Motor Interface

Detailed Description

Interface for Motor functions.

Summary

The Motor interface provides Motor functionality.

Data Structures
struct	motor_callback_args_t
struct	motor_cfg_t
struct	motor_api_t
struct	motor_instance_t

Typedefs
typedef void	motor_ctrl_t

Enumerations
enum	motor_error_t
enum	motor_callback_event_t
enum	motor_wait_stop_flag_t
enum	motor_function_select_t

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Data Structure Documentation

motor_callback_args_t

struct motor_callback_args_t

callback function parameter data

Data Fields
void *	p_context	Placeholder for user data.
motor_callback_event_t	event

motor_cfg_t

struct motor_cfg_t

Configuration parameters.

Data Fields
motor_speed_instance_t const *	p_motor_speed_instance
	Speed Instance.
motor_current_instance_t const *	p_motor_current_instance
	Current Instance.
void(*	p_callback )(motor_callback_args_t *p_args)
void const *	p_extend
	Placeholder for user extension.

Field Documentation

p_callback

void(* motor_cfg_t::p_callback) (motor_callback_args_t *p_args)

Placeholder for user data. Passed to the user callback in motor_callback_args_t.

motor_api_t

struct motor_api_t

Functions implemented at the HAL layer will follow this API.

Data Fields
fsp_err_t(*	open )(motor_ctrl_t *const p_ctrl, motor_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_ctrl_t *const p_ctrl)
fsp_err_t(*	run )(motor_ctrl_t *const p_ctrl)
fsp_err_t(*	stop )(motor_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_ctrl_t *const p_ctrl)
fsp_err_t(*	errorSet )(motor_ctrl_t *const p_ctrl, motor_error_t const error)
fsp_err_t(*	speedSet )(motor_ctrl_t *const p_ctrl, float const speed_rpm)
fsp_err_t(*	positionSet )(motor_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position)
fsp_err_t(*	statusGet )(motor_ctrl_t *const p_ctrl, uint8_t *const p_status)
fsp_err_t(*	angleGet )(motor_ctrl_t *const p_ctrl, float *const p_angle_rad)
fsp_err_t(*	speedGet )(motor_ctrl_t *const p_ctrl, float *const p_speed_rpm)
fsp_err_t(*	waitStopFlagGet )(motor_ctrl_t *const p_ctrl, motor_wait_stop_flag_t *const p_flag)
fsp_err_t(*	errorCheck )(motor_ctrl_t *const p_ctrl, uint16_t *const p_error)
fsp_err_t(*	functionSelect )(motor_ctrl_t *const p_ctrl, motor_function_select_t const function)

Field Documentation

open

fsp_err_t(* motor_api_t::open) (motor_ctrl_t *const p_ctrl, motor_cfg_t const *const p_cfg)

Open driver.

Parameters

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

close

fsp_err_t(* motor_api_t::close) (motor_ctrl_t *const p_ctrl)

Close driver.

Parameters

[in]

p_ctrl

Pointer to control structure.

run

fsp_err_t(* motor_api_t::run) (motor_ctrl_t *const p_ctrl)

Run the motor. (Start the motor rotation.)

Parameters

[in]

p_ctrl

Pointer to control structure.

stop

fsp_err_t(* motor_api_t::stop) (motor_ctrl_t *const p_ctrl)

Stop the motor. (Stop the motor rotation.)

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_api_t::reset) (motor_ctrl_t *const p_ctrl)

Reset the motor control. (Recover from the error status.)

Parameters

[in]

p_ctrl

Pointer to control structure.

errorSet

fsp_err_t(* motor_api_t::errorSet) (motor_ctrl_t *const p_ctrl, motor_error_t const error)

Set Error Information.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	error	Happened error code

speedSet

fsp_err_t(* motor_api_t::speedSet) (motor_ctrl_t *const p_ctrl, float const speed_rpm)

Set rotation speed.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	speed_rpm	Required rotation speed [rpm]

positionSet

fsp_err_t(* motor_api_t::positionSet) (motor_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position)

Set reference position.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_position	Pointer to set required data

statusGet

fsp_err_t(* motor_api_t::statusGet) (motor_ctrl_t *const p_ctrl, uint8_t *const p_status)

Get the motor control status.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_status	Pointer to get the motor control status

angleGet

fsp_err_t(* motor_api_t::angleGet) (motor_ctrl_t *const p_ctrl, float *const p_angle_rad)

Get the rotor angle.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_angle_rad	Pointer to get the rotor angle [rad]

speedGet

fsp_err_t(* motor_api_t::speedGet) (motor_ctrl_t *const p_ctrl, float *const p_speed_rpm)

Get the rotation speed.

Parameters

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

waitStopFlagGet

fsp_err_t(* motor_api_t::waitStopFlagGet) (motor_ctrl_t *const p_ctrl, motor_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

errorCheck

fsp_err_t(* motor_api_t::errorCheck) (motor_ctrl_t *const p_ctrl, uint16_t *const p_error)

Check the error occurrence

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_error	Pointer to get occurred error

functionSelect

fsp_err_t(* motor_api_t::functionSelect) (motor_ctrl_t *const p_ctrl, motor_function_select_t const function)

FunctionSelect.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	function	Selected function

motor_instance_t

struct motor_instance_t

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

Data Fields
motor_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_ctrl_t

typedef void motor_ctrl_t

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

Enumeration Type Documentation

motor_error_t

enum motor_error_t

Error information

motor_callback_event_t

enum motor_callback_event_t

Events that can trigger a callback function

Enumerator
MOTOR_CALLBACK_EVENT_SPEED_FORWARD	Event forward speed control.
MOTOR_CALLBACK_EVENT_SPEED_BACKWARD	Event backward speed control.
MOTOR_CALLBACK_EVENT_CURRENT_FORWARD	Event forward current control.
MOTOR_CALLBACK_EVENT_CURRENT_BACKWARD	Event backward current control.
MOTOR_CALLBACK_EVENT_ADC_FORWARD	Event before motor 120 driver process.
MOTOR_CALLBACK_EVENT_ADC_BACKWARD	Event after motor 120 driver process.
MOTOR_CALLBACK_EVENT_CYCLE_FORWARD	Before cyclic process of speed control.
MOTOR_CALLBACK_EVENT_CYCLE_BACKWARD	After cyclic process of speed control.

motor_wait_stop_flag_t

enum motor_wait_stop_flag_t

Flag for waiting for motor stop

Enumerator
MOTOR_WAIT_STOP_FLAG_CLEAR	Wait stop flag clear.
MOTOR_WAIT_STOP_FLAG_SET	Wait stop flag set.

motor_function_select_t

enum motor_function_select_t

Function select

Enumerator
MOTOR_FUNCTION_SELECT_NONE	No function selected.
MOTOR_FUNCTION_SELECT_INERTIA_ESTIMATE	Inertia estimation.
MOTOR_FUNCTION_SELECT_RETURN_ORIGIN	Return origin position.