Functions
fsp_err_t	RM_MOTOR_SENSE_HALL_Open (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Opens and configures the angle hall sensor module. Implements motor_angle_api_t::open. More...

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

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

fsp_err_t	RM_MOTOR_SENSE_HALL_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_HALL_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_HALL_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_HALL_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_HALL_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_HALL_ParameterUpdate (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Update the parameters of Angle&Speed Estimation. Implements motor_angle_api_t::parameterUpdate. More...

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

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

fsp_err_t	RM_MOTOR_SENSE_HALL_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_HALL_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...

Detailed Description

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

Overview

The motor angle and speed calculation with hall sensors 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 hall sensors module has the features listed below.

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

Configuration

Build Time Configurations for rm_motor_sense_hall

The following build time configurations are defined in fsp_cfg/rm_motor_sense_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 Angle and Speed Calculation with Hall sensors (rm_motor_sense_hall)

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

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_angle0	Module name.
Hall sensor
U phase input port	Manual Entry	BSP_IO_PORT_12_PIN_04	Hall sensor port U
V phase input port	Manual Entry	BSP_IO_PORT_12_PIN_05	Hall sensor port V
W phase input port	Manual Entry	BSP_IO_PORT_11_PIN_01	Hall sensor port W
sensor pattern #1	Manual Entry	1	Hall sensor pattern #1
sensor pattern #2	Manual Entry	5	Hall sensor pattern #2
sensor pattern #3	Manual Entry	4	Hall sensor pattern #3
sensor pattern #4	Manual Entry	6	Hall sensor pattern #4
sensor pattern #5	Manual Entry	2	Hall sensor pattern #5
sensor pattern #6	Manual Entry	3	Hall sensor pattern #6
Process Frequency (kHz)	Must be a valid value	20.0F	Frequency to perform the process.
Correction parameter of rotor angle	Must be a valid value	0.0F	Correction parameter of rotor angle
Default counts of carrier interrupt	Must be a valid non-negative value.	300U	Default counts of carrier interrupt during a period of Hall signal change
Maximum counts of one rotation	Must be a valid non-negative value.	500U	Maximum counts of carrier interrupt during one rotor rotation
Target value for pseudo speed (rad/s)	Must be a valid non-negative value.	100.0	Target value for pseudo speed (rad/s).
Target time until the pseudo speed update reaches (msec)	Must be a valid non-negative value.	300.0	Target time until the pseudo speed update reaches (msec).
Rotation counts to start speed estimation	Must be a valid non-negative value.	2	Rotation counts to start of speed estimation.
Carrier counts at startup	Must be a valid non-negative value.	400	Carrier counts to wait the start timing of pseudo speed update
Speed to judge start	Must be a valid non-negative value.	250.0	Speed to judge start PI 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 hall sensors: 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 hall sensors in an application.

void motor_sense_hall_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_SENSE_HALL_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. */
        /* Get angle/speed data */
        (void) RM_MOTOR_SENSE_HALL_AngleSpeedGet(&g_mtr_angle0_ctrl, &f_get_angle, &f_get_speed, &f_get_phase_err);
    }
    /* Reset the module */
    (void) RM_MOTOR_SENSE_HALL_Reset(&g_mtr_angle0_ctrl);
    /* Close the module */
    (void) RM_MOTOR_SENSE_HALL_Close(&g_mtr_angle0_ctrl);
}

Data Structures
struct	motor_sense_hall_input_t

struct	motor_sense_hall_extended_cfg_t

struct	motor_sense_hall_instance_ctrl_t

Enumerations
enum	motor_sense_hall_direction_t

enum	motor_sense_hall_signal_status_t

Data Structure Documentation

◆ motor_sense_hall_input_t

struct motor_sense_hall_input_t

This stucture is provided to receive speed information.

Data Fields
float	f4_ref_speed_rad_ctrl	Speed Reference [rad/sec].

◆ motor_sense_hall_extended_cfg_t

struct motor_sense_hall_extended_cfg_t

Optional Motor sense hall extension data structure.

Data Fields
bsp_io_port_pin_t	port_hall_sensor_u	Hall U-signal input port.
bsp_io_port_pin_t	port_hall_sensor_v	Hall V-signal input port.
bsp_io_port_pin_t	port_hall_sensor_w	Hall W-signal input port.
uint8_t	u1_hall_pattern[MOTOR_SENSE_HALL_SPEED_COUNTS+1]	The order of hall signal pattern.
float	f_pwm_carrier_freq	PWM carrier frequency (or Decimated frequency at decimation of current process)
float	f_angle_correct	Coefficent to correct angle.
uint8_t	u1_trigger_hall_signal_count	Rotation counts to wait the stability.
float	f4_target_pseudo_speed_rad	Target value for pseudo speed estimates [radian/second].
float	f4_reach_time_msec	Time until the pseudo speed estimate reaches the target value [msec].
uint16_t	u2_trigger_carrier_count	Estimated speed 0 until this trigger.
uint16_t	u2_default_counts	Default counts for period of hall signal to reset.
uint16_t	u2_maximum_period	Maximum counts of hall signal period.
uint8_t	u1_hall_polepairs	Hall pole pairs.
float	f4_start_speed_rad	Speed to judge start [radian/second].

◆ motor_sense_hall_instance_ctrl_t

struct motor_sense_hall_instance_ctrl_t

SENSE_HALL control block. DO NOT INITIALIZE. Initialization occurs when motor_angle_api_t::open is called.

Data Fields
uint32_t	open
uint8_t	u1_hall_signal	Hall signal pattern.
uint8_t	u1_last_hall_signal	Last hall signal pattern.
motor_sense_hall_direction_t	direction	Rotation direction.
motor_sense_hall_direction_t	last_direction	Last rotation direction.
uint16_t	u2_carrier_count	Carrier count.
uint16_t	u2_hall_period[MOTOR_SENSE_HALL_SPEED_COUNTS]	Array of carrier count to calculate 2PI.
uint8_t	u1_period_counter	Counter for above array.
float	f_angle	Rotor angle [radian].
float	f_angle_per_count	Angle per 1 count.
float	f_calculated_speed	Calculated speed [radian/second].
uint8_t	u1_hall_signal_memory	Memorized hall signal at startup.
motor_sense_hall_signal_status_t	hall_signal_status	Hall signal status.
uint8_t	u1_hall_signal_count	Rotation counter.
float	f4_pseudo_speed_rad	Pseudo speed used for startup [radian/second].
float	f4_add_pseudo_speed_rad	Step of pseudo speed to update [radian/second].
uint16_t	u2_startup_carrier_count	Counter of carrier interrupt for startup.
motor_sense_hall_input_t	st_input	Input parameter structure.
uint8_t	u1_startup_flag	Flag for startup.
motor_angle_cfg_t const *	p_cfg

Enumeration Type Documentation

◆ motor_sense_hall_direction_t

enum motor_sense_hall_direction_t

Enumerator
MOTOR_SENSE_HALL_DIRECTION_CW	Rotation direction clockwise.
MOTOR_SENSE_HALL_DIRECTION_CCW	Rotation direction counter clockwise.

◆ motor_sense_hall_signal_status_t

enum motor_sense_hall_signal_status_t

Enumerator
MOTOR_SENSE_HALL_SIGNAL_STATUS_INITIAL	Hall signal isn't captured. (Initial)
MOTOR_SENSE_HALL_SIGNAL_STATUS_CAPTURED	Hall signal is captured.

Function Documentation

◆ RM_MOTOR_SENSE_HALL_Open()

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

Opens and configures the angle hall sensor module. Implements motor_angle_api_t::open.

Return values

FSP_SUCCESS	MTR_ANGL_EST 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.

◆ RM_MOTOR_SENSE_HALL_Close()

fsp_err_t RM_MOTOR_SENSE_HALL_Close ( motor_angle_ctrl_t *const p_ctrl )

Disables specified Angle Estimation 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_HALL_Reset()

fsp_err_t RM_MOTOR_SENSE_HALL_Reset ( motor_angle_ctrl_t *const p_ctrl )

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

Return values

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

◆ RM_MOTOR_SENSE_HALL_CurrentSet()

fsp_err_t RM_MOTOR_SENSE_HALL_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 Unsupported.

◆ RM_MOTOR_SENSE_HALL_SpeedSet()

fsp_err_t RM_MOTOR_SENSE_HALL_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_SUCCESS	Data get successfully.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_SENSE_HALL_FlagPiCtrlSet()

fsp_err_t RM_MOTOR_SENSE_HALL_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 Unsupported.

◆ RM_MOTOR_SENSE_HALL_AngleSpeedGet()

fsp_err_t RM_MOTOR_SENSE_HALL_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	Successful data get.
FSP_ERR_ASSERTION	Null pointer.
FSP_ERR_NOT_OPEN	Module is not open.
FSP_ERR_INVALID_ARGUMENT	Output pointer is invalid.

◆ RM_MOTOR_SENSE_HALL_EstimatedComponentGet()

fsp_err_t RM_MOTOR_SENSE_HALL_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 Unsupported.

◆ RM_MOTOR_SENSE_HALL_ParameterUpdate()

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

Update the parameters of Angle&Speed Estimation. 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_HALL_InternalCalculate()

fsp_err_t RM_MOTOR_SENSE_HALL_InternalCalculate ( motor_angle_ctrl_t *const p_ctrl )

Calculate internal parameters. Implements motor_angle_api_t::internalCalculate.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

◆ RM_MOTOR_SENSE_HALL_AngleAdjust()

fsp_err_t RM_MOTOR_SENSE_HALL_AngleAdjust ( motor_angle_ctrl_t *const p_ctrl )

Angle Adjustment Process. Implements motor_angle_api_t::angleAdjust.

Return values

FSP_ERR_UNSUPPORTED Unsupported.

◆ RM_MOTOR_SENSE_HALL_EncoderCyclic()

fsp_err_t RM_MOTOR_SENSE_HALL_EncoderCyclic ( motor_angle_ctrl_t *const p_ctrl )

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

Return values

FSP_ERR_UNSUPPORTED Unsupported.

◆ RM_MOTOR_SENSE_HALL_InfoGet()

fsp_err_t RM_MOTOR_SENSE_HALL_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_ERR_UNSUPPORTED Unsupported.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_sense_hall

Configurations for Motor > Motor Angle and Speed Calculation with Hall sensors (rm_motor_sense_hall)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Data Structures

Enumerations

Data Structure Documentation

◆ motor_sense_hall_input_t

◆ motor_sense_hall_extended_cfg_t

◆ motor_sense_hall_instance_ctrl_t

Enumeration Type Documentation

◆ motor_sense_hall_direction_t

◆ motor_sense_hall_signal_status_t

Function Documentation

◆ RM_MOTOR_SENSE_HALL_Open()

◆ RM_MOTOR_SENSE_HALL_Close()

◆ RM_MOTOR_SENSE_HALL_Reset()

◆ RM_MOTOR_SENSE_HALL_CurrentSet()

◆ RM_MOTOR_SENSE_HALL_SpeedSet()

◆ RM_MOTOR_SENSE_HALL_FlagPiCtrlSet()

◆ RM_MOTOR_SENSE_HALL_AngleSpeedGet()

◆ RM_MOTOR_SENSE_HALL_EstimatedComponentGet()

◆ RM_MOTOR_SENSE_HALL_ParameterUpdate()

◆ RM_MOTOR_SENSE_HALL_InternalCalculate()

◆ RM_MOTOR_SENSE_HALL_AngleAdjust()

◆ RM_MOTOR_SENSE_HALL_EncoderCyclic()

◆ RM_MOTOR_SENSE_HALL_InfoGet()