Functions
fsp_err_t	RM_MOTOR_HALL_Open (motor_ctrl_t const p_ctrl, motor_cfg_t const const p_cfg)

fsp_err_t	RM_MOTOR_HALL_Close (motor_ctrl_t *const p_ctrl)
	Disables specified Motor Hall Control block. Implements motor_api_t::close. More...

fsp_err_t	RM_MOTOR_HALL_Reset (motor_ctrl_t *const p_ctrl)
	Reset Motor Hall Control block. Implements motor_api_t::reset. More...

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

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

fsp_err_t	RM_MOTOR_HALL_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_HALL_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_HALL_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_HALL_AngleGet (motor_ctrl_t const p_ctrl, float const p_angle_rad)
	Get current rotor angle. Implements motor_api_t::angleGet. More...

fsp_err_t	RM_MOTOR_HALL_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_HALL_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_HALL_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_HALL_WaitStopFlagGet (motor_ctrl_t const p_ctrl, motor_wait_stop_flag_t const p_flag)
	Get wait stop flag. Implements motor_api_t::waitStopFlagGet. More...

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

Detailed Description

Usual control of a SPM motor on RA MCUs. This module implements the Motor Vector Control with hall sensors (rm_motor_hall).

Overview

The motor vector control with hall sensors is used to control a motor rotation in an appication. This module is meant to be used with Surface Permanent Magnet (SPM) motors and allows applications to start or stop motor rotation easily.

Features

The motor vector control with hall sensors has below features.

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

Target Hardware

The below figure shows an example of target hardware of this Motor Hall Module.

Example of target hardware of motor hall module

Block Diagram

The below figure shows block diaram of vector motor control with hall sensors.

Block diagram of vector control with hall sensors

Modulation

Sine wave modulation The modulation factor "m" is defined as follows.

Modulation factor

Space vector modulation In vector control of a permanent magnet synchronous motor, generally, the desired voltage command value of each phase is generated sinusoidally. However, if the generated value is used as-is for the modulation wave for PWM generation, voltage utilization as applied to the motor (in terms of line voltage) is limited to a maximum of 86.7 percents with respect to inverter bus voltage. As such, as shown in the following expression, the average of the maximum and minimum values is calculated for the voltage command value of each phase, and the value obtained by subtracting the average from the voltage command value of each phase is used as the modulation wave. As a result, the maximum amplitude of the modulation wave is multiplied by (square root 3)/2, while voltage utilization becomes 100 percents and line voltage is unchanged.

Space vector modulation

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 hall module.

Main process

Current control process

Speed control process

Over current detection interrupt process

Configuration

Build Time Configurations for rm_motor_hall

The following build time configurations are defined in fsp_cfg/rm_motor_hall_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 Vector Control with hall sensors(rm_motor_hall)

This module can be added to the Stacks tab via New Stack > Motor > Motor Vector Control with hall sensors(rm_motor_hall).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_hall0	Module name.
Limit of over current (A)	Must be a valid value	0.42F	Limit of over current.(Detection threshold)
Limit of over voltage (V)	Must be a valid value	28.0F	Limit of over voltage.(Detection threshold)
Limit of over speed (rpm)	Must be a valid value	3000.0F	Limit of over speed.(Detection threshold)
Limit of low voltage (V)	Must be a valid value	14.0F	Limit of low voltage.(Detection threshold)
Interrupts
Callback	Name must be a valid C symbol	NULL	A user callback function. If this callback function is provided, it is called at speed control cyclic interrupt.

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 vector control with hall sensors in an application.

void motor_hall_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_HALL_Open(g_motor_hall0_smpl.p_ctrl, g_motor_hall0_smpl.p_cfg);
    assert(FSP_SUCCESS == err);
    /* Set speed reference before motor run */
    (void) RM_MOTOR_HALL_SpeedSet(g_motor_hall0_smpl.p_ctrl, DEF_HALL_TEST_OVSPD_LIM);
    /* Start motor rotation */
    (void) RM_MOTOR_HALL_Run(g_motor_hall0_smpl.p_ctrl);
    /* Get current status */
    (void) RM_MOTOR_HALL_StatusGet(g_motor_hall0_smpl.p_ctrl, &smpl_status);
    /* Get current rotor angle */
    (void) RM_MOTOR_HALL_AngleGet(g_motor_hall0_smpl.p_ctrl, &smpl_angle);
    /* Get current motor speed */
    (void) RM_MOTOR_HALL_SpeedGet(g_motor_hall0_smpl.p_ctrl, &smpl_speed);
    /* Check error */
    (void) RM_MOTOR_HALL_ErrorCheck(g_motor_hall0_smpl.p_ctrl, &smpl_error);
    /* Stop motor rotation */
    (void) RM_MOTOR_HALL_Stop(g_motor_hall0_smpl.p_ctrl);
    /* When error is detected with extra Hardware */
    (void) RM_MOTOR_HALL_ErrorSet(g_motor_hall0_smpl.p_ctrl, MOTOR_ERROR_OVER_CURRENT_HW);
    /* Reset motor control (Clear error status) */
    (void) RM_MOTOR_HALL_Reset(g_motor_hall0_smpl.p_ctrl);
    /* Close motor control */
    (void) RM_MOTOR_HALL_Close(g_motor_hall0_smpl.p_ctrl);
}

Function Documentation

◆ RM_MOTOR_HALL_Open()

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

Configure the MOTOR HALL in register start mode. Implements motor_api_t::open.

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

Example:

    /* Initializes the module. */
    err = RM_MOTOR_HALL_Open(g_motor_hall0_smpl.p_ctrl, g_motor_hall0_smpl.p_cfg);

Return values

FSP_SUCCESS	MOTOR HALL 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	Configuration parameter error.

Note

◆ RM_MOTOR_HALL_Close()

fsp_err_t RM_MOTOR_HALL_Close ( motor_ctrl_t *const p_ctrl )

Disables specified Motor Hall Control block. Implements motor_api_t::close.

Example:

    /* Close motor control */
    (void) RM_MOTOR_HALL_Close(g_motor_hall0_smpl.p_ctrl);

Return values

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

Note

◆ RM_MOTOR_HALL_Reset()

fsp_err_t RM_MOTOR_HALL_Reset ( motor_ctrl_t *const p_ctrl )

Reset Motor Hall Control block. Implements motor_api_t::reset.

Example:

    /* Reset motor control (Clear error status) */
    (void) RM_MOTOR_HALL_Reset(g_motor_hall0_smpl.p_ctrl);

Return values

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

Note

◆ RM_MOTOR_HALL_Run()

fsp_err_t RM_MOTOR_HALL_Run ( motor_ctrl_t *const p_ctrl )

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

Example:

    /* Start motor rotation */
    (void) RM_MOTOR_HALL_Run(g_motor_hall0_smpl.p_ctrl);

Return values

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

Note

◆ RM_MOTOR_HALL_Stop()

fsp_err_t RM_MOTOR_HALL_Stop ( motor_ctrl_t *const p_ctrl )

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

Example:

    /* Stop motor rotation */
    (void) RM_MOTOR_HALL_Stop(g_motor_hall0_smpl.p_ctrl);

Return values

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

Note

◆ RM_MOTOR_HALL_ErrorSet()

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

Set error information. Implements motor_api_t::errorSet.

Example:

    /* When error is detected with extra Hardware */
    (void) RM_MOTOR_HALL_ErrorSet(g_motor_hall0_smpl.p_ctrl, MOTOR_ERROR_OVER_CURRENT_HW);

Return values

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

Note

◆ RM_MOTOR_HALL_SpeedSet()

fsp_err_t RM_MOTOR_HALL_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_HALL_SpeedSet(g_motor_hall0_smpl.p_ctrl, DEF_HALL_TEST_OVSPD_LIM);

Return values

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

Note

◆ RM_MOTOR_HALL_StatusGet()

fsp_err_t RM_MOTOR_HALL_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_HALL_StatusGet(g_motor_hall0_smpl.p_ctrl, &smpl_status);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

◆ RM_MOTOR_HALL_AngleGet()

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

Get current rotor angle. Implements motor_api_t::angleGet.

Example:

    /* Get current rotor angle */
    (void) RM_MOTOR_HALL_AngleGet(g_motor_hall0_smpl.p_ctrl, &smpl_angle);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

◆ RM_MOTOR_HALL_SpeedGet()

fsp_err_t RM_MOTOR_HALL_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_HALL_SpeedGet(g_motor_hall0_smpl.p_ctrl, &smpl_speed);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

◆ RM_MOTOR_HALL_ErrorCheck()

fsp_err_t RM_MOTOR_HALL_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_HALL_ErrorCheck(g_motor_hall0_smpl.p_ctrl, &smpl_error);

Return values

FSP_SUCCESS	Successfully resetted.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Data received pointer is invalid..

Note

◆ RM_MOTOR_HALL_PositionSet()

fsp_err_t RM_MOTOR_HALL_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_HALL_WaitStopFlagGet()

fsp_err_t RM_MOTOR_HALL_WaitStopFlagGet	(	motor_ctrl_t *const	p_ctrl,
		motor_wait_stop_flag_t *const	p_flag
	)

Get wait stop flag. Implements motor_api_t::waitStopFlagGet.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Note

◆ RM_MOTOR_HALL_FunctionSelect()

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

Select function. Implements motor_api_t::functionSelect.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Note

Functions

Detailed Description

Overview

Features

Target Hardware

Block Diagram

Modulation

State transition

Flowchart

Configuration

Build Time Configurations for rm_motor_hall

Configurations for Motor > Motor Vector Control with hall sensors(rm_motor_hall)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Function Documentation

◆ RM_MOTOR_HALL_Open()

◆ RM_MOTOR_HALL_Close()

◆ RM_MOTOR_HALL_Reset()

◆ RM_MOTOR_HALL_Run()

◆ RM_MOTOR_HALL_Stop()

◆ RM_MOTOR_HALL_ErrorSet()

◆ RM_MOTOR_HALL_SpeedSet()

◆ RM_MOTOR_HALL_StatusGet()

◆ RM_MOTOR_HALL_AngleGet()

◆ RM_MOTOR_HALL_SpeedGet()

◆ RM_MOTOR_HALL_ErrorCheck()

◆ RM_MOTOR_HALL_PositionSet()

◆ RM_MOTOR_HALL_WaitStopFlagGet()

◆ RM_MOTOR_HALL_FunctionSelect()