X-CUBE-SPN11 for X-NUCLEO-IHM11M1: 6Step_Lib.h Source File

X-CUBE-SPN11 for X-NUCLEO-IHM11M1

 /**
  ******************************************************************************
  * @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
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