6Step_Lib.h

Go to the documentation of this file.

/**
 ******************************************************************************
 * @file    6Step_Lib.h
 * @author  System lab
 * @version V1.0.0
 * @date    06-July-2015
 * @brief   This header file provides the set of functions for Motor Control 
            library 
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */


/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __6STEP_LIB_H
#define __6STEP_LIB_H

 
#include "stm32_nucleo_ihm11m1.h"

#include "math.h"
#include "stdlib.h"
#include "stdio.h"

/** @addtogroup MIDDLEWARES     MIDDLEWARES 
  * @brief  Middlewares Layer
  * @{ 
  */


/** @addtogroup MC_6-STEP_LIB    MC_6-STEP_LIB 
  * @brief  Motor Control driver
  * @{ 
  */

/** @defgroup Exported_types  Exported_types
* @{
*/
/** 
  * @brief  Six Step parameters  
  */
typedef enum 
{
    IDLE,                               /* 0 */
    STARTUP,                            /* 1 */
    VALIDATION,                         /* 2 */
    STOP,                               /* 3 */
    START,                              /* 4 */
    RUN,                                /* 5 */
    ALIGNMENT,                          /* 6 */
    SPEEDFBKERROR,                      /* 7 */
    OVERCURRENT,                        /* 8 */
    STARTUP_FAILURE,                    /* 9 */ 
    STARTUP_BEMF_FAILURE /* 10 */ 
} SIXSTEP_Base_SystStatus_t;

/**
  * @} 
  */


/** @defgroup Exported_types  Exported_types
* @{
*/
/** 
  * @brief  Six Step parameters  
  */
typedef struct
{
  uint32_t LF_TIMx_PSC;                  /*!< Prescaler variable for low frequency timer*/ 
  uint32_t LF_TIMx_ARR;                  /*!< ARR variable for low frequency timer*/ 
  uint32_t HF_TIMx_PSC;                  /*!< Prescaler variable for high frequency timer*/ 
  uint32_t HF_TIMx_ARR;                  /*!< ARR variable for high frequency timer*/ 
  uint32_t HF_TIMx_CCR;                  /*!< CCR variable for high frequency timer*/ 
  uint8_t step_position;                 /*!< Step number variable for SixStep algorithm*/ 
  SIXSTEP_Base_SystStatus_t STATUS;      /*!< Status variable for SixStep algorithm*/ 
  uint8_t  status_prev;                  /*!< Previous status variable for SixStep algorithm*/ 
  uint16_t pulse_value;                  /*!< CCR value for SixStep algorithm*/ 
  uint16_t ARR_value;                    /*!< ARR vector for Accell compute*/ 
  uint32_t Regular_channel[4];           /*!< Buffer for ADC regular channel */ 
  uint32_t CurrentRegular_BEMF_ch;       /*!< ADC regular channel to select */ 
  uint32_t prescaler_value;              /*!< Prescaler value for low freq timer*/ 
  uint16_t numberofitemArr;              /*!< Number of elements */ 
  uint32_t ADC_BUFFER[4];                /*!< Buffer for ADC regular channel */ 
  uint32_t ADC_SEQ_CHANNEL[4];           /*!< Buffer for ADC regular channel */ 
  uint32_t ADC_Regular_Buffer[5];        /*!< Buffer for ADC regular channel */ 
  uint16_t ADC_BEMF_threshold_UP;        /*!< Voltage threshold for BEMF detection in up direction*/ 
  uint16_t ADC_BEMF_threshold_DOWN;      /*!< Voltage threshold for BEMF detection in down direction*/ 
  uint16_t demagn_counter;               /*!< Demagnetization counter*/ 
  uint16_t demagn_value;                 /*!< Demagnetization value*/ 
  int16_t speed_fdbk;                    /*!< Motor speed variable*/ 
  int16_t speed_fdbk_filtered;           /*!< Filtered Motor speed variable*/ 
  int16_t filter_depth;                  /*!< Filter depth for speed measuring*/ 
  uint16_t Current_Reference;            /*!< Currrent reference for SixStep algorithm*/ 
  uint16_t Ireference;                   /*!< Currrent reference for SixStep algorithm*/ 
  int32_t Integral_Term_sum;             /*!< Global Integral part for PI*/ 
  uint8_t CMD;                           /*!< Flag control for Motor Start/Stop*/ 
  uint8_t ALIGN_OK;                      /*!< Flag control for Motor Alignment*/ 
  uint8_t ALIGNMENT;                     /*!< Flag control for Motor Alignment ongoing*/ 
  uint8_t bemf_state_1;                  /*!< Bemf variable */ 
  uint8_t bemf_state_2;                  /*!< Bemf variable */ 
  uint8_t bemf_state_3;                  /*!< Bemf variable */ 
  uint8_t bemf_state_4;                  /*!< Bemf variable */ 
  uint8_t bemf_state_5;                  /*!< Bemf variable */ 
  uint8_t bemf_state_6;                  /*!< Bemf variable */ 
  uint16_t Speed_Loop_Time;              /*!< Speed loop variable for timing */ 
  uint16_t Speed_Ref_filtered;           /*!< Filtered Reference Motor Speed variable */ 
  uint16_t RUN_Motor;                    /*!< Flag for Motor status */ 
  uint8_t ARR_OK;                        /*!< ARR flag control for Accell status */ 
  uint8_t VALIDATION_OK;                 /*!< Validation flag for Closed loop control begin */ 
  uint8_t SPEED_VALIDATED;               /*!< Validation flag for Speed before closed loop control */ 
  uint16_t Speed_target_ramp;            /*!< Target Motor Speed */ 
  uint16_t Speed_target_time;            /*!< Target Motor Ramp time */ 
  uint16_t Ramp_Start;                   /*!< Ramp time start*/ 
  uint16_t Bemf_delay_start;             /*!< Bemf variable */ 
  uint16_t MediumFrequencyTask_flag;     /*!< Flag for Medium Task Frequency */ 
  uint32_t SYSCLK_frequency;             /*!< System clock main frequency */ 
  uint32_t Uart_cmd_to_set;              /*!<  */ 
  uint32_t Uart_value_to_set;            /*!<  */
  uint8_t Button_ready;                  /*!<  */
  uint8_t BEMF_OK;                       /*!<  */
  uint8_t CL_READY;                      /*!<  */
  uint8_t BEMF_Tdown_count;              /*!< BEMF Consecutive Threshold Falling Crossings Counter */ 
  uint16_t IREFERENCE;                   /*!< Currrent reference*/ 
  uint16_t NUMPOLESPAIRS;                /*!< Number of motor pole pairs  */ 
  uint32_t ACCEL;                        /*!< Acceleration start-up parameter*/ 
  uint16_t KP;                           /*!< KP parameter for PI regulator */ 
  uint16_t KI;                           /*!< KI parameter for PI regulator */ 
  uint8_t CW_CCW;                        /*!< Set the motor direction */ 
  uint8_t Potentiometer;                 /*!< Enable/Disable potentiometer for speed control */ 
}  SIXSTEP_Base_InitTypeDef;             /*!< Six Step Data Structure */

/**
  * @} 
  */

/** @defgroup Exported_types  Exported_types
* @{
*/
/** 
  * @brief  Six PI regulator parameters  
  */

typedef struct
{
  int16_t Reference;                    /*!< Refence value for PI regulator */ 
  int16_t Kp_Gain;                      /*!< Kp value for PI regulator */ 
  int16_t Ki_Gain;                      /*!< Ki value for PI regulator */ 
  int16_t Lower_Limit_Output;           /*!< Min output value for PI regulator */ 
  int16_t Upper_Limit_Output;           /*!< Max output value for PI regulator */ 
  int8_t Max_PID_Output;                /*!< Max Saturation indicator flag */ 
  int8_t Min_PID_Output;                /*!< Min Saturation indicator flag */ 
} SIXSTEP_PI_PARAM_InitTypeDef_t, *SIXSTEP_pi_PARAM_InitTypeDef_t;  /*!< PI Data Structure */

/**
  * @} 
  */

/** @defgroup Exported_function_6StepLib  Exported_function_6StepLib
* @{
*/

void MC_SixStep_INIT(void);
void MC_SixStep_RESET(void);
void MC_StartMotor(void);
void MC_StopMotor(void);
void MC_Set_Speed(uint16_t);
void MC_EXT_button_SixStep(void);

/**
  * @} 
  */

/**  MC_6-STEP_LIB 
  * @} 
  */ 

 
/**  MIDDLEWARES
  * @} 
  */

#endif