Motor Interface

Detailed Description

Interface for Motor Algorithm functions.

Summary

The Motor Algorithm provides Motor functionality.

Data Structures
struct	motor_algorithm_cfg_t
struct	motor_algorithm_api_t
struct	motor_algorithm_instance_t

Typedefs
typedef void	motor_algorithm_ctrl_t

Enumerations
enum	motor_algorithm_event_t
enum	motor_algorithm_control_mode_t

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Data Structure Documentation

motor_algorithm_cfg_t

struct motor_algorithm_cfg_t

Motor algorithm configuration structure

Data Fields
motor_hal_driver_instance_t const *	p_motor_hal_driver_instance	Motor driver access module instance.
motor_sensor_instance_t const *	p_motor_sensor_instance	Motor angle sensor module instance (Slot 1)
motor_sensor_instance_t const *	p_motor_sensor_instance2	Motor angle sensor module instance (Slot 2)
timer_instance_t const *	p_timer_instance	Timer instance for outer loop control.
void const *	p_extend	Pointer to extended configuration.

motor_algorithm_api_t

struct motor_algorithm_api_t

Motor algorithm API structure

Data Fields
fsp_err_t(*	open )(motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_algorithm_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_algorithm_ctrl_t *const p_ctrl)
fsp_err_t(*	run )(motor_algorithm_ctrl_t *const p_ctrl)
fsp_err_t(*	stop )(motor_algorithm_ctrl_t *const p_ctrl)
fsp_err_t(*	controlModeGet )(motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_control_mode_t *p_control_mode)
fsp_err_t(*	controlModeSet )(motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_control_mode_t control_mode)
fsp_err_t(*	statusGet )(motor_algorithm_ctrl_t *const p_ctrl, uint8_t *const p_status)
fsp_err_t(*	parameterUpdate )(motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_cfg_t const *const p_cfg)
fsp_err_t(*	errorGet )(motor_algorithm_ctrl_t *const p_ctrl, uint32_t *p_error_flags)

Field Documentation

open

fsp_err_t(* motor_algorithm_api_t::open) (motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_cfg_t const *const p_cfg)

Initialize the motor algorithm module.

Parameters

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

close

fsp_err_t(* motor_algorithm_api_t::close) (motor_algorithm_ctrl_t *const p_ctrl)

Close (Finish) the motor algorithm module.

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_algorithm_api_t::reset) (motor_algorithm_ctrl_t *const p_ctrl)

Reset(Stop) the motor algorithm module.

Parameters

[in]

p_ctrl

Pointer to control structure.

run

fsp_err_t(* motor_algorithm_api_t::run) (motor_algorithm_ctrl_t *const p_ctrl)

Activate the motor algorithm.

Parameters

[in]

p_ctrl

Pointer to control structure.

stop

fsp_err_t(* motor_algorithm_api_t::stop) (motor_algorithm_ctrl_t *const p_ctrl)

Inactivate the motor algorithm.

Parameters

[in]

p_ctrl

Pointer to instance structure.

controlModeGet

fsp_err_t(* motor_algorithm_api_t::controlModeGet) (motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_control_mode_t *p_control_mode)

Get control mode

Parameters

[in]	p_ctrl	Pointer to instance structure.
[out]	p_control_mode	Pointer to control mode data across multiple modules.

controlModeSet

fsp_err_t(* motor_algorithm_api_t::controlModeSet) (motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_control_mode_t control_mode)

Set control mode

Parameters

[in]	p_ctrl	Pointer to instance structure.
[in]	control_mode	Control mode value across multiple modules.

statusGet

fsp_err_t(* motor_algorithm_api_t::statusGet) (motor_algorithm_ctrl_t *const p_ctrl, uint8_t *const p_status)

Get status

Parameters

[in]

p_ctrl

Pointer to instance structure.

parameterUpdate

fsp_err_t(* motor_algorithm_api_t::parameterUpdate) (motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_cfg_t const *const p_cfg)

Set configuration.

Parameters

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

errorGet

fsp_err_t(* motor_algorithm_api_t::errorGet) (motor_algorithm_ctrl_t *const p_ctrl, uint32_t *p_error_flags)

Get error info.

Parameters

[in]	p_ctrl	Pointer to instance structure.
[out]	p_error_flags	Pointer to error info.

motor_algorithm_instance_t

struct motor_algorithm_instance_t

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

Data Fields
motor_algorithm_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_algorithm_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_algorithm_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_algorithm_ctrl_t

typedef void motor_algorithm_ctrl_t

Control block for motor algorithm

Enumeration Type Documentation

motor_algorithm_event_t

enum motor_algorithm_event_t

Events that can trigger a callback function

Enumerator
MOTOR_ALGORITHM_EVENT_INNER	Event forward current control.
MOTOR_ALGORITHM_EVENT_OUTER	Event set speed control output data.
MOTOR_ALGORITHM_EVENT_TRAJECTORY	Event set speed control trajectory data.
MOTOR_ALGORITHM_EVENT_ERROR	Event error detected.

motor_algorithm_control_mode_t

enum motor_algorithm_control_mode_t

Control mode for pm foc

Enumerator
MOTOR_ALGORITHM_CONTROL_MODE_NONE	Not configured control mode.
MOTOR_ALGORITHM_CONTROL_MODE_SPEED	Speed control mode.