mirror of https://github.com/rusefi/bldc.git
Benjamin Vedder
GitHub
commit
2968dff4fe
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/*
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Copyright 2022 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef HW_JetFleetF6_H_
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#define HW_JetFleetF6_H_
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#define HW_NAME "JetFleetF6"
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#include "hw_JetFleetF6_core.h"
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#endif
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/*
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Copyright 2022 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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||||||
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the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
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||||||
|
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||||||
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "hw.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "utils_math.h"
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#include <math.h>
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#include "terminal.h"
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#include "commands.h"
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#include "mc_interface.h"
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// Variables
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static volatile bool i2c_running = false;
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static mutex_t shutdown_mutex;
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static float bt_diff = 0.0;
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static float bt_lastval = 0.0;
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static float bt_unpressed = 0.0;
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static bool will_poweroff = false;
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static bool force_poweroff = false;
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static unsigned int bt_hold_counter = 0;
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// I2C configuration
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static const I2CConfig i2cfg = {
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OPMODE_I2C,
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100000,
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STD_DUTY_CYCLE
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};
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#define EXT_BUZZER_ON() palSetPad(HW_ICU_GPIO, HW_ICU_PIN)
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#define EXT_BUZZER_OFF() palClearPad(HW_ICU_GPIO, HW_ICU_PIN)
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void buzzer_init(void) {
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// External Buzzer (using servo pin!)
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palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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EXT_BUZZER_ON();
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chThdSleepMilliseconds(30);
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EXT_BUZZER_OFF();
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}
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static void beep_off(void)
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{
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EXT_BUZZER_OFF();
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}
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static void beep_on(void)
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{
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EXT_BUZZER_ON();
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}
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// Private functions
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static void terminal_button_test(int argc, const char **argv);
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void hw_init_gpio(void) {
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chMtxObjectInit(&shutdown_mutex);
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// GPIO clock enable
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
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// LEDs
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palSetPadMode(LED_GREEN_GPIO, LED_GREEN_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(LED_RED_GPIO, LED_RED_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// On-board Buzzer (using servo pin!)
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palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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EXT_BUZZER_OFF();
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// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
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palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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// Hall sensors
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palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
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// Phase filters
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palSetPadMode(GPIOC, 15, PAL_MODE_OUTPUT_OPENDRAIN);
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palSetPadMode(GPIOC, 14, PAL_MODE_OUTPUT_OPENDRAIN);
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palSetPadMode(GPIOC, 13, PAL_MODE_OUTPUT_OPENDRAIN);
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PHASE_FILTER_OFF();
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// ShutDown
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palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_OPENDRAIN);
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palSetPadMode(HW_SHUTDOWN_SENSE_GPIO, HW_SHUTDOWN_SENSE_PIN, PAL_MODE_INPUT_ANALOG);
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// ADC Pins
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palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
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//palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
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terminal_register_command_callback(
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"test_button",
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"Try sampling the shutdown button",
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0,
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terminal_button_test);
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}
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void hw_setup_adc_channels(void) {
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// ADC1 regular channels
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ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles);
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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles);
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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles);
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// Injected channels
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
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}
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void hw_start_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (!i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2c_running = true;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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void hw_stop_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
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|
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||||||
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i2cStop(&HW_I2C_DEV);
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i2c_running = false;
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|
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||||||
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}
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||||||
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i2cReleaseBus(&HW_I2C_DEV);
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}
|
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|
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|
/**
|
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* Try to restore the i2c bus
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|
*/
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|
void hw_try_restore_i2c(void) {
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|
if (i2c_running) {
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|
i2cAcquireBus(&HW_I2C_DEV);
|
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|
|
||||||
|
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);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
#define RISING_EDGE_THRESHOLD 0.09
|
||||||
|
#define TIME_500MS 50
|
||||||
|
#define TIME_3S 300
|
||||||
|
#define ERPM_THRESHOLD 100
|
||||||
|
|
||||||
|
/**
|
||||||
|
* hw_sample_shutdown_button - return false if shutdown is requested, true otherwise
|
||||||
|
*
|
||||||
|
* Behavior: after determining the unpressed level, look for rising edges or values
|
||||||
|
* that are clearly above the unpressed level (2 x Threshold higher), triggering a counter.
|
||||||
|
*
|
||||||
|
* Once triggered, the counter keeps incrementing as long as the level is 2 x Threshold higher
|
||||||
|
* than the normal/unpressed value, otherwise it gets reset to zero.
|
||||||
|
*
|
||||||
|
* Once the counter reaches the threshold the button is considered pressed, provided that
|
||||||
|
* the erpm is below 100. A very short (20ms) beep will go off.
|
||||||
|
* Shutdown actually happens on the falling edge when the press is over.
|
||||||
|
*
|
||||||
|
* If the motor is spinning faster, then a 3s press is required. Buzzer will beep once the
|
||||||
|
* time has been reached. Again, shutdown happens on the falling edge.
|
||||||
|
*
|
||||||
|
* Normal shutdown time: 0.5s
|
||||||
|
* Emergency shutdown time: 3.0s
|
||||||
|
*/
|
||||||
|
|
||||||
|
bool hw_sample_shutdown_button(void) {
|
||||||
|
chMtxLock(&shutdown_mutex);
|
||||||
|
float newval = ADC_VOLTS(ADC_IND_SHUTDOWN);
|
||||||
|
chMtxUnlock(&shutdown_mutex);
|
||||||
|
if (bt_lastval == 0) {
|
||||||
|
bt_lastval = newval;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
bt_diff = (newval - bt_lastval);
|
||||||
|
|
||||||
|
bool is_steady = fabsf(bt_diff) < 0.02; // filter out noise above 20mV
|
||||||
|
bool is_rising_edge = (bt_diff > RISING_EDGE_THRESHOLD);
|
||||||
|
|
||||||
|
bt_lastval = newval;
|
||||||
|
|
||||||
|
if (bt_unpressed == 0.0) {
|
||||||
|
// initializing bt_unpressed
|
||||||
|
if (is_steady) {
|
||||||
|
bt_unpressed = newval;
|
||||||
|
}
|
||||||
|
// return true regardless (this happens only after boot)
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (will_poweroff) {
|
||||||
|
if (!force_poweroff && (fabsf(mc_interface_get_rpm()) > ERPM_THRESHOLD)) {
|
||||||
|
will_poweroff = false;
|
||||||
|
bt_hold_counter = 0;
|
||||||
|
beep_off();
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Now we look for a falling edge to shut down
|
||||||
|
if ((bt_diff < -RISING_EDGE_THRESHOLD) || (newval < bt_unpressed + RISING_EDGE_THRESHOLD / 2)) {
|
||||||
|
bt_hold_counter++;
|
||||||
|
beep_off();
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (bt_hold_counter == 0) {
|
||||||
|
if (is_rising_edge) {
|
||||||
|
// trigger by edge and by level!
|
||||||
|
bt_hold_counter = 1;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if (is_steady && (newval < bt_unpressed + RISING_EDGE_THRESHOLD / 2)) {
|
||||||
|
// pickup drifts due to temperature
|
||||||
|
bt_unpressed = bt_unpressed * 0.9 + newval * 0.1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// we've had a rising edge and are now checking for a steady hold
|
||||||
|
if (newval > bt_unpressed + RISING_EDGE_THRESHOLD * 1.5) {
|
||||||
|
bt_hold_counter++;
|
||||||
|
|
||||||
|
if (bt_hold_counter > TIME_500MS) {
|
||||||
|
if (fabsf(mc_interface_get_rpm()) < ERPM_THRESHOLD) {
|
||||||
|
// after 150ms, power-down is triggered by the falling edge (releasing the button)
|
||||||
|
will_poweroff = true;
|
||||||
|
bt_hold_counter = 0;
|
||||||
|
|
||||||
|
// super short beep to let the user know they can let go of the button now
|
||||||
|
beep_on();
|
||||||
|
chThdSleepMilliseconds(20);
|
||||||
|
beep_off();
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
if (bt_hold_counter > TIME_3S) {
|
||||||
|
// Emergency Power-Down - beep to let the user know it's ready
|
||||||
|
beep_on();
|
||||||
|
will_poweroff = true;
|
||||||
|
force_poweroff = true;
|
||||||
|
bt_hold_counter = 0;
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// press is too short, abort
|
||||||
|
bt_hold_counter = 0;
|
||||||
|
beep_off();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
float hw_JetFleet_get_temp(void) {
|
||||||
|
float t1 = (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15);
|
||||||
|
float t3 = (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15);
|
||||||
|
float res = 0.0;
|
||||||
|
|
||||||
|
if (t1 >= t3) {
|
||||||
|
res = t1;
|
||||||
|
} else {
|
||||||
|
res = t3;
|
||||||
|
}
|
||||||
|
return res;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_button_test(int argc, const char **argv) {
|
||||||
|
(void)argc;
|
||||||
|
(void)argv;
|
||||||
|
|
||||||
|
for (int i = 0;i < 40;i++) {
|
||||||
|
commands_printf("BT: %d:%d [%.2fV], %.2fV, %.2fV, OFF=%d", HW_SAMPLE_SHUTDOWN(), bt_hold_counter,
|
||||||
|
(double)bt_diff, (double)bt_unpressed, (double)bt_lastval, (int)will_poweroff);
|
||||||
|
chThdSleepMilliseconds(100);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,258 @@
|
||||||
|
/*
|
||||||
|
Copyright 2022 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_JetFleetF6_Core_H_
|
||||||
|
#define HW_JetFleetF6_Core_H_
|
||||||
|
|
||||||
|
// HW properties
|
||||||
|
#define HW_HAS_3_SHUNTS
|
||||||
|
#define HW_HAS_PHASE_FILTERS
|
||||||
|
#define INVERTED_SHUNT_POLARITY
|
||||||
|
#define SERVO_BUZZER
|
||||||
|
|
||||||
|
// Macros
|
||||||
|
#define LED_GREEN_GPIO GPIOB
|
||||||
|
#define LED_GREEN_PIN 2
|
||||||
|
#define LED_RED_GPIO GPIOA
|
||||||
|
#define LED_RED_PIN 15
|
||||||
|
|
||||||
|
#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
|
||||||
|
#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
|
||||||
|
#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
|
||||||
|
#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
|
||||||
|
|
||||||
|
// Phase filter
|
||||||
|
#define PHASE_FILTER_OFF() palSetPad(GPIOC, 15); palSetPad(GPIOC, 14); palSetPad(GPIOC, 13)
|
||||||
|
#define PHASE_FILTER_ON() palClearPad(GPIOC, 15); palClearPad(GPIOC, 14); palClearPad(GPIOC, 13)
|
||||||
|
|
||||||
|
// Shutdown pin
|
||||||
|
#define HW_SHUTDOWN_GPIO GPIOB
|
||||||
|
#define HW_SHUTDOWN_PIN 0
|
||||||
|
#define HW_SHUTDOWN_SENSE_GPIO GPIOC
|
||||||
|
#define HW_SHUTDOWN_SENSE_PIN 5
|
||||||
|
#define HW_SHUTDOWN_HOLD_ON() palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
|
||||||
|
#define HW_SHUTDOWN_HOLD_OFF() palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
|
||||||
|
#define HW_SAMPLE_SHUTDOWN() hw_sample_shutdown_button()
|
||||||
|
|
||||||
|
// ADC Config
|
||||||
|
#define HW_ADC_CHANNELS 18
|
||||||
|
#define HW_ADC_INJ_CHANNELS 3
|
||||||
|
#define HW_ADC_NBR_CONV 6
|
||||||
|
|
||||||
|
// ADC Indexes
|
||||||
|
#define ADC_IND_SENS1 3
|
||||||
|
#define ADC_IND_SENS2 4
|
||||||
|
#define ADC_IND_SENS3 5
|
||||||
|
#define ADC_IND_CURR1 0
|
||||||
|
#define ADC_IND_CURR2 1
|
||||||
|
#define ADC_IND_CURR3 2
|
||||||
|
#define ADC_IND_VIN_SENS 11
|
||||||
|
#define ADC_IND_EXT 6
|
||||||
|
#define ADC_IND_EXT2 7
|
||||||
|
#define ADC_IND_SHUTDOWN 10
|
||||||
|
#define ADC_IND_TEMP_MOS 8
|
||||||
|
//#define ADC_IND_TEMP_MOS_2 15
|
||||||
|
#define ADC_IND_TEMP_MOS_3 16
|
||||||
|
#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 150000.0
|
||||||
|
#endif
|
||||||
|
#ifndef VIN_R2
|
||||||
|
#define VIN_R2 3300.0
|
||||||
|
#endif
|
||||||
|
#ifndef CURRENT_AMP_GAIN
|
||||||
|
#define CURRENT_AMP_GAIN 20.0
|
||||||
|
#endif
|
||||||
|
#ifndef CURRENT_SHUNT_RES
|
||||||
|
#define CURRENT_SHUNT_RES (0.0005 / 2.0)
|
||||||
|
#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))
|
||||||
|
#define NTC_TEMP(adc_ind) hw_JetFleet_get_temp()
|
||||||
|
|
||||||
|
#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0))
|
||||||
|
#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_MOS1() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||||
|
//#define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_2]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||||
|
#define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (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
|
||||||
|
|
||||||
|
// COMM-port ADC GPIOs
|
||||||
|
#define HW_ADC_EXT_GPIO GPIOA
|
||||||
|
#define HW_ADC_EXT_PIN 5
|
||||||
|
#define HW_ADC_EXT2_GPIO GPIOA
|
||||||
|
#define HW_ADC_EXT2_PIN 6
|
||||||
|
|
||||||
|
|
||||||
|
// ICU Peripheral for servo decoding
|
||||||
|
#define HW_USE_SERVO_TIM4
|
||||||
|
#define HW_ICU_TIMER TIM4
|
||||||
|
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
|
||||||
|
#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 12
|
||||||
|
#define HW_I2C_SDA_PORT GPIOC
|
||||||
|
#define HW_I2C_SDA_PIN 5
|
||||||
|
|
||||||
|
// 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 SPID3
|
||||||
|
#define HW_SPI_GPIO_AF GPIO_AF_SPI3
|
||||||
|
#define HW_SPI_PORT_NSS GPIOA
|
||||||
|
#define HW_SPI_PIN_NSS 4
|
||||||
|
#define HW_SPI_PORT_SCK GPIOC
|
||||||
|
#define HW_SPI_PIN_SCK 10
|
||||||
|
#define HW_SPI_PORT_MOSI GPIOC
|
||||||
|
#define HW_SPI_PIN_MOSI 12
|
||||||
|
#define HW_SPI_PORT_MISO GPIOC
|
||||||
|
#define HW_SPI_PIN_MISO 11
|
||||||
|
|
||||||
|
// I2C for IMU
|
||||||
|
#define LSM6DS3_SDA_GPIO GPIOB
|
||||||
|
#define LSM6DS3_SDA_PIN 4
|
||||||
|
#define LSM6DS3_SCL_GPIO GPIOB
|
||||||
|
#define LSM6DS3_SCL_PIN 5
|
||||||
|
|
||||||
|
// UART Peripheral
|
||||||
|
#define HW_UART_DEV SD4
|
||||||
|
#define HW_UART_GPIO_AF GPIO_AF_UART4
|
||||||
|
#define HW_UART_TX_PORT GPIOC
|
||||||
|
#define HW_UART_TX_PIN 10
|
||||||
|
#define HW_UART_RX_PORT GPIOC
|
||||||
|
#define HW_UART_RX_PIN 11
|
||||||
|
|
||||||
|
// Permanent UART Peripheral (for NRF52)
|
||||||
|
#define HW_UART_P_BAUD 115200
|
||||||
|
#define HW_UART_P_DEV SD3
|
||||||
|
#define HW_UART_P_GPIO_AF GPIO_AF_USART3
|
||||||
|
#define HW_UART_P_TX_PORT GPIOB
|
||||||
|
#define HW_UART_P_TX_PIN 10
|
||||||
|
#define HW_UART_P_RX_PORT GPIOB
|
||||||
|
#define HW_UART_P_RX_PIN 11
|
||||||
|
|
||||||
|
// 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)
|
||||||
|
|
||||||
|
// Override dead time. See the stm32f4 reference manual for calculating this value.
|
||||||
|
#define HW_DEAD_TIME_NSEC 450.0
|
||||||
|
|
||||||
|
// Default setting overrides
|
||||||
|
#ifndef MCCONF_L_MIN_VOLTAGE
|
||||||
|
#define MCCONF_L_MIN_VOLTAGE 20.0 // Minimum input voltage
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_MAX_VOLTAGE
|
||||||
|
#define MCCONF_L_MAX_VOLTAGE 140.0 // Maximum input voltage
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
|
||||||
|
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
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||||||
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#endif
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||||||
|
#ifndef MCCONF_FOC_F_ZV
|
||||||
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#define MCCONF_FOC_F_ZV 30000.0
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_MAX_ABS_CURRENT
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||||||
|
#define MCCONF_L_MAX_ABS_CURRENT 220.0 // The maximum absolute current above which a fault is generated
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_FOC_SAMPLE_V0_V7
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||||||
|
#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_IN_CURRENT_MAX
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||||||
|
#define MCCONF_L_IN_CURRENT_MAX 100.0 // Input current limit in Amperes (Upper)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_IN_CURRENT_MIN
|
||||||
|
#define MCCONF_L_IN_CURRENT_MIN -50.0 // Input current limit in Amperes (Lower)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Setting limits
|
||||||
|
#define HW_LIM_CURRENT -200.0, 200.0
|
||||||
|
#define HW_LIM_CURRENT_IN -150.0, 150.0
|
||||||
|
#define HW_LIM_CURRENT_ABS 0.0, 300.0
|
||||||
|
#define HW_LIM_VIN 18.0, 140.0
|
||||||
|
#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, 100.0
|
||||||
|
|
||||||
|
// Functions
|
||||||
|
float hw_JetFleet_get_temp(void);
|
||||||
|
bool hw_sample_shutdown_button(void);
|
||||||
|
void buzzer_init(void);
|
||||||
|
|
||||||
|
#define HW_EARLY_INIT() buzzer_init()
|
||||||
|
|
||||||
|
#endif /* HW_JetFleetF6_Core_H_ */
|
||||||
|
|
@ -101,6 +101,7 @@ package_dict["Little_FOCer"] = [['Little_FOCer', default_name]]
|
||||||
package_dict["Little_FOCer_V3"] = [['Little_FOCer_V3', default_name]]
|
package_dict["Little_FOCer_V3"] = [['Little_FOCer_V3', default_name]]
|
||||||
package_dict["Little_FOCer_V3_1"] = [['Little_FOCer_V3_1', default_name]]
|
package_dict["Little_FOCer_V3_1"] = [['Little_FOCer_V3_1', default_name]]
|
||||||
package_dict["Thor300"] = [['Thor_300_20s', default_name]]
|
package_dict["Thor300"] = [['Thor_300_20s', default_name]]
|
||||||
|
package_dict["JetFleetF6"] = [['JetFleetF6', default_name]]
|
||||||
package_dict["UXV_SR"] = [['uxv_sr', default_name]]
|
package_dict["UXV_SR"] = [['uxv_sr', default_name]]
|
||||||
package_dict["GESC"] = [['gesc', default_name]]
|
package_dict["GESC"] = [['gesc', default_name]]
|
||||||
package_dict["Warrior6"] = [['warrior6', default_name]]
|
package_dict["Warrior6"] = [['warrior6', default_name]]
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue