默认的STM32F FOC SDK提供的工程文件下载到STM32以后不会电机不会自动转，想要让电机转，必须通过串口上位机ST Motor Control Workbench这个软件
若想脱离上位机让电机上电自动旋转，需要在main函数里面调用电机启动函数
UI_ExecCmd (oUI, MC_PROTOCOL_CMD_START_MOTOR);
根据UM1052 User manual STM32F PMSM single/dual FOC SDK v4.2手册中描述的可以利用FOC提供的UI函数来屏蔽底层驱动，直接在用户层编写程序
提供的函数定义在 UserInterfaceClass.c 中，其中主要的函数有
-
/**
-
* @brief Creates an object of the class UserInterface
-
* @param pUserInterfaceParams pointer to an UserInterface parameters structure
-
* @retval CUI new instance of UserInterface object
-
*/
-
CUI UI_NewObject(pUserInterfaceParams_t pUserInterfaceParams);
-
-
/**
-
* @brief Initialization of UI object. It perform the link between the UI
-
* object and the MC interface and MC tuning objects. It must be called
-
* before the derived class initialization.
-
* @param this related object of class CUI.
-
* @param bMCNum Is the total number of MC object presnet in the list.
-
* @param pMCI is the pointer of the list of MC interface objects to be linked
-
* with the UI.
-
* @param pMCT is the pointer of the list of MC tuning objects to be linked
-
* with the UI.
-
* @param pUICfg is the pointer of the user interface configuration list. Each
-
* element of the list must be a bit field containing one (or more) of
-
* the exported configuration option UI_CFGOPT_xxx (eventually OR-ed).
-
* @retval none.
-
*/
-
void UI_Init(CUI this, uint8_t bMCNum, CMCI* pMCI, CMCT* pMCT, uint32_t* pUICfg);
-
-
/**
-
* @brief It is used to select the MC on which UI operates.
-
* @param this related object of class CUI.
-
* @param bSelectMC The new selected MC, zero based, on which UI operates.
-
* @retval bool It return true if the bSelectMC is valid oterwise return false.
-
*/
-
bool UI_SelectMC(CUI this,uint8_t bSelectMC);
-
-
/**
-
* @brief It is used to retrive the MC on which UI currently operates.
-
* @param this related object of class CUI.
-
* @retval uint8_t It returns the currently selected MC, zero based, on which
-
* UI operates.
-
*/
-
uint8_t UI_GetSelectedMC(CUI
this);
-
-
/**
-
* @brief It is used to retrive the configuration of the MC on which UI
-
* currently operates.
-
* @param this related object of class CUI.
-
* @retval uint32_t It returns the currently configuration of selected MC on
-
* which UI operates.
-
* It represents a bit field containing one (or more) of
-
* the exported configuration option UI_CFGOPT_xxx (eventually OR-ed).
-
*/
-
uint32_t UI_GetSelectedMCConfig(CUI
this);
-
-
/**
-
* @brief It is used to execute a SetReg command coming from the user.
-
* @param this related object of class CUI.
-
* @param bRegID Code of register to be updated. Valid code is one of the
-
* MC_PROTOCOL_REG_xxx values exported by UserInterfaceClass.
-
* @param wValue is the new value to be set.
-
* @retval bool It returns true if the SetReg command has been performed
-
* succesfully otherwise returns false.
-
*/
-
bool UI_SetReg(CUI this, MC_Protocol_REG_t bRegID, int32_t wValue);
-
-
/**
-
* @brief It is used to execute a GetReg command coming from the user.
-
* @param this related object of class CUI.
-
* @param bRegID Code of register to be updated. Valid code is one of the
-
* MC_PROTOCOL_REG_xxx values exported by UserInterfaceClass.
-
* @retval int32_t is the current value of register bRegID.
-
*/
-
int32_t UI_GetReg(CUI
this, MC_Protocol_REG_t bRegID);
-
-
/**
-
* @brief It is used to retrieve the current selected MC tuning object.
-
* @param this related object of class CUI.
-
* @retval CMCT It returns the currently selected MC tuning object on which
-
* UI operates.
-
*/
-
CMCT UI_GetCurrentMCT(CUI this);
-
-
/**
-
* @brief It is used to execute a command coming from the user.
-
* @param this related object of class CUI.
-
* @param bCmdID Code of register to be updated. Valid code is one of the
-
* MC_PROTOCOL_CMD_xxx define exported by UserInterfaceClass.
-
* @retval bool It returns true if the command has been performed
-
* succesfully otherwise returns false.
-
*/
-
bool UI_ExecCmd(CUI this, uint8_t bCmdID);
-
-
/**
-
* @brief It is used to execute a speed ramp command coming from the user.
-
* @param this related object of class CUI.
-
* @param wFinalMecSpeedRPM final speed value expressed in RPM.
-
* @param hDurationms the duration of the ramp expressed in milliseconds. It
-
* is possible to set 0 to perform an instantaneous change in the value.
-
* @retval bool It returns true if the command has been performed
-
* succesfully otherwise returns false.
-
*/
-
bool UI_ExecSpeedRamp(CUI this, int32_t wFinalMecSpeedRPM, uint16_t hDurationms);
-
-
/**
-
* @brief It is used to execute a torque ramp command coming from the user.
-
* @param this related object of class CUI.
-
* @param hTargetFinal final torque value. See MCI interface for more
-
details.
-
* @param hDurationms the duration of the ramp expressed in milliseconds. It
-
* is possible to set 0 to perform an instantaneous change in the value.
-
* @retval bool It returns true if the command has been performed
-
* succesfully otherwise returns false.
-
*/
-
bool UI_ExecTorqueRamp(CUI this, int16_t hTargetFinal, uint16_t hDurationms);
-
-
/**
-
* @brief It is used to execute a get Revup data command coming from the user.
-
* @param this related object of class CUI.
-
* @param bStage is the rev up phase, zero based, to be read.
-
* @param pDurationms is the pointer to an uint16_t variable used to retrieve
-
* the duration of the Revup stage.
-
* @param pFinalMecSpeed01Hz is the pointer to an int16_t variable used to
-
* retrieve the mechanical speed at the end of that stage expressed in
-
* 0.1Hz.
-
* @param pFinalTorque is the pointer to an int16_t variable used to
-
* retrieve the value of motor torque at the end of that
-
* stage. This value represents actually the Iq current expressed in
-
* digit.
-
* @retval bool It returns true if the command has been performed
-
* succesfully otherwise returns false.
-
*/
-
bool UI_GetRevupData(CUI this, uint8_t bStage, uint16_t* pDurationms,
-
int16_t* pFinalMecSpeed01Hz,
int16_t* pFinalTorque );
-
-
/**
-
* @brief It is used to execute a set Revup data command coming from the user.
-
* @param this related object of class CUI.
-
* @param bStage is the rev up phase, zero based, to be modified.
-
* @param hDurationms is the new duration of the Revup stage.
-
* @param hFinalMecSpeed01Hz is the new mechanical speed at the end of that
-
* stage expressed in 0.1Hz.
-
* @param hFinalTorque is the new value of motor torque at the end of that
-
* stage. This value represents actually the Iq current expressed in
-
* digit.
-
* @retval bool It returns true if the command has been performed
-
* succesfully otherwise returns false.
-
*/
-
bool UI_SetRevupData(CUI this, uint8_t bStage, uint16_t hDurationms,
-
int16_t hFinalMecSpeed01Hz,
int16_t hFinalTorque );
-
-
/**
-
* @brief It is used to execute a set current reference command coming from
-
* the user.
-
* @param this related object of class CUI.
-
* @param hIqRef is the current Iq reference on qd reference frame. This value
-
* is expressed in digit. To convert current expressed in digit to
-
* current expressed in Amps is possible to use the formula:
-
* Current(Amp) = [Current(digit) * Vdd micro] / [65536 * Rshunt * Aop]
-
* @param hIdRef is the current Id reference on qd reference frame. This value
-
* is expressed in digit. See hIqRef param description.
-
* @retval none.
-
*/
-
void UI_SetCurrentReferences(CUI this, int16_t hIqRef, int16_t hIdRef);
-
-
/**
-
* @brief Hardware and software initialization of the DAC object. This is a
-
* virtual function and is implemented by related object.
-
* @param this related object of class UI. It must be a DACx_UI object casted
-
* to CUI otherwise the DACInit method will have no effect.
-
* @retval none.
-
*/
-
void UI_DACInit(CUI this);
-
-
/**
-
* @brief This method is used to update the DAC outputs. The selected
-
* variables will be provided in the related output channels. This is a
-
* virtual function and is implemented by related object.
-
* @param this related object of class UI. It must be a DACx_UI object casted
-
* to CUI otherwise the DACInit method will have no effect.
-
* @retval none.
-
*/
-
void UI_DACExec(CUI this);
-
-
/**
-
* @brief This method is used to set up the DAC outputs. The selected
-
* variables will be provided in the related output channels after next
-
* DACExec. This is a virtual function and is implemented by related
-
* object.
-
* @param this related object of class UI. It must be a DACx_UI object casted
-
* to CUI otherwise the DACInit method will have no effect.
-
* @param bChannel the DAC channel to be programmed. It must be one of the
-
* exported channels Ex. DAC_CH0.
-
* @param bVariable the variables to be provided in out through the selected
-
* channel. It must be one of the exported UI register Ex.
-
* MC_PROTOCOL_REG_I_A.
-
* @retval none.
-
*/
-
void UI_SetDAC(CUI this, DAC_Channel_t bChannel,
-
MC_Protocol_REG_t bVariable);
-
-
/**
-
* @brief This method is used to get the current DAC channel selected output.
-
* @param this related object of class UI. It must be a DACx_UI object casted
-
* to CUI otherwise the method will have no effect.
-
* @param bChannel the inspected DAC channel. It must be one of the
-
* exported channels (Ex. DAC_CH0).
-
* @retval MC_Protocol_REG_t The variables provided in out through the inspected
-
* channel. It will be one of the exported UI register (Ex.
-
* MC_PROTOCOL_REG_I_A).
-
*/
-
MC_Protocol_REG_t UI_GetDAC(CUI this, DAC_Channel_t bChannel);
-
-
/**
-
* @brief This method is used to set the value of the “User DAC channel”.
-
* @param this related object of class UI. It must be a DACx_UI object casted
-
* to CUI otherwise the DACInit method will have no effect.
-
* @param bUserChNumber the “User DAC channel” to be programmed.
-
* @param hValue the value to be put in output.
-
* @retval none.
-
*/
-
void UI_SetUserDAC(CUI this, DAC_UserChannel_t bUserChNumber, int16_t hValue);
-
-
/**
-
* @brief Initialization of LCD object. It must be called after the UI_Init.
-
* @param this related object of class CUI. It must be a LCDx_UI object casted
-
* to CUI otherwise the method will have no effect.
-
* @param oDAC related DAC object upcasted to CUI. It can be MC_NULL.
-
* @param s_fwVer String contating firmware version.
-
* @retval none.
-
*/
-
void UI_LCDInit(CUI this, CUI oDAC, const char* s_fwVer);
-
-
/**
-
* @brief Execute the LCD execution and refreshing. It must be called
-
* periodically.
-
* @param this related object of class CUI. It must be a LCDx_UI object casted
-
* to CUI otherwise the method will have no effect.
-
* @retval none.
-
*/
-
void UI_LCDExec(CUI this);
-
-
/**
-
* @brief It is used to force a refresh of all LCD values.
-
* @param this related object of class CUI. It must be a LCDx_UI object casted
-
* to CUI otherwise the method will have no effect.
-
* @retval none.
-
*/
-
void UI_LCDUpdateAll(CUI this);
-
-
/**
-
* @brief It is used to force a refresh of only measured LCD values.
-
* @param this related object of class CUI. It must be a LCDx_UI object casted
-
* to CUI otherwise the method will have no effect.
-
* @retval none.
-
*/
-
void UI_LCDUpdateMeasured(CUI this);
-
-
/**
-
* @}
-
*/
-
-
/**
-
* @}
-
*/
-
-
/**
-
* @}
-
*/
通过
bool UI_ExecCmd(CUI this, uint8_t bCmdID);
-
#define MC_PROTOCOL_CMD_START_MOTOR 0x01
-
#define MC_PROTOCOL_CMD_STOP_MOTOR 0x02
-
#define MC_PROTOCOL_CMD_STOP_RAMP 0x03
-
#define MC_PROTOCOL_CMD_RESET 0x04
-
#define MC_PROTOCOL_CMD_PING 0x05
-
#define MC_PROTOCOL_CMD_START_STOP 0x06
-
#define MC_PROTOCOL_CMD_FAULT_ACK 0x07
-
#define MC_PROTOCOL_CMD_ENCODER_ALIGN 0x08
-
#define MC_PROTOCOL_CMD_IQDREF_CLEAR 0x09
-
#define MC_PROTOCOL_CMD_PFC_ENABLE 0x0A
-
#define MC_PROTOCOL_CMD_PFC_DISABLE 0x0B
-
#define MC_PROTOCOL_CMD_PFC_FAULT_ACK 0x0C
-
#define MC_PROTOCOL_CMD_SC_START 0x0D
-
#define MC_PROTOCOL_CMD_SC_STOP 0x0E
根据手册描述，在main函数里面添加以下代码即可
-
oUI = UI_NewObject(MC_NULL);
-
UI_Init(oUI, MC_NUM, oMCI, oMCT, MC_NULL);
-
UI_SelectMC(oUI,
2);
-
UI_ExecSpeedRamp(oUI,
-2000,
0);
-
UI_ExecCmd (oUI, MC_PROTOCOL_CMD_START_MOTOR);
对了，变量应该先声明后使用
CUI oUI;
如何读取电机的状态呢？读寄存器MC_PROTOCOL_REG_STATUS即可
或者用MCI_GetSTMState(oMCI)
返回的值可能是
-
ICLWAIT =
12,
/*!< Persistent state, the system is waiting for ICL
-
deactivation. Is not possible to run the motor if
-
ICL is active. Until the ICL is active the state is
-
forced to ICLWAIT, when ICL become inactive the state
-
is moved to IDLE */
-
IDLE =
0,
/*!< Persistent state, following state can be IDLE_START
-
if a start motor command has been given or
-
IDLE_ALIGNMENT if a start alignment command has been
-
given */
-
IDLE_ALIGNMENT =
1,
/*!< "Pass-through" state containg the code to be executed
-
only once after encoder alignment command.
-
Next states can be ALIGN_CHARGE_BOOT_CAP or
-
ALIGN_OFFSET_CALIB according the configuration. It
-
can also be ANY_STOP if a stop motor command has been
-
given. */
-
ALIGN_CHARGE_BOOT_CAP =
13,
/*!< Persistent state where the gate driver boot
-
capacitors will be charged. Next states will be
-
ALIGN_OFFSET_CALIB. It can also be ANY_STOP if a stop
-
motor command has been given. */
-
ALIGN_OFFSET_CALIB =
14,
/*!< Persistent state where the offset of motor currents
-
measurements will be calibrated. Next state will be
-
ALIGN_CLEAR. It can also be ANY_STOP if a stop motor
-
command has been given. */
-
ALIGN_CLEAR =
15,
/*!< "Pass-through" state in which object is cleared and
-
set for the startup.
-
Next state will be ALIGNMENT. It can also be ANY_STOP
-
if a stop motor command has been given. */
-
ALIGNMENT =
2,
/*!< Persistent state in which the encoder are properly
-
aligned to set mechanical angle, following state can
-
only be ANY_STOP */
-
IDLE_START =
3,
/*!< "Pass-through" state containg the code to be executed
-
only once after start motor command.
-
Next states can be CHARGE_BOOT_CAP or OFFSET_CALIB
-
according the configuration. It can also be ANY_STOP
-
if a stop motor command has been given. */
-
CHARGE_BOOT_CAP =
16,
/*!< Persistent state where the gate driver boot
-
capacitors will be charged. Next states will be
-
OFFSET_CALIB. It can also be ANY_STOP if a stop motor
-
command has been given. */
-
OFFSET_CALIB =
17,
/*!< Persistent state where the offset of motor currents
-
measurements will be calibrated. Next state will be
-
CLEAR. It can also be ANY_STOP if a stop motor
-
command has been given. */
-
CLEAR =
18,
/*!< "Pass-through" state in which object is cleared and
-
set for the startup.
-
Next state will be START. It can also be ANY_STOP if
-
a stop motor command has been given. */
-
START =
4,
/*!< Persistent state where the motor start-up is intended
-
to be executed. The following state is normally
-
START_RUN as soon as first validated speed is
-
detected. Another possible following state is
-
ANY_STOP if a stop motor command has been executed */
-
START_RUN =
5,
/*!< "Pass-through" state, the code to be executed only
-
once between START and RUN states it’s intended to be
-
here executed. Following state is normally RUN but
-
it can also be ANY_STOP if a stop motor command has
-
been given */
-
RUN =
6,
/*!< Persistent state with running motor. The following
-
state is normally ANY_STOP when a stop motor command
-
has been executed */
-
ANY_STOP =
7,
/*!< "Pass-through" state, the code to be executed only
-
once between any state and STOP it’s intended to be
-
here executed. Following state is normally STOP */
-
STOP =
8,
/*!< Persistent state. Following state is normally
-
STOP_IDLE as soon as conditions for moving state
-
machine are detected */
-
STOP_IDLE =
9,
/*!< "Pass-through" state, the code to be executed only
-
once between STOP and IDLE it’s intended to be here
-
executed. Following state is normally IDLE */
-
FAULT_NOW =
10,
/*!< Persistent state, the state machine can be moved from
-
any condition directly to this state by
-
STM_FaultProcessing method. This method also manage
-
the passage to the only allowed following state that
-
is FAULT_OVER */
-
FAULT_OVER =
11
/*!< Persistent state where the application is intended to
-
stay when the fault conditions disappeared. Following
-
state is normally STOP_IDLE, state machine is moved as
-
soon as the user has acknowledged the fault condition.
-
*/
基本的操作建立起来了，下一步就是具体的应用了。
</div>
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