整体理解

理解为启动时为开环模式加速启动，到一定阶段转为FOC闭环处理。在运行过程中会根据外部输入命令进行处理。
流程简介：

STC_SPEED_MODE和STC_TORQUE_MODE在运行过程中的转换

开始启动的时候即revup 加速过程实际上是STC_TORQUE_MODE模式，运行到RUN的状态即FOC过程的时候转换为速度模式。
在SWITCH_OVER阶段使用 MCI_ExecBufferedCommands(&Mci[M1]);调用进行转换

调用关系为

系统定时器->MC_RunMotorControlTasks-> MC_Scheduler()
或 Systick is not executed due low priority so is necessary to TIMx_BRK_M1_IRQHandler call .系统定时器没有调用的情况下TIMx_BRK_M1_IRQHandler需要调用。
TIMx_BRK_M1_IRQHandler->MC_Scheduler()

MC_Scheduler(hMFTaskCounterM1递减计数为0)->MediumFrequencyTask

/*** @brief Executes medium frequency periodic Motor Control tasks** This function performs some of the control duties on Motor 1 according to the* present state of its state machine. In particular, duties requiring a periodic* execution at a medium frequency rate (such as the speed controller for instance)* are executed here.*/
__weak void TSK_MediumFrequencyTaskM1(void)
{int16_t wAux = 0;bool IsSpeedReliable = STO_PLL_CalcAvrgMecSpeedUnit(&STO_PLL_M1, &wAux);PQD_CalcElMotorPower(pMPM[M1]);//检测速度是不是可靠，如果不可靠后续运行时需要错误处理if (MCI_GetCurrentFaults(&Mci[M1]) == MC_NO_FAULTS)//检测是电流获取是否正常{if (MCI_GetOccurredFaults(&Mci[M1]) == MC_NO_FAULTS)//检测是否有错误{switch (Mci[M1].State){case IDLE://空闲状态{if ((MCI_START == Mci[M1].DirectCommand) || (MCI_MEASURE_OFFSETS == Mci[M1].DirectCommand)){//收到运行命令RUC_Clear(&RevUpControlM1, MCI_GetImposedMotorDirection(&Mci[M1]));//初始化内部转速控制器状态if (pwmcHandle[M1]->offsetCalibStatus == false)//没有校准转入校准{PWMC_CurrentReadingCalibr(pwmcHandle[M1], CRC_START);//通过读取没有电流时的电流值电压值作为校准，每次启动都需要调用。Mci[M1].State = OFFSET_CALIB;}else//校准了就使能定时器相关通道，转入CHARGE_BOOT_CAP ，启动模式{/* calibration already done. Enables only TIM channels */pwmcHandle[M1]->OffCalibrWaitTimeCounter = 1u;PWMC_CurrentReadingCalibr(pwmcHandle[M1], CRC_EXEC);//通过读取没有电流时的电流值电压值作为校准，每次启动都需要调用。R3_2_TurnOnLowSides(pwmcHandle[M1]);//开启PWM定时器相关设置，有可能电容开始充电TSK_SetChargeBootCapDelayM1(CHARGE_BOOT_CAP_TICKS);//记录电容充电开始时间Mci[M1].State = CHARGE_BOOT_CAP;//转入BOOT 启动模式}}else{/* nothing to be done, FW stays in IDLE state */}break;}case OFFSET_CALIB:{if (MCI_STOP == Mci[M1].DirectCommand)//收到停止命令{TSK_MF_StopProcessing(&Mci[M1], M1);}else{if (PWMC_CurrentReadingCalibr(pwmcHandle[M1], CRC_EXEC))//通过读取没有电流时的电流值电压值作为校准，每次启动都需要调用。{if (MCI_MEASURE_OFFSETS == Mci[M1].DirectCommand)//根据以前的状态返回对应的应有状态。{FOC_Clear(M1);MPM_Clear((MotorPowMeas_Handle_t*) pMPM[M1]);Mci[M1].DirectCommand = MCI_NO_COMMAND;Mci[M1].State = IDLE;}else//从IDLE转启动启动跳过来的话转入启动{R3_2_TurnOnLowSides(pwmcHandle[M1]);//前有介绍TSK_SetChargeBootCapDelayM1(CHARGE_BOOT_CAP_TICKS);//前面有介绍Mci[M1].State = CHARGE_BOOT_CAP;}}else{/* nothing to be done, FW waits for offset calibration to finish */}}break;}case CHARGE_BOOT_CAP:{if (MCI_STOP == Mci[M1].DirectCommand)//收到停止命令转入停止{TSK_MF_StopProcessing(&Mci[M1], M1);}else{if (TSK_ChargeBootCapDelayHasElapsedM1())//如果有开机电容需要判断到充电完成时间够再运行{R3_2_SwitchOffPWM(pwmcHandle[M1]);//关闭PWMFOCVars[M1].bDriveInput = EXTERNAL;//设置影响FOC_CalcCurrRef，使用INTERNAL是内部根据速度等计算获得，使用EXTERNALSTC_SetSpeedSensor( pSTC[M1], &VirtualSpeedSensorM1._Super );//设置速度传感器为虚拟传感器STO_PLL_Clear(&STO_PLL_M1);//STO滑模观测的状态清0，后续到一定速度后会启动检测FOC_Clear( M1 );//清除FOC状态Mci[M1].State = START;//转到开始状态PWMC_SwitchOnPWM(pwmcHandle[M1]);//开启PWM}else{/* nothing to be done, FW waits for bootstrap capacitor to charge */}}break;}case START:{if (MCI_STOP == Mci[M1].DirectCommand)//如果是停止命令则停止{TSK_MF_StopProcessing(&Mci[M1], M1);}else{/* Mechanical speed as imposed by the Virtual Speed Sensor during the Rev Up phase. */int16_t hForcedMecSpeedUnit;qd_t IqdRef;bool ObserverConverged = false;/* Execute the Rev Up procedure */if(! RUC_Exec(&RevUpControlM1))//进行加速过程，加速可以由多个步骤的加速设置组合而成{/* The time allowed for the startup sequence has expired 时间超过了允许的启动时间*/MCI_FaultProcessing(&Mci[M1], MC_START_UP, 0);}else{/* Execute the torque open loop current start-up ramp:进行扭矩开环启动上坡* Compute the Iq reference current as configured in the Rev Up sequence计算Iq电流参考加速的过程序列 */IqdRef.q = STC_CalcTorqueReference( pSTC[M1] );//计算Iq值IqdRef.d = FOCVars[M1].UserIdref;//Id使用用户设定值/* Iqd reference current used by the High Frequency Loop to generate the PWM output */FOCVars[M1].Iqdref = IqdRef;}//计算虚拟速度传感器的速度值(void) VSS_CalcAvrgMecSpeedUnit(&VirtualSpeedSensorM1, &hForcedMecSpeedUnit);/* check that startup stage where the observer has to be used has been reached 启动到了可以使用观测器的状态，可以使用滑膜观察器就可以使用闭环控制*/if (true == RUC_FirstAccelerationStageReached(&RevUpControlM1)){ObserverConverged = STO_PLL_IsObserverConverged(&STO_PLL_M1, &hForcedMecSpeedUnit);STO_SetDirection(&STO_PLL_M1, (int8_t)MCI_GetImposedMotorDirection(&Mci[M1]));//将命令设置为从虚拟速度传感器启动转换阶段到其他速度传感器。(void)VSS_SetStartTransition(&VirtualSpeedSensorM1, ObserverConverged);}if (ObserverConverged)//观测器是否收敛{qd_t StatorCurrent = MCM_Park(FOCVars[M1].Ialphabeta, SPD_GetElAngle(&STO_PLL_M1._Super));/* Start switch over ramp. This ramp will transition from the revup to the closed loop FOC. 结束斜坡，加速转换成闭环的FOC*/REMNG_Init(pREMNG[M1]);(void)REMNG_ExecRamp(pREMNG[M1], FOCVars[M1].Iqdref.q, 0);(void)REMNG_ExecRamp(pREMNG[M1], StatorCurrent.q, TRANSITION_DURATION);Mci[M1].State = SWITCH_OVER;}}break;}case SWITCH_OVER:{if (MCI_STOP == Mci[M1].DirectCommand)//是否停止{TSK_MF_StopProcessing(&Mci[M1], M1);}else{bool LoopClosed;int16_t hForcedMecSpeedUnit;if(! RUC_Exec(&RevUpControlM1))//进行加速过程{/* The time allowed for the startup sequence has expired */MCI_FaultProcessing(&Mci[M1], MC_START_UP, 0);}else{/* Compute the virtual speed and positions of the rotor.The function returns true if the virtual speed is in the reliability range 计算转子的虚拟速度和位置。  如果虚拟速度在可靠性范围内，则该函数返回 true*/LoopClosed = VSS_CalcAvrgMecSpeedUnit(&VirtualSpeedSensorM1, &hForcedMecSpeedUnit);/* Check if the transition ramp has completed. */bool tempBool;//从虚拟速度传感器启动转换阶段到其他速度传感器是否完成判断。tempBool = VSS_TransitionEnded(&VirtualSpeedSensorM1);LoopClosed = LoopClosed || tempBool;/* If any of the above conditions is true, the loop is considered closed.The state machine transitions to the START_RUN state. 如果上述任一条件为真，则认为循环是闭合的。状态机将转换为START_RUN状态。*/if (true ==  LoopClosed){#if ( PID_SPEED_INTEGRAL_INIT_DIV == 0 )PID_SetIntegralTerm(&PIDSpeedHandle_M1, 0);#elsePID_SetIntegralTerm(&PIDSpeedHandle_M1,(((int32_t)FOCVars[M1].Iqdref.q * (int16_t)PID_GetKIDivisor(&PIDSpeedHandle_M1))/ PID_SPEED_INTEGRAL_INIT_DIV));#endif/* USER CODE BEGIN MediumFrequencyTask M1 1 *//* USER CODE END MediumFrequencyTask M1 1 */STC_SetSpeedSensor(pSTC[M1], &STO_PLL_M1._Super); /*Observer has converged*/FOC_InitAdditionalMethods(M1);FOC_CalcCurrRef( M1 );STC_ForceSpeedReferenceToCurrentSpeed(pSTC[M1]); /* Init the reference speed to current speed */MCI_ExecBufferedCommands(&Mci[M1]); /* Exec the speed ramp after changing of the speed sensor 斜坡起步后执行相关的命令，加减速等*/Mci[M1].State = RUN;}}}break;}case RUN://正常FOC运行{if (MCI_STOP == Mci[M1].DirectCommand)//停止命令{TSK_MF_StopProcessing(&Mci[M1], M1);}else{/* USER CODE BEGIN MediumFrequencyTask M1 2 *//* USER CODE END MediumFrequencyTask M1 2 */MCI_ExecBufferedCommands(&Mci[M1]);//前面有介绍FOC_CalcCurrRef(M1);//计算Iq电流值if(!IsSpeedReliable){MCI_FaultProcessing(&Mci[M1], MC_SPEED_FDBK, 0);}}break;}case STOP:{if (TSK_StopPermanencyTimeHasElapsedM1()){STC_SetSpeedSensor(pSTC[M1], &VirtualSpeedSensorM1._Super);      /*  sensor-less */VSS_Clear(&VirtualSpeedSensorM1); /* Reset measured speed in IDLE *//* USER CODE BEGIN MediumFrequencyTask M1 5 *//* USER CODE END MediumFrequencyTask M1 5 */Mci[M1].DirectCommand = MCI_NO_COMMAND;Mci[M1].State = IDLE;}else{/* nothing to do, FW waits for to stop */}break;}case FAULT_OVER:{if (MCI_ACK_FAULTS == Mci[M1].DirectCommand){Mci[M1].DirectCommand = MCI_NO_COMMAND;Mci[M1].State = IDLE;}else{/* nothing to do, FW stays in FAULT_OVER state until acknowledgement */}}break;case FAULT_NOW:{Mci[M1].State = FAULT_OVER;}default:break;}}else{Mci[M1].State = FAULT_OVER;}}else{Mci[M1].State = FAULT_NOW;}/* USER CODE BEGIN MediumFrequencyTask M1 6 *//* USER CODE END MediumFrequencyTask M1 6 */
}

RUC 爬坡控制

根据设置控制速度和电流值，其中STC_ExecRamp是获取曲线的参数，

VSS_SetMecAcceleration将曲线对应参设置给电机控制。

/*** @brief  Main revup controller procedure executing overall programmed phases.* @param  pHandle: Pointer on Handle structure of RevUp controller.*  @retval Boolean set to false when entire revup phases have been completed.*/
__weak bool RUC_Exec(RevUpCtrl_Handle_t *pHandle)
{bool retVal = true;
#ifdef NULL_PTR_REV_UP_CTLif (MC_NULL == pHandle){retVal = false;}else{#endifif (pHandle->hPhaseRemainingTicks > 0U)//加速时间没到0 减1{/* Decrease the hPhaseRemainingTicks.*/pHandle->hPhaseRemainingTicks--;} /* hPhaseRemainingTicks > 0 */if (0U == pHandle->hPhaseRemainingTicks)//一个加速过程是否结束{if (pHandle->pCurrentPhaseParams != MC_NULL)//后续没有加速过程，是否还有有的话使用新的加速过程{/* If it becomes zero the current phase has been completed.*//* Gives the next command to STC and VSS.*/(void)STC_ExecRamp(pHandle->pSTC, pHandle->pCurrentPhaseParams->hFinalTorque * pHandle->hDirection,(uint32_t)(pHandle->pCurrentPhaseParams->hDurationms));VSS_SetMecAcceleration(pHandle->pVSS,pHandle->pCurrentPhaseParams->hFinalMecSpeedUnit * pHandle->hDirection,pHandle->pCurrentPhaseParams->hDurationms);//设置加速曲线参数/* Compute hPhaseRemainingTicks.*/pHandle->hPhaseRemainingTicks = (uint16_t)((((uint32_t)pHandle->pCurrentPhaseParams->hDurationms) * ((uint32_t)pHandle->hRUCFrequencyHz)) / 1000U );//设置对应曲线的运行时间pHandle->hPhaseRemainingTicks++;//这个我认为可以可无，估计是想保证不为0/*Set the next phases parameter pointer.*/pHandle->pCurrentPhaseParams = pHandle->pCurrentPhaseParams->pNext; //指向下个电流设置曲线阶段//cstat !MISRAC2012-Rule-11.5/*Increases the rev up stages counter.*/pHandle->bStageCnt++;//过程计数，用于知道第几步了。}else//所有加速过程结束，后续没有新的加速设置{retVal = false;}}
#ifdef NULL_PTR_REV_UP_CTL}
#endifreturn (retVal);
}

VSS_CalcAvrgMecSpeedUnit

/*** @brief  This method must be called with the same periodicity*         on which speed control is executed.*         This method computes and stores rotor instantaneous el speed (express*         in dpp considering the measurement frequency) in order to provide it*         to SPD_CalcElAngle function and SPD_GetElAngle.*         Then compute store and return - through parameter*         hMecSpeedUnit - the rotor average mech speed, expressed in the unit*         defined by #SPEED_UNIT. Then return the reliability state of the*         sensor (always true).* @param  pHandle: handler of the current instance of the VirtualSpeedSensor component* @param  hMecSpeedUnit pointer to int16_t, used to return the rotor average*         mechanical speed (SPED_UNIT)* @retval true = sensor information is reliable*         false = sensor information is not reliable*/
__weak bool VSS_CalcAvrgMecSpeedUnit(VirtualSpeedSensor_Handle_t *pHandle, int16_t *hMecSpeedUnit)
{bool SpeedSensorReliability;
#ifdef NULL_PTR_VIR_SPD_SENif ((MC_NULL == pHandle) || (MC_NULL == hMecSpeedUnit)){SpeedSensorReliability = false;}else{#endifif (pHandle->hRemainingStep > 1u)//一个步数的计数判断，等于加速被切换成了多个阶段加速{pHandle->wElSpeedDpp32 += pHandle->wElAccDppP32;//一个32位的计数累加器一次加一个小的速度 32位精度较高，可以实现缓慢加速//实际用的是是速度的高16位
#ifndef FULL_MISRA_C_COMPLIANCY_VIRT_SPD_SENS//cstat !MISRAC2012-Rule-1.3_n !ATH-shift-neg !MISRAC2012-Rule-10.1_R6pHandle->_Super.hElSpeedDpp = (int16_t)(pHandle->wElSpeedDpp32 >> 16);
#elsepHandle->_Super.hElSpeedDpp = (int16_t)(pHandle->wElSpeedDpp32 / 65536);
#endif/* Convert dpp into MecUnit *///从每步的步速加的值计算电机的速度*hMecSpeedUnit = (int16_t)((((int32_t)pHandle->_Super.hElSpeedDpp)* ((int32_t )pHandle->_Super.hMeasurementFrequency) * SPEED_UNIT)/ (((int32_t)pHandle->_Super.DPPConvFactor) * ((int32_t)pHandle->_Super.bElToMecRatio)));//保存电机的速度值pHandle->_Super.hAvrMecSpeedUnit = *hMecSpeedUnit;pHandle->hRemainingStep--;//步数减少}else if (1U == pHandle->hRemainingStep)//到最后一部前{*hMecSpeedUnit = pHandle->hFinalMecSpeedUnit;//电机速度应该等于设定速度了pHandle->_Super.hAvrMecSpeedUnit = *hMecSpeedUnit;//保存设定速度pHandle->_Super.hElSpeedDpp = (int16_t)((((int32_t)*hMecSpeedUnit) * ((int32_t)pHandle->_Super.DPPConvFactor)) / (((int32_t)SPEED_UNIT) * ((int32_t)pHandle->_Super.hMeasurementFrequency)));//从电机的设定速度计算每部的速度pHandle->_Super.hElSpeedDpp *= ((int16_t)pHandle->_Super.bElToMecRatio);//这个可以和上面合并pHandle->hRemainingStep = 0U;//加速步骤完成}else{*hMecSpeedUnit = pHandle->_Super.hAvrMecSpeedUnit;}/* If the transition is not done yet, we already know that speed is not reliable *///在TSK_HighFrequencyTask->VSS_CalcElAngle中会调用一无状态观测器到有状态观测转换的过程。转换步数完成后会设置转换结束pHandle->bTransitionEnded = true;if (false == pHandle->bTransitionEnded){pHandle->_Super.bSpeedErrorNumber = pHandle->_Super.bMaximumSpeedErrorsNumber;SpeedSensorReliability = false;}else{SpeedSensorReliability = SPD_IsMecSpeedReliable(&pHandle->_Super, hMecSpeedUnit);}
#ifdef NULL_PTR_VIR_SPD_SEN}
#endifreturn (SpeedSensorReliability);
}

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FOC ST MediumFrequencyTask 分析（代码注释）