2019年04月22日 | STM32 FOC SDK 上电电机自动旋转

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