mirror of https://github.com/rusefi/bldc.git
added custom HW file, support for ID pins, and fixed circular include
This commit is contained in:
Frank Severinsen
parent
80b5e7071f
commit
3acbfffa26
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@ -140,6 +140,9 @@
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//#define HW_SOURCE "hw_unity.c"
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//#define HW_HEADER "hw_unity.h"
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#define HW_SOURCE "hw_uxv_sr.c"
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#define HW_HEADER "hw_uxv_sr.h"
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//#define HW_DUAL_CONFIG_PARALLEL
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//#define HW_SOURCE "hw_stormcore_100d.c"
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//#define HW_HEADER "hw_stormcore_100d.h"
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@ -17,7 +17,7 @@
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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 "conf_general.h"
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#ifdef HW_HAS_DRV8301
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#include "drv8301.h"
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@ -17,7 +17,7 @@
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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 "conf_general.h"
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#ifdef HW_HAS_DRV8305
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#include "drv8305.h"
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@ -17,7 +17,7 @@
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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 "conf_general.h"
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#ifdef HW_HAS_DRV8320S
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#include "drv8320s.h"
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@ -17,7 +17,7 @@
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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 "conf_general.h"
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#ifdef HW_HAS_DRV8323S
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#include "drv8323s.h"
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54
hwconf/hw.c
54
hwconf/hw.c
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@ -19,8 +19,62 @@
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#include "conf_general.h"
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#include "utils.h"
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#include <math.h>
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#include HW_SOURCE
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uint8_t hw_id_from_uuid(void) {
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return utils_crc32c(STM32_UUID_8, 12) & 0x7F;
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}
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#if defined(HW_ID_PIN_GPIOS) && defined(HW_ID_PIN_PINS)
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uint8_t hw_id_from_pins(void) {
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stm32_gpio_t *hw_id_ports[]={HW_ID_PIN_GPIOS};
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const uint16_t hw_id_pins[] = {HW_ID_PIN_PINS};
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const uint16_t hw_id_pins_size = sizeof(hw_id_pins)/sizeof(uint16_t);
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const uint16_t DELAY_MS = 5;
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uint8_t trits[hw_id_pins_size];
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uint8_t id = 1u; //Start at 1
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for (uint8_t i=0; i<hw_id_pins_size; i++)
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{
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//Initialize pulldown
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palSetPadMode(hw_id_ports[i], hw_id_pins[i], PAL_MODE_INPUT_PULLDOWN);
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//Delay a little for the resistor to take affect
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chThdSleepMilliseconds(DELAY_MS);
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bool pin_set_pulldown = (palReadPad(hw_id_ports[i], hw_id_pins[i]));
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//Initialize pullup
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palSetPadMode(hw_id_ports[i], hw_id_pins[i], PAL_MODE_INPUT_PULLUP);
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//Delay a little for the resistor to take affect
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chThdSleepMilliseconds(DELAY_MS);
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bool pin_set_pullup = (palReadPad(hw_id_ports[i], hw_id_pins[i]));
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//Now determine the trit state
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if (!pin_set_pulldown && !pin_set_pullup)
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{
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//Tied to GND
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trits[i] = 1u;
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}
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else if (pin_set_pulldown && pin_set_pullup)
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{
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//Tied to VCC
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trits[i] = 2u;
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}
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else if (!pin_set_pulldown && pin_set_pullup)
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{
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//Floating
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trits[i] = 0u;
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}
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else
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{
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return hw_id_from_uuid();
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//To satisfy compiler warning
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trits[i] = 3u;
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}
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id += trits[i] * pow(3, i);
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palSetPadMode(hw_id_ports[i], hw_id_pins[i], PAL_MODE_INPUT);
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}
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return id;
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}
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#endif //defined(HW_ID_PIN_GPIOS) && defined(HW_ID_PIN_PINS)
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@ -20,7 +20,6 @@
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#ifndef HW_H_
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#define HW_H_
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#include "conf_general.h"
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#include "stm32f4xx_conf.h"
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#include HW_HEADER
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@ -460,5 +459,6 @@ void hw_start_i2c(void);
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void hw_stop_i2c(void);
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void hw_try_restore_i2c(void);
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uint8_t hw_id_from_uuid(void);
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uint8_t hw_id_from_pins(void);
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#endif /* HW_H_ */
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@ -0,0 +1,245 @@
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/*
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Copyright 2019 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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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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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.h"
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#include "drv8323s.h"
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// Variables
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static volatile bool i2c_running = false;
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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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void hw_init_gpio(void) {
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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(GPIOB, 0,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOB, 1,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// ENABLE_GATE
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palSetPadMode(GPIOB, 5,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// Disable BMI160
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palSetPadMode(GPIOA, 15,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPad(GPIOA, 15);
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// Disable DCCAL
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palSetPadMode(GPIOD, 2,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palClearPad(GPIOD, 2);
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ENABLE_GATE();
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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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// Fault pin
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palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
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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(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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drv8323s_init();
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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_0, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 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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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 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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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 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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// 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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i2cStop(&HW_I2C_DEV);
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i2c_running = false;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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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,
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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_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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for(int i = 0;i < 16;i++) {
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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}
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// Generate start then stop condition
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palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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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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HW_I2C_DEV.state = I2C_STOP;
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2cReleaseBus(&HW_I2C_DEV);
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}
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}
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@ -0,0 +1,251 @@
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/*
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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/>.
|
||||
*/
|
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|
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#ifndef HW_UXV_SR_H_
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#define HW_UXV_SR_H_
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|
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#define HW_NAME "UXV_SR"
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|
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// HW properties
|
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#define HW_HAS_DRV8323S
|
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#define HW_HAS_3_SHUNTS
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#define HW_HAS_PHASE_SHUNTS
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// Macros
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#define ENABLE_GATE() palSetPad(GPIOB, 5)
|
||||
#define DISABLE_GATE() palClearPad(GPIOB, 5)
|
||||
|
||||
#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)
|
||||
|
||||
/*
|
||||
* 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 39000.0
|
||||
#endif
|
||||
#ifndef VIN_R2
|
||||
#define VIN_R2 2200.0
|
||||
#endif
|
||||
#ifndef CURRENT_AMP_GAIN
|
||||
#define CURRENT_AMP_GAIN 20.0
|
||||
#endif
|
||||
#ifndef CURRENT_SHUNT_RES
|
||||
#define CURRENT_SHUNT_RES 0.0002
|
||||
#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) ((4095.0 * 10000.0) / adc_val - 10000.0)
|
||||
#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
|
||||
|
||||
// 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
|
||||
|
||||
// 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_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 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
|
||||
|
||||
// Pins for ID detection
|
||||
//List of three state (trinary digit) pins used for hardware identification
|
||||
//States are: NC/Floating = 0 GND = 1, VCC = 2, in order P_LSB, ..., P_MSB
|
||||
#define HW_DEFAULT_ID (APPCONF_CONTROLLER_ID >= 0 ? APPCONF_CONTROLLER_ID : hw_id_from_pins())
|
||||
#define HW_ID_PIN_GPIOS GPIOC, GPIOC
|
||||
#define HW_ID_PIN_PINS 14, 15
|
||||
|
||||
//APP settings
|
||||
#define APPCONF_UAVCAN_ESC_INDEX (HW_DEFAULT_ID - 1)
|
||||
#define APPCONF_APP_TO_USE APP_PPM
|
||||
|
||||
// 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_CURRENT_MAX
|
||||
#define MCCONF_L_CURRENT_MAX 120.0 // 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 120.0 // 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 180.0 // 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 30000.0
|
||||
#endif
|
||||
|
||||
// Setting limits
|
||||
#define HW_LIM_CURRENT -60.0, 120.0
|
||||
#define HW_LIM_CURRENT_IN -60.0, 120.0
|
||||
#define HW_LIM_CURRENT_ABS 0.0, 180.0
|
||||
#define HW_LIM_VIN 6.0, 57.0
|
||||
#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_UXV_SR_H_ */
|
||||
2
ledpwm.h
2
ledpwm.h
|
|
@ -20,7 +20,7 @@
|
|||
#ifndef LEDPWM_H_
|
||||
#define LEDPWM_H_
|
||||
|
||||
#include "hw.h"
|
||||
#include "conf_general.h"
|
||||
|
||||
#ifdef LED_PWM4_ON
|
||||
#define HW_LEDPWM_CH 4
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
#ifndef _MCUCONF_H_
|
||||
#define _MCUCONF_H_
|
||||
|
||||
#include "conf_general.h"
|
||||
#include "hw.h"
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -19,7 +19,7 @@
|
|||
#ifndef SPI_SW_H_
|
||||
#define SPI_SW_H_
|
||||
|
||||
#include "hw.h"
|
||||
#include "conf_general.h"
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -20,7 +20,6 @@
|
|||
#include "servo_simple.h"
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
#include "hw.h"
|
||||
#include "conf_general.h"
|
||||
#include "stm32f4xx_conf.h"
|
||||
#include "utils.h"
|
||||
|
|
|
|||
Loading…
Reference in New Issue