2020-03-16 10:32:39 -07:00
|
|
|
/*
|
|
|
|
|
Copyright 2016 Benjamin Vedder benjamin@vedder.se
|
|
|
|
|
|
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
|
|
|
it under the terms of the GNU General Public License as published by
|
|
|
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
|
|
|
(at your option) any later version.
|
|
|
|
|
|
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
|
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
|
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
|
|
|
GNU General Public License for more details.
|
|
|
|
|
|
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
|
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
|
*/
|
|
|
|
|
#ifndef HW_UNITY_H_
|
|
|
|
|
#define HW_UNITY_H_
|
|
|
|
|
|
2020-10-15 10:01:27 -07:00
|
|
|
#ifdef HW_DUAL_CONFIG_PARALLEL
|
|
|
|
|
#define HW_HAS_DUAL_PARALLEL
|
|
|
|
|
#else
|
2020-03-16 10:32:39 -07:00
|
|
|
#define HW_HAS_DUAL_MOTORS
|
2020-10-15 10:01:27 -07:00
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#ifdef HW_HAS_DUAL_PARALLEL
|
|
|
|
|
#define HW_NAME "UNITY_PARALLEL"
|
|
|
|
|
#else
|
|
|
|
|
#define HW_NAME "UNITY"
|
|
|
|
|
#endif
|
|
|
|
|
|
2020-03-16 10:32:39 -07:00
|
|
|
#define HW_HAS_DRV8301
|
|
|
|
|
//#define HW_HAS_3_SHUNTS
|
|
|
|
|
//#define HW_HAS_PHASE_SHUNTS
|
|
|
|
|
|
|
|
|
|
// Switch Pins
|
|
|
|
|
#define SWITCH_IN_GPIO GPIOE
|
|
|
|
|
#define SWITCH_IN_PIN 15
|
|
|
|
|
#define SWITCH_OUT_GPIO GPIOB
|
|
|
|
|
#define SWITCH_OUT_PIN 13
|
|
|
|
|
#define SWITCH_LED_1_GPIO GPIOD
|
|
|
|
|
#define SWITCH_LED_1_PIN 10
|
|
|
|
|
#define SWITCH_LED_2_GPIO GPIOD
|
|
|
|
|
#define SWITCH_LED_2_PIN 11
|
|
|
|
|
|
2020-03-17 10:48:34 -07:00
|
|
|
#define HW_SHUTDOWN_HOLD_ON();
|
|
|
|
|
#define HW_SAMPLE_SHUTDOWN() 1
|
|
|
|
|
#define HW_SHUTDOWN_HOLD_OFF() palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
|
|
|
|
|
|
2020-03-16 10:32:39 -07:00
|
|
|
#define LED_PWM1_ON() palClearPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN)
|
|
|
|
|
#define LED_PWM1_OFF() palSetPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN)
|
|
|
|
|
#define LED_PWM2_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
|
|
|
|
|
#define LED_PWM2_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
|
|
|
|
|
|
|
|
|
|
#define SMART_SWITCH_MSECS_PRESSED_OFF 2000
|
|
|
|
|
|
|
|
|
|
#define HW_EARLY_INIT() smart_switch_pin_init(); smart_switch_thread_start();
|
|
|
|
|
|
|
|
|
|
// Pins for BLE UART
|
|
|
|
|
#define HW_UART_P_BAUD 250000
|
|
|
|
|
#define HW_UART_P_DEV SD1
|
|
|
|
|
#define HW_UART_P_GPIO_AF GPIO_AF_USART1
|
|
|
|
|
#define HW_UART_P_TX_PORT GPIOA
|
|
|
|
|
#define HW_UART_P_TX_PIN 9
|
|
|
|
|
#define HW_UART_P_RX_PORT GPIOA
|
|
|
|
|
#define HW_UART_P_RX_PIN 10
|
|
|
|
|
|
|
|
|
|
// SPI for DRV8301
|
|
|
|
|
#define HW_HAS_DRV8301
|
|
|
|
|
#define DRV8301_MOSI_GPIO GPIOC
|
|
|
|
|
#define DRV8301_MOSI_PIN 12
|
|
|
|
|
#define DRV8301_MISO_GPIO GPIOC
|
|
|
|
|
#define DRV8301_MISO_PIN 11
|
|
|
|
|
#define DRV8301_SCK_GPIO GPIOC
|
|
|
|
|
#define DRV8301_SCK_PIN 10
|
|
|
|
|
#define DRV8301_CS_GPIO GPIOC
|
|
|
|
|
#define DRV8301_CS_PIN 13
|
|
|
|
|
#define DRV8301_CS_GPIO2 GPIOE
|
|
|
|
|
#define DRV8301_CS_PIN2 0
|
|
|
|
|
|
|
|
|
|
// Macros
|
|
|
|
|
#define ENABLE_GATE() palSetPad(GPIOE, 2); palSetPad(GPIOD, 4)
|
|
|
|
|
#define DISABLE_GATE() palClearPad(GPIOE, 2); palClearPad(GPIOD, 4)
|
|
|
|
|
//#define ENABLE_GATE2() palSetPad(GPIOD, 4)
|
|
|
|
|
//#define DISABLE_GATE2() palClearPad(GPIOD, 4)
|
|
|
|
|
|
|
|
|
|
#define ENABLE_MOS_TEMP1() palSetPad(GPIOE, 7); palClearPad(GPIOD, 8);\
|
2020-03-16 14:57:55 -07:00
|
|
|
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
|
2020-03-16 10:32:39 -07:00
|
|
|
#define ENABLE_MOS_TEMP2() palSetPad(GPIOD, 8); palClearPad(GPIOE, 7);\
|
2020-03-16 14:57:55 -07:00
|
|
|
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
|
2020-03-16 10:32:39 -07:00
|
|
|
#define ENABLE_MOT_TEMP1() palSetPad(GPIOD, 9); palClearPad(GPIOE, 7);\
|
2020-03-16 14:57:55 -07:00
|
|
|
palClearPad(GPIOD, 8); palClearPad(GPIOB, 12);
|
2020-03-16 10:32:39 -07:00
|
|
|
#define ENABLE_MOT_TEMP2() palSetPad(GPIOB, 12); palClearPad(GPIOE, 7);\
|
2020-03-16 14:57:55 -07:00
|
|
|
palClearPad(GPIOD, 8); palClearPad(GPIOD, 9);
|
2020-03-16 10:32:39 -07:00
|
|
|
|
|
|
|
|
#define DCCAL_ON() palSetPad(GPIOB, 8)
|
|
|
|
|
#define DCCAL_OFF() palClearPad(GPIOB, 8)
|
|
|
|
|
|
|
|
|
|
#define IS_DRV_FAULT() (!palReadPad(GPIOE, 3))
|
|
|
|
|
#define IS_DRV_FAULT_2() (!palReadPad(GPIOE, 1))
|
|
|
|
|
|
|
|
|
|
#define LED_GREEN_ON() palSetPad(GPIOD, 7)
|
|
|
|
|
#define LED_GREEN_OFF() palClearPad(GPIOD, 7)
|
|
|
|
|
#define LED_RED_ON() palSetPad(GPIOD, 3)
|
|
|
|
|
#define LED_RED_OFF() palClearPad(GPIOD, 3)
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
|
* ADC Vector
|
|
|
|
|
*
|
|
|
|
|
* 0: IN14 CURR3
|
|
|
|
|
* 1: IN15 CURR4
|
|
|
|
|
* 2: IN3 SERVO2/ADC
|
|
|
|
|
* 3: IN9 CURR1
|
|
|
|
|
* 4: IN8 CURR2
|
|
|
|
|
* 5: IN10 AN_IN
|
|
|
|
|
* 6: IN0 SENS2
|
|
|
|
|
* 7: IN1 SENS3
|
|
|
|
|
* 8: IN2 SENS1
|
|
|
|
|
* 9: IN5 ADC_EXT
|
|
|
|
|
* 10: IN4 ADC_TEMP
|
|
|
|
|
* 11: IN13 SENS4
|
|
|
|
|
* 12: Vrefint
|
|
|
|
|
* 13: IN11 SENS6
|
|
|
|
|
* 14: IN12 SENS5
|
|
|
|
|
* 15: IN6 ADC_EXT2
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#define HW_ADC_CHANNELS 15
|
|
|
|
|
#define HW_ADC_CHANNELS_EXTRA 4
|
|
|
|
|
#define HW_ADC_INJ_CHANNELS 2
|
|
|
|
|
#define HW_ADC_NBR_CONV 5
|
|
|
|
|
|
|
|
|
|
// ADC Indexes
|
|
|
|
|
#define ADC_IND_SENS1 8
|
|
|
|
|
#define ADC_IND_SENS2 6
|
|
|
|
|
#define ADC_IND_SENS3 7
|
|
|
|
|
#define ADC_IND_SENS4 11
|
|
|
|
|
#define ADC_IND_SENS5 14
|
|
|
|
|
#define ADC_IND_SENS6 13
|
|
|
|
|
#define ADC_IND_CURR1 3
|
|
|
|
|
#define ADC_IND_CURR2 4
|
|
|
|
|
#define ADC_IND_CURR4 0
|
|
|
|
|
#define ADC_IND_CURR5 1
|
|
|
|
|
#define ADC_IND_VIN_SENS 5
|
|
|
|
|
#define ADC_IND_EXT 9
|
|
|
|
|
#define ADC_IND_EXT2 15 // ??
|
|
|
|
|
#define ADC_IND_VREFINT 12
|
|
|
|
|
#define ADC_IND_ADC_MUX 10
|
|
|
|
|
#define ADC_IND_TEMP_MOS 15
|
|
|
|
|
#define ADC_IND_TEMP_MOS_M2 16
|
|
|
|
|
#define ADC_IND_TEMP_MOTOR 17
|
|
|
|
|
#define ADC_IND_TEMP_MOTOR_2 18
|
|
|
|
|
|
|
|
|
|
#define ADC_IND_CURR3 4
|
|
|
|
|
#define ADC_IND_CURR6 4
|
|
|
|
|
|
|
|
|
|
// ADC macros and settings
|
|
|
|
|
|
|
|
|
|
// Component parameters (can be overridden)
|
|
|
|
|
#ifndef V_REG
|
|
|
|
|
#define V_REG 3.3
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef VIN_R1
|
|
|
|
|
#define VIN_R1 39000.0
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef VIN_R2
|
|
|
|
|
#define VIN_R2 2200.0
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
#define INVERTED_SHUNT_POLARITY
|
|
|
|
|
#ifndef CURRENT_AMP_GAIN
|
|
|
|
|
#define CURRENT_AMP_GAIN 10.0
|
|
|
|
|
#endif
|
|
|
|
|
#ifndef CURRENT_SHUNT_RES
|
|
|
|
|
#define CURRENT_SHUNT_RES 0.001
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// Input voltage
|
|
|
|
|
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
|
|
|
|
|
|
|
|
|
|
// Voltage on ADC channel
|
|
|
|
|
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
|
|
|
|
|
|
|
|
|
|
// NTC Termistors
|
|
|
|
|
#define NTC_RES(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side // High side ->((4095.0 * 10000.0) / adc_val - 10000.0)
|
|
|
|
|
#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3434.0) + (1.0 / 298.15)) - 273.15)
|
|
|
|
|
|
|
|
|
|
#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
|
|
|
|
|
#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
|
|
|
|
|
#define NTC_TEMP_MOTOR_2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
|
|
|
|
|
|
|
|
|
|
// UART Peripheral
|
|
|
|
|
#define HW_UART_DEV SD3
|
|
|
|
|
#define HW_UART_GPIO_AF GPIO_AF_USART3
|
|
|
|
|
#define HW_UART_TX_PORT GPIOB
|
|
|
|
|
#define HW_UART_TX_PIN 10
|
|
|
|
|
#define HW_UART_RX_PORT GPIOB
|
|
|
|
|
#define HW_UART_RX_PIN 11
|
|
|
|
|
|
|
|
|
|
// ICU Peripheral for servo decoding
|
|
|
|
|
#define HW_ICU_TIMER TIM9
|
|
|
|
|
#define HW_ICU_DEV ICUD9
|
|
|
|
|
#define HW_ICU_CHANNEL ICU_CHANNEL_1
|
|
|
|
|
#define HW_ICU_GPIO_AF GPIO_AF_TIM9
|
|
|
|
|
#define HW_ICU_GPIO GPIOE
|
|
|
|
|
#define HW_ICU_PIN 5
|
|
|
|
|
|
|
|
|
|
// I2C Peripheral
|
|
|
|
|
#define HW_I2C_DEV I2CD2
|
|
|
|
|
#define HW_I2C_GPIO_AF GPIO_AF_I2C2
|
|
|
|
|
#define HW_I2C_SCL_PORT GPIOB
|
|
|
|
|
#define HW_I2C_SCL_PIN 10
|
|
|
|
|
#define HW_I2C_SDA_PORT GPIOB
|
|
|
|
|
#define HW_I2C_SDA_PIN 11
|
|
|
|
|
|
|
|
|
|
// Hall/encoder pins
|
|
|
|
|
#define HW_HALL_ENC_GPIO1 GPIOD
|
|
|
|
|
#define HW_HALL_ENC_PIN1 13
|
|
|
|
|
#define HW_HALL_ENC_GPIO2 GPIOD
|
|
|
|
|
#define HW_HALL_ENC_PIN2 12
|
|
|
|
|
#define HW_HALL_ENC_GPIO3 GPIOD
|
|
|
|
|
#define HW_HALL_ENC_PIN3 14
|
|
|
|
|
#define HW_ENC_TIM TIM4
|
|
|
|
|
#define HW_ENC_TIM_AF GPIO_AF_TIM4
|
|
|
|
|
#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
|
|
|
|
|
#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOD
|
|
|
|
|
#define HW_ENC_EXTI_PINSRC EXTI_PinSource14
|
|
|
|
|
#define HW_ENC_EXTI_CH EXTI15_10_IRQn
|
|
|
|
|
#define HW_ENC_EXTI_LINE EXTI_Line14
|
|
|
|
|
#define HW_ENC_EXTI_ISR_VEC EXTI15_10_IRQHandler
|
|
|
|
|
#define HW_ENC_TIM_ISR_CH TIM4_IRQn
|
|
|
|
|
#define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler
|
|
|
|
|
|
|
|
|
|
// Second hall/encoder. TODO: Implement encoder support for second motor.
|
|
|
|
|
#define HW_HALL_ENC_GPIO4 GPIOB
|
|
|
|
|
#define HW_HALL_ENC_PIN4 4
|
|
|
|
|
#define HW_HALL_ENC_GPIO5 GPIOB
|
|
|
|
|
#define HW_HALL_ENC_PIN5 6
|
|
|
|
|
#define HW_HALL_ENC_GPIO6 GPIOB
|
|
|
|
|
#define HW_HALL_ENC_PIN6 7
|
|
|
|
|
#define HW_ENC_TIM2 TIM3
|
|
|
|
|
#define HW_ENC_TIM_AF2 GPIO_AF_TIM3
|
|
|
|
|
#define HW_ENC_TIM_CLK_EN2() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
|
|
|
|
|
#define HW_ENC_EXTI_PORTSRC2 EXTI_PortSourceGPIOB
|
|
|
|
|
#define HW_ENC_EXTI_PINSRC2 EXTI_PinSource7
|
|
|
|
|
#define HW_ENC_EXTI_CH2 EXTI9_5_IRQn
|
|
|
|
|
#define HW_ENC_EXTI_LINE2 EXTI_Line6
|
|
|
|
|
#define HW_ENC_EXTI_ISR_VEC2 EXTI9_5_IRQHandler
|
|
|
|
|
#define HW_ENC_TIM_ISR_CH2 TIM3_IRQn
|
|
|
|
|
#define HW_ENC_TIM_ISR_VEC2 TIM3_IRQHandler
|
|
|
|
|
|
|
|
|
|
// NRF pins
|
|
|
|
|
#define NRF_PORT_CSN GPIOD
|
|
|
|
|
#define NRF_PIN_CSN 3
|
|
|
|
|
#define NRF_PORT_SCK GPIOD
|
|
|
|
|
#define NRF_PIN_SCK 2
|
|
|
|
|
#define NRF_PORT_MOSI GPIOD
|
|
|
|
|
#define NRF_PIN_MOSI 11
|
|
|
|
|
#define NRF_PORT_MISO GPIOD
|
|
|
|
|
#define NRF_PIN_MISO 10
|
|
|
|
|
|
|
|
|
|
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
|
|
|
|
|
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
|
|
|
|
|
#endif
|
|
|
|
|
|
|
|
|
|
// SPI pins
|
|
|
|
|
#define HW_SPI_DEV SPID1
|
|
|
|
|
#define HW_SPI_GPIO_AF GPIO_AF_SPI1
|
|
|
|
|
#define HW_SPI_PORT_NSS GPIOB
|
|
|
|
|
#define HW_SPI_PIN_NSS 11
|
|
|
|
|
#define HW_SPI_PORT_SCK GPIOA
|
|
|
|
|
#define HW_SPI_PIN_SCK 5
|
|
|
|
|
#define HW_SPI_PORT_MOSI GPIOB
|
|
|
|
|
#define HW_SPI_PIN_MOSI 5
|
|
|
|
|
#define HW_SPI_PORT_MISO GPIOA
|
|
|
|
|
#define HW_SPI_PIN_MISO 6
|
|
|
|
|
|
2020-06-01 20:17:48 -07:00
|
|
|
// LSM6DS3
|
|
|
|
|
#define LSM6DS3_SDA_GPIO GPIOC
|
|
|
|
|
#define LSM6DS3_SDA_PIN 9
|
|
|
|
|
#define LSM6DS3_SCL_GPIO GPIOA
|
|
|
|
|
#define LSM6DS3_SCL_PIN 8
|
|
|
|
|
|
2020-03-16 10:32:39 -07:00
|
|
|
// CAN-bus
|
|
|
|
|
#define HW_CANRX_PORT GPIOD
|
|
|
|
|
#define HW_CANRX_PIN 0
|
|
|
|
|
#define HW_CANTX_PORT GPIOD
|
|
|
|
|
#define HW_CANTX_PIN 1
|
|
|
|
|
|
|
|
|
|
// Measurement macros
|
|
|
|
|
#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
|
|
|
|
|
#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
|
|
|
|
|
#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
|
|
|
|
|
#define ADC_V_L4 ADC_Value[ADC_IND_SENS4]
|
|
|
|
|
#define ADC_V_L5 ADC_Value[ADC_IND_SENS5]
|
|
|
|
|
#define ADC_V_L6 ADC_Value[ADC_IND_SENS6]
|
2020-03-16 14:57:55 -07:00
|
|
|
|
2020-03-16 10:32:39 -07:00
|
|
|
#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
|
|
|
|
|
|
|
|
|
|
// Macros
|
|
|
|
|
#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
|
|
|
|
|
#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
|
|
|
|
|
#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
|
|
|
|
|
|
|
|
|
|
#define READ_HALL1_2() palReadPad(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4)
|
|
|
|
|
#define READ_HALL2_2() palReadPad(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5)
|
|
|
|
|
#define READ_HALL3_2() palReadPad(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6)
|
|
|
|
|
|
2020-04-09 14:16:26 -07:00
|
|
|
// Note: the unity seems to trigger this fault randomly sometimes, which can be
|
|
|
|
|
// dangerous. Therefore it is disabled, and we rely on the DRV to limit the current
|
|
|
|
|
// if needed.
|
|
|
|
|
#ifndef MCCONF_L_MAX_ABS_CURRENT
|
|
|
|
|
#define MCCONF_L_MAX_ABS_CURRENT 401.0 // The maximum absolute current above which a fault is generated
|
|
|
|
|
#endif
|
|
|
|
|
|
2020-03-16 10:32:39 -07:00
|
|
|
// Setting limits
|
2020-10-15 10:01:27 -07:00
|
|
|
#ifdef HW_HAS_DUAL_PARALLEL
|
|
|
|
|
#define HW_LIM_CURRENT -300.0, 300.0
|
|
|
|
|
#define HW_LIM_CURRENT_ABS 800.0, 804.0
|
|
|
|
|
#define HW_LIM_CURRENT_IN -200.0, 200.0
|
|
|
|
|
#ifndef MCCONF_L_MAX_ABS_CURRENT
|
|
|
|
|
#define MCCONF_L_MAX_ABS_CURRENT 400.0 // The maximum absolute current above which a fault is generated
|
|
|
|
|
#endif
|
|
|
|
|
#else
|
|
|
|
|
#define HW_LIM_CURRENT -150.0, 150.0
|
2020-04-09 14:16:26 -07:00
|
|
|
#define HW_LIM_CURRENT_ABS 400.0, 402.0
|
2020-10-15 10:01:27 -07:00
|
|
|
#define HW_LIM_CURRENT_IN -100.0, 100.0
|
|
|
|
|
#ifndef MCCONF_L_MAX_ABS_CURRENT
|
|
|
|
|
#define MCCONF_L_MAX_ABS_CURRENT 200.0 // The maximum absolute current above which a fault is generated
|
|
|
|
|
#endif
|
|
|
|
|
#endif
|
|
|
|
|
|
2020-03-16 10:32:39 -07:00
|
|
|
#define HW_LIM_VIN 6.0, 59.0
|
|
|
|
|
#define HW_LIM_ERPM -200e3, 200e3
|
|
|
|
|
#define HW_LIM_DUTY_MIN 0.0, 0.1
|
|
|
|
|
#define HW_LIM_DUTY_MAX 0.0, 0.95
|
|
|
|
|
#define HW_LIM_TEMP_FET -40.0, 120.0
|
|
|
|
|
|
|
|
|
|
// Functions
|
|
|
|
|
void smart_switch_thread_start(void);
|
|
|
|
|
void smart_switch_pin_init(void);
|
|
|
|
|
bool smart_switch_is_pressed(void);
|
|
|
|
|
void smart_switch_shut_down(void);
|
|
|
|
|
void smart_switch_keep_on(void);
|
|
|
|
|
|
|
|
|
|
#endif /* HW_UNITY_H_ */
|
