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

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

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

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

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

fsp_err_t	RM_MOTOR_SENSE_INDUCTION_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_INDUCTION_CyclicProcess (motor_angle_ctrl_t *const p_ctrl)
	Induction sensor Cyclic Process (Call in cyclic timer). Implements motor_angle_api_t::cyclicProcess. More...

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

fsp_err_t	RM_MOTOR_SENSE_INDUCTION_CorrectReset (motor_angle_ctrl_t *const p_ctrl)
	Reset to restart calibration Angle module. More...

fsp_err_t	RM_MOTOR_SENSE_INDUCTION_ErrorGet (motor_angle_ctrl_t const p_ctrl, motor_angle_error_t const p_error)
	Gets the error information about induction correction. More...

fsp_err_t	RM_MOTOR_SENSE_INDUCTION_ParameterUpdate (motor_angle_ctrl_t const p_ctrl, motor_angle_cfg_t const const p_cfg)
	Update the parameters of angle & speed calculation. Implements motor_angle_api_t::parameterUpdate. More...

fsp_err_t	RM_MOTOR_SENSE_INDUCTION_SensorDataSet (motor_angle_ctrl_t const p_ctrl, motor_angle_ad_data_t const p_ad_data)
	Set A/D Converted Data. Implements motor_angle_api_t::sensorDataSet. More...

fsp_err_t	RM_MOTOR_SENSE_INDUCTION_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_INDUCTION_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_INDUCTION_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_INDUCTION_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...

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 induction sensor 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 induction sensor module has the features listed below.

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

Configuration

Build Time Configurations for rm_motor_sense_induction

The following build time configurations are defined in fsp_cfg/rm_motor_sense_induction_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 induction sensor (rm_motor_sense_induction)

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

Configuration	Options	Default	Description
General
Name	Name must be a valid C symbol	g_motor_angle0	Module name.
Control type	Speed Position	Position	Select control Type
Frequency of current control (kHz)	Must be a valid non-negative value.	20.0	Frequency of current control
Decimation of Interrupt	Must be a valid integer.	1	Decimation of Interrupt
Counts to get signal	Must be a valid integer.	10	Counts to get analog input signal
Limit of signal error	Must be a valid integer.	100	Limit of signal error
Coefficent of speed LPF	Must be a valid value	0.07	Coefficient of speed LPF
A/D reference voltage	Must be a valid non-negative value.	3.3	Reference voltage of A/D converter
A/D conversion scale	Must be a valid non-negative value.	4095.0	Conversion scale of A/D converter
Openloop speed (rpm)	Must be a valid non-negative value.	6.0	Rotation speed at calibration openloop (rpm)
D-axis current at openloop (A)	Must be a valid non-negative value.	1.0	D-axis current at calibration openloop (A)
Angle adjustment times	Must be a valid integer.	512	Times to get signal at angle adjustment
Calibration enable	Disable Enable	Enable	Select enable/disable of signal calibration
Induction sensor pole pairs	Must be a valid integer.	4	Induction sensor pole pairs
Motor pole pairs	Must be a valid integer.	4	Motor pole pairs

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Developers should be aware of the following limitations when using the motor angle and speed calculation with induction sensor: 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 induction sensor in an application.

void motor_sense_encoder_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the module. */
    err = RM_MOTOR_SENSE_INDUCTION_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 */
        (void) RM_MOTOR_SENSE_INDUCTION_AngleAdjust(&g_mtr_angle0_ctrl);
        /* Perform cyclic process*/
        (void) RM_MOTOR_SENSE_INDUCTION_CyclicProcess(&g_mtr_angle0_ctrl);
        /* Calculate information with induction sensor signal input */
        (void) RM_MOTOR_SENSE_INDUCTION_InternalCalculate(&g_mtr_angle0_ctrl);
        /* Get angle/speed data */
        (void) RM_MOTOR_SENSE_INDUCTION_AngleSpeedGet(&g_mtr_angle0_ctrl, &f_get_angle, &f_get_speed, &f_get_phase_err);
    }
    /* Reset the module */
    (void) RM_MOTOR_SENSE_INDUCTION_Reset(&g_mtr_angle0_ctrl);
    /* Close the module */
    (void) RM_MOTOR_SENSE_INDUCTION_Close(&g_mtr_angle0_ctrl);
}

Enumerations
enum	motor_sense_induction_loop_t

enum	motor_sense_induction_calibration_t

enum	motor_sense_induction_mode_t

Enumeration Type Documentation

◆ motor_sense_induction_loop_t

enum motor_sense_induction_loop_t

Enumerator
MOTOR_SENSE_INDUCTION_LOOP_SPEED	Speed control mode.
MOTOR_SENSE_INDUCTION_LOOP_POSITION	Position control mode.

◆ motor_sense_induction_calibration_t

enum motor_sense_induction_calibration_t

Enumerator
MOTOR_SENSE_INDUCTION_CALIBRATION_DISABLE	Disable calibration.
MOTOR_SENSE_INDUCTION_CALIBRATION_ENABLE	Enable calibration.

◆ motor_sense_induction_mode_t

enum motor_sense_induction_mode_t

Enumerator
MOTOR_SENSE_INDUCTION_MODE_INIT	Initialize mode (Start status)
MOTOR_SENSE_INDUCTION_MODE_BOOT	Boot mode (Angle adjustment status)
MOTOR_SENSE_INDUCTION_MODE_DRIVE	Drive mode (Normal work status)

Function Documentation

◆ RM_MOTOR_SENSE_INDUCTION_Open()

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

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

Return values

FSP_SUCCESS	Angle Induction 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_INDUCTION_Close()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_Close ( motor_angle_ctrl_t *const p_ctrl )

Disables specified Angle 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_INDUCTION_Reset()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_Reset ( motor_angle_ctrl_t *const p_ctrl )

Reset variables of Angle 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_INDUCTION_InternalCalculate()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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_INDUCTION_AngleSpeedGet()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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_INDUCTION_AngleAdjust()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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_INDUCTION_EncoderCyclic()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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 Motor sense induction software encoderCyclic is not supported.

◆ RM_MOTOR_SENSE_INDUCTION_CyclicProcess()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_CyclicProcess ( motor_angle_ctrl_t *const p_ctrl )

Induction sensor Cyclic Process (Call in cyclic timer). 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_INDUCTION_InfoGet()

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

Gets information of 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_INDUCTION_CorrectReset()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_CorrectReset ( motor_angle_ctrl_t *const p_ctrl )

Reset to restart calibration Angle module.

Return values

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

◆ RM_MOTOR_SENSE_INDUCTION_ErrorGet()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_ErrorGet	(	motor_angle_ctrl_t *const	p_ctrl,
		motor_angle_error_t *const	p_error
	)

Gets the error information about induction correction.

Return values

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

◆ RM_MOTOR_SENSE_INDUCTION_ParameterUpdate()

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

Update the parameters of angle & speed calculation. 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_INDUCTION_SensorDataSet()

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

Set A/D Converted Data. Implements motor_angle_api_t::sensorDataSet.

Return values

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

◆ RM_MOTOR_SENSE_INDUCTION_CurrentSet()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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 induction software currentSet is not supported.

◆ RM_MOTOR_SENSE_INDUCTION_SpeedSet()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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 induction software speedSet is not supported.

◆ RM_MOTOR_SENSE_INDUCTION_FlagPiCtrlSet()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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 induction software flagPiCtrlSet is not supported.

◆ RM_MOTOR_SENSE_INDUCTION_EstimatedComponentGet()

fsp_err_t RM_MOTOR_SENSE_INDUCTION_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 induction software estimatedComponentGet is not supported.

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_sense_induction

Configurations for Motor > Motor Angle and Speed Calculation with induction sensor (rm_motor_sense_induction)

Clock Configuration

Pin Configuration

Usage Notes

Limitations

Examples

Basic Example

Enumerations

Enumeration Type Documentation

◆ motor_sense_induction_loop_t

◆ motor_sense_induction_calibration_t

◆ motor_sense_induction_mode_t

Function Documentation

◆ RM_MOTOR_SENSE_INDUCTION_Open()

◆ RM_MOTOR_SENSE_INDUCTION_Close()

◆ RM_MOTOR_SENSE_INDUCTION_Reset()

◆ RM_MOTOR_SENSE_INDUCTION_InternalCalculate()

◆ RM_MOTOR_SENSE_INDUCTION_AngleSpeedGet()

◆ RM_MOTOR_SENSE_INDUCTION_AngleAdjust()

◆ RM_MOTOR_SENSE_INDUCTION_EncoderCyclic()

◆ RM_MOTOR_SENSE_INDUCTION_CyclicProcess()

◆ RM_MOTOR_SENSE_INDUCTION_InfoGet()

◆ RM_MOTOR_SENSE_INDUCTION_CorrectReset()

◆ RM_MOTOR_SENSE_INDUCTION_ErrorGet()

◆ RM_MOTOR_SENSE_INDUCTION_ParameterUpdate()

◆ RM_MOTOR_SENSE_INDUCTION_SensorDataSet()

◆ RM_MOTOR_SENSE_INDUCTION_CurrentSet()

◆ RM_MOTOR_SENSE_INDUCTION_SpeedSet()

◆ RM_MOTOR_SENSE_INDUCTION_FlagPiCtrlSet()

◆ RM_MOTOR_SENSE_INDUCTION_EstimatedComponentGet()