Motor Inertia Estimate Interface

Detailed Description

Interface for Motor inertia estimate functions.

Summary

The Motor interface provides Motor inertia estimate functionality.

Data Structures
struct	motor_inertia_estimate_info_t
struct	motor_inertia_estimate_cfg_t
struct	motor_inertia_estimate_api_t
struct	motor_inertia_estimate_instance_t

Typedefs
typedef void	motor_inertia_estimate_ctrl_t

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Data Structure Documentation

motor_inertia_estimate_info_t

struct motor_inertia_estimate_info_t

Interface data structure

Data Fields
int16_t	s2_position_reference_degree	Position reference [degree].
motor_inertia_estimate_mode_t	mode	Internal mode of inertia estimation.
float	f_estimated_inertia	Estimated inertia data.

motor_inertia_estimate_cfg_t

struct motor_inertia_estimate_cfg_t

Configuration parameters.

Data Fields
void const *	p_context
void const *	p_extend	Placeholder for user extension.

motor_inertia_estimate_api_t

struct motor_inertia_estimate_api_t

Functions implemented at the HAL layer will follow this API.

Data Fields
fsp_err_t(*	open )(motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_inertia_estimate_ctrl_t *const p_ctrl)
fsp_err_t(*	start )(motor_inertia_estimate_ctrl_t *const p_ctrl)
fsp_err_t(*	stop )(motor_inertia_estimate_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_inertia_estimate_ctrl_t *const p_ctrl)
fsp_err_t(*	infoGet )(motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_info_t *const p_info)
fsp_err_t(*	dataSet )(motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_set_data_t *const p_set_data)
fsp_err_t(*	speedCyclic )(motor_inertia_estimate_ctrl_t *const p_ctrl)
fsp_err_t(*	currentCyclic )(motor_inertia_estimate_ctrl_t *const p_ctrl)
fsp_err_t(*	parameterUpdate )(motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_cfg_t const *p_cfg)

Field Documentation

open

fsp_err_t(* motor_inertia_estimate_api_t::open) (motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_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_inertia_estimate_api_t::close) (motor_inertia_estimate_ctrl_t *const p_ctrl)

Close driver.

Parameters

[in]

p_ctrl

Pointer to control structure.

start

fsp_err_t(* motor_inertia_estimate_api_t::start) (motor_inertia_estimate_ctrl_t *const p_ctrl)

Start the function.

Parameters

[in]

p_ctrl

Pointer to control structure.

stop

fsp_err_t(* motor_inertia_estimate_api_t::stop) (motor_inertia_estimate_ctrl_t *const p_ctrl)

Stop( same as cancel ) the function.

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_inertia_estimate_api_t::reset) (motor_inertia_estimate_ctrl_t *const p_ctrl)

Reset the function. (recover from error state)

Parameters

[in]

p_ctrl

Pointer to control structure.

infoGet

fsp_err_t(* motor_inertia_estimate_api_t::infoGet) (motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_info_t *const p_info)

Get information from the function (to set speed & position control)

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_info	Pointer to information

dataSet

fsp_err_t(* motor_inertia_estimate_api_t::dataSet) (motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_set_data_t *const p_set_data)

Set the data to the function (from speed, position and current control)

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_set_data	Pointer to set the data

speedCyclic

fsp_err_t(* motor_inertia_estimate_api_t::speedCyclic) (motor_inertia_estimate_ctrl_t *const p_ctrl)

Speed cyclic process of the function

Parameters

[in]

p_ctrl

Pointer to control structure.

currentCyclic

fsp_err_t(* motor_inertia_estimate_api_t::currentCyclic) (motor_inertia_estimate_ctrl_t *const p_ctrl)

Current cyclic process of the function

Parameters

[in]

p_ctrl

Pointer to control structure.

parameterUpdate

fsp_err_t(* motor_inertia_estimate_api_t::parameterUpdate) (motor_inertia_estimate_ctrl_t *const p_ctrl, motor_inertia_estimate_cfg_t const *p_cfg)

Update parameters for the function.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_cfg	Pointer to configuration structure include update parameters.

motor_inertia_estimate_instance_t

struct motor_inertia_estimate_instance_t

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

Data Fields
motor_inertia_estimate_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_inertia_estimate_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_inertia_estimate_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_inertia_estimate_ctrl_t

typedef void motor_inertia_estimate_ctrl_t

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