MC_6-STEP_LIB

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

tick

value

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

Input

uint64_t number

Return values

int32_t

Square 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().