Motor speed Interface

Detailed Description

Interface for motor speed functions.

Summary

The Motor speed interface for getting the current references from electric current and rotational speed

Data Structures
struct	motor_speed_callback_args_t
struct	motor_speed_position_data_t
struct	motor_speed_cfg_t
struct	motor_speed_api_t
struct	motor_speed_instance_t

Typedefs
typedef void	motor_speed_ctrl_t

Enumerations
enum	motor_speed_event_t
enum	motor_speed_loop_mode_t
enum	motor_speed_step_t

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Data Structure Documentation

motor_speed_callback_args_t

struct motor_speed_callback_args_t

Callback function parameter data

Data Fields
void const *	p_context	Placeholder for user data.
motor_speed_event_t	event

motor_speed_position_data_t

struct motor_speed_position_data_t

Motor speed and position structure

Data Fields
motor_speed_step_t	e_step_mode	Select step mode.
motor_speed_loop_mode_t	e_loop_mode	Select control mode.
int16_t	position_reference_degree	Position reference [degree].

motor_speed_cfg_t

struct motor_speed_cfg_t

Configuration parameters.

Data Fields
motor_speed_input_t *	st_input
	Input data structure for automatic set.
motor_speed_output_t *	st_output
	Output data structure for automatic receive.
motor_position_instance_t const *	p_position_instance
	Position module instance.
void const *	p_context
	Placeholder for user data.

motor_speed_api_t

struct motor_speed_api_t

Functions implemented at the HAL layer will follow these APIs.

Data Fields
fsp_err_t(*	open )(motor_speed_ctrl_t *const p_ctrl, motor_speed_cfg_t const *const p_cfg)
fsp_err_t(*	close )(motor_speed_ctrl_t *const p_ctrl)
fsp_err_t(*	reset )(motor_speed_ctrl_t *const p_ctrl)
fsp_err_t(*	run )(motor_speed_ctrl_t *const p_ctrl)
fsp_err_t(*	speedReferenceSet )(motor_speed_ctrl_t *const p_ctrl, float const speed_reference_rpm)
fsp_err_t(*	positionReferenceSet )(motor_speed_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position_data)
fsp_err_t(*	parameterSet )(motor_speed_ctrl_t *const p_ctrl, motor_speed_input_t const *const p_st_input)
fsp_err_t(*	speedControl )(motor_speed_ctrl_t *const p_ctrl)
fsp_err_t(*	parameterGet )(motor_speed_ctrl_t *const p_ctrl, motor_speed_output_t *const p_st_output)
fsp_err_t(*	parameterUpdate )(motor_speed_ctrl_t *const p_ctrl, motor_speed_cfg_t const *const p_cfg)

Field Documentation

open

fsp_err_t(* motor_speed_api_t::open) (motor_speed_ctrl_t *const p_ctrl, motor_speed_cfg_t const *const p_cfg)

Initialize the motor speed module.

Parameters

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

close

fsp_err_t(* motor_speed_api_t::close) (motor_speed_ctrl_t *const p_ctrl)

Close (Finish) the motor speed module.

Parameters

[in]

p_ctrl

Pointer to control structure.

reset

fsp_err_t(* motor_speed_api_t::reset) (motor_speed_ctrl_t *const p_ctrl)

Reset(Stop) the motor speed module.

Parameters

[in]

p_ctrl

Pointer to control structure.

run

fsp_err_t(* motor_speed_api_t::run) (motor_speed_ctrl_t *const p_ctrl)

Activate the motor speed control.

Parameters

[in]

p_ctrl

Pointer to control structure.

speedReferenceSet

fsp_err_t(* motor_speed_api_t::speedReferenceSet) (motor_speed_ctrl_t *const p_ctrl, float const speed_reference_rpm)

Set (Input) speed reference into the motor speed module.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	speed_refernce_rpm	Speed reference [rpm]

positionReferenceSet

fsp_err_t(* motor_speed_api_t::positionReferenceSet) (motor_speed_ctrl_t *const p_ctrl, motor_speed_position_data_t const *const p_position_data)

Set (Input) position reference and control mode

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_position_data	Pointer to structure position data

parameterSet

fsp_err_t(* motor_speed_api_t::parameterSet) (motor_speed_ctrl_t *const p_ctrl, motor_speed_input_t const *const p_st_input)

Set (Input) speed parameters into the motor speed module.

Parameters

[in]	p_ctrl	Pointer to control structure.
[in]	p_st_input	Pointer to structure to input parameters.

speedControl

fsp_err_t(* motor_speed_api_t::speedControl) (motor_speed_ctrl_t *const p_ctrl)

Calculate current reference

Parameters

[in]

p_ctrl

Pointer to control structure.

parameterGet

fsp_err_t(* motor_speed_api_t::parameterGet) (motor_speed_ctrl_t *const p_ctrl, motor_speed_output_t *const p_st_output)

Get speed control output parameters

Parameters

[in]	p_ctrl	Pointer to control structure.
[out]	p_st_output	Pointer to get speed control parameters

parameterUpdate

fsp_err_t(* motor_speed_api_t::parameterUpdate) (motor_speed_ctrl_t *const p_ctrl, motor_speed_cfg_t const *const p_cfg)

Update Parameters for the calculation in the motor speed module.

Parameters

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

motor_speed_instance_t

struct motor_speed_instance_t

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

Data Fields
motor_speed_ctrl_t *	p_ctrl	Pointer to the control structure for this instance.
motor_speed_cfg_t const *	p_cfg	Pointer to the configuration structure for this instance.
motor_speed_api_t const *	p_api	Pointer to the API structure for this instance.

Typedef Documentation

motor_speed_ctrl_t

typedef void motor_speed_ctrl_t

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

Enumeration Type Documentation

motor_speed_event_t

enum motor_speed_event_t

Events that can trigger a callback function

Enumerator
MOTOR_SPEED_EVENT_FORWARD	Event forward speed control.
MOTOR_SPEED_EVENT_BACKWARD	Event backward speed control.
MOTOR_SPEED_EVENT_ENCODER_CYCLIC	Event encoder cyclic.
MOTOR_SPEED_EVENT_ENCODER_ADJUST	Event encoder adjust.

motor_speed_loop_mode_t

enum motor_speed_loop_mode_t

Enumerator
MOTOR_SPEED_LOOP_MODE_SPEED	Speed control mode.
MOTOR_SPEED_LOOP_MODE_POSITION	Position control mode.

motor_speed_step_t

enum motor_speed_step_t

Enumerator
MOTOR_SPEED_STEP_DISABLE	Position control works without step mode.
MOTOR_SPEED_STEP_ENABLE	Position control works with step mode.