Functions
fsp_err_t	RM_MOTOR_SENSE_ENCODER_Open (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Opens and configures the Angle Encoder module. Implements motor_angle_api_t::open. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_Close (motor_angle_ctrl_t *const p_ctrl)
	Disables specified Angle Encoder module. Implements motor_angle_api_t::close. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_Reset (motor_angle_ctrl_t *const p_ctrl)
	Reset variables of Angle Encoder module. Implements motor_angle_api_t::reset. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_InternalCalculate (motor_angle_ctrl_t *const p_ctrl)
	Calculate internal parameters. Implements motor_angle_api_t::internalCalculate. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_AngleSpeedGet (motor_angle_ctrl_t const p_ctrl, float const p_angle, float const p_speed, float const p_phase_err)
	Gets the current rotor's angle and rotation speed. Implements motor_angle_api_t::angleSpeedGet. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_AngleAdjust (motor_angle_ctrl_t *const p_ctrl)
	Angle Adjustment Process. Implements motor_angle_api_t::angleAdjust. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_EncoderCyclic (motor_angle_ctrl_t *const p_ctrl)
	Encoder Cyclic Process (Call in cyclic timer). Implements motor_angle_api_t::encoderCyclic. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_CyclicProcess (motor_angle_ctrl_t *const p_ctrl)
	Perform cyclic process. Implements motor_angle_api_t::cyclicProcess. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_InfoGet (motor_angle_ctrl_t const p_ctrl, motor_angle_encoder_info_t const p_info)
	Gets information of Encoder Angle Module. Implements motor_angle_api_t::infoGet. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_ParameterUpdate (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Update the parameters of Angle&Speed calculation with an encoder. Implements motor_angle_api_t::parameterUpdate. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_CurrentSet (motor_angle_ctrl_t const p_ctrl, motor_angle_current_t const p_st_current, motor_angle_voltage_reference_t *const p_st_voltage)
	Set d/q-axis Current Data & Voltage Reference. Implements motor_angle_api_t::currentSet. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_SpeedSet (motor_angle_ctrl_t *const p_ctrl, float const speed_ctrl, float const damp_speed)
	Set Speed Information. Implements motor_angle_api_t::speedSet. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_FlagPiCtrlSet (motor_angle_ctrl_t *const p_ctrl, uint32_t const flag_pi)
	Set the flag of PI Control runs. Implements motor_angle_api_t::flagPiCtrlSet. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_EstimatedComponentGet (motor_angle_ctrl_t const p_ctrl, float const p_ed, float *const p_eq)
	Gets estimated d/q-axis component. Implements motor_angle_api_t::estimatedComponentGet. More...

fsp_err_t	RM_MOTOR_SENSE_ENCODER_SensorDataSet (motor_angle_ctrl_t const p_ctrl, motor_angle_ad_data_t const p_ad_data)
	Set sensor data. Implements motor_angle_api_t::sensorDataSet. More...

Detailed Description

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

Overview

The motor angle and speed calculation with an encoder module is used to calculate rotor angle and rotational speed in an application. This module is designed to be used with the motor current module (rm_motor_current).

Features

The motor angle and speed calculation with an encoder module has the features listed below.

Calculate rotor angle [radian].
Calculate rotational speed [radian/second].

Configuration

Build Time Configurations for rm_motor_sense_encoder

The following build time configurations are defined in fsp_cfg/rm_motor_sense_encoder_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 Angle and Speed Calculation with encoder (rm_motor_sense_encoder)

This module can be added to the Stacks tab via New Stack > Motor > Motor Angle and Speed Calculation with encoder (rm_motor_sense_encoder).

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_sense_encoder0	Module name.
Motor Parameter
Pole pairs	Must be a valid positive integer.	7	Pole pairs
Resistance (ohm)	Must be a valid non-negative value	0.453F	Resistance
Inductance of d-axis (H)	Must be a valid non-negative value	0.0009447F	Inductance of d-axis
Inductance of q-axis (H)	Must be a valid non-negative value	0.0009447F	Inductance of q-axis
Permanent magnetic flux (Wb)	Must be a valid non-negative value	0.006198F	Permanent magnetic flux
Motor Parameter > Rotor inertia (kgm^2)	Must be a valid non-negative value	0.00000962F	Rotor inertia
Control Type	Speed Position	Position	Select control Type
Period of Current control (kHz)	Must be a valid non-negative value	20.0F	Period of Current control
Period of Speed control (sec)	Must be a valid non-negative value	0.0005F	Period of Speed control
PWM Carrier Frequency (kHz)	Must be a valid non-negative value	20.0F	PWM Carrier Frequency
Decimation of Interrupt	Must be a valid positive integer.	0U	Decimation of Interrupt
Counts per Rotation	Must be a valid positive integer.	1200U	Encoder Counts per One Rotation
Counts for Angle Adjust	Must be a valid positive integer.	512U	Counts for Angle Adjust (as working time)
Zero speed counts	Must be a valid positive integer.	20000000U	Threshold counts to judge zero speed
Occupancy Time	Must be a valid non-negative value	0.30F	Occupancy time of carrier interrup
Carrier Time	Must be a valid non-negative value	0.000013F	Processing time of carrier interrupt
Process Time	Must be a valid non-negative value	0.000001F	Processing time of encoder interrupt
Highspeed Change Margin (rpm)	Must be a valid positive integer.	150U	Margin of toggle speed for high speed mode
LPF parameter for Highspeed Filter	Must be a valid non-negative value	0.1F	Highspeed mode speed LPF parameter
Counts to change speed	Must be a valid positive integer.	8U	Counts for mode change of position speed calculation

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Developers should be aware of the following limitations when using the motor angle and speed calculation with an encoder: all configurations should be set as positive values.

Examples

Basic Example

This is a basic example of minimal use of the motor angle and speed calculation with an encoder in an application.

void motor_sense_encoder_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_SENSE_ENCODER_Open(&g_mtr_angle0_ctrl, &g_mtr_angle_set0_cfg);
    assert(FSP_SUCCESS == err);
    /* Basically run this module at A/D conversion finish interrupt.
     * This implementation is an example. */
    // while (true)
    {
        /* Application work here. */
        /* Initialize motor with the encoder */
        (void) RM_MOTOR_SENSE_ENCODER_AngleAdjust(&g_mtr_angle0_ctrl);
        /* Perform cyclic encoder process*/
        (void) RM_MOTOR_SENSE_ENCODER_CyclicProcess(&g_mtr_angle0_ctrl);
        /* Calculate information with encoder signal input */
        (void) RM_MOTOR_SENSE_ENCODER_InternalCalculate(&g_mtr_angle0_ctrl);
        /* Get angle/speed data */
        (void) RM_MOTOR_SENSE_ENCODER_AngleSpeedGet(&g_mtr_angle0_ctrl, &f_get_angle, &f_get_speed, &f_get_phase_err);
        /* Get calculated component */
        (void) RM_MOTOR_SENSE_ENCODER_InfoGet(&g_mtr_angle0_ctrl, &temp_info);
    }
    /* Reset the module */
    (void) RM_MOTOR_SENSE_ENCODER_Reset(&g_mtr_angle0_ctrl);
    /* Close the module */
    (void) RM_MOTOR_SENSE_ENCODER_Close(&g_mtr_angle0_ctrl);
}

Enumerations
enum	motor_sense_encoder_loop_t

enum	motor_sense_encoder_mode_t

Enumeration Type Documentation

◆ motor_sense_encoder_loop_t

enum motor_sense_encoder_loop_t

Enumerator
MOTOR_SENSE_ENCODER_LOOP_SPEED	Speed control mode.
MOTOR_SENSE_ENCODER_LOOP_POSITION	Position control mode.

◆ motor_sense_encoder_mode_t

enum motor_sense_encoder_mode_t

Enumerator
MOTOR_SENSE_ENCODER_MODE_INIT	Initialize mode (Start status)
MOTOR_SENSE_ENCODER_MODE_BOOT	Boot mode (Angle adjustment status)
MOTOR_SENSE_ENCODER_MODE_DRIVE	Drive mode (Normal work status)

Function Documentation

◆ RM_MOTOR_SENSE_ENCODER_Open()

fsp_err_t RM_MOTOR_SENSE_ENCODER_Open	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_cfg_t const *const	p_cfg
	)

Opens and configures the Angle Encoder module. Implements motor_angle_api_t::open.

Return values

FSP_SUCCESS	Angle Encoder 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	Configuration parameter error.

◆ RM_MOTOR_SENSE_ENCODER_Close()

fsp_err_t RM_MOTOR_SENSE_ENCODER_Close ( motor_angle_ctrl_t *const p_ctrl )

Disables specified Angle Encoder module. Implements motor_angle_api_t::close.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_Reset()

fsp_err_t RM_MOTOR_SENSE_ENCODER_Reset ( motor_angle_ctrl_t *const p_ctrl )

Reset variables of Angle Encoder module. Implements motor_angle_api_t::reset.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_InternalCalculate()

fsp_err_t RM_MOTOR_SENSE_ENCODER_InternalCalculate ( motor_angle_ctrl_t *const p_ctrl )

Calculate internal parameters. Implements motor_angle_api_t::internalCalculate.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_AngleSpeedGet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_AngleSpeedGet	(	motor_angle_ctrl_t *const	p_ctrl,
		float *const	p_angle,
		float *const	p_speed,
		float *const	p_phase_err
	)

Gets the current rotor's angle and rotation speed. Implements motor_angle_api_t::angleSpeedGet.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_AngleAdjust()

fsp_err_t RM_MOTOR_SENSE_ENCODER_AngleAdjust ( motor_angle_ctrl_t *const p_ctrl )

Angle Adjustment Process. Implements motor_angle_api_t::angleAdjust.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_EncoderCyclic()

fsp_err_t RM_MOTOR_SENSE_ENCODER_EncoderCyclic ( motor_angle_ctrl_t *const p_ctrl )

Encoder Cyclic Process (Call in cyclic timer). Implements motor_angle_api_t::encoderCyclic.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_CyclicProcess()

fsp_err_t RM_MOTOR_SENSE_ENCODER_CyclicProcess ( motor_angle_ctrl_t *const p_ctrl )

Perform cyclic process. Implements motor_angle_api_t::cyclicProcess.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_InfoGet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_InfoGet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_encoder_info_t *const	p_info
	)

Gets information of Encoder Angle Module. Implements motor_angle_api_t::infoGet.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_ParameterUpdate()

fsp_err_t RM_MOTOR_SENSE_ENCODER_ParameterUpdate	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_cfg_t const *const	p_cfg
	)

Update the parameters of Angle&Speed calculation with an encoder. Implements motor_angle_api_t::parameterUpdate.

Return values

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

◆ RM_MOTOR_SENSE_ENCODER_CurrentSet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_CurrentSet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_current_t *const	p_st_current,
		motor_angle_voltage_reference_t *const	p_st_voltage
	)

Set d/q-axis Current Data & Voltage Reference. Implements motor_angle_api_t::currentSet.

Return values

FSP_ERR_UNSUPPORTED Motor sense encoder software currentSet is not supported.

◆ RM_MOTOR_SENSE_ENCODER_SpeedSet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_SpeedSet	(	motor_angle_ctrl_t *const	p_ctrl,
		float const	speed_ctrl,
		float const	damp_speed
	)

Set Speed Information. Implements motor_angle_api_t::speedSet.

Return values

FSP_ERR_UNSUPPORTED Motor sense encoder software speedSet is not supported.

◆ RM_MOTOR_SENSE_ENCODER_FlagPiCtrlSet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_FlagPiCtrlSet	(	motor_angle_ctrl_t *const	p_ctrl,
		uint32_t const	flag_pi
	)

Set the flag of PI Control runs. Implements motor_angle_api_t::flagPiCtrlSet.

Return values

FSP_ERR_UNSUPPORTED Motor sense encoder software flagPiCtrlSet is not supported.

◆ RM_MOTOR_SENSE_ENCODER_EstimatedComponentGet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_EstimatedComponentGet	(	motor_angle_ctrl_t *const	p_ctrl,
		float *const	p_ed,
		float *const	p_eq
	)

Gets estimated d/q-axis component. Implements motor_angle_api_t::estimatedComponentGet.

Return values

FSP_ERR_UNSUPPORTED Motor sense encoder software estimatedComponentGet is not supported.

◆ RM_MOTOR_SENSE_ENCODER_SensorDataSet()

fsp_err_t RM_MOTOR_SENSE_ENCODER_SensorDataSet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_ad_data_t *const	p_ad_data
	)

Set sensor data. Implements motor_angle_api_t::sensorDataSet.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_sense_encoder

Configurations for Motor > Motor Angle and Speed Calculation with encoder (rm_motor_sense_encoder)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Enumerations

Enumeration Type Documentation

◆ motor_sense_encoder_loop_t

◆ motor_sense_encoder_mode_t

Function Documentation

◆ RM_MOTOR_SENSE_ENCODER_Open()

◆ RM_MOTOR_SENSE_ENCODER_Close()

◆ RM_MOTOR_SENSE_ENCODER_Reset()

◆ RM_MOTOR_SENSE_ENCODER_InternalCalculate()

◆ RM_MOTOR_SENSE_ENCODER_AngleSpeedGet()

◆ RM_MOTOR_SENSE_ENCODER_AngleAdjust()

◆ RM_MOTOR_SENSE_ENCODER_EncoderCyclic()

◆ RM_MOTOR_SENSE_ENCODER_CyclicProcess()

◆ RM_MOTOR_SENSE_ENCODER_InfoGet()

◆ RM_MOTOR_SENSE_ENCODER_ParameterUpdate()

◆ RM_MOTOR_SENSE_ENCODER_CurrentSet()

◆ RM_MOTOR_SENSE_ENCODER_SpeedSet()

◆ RM_MOTOR_SENSE_ENCODER_FlagPiCtrlSet()

◆ RM_MOTOR_SENSE_ENCODER_EstimatedComponentGet()

◆ RM_MOTOR_SENSE_ENCODER_SensorDataSet()