From 3acbfffa26ff13f2a85ded6d7a228b35a8c14763 Mon Sep 17 00:00:00 2001 From: Frank Severinsen Date: Tue, 21 Jul 2020 10:54:00 +0200 Subject: [PATCH] added custom HW file, support for ID pins, and fixed circular include --- conf_general.h | 3 + hwconf/drv8301.c | 2 +- hwconf/drv8305.c | 2 +- hwconf/drv8320s.c | 2 +- hwconf/drv8323s.c | 2 +- hwconf/hw.c | 54 ++++++++++ hwconf/hw.h | 2 +- hwconf/hw_uxv_sr.c | 245 +++++++++++++++++++++++++++++++++++++++++++ hwconf/hw_uxv_sr.h | 251 +++++++++++++++++++++++++++++++++++++++++++++ ledpwm.h | 2 +- mcuconf.h | 1 + nrf/spi_sw.h | 2 +- servo_simple.c | 1 - 13 files changed, 561 insertions(+), 8 deletions(-) create mode 100644 hwconf/hw_uxv_sr.c create mode 100644 hwconf/hw_uxv_sr.h diff --git a/conf_general.h b/conf_general.h index da79cedb..92bdd364 100644 --- a/conf_general.h +++ b/conf_general.h @@ -140,6 +140,9 @@ //#define HW_SOURCE "hw_unity.c" //#define HW_HEADER "hw_unity.h" +#define HW_SOURCE "hw_uxv_sr.c" +#define HW_HEADER "hw_uxv_sr.h" + //#define HW_DUAL_CONFIG_PARALLEL //#define HW_SOURCE "hw_stormcore_100d.c" //#define HW_HEADER "hw_stormcore_100d.h" diff --git a/hwconf/drv8301.c b/hwconf/drv8301.c index 6f7afd7c..060c5fc1 100644 --- a/hwconf/drv8301.c +++ b/hwconf/drv8301.c @@ -17,7 +17,7 @@ along with this program. If not, see . */ -#include "hw.h" +#include "conf_general.h" #ifdef HW_HAS_DRV8301 #include "drv8301.h" diff --git a/hwconf/drv8305.c b/hwconf/drv8305.c index c9e39299..392ded8e 100644 --- a/hwconf/drv8305.c +++ b/hwconf/drv8305.c @@ -17,7 +17,7 @@ along with this program. If not, see . */ -#include "hw.h" +#include "conf_general.h" #ifdef HW_HAS_DRV8305 #include "drv8305.h" diff --git a/hwconf/drv8320s.c b/hwconf/drv8320s.c index fb42f33f..736f0a1c 100644 --- a/hwconf/drv8320s.c +++ b/hwconf/drv8320s.c @@ -17,7 +17,7 @@ along with this program. If not, see . */ -#include "hw.h" +#include "conf_general.h" #ifdef HW_HAS_DRV8320S #include "drv8320s.h" diff --git a/hwconf/drv8323s.c b/hwconf/drv8323s.c index 3c7cee4d..ea511df2 100644 --- a/hwconf/drv8323s.c +++ b/hwconf/drv8323s.c @@ -17,7 +17,7 @@ along with this program. If not, see . */ -#include "hw.h" +#include "conf_general.h" #ifdef HW_HAS_DRV8323S #include "drv8323s.h" diff --git a/hwconf/hw.c b/hwconf/hw.c index 4decaecf..a37b2404 100644 --- a/hwconf/hw.c +++ b/hwconf/hw.c @@ -19,8 +19,62 @@ #include "conf_general.h" #include "utils.h" +#include #include HW_SOURCE uint8_t hw_id_from_uuid(void) { return utils_crc32c(STM32_UUID_8, 12) & 0x7F; } + +#if defined(HW_ID_PIN_GPIOS) && defined(HW_ID_PIN_PINS) +uint8_t hw_id_from_pins(void) { + stm32_gpio_t *hw_id_ports[]={HW_ID_PIN_GPIOS}; + const uint16_t hw_id_pins[] = {HW_ID_PIN_PINS}; + const uint16_t hw_id_pins_size = sizeof(hw_id_pins)/sizeof(uint16_t); + + const uint16_t DELAY_MS = 5; + uint8_t trits[hw_id_pins_size]; + uint8_t id = 1u; //Start at 1 + for (uint8_t i=0; i. + */ + +#include "hw.h" + +#include "ch.h" +#include "hal.h" +#include "stm32f4xx_conf.h" +#include "utils.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); + + // 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); + + // 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); + } +} diff --git a/hwconf/hw_uxv_sr.h b/hwconf/hw_uxv_sr.h new file mode 100644 index 00000000..907c2214 --- /dev/null +++ b/hwconf/hw_uxv_sr.h @@ -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 . + */ + +#ifndef HW_UXV_SR_H_ +#define HW_UXV_SR_H_ + +#define HW_NAME "UXV_SR" + +// HW properties +#define HW_HAS_DRV8323S +#define HW_HAS_3_SHUNTS +#define HW_HAS_PHASE_SHUNTS + +// Macros +#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_ */ diff --git a/ledpwm.h b/ledpwm.h index 01c8faa9..a1eeedf1 100644 --- a/ledpwm.h +++ b/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 diff --git a/mcuconf.h b/mcuconf.h index 86cb3f91..f7a9cb12 100644 --- a/mcuconf.h +++ b/mcuconf.h @@ -17,6 +17,7 @@ #ifndef _MCUCONF_H_ #define _MCUCONF_H_ +#include "conf_general.h" #include "hw.h" /* diff --git a/nrf/spi_sw.h b/nrf/spi_sw.h index 4215b4f6..722a6684 100644 --- a/nrf/spi_sw.h +++ b/nrf/spi_sw.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" diff --git a/servo_simple.c b/servo_simple.c index 35f9f6e4..0c4c0436 100644 --- a/servo_simple.c +++ b/servo_simple.c @@ -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"