mirror of https://github.com/rusefi/bldc.git
Merge pull request #602 from Teslafly/add_flipsky_75300_hwconf
Add hwconf for Flipsky 75300
This commit is contained in:
Benjamin Vedder
GitHub
commit
896cbb1571
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@ -3,6 +3,7 @@
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build
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tools
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downloads
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package/
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.dep
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.project
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@ -0,0 +1,246 @@
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/*
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Copyright 2018 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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||||
(at your option) any later version.
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||||
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "hw.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "utils_math.h"
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#include <math.h>
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#include "mc_interface.h"
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// Variables
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static volatile bool i2c_running = false;
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// I2C configuration
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static const I2CConfig i2cfg = {
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OPMODE_I2C,
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100000,
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STD_DUTY_CYCLE
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};
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void hw_init_gpio(void) {
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// GPIO clock enable
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
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// LEDs
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palSetPadMode(LED_GREEN_GPIO, LED_GREEN_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(LED_RED_GPIO, LED_RED_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
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palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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// Hall sensors
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palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
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// Phase filters
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palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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PHASE_FILTER_OFF();
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// Current filter
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palSetPadMode(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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CURRENT_FILTER_OFF();
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// AUX pin
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// AUX_OFF();
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// palSetPadMode(AUX_GPIO, AUX_PIN,
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// PAL_MODE_OUTPUT_PUSHPULL |
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// PAL_STM32_OSPEED_HIGHEST);
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// ADC Pins
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palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 7, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
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}
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void hw_setup_adc_channels(void) {
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// ADC1 regular channels
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ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles); // 0 - ADC_IND_CURR1
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ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 2, ADC_SampleTime_15Cycles); // 3 - ADC_IND_SENS1
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ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles); // 6 - ADC_IND_EXT
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ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles); // 9 - ADC_IND_TEMP_MOTOR
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ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles); // 12 - ADC_IND_VREFINT
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ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles); // 15 - ADC_IND_TEMP_MOS2 (UNUSED)
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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles); // 1 - ADC_IND_CURR2
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 2, ADC_SampleTime_15Cycles); // 4 - ADC_IND_SENS2
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ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); // 7 - ADC_IND_EXT2
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ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles); // 10 - ADC_IND_EXT3
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ADC_RegularChannelConfig(ADC2, ADC_Channel_4, 5, ADC_SampleTime_15Cycles); // 13 - ADC_IND_EXT4
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ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles); // 16 - ADC_IND_TEMP_MOS3 (UNUSED)
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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles); // 2 - ADC_IND_CURR3
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 2, ADC_SampleTime_15Cycles); // 5 - ADC_IND_SENS3
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ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles); // 8 - ADC_IND_TEMP_MOS1
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ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles); // 11 - ADC_IND_VIN_SENS
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ADC_RegularChannelConfig(ADC3, ADC_Channel_7, 5, ADC_SampleTime_15Cycles); // 14 - ADC_IND_EXT5
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles); // 17 - UNUSED -- placeholder
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// Injected channels
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
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}
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void hw_start_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (!i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2c_running = true;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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void hw_stop_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
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i2cStop(&HW_I2C_DEV);
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i2c_running = false;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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/**
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* Try to restore the i2c bus
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*/
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void hw_try_restore_i2c(void) {
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if (i2c_running) {
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i2cAcquireBus(&HW_I2C_DEV);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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for(int i = 0;i < 16;i++) {
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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}
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// Generate start then stop condition
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palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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HW_I2C_DEV.state = I2C_STOP;
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2cReleaseBus(&HW_I2C_DEV);
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}
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}
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@ -0,0 +1,279 @@
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/*
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Copyright 2018 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
|
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it under the terms of the GNU General Public License as published by
|
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the Free Software Foundation, either version 3 of the License, or
|
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(at your option) any later version.
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|
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The VESC firmware is distributed in the hope that it will be useful,
|
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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.
|
||||
|
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You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
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*/
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#ifndef HW_FSESC_75_300_H_
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#define HW_FSESC_75_300_H_
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#define HW_NAME "FSESC75300"
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/* fsesc 75 300 differences from trampa 75/300
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- has 3x low side shunts
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- blindly uses a switchable filter for current sensors, which must be disabled with low side shunts.
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- uses 100v mosfets/caps. so so good to ~80v.
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- only has 1 mosfet temperature sensor
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- generally has a very poor current path so it definately isn't reaching 300a continuous.
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- no aux output
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*/
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// HW properties
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#define HW_HAS_3_SHUNTS
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#define HW_HAS_PHASE_FILTERS
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// The fsesc 75 300 has LOW SIDE SHUNTS. With filters that must be disabled.
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// #define HW_HAS_PHASE_SHUNTS
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// Macros
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#define LED_GREEN_GPIO GPIOB
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#define LED_GREEN_PIN 5
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#define LED_RED_GPIO GPIOB
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#define LED_RED_PIN 7
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#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
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#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
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#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
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#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
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#define PHASE_FILTER_GPIO GPIOC
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#define PHASE_FILTER_PIN 9
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#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
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#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
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// current filter MUST be disabled for low side mosfets.
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#define CURRENT_FILTER_GPIO GPIOD
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#define CURRENT_FILTER_PIN 2
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// #define CURRENT_FILTER_ON() palSetPad(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN)
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#define CURRENT_FILTER_OFF() palClearPad(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN)
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// no aux outputs
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// #define AUX_GPIO GPIOC
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// #define AUX_PIN 12
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// #define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
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// #define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
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/*
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* ADC Vector
|
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*
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* 0 (1): IN0 SENS1
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* 1 (2): IN1 SENS2
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* 2 (3): IN2 SENS3
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* 3 (1): IN10 CURR1
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* 4 (2): IN11 CURR2
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* 5 (3): IN12 CURR3
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* 6 (1): IN5 ADC_EXT1
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* 7 (2): IN6 ADC_EXT2
|
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* 8 (3): IN3 TEMP_MOS
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* 9 (1): IN14 TEMP_MOTOR
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* 10 (2): IN15 ADC_EXT3
|
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* 11 (3): IN13 AN_IN
|
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* 12 (1): Vrefint
|
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* 13 (2): IN0 SENS1
|
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* 14 (3): IN1 SENS2
|
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// * 15 (1): IN8 TEMP_MOS_2
|
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// * 16 (2): IN9 TEMP_MOS_3
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* 17 (3): IN3 SENS3
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*/
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#define HW_ADC_CHANNELS 18
|
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#define HW_ADC_INJ_CHANNELS 3
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#define HW_ADC_NBR_CONV 6
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// ADC Indexes
|
||||
#define ADC_IND_CURR1 0
|
||||
#define ADC_IND_CURR2 1
|
||||
#define ADC_IND_CURR3 2
|
||||
#define ADC_IND_SENS1 3
|
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#define ADC_IND_SENS2 4
|
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#define ADC_IND_SENS3 5
|
||||
#define ADC_IND_VIN_SENS 11
|
||||
#define ADC_IND_VREFINT 12
|
||||
|
||||
#define ADC_IND_TEMP_MOS 8
|
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// #define ADC_IND_TEMP_MOS_2 15
|
||||
// #define ADC_IND_TEMP_MOS_3 16
|
||||
#define ADC_IND_TEMP_MOTOR 9
|
||||
|
||||
#define ADC_IND_EXT 6
|
||||
#define ADC_IND_EXT2 7
|
||||
#define ADC_IND_EXT3 10
|
||||
#define ADC_IND_EXT4 13
|
||||
#define ADC_IND_EXT5 14
|
||||
|
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|
||||
// ADC macros and settings
|
||||
// Component parameters (can be overridden)
|
||||
#ifndef V_REG
|
||||
#define V_REG 3.413 // (jaykup) Updated from @1zuna's calculations.
|
||||
#endif
|
||||
#ifndef VIN_R1
|
||||
#define VIN_R1 56000.0
|
||||
#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 / 3.0)
|
||||
#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)
|
||||
|
||||
// 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
|
||||
#define HW_ADC_EXT3_GPIO GPIOC // adc15
|
||||
#define HW_ADC_EXT3_PIN 5
|
||||
// ext4/5 can be repurposed for sin/cos encoder.
|
||||
#define HW_ADC_EXT4_GPIO GPIOA // rx, adc4
|
||||
#define HW_ADC_EXT4_PIN 4
|
||||
#define HW_ADC_EXT5_GPIO GPIOA // tx, adc7
|
||||
#define HW_ADC_EXT5_PIN 7
|
||||
|
||||
// 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
|
||||
|
||||
// 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)
|
||||
|
||||
// Override dead time. See the stm32f4 reference manual for calculating this value.
|
||||
#define HW_DEAD_TIME_NSEC 1000.0
|
||||
|
||||
// Default setting overrides
|
||||
#ifndef MCCONF_L_MIN_VOLTAGE
|
||||
#define MCCONF_L_MIN_VOLTAGE 15.0 // Minimum input voltage
|
||||
#endif
|
||||
#ifndef MCCONF_L_MAX_VOLTAGE
|
||||
#define MCCONF_L_MAX_VOLTAGE 84.0 // Maximum input voltage
|
||||
#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 30000.0
|
||||
#endif
|
||||
#ifndef MCCONF_L_MAX_ABS_CURRENT
|
||||
#define MCCONF_L_MAX_ABS_CURRENT 400.0 // The maximum absolute current above which a fault is generated
|
||||
#endif
|
||||
#ifndef MCCONF_FOC_SAMPLE_V0_V7
|
||||
#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
|
||||
#endif
|
||||
#ifndef MCCONF_L_IN_CURRENT_MAX
|
||||
#define MCCONF_L_IN_CURRENT_MAX 250.0 // Input current limit in Amperes (Upper)
|
||||
#endif
|
||||
#ifndef MCCONF_L_IN_CURRENT_MIN
|
||||
#define MCCONF_L_IN_CURRENT_MIN -100.0 // Input current limit in Amperes (Lower)
|
||||
#endif
|
||||
|
||||
// Setting limits
|
||||
#define HW_LIM_CURRENT -400.0, 400.0
|
||||
#define HW_LIM_CURRENT_IN -400.0, 400.0
|
||||
#define HW_LIM_CURRENT_ABS 0.0, 480.0
|
||||
#define HW_LIM_VIN 11.0, 90.0
|
||||
#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_FSESC_75_300_H_ */
|
||||
|
|
@ -134,6 +134,7 @@ package_dict["75_100"] = [['75_100', default_name],
|
|||
package_dict["75_100_V2"] = [['75_100_V2', default_name],
|
||||
['75_100_V2_no_limits', no_limits_name],
|
||||
['75_100_V2_0005ohm', 'VESC_0005ohm.bin']]
|
||||
package_dict["FSESC75300"] = [['fsesc_75_300', default_name]]
|
||||
package_dict["GO_FOC_DV6_PRO"] = [['go_foc_dv6_pro', default_name],
|
||||
['go_foc_dv6_pro_no_limits', no_limits_name]]
|
||||
package_dict["GO_FOC_G300"] = [['go_foc_g300', default_name],
|
||||
|
|
|
|||
Loading…
Reference in New Issue