6Step_Lib.h

/**
 ******************************************************************************
 * @file    6Step_Lib.h
 * @author  System lab
 * @version V1.0.0
 * @date    06-July-2015
 * @brief   This header file provides the set of functions for Motor Control
            library
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
 *
 * 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.
 *
 ******************************************************************************
 */


/* 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"

/** @addtogroup MIDDLEWARES     MIDDLEWARES
  * @brief  Middlewares Layer
  * @{
  */


/** @addtogroup MC_6-STEP_LIB    MC_6-STEP_LIB
  * @brief  Motor Control driver
  * @{
  */

/** @defgroup Exported_types  Exported_types
* @{
*/
/**
  * @brief  Six Step parameters
  */
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;

/**
  * @}
  */


/** @defgroup Exported_types  Exported_types
* @{
*/
/**
  * @brief  Six Step parameters
  */
typedef struct
{
  uint32_t  LF_TIMx_PSC;                 /*!< Prescaler variable for low frequency timer*/
  uint32_t  LF_TIMx_ARR;                 /*!< ARR variable for low frequency timer*/
  uint32_t  HF_TIMx_PSC;                 /*!< Prescaler variable for high frequency timer*/
  uint32_t  HF_TIMx_ARR;                 /*!< ARR variable for high frequency timer*/
  uint32_t  HF_TIMx_CCR;                 /*!< CCR variable for high frequency timer*/
  uint8_t   step_position;               /*!< Step number variable for SixStep algorithm*/
  SIXSTEP_Base_SystStatus_t STATUS;      /*!< Status variable for SixStep algorithm*/
  uint8_t   status_prev;                 /*!< Previous status variable for SixStep algorithm*/
  uint16_t  pulse_value;                 /*!< CCR value for SixStep algorithm*/
  uint16_t  ARR_value;                   /*!< ARR vector for Accell compute*/
  uint32_t  Regular_channel[4];          /*!< Buffer for ADC regular channel */
  uint32_t  CurrentRegular_BEMF_ch;      /*!< ADC regular channel to select */
  uint32_t  prescaler_value;             /*!< Prescaler value for low freq timer*/
  uint16_t  numberofitemArr;             /*!< Number of elements */
  uint32_t  ADC_BUFFER[4];               /*!< Buffer for ADC regular channel */
  uint32_t  ADC_SEQ_CHANNEL[4];          /*!< Buffer for ADC regular channel */
  uint32_t  ADC_Regular_Buffer[5];       /*!< Buffer for ADC regular channel */
  uint16_t  ADC_BEMF_threshold_UP;       /*!< Voltage threshold for BEMF detection in up direction*/
  uint16_t  ADC_BEMF_threshold_DOWN;     /*!< Voltage threshold for BEMF detection in down direction*/
  uint16_t  demagn_counter;              /*!< Demagnetization counter*/
  uint16_t  demagn_value;                /*!< Demagnetization value*/
  int16_t   speed_fdbk;                  /*!< Motor speed variable*/
  int16_t   speed_fdbk_filtered;         /*!< Filtered Motor speed variable*/
  int16_t   filter_depth;                /*!< Filter depth for speed measuring*/
  uint16_t  Current_Reference;           /*!< Currrent reference for SixStep algorithm*/
  uint16_t  Ireference;                  /*!< Currrent reference for SixStep algorithm*/
  int32_t   Integral_Term_sum;           /*!< Global Integral part for PI*/
  uint8_t   CMD;                         /*!< Flag control for Motor Start/Stop*/
  uint8_t   ALIGN_OK;                    /*!< Flag control for Motor Alignment*/
  uint8_t   ALIGNMENT;                   /*!< Flag control for Motor Alignment ongoing*/
  uint8_t   bemf_state_1;                /*!< Bemf variable */
  uint8_t   bemf_state_2;                /*!< Bemf variable */
  uint8_t   bemf_state_3;                /*!< Bemf variable */
  uint8_t   bemf_state_4;                /*!< Bemf variable */
  uint8_t   bemf_state_5;                /*!< Bemf variable */
  uint8_t   bemf_state_6;                /*!< Bemf variable */
  uint16_t  Speed_Loop_Time;             /*!< Speed loop variable for timing */
  uint16_t  Speed_Ref_filtered;          /*!< Filtered Reference Motor Speed variable */
  uint16_t  RUN_Motor;                   /*!< Flag for Motor status */
  uint8_t   ARR_OK;                      /*!< ARR flag control for Accell status */
  uint8_t   VALIDATION_OK;               /*!< Validation flag for Closed loop control begin */
  uint8_t   SPEED_VALIDATED;             /*!< Validation flag for Speed before closed loop control */
  uint16_t  Speed_target_ramp;           /*!< Target Motor Speed */
  uint16_t  Speed_target_time;           /*!< Target Motor Ramp time */
  uint16_t  Ramp_Start;                  /*!< Ramp time start*/
  uint16_t  Bemf_delay_start;            /*!< Bemf variable */
  uint16_t  MediumFrequencyTask_flag;    /*!< Flag for Medium Task Frequency */
  uint32_t  SYSCLK_frequency;            /*!< System clock main 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;            /*!< BEMF Consecutive Threshold Falling Crossings Counter */
  uint16_t  IREFERENCE;                  /*!< Currrent reference*/
  uint16_t  NUMPOLESPAIRS;               /*!< Number of motor pole pairs  */
  uint32_t  ACCEL;                       /*!< Acceleration start-up parameter*/
  uint16_t  KP;                          /*!< KP parameter for PI regulator */
  uint16_t  KI;                          /*!< KI parameter for PI regulator */
  uint8_t   CW_CCW;                      /*!< Set the motor direction */
  uint8_t   Potentiometer;               /*!< Enable/Disable potentiometer for speed control */
}  SIXSTEP_Base_InitTypeDef;             /*!< Six Step Data Structure */

/**
  * @}
  */

/** @defgroup Exported_types  Exported_types
* @{
*/
/**
  * @brief  Six PI regulator parameters
  */

typedef struct
{
     int16_t Reference;              /*!< Refence value for PI regulator */
     int16_t Kp_Gain;                /*!< Kp value for PI regulator */
     int16_t Ki_Gain;                /*!< Ki value for PI regulator */
     int16_t Lower_Limit_Output;     /*!< Min output value for PI regulator */
     int16_t Upper_Limit_Output;     /*!< Max output value for PI regulator */
     int8_t Max_PID_Output;          /*!< Max Saturation indicator flag */
     int8_t Min_PID_Output;          /*!< Min Saturation indicator flag */
} SIXSTEP_PI_PARAM_InitTypeDef_t, *SIXSTEP_pi_PARAM_InitTypeDef_t;  /*!< PI Data Structure */

/**
  * @}
  */

/** @defgroup Exported_function_6StepLib  Exported_function_6StepLib
* @{
*/

void MC_SixStep_INIT (MOTOR_BLOCK *mtr_blk);
void MC_SixStep_RESET (MOTOR_BLOCK *mtr_blk);
void MC_StartMotor (uint8_t motor_id, int start_type, int flags);
void MC_SixStep_StopMotor (uint8_t motor_id, int stop_type, int flags);
void MC_SixStep_StartMotor(void);
void MC_SixStep_Set_Speed (uint16_t);
void MC_EXT_button_SixStep (void);


#endif