfg);



    /* Start PWM output */
    err = RM_MOTOR_120_DRIVER_Run(&g_motor_120_driver0.p_ctrl);


    assert(FSP_SUCCESS == err);

    /* Basically run this module at cyclic interrupt (e.g. included GPT PWM carrier intterupt).
     * This implementation is an example. */

    // while (true)
    {
        /* Application work here. */


        /* Caclutarion of current offset */
        (void) RM_MOTOR_120_DRIVER_CurrentOffsetCalc(&g_motor_120_driver0.p_ctrl);



        /* Get electric current, main line voltage and maximum voltage component */
        (void) RM_MOTOR_120_DRIVER_CurrentGet(&g_motor_120_driver0.p_ctrl, &g_current_status);



        /* Get the flag of A/D convderted current offset */
        (void) RM_MOTOR_120_DRIVER_FlagCurrentOffsetGet(&g_motor_120_driver0.p_ctrl, &u1_get_flg_offset);


        // Perform current control process here


        /* Set phase voltage */
        (void) RM_MOTOR_120_DRIVER_PhaseVoltageSet(&g_motor_120_driver0.p_ctrl, 1.0F, 1.0F, 1.0F);



        /* Set phase pattern */
        (void) RM_MOTOR_120_DRIVER_PhasePatternSet(&g_motor_120_driver0.p_ctrl, MOTOR_120_DRIVER_API_VP_ON_WN_PWM);



        (void) RM_MOTOR_120_DRIVER_ParameterUpdate(&g_motor_120_driver0.p_ctrl, &g_motor_120_driver0.p_cfg);

    }


    (void) RM_MOTOR_120_DRIVER_Stop(&g_motor_120_driver0.p_ctrl);



    (void) RM_MOTOR_120_DRIVER_Reset(&g_motor_120_driver0.p_ctrl);

    //

    (void) RM_MOTOR_120_DRIVER_Close(&g_motor_120_driver0.p_ctrl);

}

Data Structures
struct	motor_120_driver_shared_instance_ctrl_t
struct	motor_120_driver_modulation_t
struct	motor_120_driver_extended_cfg_t

Enumerations
enum	motor_120_driver_select_adc_instance_t
enum	motor_120_driver_status_t
enum	motor_120_driver_type_t

---

Data Structure Documentation

motor_120_driver_shared_instance_ctrl_t

struct motor_120_driver_shared_instance_ctrl_t

For multiple ADC module

Data Fields
uint32_t	open
uint8_t	registered_motor_count	Registered motor counts.
void const *	p_context[MOTOR_120_DRIVER_CFG_SUPPORT_MOTOR_NUM]

motor_120_driver_modulation_t

struct motor_120_driver_modulation_t

Modulation parameter

Data Fields
float	f4_vdc	Main line voltage (Vdc) (V)
float	f4_max_duty	Maximum duty cycle.
float	f4_min_duty	Minimum duty cycle.
float	f4_neutral_duty	Duty cycle that represents 0 (V)

motor_120_driver_extended_cfg_t

struct motor_120_driver_extended_cfg_t

Extended configurations for motor 120 driver

Data Fields
adc_instance_t const *	p_adc_instance	ADC module instance.
three_phase_instance_t const *	p_three_phase_instance	PWM output module instance (GPT three phase)
motor_120_driver_type_t	motor_120_type	120 degree control type
adc_channel_t	iu_ad_ch	A/D channel for U phase current.
adc_channel_t	iw_ad_ch	A/D channel for W phase current.
adc_channel_t	vdc_ad_ch	A/D channel for main line voltage.
adc_channel_t	vu_ad_ch	A/D channel for U phase voltage.
adc_channel_t	vv_ad_ch	A/D channel for V phase voltage.
adc_channel_t	vw_ad_ch	A/D channel for W phase voltage.
uint8_t	iu_ad_unit	Used A/D unit number for U phase current.
uint8_t	iw_ad_unit	Used A/D unit number for W phase current.
uint8_t	vdc_ad_unit	Used A/D unit number for main line voltage.
uint8_t	vu_ad_unit	Used A/D unit number for U phase voltage.
uint8_t	vv_ad_unit	Used A/D unit number for V phase voltage.
uint8_t	vw_ad_unit	Used A/D unit number for W phase voltage.
bsp_io_port_pin_t	port_up	PWM output port UP.
bsp_io_port_pin_t	port_un	PWM output port UN.
bsp_io_port_pin_t	port_vp	PWM output port VP.
bsp_io_port_pin_t	port_vn	PWM output port VN.
bsp_io_port_pin_t	port_wp	PWM output port WP.
bsp_io_port_pin_t	port_wn	PWM output port WN.
uint32_t	u4_pwm_timer_freq	PWM timer frequency (MHz)
float	u4_pwm_carrier_freq	PWM carrier frequency (kHz) [DEPRECATED].
float	pwm_carrier_freq	PWM carrier frequency (kHz)
uint32_t	u4_deadtime	PWM deadtime (usec)
float	f_current_range	A/D current measure range (max current) (A)
float	f_vdc_range	A/D main line voltage measure range (max voltage) (V)
float	f_ad_resolution	A/D resolution.
float	f_ad_current_offset	A/D offset (Center value)
float	f_ad_voltage_conversion	A/D conversion level.
uint32_t	u4_offset_calc_count	Calculation counts for current offset.
motor_120_driver_modulation_t	mod_param	Modulation parameter.
motor_120_driver_select_adc_instance_t	interrupt_adc	Select which interrupt to use.
motor_120_driver_extended_shared_cfg_t const *	p_shared_cfg	shared extended config

Enumeration Type Documentation

motor_120_driver_select_adc_instance_t

enum motor_120_driver_select_adc_instance_t

Support two ADC instance valid for adc

Enumerator
MOTOR_120_DRIVER_SELECT_ADC_INSTANCE_1ST	Use 1st ADC instance.
MOTOR_120_DRIVER_SELECT_ADC_INSTANCE_2ND	Use 2nd ADC instanse.

motor_120_driver_status_t

enum motor_120_driver_status_t

120 driver active flag

Enumerator
MOTOR_120_DRIVER_STATUS_INACTIVE	120 driver status inactive
MOTOR_120_DRIVER_STATUS_ACTIVE	120 driver status active

motor_120_driver_type_t

enum motor_120_driver_type_t

120 degree control type

Enumerator
MOTOR_120_DRIVER_TYPE_SENSORLESS	120 degree sensorless control
MOTOR_120_DRIVER_TYPE_HALL	120 degree hall control

Function Documentation

RM_MOTOR_120_DRIVER_Open()

fsp_err_t RM_MOTOR_120_DRIVER_Open	(	motor_120_driver_ctrl_t *const	p_ctrl,
		motor_120_driver_cfg_t const *const	p_cfg
	)

Opens and configures the motor 120 driver module. Implements motor_120_driver_api_t::open.

Example:

    /* Initializes the module. */
    err = RM_MOTOR_120_DRIVER_Open(&g_motor_120_driver0.p_ctrl, &g_motor_120_driver0.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_DRIVER_Close()

fsp_err_t RM_MOTOR_120_DRIVER_Close

(

motor_120_driver_ctrl_t *const

p_ctrl

)

Disables specified motor 120 driver module. Implements motor_120_driver_api_t::close.

Example:

    (void) RM_MOTOR_120_DRIVER_Close(&g_motor_120_driver0.p_ctrl);

Return values

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

RM_MOTOR_120_DRIVER_Run()

fsp_err_t RM_MOTOR_120_DRIVER_Run

(

motor_120_driver_ctrl_t *const

p_ctrl

)

Run motor (Start motor rotation). Implements motor_120_driver_api_t::run.

Example:

    /* Start PWM output */
    err = RM_MOTOR_120_DRIVER_Run(&g_motor_120_driver0.p_ctrl);

Return values

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

RM_MOTOR_120_DRIVER_Stop()

fsp_err_t RM_MOTOR_120_DRIVER_Stop

(

motor_120_driver_ctrl_t *const

p_ctrl

)

Stop motor (Stop motor rotation). Implements motor_120_driver_api_t::stop.

Example:

    (void) RM_MOTOR_120_DRIVER_Stop(&g_motor_120_driver0.p_ctrl);

Return values

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

RM_MOTOR_120_DRIVER_Reset()

fsp_err_t RM_MOTOR_120_DRIVER_Reset

(

motor_120_driver_ctrl_t *const

p_ctrl

)

Reset variables of motor 120 driver module. Implements motor_120_driver_api_t::reset.

Example:

    (void) RM_MOTOR_120_DRIVER_Reset(&g_motor_120_driver0.p_ctrl);

Return values

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

RM_MOTOR_120_DRIVER_PhaseVoltageSet()

fsp_err_t RM_MOTOR_120_DRIVER_PhaseVoltageSet	(	motor_120_driver_ctrl_t *const	p_ctrl,
		float const	u_voltage,
		float const	v_voltage,
		float const	w_voltage
	)

Set phase voltage data to calculate PWM duty. Implements motor_120_driver_api_t::phaseVoltageSet.

Example:

        /* Set phase voltage */
        (void) RM_MOTOR_120_DRIVER_PhaseVoltageSet(&g_motor_120_driver0.p_ctrl, 1.0F, 1.0F, 1.0F);

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_120_DRIVER_PhasePatternSet()

fsp_err_t RM_MOTOR_120_DRIVER_PhasePatternSet	(	motor_120_driver_ctrl_t *const	p_ctrl,
		motor_120_driver_phase_pattern_t const	pattern
	)

Set phase voltage pattern. Implements motor_120_driver_api_t::phasePatternSet.

Example:

        /* Set phase pattern */
        (void) RM_MOTOR_120_DRIVER_PhasePatternSet(&g_motor_120_driver0.p_ctrl, MOTOR_120_DRIVER_API_VP_ON_WN_PWM);

Return values

FSP_SUCCESS	Successfully data is set.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

RM_MOTOR_120_DRIVER_CurrentGet()

fsp_err_t RM_MOTOR_120_DRIVER_CurrentGet	(	motor_120_driver_ctrl_t *const	p_ctrl,
		motor_120_driver_current_status_t *const	p_current_status
	)

Get calculated phase current, Vdc & Va_max data. Implements motor_120_driver_api_t::currentGet.

Example:

        /* Get electric current, main line voltage and maximum voltage component */
        (void) RM_MOTOR_120_DRIVER_CurrentGet(&g_motor_120_driver0.p_ctrl, &g_current_status);

Return values

FSP_SUCCESS	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_120_DRIVER_CurrentOffsetCalc()

fsp_err_t RM_MOTOR_120_DRIVER_CurrentOffsetCalc

(

motor_120_driver_ctrl_t *const

p_ctrl

)

current offset detection. Implements motor_120_driver_api_t::currentOffsetCalc

Example:

        /* Caclutarion of current offset */
        (void) RM_MOTOR_120_DRIVER_CurrentOffsetCalc(&g_motor_120_driver0.p_ctrl);

Return values

FSP_SUCCESS	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_120_DRIVER_FlagCurrentOffsetGet()

fsp_err_t RM_MOTOR_120_DRIVER_FlagCurrentOffsetGet	(	motor_120_driver_ctrl_t *const	p_ctrl,
		motor_120_driver_flag_offset_calc_t *const	p_flag_offset
	)

Get the flag of finish current offset detection. Implements motor_120_driver_api_t::flagCurrentOffsetGet.

Example:

        /* Get the flag of A/D convderted current offset */
        (void) RM_MOTOR_120_DRIVER_FlagCurrentOffsetGet(&g_motor_120_driver0.p_ctrl, &u1_get_flg_offset);

Return values

FSP_SUCCESS	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

RM_MOTOR_120_DRIVER_ParameterUpdate()

fsp_err_t RM_MOTOR_120_DRIVER_ParameterUpdate	(	motor_120_driver_ctrl_t *const	p_ctrl,
		motor_120_driver_cfg_t const *const	p_cfg
	)

Update the parameters of 120 driver module. Implements motor_120_driver_api_t::parameterUpdate.

Example:

        (void) RM_MOTOR_120_DRIVER_ParameterUpdate(&g_motor_120_driver0.p_ctrl, &g_motor_120_driver0.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.