mirror of https://github.com/rusefi/bldc.git
Added 60_mk6 hw
This commit is contained in:
Benjamin Vedder
parent
9862fa0347
commit
3c2d330283
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@ -1,5 +1,5 @@
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/*
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Copyright 2012-2020 Benjamin Vedder benjamin@vedder.se
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Copyright 2012-2022 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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@ -28,7 +28,7 @@
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// Variables
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static volatile bool i2c_running = false;
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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static mutex_t shutdown_mutex;
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static float bt_diff = 0.0;
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#endif
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@ -40,13 +40,13 @@ static const I2CConfig i2cfg = {
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STD_DUTY_CYCLE
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};
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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static void terminal_shutdown_now(int argc, const char **argv);
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static void terminal_button_test(int argc, const char **argv);
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#endif
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void hw_init_gpio(void) {
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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chMtxObjectInit(&shutdown_mutex);
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#endif
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@ -118,6 +118,13 @@ void hw_init_gpio(void) {
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PHASE_FILTER_OFF();
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#endif
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// Sensor port voltage
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#if defined(HW60_IS_MK6)
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SENSOR_PORT_3V3();
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palSetPadMode(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN,
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PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
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#endif
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// Fault pin
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palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
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@ -134,13 +141,13 @@ void hw_init_gpio(void) {
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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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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5)
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) && !defined(HW60_IS_MK6)
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palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
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#endif
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drv8301_init();
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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terminal_register_command_callback(
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"shutdown",
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"Shutdown VESC now.",
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@ -292,7 +299,7 @@ void hw_try_restore_i2c(void) {
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}
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}
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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bool hw_sample_shutdown_button(void) {
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chMtxLock(&shutdown_mutex);
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@ -1,5 +1,5 @@
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/*
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Copyright 2016 - 2020 Benjamin Vedder benjamin@vedder.se
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Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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@ -26,6 +26,8 @@
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#define HW_NAME "60_MK4"
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#elif defined(HW60_IS_MK5)
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#define HW_NAME "60_MK5"
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#elif defined(HW60_IS_MK6)
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#define HW_NAME "60_MK6"
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#elif defined(HW60_IS_MK1)
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#define HW_NAME "60"
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#else
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@ -39,7 +41,7 @@
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#define HW_HAS_DRV8301
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#define HW_HAS_3_SHUNTS
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#define HW_HAS_PHASE_SHUNTS
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5)
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) && !defined(HW60_IS_MK6)
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#define HW_HAS_PERMANENT_NRF
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#endif
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@ -63,7 +65,7 @@
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#define CURRENT_FILTER_ON() palSetPad(GPIOD, 2)
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#define CURRENT_FILTER_OFF() palClearPad(GPIOD, 2)
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#ifdef HW60_IS_MK5
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#if defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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#define HW_HAS_PHASE_FILTERS
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#define PHASE_FILTER_GPIO GPIOC
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#define PHASE_FILTER_PIN 13
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@ -71,7 +73,15 @@
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#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
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#endif
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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// Sensor port voltage control
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#if defined(HW60_IS_MK6)
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#define SENSOR_VOLTAGE_GPIO GPIOA
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#define SENSOR_VOLTAGE_PIN 4
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#define SENSOR_PORT_5V() palSetPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
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#define SENSOR_PORT_3V3() palClearPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
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#endif
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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// Shutdown pin
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#define HW_SHUTDOWN_GPIO GPIOC
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#define HW_SHUTDOWN_PIN 5
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@ -135,7 +145,7 @@
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#define ADC_IND_TEMP_MOS 8
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#define ADC_IND_TEMP_MOTOR 9
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#define ADC_IND_VREFINT 12
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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#define ADC_IND_SHUTDOWN 10
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#endif
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@ -228,7 +238,7 @@
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#define HW_UART_RX_PORT GPIOB
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#define HW_UART_RX_PIN 11
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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// Permanent UART Peripheral (for NRF51)
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#define HW_UART_P_BAUD 115200
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#define HW_UART_P_DEV SD4
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@ -276,7 +286,7 @@
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#define HW_ENC_TIM_ISR_CH TIM3_IRQn
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#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5)
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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// NRF pins
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#define NRF_PORT_CSN GPIOB
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#define NRF_PIN_CSN 12
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@ -289,7 +299,7 @@
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#endif
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// SPI pins
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#if !defined(HW60_IS_MK5)
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#if !defined(HW60_IS_MK5) && !defined(HW60_IS_MK6)
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#define HW_SPI_DEV SPID1
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#define HW_SPI_GPIO_AF GPIO_AF_SPI1
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#define HW_SPI_PORT_NSS GPIOA
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@ -314,7 +324,7 @@
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#endif
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// SPI for DRV8301
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5)
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#if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) && !defined(HW60_IS_MK6)
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#define DRV8301_MOSI_GPIO GPIOC
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#define DRV8301_MOSI_PIN 12
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#define DRV8301_MISO_GPIO GPIOC
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@ -335,12 +345,23 @@
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#endif
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// MPU9250
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#if !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5)
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#if !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) && !defined(HW60_IS_MK6)
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#define MPU9X50_SDA_GPIO GPIOB
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#define MPU9X50_SDA_PIN 2
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#define MPU9X50_SCL_GPIO GPIOA
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#define MPU9X50_SCL_PIN 15
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#define IMU_FLIP
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#elif defined(HW60_IS_MK6)
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#define BMI160_SPI_PORT_NSS GPIOA
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#define BMI160_SPI_PIN_NSS 15
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#define BMI160_SPI_PORT_SCK GPIOC
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#define BMI160_SPI_PIN_SCK 15
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#define BMI160_SPI_PORT_MOSI GPIOB
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#define BMI160_SPI_PIN_MOSI 2
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#define BMI160_SPI_PORT_MISO GPIOB
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#define BMI160_SPI_PIN_MISO 12
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#define IMU_FLIP
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#define IMU_ROT_180
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#else
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#define BMI160_SDA_GPIO GPIOB
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#define BMI160_SDA_PIN 2
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@ -391,7 +412,7 @@
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#define HW_LIM_TEMP_FET -40.0, 110.0
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// Functions
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5)
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#if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) || defined(HW60_IS_MK6)
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bool hw_sample_shutdown_button(void);
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#endif
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@ -0,0 +1,27 @@
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/*
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Copyright 2016 - 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_60_MK5_H_
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#define HW_60_MK5_H_
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#define HW60_IS_MK6
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#include "hw_60_core.h"
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#endif /* HW_60_MK5_H_ */
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@ -0,0 +1,27 @@
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/*
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Copyright 2016 - 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_60_MK5_NO_LIMITS_H_
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#define HW_60_MK5_NO_LIMITS_H_
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#define DISABLE_HW_LIMITS
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#include "hw_60_mk6.h"
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#endif /* HW_60_MK5_NO_LIMITS_H_ */
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@ -35,6 +35,8 @@ package_dict["60_MK4"] = [['60_mk4', default_name],
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['60_mk4_no_limits', no_limits_name]]
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package_dict["60_MK5"] = [['60_mk5', default_name],
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['60_mk5_no_limits', no_limits_name]]
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package_dict["60_MK6"] = [['60_mk6', default_name],
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['60_mk6_no_limits', no_limits_name]]
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package_dict["DAS_RS"] = [['das_rs', default_name]]
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package_dict["75_300"] = [['75_300', default_name],
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['75_300_no_limits', no_limits_name]]
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