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WIP, Current status DAC output

This commit is contained in:
Frank Severinsen 2020-08-18 19:16:13 +02:00
parent 91bde64e71
commit 5ad4378567
3 changed files with 100 additions and 52 deletions
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8
conf_general.h
View File

@ -140,8 +140,8 @@
//#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_SOURCE "hw_uxv_sr.c"
#define HW_HEADER "hw_uxv_sr.h"
//#define HW_DUAL_CONFIG_PARALLEL
//#define HW_SOURCE "hw_stormcore_100d.c"
@ -153,8 +153,8 @@
//#define HW_SOURCE "hw_stormcore_100s.c"
//#define HW_HEADER "hw_stormcore_100s.h"
#define HW_SOURCE "hw_140_300.c"
#define HW_HEADER "hw_140_300.h"
//#define HW_SOURCE "hw_140_300.c"
//#define HW_HEADER "hw_140_300.h"
#endif
#ifndef HW_SOURCE

137
hwconf/hw_uxv_sr.c
View File

@ -22,15 +22,22 @@
#include "stm32f4xx_conf.h"
#include "utils.h"
#include "drv8323s.h"
#include "comm_can.h"
#include "mc_interface.h"
// Threads
THD_FUNCTION(dac_thread, arg);
static THD_WORKING_AREA(dac_thread_wa, 512);
static bool dac_thread_running = false;
// Variables
static volatile bool i2c_running = false;
// I2C configuration
static const I2CConfig i2cfg = {
OPMODE_I2C,
100000,
STD_DUTY_CYCLE
OPMODE_I2C,
100000,
STD_DUTY_CYCLE
};
void hw_init_gpio(void) {
@ -42,51 +49,51 @@ void hw_init_gpio(void) {
// LEDs
palSetPadMode(GPIOB, 0,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOB, 1,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
// ENABLE_GATE
palSetPadMode(GPIOB, 5,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
// Disable BMI160
palSetPadMode(GPIOA, 15,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPad(GPIOA, 15);
// Disable DCCAL
palSetPadMode(GPIOD, 2,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
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);
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);
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);
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);
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);
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);
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
// Hall sensors
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
@ -148,6 +155,12 @@ void hw_setup_adc_channels(void) {
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);
if (!dac_thread_running) {
chThdCreateStatic(dac_thread_wa, sizeof(dac_thread_wa), NORMALPRIO, dac_thread, NULL);
dac_thread_running = true;
}
}
void hw_start_i2c(void) {
@ -155,15 +168,15 @@ void hw_start_i2c(void) {
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);
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);
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;
@ -195,14 +208,14 @@ void hw_try_restore_i2c(void) {
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);
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);
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);
@ -226,16 +239,16 @@ void hw_try_restore_i2c(void) {
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);
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);
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);
@ -243,3 +256,33 @@ void hw_try_restore_i2c(void) {
i2cReleaseBus(&HW_I2C_DEV);
}
}
THD_FUNCTION(dac_thread, arg) {
(void)arg;
chRegSetThreadName("DAC");
RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
DAC->CR |= DAC_CR_EN2;
const float current_scaling_factor = MAX_CURRENT_SUM / 4096;
float current_sum = 0;
for(;;) {
current_sum = mc_interface_get_tot_current_in_filtered();
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg_4 *msg4 = comm_can_get_status_msg_4_index(i);
if (msg4->id >= 0 && UTILS_AGE_S(msg4->rx_time) < 0.1) {
current_sum += msg4->current_in;
}
}
int scaled_current = (int)(round(current_sum/current_scaling_factor));
DAC->DHR12R2 = scaled_current;
chThdSleepMilliseconds(100);
}
}

7
hwconf/hw_uxv_sr.h
View File

@ -103,7 +103,8 @@
#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)
//#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_MOTOR(beta) (10000.0 / ((4095.0 / (float)0.5) - 1.0))
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
@ -202,6 +203,10 @@
//APP settings
#define APPCONF_UAVCAN_ESC_INDEX (HW_DEFAULT_ID - 1)
#define APPCONF_APP_TO_USE APP_PPM
#define APPCONF_SEND_CAN_STATUS_RATE_HZ 20
#define APPCONF_CAN_BAUD_RATE CAN_BAUD_1M
#define APPCONF_SEND_CAN_STATUS CAN_STATUS_1_2_3_4
#define MAX_CURRENT_SUM 1000
// Measurement macros
#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]