Functions
fsp_err_t	RM_MOTOR_PM_FOC_Open (motor_algorithm_ctrl_t const p_ctrl, motor_algorithm_cfg_t const const p_cfg)
	Opens and configures the Vector control module. Implements motor_driver_api_t::open. More...

fsp_err_t	RM_MOTOR_PM_FOC_Close (motor_algorithm_ctrl_t *const p_ctrl)
	Disables specified Motor Current Module. More...

fsp_err_t	RM_MOTOR_PM_FOC_Reset (motor_algorithm_ctrl_t *const p_ctrl)
	Disables specified Motor Current Module. More...

fsp_err_t	RM_MOTOR_PM_FOC_Run (motor_algorithm_ctrl_t *const p_ctrl)
	Active run motor. More...

fsp_err_t	RM_MOTOR_PM_FOC_Stop (motor_algorithm_ctrl_t *const p_ctrl)
	Motor Stop. More...

fsp_err_t	RM_MOTOR_PM_FOC_ControlModeGet (motor_algorithm_ctrl_t const p_ctrl, motor_algorithm_control_mode_t p_control_mode)
	ControlModeGet. More...

fsp_err_t	RM_MOTOR_PM_FOC_ControlModeSet (motor_algorithm_ctrl_t *const p_ctrl, motor_algorithm_control_mode_t control_mode)
	ControlModeSet. More...

fsp_err_t	RM_MOTOR_PM_FOC_StatusGet (motor_algorithm_ctrl_t const p_ctrl, uint8_t const p_status)
	StatusGet. More...

fsp_err_t	RM_MOTOR_PM_FOC_ParameterUpdate (motor_algorithm_ctrl_t const p_ctrl, motor_algorithm_cfg_t const const p_cfg)
	Updates the parameters of the motor control module. More...

fsp_err_t	RM_MOTOR_PM_FOC_ErrorGet (motor_algorithm_ctrl_t const p_ctrl, uint32_t p_error_flags)
	ErrorGet. More...

void	algorithm_disabled (void p_ctrl, void p_cfg)
	Dummy function for disabled algorithms. More...

void	motor_outer_fnctbl_spdobsrv_ctrl (void p_ctrl, void p_cfg)
	Speed observer control function. More...

void	motor_outer_fnctbl_spddirct_ctrl (void p_ctrl, void p_cfg)
	Direct speed assignment control function. More...

void	motor_outer_fnctbl_spdlpf_ctrl (void p_ctrl, void p_cfg)
	Low-pass filter processing for speed. More...

void	motor_outer_fnctbl_extobsrv_ctrl (void p_ctrl, void p_cfg)
	Extended observer for disturbance torque and speed estimation. More...

void	motor_outer_fnctbl_mtpa_ctrl (void p_ctrl, void p_cfg)
	MTPA (Maximum Torque Per Ampere) control function. More...

void	motor_outer_fnctbl_fw_ctrl (void p_ctrl, void p_cfg)
	Flux weakening control function. More...

void	motor_outer_speed_control (void p_ctrl, void p_cfg)
	Calculates the d/q-axis current reference for speed control. More...

void	motor_outer_position_control (void p_ctrl, void p_cfg)
	Calculates the d/q-axis current reference for position control. More...

Detailed Description

Motor PM FOC on RA MCUs. This module implements the Motor Interface.

Overview

The Motor PM FOC module provides Field Oriented Control (FOC) for Permanent Magnet (PM) motors. It implements inner loop (current control) and outer loop (speed control) algorithms for precise motor control.

FOC is a control technique that transforms the stator current into two orthogonal components: the direct (d-axis) and quadrature (q-axis) currents. This allows independent control of torque and flux, resulting in efficient and responsive motor control.

Features

The Motor PM FOC module has the following key features:

Field Oriented Control for Permanent Magnet motors
Inner loop current control with PI controllers for d-axis and q-axis
Outer loop speed control with PI controller
Flux weakening support for extended speed range operation
Voltage error compensation for improved accuracy
Multiple sensor slot support (dual sensor capability)
Speed observer and disturbance observer support
Position control mode support
Configurable current and speed limits
Error detection for overcurrent, overvoltage, low voltage, and overspeed conditions

Configuration

Build Time Configurations for rm_motor_pm_foc

The following build time configurations are defined in fsp_cfg/rm_motor_pm_foc_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 > Advanced Motor Middleware > Motor PM FOC Module (rm_motor_pm_foc)

This module can be added to the Stacks tab via New Stack > Motor > Advanced Motor Middleware > Motor PM FOC Module (rm_motor_pm_foc).

Configuration	Options	Default	Description
Inverter Parameters
PWM Carrier Period (Microseconds)	Must be a valid non-negative value	50	Inverter carrier period
Dead Time (Microseconds)	Must be a valid value	2.0	PWM dead time
Design Parameter
Current PI Loop Natural Frequency (Hz)	Must be a valid non-negative value	300.0F	Current PI loop natural frequency
Current PI Loop Damping Ratio	Must be a valid non-negative value	1.0F	Current PI loop dampin ratio
Speed PI Loop Natural Frequency (Hz)	Must be a valid non-negative value	12.0F	Speed PI loop natural frequency
Speed PI Loop Damping Ratio	Must be a valid non-negative value	1.0F	Speed PI loop damping ratio
Speed Observer Natural Frequency (Hz)	Must be a valid non-negative value	200.0F	Speed observer loop natural frequency
Speed Observer Damping Ratio	Must be a valid non-negative value	1.0F	Speed observer loop damping ratio
Speed LPF Natural Frequency (Hz)	Must be a valid non-negative value	10.0F	Design natural frequency for speed Low Pass Filter.
Disturbance Speed Observer Natural Frequency (Hz)	Must be a valid non-negative value.	100.0F	Natural frequency for disturbance speed observer.
Motor Sensor
Selected Slot For Control	MOTOR_INNER_SLOT_1_ENABLE MOTOR_INNER_SLOT_2_ENABLE	MOTOR_INNER_SLOT_1_ENABLE	Select the sensor slot used for control.
General
Speed Control Period (sec)	Must be a valid non-negative value	0.0005F	Period of speed control function.
Acceleration To Target Speed (rpm/sec)	Must be a valid non-negative value	1000.0F	The rate of acceleration to reach the target motor speed.
Current PI Output Limit (V)	Must be a valid non-negative value	24.0F	Current PI output limit
Limit Of Q-axis Current (A)	Must be a valid non-negative value	0.42F	Limit of q-axis current.
Protection
Maximum Speed (rpm)	Must be a valid non-negative value.	2650.0F	Controllable maximum speed
Limit Of Over Current (A)	Must be a valid value	3.54F	Limit of over current.(Detection threshold, instantaneous value)
Limit Of Over Voltage (V)	Must be a valid value	28.0F	Limit of over voltage for DC Bus.(Detection threshold)
Limit Of Over Speed (rpm)	Must be a valid value	3000.0F	Limit of over speed.(Detection threshold)
Limit Of Low Voltage (V)	Must be a valid value	14.0F	Limit of low voltage for DC Bus.(Detection threshold)
Sample Delay Compensation
Status	Disable Enable	Enable	Select enable/disable sample delay compensation.
Period Magnification Value	Must be a valid value	1.5	Period magnification value for sampling delay compensation.
Voltage Error Compensation
Status	Disable Enable	Enable	Select enable/disable voltage error compensation.
Reference Voltage (V)	Must be a valid value	24.0F	Reference voltage for compensation table.
Table Of Voltage 1 (V)	Must be a valid value	0.672F	Voltage error compensation table of voltage.
Table Of Voltage 2 (V)	Must be a valid value	0.945F	Voltage error compensation table of voltage.
Table Of Voltage 3 (V)	Must be a valid value	1.054F	Voltage error compensation table of voltage.
Table Of Voltage 4 (V)	Must be a valid value	1.109F	Voltage error compensation table of voltage.
Table Of Voltage 5 (V)	Must be a valid value	1.192F	Voltage error compensation table of voltage.
Table Of Current 1 (A)	Must be a valid value	0.013F	Voltage error compensation table of current.
Table Of Current 2 (A)	Must be a valid value	0.049F	Voltage error compensation table of current.
Table Of Current 3 (A)	Must be a valid value	0.080F	Voltage error compensation table of current.
Table Of Current 4 (A)	Must be a valid value	0.184F	Voltage error compensation table of current.
Table Of Current 5 (A)	Must be a valid value	0.751F	Voltage error compensation table of current.
Motor Parameter
Pole Pairs	Must be a valid non-negative value.	4	Pole pairs
Resistance (ohm)	Must be a valid value	1.3F	Resistance
Inductance Of D-axis (H)	Must be a valid value	0.0013F	Inductance of d-axis
Inductance Of Q-axis (H)	Must be a valid value	0.0013F	Inductance of q-axis
Permanent Magnetic Flux (Wb)	Must be a valid value	0.01119F	Permanent magnetic flux
Motor Parameter > Rotor Inertia (kgm^2)	Must be a valid value	0.000003666F	Rotor inertia
Rated Current (A)	Must be a valid value	1.67F	Rated current
Extended Function
MTPA	Disabled Enabled	module.middleware.motor_algorithm.-.mtpa.disabled	Select MTPA function.
Flux-Weakening	Disabled Enabled	Enabled	Select Flux weakening function.
Speed Feedback Process	Direct LPF SpeedObserver	Direct	Select speed feedback process.
Interrupts
Callback	Name must be a valid C symbol	rm_motor_control_callback	A user callback function. If this callback function is provided, it is called from multiple internal events.
Name	Name must be a valid C symbol	g_motor0_pm_foc	Module name.

Clock Configuration

The Motor PM FOC module uses timer peripherals for inner loop and outer loop control timing. Configure the timer instances according to your control period requirements:

Inner loop (current control): Typically 50-100 µs period
Outer loop (speed control): Typically 1-10 ms period

Pin Configuration

This module does not use I/O pins directly. Pin configuration is handled by the motor driver module (motor_hal_driver_instance) and sensor module (motor_sensor_instance).

Usage Notes

Control Modes

The Motor PM FOC module supports multiple control modes that can be set using RM_MOTOR_PM_FOC_ControlModeSet and retrieved using RM_MOTOR_PM_FOC_ControlModeGet. The control mode determines how the motor is driven:

Speed control mode: Motor speed follows the speed reference
Position control mode: Motor position follows the position reference
Current control mode: Direct control of d-axis and q-axis currents

Motor Status

The motor status can be retrieved using RM_MOTOR_PM_FOC_StatusGet. This provides information about the current operating state of the motor control system.

Error Handling

The Motor PM FOC module monitors for various error conditions:

Overcurrent: Phase current exceeds the configured limit
Overvoltage: DC bus voltage exceeds the configured limit
Low voltage: DC bus voltage falls below the configured limit
Overspeed: Motor speed exceeds the configured limit

When an error is detected, it can be retrieved using RM_MOTOR_PM_FOC_ErrorGet. After handling the error condition, use RM_MOTOR_PM_FOC_Reset to clear the error state and RM_MOTOR_PM_FOC_Run to restart motor operation.

Flux Weakening

Flux weakening allows the motor to operate above its base speed by reducing the magnetic flux. This is achieved by injecting negative d-axis current. The flux weakening feature can be enabled through the extended configuration.

Voltage Error Compensation

Voltage error compensation improves control accuracy by compensating for non-linearities in the inverter, such as dead-time effects and device voltage drops. The compensation table can be configured in the extended configuration.

Limitations

Developers should be aware of the following limitations when using the Motor PM FOC:

The module must be opened using RM_MOTOR_PM_FOC_Open before any other API calls.
Control mode should be set using RM_MOTOR_PM_FOC_ControlModeSet before activating motor run.
The motor driver and sensor modules must be properly configured before opening this module.
Parameter updates using RM_MOTOR_PM_FOC_ParameterUpdate should be performed when the motor is stopped or during controlled operation to avoid transients.
Only the functions/types/macros exposed via rm_motor_pm_foc.h and rm_motor_algorithm_api.h should be accessed by user code and that the contents of the other headers is subject to change.

Examples

Motor PM FOC Basic Example

This is a basic example of minimal use of the Motor PM FOC in an application.

void rm_motor_pm_foc_basic_example (void)
{
    fsp_err_t err = FSP_SUCCESS;
    /* Initializes the motor PM FOC module. */
    err = RM_MOTOR_PM_FOC_Open(&g_motor_pm_foc_ctrl, &g_motor_pm_foc_cfg);
    handle_error(err);
    /* Activate the motor control. */
    err = RM_MOTOR_PM_FOC_Run(&g_motor_pm_foc_ctrl);
    handle_error(err);
    while (true)
    {
        /* Application work here. */
    }
}

Motor PM FOC Advanced Example

This example demonstrates status monitoring, control mode management, and error handling.

void rm_motor_pm_foc_advanced_example (void)
{
    fsp_err_t err          = FSP_SUCCESS;
    uint8_t   status       = 0U;
    uint32_t  error_flags  = 0U;
    uint8_t   control_mode = 0U;
    /* Open the motor PM FOC module. */
    err = RM_MOTOR_PM_FOC_Open(&g_motor_pm_foc_ctrl, &g_motor_pm_foc_cfg);
    handle_error(err);
    /* Set control mode. */
    err = RM_MOTOR_PM_FOC_ControlModeSet(&g_motor_pm_foc_ctrl, control_mode);
    handle_error(err);
    /* Activate the motor control. */
    err = RM_MOTOR_PM_FOC_Run(&g_motor_pm_foc_ctrl);
    handle_error(err);
    while (true)
    {
        /* Get motor status. */
        err = RM_MOTOR_PM_FOC_StatusGet(&g_motor_pm_foc_ctrl, &status);
        handle_error(err);
        /* Get current control mode. */
        err = RM_MOTOR_PM_FOC_ControlModeGet(&g_motor_pm_foc_ctrl, &control_mode);
        handle_error(err);
        /* Check for errors. */
        err = RM_MOTOR_PM_FOC_ErrorGet(&g_motor_pm_foc_ctrl, &error_flags);
        handle_error(err);
        if (error_flags != 0U)
        {
            /* Stop motor on error. */
            err = RM_MOTOR_PM_FOC_Stop(&g_motor_pm_foc_ctrl);
            handle_error(err);
            /* Reset the motor control module. */
            err = RM_MOTOR_PM_FOC_Reset(&g_motor_pm_foc_ctrl);
            handle_error(err);
            break;
        }
        /* Update parameters if needed. */
        err = RM_MOTOR_PM_FOC_ParameterUpdate(&g_motor_pm_foc_ctrl, &g_motor_pm_foc_cfg);
        handle_error(err);
    }
    /* Close the motor PM FOC module. */
    err = RM_MOTOR_PM_FOC_Close(&g_motor_pm_foc_ctrl);
    handle_error(err);
}

Data Structures
struct	motor_pm_foc_inner_cfg_t

struct	motor_pm_foc_outer_cfg_t

struct	motor_inner_get_voltage_t

struct	motor_mode_inner_to_outer_t

struct	motor_pm_foc_outer_loop_func_table_t

struct	motor_outer_design_params_t

struct	motor_pm_foc_outer_instance_signals_ctrl_t

struct	motor_pm_foc_inner_instance_signals_ctrl_t

struct	motor_pm_foc_extended_data_cfg_t

struct	motor_pm_foc_instance_ctrl_t

Macros
#define	MOTOR_PM_FOC_SHARED_BUFFER_COUNT
	Number of double-buffered shared data structures.

Typedefs
typedef void()	OuterLoopFunction(void p_ctrl, void p_cfg)

Enumerations
enum	motor_error_pm_foc_t

enum	motor_inner_sample_delay_compensation_t

enum	motor_inner_sensor_selected_slot_t

enum	motor_outer_ctrl_status_t

Data Structure Documentation

◆ motor_pm_foc_inner_cfg_t

struct motor_pm_foc_inner_cfg_t

Configuration parameters.

Data Fields
void const *	p_context	Placeholder for user data.
void const *	p_extend	Pointer to extended configuration.

◆ motor_pm_foc_outer_cfg_t

struct motor_pm_foc_outer_cfg_t

Configuration parameters.

Data Fields
void const *	p_context
	Placeholder for user data.

void const *	p_extend
	Pointer to extended configuration.

◆ motor_inner_get_voltage_t

struct motor_inner_get_voltage_t

Structure to retrieve motor voltage references

Data Fields
float	v_u_ref	U phase voltage reference [V].
float	v_v_ref	V phase voltage reference [V].
float	v_w_ref	W phase voltage reference [V].
float	v_d_ref	d-axis voltage reference
float	v_q_ref	q-axis voltage reference

◆ motor_mode_inner_to_outer_t

struct motor_mode_inner_to_outer_t

Control mode data structure from inner to outer loop

Data Fields
float	id_ref_ow	d-axis current reference overwrite value [A]
float	iq_ref_ow	q-axis current reference overwrite value [A]
uint8_t	mode_outer	Control mode specification for outer loop.

◆ motor_pm_foc_outer_loop_func_table_t

struct motor_pm_foc_outer_loop_func_table_t

Outerloop Function Pointer Table

Data Fields
OuterLoopFunction *	control_mode_ctrl	Position/Speed control function pointer.
OuterLoopFunction *	mtpa_ctrl	MTPA (Maximum Torque Per Ampere) control function pointer.
OuterLoopFunction *	fw_ctrl	Fluxweak Control function pointer.
OuterLoopFunction *	spdobsv_ctrl	Speed Observer function pointer.

◆ motor_outer_design_params_t

struct motor_outer_design_params_t

Design parameter structure for outer control

Data Fields
float	speed_omega	Natural frequency[Hz] for speed loop gain design.
float	speed_zeta	Damping ratio for speed loop gain design.
float	observer_omega	Natural frequency[Hz] for speed observer and extended observer.
float	observer_zeta	Damping ratio for speed observer.

◆ motor_pm_foc_outer_instance_signals_ctrl_t

struct motor_pm_foc_outer_instance_signals_ctrl_t

Motor outer control instance control block

Data Fields
uint32_t	error_info	Error flags detected during outer loop execution.
uint8_t	active	Flag to set active/inactive the speed control.
float	i_q_ref_disturbance	Anti disturbance Q-axis current reference [A].
float	speed_mech_que_ref	Command speed value for speed PI control[rad/s].
float	speed_mech_ref	Speed reference value [rad/s].
float	speed_mech_lpf	Low-pass filtered speed [rad/s].
float	speed_mech	Mechanical Speed used by outer control loop [rad/s].
float	angle_mech	Mechanical Angle Position used by outer control loop [rad].
motor_flux_weakening_t	flux_weakening_ctrl	Flux-weakening control data.
motor_mode_inner_to_outer_t	inner_mode_data	control mode data from inner loop (request to overwrite references)
pi_ctrl_t	speed_pi_ctrl	Speed PI controller data.
motor_common_lpf_t	speed_lpf_ctrl	Speed low-pass filter data.
motor_spdobserver_t	speed_observer_ctrl	Speed observer data.
motor_extobserver_t	extobserver_ctrl	Disturbance torque/speed observer data.

◆ motor_pm_foc_inner_instance_signals_ctrl_t

struct motor_pm_foc_inner_instance_signals_ctrl_t

Motor inner control instance control block

Data Fields
uint32_t	error_info	Error flags detected during inner loop execution.
uint8_t	active	Flag to set active/inactive the current control.
motor_algorithm_control_mode_t	control_mode	Current control mode.
motor_shared_inner_to_position_speed_t	to_pos_speed	Data structure for sensor module (it includes iu, iv, iw)
float	v_dc	DC bus voltage [V].
float	angle_el	Electrical rotor angle [radian].
float	speed_el	Electrical rotor speed [radian/s].
float	v_u_ref	U phase voltage reference [V].
float	v_v_ref	V phase voltage reference [V].
float	v_w_ref	W phase voltage reference [V].
pi_ctrl_t	id_pi_ctrl	D-axis current PI controller.
pi_ctrl_t	iq_pi_ctrl	Q-axis current PI controller.
motor_volt_error_comp_t	vcomp_ctrl	Voltage error compensation data.

◆ motor_pm_foc_extended_data_cfg_t

struct motor_pm_foc_extended_data_cfg_t

Extended configurations for motor PM FOC control

Data Fields
float	comp_v[MOTOR_VOLT_ERR_COMP_TABLE_ARRAY_SIZE]	Voltage error compensation table: voltage axis.
float	comp_i[MOTOR_VOLT_ERR_COMP_TABLE_ARRAY_SIZE]	Voltage error compensation table: current axis.
float	comp_vdc_ref	Voltage error compensation: DC bus reference voltage for table.
float	comp_limit_factor	Voltage error compensation: limit factor.
motor_volt_error_comp_select_t	vcomp_enable	Enable/disable voltage error compensation.
motor_inner_sample_delay_compensation_t	sample_delay_comp_enable	Enable/disable sample delay compensation.
motor_inner_sensor_selected_slot_t	sensor_slot	Selected sensor slot.
float	period_magnitude_value	Period magnification value for sampling delay compensation.
float	inner_control_period	Current control period [usec].
float	current_limit	Current limit [A].
float	outer_control_period	Speed control period [sec].
float	speed_mech_change_limit	Maximum speed reference change rate [rad/s^2].
float	speed_mech_cmd_limit	Maximum speed command value [rad/s].
float	speed_lpf_omega_t	Speed LPF design value.
float	iq_limit	Limit of q-axis current [A].
float	overcurrent_limit	Over-current detection limit [A].
float	overvoltage_limit	Over-voltage detection limit [V].
float	lowvoltage_limit	Low-voltage detection limit [V].
float	overspeed_limit	Over-speed detection limit [rpm].

◆ motor_pm_foc_instance_ctrl_t

struct motor_pm_foc_instance_ctrl_t

PM FOC control instance control block

Data Fields
uint32_t	open	Vector control open flag.
uint8_t	sensor_control_mode	Sensor control mode.
uint8_t	motor_status	Motor Status.
motor_pm_foc_inner_instance_ctrl_t *	p_inner_instance_ctrl	Pointer to inner control instance.
motor_pm_foc_outer_instance_ctrl_t *	p_outer_instance_ctrl	Pointer to outer control instance.
motor_algorithm_cfg_t const *	p_cfg

Typedef Documentation

◆ OuterLoopFunction

typedef void() OuterLoopFunction(void *p_ctrl, void *p_cfg)

Outer loop function pointer type definition

Enumeration Type Documentation

◆ motor_error_pm_foc_t

enum motor_error_pm_foc_t

Error information

◆ motor_inner_sample_delay_compensation_t

enum motor_inner_sample_delay_compensation_t

Sample delay compensation enable/disable selection

Enumerator
MOTOR_INNER_SAMPLE_DELAY_COMPENSATION_DISABLE	Sample delay compensation disabled.
MOTOR_INNER_SAMPLE_DELAY_COMPENSATION_ENABLE	Sample delay compensation enabled.

◆ motor_inner_sensor_selected_slot_t

enum motor_inner_sensor_selected_slot_t

Sensor slot selection for inner control

Enumerator
MOTOR_INNER_SLOT_1_ENABLE	Use sensor slot 1.
MOTOR_INNER_SLOT_2_ENABLE	Use sensor slot 2.

◆ motor_outer_ctrl_status_t

enum motor_outer_ctrl_status_t

Outer control status enumeration

Enumerator
MOTOR_SPEED_CTRL_STATUS_INIT	Speed control initialization state.
MOTOR_SPEED_CTRL_STATUS_BOOT	Speed control bootstrap state.
MOTOR_SPEED_CTRL_STATUS_RUN	Speed control running state.

Function Documentation

◆ RM_MOTOR_PM_FOC_Open()

fsp_err_t RM_MOTOR_PM_FOC_Open	(	motor_algorithm_ctrl_t *const	p_ctrl,
		motor_algorithm_cfg_t const *const	p_cfg
	)

Opens and configures the Vector control module. Implements motor_driver_api_t::open.

Return values

FSP_SUCCESS	Motor Driver 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_PM_FOC_Close()

fsp_err_t RM_MOTOR_PM_FOC_Close ( motor_algorithm_ctrl_t *const p_ctrl )

Disables specified Motor Current Module.

Return values

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

◆ RM_MOTOR_PM_FOC_Reset()

fsp_err_t RM_MOTOR_PM_FOC_Reset ( motor_algorithm_ctrl_t *const p_ctrl )

Disables specified Motor Current Module.

Return values

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

◆ RM_MOTOR_PM_FOC_Run()

fsp_err_t RM_MOTOR_PM_FOC_Run ( motor_algorithm_ctrl_t *const p_ctrl )

Active run motor.

Return values

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

◆ RM_MOTOR_PM_FOC_Stop()

fsp_err_t RM_MOTOR_PM_FOC_Stop ( motor_algorithm_ctrl_t *const p_ctrl )

Motor Stop.

Return values

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

◆ RM_MOTOR_PM_FOC_ControlModeGet()

fsp_err_t RM_MOTOR_PM_FOC_ControlModeGet	(	motor_algorithm_ctrl_t *const	p_ctrl,
		motor_algorithm_control_mode_t *	p_control_mode
	)

ControlModeGet.

Return values

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

◆ RM_MOTOR_PM_FOC_ControlModeSet()

fsp_err_t RM_MOTOR_PM_FOC_ControlModeSet	(	motor_algorithm_ctrl_t *const	p_ctrl,
		motor_algorithm_control_mode_t	control_mode
	)

ControlModeSet.

Return values

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

◆ RM_MOTOR_PM_FOC_StatusGet()

fsp_err_t RM_MOTOR_PM_FOC_StatusGet	(	motor_algorithm_ctrl_t *const	p_ctrl,
		uint8_t *const	p_status
	)

StatusGet.

Return values

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

◆ RM_MOTOR_PM_FOC_ParameterUpdate()

fsp_err_t RM_MOTOR_PM_FOC_ParameterUpdate	(	motor_algorithm_ctrl_t *const	p_ctrl,
		motor_algorithm_cfg_t const *const	p_cfg
	)

Updates the parameters of the motor control module.

This function overwrites the configuration pointer of the motor control instance and updates managed variables such as current limits in the inner instance. It does not modify any gain parameters directly, but ensures that the new configuration is applied to the instance.

Parameters

[in]	p_ctrl	Pointer to the motor algorithm control structure.
[in]	p_cfg	Pointer to the new motor algorithm configuration structure.

Return values

FSP_SUCCESS	Successfully updated parameters.
FSP_ERR_ASSERTION	Null pointer detected.
FSP_ERR_NOT_OPEN	Module is not open.

◆ RM_MOTOR_PM_FOC_ErrorGet()

fsp_err_t RM_MOTOR_PM_FOC_ErrorGet	(	motor_algorithm_ctrl_t *const	p_ctrl,
		uint32_t *	p_error_flags
	)

ErrorGet.

Return values

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

◆ algorithm_disabled()

void algorithm_disabled	(	void *	p_ctrl,
		void *	p_cfg
	)

Dummy function for disabled algorithms.

This function is used as a placeholder in the function pointer table when a specific algorithm (e.g., MTPA, flux weakening, speed observer) is disabled in the configuration.

Parameters

[in]	p_ctrl	Pointer to control structure (unused)
[in]	p_cfg	Pointer to configuration structure (unused)

Return values

None	Dammy configured function

◆ motor_outer_fnctbl_spdobsrv_ctrl()

void motor_outer_fnctbl_spdobsrv_ctrl	(	void *	p_ctrl,
		void *	p_cfg
	)

Speed observer control function.

This function applies the speed observer algorithm to estimate the mechanical speed based on q-axis current reference and measured speed. The estimated speed is stored in the low-pass filtered speed variable.

Parameters

[in,out]	p_ctrl	Pointer to motor outer control instance
[in]	p_cfg	Pointer to extended configuration

Return values

None	Speed Observer related for function pointer table

◆ motor_outer_fnctbl_spddirct_ctrl()

void motor_outer_fnctbl_spddirct_ctrl	(	void *	p_ctrl,
		void *	p_cfg
	)

Direct speed assignment control function.

This function directly assigns the measured mechanical speed to the low-pass filtered speed variable without applying any filtering or observer algorithm.

Parameters

[in,out]	p_ctrl	Pointer to motor outer control instance
[in]	p_cfg	Pointer to extended configuration (unused)

Return values

None

◆ motor_outer_fnctbl_spdlpf_ctrl()

void motor_outer_fnctbl_spdlpf_ctrl	(	void *	p_ctrl,
		void *	p_cfg
	)

Low-pass filter processing for speed.

This function applies a first-order low-pass filter to the measured mechanical speed and updates the filtered speed value in the control instance.

Parameters

[in,out]	p_ctrl	Pointer to motor outer control instance
[in]	p_cfg	Pointer to extended configuration (unused)

Return values

None

◆ motor_outer_fnctbl_extobsrv_ctrl()

void motor_outer_fnctbl_extobsrv_ctrl	(	void *	p_ctrl,
		void *	p_cfg
	)

Extended observer for disturbance torque and speed estimation.

This function applies an extended observer to estimate mechanical speed excluding disturbance torque effects. It also generates a disturbance compensation current reference for torque ripple suppression.

Parameters

[in,out]	p_ctrl	Pointer to motor outer control instance
[in]	p_cfg	Pointer to extended configuration

Return values

None

◆ motor_outer_fnctbl_mtpa_ctrl()

void motor_outer_fnctbl_mtpa_ctrl	(	void *	p_ctrl,
		void *	p_cfg
	)

MTPA (Maximum Torque Per Ampere) control function.

This function applies the MTPA algorithm to optimize d- and q-axis current references for maximum torque efficiency. If flux weakening is active, it integrates flux weakening control with MTPA to select appropriate current commands. The function ensures that d-axis current reference remains non-positive for non-salient PMSM.

Parameters

[in,out]	p_ctrl	Pointer to motor outer control instance
[in]	p_cfg	Pointer to extended configuration

Return values

None	MTPA for function pointer table

◆ motor_outer_fnctbl_fw_ctrl()

void motor_outer_fnctbl_fw_ctrl	(	void *	p_ctrl,
		void *	p_cfg
	)

Flux weakening control function.

This function applies flux weakening control to adjust d- and q-axis current references for high-speed motor operation, ensuring the voltage limit is not exceeded. The function overwrites the dq-axis current commands when flux weakening is enabled.

Parameters

[in,out]	p_ctrl	Pointer to motor outer control instance
[in]	p_cfg	Pointer to extended configuration

Return values

None	Fluxweak control for function pointer table

◆ motor_outer_speed_control()

void motor_outer_speed_control	(	void *	p_ctrl,
		void *	p_cfg
	)

Calculates the d/q-axis current reference for speed control.

Control mode function for function pointer table

This function performs the main process of outer control, including speed filtering, trajectory control, speed reference setting, and current reference calculation. It also applies MTPA and flux weakening control via function pointers.

Parameters

[in,out]	p_ctrl	Pointer to control structure
[in]	p_cfg	Pointer to configuration structure

Return values

None

◆ motor_outer_position_control()

void motor_outer_position_control	(	void *	p_ctrl,
		void *	p_cfg
	)

Calculates the d/q-axis current reference for position control.

This function is reserved for future implementation of position control.

Parameters

[in,out]	p_ctrl	Pointer to control structure
[in]	p_cfg	Pointer to configuration structure

Return values

None

Functions

Detailed Description

Overview

Features

Configuration

Build Time Configurations for rm_motor_pm_foc

Configurations for Motor > Advanced Motor Middleware > Motor PM FOC Module (rm_motor_pm_foc)

Clock Configuration

Pin Configuration

Usage Notes

Control Modes

Motor Status

Error Handling

Flux Weakening

Voltage Error Compensation

Limitations

Examples

Motor PM FOC Basic Example

Motor PM FOC Advanced Example

Data Structures

Macros

Typedefs

Enumerations

Data Structure Documentation

◆ motor_pm_foc_inner_cfg_t

◆ motor_pm_foc_outer_cfg_t

Data Fields

◆ motor_inner_get_voltage_t

◆ motor_mode_inner_to_outer_t

◆ motor_pm_foc_outer_loop_func_table_t

◆ motor_outer_design_params_t

◆ motor_pm_foc_outer_instance_signals_ctrl_t

◆ motor_pm_foc_inner_instance_signals_ctrl_t

◆ motor_pm_foc_extended_data_cfg_t

◆ motor_pm_foc_instance_ctrl_t

Typedef Documentation

◆ OuterLoopFunction

Enumeration Type Documentation

◆ motor_error_pm_foc_t

◆ motor_inner_sample_delay_compensation_t

◆ motor_inner_sensor_selected_slot_t

◆ motor_outer_ctrl_status_t

Function Documentation

◆ RM_MOTOR_PM_FOC_Open()

◆ RM_MOTOR_PM_FOC_Close()

◆ RM_MOTOR_PM_FOC_Reset()

◆ RM_MOTOR_PM_FOC_Run()

◆ RM_MOTOR_PM_FOC_Stop()

◆ RM_MOTOR_PM_FOC_ControlModeGet()

◆ RM_MOTOR_PM_FOC_ControlModeSet()

◆ RM_MOTOR_PM_FOC_StatusGet()

◆ RM_MOTOR_PM_FOC_ParameterUpdate()

◆ RM_MOTOR_PM_FOC_ErrorGet()

◆ algorithm_disabled()

◆ motor_outer_fnctbl_spdobsrv_ctrl()

◆ motor_outer_fnctbl_spddirct_ctrl()

◆ motor_outer_fnctbl_spdlpf_ctrl()

◆ motor_outer_fnctbl_extobsrv_ctrl()

◆ motor_outer_fnctbl_mtpa_ctrl()

◆ motor_outer_fnctbl_fw_ctrl()

◆ motor_outer_speed_control()

◆ motor_outer_position_control()