Renesas RA6T2 Application Note page 43

Sensorless vector control for permanent magnetic
synchronous motor - 1shunt current detection
Table 3-7 List of Functions Executed in Current Control Period Interrupt (1/4)
File name
mtr_main.c
rm_motor_sensorless.c
rm_motor_driver.c
R01AN6840EJ0100 Rev.1.00
May 23, 2023
Function name
mtr_callback_event
Input : (motor_callback_args_t *) p_args
/ Callback argument
Output : None
rm_motor_sensorless_current_callback
Input : (motor_current_callback_args_t *) p_args
/ Callback argument
Output :None
RM_MOTOR_SENSORLESS_ErrorCheck
Input : (motor_ctrl_t * const) p_ctrl / Pointer to control structure.
(uint16_t * const) p_error / Pointer to get occured error
Output : fsp_err_t / Execution result
rm_motor_sensorless_copy_speed_current
Input : (motor_speed_output_t *) st_output / Pointer to the
structure of Speed Control output
(motor_current_input_t *) st_input / Pointer to the structure of
Current Control input
Output :None
rm_motor_driver_1shunt_cyclic
Input : ((timer_callback_args_t *) p_args
/ Callback argument
Output :None
rm_motor_driver_1shunt_current_get
Input : (motor_driver_instance_ctrl_t *) p_ctrl / The pointer to the
motor driver module instance
Output :None
RM_MOTOR_DRIVER_FlagCurrentOffsetGet
Input : (motor_driver_ctrl_t * const) p_ctrl / Pointer to control
structure
(uint8_t * const) p_flag_offset / Flag of finish current offset
detection
Output : fsp_err_t / Execution result
RM_MOTOR_DRIVER_PhaseVoltageSet
Input : (motor_driver_ctrl_t * const) p_ctrl / Pointer to control
structure
(float const) u_voltage / U phase voltage
(float const) v_voltage / V phase voltage
(float const) w_voltage / W phase voltage
Output : fsp_err_t / Execution result
For Renesas Flexible Motor Control Series
Process overview
Sensorless control
callback function
Set the speed control
output to the current
control input
Check the occurrence of
Error.
Copy speed output data to
current input data
Motor driver callback
function
Get A/D converted data
(Phase Current with
1shunt resistance & Main
Line Voltage)
Measure current offset
values
Set Phase Voltage Data to
calculate PWM duty.
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