Renesas RA6T2 Application Note page 37

RA6T2
Vector control for permanent magnetic synchronous motor with encoder - AB incremental type encoder
Table 3-10 List of Functions Executed in 500[µs] Interrupt (1/2)
File name
mtr_main.c
rm_motor_current.c
rm_motor_encoder.c
rm_motor_speed.c
R01AN6208EJ0101 Rev.1.01
Oct 18, 2022
Function name
mtr_callback_encoder
Input : (motor_encoder_callback_args_t *) p_args
/ Callback argument
Output :None
get_vr1
Input :None
Output : uint16_t / conversion value
RM_MOTOR_CURRENT_ParameterGet
Input : (motor_current_ctrl_t * const) p_ctrl / Pointer to control
structure
(motor_current_input_current_t const * const) p_st_input / Pointer to
output data structure
Output : fsp_err_t / Execution result
rm_motor_encoder_speed_callback
Input : (motor_speed_callback_args_t *) p_args / Callback argument
Output :None
rm_motor_encoder_copy_current_speed
Input : (motor_current_output_t *) st_output / Pointer to the structure
of Current Control output
(motor_speed_input_t *) st_input / Pointer to the structure of Speed
Control input
Output :None
rm_motor_speed_cyclic
Input : (timer_callback_args_t *) p_args/ Callback argument
Output :None
RM_MOTOR_SPEED_ParameterSet
Input : (motor_speed_ctrl_t * const) p_ctrl / Pointer to control
structure
(motor_speed_input_t const * const) p_st_input / Pointer to structure
to input parameters
Output : fsp_err_t / Execution result
RM_MOTOR_SPEED_SpeedControl
Input : (motor_speed_ctrl_t * const) p_ctrl / Pointer to control
structure
Output : fsp_err_t / Execution result
rm_motor_speed_set_speed_ref
Input : (motor_speed_instance_ctrl_t *) p_ctrl / The pointer to the
FOC data instance
Output : float / Speed reference
rm_motor_speed_set_iq_ref
Input : (motor_speed_instance_ctrl_t *) p_ctrl / The pointer to the ctrl
instance
Output : float / Iq reference
rm_motor_speed_set_id_ref
Input : (motor_speed_instance_ctrl_t *) p_ctrl / The pointer to the ctrl
instance
Output : float / Id reference
RM_MOTOR_SPEED_ParameterGet
Input : (motor_speed_ctrl_t * const) p_ctrl / The pointer to the ctrl
instance
(motor_speed_output_t * const) p_st_output / Pointer to get speed
control parameters
Output : fsp_err_t / Execution result
Process overview
Encoder control callback
function
Get VR1 A/D conversion
value
Get speed control input data
from current control
Speed control callback
function
Copy current output data to
speed input data
Cyclic process of Speed
Control (Call at timer
interrupt)
Set speed Input parameters
Calculates the d/q-axis
current reference.(Main
process of Speed Control)
Updates the speed
reference
Updates the q-axis current
reference
Updates the d-axis current
reference
Get speed control output
parameters
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