[Moved] Need help for bldc closed loop control

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#include <stm32f10x.h>
#include<stdio.h>
GPIOSpeed_TypeDef  gpio_speed;
GPIOMode_TypeDef   gpio_mode;
GPIO_InitTypeDef  gpio_init;
TIM_TimeBaseInitTypeDef time_init;
TIM_OCInitTypeDef timer_output_compare;
 uint16_t Capture = 0;
 volatile uint16_t TIM5Freq = 0;
   uint16_t CCR1_Val=   232;
 
    void gpio()
    {
     //Configure GPIOD Pin 12 as Input      
     gpio_init.GPIO_Pin =  GPIO_Pin_12;
   gpio_init.GPIO_Mode = GPIO_Mode_IN_FLOATING;
     gpio_init.GPIO_Speed = GPIO_Speed_50MHz;   
   GPIO_Init(GPIOD, &gpio_init);
    //Configure GPIOA Pin 6 as pwm o/p          
     gpio_init.GPIO_Pin =  GPIO_Pin_6;
   gpio_init.GPIO_Mode = GPIO_Mode_AF_PP;
   GPIO_Init(GPIOA, &gpio_init);
        }
            
 
 
void rcc()
{
     RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4|RCC_APB1Periph_TIM3, ENABLE);
 
  /* GPIOA and GPIOD clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD|RCC_APB2Periph_GPIOA |RCC_APB2Periph_AFIO , ENABLE);
      
}
void timer3 ()     //PORT A //PIN6
    {
 
 time_init.TIM_Period = 400;
  time_init.TIM_Prescaler = (uint16_t) (36000000 /4000000) - 1;
  time_init.TIM_ClockDivision = 0;
  time_init.TIM_CounterMode = TIM_CounterMode_Up;
        
 
  TIM_TimeBaseInit(TIM3, &time_init);
        
    
        
 
  /* PWM1 Mode configuration: Channel1 */
  timer_output_compare.TIM_OCMode = TIM_OCMode_PWM1;
  timer_output_compare.TIM_OutputState = TIM_OutputState_Enable;
  timer_output_compare.TIM_Pulse = CCR1_Val;
  timer_output_compare.TIM_OCPolarity = TIM_OCPolarity_High;
 
  TIM_OC1Init(TIM3, &timer_output_compare);
 
  TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
 
   TIM_ARRPreloadConfig(TIM3, ENABLE);
   /* TIM3 enable counter */
  TIM_Cmd(TIM3, ENABLE);
}
 
  
void timer4 ()                                     // for running a free timer to count how many no. of pulse passed in high & low of motor o/p signal to calculate its frequency
{
    TIM_TimeBaseStructInit(&time_init);
    time_init.TIM_Prescaler =((uint16_t) (36000000 /1000000) - 1);
     time_init.TIM_Period =65535;
      time_init.TIM_ClockDivision = 0;
  time_init.TIM_CounterMode = TIM_CounterMode_Up;
 
  TIM_TimeBaseInit(TIM4, &time_init);
    
    TIM_Cmd(TIM4, ENABLE);
}
 
        
int main()
{
    uint16_t tim1,tim2;
        uint8_t count1=0;
    uint16_t gpiocheck;
    rcc();
    gpio();
      timer3();
        timer4();
        TIM_OC1Init(TIM3, &timer_output_compare);
 
        while(1)
 
            gpiocheck=GPIOD->IDR & 0X1000;
            if((gpiocheck==0X1000)&& count1==0)
            {
                tim1=TIM4->CNT;
                count1=1;
            }
      else if ((gpiocheck==0X0000)&&count1==1 )     
         {
      tim2 = TIM4->CNT;
        
         if (tim2 > tim1)
      {
        Capture = (tim2 - tim1); 
      }
      else
           Capture = ((0xFFFF - tim1) + tim2); 
             TIM5Freq = (uint32_t) 1000000 / Capture;
            count1=0;
            
        }   
        if(TIM5Freq<420)
        {
            volatile uint16_t difference=0;
            if(TIM5Freq<440)
            difference=(440-TIM5Freq);
            else
                difference=(TIM5Freq-440);
            if(difference>=50)
            { timer_output_compare.TIM_Pulse = 400;
                TIM_OC1Init(TIM3, &timer_output_compare);
          }
    }
}
}