Functions
fsp_err_t	RM_MOTOR_RETURN_ORIGIN_Open (motor_return_origin_ctrl_t const p_ctrl, motor_return_origin_cfg_t const const p_cfg)
	Opens and configures the motor return origin module. Implements motor_return_origin_api_t::open. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_Close (motor_return_origin_ctrl_t *const p_ctrl)
	Disables specified motor return origin module. Implements motor_return_origin_api_t::close. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_Start (motor_return_origin_ctrl_t *const p_ctrl)
	Start return origin function. Implements motor_return_origin_api_t::start. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_Stop (motor_return_origin_ctrl_t *const p_ctrl)
	Stop (Cancel) return origin function. Implements motor_return_origin_api_t::stop. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_Reset (motor_return_origin_ctrl_t *const p_ctrl)
	Reset variables of return origin module. Implements motor_return_origin_api_t::reset. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_InfoGet (motor_return_origin_ctrl_t const p_ctrl, motor_return_origin_info_t const p_info)
	Get information of return origin. Implements motor_return_origin_api_t::infoGet. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_DataSet (motor_return_origin_ctrl_t const p_ctrl, motor_return_origin_set_data_t const p_set_data)
	Set necessary data to return origin function. Implements motor_return_origin_api_t::dataSet. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_SpeedCyclic (motor_return_origin_ctrl_t *const p_ctrl)
	Cyclic process of return origin function at speed control period. (Called at timer interrupt.) Implements motor_return_origin_api_t::speedCyclic. More...

fsp_err_t	RM_MOTOR_RETURN_ORIGIN_ParameterUpdate (motor_return_origin_ctrl_t const p_ctrl, motor_return_origin_cfg_t const const p_cfg)
	Update the parameters of return origin function. Implements motor_return_origin_api_t::parameterUpdate. More...

Detailed Description

Search origin position proccess for the motor control on RA MCUs. This module implements the Motor Return Origin Function Interface.

Overview

The motor return origin module is used to search origin position in an application. This module should be used with Renesas Motor Workbench (RMW) basically.

Features

The Motor return origin module has below features.

Search origin position automatically.

Configuration

Build Time Configurations for rm_motor_return_origin

The following build time configurations are defined in fsp_cfg/rm_motor_return_origin_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 return origin function (rm_motor_return_origin)

This module can be added to the Stacks tab via New Stack > Motor > Motor return origin function (rm_motor_return_origin).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_return_origin0	Module name.
Using mode	Search by pushing	Search by pushing	Select using mode
Search speed (rpm)	Must be a valid non-negative value.	10.0	Speed to search origin position (rpm)
Acceleration of speed (rpm/sec)	Must be set 1 to 10000.	10000.0	Acceleration of rotation speed at return moving (rpm/sec)
Cyclic period of speed control (sec)	Must be a valid non-negative value.	0.0005	Cyclic period of speed control (sec)
Maximum current (A)	Must be a valid non-negative value.	1.8	Maximum current (A). Please set to match used motor.
Percentage of current to judge pushing (%)	Must be a valid non-negative value.	30.0	Perentage of current to judge pushing (%)
Pushing time (sec)	Must be a valid non-negative value.	1.0	Time to push the stopper (sec)
Degree to judge none stopper	Must be set -360 to 360.	360.0	When the motor runs over this value, it is judged impossible to search the stopper.
Degree to return	Must be a valid non-negative value.	3.0	Degree to return from the stopper (degree)
Mechanical gear ratio	Must be a valid non-negative value.	1.0	Mechanical gear ratio

Clock Configuration

This module doesn't depend on clock setting.

Pin Configuration

This module does not use I/O pins.

Usage Notes

Limitations

Examples

Basic Example

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

void motor_return_origin_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_RETURN_ORIGIN_Open(&g_mtr_return_origin0_ctrl, &g_mtr_return_origin0_cfg);
    assert(FSP_SUCCESS == err);
    /* Start process. */
    err = RM_MOTOR_RETURN_ORIGIN_Start(&g_mtr_return_origin0_ctrl);
    temp_set_data.f_iq              = 1.0F;
    temp_set_data.f_position_degree = 180.0F;
    /* Set data to the module. */
    err = RM_MOTOR_RETURN_ORIGIN_DataSet(&g_mtr_return_origin0_ctrl, &temp_set_data);
    /* Get information from the module. */
    err = RM_MOTOR_RETURN_ORIGIN_InfoGet(&g_mtr_return_origin0_ctrl, &temp_info);
    /* Stop process. */
    err = RM_MOTOR_RETURN_ORIGIN_Stop(&g_mtr_return_origin0_ctrl);
    /* Close the module. */
    err = RM_MOTOR_RETURN_ORIGIN_Close(&g_mtr_return_origin0_ctrl);
}

Data Structures
struct	motor_return_origin_extended_cfg_t

struct	motor_return_origin_pushing_t

struct	motor_return_origin_instance_ctrl_t

Data Structure Documentation

◆ motor_return_origin_extended_cfg_t

struct motor_return_origin_extended_cfg_t

Extended configurations for return origin function

Data Fields
float	f_search_speed_rpm	Speed to search origin position [rpm].
float	f_return_accel_rpm	Acceleration speed when return [rpm/s].
float	f_speed_ctrl_period	Period of speed control [sec].
float	f_maximum_current	Maximum current [A].
float	f_current_limit_percent_push	Percentage of current at pushing.
float	f_pushing_time	Keep pushing time [sec].
float	f_over_degree	Angle to judge search impossible [degree].
float	f_return_degree	Return angle from pushing position [degree].
float	f_mechanical_gear_ratio	Mechanical gear ratio.

◆ motor_return_origin_pushing_t

struct motor_return_origin_pushing_t

Variables for rerutn origin with pushing

Data Fields
uint32_t	u4_time_counter	Counter of speed cyclic (to judge the time)
float	f_sum_position	Summary of position data.
uint32_t	u4_sum_counter	Counter of summary.
float	f_move_amount	Movement amount [degree].
float	f_judge_iq	q-axis current to judge pushing
float	f_pushing_counts	Counts to measure pushing time.

◆ motor_return_origin_instance_ctrl_t

struct motor_return_origin_instance_ctrl_t

Return origin function instance control block

Data Fields
uint32_t	open	Used to determine if the module is configured.
motor_return_origin_start_flag_t	start_flag	start/stop flag
motor_return_origin_state_t	state	State number of return origin process.
int8_t	s1_direction	Moving direction.
float	f_angle_degree_on_edge	Rotor angle on the edge [degree].
float	f_current_speed	Current speed.
float	f_origin_position_angle_degree	Searched origin position [degree].
float	f_search_speed	Speed to search origin position [rad / sampling time].
float	f_accel_speed	Speed accelaration.
float	f_position_reference_degree	Position reference [degree].
motor_return_origin_pushing_t	st_pushing	Variables for pushing.
motor_return_origin_set_data_t	receive_data	Received data from speed(position) & current.
motor_return_origin_cfg_t const *	p_cfg	Pointer of configuration structure.

Function Documentation

◆ RM_MOTOR_RETURN_ORIGIN_Open()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_Open	(	motor_return_origin_ctrl_t *const	p_ctrl,
		motor_return_origin_cfg_t const *const	p_cfg
	)

Opens and configures the motor return origin module. Implements motor_return_origin_api_t::open.

Example:

    /* Initializes the module. */
    err = RM_MOTOR_RETURN_ORIGIN_Open(&g_mtr_return_origin0_ctrl, &g_mtr_return_origin0_cfg);

Return values

FSP_SUCCESS	Motor return origin module 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	Input parameter error.

◆ RM_MOTOR_RETURN_ORIGIN_Close()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_Close ( motor_return_origin_ctrl_t *const p_ctrl )

Disables specified motor return origin module. Implements motor_return_origin_api_t::close.

Example:

    /* Close the module. */
    err = RM_MOTOR_RETURN_ORIGIN_Close(&g_mtr_return_origin0_ctrl);

Return values

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

◆ RM_MOTOR_RETURN_ORIGIN_Start()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_Start ( motor_return_origin_ctrl_t *const p_ctrl )

Start return origin function. Implements motor_return_origin_api_t::start.

Example:

    /* Start process. */
    err = RM_MOTOR_RETURN_ORIGIN_Start(&g_mtr_return_origin0_ctrl);

Return values

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

◆ RM_MOTOR_RETURN_ORIGIN_Stop()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_Stop ( motor_return_origin_ctrl_t *const p_ctrl )

Stop (Cancel) return origin function. Implements motor_return_origin_api_t::stop.

Example:

    /* Stop process. */
    err = RM_MOTOR_RETURN_ORIGIN_Stop(&g_mtr_return_origin0_ctrl);

Return values

FSP_SUCCESS	Successfully stopped (canceled).
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_RETURN_ORIGIN_Reset()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_Reset ( motor_return_origin_ctrl_t *const p_ctrl )

Reset variables of return origin module. Implements motor_return_origin_api_t::reset.

Return values

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

◆ RM_MOTOR_RETURN_ORIGIN_InfoGet()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_InfoGet	(	motor_return_origin_ctrl_t *const	p_ctrl,
		motor_return_origin_info_t *const	p_info
	)

Get information of return origin. Implements motor_return_origin_api_t::infoGet.

Example:

    /* Get information from the module. */
    err = RM_MOTOR_RETURN_ORIGIN_InfoGet(&g_mtr_return_origin0_ctrl, &temp_info);

Return values

FSP_SUCCESS	Successfully get data.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_RETURN_ORIGIN_DataSet()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_DataSet	(	motor_return_origin_ctrl_t *const	p_ctrl,
		motor_return_origin_set_data_t *const	p_set_data
	)

Set necessary data to return origin function. Implements motor_return_origin_api_t::dataSet.

Example:

    /* Set data to the module. */
    err = RM_MOTOR_RETURN_ORIGIN_DataSet(&g_mtr_return_origin0_ctrl, &temp_set_data);

Return values

FSP_SUCCESS	Successfully set data.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

◆ RM_MOTOR_RETURN_ORIGIN_SpeedCyclic()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_SpeedCyclic ( motor_return_origin_ctrl_t *const p_ctrl )

Cyclic process of return origin function at speed control period. (Called at timer interrupt.) Implements motor_return_origin_api_t::speedCyclic.

Return values

FSP_SUCCESS	Successfully perform the process.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_RETURN_ORIGIN_ParameterUpdate()

fsp_err_t RM_MOTOR_RETURN_ORIGIN_ParameterUpdate	(	motor_return_origin_ctrl_t *const	p_ctrl,
		motor_return_origin_cfg_t const *const	p_cfg
	)

Update the parameters of return origin function. Implements motor_return_origin_api_t::parameterUpdate.

Return values

FSP_SUCCESS	Successfully data was updated.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Input parameter error.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_return_origin

Configurations for Motor > Motor return origin function (rm_motor_return_origin)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Data Structures

Data Structure Documentation

◆ motor_return_origin_extended_cfg_t

◆ motor_return_origin_pushing_t

◆ motor_return_origin_instance_ctrl_t

Function Documentation

◆ RM_MOTOR_RETURN_ORIGIN_Open()

◆ RM_MOTOR_RETURN_ORIGIN_Close()

◆ RM_MOTOR_RETURN_ORIGIN_Start()

◆ RM_MOTOR_RETURN_ORIGIN_Stop()

◆ RM_MOTOR_RETURN_ORIGIN_Reset()

◆ RM_MOTOR_RETURN_ORIGIN_InfoGet()

◆ RM_MOTOR_RETURN_ORIGIN_DataSet()

◆ RM_MOTOR_RETURN_ORIGIN_SpeedCyclic()

◆ RM_MOTOR_RETURN_ORIGIN_ParameterUpdate()