rusefi
/
bldc
mirror of https://github.com/rusefi/bldc.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

started adding support for stormcore, needs more work

This commit is contained in:
Jeffrey M. Friesen 2020-03-16 14:57:55 -07:00
parent 84ce74c325
commit 06398a45e8
9 changed files with 2009 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
conf_general.h
View File

@ -130,8 +130,13 @@
//#define HW_SOURCE "hw_100_250.c"
//#define HW_HEADER "hw_100_250.h"
#define HW_SOURCE "hw_unity.c"
#define HW_HEADER "hw_unity.h"
//#define HW_SOURCE "hw_unity.c"
//#define HW_HEADER "hw_unity.h"
#define HW_SOURCE "hw_stormcore_100d.c"
#define HW_HEADER "hw_stormcore_100d.h"
#endif
#ifndef HW_SOURCE

472
hwconf/hw_stormcore_100d.c Normal file
View File

@ -0,0 +1,472 @@
/*
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/>.
*/
#include "hw.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "drv8323s.h"
#include "comm_can.h"
#include "mc_interface.h"
#include "ledpwm.h"
typedef enum {
SWITCH_BOOTED = 0,
SWITCH_TURN_ON_DELAY_ACTIVE,
SWITCH_HELD_AFTER_TURN_ON,
SWITCH_TURNED_ON,
SWITCH_SHUTTING_DOWN,
} switch_states;
// Variables
static volatile bool i2c_running = false;
static THD_WORKING_AREA(smart_switch_thread_wa, 128);
static THD_WORKING_AREA(mux_thread_wa, 128);
static THD_FUNCTION(mux_thread, arg);
static volatile switch_states switch_state = SWITCH_BOOTED;
// 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_GPIOE, ENABLE);
// LEDs
palSetPadMode(GPIOA, 8,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 9,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
//Temp switches
palSetPadMode(ADC_SW_EN_PORT, ADC_SW_EN_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(ADC_SW_1_PORT, ADC_SW_1_PIN ,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(ADC_SW_2_PORT, ADC_SW_2_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(ADC_SW_3_PORT, ADC_SW_3_PIN ,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
ENABLE_MOS_TEMP1();
// GPIOC (ENABLE_GATE)
palSetPadMode(GPIOE, 14,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOD, 4,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
DISABLE_GATE();
// GPIOB (DCCAL)
// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
palSetPadMode(GPIOE, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 11, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 12, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOC, 7, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOC, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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);
palSetPadMode(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6, PAL_MODE_INPUT_PULLUP);
// Fault pin
palSetPadMode(GPIOE, 3, PAL_MODE_INPUT_PULLUP);
palSetPadMode(GPIOD, 3, PAL_MODE_INPUT_PULLUP);
// 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, 4, 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);
ENABLE_GATE();
drv8323s_init();
}
void hw_setup_adc_channels(void) {
// ADC1 regular channels
ADC_RegularChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles); //0
ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 2, ADC_SampleTime_15Cycles); //3
ADC_RegularChannelConfig(ADC1, ADC_Channel_5 , 3, ADC_SampleTime_15Cycles); //6
ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 4, ADC_SampleTime_15Cycles); //9
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 5, ADC_SampleTime_15Cycles); //12
// ADC2 regular channels
ADC_RegularChannelConfig(ADC2, ADC_Channel_8, 1, ADC_SampleTime_15Cycles); //1
ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 2, ADC_SampleTime_15Cycles); //4
ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); //7
ADC_RegularChannelConfig(ADC2, ADC_Channel_12, 4, ADC_SampleTime_15Cycles); //10
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 5, ADC_SampleTime_15Cycles); //13
// ADC3 regular channels
ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 1, ADC_SampleTime_15Cycles); //2
ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 2, ADC_SampleTime_15Cycles); //5
ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 3, ADC_SampleTime_15Cycles); //8
ADC_RegularChannelConfig(ADC3, ADC_Channel_11, 4, ADC_SampleTime_15Cycles); //11
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 5, ADC_SampleTime_15Cycles); //14
// Injected channels
ADC_InjectedChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_5, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_4, 2, ADC_SampleTime_15Cycles);
// ADC_InjectedChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
// ADC_InjectedChannelConfig(ADC3, ADC_Channel_0, 2, ADC_SampleTime_15Cycles);
//ADC_InjectedChannelConfig(ADC3, ADC_Channel_1, 3, ADC_SampleTime_15Cycles);
chThdCreateStatic(mux_thread_wa, sizeof(mux_thread_wa), NORMALPRIO, mux_thread, NULL);
}
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);
}
}
static THD_FUNCTION(mux_thread, arg) {
chRegSetThreadName("adc_mux");
(void)arg;
for (;;) {
ENABLE_MOS_TEMP1();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_TEMP_MOS] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_MOS_TEMP2();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_TEMP_MOS_M2] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_MOT_TEMP1();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_TEMP_MOTOR] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_MOT_TEMP2();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_TEMP_MOTOR_2] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_ADC_EXT_1();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_EXT] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_ADC_EXT_2();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_EXT2] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_ADC_EXT_3();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_EXT3] = ADC_Value[ADC_IND_ADC_MUX];
ENABLE_V_BATT_DIV();
chThdSleepMilliseconds(1);
ADC_Value[ADC_IND_V_BATT] = ADC_Value[ADC_IND_ADC_MUX];
}
}
void smart_switch_keep_on(void) {
palSetPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
//#ifdef HW_HAS_RGB_SWITCH
// LED_SWITCH_B_ON();
// ledpwm_set_intensity(SWITCH_LED_B, 1.0);
//#else
// ledpwm_set_intensity(SWITCH_LED, 1.0);
// ledpwm_set_switch_intensity(0.6);
//#endif
}
void smart_switch_shut_down(void) {
switch_state = SWITCH_SHUTTING_DOWN;
palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
#ifdef HW_HAS_STORMCORE_SWITCH
palClearPad(SWITCH_PRECHARGE_GPIO, SWITCH_PRECHARGE_PIN);
#endif
return;
}
bool smart_switch_is_pressed(void) {
if(palReadPad(SWITCH_IN_GPIO, SWITCH_IN_PIN) == 1)
return true;
else
return false;
}
static THD_FUNCTION(smart_switch_thread, arg) {
(void)arg;
chRegSetThreadName("smart_switch");
unsigned int millis_switch_pressed = 0;
for (;;) {
switch (switch_state) {
case SWITCH_BOOTED:
ledpwm_set_intensity(LED_HW1, 0.6);
#ifdef HW_HAS_RGB_SWITCH
ledpwm_set_intensity(LED_HW1, 1.0);
#else
ledpwm_set_intensity(LED_HW1, 1.0);
#endif
switch_state = SWITCH_TURN_ON_DELAY_ACTIVE;
break;
case SWITCH_TURN_ON_DELAY_ACTIVE:
chThdSleepMilliseconds(500);
ledpwm_set_intensity(LED_HW1, 0.6);
switch_state = SWITCH_HELD_AFTER_TURN_ON;
#ifdef HW_HAS_STORMCORE_SWITCH
chThdSleepMilliseconds(5000);
palSetPad(SWITCH_PRECHARGE_GPIO, SWITCH_PRECHARGE_PIN);
#endif
break;
case SWITCH_HELD_AFTER_TURN_ON:
smart_switch_keep_on();
if(smart_switch_is_pressed()){
switch_state = SWITCH_HELD_AFTER_TURN_ON;
} else {
switch_state = SWITCH_TURNED_ON;
}
break;
case SWITCH_TURNED_ON:
if (smart_switch_is_pressed()) {
millis_switch_pressed++;
ledpwm_set_intensity(LED_HW1, 1.0);
} else {
millis_switch_pressed = 0;
ledpwm_set_intensity(LED_HW1, 0.6);
}
if (millis_switch_pressed > SMART_SWITCH_MSECS_PRESSED_OFF) {
switch_state = SWITCH_SHUTTING_DOWN;
}
break;
case SWITCH_SHUTTING_DOWN:
ledpwm_set_intensity(LED_HW1, 0.0);
// TODO: Implement this?
// for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
// can_status_msg *msg = comm_can_get_status_msg_index(i);
// comm_can_set_shutdown(msg->id);
// }
smart_switch_shut_down();
chThdSleepMilliseconds(10000);
smart_switch_keep_on();
switch_state = SWITCH_TURN_ON_DELAY_ACTIVE;
break;
default:
break;
}
chThdSleepMilliseconds(1);
}
}
void smart_switch_thread_start(void) {
chThdCreateStatic(smart_switch_thread_wa, sizeof(smart_switch_thread_wa),
NORMALPRIO, smart_switch_thread, NULL);
}
void smart_switch_pin_init(void) {
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
palSetPadMode(SWITCH_IN_GPIO, SWITCH_IN_PIN, PAL_MODE_INPUT);
palSetPadMode(SWITCH_OUT_GPIO,SWITCH_OUT_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
#ifdef HW_HAS_RGB_SWITCH
palSetPadMode(SWITCH_LED_2_GPIO,SWITCH_LED_2_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
#endif
#ifdef HW_HAS_STORMCORE_SWITCH
palSetPadMode(SWITCH_PRECHARGE_GPIO, SWITCH_PRECHARGE_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palClearPad(SWITCH_PRECHARGE_GPIO, SWITCH_PRECHARGE_PIN);
palSetPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
#endif
#ifdef HW_HAS_RGB_SWITCH
LED_SWITCH_B_ON();
LED_SWITCH_R_OFF();
LED_SWITCH_G_OFF();
#else
LED_PWM1_ON();
#endif
return;
}

383
hwconf/hw_stormcore_100d.h Normal file
View File

@ -0,0 +1,383 @@
/*
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_STORMCORE_100D_H_
#define HW_STORMCORE_100D_H_
#define HW_NAME "STORMCORE_100D"
#define HW_HAS_DUAL_MOTORS
#include "drv8323s.h"
// HW properties
#define HW_HAS_DRV8323S // for idrive do 0x073b for reg 4 (LS) and 0x034b for reg 3 (HS)
#define HW_HAS_3_SHUNTS
#define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
drv8323s_write_reg(3,0x377); \
drv8323s_write_reg(4,0x777);
//#define HW_DEAD_TIME_NSEC 360.0 // Dead time
#define HW_HAS_DUAL_MOTOR
//Switch Pins
#define HW_HAS_STORMCORE_SWITCH
#define HW_HAS_RGB_SWITCH
#define SWITCH_IN_GPIO GPIOA
#define SWITCH_IN_PIN 15
#define SWITCH_OUT_GPIO GPIOB
#define SWITCH_OUT_PIN 13
#define SWITCH_PRECHARGE_GPIO GPIOE
#define SWITCH_PRECHARGE_PIN 2
#define SWITCH_LED_3_GPIO GPIOD
#define SWITCH_LED_3_PIN 15
#define SWITCH_LED_2_GPIO GPIOD
#define SWITCH_LED_2_PIN 10
#define SWITCH_LED_1_GPIO GPIOD
#define SWITCH_LED_1_PIN 11
#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 LED_PWM3_ON() palClearPad(SWITCH_LED_3_GPIO, SWITCH_LED_3_PIN)
#define LED_PWM3_OFF() palSetPad(SWITCH_LED_3_GPIO, SWITCH_LED_3_PIN)
#define SMART_SWITCH_MSECS_PRESSED_OFF 2000
#define DCCAL_ON() //drv8323s_dccal_on()
#define DCCAL_OFF() //drv8323s_dccal_off()
#define HW_EARLY_INIT() smart_switch_pin_init(); smart_switch_thread_start();
//Pins for BLE UART
//#define USE_ALT_UART_PORT
#define HW_UART_P_BAUD 115200
#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 DRV8323S_MOSI_GPIO GPIOC
#define DRV8323S_MOSI_PIN 12
#define DRV8323S_MISO_GPIO GPIOC
#define DRV8323S_MISO_PIN 11
#define DRV8323S_SCK_GPIO GPIOC
#define DRV8323S_SCK_PIN 10
#define DRV8323S_CS_GPIO GPIOC
#define DRV8323S_CS_PIN 13
#define DRV8323S_CS_GPIO2 GPIOD
#define DRV8323S_CS_PIN2 2
#define DRV8323S_CS_GPIO3 GPIOE
#define DRV8323S_CS_PIN3 15
// Macros
#define ENABLE_GATE() palSetPad(GPIOE, 14); palSetPad(GPIOD, 4);
#define DISABLE_GATE() palClearPad(GPIOE, 14); palClearPad(GPIOD, 4);
#define ADC_SW_EN_PORT GPIOB
#define ADC_SW_EN_PIN 12
#define ADC_SW_1_PORT GPIOD
#define ADC_SW_1_PIN 7
#define ADC_SW_2_PORT GPIOB
#define ADC_SW_2_PIN 3
#define ADC_SW_3_PORT GPIOE
#define ADC_SW_3_PIN 7
#define ENABLE_MOS_TEMP1() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_MOS_TEMP2() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_MOT_TEMP1() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_MOT_TEMP2() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_ADC_EXT_2() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_ADC_EXT_1() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_ADC_EXT_3() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_V_BATT_DIV() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define IS_DRV_FAULT() (!palReadPad(GPIOE, 3))
#define IS_DRV_FAULT2() (!palReadPad(GPIOD, 3))
#define LED_GREEN_ON() palSetPad(GPIOC, 9);// palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN);
#define LED_GREEN_OFF() palClearPad(GPIOC, 9);// palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN);
#define LED_RED_ON() palSetPad(GPIOA, 8); //palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN);
#define LED_RED_OFF() palClearPad(GPIOA, 8); //palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN);
#define LED_SWITCH_R_ON() palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN)
#define LED_SWITCH_R_OFF() palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN)
#define LED_SWITCH_G_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
#define LED_SWITCH_G_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
#define LED_SWITCH_B_ON() palClearPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN)
#define LED_SWITCH_B_OFF() palSetPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN)
/*
* ADC Vector
*
* 0: IN0 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 8
#define HW_ADC_INJ_CHANNELS 2
#define HW_ADC_NBR_CONV 5
// ADC Indexes
#define ADC_IND_CURR1 0
#define ADC_IND_CURR2 1
#define ADC_IND_VIN_SENS 2
#define ADC_IND_CURR3 3
#define ADC_IND_CURR4 4
#define ADC_IND_VM_SENSE 5
#define ADC_IND_CURR6 6
#define ADC_IND_CURR5 7
#define ADC_IND_SENS4 8
#define ADC_IND_ADC_MUX 9
#define ADC_IND_SENS5 10
#define ADC_IND_SENS6 11
#define ADC_IND_SENS2 12
#define ADC_IND_SENS3 13
#define ADC_IND_SENS1 14
#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_EXT 19
#define ADC_IND_EXT2 20
#define ADC_IND_EXT3 21
#define ADC_IND_V_BATT 22
// ADC macros and settings
// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG 3.3
#endif
#ifndef VIN_R1
#define VIN_R1 68000.0
#endif
#ifndef VIN_R2
#define VIN_R2 2200.0
#endif
#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))
#define GET_BATT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_ADC_MUX] * ((VIN_R1 + VIN_R2) / VIN_R2))
#define GET_VM_SENSE_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VM_SENSE] * ((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_ADC_MUX]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
#define NTC_TEMP_MOTOR2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_ADC_MUX]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
// Double samples in beginning and end for positive current measurement.
// Useful when the shunt sense traces have noise that causes offset.
#ifndef CURR1_DOUBLE_SAMPLE
#define CURR1_DOUBLE_SAMPLE 0
#endif
#ifndef CURR2_DOUBLE_SAMPLE
#define CURR2_DOUBLE_SAMPLE 0
#endif
// Number of servo outputs
#define HW_SERVO_NUM 2
// 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
#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
// 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
// NRF SWD
#define NRF5x_SWDIO_GPIO GPIOD
#define NRF5x_SWDIO_PIN 6
#define NRF5x_SWCLK_GPIO GPIOD
#define NRF5x_SWCLK_PIN 5
#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
// 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]
#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)
//CAN
#define HW_CANRX_PORT GPIOD
#define HW_CANRX_PIN 0
#define HW_CANTX_PORT GPIOD
#define HW_CANTX_PIN 1
#ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 92.0
#endif
#ifndef MCCONF_M_DRV8301_OC_ADJ
#define MCCONF_M_DRV8301_OC_ADJ 14
#endif
// Setting limits
#define HW_LIM_CURRENT -150.0, 150.0
#define HW_LIM_CURRENT_IN -120.0, 120.0
#define HW_LIM_CURRENT_ABS 0.0, 200.0
#define HW_LIM_VIN 6.0, 94.0
#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_STORMCORE_100D_H_ */

246
hwconf/hw_stormcore_100s.c Normal file
View File

@ -0,0 +1,246 @@
/*
Copyright 2019 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 "drv8323s.h"
// 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);
// LEDs
palSetPadMode(GPIOB, 0,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOB, 1,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
// ENABLE_GATE
palSetPadMode(GPIOB, 5,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
ENABLE_GATE();
// Disable BMI160
palSetPadMode(GPIOA, 15,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPad(GPIOA, 15);
// Disable DCCAL
palSetPadMode(GPIOD, 2,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palClearPad(GPIOD, 2);
ENABLE_GATE();
// 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);
// Fault pin
palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
// 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(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);
drv8323s_init();
}
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);
// 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);
// 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);
// 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);
}
}

251
hwconf/hw_stormcore_100s.h Normal file
View File

@ -0,0 +1,251 @@
/*
Copyright 2019 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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_STORMCORE_100S_H_
#define HW_STORMCORE_100S_H_
#include "drv8323s.h"
#define HW_NAME "STORMCORE_100S"
// HW properties
#define HW_HAS_DRV8323S
#define HW_HAS_3_SHUNTS
//#define INVERTED_SHUNT_POLARITY
//#define HW_DEAD_TIME_NSEC 400.0 // Dead time
// Macros
#define ENABLE_GATE() palSetPad(GPIOB, 5)
#define DISABLE_GATE() palClearPad(GPIOB, 5)
#define DCCAL_ON() drv8323s_dccal_on()
#define DCCAL_OFF() drv8323s_dccal_off()
#define IS_DRV_FAULT() (!palReadPad(GPIOB, 7))
#define LED_GREEN_ON() palSetPad(GPIOB, 0)
#define LED_GREEN_OFF() palClearPad(GPIOB, 0)
#define LED_RED_ON() palSetPad(GPIOB, 1)
#define LED_RED_OFF() palClearPad(GPIOB, 1)
//#define PHASE_FILTER_GPIO GPIOC
//#define PHASE_FILTER_PIN 13
//#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
//#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
/*
* ADC Vector
*
* 0: IN0 SENS1
* 1: IN1 SENS2
* 2: IN2 SENS3
* 3: IN10 CURR1
* 4: IN11 CURR2
* 5: IN12 CURR3
* 6: IN5 ADC_EXT1
* 7: IN6 ADC_EXT2
* 8: IN3 TEMP_PCB
* 9: IN14 TEMP_MOTOR
* 10: IN15 ADC_EXT3
* 11: IN13 AN_IN
* 12: Vrefint
* 13: IN0 SENS1
* 14: IN1 SENS2
*/
#define HW_ADC_CHANNELS 15
#define HW_ADC_INJ_CHANNELS 3
#define HW_ADC_NBR_CONV 5
// ADC Indexes
#define ADC_IND_SENS1 0
#define ADC_IND_SENS2 1
#define ADC_IND_SENS3 2
#define ADC_IND_CURR1 3
#define ADC_IND_CURR2 4
#define ADC_IND_CURR3 5
#define ADC_IND_VIN_SENS 11
#define ADC_IND_EXT 6
#define ADC_IND_EXT2 7
#define ADC_IND_TEMP_MOS 8
#define ADC_IND_TEMP_MOTOR 9
#define ADC_IND_VREFINT 12
// ADC macros and settings
// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG 3.3
#endif
#ifndef VIN_R1
#define VIN_R1 68000.0
#endif
#ifndef VIN_R2
#define VIN_R2 2200.0
#endif
#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))
// NTC Termistors
#define NTC_RES(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) //NTC is low side onb this hardware
#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3380.0) + (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)
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
// Double samples in beginning and end for positive current measurement.
// Useful when the shunt sense traces have noise that causes offset.
#ifndef CURR1_DOUBLE_SAMPLE
#define CURR1_DOUBLE_SAMPLE 0
#endif
#ifndef CURR2_DOUBLE_SAMPLE
#define CURR2_DOUBLE_SAMPLE 0
#endif
#ifndef CURR3_DOUBLE_SAMPLE
#define CURR3_DOUBLE_SAMPLE 0
#endif
// Number of servo outputs
#define HW_SERVO_NUM 1
// 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_USE_SERVO_TIM4
#define HW_ICU_DEV ICUD4
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM4
#define HW_ICU_GPIO GPIOB
#define HW_ICU_PIN 6
// 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 GPIOC
#define HW_HALL_ENC_PIN1 6
#define HW_HALL_ENC_GPIO2 GPIOC
#define HW_HALL_ENC_PIN2 7
#define HW_HALL_ENC_GPIO3 GPIOC
#define HW_HALL_ENC_PIN3 8
#define HW_ENC_TIM TIM3
#define HW_ENC_TIM_AF GPIO_AF_TIM3
#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
#define HW_ENC_EXTI_CH EXTI9_5_IRQn
#define HW_ENC_EXTI_LINE EXTI_Line8
#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
#define HW_ENC_TIM_ISR_CH TIM3_IRQn
#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
// SPI pins
#define HW_SPI_DEV SPID1
#define HW_SPI_GPIO_AF GPIO_AF_SPI1
#define HW_SPI_PORT_NSS GPIOA
#define HW_SPI_PIN_NSS 4
#define HW_SPI_PORT_SCK GPIOA
#define HW_SPI_PIN_SCK 5
#define HW_SPI_PORT_MOSI GPIOA
#define HW_SPI_PIN_MOSI 7
#define HW_SPI_PORT_MISO GPIOA
#define HW_SPI_PIN_MISO 6
// SPI for DRV8323S
#define DRV8323S_MOSI_GPIO GPIOC
#define DRV8323S_MOSI_PIN 12
#define DRV8323S_MISO_GPIO GPIOC
#define DRV8323S_MISO_PIN 11
#define DRV8323S_SCK_GPIO GPIOC
#define DRV8323S_SCK_PIN 10
#define DRV8323S_CS_GPIO GPIOC
#define DRV8323S_CS_PIN 9
// 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_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)
// Default setting overrides
#ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 92.0 // Maximum input voltage
#endif
#ifndef MCCONF_L_CURRENT_MAX
#define MCCONF_L_CURRENT_MAX 60.0 // Current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_CURRENT_MIN
#define MCCONF_L_CURRENT_MIN -60.0 // Current limit in Amperes (Lower)
#endif
#ifndef MCCONF_L_IN_CURRENT_MAX
#define MCCONF_L_IN_CURRENT_MAX 60.0 // Input current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_IN_CURRENT_MIN
#define MCCONF_L_IN_CURRENT_MIN -60.0 // Input current limit in Amperes (Lower)
#endif
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 160.0 // The maximum absolute current above which a fault is generated
#endif
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
#endif
#ifndef MCCONF_FOC_F_SW
#define MCCONF_FOC_F_SW 20000.0
#endif
// Setting limits
#define HW_LIM_CURRENT -120.0, 120.0
#define HW_LIM_CURRENT_IN -100.0, 100.0
#define HW_LIM_CURRENT_ABS 0.0, 160.0
#define HW_LIM_VIN 6.0, 92.0
#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.99
#define HW_LIM_TEMP_FET -40.0, 110.0
#endif /* HW_HV_stormcore_H_ */

284
hwconf/hw_stormcore_60d.c Normal file
View File

@ -0,0 +1,284 @@
/*
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/>.
*/
#include "hw.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "drv8323s.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_GPIOE, ENABLE);
// LEDs
palSetPadMode(GPIOA, 8,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOC, 9,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
//Temp switches
palSetPadMode(ADC_SW_EN_PORT, ADC_SW_EN_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(ADC_SW_1_PORT, ADC_SW_1_PIN ,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(ADC_SW_2_PORT, ADC_SW_2_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(ADC_SW_3_PORT, ADC_SW_3_PIN ,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
ENABLE_MOS_TEMP1();
// GPIOC (ENABLE_GATE)
palSetPadMode(GPIOE, 14,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOD, 4,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
DISABLE_GATE();
DISABLE_GATE2();
// GPIOB (DCCAL)
// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
palSetPadMode(GPIOE, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 11, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 12, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOE, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOC, 7, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOC, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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);
palSetPadMode(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6, PAL_MODE_INPUT_PULLUP);
// Fault pin
palSetPadMode(GPIOE, 3, PAL_MODE_INPUT_PULLUP);
palSetPadMode(GPIOD, 3, PAL_MODE_INPUT_PULLUP);
// 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, 4, 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);
ENABLE_GATE()
ENABLE_GATE2()
drv8323s_init();
}
void hw_setup_adc_channels(void) {
// ADC1 regular channels
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles); //0
ADC_RegularChannelConfig(ADC1, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);//3
ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 3, ADC_SampleTime_15Cycles);//6
ADC_RegularChannelConfig(ADC1, ADC_Channel_5 , 4, ADC_SampleTime_15Cycles);//9
ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 5, ADC_SampleTime_15Cycles);//12
// ADC2 regular channels
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);//1
ADC_RegularChannelConfig(ADC2, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);//4
ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 3, ADC_SampleTime_15Cycles);//7
ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 4, ADC_SampleTime_15Cycles);//10
ADC_RegularChannelConfig(ADC2, ADC_Channel_12, 5, ADC_SampleTime_15Cycles);//13
// ADC3 regular channels
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);//2
ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);//5
ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);//8
ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);//11
ADC_RegularChannelConfig(ADC3, ADC_Channel_11, 5, ADC_SampleTime_15Cycles);//14
// Injected channels
ADC_InjectedChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_5, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_4, 2, ADC_SampleTime_15Cycles);
// ADC_InjectedChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
// ADC_InjectedChannelConfig(ADC3, ADC_Channel_0, 2, ADC_SampleTime_15Cycles);
//ADC_InjectedChannelConfig(ADC3, ADC_Channel_1, 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);
}
}

357
hwconf/hw_stormcore_60d.h Normal file
View File

@ -0,0 +1,357 @@
/*
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_STORMCORE_60D_H_
#define HW_STORMCORE_60D_H_
#define HW_NAME "STORMCORE_60D"
#include "drv8323s.h"
// HW properties
#define HW_HAS_DRV8323S // for idrive do 0x073b for reg 4 (LS) and 0x034b for reg 3 (HS)
#define HW_HAS_3_SHUNTS
#define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
drv8323s_write_reg(3,0x377); \
drv8323s_write_reg(4,0x777);
//#define HW_DEAD_TIME_NSEC 360.0 // Dead time
#define HW_HAS_DUAL_MOTOR
//Switch Pins
#define HW_HAS_STORMCORE_SWITCH
#define HW_HAS_RGB_SWITCH
#define SWITCH_IN_GPIO GPIOA
#define SWITCH_IN_PIN 15
#define SWITCH_OUT_GPIO GPIOB
#define SWITCH_OUT_PIN 13
#define SWITCH_PRECHARGE_GPIO GPIOE
#define SWITCH_PRECHARGE_PIN 2
#define SWITCH_LED_3_GPIO GPIOD
#define SWITCH_LED_3_PIN 15
#define SWITCH_LED_2_GPIO GPIOD
#define SWITCH_LED_2_PIN 10
#define SWITCH_LED_1_GPIO GPIOD
#define SWITCH_LED_1_PIN 11
#define DCCAL_ON() //drv8323s_dccal_on()
#define DCCAL_OFF() //drv8323s_dccal_off()
#define HW_EARLY_INIT() smart_switch_pin_init(); smart_switch_thread_start();
//Pins for BLE UART
//#define USE_ALT_UART_PORT
#define HW_UART_P_BAUD 115200
#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 DRV8323S_MOSI_GPIO GPIOC
#define DRV8323S_MOSI_PIN 12
#define DRV8323S_MISO_GPIO GPIOC
#define DRV8323S_MISO_PIN 11
#define DRV8323S_SCK_GPIO GPIOC
#define DRV8323S_SCK_PIN 10
#define DRV8323S_CS_GPIO GPIOC
#define DRV8323S_CS_PIN 13
#define DRV8323S_CS_GPIO2 GPIOD
#define DRV8323S_CS_PIN2 2
#define DRV8323S_CS_GPIO3 GPIOE
#define DRV8323S_CS_PIN3 15
// Macros
#define ENABLE_GATE() palSetPad(GPIOE, 14);
#define DISABLE_GATE() palClearPad(GPIOE, 14)
#define ENABLE_GATE2() palSetPad(GPIOD, 4);
#define DISABLE_GATE2() palClearPad(GPIOD, 4)
#define ADC_SW_EN_PORT GPIOB
#define ADC_SW_EN_PIN 12
#define ADC_SW_1_PORT GPIOD
#define ADC_SW_1_PIN 7
#define ADC_SW_2_PORT GPIOB
#define ADC_SW_2_PIN 3
#define ADC_SW_3_PORT GPIOE
#define ADC_SW_3_PIN 7
#define ENABLE_MOS_TEMP1() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_MOS_TEMP2() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_MOT_TEMP1() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_MOT_TEMP2() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define ENABLE_V_BATT_DIV() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN); palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN );\
palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ); palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN );
#define IS_DRV_FAULT() (!palReadPad(GPIOE, 3))
#define IS_DRV_FAULT2() (!palReadPad(GPIOD, 3))
#define LED_GREEN_ON() palSetPad(GPIOC, 9); //palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN);
#define LED_GREEN_OFF() palClearPad(GPIOC, 9); //palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN);
#define LED_RED_ON() palSetPad(GPIOA, 8); //palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN);
#define LED_RED_OFF() palClearPad(GPIOA, 8); //palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN);
#define LED_SWITCH_R_ON() palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN)
#define LED_SWITCH_R_OFF() palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN)
#define LED_SWITCH_G_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
#define LED_SWITCH_G_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
#define LED_SWITCH_B_ON() palClearPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN)
#define LED_SWITCH_B_OFF() palSetPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN)
/*
* 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_INJ_CHANNELS 2
#define HW_ADC_NBR_CONV 5
// ADC Indexes
#define ADC_IND_SENS2 0
#define ADC_IND_SENS3 1
#define ADC_IND_SENS1 2
#define ADC_IND_CURR1 3
#define ADC_IND_CURR2 4
#define ADC_IND_VIN_SENS 5
#define ADC_IND_CURR3 6
#define ADC_IND_CURR4 7
#define ADC_IND_VM_SENSE 8
#define ADC_IND_CURR6 9
#define ADC_IND_CURR5 10
#define ADC_IND_SENS4 11
#define ADC_IND_ADC_MUX 12
#define ADC_IND_SENS5 13
#define ADC_IND_SENS6 14
// ADC macros and settings
// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG 3.3
#endif
#ifndef VIN_R1
#define VIN_R1 68000.0
#endif
#ifndef VIN_R2
#define VIN_R2 2200.0
#endif
#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))
#define GET_BATT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_ADC_MUX] * ((VIN_R1 + VIN_R2) / VIN_R2))
#define GET_VM_SENSE_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VM_SENSE] * ((VIN_R1 + VIN_R2) / VIN_R2))
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
#define SHUTDOWN_RESET() mc_interface_reset_seconds_inactive()
// 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_ADC_MUX]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
#define NTC_TEMP_MOTOR2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_ADC_MUX]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
// Double samples in beginning and end for positive current measurement.
// Useful when the shunt sense traces have noise that causes offset.
#ifndef CURR1_DOUBLE_SAMPLE
#define CURR1_DOUBLE_SAMPLE 0
#endif
#ifndef CURR2_DOUBLE_SAMPLE
#define CURR2_DOUBLE_SAMPLE 0
#endif
// Number of servo outputs
#define HW_SERVO_NUM 2
// 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
#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
// 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
// NRF SWD
#define NRF5x_SWDIO_GPIO GPIOD
#define NRF5x_SWDIO_PIN 6
#define NRF5x_SWCLK_GPIO GPIOD
#define NRF5x_SWCLK_PIN 5
#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
// 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]
#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_HALL4() palReadPad(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4)
#define READ_HALL5() palReadPad(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5)
#define READ_HALL6() palReadPad(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6)
//CAN
#define HW_CANH_PORT GPIOD
#define HW_CANH_PIN 0
#define HW_CANL_PORT GPIOD
#define HW_CANL_PIN 1
#ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 58.0
#endif
// Setting limits
#define HW_LIM_CURRENT -150.0, 150.0
#define HW_LIM_CURRENT_IN -120.0, 120.0
#define HW_LIM_CURRENT_ABS 0.0, 200.0
#define HW_LIM_VIN 6.0, 58.0
#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
#endif /* HW_STORMCORE_60D_H_ */

9
hwconf/hw_unity.h
View File

@ -72,13 +72,13 @@
//#define DISABLE_GATE2() palClearPad(GPIOD, 4)
#define ENABLE_MOS_TEMP1() palSetPad(GPIOE, 7); palClearPad(GPIOD, 8);\
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
#define ENABLE_MOS_TEMP2() palSetPad(GPIOD, 8); palClearPad(GPIOE, 7);\
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
#define ENABLE_MOT_TEMP1() palSetPad(GPIOD, 9); palClearPad(GPIOE, 7);\
palClearPad(GPIOD, 8); palClearPad(GPIOB, 12);
palClearPad(GPIOD, 8); palClearPad(GPIOB, 12);
#define ENABLE_MOT_TEMP2() palSetPad(GPIOB, 12); palClearPad(GPIOE, 7);\
palClearPad(GPIOD, 8); palClearPad(GPIOD, 9);
palClearPad(GPIOD, 8); palClearPad(GPIOD, 9);
#define DCCAL_ON() palSetPad(GPIOB, 8)
#define DCCAL_OFF() palClearPad(GPIOB, 8)
@ -275,6 +275,7 @@
#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]
#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
// Macros

8
mcpwm_foc.c
View File

@ -2106,7 +2106,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
#ifdef HW_HAS_3_SHUNTS
#ifdef HW_HAS_DUAL_MOTORS
int curr2 = is_second_motor ? GET_CURRENT3() : GET_CURRENT3_M2();
int curr2 = is_second_motor ? GET_CURRENT3_M2() : GET_CURRENT3();
#else
int curr2 = GET_CURRENT3();
#endif
@ -2762,9 +2762,9 @@ static void timer_update(volatile motor_all_state_t *motor, float dt) {
}
// Update and the observer gain.
motor->m_gamma_now = utils_map(fabsf(motor->m_motor_state.duty_now), 0.0, 1.0,
motor->m_conf->foc_observer_gain * motor->m_conf->foc_observer_gain_slow,
motor->m_conf->foc_observer_gain);
motor->m_gamma_now = utils_map(fabsf(motor->m_motor_state.duty_now),
0.0, 30.0 / motor->m_motor_state.v_bus, motor->m_conf->foc_observer_gain_slow * motor->m_conf->foc_observer_gain,
motor->m_conf->foc_observer_gain);
}
static THD_FUNCTION(timer_thread, arg) {