mirror of https://github.com/rusefi/bldc.git
246 lines
8.1 KiB
C
246 lines
8.1 KiB
C
|
/*
|
||
|
|
Copyright 2018 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/>.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "hw.h"
|
||
|
|
|
||
|
|
#include "ch.h"
|
||
|
|
#include "hal.h"
|
||
|
|
#include "stm32f4xx_conf.h"
|
||
|
|
#include "utils.h"
|
||
|
|
#include <math.h>
|
||
|
|
#include "mc_interface.h"
|
||
|
|
|
||
|
|
// Variables
|
||
|
|
static volatile bool i2c_running = false;
|
||
|
|
|
||
|
|
// I2C configuration
|
||
|
|
static const I2CConfig i2cfg = {
|
||
|
|
OPMODE_I2C,
|
||
|
|
100000,
|
||
|
|
STD_DUTY_CYCLE
|
||
|
|
};
|
||
|
|
|
||
|
|
void hw_init_gpio(void) {
|
||
|
|
// GPIO clock enable
|
||
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
|
||
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
|
||
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
|
||
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
|
||
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
|
||
|
|
|
||
|
|
// LEDs
|
||
|
|
// No Leds on hardware
|
||
|
|
|
||
|
|
// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
|
||
|
|
palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST |
|
||
|
|
PAL_STM32_PUDR_FLOATING);
|
||
|
|
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST |
|
||
|
|
PAL_STM32_PUDR_FLOATING);
|
||
|
|
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST |
|
||
|
|
PAL_STM32_PUDR_FLOATING);
|
||
|
|
|
||
|
|
palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST |
|
||
|
|
PAL_STM32_PUDR_FLOATING);
|
||
|
|
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST |
|
||
|
|
PAL_STM32_PUDR_FLOATING);
|
||
|
|
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST |
|
||
|
|
PAL_STM32_PUDR_FLOATING);
|
||
|
|
|
||
|
|
// Hall sensors
|
||
|
|
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
|
||
|
|
palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
|
||
|
|
palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
|
||
|
|
|
||
|
|
// These are JTAG pins so need to release that first
|
||
|
|
palClearPad(GPIOB, 3);
|
||
|
|
palClearPad(GPIOB, 4);
|
||
|
|
palClearPad(GPIOB, 5);
|
||
|
|
|
||
|
|
// Phase filters
|
||
|
|
palSetPadMode(GPIOB, 3, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
||
|
|
palSetPadMode(GPIOB, 4, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
||
|
|
palSetPadMode(GPIOB, 5, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
||
|
|
PHASE_FILTER_OFF();
|
||
|
|
|
||
|
|
// Current filter
|
||
|
|
palSetPadMode(GPIOH, 1, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
||
|
|
palSetPadMode(GPIOC, 2, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
||
|
|
CURRENT_FILTER_ON();
|
||
|
|
|
||
|
|
// AUX pin
|
||
|
|
AUX_OFF();
|
||
|
|
palSetPadMode(AUX_GPIO, AUX_PIN,
|
||
|
|
PAL_MODE_OUTPUT_PUSHPULL |
|
||
|
|
PAL_STM32_OSPEED_HIGHEST);
|
||
|
|
|
||
|
|
// ADC Pins
|
||
|
|
palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
|
||
|
|
|
||
|
|
palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
|
||
|
|
|
||
|
|
palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
|
||
|
|
palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
|
||
|
|
}
|
||
|
|
|
||
|
|
void hw_setup_adc_channels(void) {
|
||
|
|
// ADC1 regular channels
|
||
|
|
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles);
|
||
|
|
|
||
|
|
// ADC2 regular channels
|
||
|
|
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles);
|
||
|
|
|
||
|
|
// ADC3 regular channels
|
||
|
|
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles);
|
||
|
|
|
||
|
|
// Injected channels
|
||
|
|
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
|
||
|
|
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void hw_start_i2c(void) {
|
||
|
|
i2cAcquireBus(&HW_I2C_DEV);
|
||
|
|
|
||
|
|
if (!i2c_running) {
|
||
|
|
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
|
||
|
|
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
|
||
|
|
PAL_STM32_OTYPE_OPENDRAIN |
|
||
|
|
PAL_STM32_OSPEED_MID1 |
|
||
|
|
PAL_STM32_PUDR_PULLUP);
|
||
|
|
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
|
||
|
|
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
|
||
|
|
PAL_STM32_OTYPE_OPENDRAIN |
|
||
|
|
PAL_STM32_OSPEED_MID1 |
|
||
|
|
PAL_STM32_PUDR_PULLUP);
|
||
|
|
|
||
|
|
i2cStart(&HW_I2C_DEV, &i2cfg);
|
||
|
|
i2c_running = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
i2cReleaseBus(&HW_I2C_DEV);
|
||
|
|
}
|
||
|
|
|
||
|
|
void hw_stop_i2c(void) {
|
||
|
|
i2cAcquireBus(&HW_I2C_DEV);
|
||
|
|
|
||
|
|
if (i2c_running) {
|
||
|
|
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
|
||
|
|
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
|
||
|
|
|
||
|
|
i2cStop(&HW_I2C_DEV);
|
||
|
|
i2c_running = false;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
i2cReleaseBus(&HW_I2C_DEV);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Try to restore the i2c bus
|
||
|
|
*/
|
||
|
|
void hw_try_restore_i2c(void) {
|
||
|
|
if (i2c_running) {
|
||
|
|
i2cAcquireBus(&HW_I2C_DEV);
|
||
|
|
|
||
|
|
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
|
||
|
|
PAL_STM32_OTYPE_OPENDRAIN |
|
||
|
|
PAL_STM32_OSPEED_MID1 |
|
||
|
|
PAL_STM32_PUDR_PULLUP);
|
||
|
|
|
||
|
|
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
|
||
|
|
PAL_STM32_OTYPE_OPENDRAIN |
|
||
|
|
PAL_STM32_OSPEED_MID1 |
|
||
|
|
PAL_STM32_PUDR_PULLUP);
|
||
|
|
|
||
|
|
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
|
||
|
|
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
|
||
|
|
|
||
|
|
chThdSleep(1);
|
||
|
|
|
||
|
|
for(int i = 0;i < 16;i++) {
|
||
|
|
palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
|
||
|
|
chThdSleep(1);
|
||
|
|
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
|
||
|
|
chThdSleep(1);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Generate start then stop condition
|
||
|
|
palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
|
||
|
|
chThdSleep(1);
|
||
|
|
palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
|
||
|
|
chThdSleep(1);
|
||
|
|
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
|
||
|
|
chThdSleep(1);
|
||
|
|
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
|
||
|
|
|
||
|
|
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
|
||
|
|
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
|
||
|
|
PAL_STM32_OTYPE_OPENDRAIN |
|
||
|
|
PAL_STM32_OSPEED_MID1 |
|
||
|
|
PAL_STM32_PUDR_PULLUP);
|
||
|
|
|
||
|
|
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
|
||
|
|
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
|
||
|
|
PAL_STM32_OTYPE_OPENDRAIN |
|
||
|
|
PAL_STM32_OSPEED_MID1 |
|
||
|
|
PAL_STM32_PUDR_PULLUP);
|
||
|
|
|
||
|
|
HW_I2C_DEV.state = I2C_STOP;
|
||
|
|
i2cStart(&HW_I2C_DEV, &i2cfg);
|
||
|
|
|
||
|
|
i2cReleaseBus(&HW_I2C_DEV);
|
||
|
|
}
|
||
|
|
}
|