X-CUBE-SPN11 for X-NUCLEO-IHM11M1: MC_6-STEP_LIB

X-CUBE-SPN11 for X-NUCLEO-IHM11M1

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X-CUBE-SPN11 for X-NUCLEO-IHM11M1
Modules | Functions | Variables
MC_6-STEP_LIB
MIDDLEWARES

Motor Control driver. More...

Modules

 Exported_types
 
 Exported_function_6StepLib
 
 MC_SixStep_TABLE
 Set the peripherals (TIMx, GPIO etc.) for each step.
 
 MC_SixStep_NEXT_step
 Generate the next step number according with the direction (CW or CCW)
 
 MC_SixStep_RESET
 Reset all variables used for 6Step control algorithm.
 
 MC_SixStep_Ramp_Motor_calc
 Calculate the acceleration profile step by step for motor during start-up.
 
 MC_SixStep_ARR_step
 Generate the ARR value for Low Frequency TIM during start-up.
 
 MC_SixStep_Alignment
 Generate the motor alignment.
 
 MC_SixStep_Speed_Val_target_potentiometer
 Calculate the Motor Speed validation threshold according with the potentiometer value.
 
 MC_SixStep_Speed_Potentiometer
 Calculate the potentiometer value to set the Motor Speed.
 
 MC_Set_PI_param
 Set all parameters for PI regulator.
 
 MC_PI_Controller
 Compute the PI output for the Current Reference.
 
 MC_Task_Speed
 Main task: Speed Loop with PI regulator.
 
 MC_Set_Speed
 Set the new motor speed value.
 
 MC_Bemf_Delay
 Take the delay time after each new 6-step commutation.
 
 MC_StartMotor
 Start the Motor.
 
 MC_StopMotor
 Stop the Motor.
 
 MC_GetElSpeedHz
 Get the Eletrical Motor Speed from ARR value of LF TIM.
 
 MC_GetMechSpeedRPM
 Get the Mechanical Motor Speed (RPM)
 
 MC_SixStep_Init_main_data
 Init the main variables for motor driving from MC_SixStep_param.h.
 
 MC_SixStep_INIT
 Initialitation function for SixStep library.
 
 MC_TIMx_SixStep_timebase
 Low Frequency Timer Callback - Call the next step and request the filtered speed value.
 
 MC_Speed_Filter
 Calculate the speed filtered.
 
 MC_Potentiometer_filter
 Calculate the filtered potentiometer value.
 
 MC_SysTick_SixStep_MediumFrequencyTask
 Systick Callback - Call the Speed loop.
 
 MC_SixStep_ARR_Bemf
 Calculate the new Autoreload value (ARR) for Low Frequency timer.
 
 MC_ADCx_SixStep_Bemf
 Compute the zero crossing detection.
 
 MC_EXT_button_SixStep
 GPIO EXT Callback - Start or Stop the motor through the Blue push button on STM32Nucleo.
 
 Main_Motor_parameters
 All motor parameters for 6Step driving.
 
 stm32F401_nucleo_ihm11m1
 Interface file for STM32F401 and Motor Control Library configuration.
 

Functions

uint64_t MCM_Sqrt (uint64_t wInput)
 It calculates the square root of a non-negative s64. More...
 
void MC_SixStep_EnableInput_CH1_E_CH2_E_CH3_D (void)
 Enable Input channel CH1 and CH2 for STSPIN230. More...
 
void MC_SixStep_EnableInput_CH1_E_CH2_D_CH3_E (void)
 Enable Input channel CH1 and CH3 for STSPIN230. More...
 
void MC_SixStep_EnableInput_CH1_D_CH2_E_CH3_E (void)
 Enable Input channel CH2 and CH3 for STSPIN230. More...
 
void MC_SixStep_DisableInput_CH1_D_CH2_D_CH3_D (void)
 Enable Input channel CH2 and CH3 for STSPIN230. More...
 
void MC_SixStep_Start_PWM_driving (void)
 Enable PWM channels for STSPIN230. More...
 
void MC_SixStep_Stop_PWM_driving (void)
 Disable PWM channels for STSPIN230. More...
 
void MC_SixStep_HF_TIMx_SetDutyCycle_CH1 (uint16_t)
 Set the Duty Cycle value for CH1. More...
 
void MC_SixStep_HF_TIMx_SetDutyCycle_CH2 (uint16_t)
 Set the Duty Cycle value for CH2. More...
 
void MC_SixStep_HF_TIMx_SetDutyCycle_CH3 (uint16_t)
 Set the Duty Cycle value for CH3. More...
 
void MC_SixStep_Current_Reference_Start (void)
 Enable the Current Reference generation. More...
 
void MC_SixStep_Current_Reference_Stop (void)
 Disable the Current Reference generation. More...
 
void MC_SixStep_Current_Reference_Setvalue (uint16_t)
 Set the value for Current Reference. More...
 
void MC_UI_INIT (void)
 
void UART_Set_Value (void)
 
void UART_Communication_Task (void)
 
void CMD_Parser (char *pCommandString)
 
void HAL_IncTick (void)
 This function is called to increment a global variable "uwTick" used as application time base. More...
 
uint32_t HAL_GetTick (void)
 Povides a tick value in millisecond. More...
 

Variables

SIXSTEP_Base_InitTypeDef SIXSTEP_parameters
 
SIXSTEP_PI_PARAM_InitTypeDef_t PI_parameters
 
uint16_t Rotor_poles_pairs
 
uint32_t mech_accel_hz = 0
 
uint32_t constant_k = 0
 
uint32_t Time_vector_tmp = 0
 
uint32_t Time_vector_prev_tmp = 0
 
uint32_t T_single_step = 0
 
uint32_t T_single_step_first_value = 0
 
int32_t delta = 0
 
uint16_t index_array = 1
 
int16_t speed_tmp_array [FILTER_DEEP]
 
uint16_t speed_tmp_buffer [FILTER_DEEP]
 
uint16_t HFBuffer [HFBUFFERSIZE]
 
uint16_t HFBufferIndex = 0
 
uint8_t array_completed = FALSE
 
uint8_t buffer_completed = FALSE
 
uint8_t UART_FLAG_RECEIVE = FALSE
 
uint32_t ARR_LF = 0
 
int32_t Mech_Speed_RPM = 0
 
int32_t El_Speed_Hz = 0
 
uint16_t index_adc_chn = 0
 
uint16_t index_motor_run = 0
 
uint16_t test_motor_run = 1
 
uint8_t Enable_start_button = TRUE
 
uint16_t index_ARR_step = 1
 
uint32_t n_zcr_startup = 0
 
uint16_t index_startup_motor = 1
 
uint16_t target_speed = TARGET_SPEED
 
uint16_t shift_n_sqrt = 14
 
uint16_t cnt_bemf_event = 0
 
uint8_t startup_bemf_failure = 0
 
uint8_t speed_fdbk_error = 0
 
__IO uint32_t uwTick = 0
 
uint8_t dac_status = DAC_ENABLE
 
uint16_t index_align = 1
 
int32_t speed_sum_sp_filt = 0
 
int32_t speed_sum_pot_filt = 0
 
uint16_t index_pot_filt = 1
 
int16_t potent_filtered = 0
 
uint32_t Tick_cnt = 0
 
uint32_t counter_ARR_Bemf = 0
 
uint64_t constant_multiplier_tmp = 0
 

Detailed Description

Motor Control driver.

Function Documentation

void CMD_Parser ( char *  pCommandString)
uint32_t HAL_GetTick ( void  )

Povides a tick value in millisecond.

Note
The function is declared as __Weak to be overwritten in case of other implementations in user file.
Return values
tickvalue

Definition at line 1618 of file 6Step_Lib.c.

References uwTick.

Referenced by MC_SysTick_SixStep_MediumFrequencyTask().

void HAL_IncTick ( void  )

This function is called to increment a global variable "uwTick" used as application time base.

Note
In the default implementation, this variable is incremented each 1ms in Systick ISR.
This function is declared as __weak to be overwritten in case of other implementations in user file.
Return values
None

Definition at line 1607 of file 6Step_Lib.c.

References uwTick.

Referenced by SysTick_Handler().

void MC_SixStep_Current_Reference_Setvalue ( uint16_t  Iref)

Set the value for Current Reference.

Return values
None

Definition at line 480 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_INIT(), MC_SixStep_Ramp_Motor_calc(), MC_SixStep_RESET(), and MC_Task_Speed().

void MC_SixStep_Current_Reference_Start ( )

Enable the Current Reference generation.

Return values
None

Definition at line 441 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_RESET().

void MC_SixStep_Current_Reference_Stop ( )

Disable the Current Reference generation.

Return values
None

Definition at line 460 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_StopMotor().

void MC_SixStep_DisableInput_CH1_D_CH2_D_CH3_D ( )

Enable Input channel CH2 and CH3 for STSPIN230.

Return values
None

Definition at line 327 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_StopMotor().

void MC_SixStep_EnableInput_CH1_D_CH2_E_CH3_E ( )

Enable Input channel CH2 and CH3 for STSPIN230.

Return values
None

Definition at line 309 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_TABLE().

void MC_SixStep_EnableInput_CH1_E_CH2_D_CH3_E ( )

Enable Input channel CH1 and CH3 for STSPIN230.

Return values
None

Definition at line 291 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_TABLE().

void MC_SixStep_EnableInput_CH1_E_CH2_E_CH3_D ( )

Enable Input channel CH1 and CH2 for STSPIN230.

Return values
None

Definition at line 273 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_TABLE().

void MC_SixStep_HF_TIMx_SetDutyCycle_CH1 ( uint16_t  CCR_value)

Set the Duty Cycle value for CH1.

Return values
None

Definition at line 381 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_RESET(), and MC_SixStep_TABLE().

void MC_SixStep_HF_TIMx_SetDutyCycle_CH2 ( uint16_t  CCR_value)

Set the Duty Cycle value for CH2.

Return values
None

Definition at line 400 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_RESET(), and MC_SixStep_TABLE().

void MC_SixStep_HF_TIMx_SetDutyCycle_CH3 ( uint16_t  CCR_value)

Set the Duty Cycle value for CH3.

Return values
None

Definition at line 423 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_RESET(), and MC_SixStep_TABLE().

void MC_SixStep_Start_PWM_driving ( )

Enable PWM channels for STSPIN230.

Return values
None

Definition at line 345 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_SixStep_NEXT_step().

void MC_SixStep_Stop_PWM_driving ( )

Disable PWM channels for STSPIN230.

Return values
None

Definition at line 363 of file stm32F401_nucleo_ihm11m1.c.

Referenced by MC_StopMotor().

void MC_UI_INIT ( void  )

Referenced by MC_SixStep_INIT().

uint64_t MCM_Sqrt ( uint64_t  wInput)

It calculates the square root of a non-negative s64.

It returns 0 for negative s64.

Parameters
Inputuint64_t number
Return values
int32_tSquare root of Input (0 if Input<0)

Definition at line 533 of file 6Step_Lib.c.

References shift_n_sqrt.

Referenced by MC_SixStep_Ramp_Motor_calc().

void UART_Communication_Task ( void  )

Referenced by MC_SysTick_SixStep_MediumFrequencyTask().

void UART_Set_Value ( void  )

Variable Documentation

uint32_t ARR_LF = 0

Autoreload LF TIM variable

Definition at line 93 of file 6Step_Lib.c.

Referenced by MC_SixStep_ARR_Bemf(), MC_SixStep_NEXT_step(), and MC_SixStep_RESET().

uint8_t array_completed = FALSE

Speed filter variable

Definition at line 90 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_Speed_Filter().

uint8_t buffer_completed = FALSE

Potentiometer filter variable

Definition at line 91 of file 6Step_Lib.c.

Referenced by MC_Potentiometer_filter(), and MC_SixStep_RESET().

uint16_t cnt_bemf_event = 0

Definition at line 105 of file 6Step_Lib.c.

Referenced by MC_SixStep_ARR_Bemf(), MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

uint32_t constant_k = 0

1/3*mech_accel_hz

Definition at line 79 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint64_t constant_multiplier_tmp = 0

Definition at line 117 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint32_t counter_ARR_Bemf = 0

Definition at line 116 of file 6Step_Lib.c.

Referenced by MC_SixStep_ARR_Bemf(), and MC_SixStep_RESET().

uint8_t dac_status = DAC_ENABLE

Definition at line 109 of file 6Step_Lib.c.

Referenced by MC_StartMotor(), and MC_Task_Speed().

int32_t delta = 0

Startup variable

Definition at line 84 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

int32_t El_Speed_Hz = 0

Electrical motor speed

Definition at line 95 of file 6Step_Lib.c.

Referenced by MC_GetElSpeedHz(), and MC_SixStep_RESET().

uint8_t Enable_start_button = TRUE

Start/stop button filter to avoid double command

Definition at line 99 of file 6Step_Lib.c.

Referenced by MC_EXT_button_SixStep(), MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

uint16_t HFBuffer[HFBUFFERSIZE]

Buffer for Potentiometer Value Filtering at the High-Frequency ADC conversion

Definition at line 88 of file 6Step_Lib.c.

Referenced by MC_ADCx_SixStep_Bemf(), MC_SixStep_RESET(), and MC_SixStep_Speed_Potentiometer().

uint16_t HFBufferIndex = 0

High-Frequency Buffer Index

Definition at line 89 of file 6Step_Lib.c.

Referenced by MC_ADCx_SixStep_Bemf(), and MC_SixStep_RESET().

uint16_t index_adc_chn = 0

Index of ADC channel selector for measuring

Definition at line 96 of file 6Step_Lib.c.

Referenced by MC_ADCx_SixStep_Bemf(), and MC_SixStep_RESET().

uint16_t index_align = 1

Definition at line 110 of file 6Step_Lib.c.

Referenced by MC_SixStep_Alignment(), and MC_SixStep_RESET().

uint16_t index_ARR_step = 1

Definition at line 100 of file 6Step_Lib.c.

Referenced by MC_SixStep_ARR_step(), and MC_SixStep_RESET().

uint16_t index_array = 1

Speed filter variable

Definition at line 85 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_Speed_Filter().

uint16_t index_motor_run = 0

Tmp variable for DEMO mode

Definition at line 97 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

uint16_t index_pot_filt = 1

Definition at line 113 of file 6Step_Lib.c.

Referenced by MC_Potentiometer_filter(), and MC_SixStep_RESET().

uint16_t index_startup_motor = 1

Definition at line 102 of file 6Step_Lib.c.

Referenced by MC_SixStep_Alignment(), MC_SixStep_ARR_step(), MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint32_t mech_accel_hz = 0

Hz – Mechanical acceleration rate

Definition at line 78 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

int32_t Mech_Speed_RPM = 0

Mechanical motor speed

Definition at line 94 of file 6Step_Lib.c.

Referenced by MC_GetMechSpeedRPM(), and MC_SixStep_RESET().

uint32_t n_zcr_startup = 0

Definition at line 101 of file 6Step_Lib.c.

Referenced by MC_SixStep_ARR_Bemf(), MC_SixStep_NEXT_step(), and MC_SixStep_RESET().

SIXSTEP_PI_PARAM_InitTypeDef_t PI_parameters

SixStep PI regulator structure

Definition at line 74 of file 6Step_Lib.c.

int16_t potent_filtered = 0

Definition at line 114 of file 6Step_Lib.c.

Referenced by MC_Potentiometer_filter(), and MC_SixStep_RESET().

uint16_t Rotor_poles_pairs

Number of pole pairs of the motor

Definition at line 77 of file 6Step_Lib.c.

Referenced by MC_GetMechSpeedRPM(), MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint16_t shift_n_sqrt = 14

Definition at line 104 of file 6Step_Lib.c.

Referenced by MCM_Sqrt().

SIXSTEP_Base_InitTypeDef SIXSTEP_parameters

Main SixStep structure

Definition at line 73 of file 6Step_Lib.c.

uint8_t speed_fdbk_error = 0

Definition at line 107 of file 6Step_Lib.c.

Referenced by MC_SixStep_NEXT_step(), MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

int32_t speed_sum_pot_filt = 0

Definition at line 112 of file 6Step_Lib.c.

Referenced by MC_Potentiometer_filter(), and MC_SixStep_RESET().

int32_t speed_sum_sp_filt = 0

Definition at line 111 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_Speed_Filter().

int16_t speed_tmp_array[FILTER_DEEP]

Speed filter variable

Definition at line 86 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_Speed_Filter().

uint16_t speed_tmp_buffer[FILTER_DEEP]

Potentiometer filter variable

Definition at line 87 of file 6Step_Lib.c.

Referenced by MC_Potentiometer_filter(), and MC_SixStep_RESET().

uint8_t startup_bemf_failure = 0

Definition at line 106 of file 6Step_Lib.c.

Referenced by MC_SixStep_ARR_Bemf(), MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

uint32_t T_single_step = 0

Startup variable

Definition at line 82 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint32_t T_single_step_first_value = 0

Startup variable

Definition at line 83 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint16_t target_speed = TARGET_SPEED

Target speed for closed loop control

Definition at line 103 of file 6Step_Lib.c.

Referenced by MC_Set_PI_param(), MC_SixStep_RESET(), MC_SixStep_Speed_Val_target_potentiometer(), and MC_Task_Speed().

uint16_t test_motor_run = 1

Tmp variable for DEMO mode

Definition at line 98 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

uint32_t Tick_cnt = 0

Definition at line 115 of file 6Step_Lib.c.

Referenced by MC_SixStep_RESET(), and MC_SysTick_SixStep_MediumFrequencyTask().

uint32_t Time_vector_prev_tmp = 0

Startup variable

Definition at line 81 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint32_t Time_vector_tmp = 0

Startup variable

Definition at line 80 of file 6Step_Lib.c.

Referenced by MC_SixStep_Ramp_Motor_calc(), and MC_SixStep_RESET().

uint8_t UART_FLAG_RECEIVE = FALSE

UART commmunication flag

Definition at line 92 of file 6Step_Lib.c.

Referenced by MC_SysTick_SixStep_MediumFrequencyTask().

__IO uint32_t uwTick = 0

Tick counter - 1msec updated

Definition at line 108 of file 6Step_Lib.c.

Referenced by HAL_GetTick(), HAL_IncTick(), MC_SixStep_RESET(), MC_StartMotor(), and MC_StopMotor().

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