X-CUBE-SPN11 for X-NUCLEO-IHM11M1: stm32F401_nucleo_ihm11m1.c Source File

X-CUBE-SPN11 for X-NUCLEO-IHM11M1

 /**
  ******************************************************************************
  * @file stm32F401_nucleo_ihm11m1.c
  * @author IPC
  * @version V0
  * @date 10/07/2016
  * @brief This file provides the interface between the MC-lib and STM Nucleo F401xx
  ******************************************************************************
  *
  * COPYRIGHT(c) 2015 STMicroelectronics
  *
  * 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.
  *
  ******************************************************************************
  */
 
  #include "stm32F401_nucleo_ihm11m1.h"
  #include "6Step_Lib.h"
  #include "X-NUCLEO-IHM11M1.h"
 
  extern SIXSTEP_Base_InitTypeDef SIXSTEP_parameters; /*!< Main SixStep structure*/ 
  extern SIXSTEP_PI_PARAM_InitTypeDef_t PI_parameters; /*!< SixStep PI regulator structure*/ 
  extern STSPIN230_MotorDriver_TypeDef STSPIN230MotorDriver;
 
  extern void MC_ADCx_SixStep_Bemf(void);
  extern void MC_TIMx_SixStep_timebase(void);
  extern void MC_SysTick_SixStep_MediumFrequencyTask(void); 
  
 /** @addtogroup MIDDLEWARES MIDDLEWARES 
  * @brief Middlewares Layer
  * @{ 
  */
 
 
 /** @addtogroup MC_6-STEP_LIB MC_6-STEP_LIB
  * @brief Motor Control driver
  * @{ 
  */
 
 /** @addtogroup stm32F401_nucleo_ihm11m1 stm32F401_nucleo_ihm11m1
  * @brief Interface file for STM32F401 and Motor Control Library configuration
  * @{ 
  */
 
 /** @defgroup MC_SixStep_ADC_Channel MC_SixStep_ADC_Channel
  * @{
  * @brief Select the new ADC Channel 
 */
 /**
  * @brief Select the new ADC Channel 
  * @param adc_ch 
  * @retval None
 */
  void MC_SixStep_ADC_Channel(uint32_t adc_ch)
  { 
  __HAL_ADC_DISABLE(&ADCx);
  /* Clear the old SQx bits for the selected rank */
  ADCx.Instance->SQR3 &= ~ADC_SQR3_RK(ADC_SQR3_SQ1, 1);
  /* Set the SQx bits for the selected rank */
  ADCx.Instance->SQR3 |= ADC_SQR3_RK(adc_ch, 1); 
  __HAL_ADC_ENABLE(&ADCx); 
  }
 /**
  * @} 
  */
 
 /** @defgroup MC_SixStep_Nucleo_Init MC_SixStep_Nucleo_Init
  * @{
  * @brief Init the STM32 register
 */
 /**
  * @brief Init the STM32 register
  * @retval None
 */
  void MC_SixStep_Nucleo_Init()
  {
  TIM_ClearInputConfigTypeDef sClearInputConfig;
  ADC_ChannelConfTypeDef sConfig;
  
  /******************** ETR CONFIGURATION **************************P*********/
  sClearInputConfig.ClearInputState = 1; 
  sClearInputConfig.ClearInputSource = TIM_CLEARINPUTSOURCE_ETR;
  sClearInputConfig.ClearInputPolarity = TIM_CLEARINPUTPOLARITY_NONINVERTED;
  sClearInputConfig.ClearInputPrescaler = TIM_CLEARINPUTPRESCALER_DIV1;
  sClearInputConfig.ClearInputFilter = 0;
  HAL_TIM_ConfigOCrefClear(&HF_TIMx, &sClearInputConfig, HF_TIMx_CH1);
  HAL_TIM_ConfigOCrefClear(&HF_TIMx, &sClearInputConfig, HF_TIMx_CH2);
  HAL_TIM_ConfigOCrefClear(&HF_TIMx, &sClearInputConfig, HF_TIMx_CH3);
  /***************************************************************************/
  
  __HAL_FREEZE_TIM1_DBGMCU(); /* Stop TIM during Breakpoint */ 
  
  __HAL_TIM_ENABLE_IT(&htim1, TIM_IT_BREAK); /* Enable the TIM Break interrupt */
 
  /******************** REGULAR CHANNELS CONFIGURATION *************************/
  sConfig.Channel = ADC_CH_1; /* Current feedabck */
  sConfig.Rank = 1;
  sConfig.SamplingTime = ADC_CH_1_ST;
  sConfig.Offset = 0;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  sConfig.Channel = ADC_CH_3; /* Bus voltage */
  sConfig.SamplingTime = ADC_CH_3_ST;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  sConfig.Channel = ADC_CH_4; /* Temperature feedback */
  sConfig.SamplingTime = ADC_CH_4_ST;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  sConfig.Channel = ADC_Bemf_CH1; /* BEMF feedback phase A */
  sConfig.SamplingTime = ADC_Bemf_CH1_ST;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  sConfig.Channel = ADC_Bemf_CH2; /* BEMF feedback phase B */
  sConfig.SamplingTime = ADC_Bemf_CH2_ST;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  sConfig.Channel = ADC_Bemf_CH3; /* BEMF feedback phase C */
  sConfig.SamplingTime = ADC_Bemf_CH3_ST;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig);
  sConfig.Channel = ADC_CH_2; /* Potentiometer */
  sConfig.SamplingTime = ADC_CH_2_ST;
  HAL_ADC_ConfigChannel(&hadc1, &sConfig); 
  /***************************************************************************/
  }
 /**
  * @} 
  */
 
  
 /** @defgroup START_DAC START_DAC
  * @{
  @brief Start DAC for debug
 */
 /**
  * @brief Start DAC for debug
  * @retval None
 */ 
  void START_DAC()
  {
  
  } 
 /**
  * @} 
  */ 
 /** @defgroup STOP_DAC STOP_DAC
  * @{
  @brief Stop DAC for debug
 */
 /**
  * @brief Stop DAC for debug
  * @retval None
 */ 
  void STOP_DAC()
  {
  
  }
 /**
  * @} 
  */ 
 /** @defgroup SET_DAC_value SET_DAC_value
  * @{
  @brief Set DAC value for debug
 */
 /**
  * @brief Set DAC value for debug
  * @param dac_value: information to plot through DAC
  * @retval None
 */ 
  void SET_DAC_value(uint16_t dac_value)
  {
  
  }
 /**
  * @} 
  */ 
  
  
 
 /** @defgroup HAL_ADC_ConvCpltCallback HAL_ADC_ConvCpltCallback
  * @{
  * @brief ADC callback 
 */
 /**
  * @brief ADC callback
  * @param hadc
  * @retval None
 */
  void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
  {
  MC_ADCx_SixStep_Bemf();
  }
 /**
  * @} 
  */
 
 /** @defgroup HAL_TIM_PeriodElapsedCallback HAL_TIM_PeriodElapsedCallback
  * @{
  * @brief htim callback 
 */
 /**
  * @brief htim callback
  * @param htim
  * @retval None
 */
  void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
  {
  MC_TIMx_SixStep_timebase();
  }
 /**
  * @} 
  */
 
 /** @defgroup HAL_SYSTICK_Callback HAL_SYSTICK_Callback
  * @{
  * @brief Systick callback 
 */
 /**
  * @brief Systick callback 
  * @retval None
 */
 
  void HAL_SYSTICK_Callback()
  {
  MC_SysTick_SixStep_MediumFrequencyTask();
  }
 /**
  * @} 
  */
  
 /** @defgroup HAL_GPIO_EXTI_Callback HAL_GPIO_EXTI_Callback
  * @{
  * @brief EXT callback 
 */
 /**
  * @brief EXT callback
  * @param GPIO_Pin
  * @retval None
 */ 
  
  void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
  {
  MC_EXT_button_SixStep();
  }
 /**
  * @} 
  */
  
 /** @defgroup EnableInput_CH1_E_CH2_E_CH3_D EnableInput_CH1_E_CH2_E_CH3_D
  * @{
  * @brief Enable Input channel for STSPIN230
  */
 /**
  * @brief Enable Input channel CH1 and CH2 for STSPIN230 
  * @retval None
 */
 
 void MC_SixStep_EnableInput_CH1_E_CH2_E_CH3_D()
 {
  STSPIN230MotorDriver.EnableInput_CH1_E_CH2_E_CH3_D();
 }
 
 /**
  * @} 
  */ 
  
  /** @defgroup EnableInput_CH1_E_CH2_D_CH3_E EnableInput_CH1_E_CH2_D_CH3_E
  * @{
  * @brief Enable Input channel for STSPIN230
  */
 /**
  * @brief Enable Input channel CH1 and CH3 for STSPIN230 
  * @retval None
 */
 
 void MC_SixStep_EnableInput_CH1_E_CH2_D_CH3_E()
 {
  STSPIN230MotorDriver.EnableInput_CH1_E_CH2_D_CH3_E();
 }
 
 /**
  * @} 
  */ 
 
 /** @defgroup EnableInput_CH1_D_CH2_E_CH3_E EnableInput_CH1_D_CH2_E_CH3_E
  * @{
  * @brief Enable Input channel for STSPIN230
  */
 /**
  * @brief Enable Input channel CH2 and CH3 for STSPIN230 
  * @retval None
 */
 
 void MC_SixStep_EnableInput_CH1_D_CH2_E_CH3_E()
 {
  STSPIN230MotorDriver.EnableInput_CH1_D_CH2_E_CH3_E();
 }
 
 /**
  * @} 
  */
 
 /** @defgroup DisableInput_CH1_D_CH2_D_CH3_D DisableInput_CH1_D_CH2_D_CH3_D
  * @{
  * @brief Disable All Input channels for STSPIN230
  */
 /**
  * @brief Enable Input channel CH2 and CH3 for STSPIN230 
  * @retval None
 */
 
 void MC_SixStep_DisableInput_CH1_D_CH2_D_CH3_D()
 {
  STSPIN230MotorDriver.DisableInput_CH1_D_CH2_D_CH3_D();
 }
 
 /**
  * @} 
  */
 
 /** @defgroup Start_PWM_driving Start_PWM_driving
  * @{
  * @brief Enable the PWM generation on Input channels
  */
 /**
  * @brief Enable PWM channels for STSPIN230 
  * @retval None
 */
 
 void MC_SixStep_Start_PWM_driving()
 {
  STSPIN230MotorDriver.Start_PWM_driving();
 } 
 
 /**
  * @} 
  */
 
 /** @defgroup Stop_PWM_driving Stop_PWM_driving
  * @{
  * @brief Disable the PWM generation on Input channels
  */
 /**
  * @brief Disable PWM channels for STSPIN230 
  * @retval None
 */
 
 void MC_SixStep_Stop_PWM_driving()
 {
  STSPIN230MotorDriver.Stop_PWM_driving();
 } 
 
 /**
  * @}
  */
 
 /** @defgroup HF_TIMx_SetDutyCycle_CH1 HF_TIMx_SetDutyCycle_CH1
  * @{
  * @brief Set the Duty Cycle value for CH1 
 */
 /**
  * @brief Set the Duty Cycle value for CH1 
  * @retval None
 */
 
 void MC_SixStep_HF_TIMx_SetDutyCycle_CH1(uint16_t CCR_value)
 { 
  STSPIN230MotorDriver.HF_TIMx_SetDutyCycle_CH1(CCR_value);
 }
 
 
 /**
  * @} 
  */
 
 /** @defgroup HF_TIMx_SetDutyCycle_CH2 HF_TIMx_SetDutyCycle_CH2
  * @{
  * @brief Set the Duty Cycle value for CH2 
 */
 /**
  * @brief Set the Duty Cycle value for CH2 
  * @retval None
 */
 
 void MC_SixStep_HF_TIMx_SetDutyCycle_CH2(uint16_t CCR_value)
 { 
  STSPIN230MotorDriver.HF_TIMx_SetDutyCycle_CH2(CCR_value);
 }
 /**
  * @} 
  */
 
 
 
 
 
 
 /** @defgroup HF_TIMx_SetDutyCycle_CH3 HF_TIMx_SetDutyCycle_CH3
  * @{
  * @brief Set the Duty Cycle value for CH3 
 */
 /**
  * @brief Set the Duty Cycle value for CH3 
  * @retval None
 */
 
 
 void MC_SixStep_HF_TIMx_SetDutyCycle_CH3(uint16_t CCR_value)
 { 
  STSPIN230MotorDriver.HF_TIMx_SetDutyCycle_CH3(CCR_value);
 }
 
 /**
  * @} 
  */
 
 /** @defgroup Current_Reference_Start Current_Reference_Start
  * @{
  * @brief Enable the Current Reference generation
 */
 /**
  * @brief Enable the Current Reference generation 
  * @retval None
 */
 
 void MC_SixStep_Current_Reference_Start()
 {
  STSPIN230MotorDriver.Current_Reference_Start();
 }
 
 /**
  * @} 
  */
 
 
 /** @defgroup Current_Reference_Stop Current_Reference_Stop
  * @{
  * @brief Disable the Current Reference generation
 */
 /**
  * @brief Disable the Current Reference generation
  * @retval None
 */
 
 void MC_SixStep_Current_Reference_Stop()
 {
  STSPIN230MotorDriver.Current_Reference_Stop();
 }
 
 /**
  * @} 
  */
 
 
 /** @defgroup Current_Reference_Setvalue Current_Reference_Setvalue
  * @{
  * @brief Set the value for Current Reference
 */
 /**
  * @brief Set the value for Current Reference
  * @retval None
 */
 
 
 void MC_SixStep_Current_Reference_Setvalue(uint16_t Iref)
 {
  STSPIN230MotorDriver.Current_Reference_Setvalue(Iref);
 }
 
 /**
  * @} 
  */ 
  
 
 /** @defgroup Bemf_delay_calc Bemf_delay_calc
  * @{
  * @brief Bemf delay calculation
 */
 /**
  * @brief Bemf delay calculation
  * @retval None
 */ 
 void Bemf_delay_calc()
 {
 if(PI_parameters.Reference>=0)
  { 
  if(SIXSTEP_parameters.speed_fdbk_filtered<=12000 && SIXSTEP_parameters.speed_fdbk_filtered>10000)
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_2; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=10000 && SIXSTEP_parameters.speed_fdbk_filtered>9400) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_3; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=9400 && SIXSTEP_parameters.speed_fdbk_filtered>7600) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_4; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=7600 && SIXSTEP_parameters.speed_fdbk_filtered>6000) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_5; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=6000 && SIXSTEP_parameters.speed_fdbk_filtered>5400) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_6; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=5400 && SIXSTEP_parameters.speed_fdbk_filtered>4750) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_7; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=4750 && SIXSTEP_parameters.speed_fdbk_filtered>4200) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_8; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=4200 && SIXSTEP_parameters.speed_fdbk_filtered>2600) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_9; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=2600 && SIXSTEP_parameters.speed_fdbk_filtered>1800) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_10;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=1800 && SIXSTEP_parameters.speed_fdbk_filtered>1500) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_11;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=1500 && SIXSTEP_parameters.speed_fdbk_filtered>1300) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_12;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=1300 && SIXSTEP_parameters.speed_fdbk_filtered>1000) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_13;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered<=1000 && SIXSTEP_parameters.speed_fdbk_filtered>500) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_14;
  } 
  }
  else 
  {
  if(SIXSTEP_parameters.speed_fdbk_filtered>=-12000 && SIXSTEP_parameters.speed_fdbk_filtered<-10000)
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_1; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-10000 && SIXSTEP_parameters.speed_fdbk_filtered<-7800)
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_2; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-7800 && SIXSTEP_parameters.speed_fdbk_filtered<-6400) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_3; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-6400 && SIXSTEP_parameters.speed_fdbk_filtered<-5400) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_4; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-5400 && SIXSTEP_parameters.speed_fdbk_filtered<-4650) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_5; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-4650 && SIXSTEP_parameters.speed_fdbk_filtered<-4100) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_6; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-4100 && SIXSTEP_parameters.speed_fdbk_filtered<-3650) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_7; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-3650 && SIXSTEP_parameters.speed_fdbk_filtered<-3300) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_8; 
  }
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-3300 && SIXSTEP_parameters.speed_fdbk_filtered<-2650) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_9; 
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-2600 && SIXSTEP_parameters.speed_fdbk_filtered<-1800) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_10;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-1800 && SIXSTEP_parameters.speed_fdbk_filtered<-1500) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_11;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-1500 && SIXSTEP_parameters.speed_fdbk_filtered<-1300) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_12;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-1300 && SIXSTEP_parameters.speed_fdbk_filtered<-1000) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_13;
  } 
  else if(SIXSTEP_parameters.speed_fdbk_filtered>=-1000 && SIXSTEP_parameters.speed_fdbk_filtered<-500) 
  { 
  SIXSTEP_parameters.demagn_value = DEMAGN_VAL_14;
  } 
  
  } 
 } 
 
 /**
  * @} 
  */
 
 /** @defgroup Get_UART_data Get_UART_data
  * @{
  * @brief Get the UART value from DR register
 */
 /**
  * @brief Get the UART value from DR register
  * @retval uint32_t
 */ 
 uint32_t Get_UART_Data()
 {
  return (UART.Instance->DR);
 }
 /**
  * @} 
  */ 
  
 /**
  * @} // end STM32F401_Interface
  */
 
 /**
  * @} end MC_6-STEP_LIB 
  */
  
 /**
  * @} // end MIDDLEWARES
  */
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