Motor position Interface

Detailed Description

Interface for motor position functions.

Summary

The Motor position interface for getting the speed references from Encoder Sensor

Data Structures
struct	motor_position_info_t
struct	motor_position_cfg_t
struct	motor_position_api_t
struct	motor_position_instance_t

Typedefs
typedef void	motor_position_ctrl_t

Enumerations
enum	motor_position_ctrl_mode_t

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Data Structure Documentation

motor_position_info_t

struct motor_position_info_t

Position information

Data Fields
uint8_t	u1_state_position_profile	Position control profile state.
int16_t	s2_position_degree	Position data [degree].

motor_position_cfg_t

struct motor_position_cfg_t

Configuration parameters.

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

motor_position_api_t

struct motor_position_api_t

Functions implemented at the HAL layer will follow these APIs.

Data Fields
fsp_err_t(*	open )(motor_position_ctrl_t *const p_ctrl, motor_position_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_position_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_position_ctrl_t *const p_ctrl)
fsp_err_t(*	positionGet )(motor_position_ctrl_t *const p_ctrl, int16_t *const p_position)
fsp_err_t(*	positionSet )(motor_position_ctrl_t *const p_ctrl, float const position_rad)
fsp_err_t(*	positionReferenceSet )(motor_position_ctrl_t *const p_ctrl, int16_t const position_reference_deg)
fsp_err_t(*	controlModeSet )(motor_position_ctrl_t *const p_ctrl, motor_position_ctrl_mode_t const mode)
fsp_err_t(*	positionControl )(motor_position_ctrl_t *const p_ctrl)
fsp_err_t(*	ipdSpeedPControl )(motor_position_ctrl_t *const p_ctrl, float const ref_speed_rad, float const speed_rad, float *const p_iq_ref)
fsp_err_t(*	speedReferencePControlGet )(motor_position_ctrl_t *const p_ctrl, float *const p_speed_ref)
fsp_err_t(*	speedReferenceIpdControlGet )(motor_position_ctrl_t *const p_ctrl, float const max_speed_rad, float *const p_speed_ref)
fsp_err_t(*	speedReferenceFeedforwardGet )(motor_position_ctrl_t *const p_ctrl, float *const p_speed_ref)
fsp_err_t(*	infoGet )(motor_position_ctrl_t *const p_ctrl, motor_position_info_t *const p_info)
fsp_err_t(*	parameterUpdate )(motor_position_ctrl_t *const p_ctrl, motor_position_cfg_t const *const p_cfg)

Field Documentation

open

fsp_err_t(* motor_position_api_t::open) (motor_position_ctrl_t *const p_ctrl, motor_position_cfg_t const *const p_cfg)

Initialize the Motor Position Module.

Parameters

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

close

fsp_err_t(* motor_position_api_t::close) (motor_position_ctrl_t *const p_ctrl)

Close (Finish) the Motor Position Module.

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_position_api_t::reset) (motor_position_ctrl_t *const p_ctrl)

Reset(Stop) the Motor Position Module.

Parameters

[in]

p_ctrl

Pointer to control structure.

positionGet

fsp_err_t(* motor_position_api_t::positionGet) (motor_position_ctrl_t *const p_ctrl, int16_t *const p_position)

Get Position data.

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_position	Pointer to get position data

positionSet

fsp_err_t(* motor_position_api_t::positionSet) (motor_position_ctrl_t *const p_ctrl, float const position_rad)

Set Position data from Encoder.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	position_rad	Position data [radian]

positionReferenceSet

fsp_err_t(* motor_position_api_t::positionReferenceSet) (motor_position_ctrl_t *const p_ctrl, int16_t const position_reference_deg)

Set (Input) Position reference into the Motor Position Module.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	position_refernce_deg	Position reference [degree]

controlModeSet

fsp_err_t(* motor_position_api_t::controlModeSet) (motor_position_ctrl_t *const p_ctrl, motor_position_ctrl_mode_t const mode)

Set (Input) Position Control Mode.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	mode	Position Control Mode

positionControl

fsp_err_t(* motor_position_api_t::positionControl) (motor_position_ctrl_t *const p_ctrl)

Calculate internal position reference

Parameters

[in]

p_ctrl

Pointer to control structure.

ipdSpeedPControl

fsp_err_t(* motor_position_api_t::ipdSpeedPControl) (motor_position_ctrl_t *const p_ctrl, float const ref_speed_rad, float const speed_rad, float *const p_iq_ref)

Calculate iq reference

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	ref_speed_rad	Speed Reference [rad/sec]
[in]	speed_rad	Current Speed [rad/sec]
[out]	p_iq_ref	Pointer to get iq reference

speedReferencePControlGet

fsp_err_t(* motor_position_api_t::speedReferencePControlGet) (motor_position_ctrl_t *const p_ctrl, float *const p_speed_ref)

Get Speed Reference by P Control

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_speed_ref	Pointer to get speed reference

speedReferenceIpdControlGet

fsp_err_t(* motor_position_api_t::speedReferenceIpdControlGet) (motor_position_ctrl_t *const p_ctrl, float const max_speed_rad, float *const p_speed_ref)

Get Speed Reference by IPD Control

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_speed_ref	Pointer to get speed reference

speedReferenceFeedforwardGet

fsp_err_t(* motor_position_api_t::speedReferenceFeedforwardGet) (motor_position_ctrl_t *const p_ctrl, float *const p_speed_ref)

Get Speed Reference by Speed Feedforward

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_speed_ref	Pointer to get speed reference

infoGet

fsp_err_t(* motor_position_api_t::infoGet) (motor_position_ctrl_t *const p_ctrl, motor_position_info_t *const p_info)

Get Position information.

Parameters

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

parameterUpdate

fsp_err_t(* motor_position_api_t::parameterUpdate) (motor_position_ctrl_t *const p_ctrl, motor_position_cfg_t const *const p_cfg)

Update Parameters for the calculation in the Motor Position Module.

Parameters

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

motor_position_instance_t

struct motor_position_instance_t

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

Data Fields
motor_position_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_position_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_position_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_position_ctrl_t

typedef void motor_position_ctrl_t

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

Enumeration Type Documentation

motor_position_ctrl_mode_t

enum motor_position_ctrl_mode_t

Position Control Mode