Functions
fsp_err_t	RM_MOTOR_DRIVER_Open (motor_driver_ctrl_t const p_ctrl, motor_driver_cfg_t const const p_cfg)
	Opens and configures the Motor Driver module. Implements motor_driver_api_t::open. More...

fsp_err_t	RM_MOTOR_DRIVER_Close (motor_driver_ctrl_t *const p_ctrl)
	Disables specified Motor Driver Module. Implements motor_driver_api_t::close. More...

fsp_err_t	RM_MOTOR_DRIVER_Reset (motor_driver_ctrl_t *const p_ctrl)
	Reset variables of Motor Driver Module. Implements motor_driver_api_t::reset. More...

fsp_err_t	RM_MOTOR_DRIVER_PhaseVoltageSet (motor_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_driver_api_t::phaseVoltageSet. More...

fsp_err_t	RM_MOTOR_DRIVER_CurrentGet (motor_driver_ctrl_t const p_ctrl, motor_driver_current_get_t const p_current_get)
	Get calculated phase Current, Vdc & Va_max data. Implements motor_driver_api_t::currentGet. More...

fsp_err_t	RM_MOTOR_DRIVER_FlagCurrentOffsetGet (motor_driver_ctrl_t const p_ctrl, uint8_t const p_flag_offset)
	Get the flag of finish current offset detection. Implements motor_driver_api_t::flagCurrentOffsetGet. More...

fsp_err_t	RM_MOTOR_DRIVER_CurrentOffsetRestart (motor_driver_ctrl_t *const p_ctrl)
	Restart the current offset detection. Implements motor_driver_api_t::currentOffsetRestart. More...

fsp_err_t	RM_MOTOR_DRIVER_ParameterUpdate (motor_driver_ctrl_t const p_ctrl, motor_driver_cfg_t const const p_cfg)
	Update the parameters of Driver Module. Implements motor_driver_api_t::parameterUpdate. More...

Detailed Description

Calculation process for the motor control on RA MCUs. This module implements the Motor driver Interface.

Overview

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

Features

The Motor Driver Module has below features.

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

Configuration

Build Time Configurations for rm_motor_driver

The following build time configurations are defined in fsp_cfg/rm_motor_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.
Supported Motor Number	Must be greater than 1.	1

Configurations for Motor > ADC and PWM Modulation (rm_motor_driver)

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

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_driver0	Module name.
Shunt type	1 shunt 2 shunt 3 shunt	2 shunt	Select shunt type
Modulation method	SVPWM SPWM	SVPWM	Select PWM modulation method
PWM output port UP	Manual Entry	0	PWM output port UP
PWM output port UN	Manual Entry	0	PWM output port UN
PWM output port VP	Manual Entry	0	PWM output port VP
PWM output port VN	Manual Entry	0	PWM output port VN
PWM output port WP	Manual Entry	0	PWM output port WP
PWM output port WN	Manual Entry	0	PWM output port WN
PWM Timer Frequency (MHz)	Must be a valid non-negative value.	120	GPT PWM timer frequency
PWM Carrier Period (Microseconds)	Must be a valid non-negative value.	50	GPT PWM carrier period
Dead Time (Raw Counts)	Must be a valid non-negative value.	240	GPT PWM dead time
Current Range (A)	Must be a valid value	27.5F	Current range to measure(Maximum input current)
Voltage Range (V)	Must be a valid value	111.0F	Voltage range to measure(Maximum input Main Line Voltage)
Counts for current offset measurement	Must be a valid non-negative value.	500	How many times to measure current offset
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 (channel availability varies by MCU)
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 (channel availability varies by MCU)
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 (channel availability varies by MCU)
A/D conversion channel for V Phase current	Value must be a supported channel number	1	Specify the A/D channel for V phase current (channel availability varies by MCU)
A/D conversion channel for sin signal	Value must be a supported channel number	27	Specify the A/D channel for sin signal of induction sensor (channel availability varies by MCU)
A/D conversion channel for cos signal	Value must be a supported channel number	28	Specify the A/D channel for cos signal of induction sensor (channel availability varies by MCU)
Using ADC Scan Group	Manual Entry	0	For MCUs with ADC_B, select the scan group used.
A/D conversion unit for U Phase current	Manual Entry	0	Select the A/D conversion module for U phase current (only valid with adc module)
A/D conversion unit for W Phase current	Manual Entry	0	Select the A/D conversion module for W phase current (only valid with adc module)
A/D conversion unit for main line voltage	Manual Entry	0	Select the A/D conversion module for main line voltage (only valid with adc module)
A/D conversion unit for V Phase current	Manual Entry	0	Select the A/D conversion module for V phase current (only valid with adc module)
A/D conversion unit for sin signal	Manual Entry	0	Select the A/D conversion module for sin signal of induction sensor (only valid with adc module)
A/D conversion unit for cos signal	Manual Entry	0	Select the A/D conversion module for cos signal of induction sensor (only valid with adc module)
ADC interrupt module	1st 2nd	1st	Select from which module ADC intterupt happens (only valid with adc module)
Adjustment value to current A/D	Must be a valid non-negative value.	20.0	Value to adjust 1shunt A/D double buffer
Minimum difference of PWM duty	Must be a valid non-negative value.	300	Minimum difference of PWM duty
Adjustment delay of A/D conversion	Must be a valid non-negative value.	240	Adjustment delay of A/D conversion
1shunt interrupt phase	PHASE_U PHASE_V PHASE_W	PHASE_U	Select the phase which occures ADC end interrupt. (Only valid with 1shunt)
Input Voltage (V)	Must be a valid value	24.0F	Input 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 value	0.66F	Conversion level of A/D conversion for 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.
Modulation
Maximum Duty	Must be a valid value	0.9375F	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

When shared ADC instance is used, please perform below sequence.

Add (New) shared ADC instance.
Set configurations of below ADC module for your use.
Select "Common | Shared ADC support" to "Enabled".

Limitations

Basically no limitation exists.

Examples

Basic Example

This is a basic example of minimal use of the Motor Driver in an application.

void motor_driver_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_DRIVER_Open(&g_motor_driver0.p_ctrl, &g_motor_driver0.p_cfg);
    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. */
        /* Get electric current, main line voltage and maximum voltage component */
        (void) RM_MOTOR_DRIVER_CurrentGet(&g_motor_driver0.p_ctrl, &f_get_iu, &f_get_iw, &f_get_vdc, &f_get_va_max);
        /* Get the flag of A/D convderted current offset */
        (void) RM_MOTOR_DRIVER_FlagCurrentOffsetGet(&g_motor_driver0.p_ctrl, &u1_get_flg_offset);
        // Perform current control process here
        /* Set phase voltage */
        (void) RM_MOTOR_DRIVER_PhaseVoltageSet(&g_motor_driver0.p_ctrl, 1.0F, 1.0F, 1.0F);
        (void) RM_MOTOR_DRIVER_ParameterUpdate(&g_motor_driver0.p_ctrl, &g_motor_driver0.p_cfg);
    }
    (void) RM_MOTOR_DRIVER_Reset(&g_motor_driver0.p_ctrl);
    //
    (void) RM_MOTOR_DRIVER_Close(&g_motor_driver0.p_ctrl);
}

Data Structures
struct	motor_driver_shared_instance_ctrl_t

struct	motor_driver_extended_shared_cfg_t

Enumerations
enum	motor_driver_select_adc_instance_t

enum	motor_driver_modulation_method_t

Data Structure Documentation

◆ motor_driver_shared_instance_ctrl_t

struct motor_driver_shared_instance_ctrl_t

For multiple motor

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

◆ motor_driver_extended_shared_cfg_t

struct motor_driver_extended_shared_cfg_t

For multiple motor

Data Fields
adc_instance_t const *	p_adc_instance_first	first ADC instance
adc_instance_t const *	p_adc_instance_second	second ADC instance
motor_driver_shared_instance_ctrl_t *const	p_shared_instance_ctrl

Enumeration Type Documentation

◆ motor_driver_select_adc_instance_t

enum motor_driver_select_adc_instance_t

Support two ADC instance valid for adc

Enumerator
MOTOR_DRIVER_SELECT_ADC_INSTANCE_FIRST	Use first ADC instance.
MOTOR_DRIVER_SELECT_ADC_INSTANCE_SECOND	Use second ADC instanse.

◆ motor_driver_modulation_method_t

enum motor_driver_modulation_method_t

Enumerator
MOTOR_DRIVER_MODULATION_METHOD_SPWM	Sinusoidal pulse-width-modulation.
MOTOR_DRIVER_MODULATION_METHOD_SVPWM	Space vector pulse-width-modulation.

Function Documentation

◆ RM_MOTOR_DRIVER_Open()

fsp_err_t RM_MOTOR_DRIVER_Open	(	motor_driver_ctrl_t *const	p_ctrl,
		motor_driver_cfg_t const *const	p_cfg
	)

Opens and configures the Motor Driver module. Implements motor_driver_api_t::open.

Return values

FSP_SUCCESS	Motor 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.

◆ RM_MOTOR_DRIVER_Close()

fsp_err_t RM_MOTOR_DRIVER_Close ( motor_driver_ctrl_t *const p_ctrl )

Disables specified Motor Driver Module. Implements motor_driver_api_t::close.

Return values

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

◆ RM_MOTOR_DRIVER_Reset()

fsp_err_t RM_MOTOR_DRIVER_Reset ( motor_driver_ctrl_t *const p_ctrl )

Reset variables of Motor Driver Module. Implements motor_driver_api_t::reset.

Return values

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

◆ RM_MOTOR_DRIVER_PhaseVoltageSet()

fsp_err_t RM_MOTOR_DRIVER_PhaseVoltageSet	(	motor_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_driver_api_t::phaseVoltageSet.

Return values

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

◆ RM_MOTOR_DRIVER_CurrentGet()

fsp_err_t RM_MOTOR_DRIVER_CurrentGet	(	motor_driver_ctrl_t *const	p_ctrl,
		motor_driver_current_get_t *const	p_current_get
	)

Get calculated phase Current, Vdc & Va_max data. Implements motor_driver_api_t::currentGet.

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_DRIVER_FlagCurrentOffsetGet()

fsp_err_t RM_MOTOR_DRIVER_FlagCurrentOffsetGet	(	motor_driver_ctrl_t *const	p_ctrl,
		uint8_t *const	p_flag_offset
	)

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

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_DRIVER_CurrentOffsetRestart()

fsp_err_t RM_MOTOR_DRIVER_CurrentOffsetRestart ( motor_driver_ctrl_t *const p_ctrl )

Restart the current offset detection. Implements motor_driver_api_t::currentOffsetRestart.

Return values

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

◆ RM_MOTOR_DRIVER_ParameterUpdate()

fsp_err_t RM_MOTOR_DRIVER_ParameterUpdate	(	motor_driver_ctrl_t *const	p_ctrl,
		motor_driver_cfg_t const *const	p_cfg
	)

Update the parameters of Driver Module. Implements motor_driver_api_t::parameterUpdate.

Return values

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

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_driver

Configurations for Motor > ADC and PWM Modulation (rm_motor_driver)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Data Structures

Enumerations

Data Structure Documentation

◆ motor_driver_shared_instance_ctrl_t

◆ motor_driver_extended_shared_cfg_t

Enumeration Type Documentation

◆ motor_driver_select_adc_instance_t

◆ motor_driver_modulation_method_t

Function Documentation

◆ RM_MOTOR_DRIVER_Open()

◆ RM_MOTOR_DRIVER_Close()

◆ RM_MOTOR_DRIVER_Reset()

◆ RM_MOTOR_DRIVER_PhaseVoltageSet()

◆ RM_MOTOR_DRIVER_CurrentGet()

◆ RM_MOTOR_DRIVER_FlagCurrentOffsetGet()

◆ RM_MOTOR_DRIVER_CurrentOffsetRestart()

◆ RM_MOTOR_DRIVER_ParameterUpdate()