[经验] ST FOC4.3库关于STM32F30x系列ICS采样代码修改【ST官方应用笔记】

okhxyyo 2017-11-9 09:00 楼主

文件说明
客户在使用ST FOC4.3库文件控制电机过程中，当使用了STM32F30x芯片时，如果使用的是ICS（Isolated Current Sensor）采样电流信号时会遇到无法编译通过报错问题，本文用以说明如何修正这个问题。
文件预览

/**
******************************************************************************
* @file SystemNDriveParams.h
* @author STMicroelectronics - System Lab - MC Team
* [url=home.php?mod=space&uid=252314]@version[/url] 4.3.0
* [url=home.php?mod=space&uid=311857]@date[/url] 22-Sep-2016 15:29
* [url=home.php?mod=space&uid=159083]@brief[/url] This file contains System & Drive constant initialization
******************************************************************************
* @attention
*
* <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
*
* Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
* You may not use this file except in compliance with the License.
* You may obtain a copy of the License at:
*
* [url=http://www.st.com/software_license_agreement_liberty_v2]http://www.st.com/software_license_agreement_liberty_v2[/url]
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
******************************************************************************
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __SYSTEMNDRIVE_PARAMS_H
#define __SYSTEMNDRIVE_PARAMS_H
#include "Parameters conversion.h"
#ifdef SINGLEDRIVE
#define MAX_TWAIT 0 /* Dummy value for single drive */
#define FREQ_RATIO 1 /* Dummy value for single drive */
#define FREQ_RELATION HIGHEST_FREQ /* Dummy value for single drive */
#endif
#ifdef DUALDRIVE
#include "Parameters conversion motor 2.h"
/**
* [url=home.php?mod=space&uid=159083]@brief[/url] PI / PID Speed loop parameters Motor 2
*/
PIParams_t PISpeedParamsM2 =
{
.hDefKpGain = (int16_t)PID_SPEED_KP_DEFAULT2, /*!< Default Kp gain, used to initialize Kp gain
software variable*/
.hDefKiGain = (int16_t)PID_SPEED_KI_DEFAULT2, /*!< Default Ki gain, used to initialize Ki gain
software variable*/
.hKpDivisor = (uint16_t)SP_KPDIV2, /*!< Kp gain divisor, used in conjuction with
Kp gain allows obtaining fractional values.
If FULL_MISRA_C_COMPLIANCY is not defined
the divisor is implemented through
algebrical right shifts to speed up PI
execution. Only in this case this parameter
specifies the number of right shifts to be
executed */
.hKiDivisor = (uint16_t)SP_KIDIV2, /*!< Ki gain divisor, used in conjuction with
Ki gain allows obtaining fractional values.
If FULL_MISRA_C_COMPLIANCY is not defined
the divisor is implemented through
algebrical right shifts to speed up PI
execution. Only in this case this parameter
specifies the number of right shifts to be
executed */
.wDefMaxIntegralTerm = (int32_t)IQMAX2 * (int32_t)SP_KIDIV2,/*!< Upper limit used to saturate the integral
term given by Ki / Ki divisor * integral of
process variable error */
.wDefMinIntegralTerm = -(int32_t)IQMAX2 * (int32_t)SP_KIDIV2,/*!< Lower limit used to saturate the integral
term given by Ki / Ki divisor * integral of
process variable error */
.hDefMaxOutput = (int16_t)IQMAX2, /*!< Upper limit used to saturate the PI output
*/
.hDefMinOutput = -(int16_t)IQMAX2, /*!< Lower limit used to saturate the PI output
*/
.hKpDivisorPOW2 = (uint16_t)SP_KPDIV_LOG2, /*!< Kp gain divisor expressed as power of 2.
E.g. if gain divisor is 512 the value
must be 9 because 2^9 = 512 */
.hKiDivisorPOW2 =( uint16_t)SP_KIDIV_LOG2 /*!< Ki gain divisor expressed as power of 2.
E.g. if gain divisor is 512 the value
must be 9 because 2^9 = 512 */
};
/**
* @brief PI / PID Iq loop parameter Motor 2
*/
PIParams_t PIIqParamsM2 =
{
.hDefKpGain = (int16_t)PID_TORQUE_KP_DEFAULT2, /*!< Default Kp gain, used to initialize Kp gain
software variable*/
.hDefKiGain = (int16_t)PID_TORQUE_KI_DEFAULT2, /*!< Default Ki gain, used to initialize Ki gain
software variable*/
.hKpDivisor = (uint16_t)TF_KPDIV2, /*!< Kp gain divisor, used in conjuction with
Kp gain allows obtaining fractional values.
If FULL_MISRA_C_COMPLIANCY is not defined
the divisor is implemented through
algebrical right shifts to speed up PI
execution. Only in this case this parameter
specifies the number of right shifts to be
executed */
.hKiDivisor = (uint16_t)TF_KIDIV2, /*!< Ki gain divisor, used in conjuction with
Ki gain allows obtaining fractional values.
If FULL_MISRA_C_COMPLIANCY is not defined
the divisor is implemented through
algebrical right shifts to speed up PI
execution. Only in this case this parameter
specifies the number of right shifts to be
executed */
.wDefMaxIntegralTerm = (int32_t)S16_MAX * TF_KIDIV2, /*!< Upper limit used to saturate the integral
term given by Ki / Ki divisor * integral of
process variable error */
.wDefMinIntegralTerm = (int32_t)S16_MIN * TF_KIDIV2, /*!< Lower limit used to saturate the integral
term given by Ki / Ki divisor * integral of
process variable error */
.hDefMaxOutput = S16_MAX, /*!< Upper limit used to saturate the PI output
*/
.hDefMinOutput = -S16_MAX, /*!< Lower limit used to saturate the PI output
*/
.hKpDivisorPOW2 = (uint16_t)TF_KPDIV_LOG2, /*!< Kp gain divisor expressed as power of 2.
E.g. if gain divisor is 512 the value
must be 9 because 2^9 = 512 */
.hKiDivisorPOW2 = (uint16_t)TF_KIDIV_LOG2 /*!< Ki gain divisor expressed as power of 2.
E.g. if gain divisor is 512 the value
must be 9 because 2^9 = 512 */
};
/**
* @brief PI / PID Id loop parameter Motor 2
*/
PIParams_t PIIdParamsM2 =
{
.hDefKpGain = (int16_t)PID_FLUX_KP_DEFAULT2, /*!< Default Kp gain, used to initialize Kp gain
software variable*/
.hDefKiGain = (int16_t)PID_FLUX_KI_DEFAULT2, /*!< Default Ki gain, used to initialize Ki gain
software variable*/
.hKpDivisor = (uint16_t)TF_KPDIV2, /*!< Kp gain divisor, used in conjuction with
Kp gain allows obtaining fractional values.
If FULL_MISRA_C_COMPLIANCY is not defined
the divisor is implemented through
algebrical right shifts to speed up PI
execution. Only in this case this parameter
specifies the number of right shifts to be
executed */
.hKiDivisor = (uint16_t)TF_KIDIV2, /*!< Ki gain divisor, used in conjuction with
Ki gain allows obtaining fractional values.
If FULL_MISRA_C_COMPLIANCY is not defined
the divisor is implemented through
algebrical right shifts to speed up PI
execution. Only in this case this parameter
specifies the number of right shifts to be
executed */
.wDefMaxIntegralTerm = (int32_t)S16_MAX * TF_KIDIV2, /*!< Upper limit used to saturate the integral
term given by Ki / Ki divisor * integral of
process variable error */
.wDefMinIntegralTerm = (int32_t)S16_MIN * TF_KIDIV2, /*!< Lower limit used to saturate the integral
term given by Ki / Ki divisor * integral of
process variable error */
.hDefMaxOutput = S16_MAX, /*!< Upper limit used to saturate the PI output
*/
.hDefMinOutput = -S16_MAX, /*!< Lower limit used to saturate the PI output
*/
.hKpDivisorPOW2 = (uint16_t)TF_KPDIV_LOG2, /*!< Kp gain divisor expressed as power of 2.
E.g. if gain divisor is 512 the value

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