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update hwconf to new hardware version (hw7)

This commit is contained in:
CTSchorsch 2022-01-20 13:22:39 +01:00
parent f6baa653ea
commit 786cf09889
3 changed files with 47 additions and 51 deletions
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12
applications/app_dpv.c
View File

@ -14,7 +14,7 @@
#define SPEED_STEP 0.05 #define SPEED_STEP 0.05
#define SPEED_MAX 1.00 #define SPEED_MAX 1.00
#define SPEED_MIN 0.20 #define SPEED_MIN 0.10
#define SPEED_OFF 0.00 #define SPEED_OFF 0.00
//private variables //private variables
@ -60,6 +60,9 @@ void app_custom_start(void) {
// Start the dv thread // Start the dv thread
chThdCreateStatic(dpv_thread_wa, sizeof(dpv_thread_wa), NORMALPRIO, dpv_thread, NULL); chThdCreateStatic(dpv_thread_wa, sizeof(dpv_thread_wa), NORMALPRIO, dpv_thread, NULL);
hw_start_i2c();
app_uartcomm_start(UART_PORT_COMM_HEADER);
app_uartcomm_start(UART_PORT_BUILTIN);
chSysLock(); chSysLock();
chVTSetI(&dpv_vt, MS2ST(1), update, NULL); chVTSetI(&dpv_vt, MS2ST(1), update, NULL);
chSysUnlock(); chSysUnlock();
@ -122,7 +125,6 @@ static THD_FUNCTION(dpv_thread, arg) {
static systime_t last_time = 0; static systime_t last_time = 0;
static float motorSpeed_val_ramp = 0.0; static float motorSpeed_val_ramp = 0.0;
float ramp_time; float ramp_time;
if ( ! palReadPad(HW_HALL_TRIGGER_GPIO, HW_HALL_TRIGGER_PIN)) { if ( ! palReadPad(HW_HALL_TRIGGER_GPIO, HW_HALL_TRIGGER_PIN)) {
motorSpeed=targetSpeed; motorSpeed=targetSpeed;
} else { } else {
@ -138,9 +140,9 @@ static THD_FUNCTION(dpv_thread, arg) {
last_time = chVTGetSystemTimeX(); last_time = chVTGetSystemTimeX();
motorSpeed = motorSpeed_val_ramp; motorSpeed = motorSpeed_val_ramp;
} }
mc_interface_set_duty(utils_map(motorSpeed, 0, 1.0, 0, mcconf->l_max_duty)); //mc_interface_set_pid_speed(motorSpeed*mcconf->l_max_erpm);
// mc_interface_set_pid_speed(motorSpeed*mcconf->l_max_erpm); mc_interface_set_duty(motorSpeed*mcconf->l_max_duty);
chThdSleepMilliseconds(10); chThdSleepMilliseconds(5);
// Reset the timeout // Reset the timeout
timeout_reset(); timeout_reset();
} }

8
hwconf/hw_gesc.c
View File

@ -36,9 +36,8 @@
#include "lora/lora.h" #include "lora/lora.h"
#endif #endif
// Threads
THD_FUNCTION(mag_thread, arg); THD_FUNCTION(mag_thread, arg);
static THD_WORKING_AREA(mag_thread_wa, 256); static THD_WORKING_AREA(mag_thread_wa, 512);
static bool mag_thread_running = false; static bool mag_thread_running = false;
// Variables // Variables
@ -56,7 +55,6 @@ static const I2CConfig i2cfg = {
STD_DUTY_CYCLE STD_DUTY_CYCLE
}; };
void hw_init_gpio(void) { void hw_init_gpio(void) {
// GPIO clock enable // GPIO clock enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
@ -144,8 +142,6 @@ void hw_init_gpio(void) {
0, 0,
terminal_cmd_doublepulse); terminal_cmd_doublepulse);
#endif #endif
//start uart for log
//app_uartcomm_start(UART_PORT_COMM_HEADER);
} }
void hw_setup_adc_channels(void) { void hw_setup_adc_channels(void) {
@ -221,7 +217,6 @@ void hw_start_i2c(void) {
PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 | PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP); PAL_STM32_PUDR_PULLUP);
i2cStart(&HW_I2C_DEV, &i2cfg); i2cStart(&HW_I2C_DEV, &i2cfg);
i2c_running = true; i2c_running = true;
} }
@ -260,7 +255,6 @@ void hw_try_restore_i2c(void) {
PAL_STM32_OTYPE_OPENDRAIN | PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 | PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP); PAL_STM32_PUDR_PULLUP);
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN); palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN); palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);

42
hwconf/hw_gesc.h
View File

@ -25,7 +25,7 @@
// HW properties // HW properties
#define HW_HAS_3_SHUNTS #define HW_HAS_3_SHUNTS
#define HW_HAS_PHASE_SHUNTS #define HW_HAS_PHASE_SHUNTS
//#define HW_HAS_PHASE_FILTERS #define HW_HAS_PHASE_FILTERS
#define INVERTED_SHUNT_POLARITY #define INVERTED_SHUNT_POLARITY
#define HW_HAS_NO_CAN #define HW_HAS_NO_CAN
#define HW_HAS_LORA #define HW_HAS_LORA
@ -151,13 +151,13 @@
#define HW_UART_RX_PORT GPIOB #define HW_UART_RX_PORT GPIOB
#define HW_UART_RX_PIN 11 #define HW_UART_RX_PIN 11
//#define HW_UART_P_BAUD 115200 #define HW_UART_P_BAUD 115200
//#define HW_UART_P_DEV SD4 #define HW_UART_P_DEV SD4
//#define HW_UART_P_GPIO_AF GPIO_AF_UART4 #define HW_UART_P_GPIO_AF GPIO_AF_UART4
//#define HW_UART_P_TX_PORT GPIOC #define HW_UART_P_TX_PORT GPIOC
//#define HW_UART_P_TX_PIN 10 #define HW_UART_P_TX_PIN 10
//#define HW_UART_P_RX_PORT GPIOC #define HW_UART_P_RX_PORT GPIOC
//#define HW_UART_P_RX_PIN 11 #define HW_UART_P_RX_PIN 11
// ICU Peripheral for servo decoding // ICU Peripheral for servo decoding
#define HW_USE_SERVO_TIM4 #define HW_USE_SERVO_TIM4
@ -225,16 +225,16 @@
#ifdef HW_HAS_LORA #ifdef HW_HAS_LORA
#define HW_LORA_SPI_DEV SPID1 #define HW_LORA_SPI_DEV SPID1
#define HW_LORA_SPI_GPIO_AF GPIO_AF_SPI1 #define HW_LORA_SPI_GPIO_AF GPIO_AF_SPI1
#define HW_LORA_SPI_PORT_NSS GPIOA #define HW_LORA_SPI_PORT_NSS GPIOB
#define HW_LORA_SPI_PIN_NSS 4 #define HW_LORA_SPI_PIN_NSS 3
#define HW_LORA_SPI_PORT_SCK GPIOA #define HW_LORA_SPI_PORT_SCK GPIOB
#define HW_LORA_SPI_PIN_SCK 5 #define HW_LORA_SPI_PIN_SCK 6
#define HW_LORA_SPI_PORT_MOSI GPIOA #define HW_LORA_SPI_PORT_MOSI GPIOB
#define HW_LORA_SPI_PIN_MOSI 7 #define HW_LORA_SPI_PIN_MOSI 4
#define HW_LORA_SPI_PORT_MISO GPIOA #define HW_LORA_SPI_PORT_MISO GPIOB
#define HW_LORA_SPI_PIN_MISO 6 #define HW_LORA_SPI_PIN_MISO 5
#define HW_LORA_SPI_PORT_DIO0 GPIOC #define HW_LORA_SPI_PORT_DIO0 GPIOB
#define HW_LORA_SPI_PIN_DIO0 5 #define HW_LORA_SPI_PIN_DIO0 12
#define HW_LORA_SPI_PORT_RESET GPIOB #define HW_LORA_SPI_PORT_RESET GPIOB
#define HW_LORA_SPI_PIN_RESET 2 #define HW_LORA_SPI_PIN_RESET 2
#endif #endif
@ -252,14 +252,14 @@
// Override dead time. See the stm32f4 reference manual for calculating this value. // Override dead time. See the stm32f4 reference manual for calculating this value.
#define HW_DEAD_TIME_NSEC 660.0 #define HW_DEAD_TIME_NSEC 360.0
// Default setting overrides // Default setting overrides
#ifndef MCCONF_L_MIN_VOLTAGE #ifndef MCCONF_L_MIN_VOLTAGE
#define MCCONF_L_MIN_VOLTAGE 12.0 // Minimum input voltage #define MCCONF_L_MIN_VOLTAGE 12.0 // Minimum input voltage
#endif #endif
#ifndef MCCONF_L_MAX_VOLTAGE #ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 50.0 // Maximum input voltage #define MCCONF_L_MAX_VOLTAGE 57.0 // Maximum input voltage
#endif #endif
#ifndef MCCONF_DEFAULT_MOTOR_TYPE #ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
@ -284,7 +284,7 @@
#define HW_LIM_CURRENT -120.0, 120.0 #define HW_LIM_CURRENT -120.0, 120.0
#define HW_LIM_CURRENT_IN -120.0, 120.0 #define HW_LIM_CURRENT_IN -120.0, 120.0
#define HW_LIM_CURRENT_ABS 0.0, 160.0 #define HW_LIM_CURRENT_ABS 0.0, 160.0
#define HW_LIM_VIN 12.0, 50.0 #define HW_LIM_VIN 12.0, 60.0
#define HW_LIM_ERPM -200e3, 200e3 #define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1 #define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.99 #define HW_LIM_DUTY_MAX 0.0, 0.99