6Step_Lib.h

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

#include "stm32_nucleo_ihm07m1.h"

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

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;

typedef struct
{
  uint32_t LF_TIMx_PSC;                  
  uint32_t LF_TIMx_ARR;                  
  uint32_t HF_TIMx_PSC;                  
  uint32_t HF_TIMx_ARR;                  
  uint32_t HF_TIMx_CCR;                  
  uint8_t step_position;                 
  SIXSTEP_Base_SystStatus_t STATUS;      
  uint8_t  status_prev;                  
  uint16_t pulse_value;                  
  uint16_t ARR_value;                    
  uint32_t Regular_channel[4];           
  uint32_t CurrentRegular_BEMF_ch;       
  uint32_t prescaler_value;              
  uint16_t numberofitemArr;              
  uint32_t ADC_BUFFER[4];                
  uint32_t ADC_SEQ_CHANNEL[4];           
  uint32_t ADC_Regular_Buffer[5];        
  uint16_t ADC_BEMF_threshold_UP;        
  uint16_t ADC_BEMF_threshold_DOWN;      
  uint16_t demagn_counter;               
  uint16_t demagn_value;                 
  int16_t speed_fdbk;                    
  int16_t speed_fdbk_filtered;           
  int16_t filter_depth;                  
  uint16_t Current_Reference;            
  uint16_t Ireference;                   
  int32_t Integral_Term_sum;             
  uint8_t CMD;                           
  uint8_t ALIGN_OK;                      
  uint8_t ALIGNMENT;                     
  uint8_t bemf_state_1;                  
  uint8_t bemf_state_2;                  
  uint8_t bemf_state_3;                  
  uint8_t bemf_state_4;                  
  uint8_t bemf_state_5;                  
  uint8_t bemf_state_6;                  
  uint16_t Speed_Loop_Time;              
  uint16_t Speed_Ref_filtered;           
  uint16_t RUN_Motor;                    
  uint8_t ARR_OK;                        
  uint8_t VALIDATION_OK;                 
  uint8_t SPEED_VALIDATED;               
  uint16_t Speed_target_ramp;            
  uint16_t Speed_target_time;            
  uint16_t Ramp_Start;                   
  uint16_t Bemf_delay_start;             
  uint16_t MediumFrequencyTask_flag;     
  uint32_t SYSCLK_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;              
  uint16_t IREFERENCE;                   
  uint16_t NUMPOLESPAIRS;                
  uint32_t ACCEL;                        
  uint16_t KP;                           
  uint16_t KI;                           
  uint8_t CW_CCW;                        
  uint8_t Potentiometer;                 
}  SIXSTEP_Base_InitTypeDef;             
typedef struct
{
  int16_t Reference;                    
  int16_t Kp_Gain;                      
  int16_t Ki_Gain;                      
  int16_t Lower_Limit_Output;           
  int16_t Upper_Limit_Output;           
  int8_t Max_PID_Output;                
  int8_t Min_PID_Output;                
} SIXSTEP_PI_PARAM_InitTypeDef_t, *SIXSTEP_pi_PARAM_InitTypeDef_t;  
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);

#endif