X-CUBE-SPN7 for X-NUCLEO-IHM07M1: C:/Users/giuseppe scuderi-sl/Desktop/MOTOR CONTROL/Peppe/trunk/Firmware/X-CUBE-SPN7-MC-6STEP/Middlewares/ST/MC_6Step_Lib/Inc/6Step_Lib.h Source File

X-NUCLEO-IHM07M1 X-CUBE-SPN7

X-CUBE-SPN7 for X-NUCLEO-IHM07M1

 
 /* 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

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