Merge pull request #251 from Jfriesen222/master

Added HW Conf for 60D+

build_all/rebuild_all

@@ -371,6 +371,25 @@ make -j8 build_args='-DDISABLE_HW_LIMITS -DHW_SOURCE=\"hw_stormcore_60d.c\" -DHW
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default_no_hw_limits.bin
 
+#################### STORMCORE_60D+ ########################
+
+COPYDIR='STORMCORE_60D+'
+rm -f $COPYDIR/*
+
+# default
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DHW_SOURCE=\"hw_stormcore_60d.c\" -DHW_HEADER=\"hw_stormcore_60d.h\" -DHW_VER_IS_60D_PLUS' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
+
+# default with HW limits disabled
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DDISABLE_HW_LIMITS -DHW_SOURCE=\"hw_stormcore_60d.c\" -DHW_HEADER=\"hw_stormcore_60d.h\" -DHW_VER_IS_60D_PLUS' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default_no_hw_limits.bin
+
 #################### STORMCORE_100D ########################
 
 COPYDIR=STORMCORE_100D

conf_general.h

@@ -148,6 +148,7 @@
 //#define HW_SOURCE "hw_stormcore_100d.c"
 //#define HW_HEADER "hw_stormcore_100d.h"
 
+//#define HW_VER_IS_60D_PLUS
 //#define HW_SOURCE "hw_stormcore_60d.c"
 //#define HW_HEADER "hw_stormcore_60d.h"
 

hwconf/hw_stormcore_60d.c

@@ -61,6 +61,18 @@ void hw_init_gpio(void) {
 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
 
 
+#ifdef HW_VER_IS_60D_PLUS
+	mc_interface_select_motor_thread(2);
+	palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+				  PAL_MODE_OUTPUT_PUSHPULL |
+				  PAL_STM32_OSPEED_HIGHEST);
+	PHASE_FILTER_OFF();
+	mc_interface_select_motor_thread(1);
+	palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+				  PAL_MODE_OUTPUT_PUSHPULL |
+				  PAL_STM32_OSPEED_HIGHEST);
+	PHASE_FILTER_OFF();
+#endif
 
 
 	// LEDs

hwconf/hw_stormcore_60d.h

@@ -17,7 +17,11 @@
 #ifndef HW_STORMCORE_60D_H_
 #define HW_STORMCORE_60D_H_
 
+#ifdef HW_VER_IS_60D_PLUS
+#define HW_NAME                 "STORMCORE_60D+"
+#else
 #define HW_NAME                 "STORMCORE_60D"
+#endif
 
 #define HW_HAS_DUAL_MOTORS
 #include "drv8323s.h"
@@ -27,8 +31,8 @@
 #define HW_HAS_3_SHUNTS
 
 #define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
-                                    drv8323s_write_reg(3,0x3af); \
+		drv8323s_write_reg(3,0x3af); \
-                                    drv8323s_write_reg(4,0x7af);
+		drv8323s_write_reg(4,0x7af);
 
 
 
@@ -60,26 +64,34 @@
 
 #define SMART_SWITCH_MSECS_PRESSED_OFF		2000
 
+#ifdef HW_VER_IS_60D_PLUS
+// Depending on current motor selected for the thread select different phase filter
+#define PHASE_FILTER_GPIO       (mc_interface_motor_now() == 1 ? GPIOE : GPIOE)
+#define PHASE_FILTER_PIN        (mc_interface_motor_now() == 1 ? 4 : 1)
+#define PHASE_FILTER_ON()       palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#define PHASE_FILTER_OFF()      palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#endif
+
 
 
 #define HW_SHUTDOWN_HOLD_ON();
 #define HW_SAMPLE_SHUTDOWN()		1
 #define HW_SHUTDOWN_HOLD_OFF()		palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN); \
-									palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
+		palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
 
 
 #define DCCAL_ON() //drv8323s_dccal_on()
 #define DCCAL_OFF() //drv8323s_dccal_off()
 
 #define HW_EARLY_INIT()				smart_switch_pin_init(); \
-									smart_switch_thread_start();
+		smart_switch_thread_start();
 
 
 
 //Pins for BLE UART
-//#define USE_ALT_UART_PORT
 
 #define HW_UART_P_BAUD				115200
+
 #define HW_UART_P_DEV				SD1
 #define HW_UART_P_GPIO_AF			GPIO_AF_USART1
 #define HW_UART_P_TX_PORT			GPIOA
@@ -87,6 +99,18 @@
 #define HW_UART_P_RX_PORT			GPIOA
 #define HW_UART_P_RX_PIN			10
 
+#ifdef HW_VER_IS_60D_PLUS
+//Pins for Third UART
+#define HW_UART_3_BAUD				115200
+#define HW_UART_3_DEV				SD2
+#define HW_UART_3_GPIO_AF			GPIO_AF_USART2
+#define HW_UART_3_TX_PORT			GPIOD
+#define HW_UART_3_TX_PIN			6
+#define HW_UART_3_RX_PORT			GPIOD
+#define HW_UART_3_RX_PIN			5
+#endif
+
+
 // SPI for DRV8301
 #define DRV8323S_MOSI_GPIO			GPIOC
 #define DRV8323S_MOSI_PIN			12
@@ -217,12 +241,23 @@
 #ifndef VIN_R2
 #define VIN_R2					2200.0
 #endif
+
+#ifdef HW_VER_IS_60D_PLUS
 #ifndef CURRENT_AMP_GAIN
-#define CURRENT_AMP_GAIN		10.0
+#define CURRENT_AMP_GAIN        20.0
 #endif
 #ifndef CURRENT_SHUNT_RES
-#define CURRENT_SHUNT_RES		0.001
+#define CURRENT_SHUNT_RES       0.0005
 #endif
+#else
+#ifndef CURRENT_AMP_GAIN
+#define CURRENT_AMP_GAIN        10.0
+#endif
+#ifndef CURRENT_SHUNT_RES
+#define CURRENT_SHUNT_RES       0.001
+#endif
+#endif
+
 
 // Input voltage
 #define GET_INPUT_VOLTAGE()		((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
@@ -323,10 +358,20 @@
 #define NRF_PIN_MISO            10
 
 // NRF SWD
-#define NRF5x_SWDIO_GPIO		GPIOD
+
-#define NRF5x_SWDIO_PIN			6
+#ifdef HW_VER_IS_60D_PLUS
-#define NRF5x_SWCLK_GPIO		GPIOD
+#define NRF5x_SWDIO_GPIO        GPIOD
-#define NRF5x_SWCLK_PIN			5
+#define NRF5x_SWDIO_PIN         9
+#define NRF5x_SWCLK_GPIO        GPIOD
+#define NRF5x_SWCLK_PIN         8
+#else
+#define NRF5x_SWDIO_GPIO        GPIOD
+#define NRF5x_SWDIO_PIN         6
+#define NRF5x_SWCLK_GPIO        GPIOD
+#define NRF5x_SWCLK_PIN         5
+#endif
+
+
 
 #ifndef MCCONF_DEFAULT_MOTOR_TYPE
 #define MCCONF_DEFAULT_MOTOR_TYPE	MOTOR_TYPE_FOC