diff --git a/conf_general.h b/conf_general.h
index da79cedb..6fc6aef9 100644
--- a/conf_general.h
+++ b/conf_general.h
@@ -140,6 +140,9 @@
//#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_DUAL_CONFIG_PARALLEL
//#define HW_SOURCE "hw_stormcore_100d.c"
//#define HW_HEADER "hw_stormcore_100d.h"
diff --git a/hwconf/drv8301.c b/hwconf/drv8301.c
index 6f7afd7c..060c5fc1 100644
--- a/hwconf/drv8301.c
+++ b/hwconf/drv8301.c
@@ -17,7 +17,7 @@
along with this program. If not, see .
*/
-#include "hw.h"
+#include "conf_general.h"
#ifdef HW_HAS_DRV8301
#include "drv8301.h"
diff --git a/hwconf/drv8305.c b/hwconf/drv8305.c
index c9e39299..392ded8e 100644
--- a/hwconf/drv8305.c
+++ b/hwconf/drv8305.c
@@ -17,7 +17,7 @@
along with this program. If not, see .
*/
-#include "hw.h"
+#include "conf_general.h"
#ifdef HW_HAS_DRV8305
#include "drv8305.h"
diff --git a/hwconf/drv8320s.c b/hwconf/drv8320s.c
index fb42f33f..736f0a1c 100644
--- a/hwconf/drv8320s.c
+++ b/hwconf/drv8320s.c
@@ -17,7 +17,7 @@
along with this program. If not, see .
*/
-#include "hw.h"
+#include "conf_general.h"
#ifdef HW_HAS_DRV8320S
#include "drv8320s.h"
diff --git a/hwconf/drv8323s.c b/hwconf/drv8323s.c
index 3c7cee4d..ea511df2 100644
--- a/hwconf/drv8323s.c
+++ b/hwconf/drv8323s.c
@@ -17,7 +17,7 @@
along with this program. If not, see .
*/
-#include "hw.h"
+#include "conf_general.h"
#ifdef HW_HAS_DRV8323S
#include "drv8323s.h"
diff --git a/hwconf/hw.c b/hwconf/hw.c
index 4decaecf..a37b2404 100644
--- a/hwconf/hw.c
+++ b/hwconf/hw.c
@@ -19,8 +19,62 @@
#include "conf_general.h"
#include "utils.h"
+#include
#include HW_SOURCE
uint8_t hw_id_from_uuid(void) {
return utils_crc32c(STM32_UUID_8, 12) & 0x7F;
}
+
+#if defined(HW_ID_PIN_GPIOS) && defined(HW_ID_PIN_PINS)
+uint8_t hw_id_from_pins(void) {
+ stm32_gpio_t *hw_id_ports[]={HW_ID_PIN_GPIOS};
+ const uint16_t hw_id_pins[] = {HW_ID_PIN_PINS};
+ const uint16_t hw_id_pins_size = sizeof(hw_id_pins)/sizeof(uint16_t);
+
+ const uint16_t DELAY_MS = 5;
+ uint8_t trits[hw_id_pins_size];
+ uint8_t id = 1u; //Start at 1
+ for (uint8_t i=0; i.
+ */
+
+#include "hw.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "utils.h"
+#include "drv8323s.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 BMI160
+ palSetPadMode(GPIOA, 15,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ palSetPad(GPIOA, 15);
+
+ // 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);
+
+ // 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);
+ palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
+
+ drv8323s_init();
+}
+
+
+
+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/hw_uxv_sr.h b/hwconf/hw_uxv_sr.h
new file mode 100644
index 00000000..907c2214
--- /dev/null
+++ b/hwconf/hw_uxv_sr.h
@@ -0,0 +1,251 @@
+/*
+ Copyright 2019 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_UXV_SR_H_
+#define HW_UXV_SR_H_
+
+#define HW_NAME "UXV_SR"
+
+// HW properties
+#define HW_HAS_DRV8323S
+#define HW_HAS_3_SHUNTS
+#define HW_HAS_PHASE_SHUNTS
+
+// 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 ADC_EXT3
+ * 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
+
+// ADC macros and settings
+
+// Component parameters (can be overridden)
+#ifndef V_REG
+#define V_REG 3.3
+#endif
+#ifndef VIN_R1
+#define VIN_R1 39000.0
+#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 0.0002
+#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
+
+// 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
+
+// Pins for ID detection
+//List of three state (trinary digit) pins used for hardware identification
+//States are: NC/Floating = 0 GND = 1, VCC = 2, in order P_LSB, ..., P_MSB
+#define HW_DEFAULT_ID (APPCONF_CONTROLLER_ID >= 0 ? APPCONF_CONTROLLER_ID : hw_id_from_pins())
+#define HW_ID_PIN_GPIOS GPIOC, GPIOC
+#define HW_ID_PIN_PINS 14, 15
+
+//APP settings
+#define APPCONF_UAVCAN_ESC_INDEX (HW_DEFAULT_ID - 1)
+#define APPCONF_APP_TO_USE APP_PPM
+
+// 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_CURRENT_MAX
+#define MCCONF_L_CURRENT_MAX 120.0 // Current limit in Amperes (Upper)
+#endif
+#ifndef MCCONF_L_CURRENT_MIN
+#define MCCONF_L_CURRENT_MIN -60.0 // Current limit in Amperes (Lower)
+#endif
+#ifndef MCCONF_L_IN_CURRENT_MAX
+#define MCCONF_L_IN_CURRENT_MAX 120.0 // 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 180.0 // The maximum absolute current above which a fault is generated
+#endif
+
+#ifndef MCCONF_DEFAULT_MOTOR_TYPE
+#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
+#endif
+#ifndef MCCONF_FOC_F_SW
+#define MCCONF_FOC_F_SW 30000.0
+#endif
+
+// Setting limits
+#define HW_LIM_CURRENT -60.0, 120.0
+#define HW_LIM_CURRENT_IN -60.0, 120.0
+#define HW_LIM_CURRENT_ABS 0.0, 180.0
+#define HW_LIM_VIN 6.0, 57.0
+#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_UXV_SR_H_ */
diff --git a/ledpwm.h b/ledpwm.h
index 01c8faa9..a1eeedf1 100644
--- a/ledpwm.h
+++ b/ledpwm.h
@@ -20,7 +20,7 @@
#ifndef LEDPWM_H_
#define LEDPWM_H_
-#include "hw.h"
+#include "conf_general.h"
#ifdef LED_PWM4_ON
#define HW_LEDPWM_CH 4
diff --git a/mcuconf.h b/mcuconf.h
index 86cb3f91..f7a9cb12 100644
--- a/mcuconf.h
+++ b/mcuconf.h
@@ -17,6 +17,7 @@
#ifndef _MCUCONF_H_
#define _MCUCONF_H_
+#include "conf_general.h"
#include "hw.h"
/*
diff --git a/nrf/spi_sw.h b/nrf/spi_sw.h
index 4215b4f6..722a6684 100644
--- a/nrf/spi_sw.h
+++ b/nrf/spi_sw.h
@@ -19,7 +19,7 @@
#ifndef SPI_SW_H_
#define SPI_SW_H_
-#include "hw.h"
+#include "conf_general.h"
#include "ch.h"
#include "hal.h"
diff --git a/servo_simple.c b/servo_simple.c
index 35f9f6e4..0c4c0436 100644
--- a/servo_simple.c
+++ b/servo_simple.c
@@ -20,7 +20,6 @@
#include "servo_simple.h"
#include "ch.h"
#include "hal.h"
-#include "hw.h"
#include "conf_general.h"
#include "stm32f4xx_conf.h"
#include "utils.h"