Renesas RA6T2 Application Note page 34

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-7 List of Functions Executed in 50[µs] Period Interrupt (2/4)
File name
rm_motor_driver.c
rm_motor_current.c
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Function name
rm_motor_driver_mod_run
Input : (motor_driver_modulation_t *) p_mod / Pointer to the
modulation data structure
(const float *) p_f4_v_in / Pointer to the 3-phase input voltage
(float *) p_f4_duty_out / Where to store the 3-phase output duty cycle
Output :None
rm_motor_driver_set_uvw_duty
Input : (motor_driver_instance_ctrl_t *) p_ctrl / Pointer to Motor Driver
instance
(float) f_duty_u / The duty cycle of Phase-U
(float) f_duty_v / The duty cycle of Phase-V
(float) f_duty_w / The duty cycle of Phase-W
Output : fsp_err_t / Execution result
RM_MOTOR_DRIVER_CurrentGet
Input : (motor_driver_ctrl_t * const) p_ctrl / Pointer to control structure
(motor_driver_current_get_t * const) p_current_get / Pointer to get
data structure
Output : fsp_err_t / Execution result
rm_motor_current_cyclic
Input : (motor_driver_callback_args_t *) p_args
/ Callback argument
Output :None
RM_MOTOR_CURRENT_ParameterSet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control structure
(motor_current_input_current_t const * const) p_st_input / Pointer to
input data structure
Output : fsp_err_t / Execution result
RM_MOTOR_CURRENT_CurrentSet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control structure
(motor_current_input_current_t const * const) p_st_current / Pointer to
input current structure
(motor_current_input_voltage_t const * const) p_st_voltage / Pointer to
input voltage structure
Output : fsp_err_t / Execution result
RM_MOTOR_CURRENT_CurrentGet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control structure
(float * const) p_id / Pointer to get d-axis current
(float * const) p_iq / Pointer to get q-axis current
Output : fsp_err_t / Execution result
motor_current_transform_uvw_dq_abs
Input : (const float) f_angle / rotor angle
(const float *) f_uvw / the pointer to the UVW-phase array in [U,V,W]
format
(float *) f_dq / where to store the [d,q] formated array on dq
coordinates
Output :None
Process overview
Calculates duty cycle
from input 3-phase
voltage (bipolar)
PWM duty setting
Get calculated phase
Current, Vdc & Va_max
data
Current control cycle
operation
Set (Input) Parameter
Data.
Set d/q-axis Current &
Voltage Data.
Get d/q-axis Current.
Coordinate transform
UVW to dq (absolute
transform)
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