diff --git a/hwconf/other/hw_Little_FOCer.c b/hwconf/other/hw_Little_FOCer.c
index 0dd044cf..c20feaa5 100644
--- a/hwconf/other/hw_Little_FOCer.c
+++ b/hwconf/other/hw_Little_FOCer.c
@@ -20,8 +20,10 @@
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
-#include "utils_math.h"
+#include "utils.h"
+#ifdef HW_HAS_DRV8323S
#include "drv8323s.h"
+#endif
#include "terminal.h"
#include "commands.h"
#include "mc_interface.h"
@@ -91,6 +93,14 @@ void hw_init_gpio(void) {
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);
+#ifdef HW_HAS_PHASE_FILTERS
+ // Phase filters
+ palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ PHASE_FILTER_OFF();
+#endif
+
// Fault pin
palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
@@ -108,7 +118,9 @@ void hw_init_gpio(void) {
palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+#ifdef HW_HAS_DRV8323S
drv8323s_init();
+#endif
}
void hw_setup_adc_channels(void) {
diff --git a/hwconf/other/hw_Little_FOCer.h b/hwconf/other/hw_Little_FOCer.h
index 93db83f0..9ccc283a 100644
--- a/hwconf/other/hw_Little_FOCer.h
+++ b/hwconf/other/hw_Little_FOCer.h
@@ -20,275 +20,6 @@
#ifndef HW_Little_FOCer_H_
#define HW_Little_FOCer_H_
-#include "drv8323s.h"
-
-#define HW_NAME "Little_FOCer"
-
-// HW properties
-#define HW_HAS_DRV8323S
-#define HW_HAS_3_SHUNTS
-
-#define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
- drv8323s_write_reg(3,0x333); \
- drv8323s_write_reg(4,0x733);
-
-// 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 Shutdown
- * 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
-#define ADC_IND_SHUTDOWN 10
-
-// ADC macros and settings
-
-// Component parameters (can be overridden)
-#ifndef V_REG
-#define V_REG 3.3
-#endif
-#ifndef VIN_R1
-#define VIN_R1 68000.0
-#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 0.0005
-#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
-
-// Permanent UART Peripheral (for NRF51)
-#define HW_UART_P_BAUD 115200
-#define HW_UART_P_DEV SD4
-#define HW_UART_P_GPIO_AF GPIO_AF_UART4
-#define HW_UART_P_TX_PORT GPIOC
-#define HW_UART_P_TX_PIN 10
-#define HW_UART_P_RX_PORT GPIOC
-#define HW_UART_P_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
-
-// SPI for DRV8323S rev2
-
-#define DRV8323S_MOSI_GPIO GPIOC
-#define DRV8323S_MOSI_PIN 12
-#define DRV8323S_MISO_GPIO GPIOD
-#define DRV8323S_MISO_PIN 2
-#define DRV8323S_SCK_GPIO GPIOC
-#define DRV8323S_SCK_PIN 13
-#define DRV8323S_CS_GPIO GPIOC
-#define DRV8323S_CS_PIN 9
-
-// BMI160
-#define BMI160_SDA_GPIO GPIOB
-#define BMI160_SDA_PIN 2
-#define BMI160_SCL_GPIO GPIOA
-#define BMI160_SCL_PIN 15
-//#define IMU_FLIP
-
-// NRF SWD
-#define NRF5x_SWDIO_GPIO GPIOB
-#define NRF5x_SWDIO_PIN 4
-#define NRF5x_SWCLK_GPIO GPIOB
-#define NRF5x_SWCLK_PIN 3
-
-// 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_MIN_VOLTAGE
-#define MCCONF_L_MIN_VOLTAGE 18.0 // Minimum input voltage
-#endif
-#ifndef MCCONF_L_MAX_VOLTAGE
-#define MCCONF_L_MAX_VOLTAGE 95.0 // Maximum input voltage
-#endif
-#ifndef MCCONF_L_CURRENT_MAX
-#define MCCONF_L_CURRENT_MAX 70.0 // Current limit in Amperes (Upper)
-#endif
-#ifndef MCCONF_L_CURRENT_MIN
-#define MCCONF_L_CURRENT_MIN -50.0 // Current limit in Amperes (Lower)
-#endif
-#ifndef MCCONF_L_IN_CURRENT_MAX
-#define MCCONF_L_IN_CURRENT_MAX 60.0 // 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 130.0 // The maximum absolute current above which a fault is generated
-#endif
-#ifndef MCCONF_M_DRV8301_OC_ADJ
-#define MCCONF_M_DRV8301_OC_ADJ 25 // DRV8301 over current protection threshold
-#endif
-#ifndef MCCONF_L_LIM_TEMP_FET_START
-#define MCCONF_L_LIM_TEMP_FET_START 70.0 // MOSFET temperature where current limiting should begin
-#endif
-#ifndef MCCONF_L_LIM_TEMP_FET_END
-#define MCCONF_L_LIM_TEMP_FET_END 80.0 // MOSFET temperature where everything should be shut off
-#endif
-#ifndef MCCONF_DEFAULT_MOTOR_TYPE
-#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
-#endif
-#ifndef MCCONF_FOC_F_ZV
-#define MCCONF_FOC_F_ZV 20000.0
-#endif
-
-// Setting limits
-#define HW_LIM_CURRENT -150.0, 150.0
-#define HW_LIM_CURRENT_IN -150.0, 150.0
-#define HW_LIM_CURRENT_ABS 0.0, 175.0
-#define HW_LIM_VIN 18.0, 95.0
-#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
+#include "hw_Little_FOCer_core.h"
#endif /* HW_Little_FOCer_H_ */
diff --git a/hwconf/other/hw_Little_FOCer_no_limits.h b/hwconf/other/hw_Little_FOCer_V3.h
similarity index 81%
rename from hwconf/other/hw_Little_FOCer_no_limits.h
rename to hwconf/other/hw_Little_FOCer_V3.h
index e99215b6..e853695c 100644
--- a/hwconf/other/hw_Little_FOCer_no_limits.h
+++ b/hwconf/other/hw_Little_FOCer_V3.h
@@ -17,12 +17,11 @@
along with this program. If not, see .
*/
-#ifndef HW_LITTLE_FOCER_NO_LIMITS_H_
-#define HW_LITTLE_FOCER_NO_LIMITS_H_
+#ifndef HW_LITTLE_FOCER_V3_H_
+#define HW_LITTLE_FOCER_V3_H_
-#define DISABLE_HW_LIMITS
+#define LFOC_IS_V3
-#include "hw_Little_FOCer.h"
+#include "hw_Little_FOCer_core.h"
-
-#endif /* HW_LITTLE_FOCER_NO_LIMITS_H_ */
+#endif /* HW_LITTLE_FOCER_V3_H_ */
diff --git a/hwconf/other/hw_Little_FOCer_V3_1.h b/hwconf/other/hw_Little_FOCer_V3_1.h
new file mode 100644
index 00000000..5ee889a3
--- /dev/null
+++ b/hwconf/other/hw_Little_FOCer_V3_1.h
@@ -0,0 +1,27 @@
+/*
+ Copyright 2016 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_LITTLE_FOCER_V3_1_H_
+#define HW_LITTLE_FOCER_V3_1_H_
+
+#define LFOC_IS_V3_1
+
+#include "hw_Little_FOCer_core.h"
+
+#endif /* HW_LITTLE_FOCER_V3_1_H_ */
diff --git a/hwconf/other/hw_Little_FOCer_core.c b/hwconf/other/hw_Little_FOCer_core.c
new file mode 100644
index 00000000..c20feaa5
--- /dev/null
+++ b/hwconf/other/hw_Little_FOCer_core.c
@@ -0,0 +1,252 @@
+/*
+ Copyright 2012-2016 Benjamin Vedder benjamin@vedder.se
+
+ This program 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.
+
+ This program 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 .
+ */
+
+#include "hw.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "utils.h"
+#ifdef HW_HAS_DRV8323S
+#include "drv8323s.h"
+#endif
+#include "terminal.h"
+#include "commands.h"
+#include "mc_interface.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 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);
+
+#ifdef HW_HAS_PHASE_FILTERS
+ // Phase filters
+ palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ PHASE_FILTER_OFF();
+#endif
+
+ // 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);
+
+#ifdef HW_HAS_DRV8323S
+ drv8323s_init();
+#endif
+}
+
+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/other/hw_Little_FOCer_core.h b/hwconf/other/hw_Little_FOCer_core.h
new file mode 100644
index 00000000..2080af9b
--- /dev/null
+++ b/hwconf/other/hw_Little_FOCer_core.h
@@ -0,0 +1,330 @@
+/*
+ Copyright 2016 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_LITTLE_FOCER_CORE_H_
+#define HW_LITTLE_FOCER_CORE_H_
+
+#ifdef LFOC_IS_V3_1
+#define HW_NAME "Little_FOCer_V3_1"
+#define LFOC_IS_V3
+#else
+#ifdef LFOC_IS_V3
+#define HW_NAME "Little_FOCer_V3"
+#else
+#define HW_NAME "Little_FOCer"
+#endif
+#endif
+
+// HW properties
+#if !defined(LFOC_IS_V3)
+#define HW_HAS_DRV8323S
+#endif
+
+#define HW_HAS_3_SHUNTS
+
+#ifdef LFOC_IS_V3
+#define HW_HAS_PHASE_FILTERS
+#define PHASE_FILTER_GPIO GPIOC
+#define PHASE_FILTER_PIN 13
+#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
+#define HW_DEAD_TIME_NSEC 660.0
+#endif
+
+#ifdef HW_HAS_DRV8323S
+#define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
+ drv8323s_write_reg(3,0x344); \
+ drv8323s_write_reg(4,0x744);
+#endif
+
+// Macros
+#if !defined(LFOC_IS_V3)
+#define ENABLE_GATE() palSetPad(GPIOB, 5)
+#define DISABLE_GATE() palClearPad(GPIOB, 5)
+
+#define IS_DRV_FAULT() (!palReadPad(GPIOB, 7))
+#endif
+
+#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 Shutdown
+ * 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
+#define ADC_IND_SHUTDOWN 10
+
+// ADC macros and settings
+
+// Component parameters (can be overridden)
+#ifndef V_REG
+#define V_REG 3.3
+#endif
+#ifndef VIN_R1
+#define VIN_R1 68000.0
+#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
+#ifdef LFOC_IS_V3
+#define CURRENT_SHUNT_RES 0.0002
+#else
+#define CURRENT_SHUNT_RES 0.0005
+#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))
+
+// 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
+
+// Permanent UART Peripheral (for NRF51)
+#define HW_UART_P_BAUD 115200
+#define HW_UART_P_DEV SD4
+#define HW_UART_P_GPIO_AF GPIO_AF_UART4
+#define HW_UART_P_TX_PORT GPIOC
+#define HW_UART_P_TX_PIN 10
+#define HW_UART_P_RX_PORT GPIOC
+#define HW_UART_P_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
+
+#ifdef HW_HAS_DRV8323S
+// SPI for DRV8323S rev2
+#define DRV8323S_MOSI_GPIO GPIOC
+#define DRV8323S_MOSI_PIN 12
+#define DRV8323S_MISO_GPIO GPIOD
+#define DRV8323S_MISO_PIN 2
+#define DRV8323S_SCK_GPIO GPIOC
+#define DRV8323S_SCK_PIN 13
+#define DRV8323S_CS_GPIO GPIOC
+#define DRV8323S_CS_PIN 9
+#endif
+
+// IMU:
+#ifdef LFOC_IS_V3_1
+// LSM6DS3
+#define LSM6DS3_SDA_GPIO GPIOB
+#define LSM6DS3_SDA_PIN 2
+#define LSM6DS3_SCL_GPIO GPIOA
+#define LSM6DS3_SCL_PIN 15
+#else
+// BMI160
+#define BMI160_SDA_GPIO GPIOB
+#define BMI160_SDA_PIN 2
+#define BMI160_SCL_GPIO GPIOA
+#define BMI160_SCL_PIN 15
+#endif
+
+// NRF SWD
+#define NRF5x_SWDIO_GPIO GPIOB
+#define NRF5x_SWDIO_PIN 4
+#define NRF5x_SWCLK_GPIO GPIOB
+#define NRF5x_SWCLK_PIN 3
+
+// 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_MIN_VOLTAGE
+#define MCCONF_L_MIN_VOLTAGE 18.0 // Minimum input voltage
+#endif
+#ifndef MCCONF_L_MAX_VOLTAGE
+#define MCCONF_L_MAX_VOLTAGE 95.0 // Maximum input voltage
+#endif
+#ifndef MCCONF_L_CURRENT_MAX
+#ifdef LFOC_IS_V3
+#define MCCONF_L_CURRENT_MAX 100.0 // Current limit in Amperes (Upper)
+#else
+#define MCCONF_L_CURRENT_MAX 70.0 // Current limit in Amperes (Upper)
+#endif
+#endif
+#ifndef MCCONF_L_CURRENT_MIN
+#define MCCONF_L_CURRENT_MIN -50.0 // Current limit in Amperes (Lower)
+#endif
+#ifndef MCCONF_L_IN_CURRENT_MAX
+#define MCCONF_L_IN_CURRENT_MAX 60.0 // 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
+#ifdef LFOC_IS_V3
+#define MCCONF_L_MAX_ABS_CURRENT 300.0 // The maximum absolute current above which a fault is generated
+#else
+#define MCCONF_L_MAX_ABS_CURRENT 130.0 // The maximum absolute current above which a fault is generated
+#endif
+#endif
+#ifndef MCCONF_L_LIM_TEMP_FET_START
+#define MCCONF_L_LIM_TEMP_FET_START 70.0 // MOSFET temperature where current limiting should begin
+#endif
+#ifndef MCCONF_L_LIM_TEMP_FET_END
+#define MCCONF_L_LIM_TEMP_FET_END 80.0 // MOSFET temperature where everything should be shut off
+#endif
+#ifndef MCCONF_DEFAULT_MOTOR_TYPE
+#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
+#endif
+#ifndef MCCONF_FOC_F_ZV
+#define MCCONF_FOC_F_ZV 20000.0
+#endif
+
+// Setting limits
+#ifdef LFOC_IS_V3
+#define HW_LIM_CURRENT -250.0, 250.0
+#define HW_LIM_CURRENT_IN -100.0, 100.0
+#define HW_LIM_CURRENT_ABS 0.0, 350.0
+#else
+#define HW_LIM_CURRENT -150.0, 150.0
+#define HW_LIM_CURRENT_IN -100.0, 100.0
+#define HW_LIM_CURRENT_ABS 0.0, 175.0
+#endif
+#define HW_LIM_VIN 18.0, 95.0
+#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_LITTLE_FOCER_H_ */
diff --git a/package_firmware.py b/package_firmware.py
index 89e6214f..aec0ce21 100755
--- a/package_firmware.py
+++ b/package_firmware.py
@@ -74,8 +74,9 @@ package_dict["STORMCORE_100DX"] = [['stormcore_100dx', default_name],
['stormcore_100dx_no_limits', no_limits_name]]
package_dict["STORMCORE_100S"] = [['stormcore_100s', default_name],
['stormcore_100s_no_limits', no_limits_name]]
-package_dict["Little_FOCer"] = [['Little_FOCer', default_name],
- ['Little_FOCer_no_limits', no_limits_name]]
+package_dict["Little_FOCer"] = [['Little_FOCer', default_name]]
+package_dict["Little_FOCer_V3"] = [['Little_FOCer_V3', default_name]]
+package_dict["Little_FOCer_V3_1"] = [['Little_FOCer_V3_1', default_name]]
package_dict["UXV_SR"] = [['uxv_sr', default_name]]
package_dict["GESC"] = [['gesc', default_name]]
package_dict["Warrior6"] = [['warrior6', default_name]]