mirror of https://github.com/rusefi/bldc.git
FW 1.14: configuration loss fix, HW49 support, mcpwm interfaces for apps
This commit is contained in:
parent
6d641e5179
commit
984b846401
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@ -27,7 +27,7 @@
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// Firmware version
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#define FW_VERSION_MAJOR 1
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#define FW_VERSION_MINOR 13
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#define FW_VERSION_MINOR 14
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#include "datatypes.h"
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@ -50,11 +50,13 @@
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* Select only one hardware version
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*/
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#if !defined(HW_VERSION_40) && !defined(HW_VERSION_45) && !defined(HW_VERSION_46) && \
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!defined(HW_VERSION_48) && !defined(HW_VERSION_R2) && !defined(HW_VERSION_VICTOR_R1A)
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!defined(HW_VERSION_48) && !defined(HW_VERSION_49) && !defined(HW_VERSION_R2) && \
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!defined(HW_VERSION_VICTOR_R1A)
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//#define HW_VERSION_40
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//#define HW_VERSION_45
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//#define HW_VERSION_46 // Also for 4.7
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#define HW_VERSION_48
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//#define HW_VERSION_49
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//#define HW_VERSION_R2
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//#define HW_VERSION_VICTOR_R1A
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#endif
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40
eeprom.c
40
eeprom.c
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@ -25,6 +25,7 @@
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/* Includes ------------------------------------------------------------------*/
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#include "eeprom.h"
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#include "flash_helper.h"
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/* Private typedef -----------------------------------------------------------*/
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/* Private define ------------------------------------------------------------*/
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@ -43,6 +44,7 @@ static FLASH_Status EE_Format(void);
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static uint16_t EE_FindValidPage(uint8_t Operation);
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static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
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static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
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static uint16_t EE_EraseSectorIfNotEmpty(uint32_t FLASH_Sector, uint8_t VoltageRange);
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/**
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* @brief Restore the pages to a known good state in case of page's status
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@ -71,7 +73,7 @@ uint16_t EE_Init(void)
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if (PageStatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
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{
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/* Erase Page0 */
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FlashStatus = FLASH_EraseSector(PAGE0_ID,VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID,VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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@ -81,7 +83,7 @@ uint16_t EE_Init(void)
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else if (PageStatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
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{
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/* Erase Page0 */
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FlashStatus = FLASH_EraseSector(PAGE0_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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@ -142,7 +144,7 @@ uint16_t EE_Init(void)
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return FlashStatus;
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}
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/* Erase Page1 */
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FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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@ -152,7 +154,7 @@ uint16_t EE_Init(void)
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else if (PageStatus1 == ERASED) /* Page0 receive, Page1 erased */
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{
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/* Erase Page1 */
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FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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@ -192,7 +194,7 @@ uint16_t EE_Init(void)
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else if (PageStatus1 == ERASED) /* Page0 valid, Page1 erased */
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{
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/* Erase Page1 */
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FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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@ -233,7 +235,7 @@ uint16_t EE_Init(void)
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return FlashStatus;
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}
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/* Erase Page0 */
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FlashStatus = FLASH_EraseSector(PAGE0_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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@ -354,7 +356,7 @@ static FLASH_Status EE_Format(void)
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FLASH_Status FlashStatus = FLASH_COMPLETE;
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/* Erase Page0 */
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FlashStatus = FLASH_EraseSector(PAGE0_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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}
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/* Erase Page1 */
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FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE);
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/* Return Page1 erase operation status */
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return FlashStatus;
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}
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/* Erase the old Page: Set old Page status to ERASED status */
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FlashStatus = FLASH_EraseSector(OldPageId, VOLTAGE_RANGE);
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FlashStatus = EE_EraseSectorIfNotEmpty(OldPageId, VOLTAGE_RANGE);
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/* If erase operation was failed, a Flash error code is returned */
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if (FlashStatus != FLASH_COMPLETE)
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{
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return FlashStatus;
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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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/*
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* Erase flash page if it is not already erased. This is to save write cycles and
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* prevent the memory from getting erased in case of unstable voltage at boot.
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*/
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static uint16_t EE_EraseSectorIfNotEmpty(uint32_t FLASH_Sector, uint8_t VoltageRange) {
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uint8_t *addr = flash_helper_get_sector_address(FLASH_Sector);
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for (unsigned int i = 0;i < PAGE_SIZE;i++) {
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if (addr[i] != 0xFF) {
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return FLASH_EraseSector(FLASH_Sector, VoltageRange);
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}
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}
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return FLASH_COMPLETE;
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}
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/**
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* @}
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*/
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@ -181,3 +181,16 @@ void flash_helper_jump_to_bootloader(void) {
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// Jump to the bootloader
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jump_to_bootloader();
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}
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uint8_t* flash_helper_get_sector_address(uint32_t fsector) {
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uint8_t *res = 0;
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for (int i = 0;i < FLASH_SECTORS;i++) {
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if (flash_sector[i] == fsector) {
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res = (uint8_t *)flash_addr[i];
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break;
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}
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}
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return res;
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}
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@ -31,5 +31,6 @@
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uint16_t flash_helper_erase_new_app(uint32_t new_app_size);
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uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len);
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void flash_helper_jump_to_bootloader(void);
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uint8_t* flash_helper_get_sector_address(uint32_t fsector);
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#endif /* FLASH_HELPER_H_ */
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#include "hw_46.h"
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#elif defined HW_VERSION_48
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#include "hw_48.h"
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#elif defined HW_VERSION_49
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#include "hw_49.h"
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#elif defined HW_VERSION_R2
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#include "hw_r2.h"
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#elif defined HW_VERSION_BW
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// NRF pins
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#define NRF_PORT_CSN GPIOB
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#define NRF_PIN_CSN 1
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#define NRF_PIN_CSN 11
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#define NRF_PORT_SCK GPIOC
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#define NRF_PIN_SCK 5
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#define NRF_PORT_MOSI HW_I2C_SDA_PORT
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#define NRF_PIN_MOSI HW_I2C_SDA_PIN
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#define NRF_PORT_MISO HW_I2C_SCL_PORT
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#define NRF_PIN_MISO HW_I2C_SCL_PIN
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#define NRF_PORT_MOSI GPIOB
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#define NRF_PIN_MOSI 10
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#define NRF_PORT_MISO GPIOB
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#define NRF_PIN_MISO 1
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// Measurement macros
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#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
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@ -0,0 +1,245 @@
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/*
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Copyright 2015 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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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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#ifdef HW_VERSION_49
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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 "servo.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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// LEDs
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palSetPadMode(GPIOC, 4,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOC, 5,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// GPIOC (ENABLE_GATE)
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palSetPadMode(GPIOC, 10,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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DISABLE_GATE();
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// GPIOB (DCCAL)
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palSetPadMode(GPIOB, 12,
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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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// Fault pin
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palSetPadMode(GPIOC, 12, PAL_MODE_INPUT_PULLUP);
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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(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, 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_0, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 4, ADC_SampleTime_15Cycles);
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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 2, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
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ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 4, ADC_SampleTime_15Cycles);
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// Injected channels
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_8, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);
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}
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void hw_setup_servo_outputs(void) {
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// Set up GPIO ports
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
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// Set up servo structures
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servos[0].gpio = GPIOB;
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servos[0].pin = 5;
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servos[0].offset = 0;
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servos[0].pos = 128;
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servos[1].gpio = GPIOB;
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servos[1].pin = 4;
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servos[1].offset = 0;
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servos[1].pos = 0;
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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 |
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
|
@ -0,0 +1,182 @@
|
|||
/*
|
||||
Copyright 2015 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 <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifndef HW_49_H_
|
||||
#define HW_49_H_
|
||||
|
||||
// Macros
|
||||
#define ENABLE_GATE() palSetPad(GPIOC, 10)
|
||||
#define DISABLE_GATE() palClearPad(GPIOC, 10)
|
||||
#define DCCAL_ON() palSetPad(GPIOB, 12)
|
||||
#define DCCAL_OFF() palClearPad(GPIOB, 12)
|
||||
#define IS_DRV_FAULT() (!palReadPad(GPIOC, 12))
|
||||
|
||||
#define LED_GREEN_ON() palSetPad(GPIOC, 4)
|
||||
#define LED_GREEN_OFF() palClearPad(GPIOC, 4)
|
||||
#define LED_RED_ON() palSetPad(GPIOC, 5)
|
||||
#define LED_RED_OFF() palClearPad(GPIOC, 5)
|
||||
|
||||
/*
|
||||
* ADC Vector
|
||||
*
|
||||
* 0: IN0 SENS3
|
||||
* 1: IN1 SENS2
|
||||
* 2: IN2 SENS1
|
||||
* 3: IN5 CURR2
|
||||
* 4: IN6 CURR1
|
||||
* 5: IN3 NC
|
||||
* 6: Vrefint
|
||||
* 7: IN9 ADC_EXT2
|
||||
* 8: IN12 AN_IN
|
||||
* 9: IN4 TEMP_MOSFET
|
||||
* 10: IN15 ADC_EXT
|
||||
* 11: IN10 TEMP_MOTOR
|
||||
*/
|
||||
|
||||
#define HW_ADC_CHANNELS 12
|
||||
#define HW_ADC_NBR_CONV 4
|
||||
|
||||
// ADC Indexes
|
||||
#define ADC_IND_SENS1 2
|
||||
#define ADC_IND_SENS2 1
|
||||
#define ADC_IND_SENS3 0
|
||||
#define ADC_IND_CURR1 4
|
||||
#define ADC_IND_CURR2 3
|
||||
#define ADC_IND_VIN_SENS 8
|
||||
#define ADC_IND_EXT 10
|
||||
#define ADC_IND_EXT2 7
|
||||
#define ADC_IND_TEMP_MOS1 9
|
||||
#define ADC_IND_TEMP_MOS2 9
|
||||
#define ADC_IND_TEMP_MOS3 9
|
||||
#define ADC_IND_TEMP_MOS4 9
|
||||
#define ADC_IND_TEMP_MOS5 9
|
||||
#define ADC_IND_TEMP_MOS6 9
|
||||
#define ADC_IND_TEMP_PCB 9
|
||||
#define ADC_IND_VREFINT 6
|
||||
|
||||
// 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 10.0
|
||||
#endif
|
||||
#ifndef CURRENT_SHUNT_RES
|
||||
#define CURRENT_SHUNT_RES 0.001
|
||||
#endif
|
||||
|
||||
// Input voltage
|
||||
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
|
||||
|
||||
// Voltage on ADC channel
|
||||
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
|
||||
|
||||
// NTC Termistors
|
||||
//#define NTC_RES(adc_val) (10000.0 / ((4096.0 / (float)adc_val) - 1.0))
|
||||
#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) / 3434.0) + (1.0 / 298.15)) - 273.15)
|
||||
|
||||
// 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
|
||||
|
||||
// Number of servo outputs
|
||||
#define HW_SERVO_NUM 2
|
||||
|
||||
// UART Peripheral
|
||||
#define HW_UART_DEV UARTD6
|
||||
#define HW_UART_GPIO_AF GPIO_AF_USART6
|
||||
#define HW_UART_TX_PORT GPIOC
|
||||
#define HW_UART_TX_PIN 6
|
||||
#define HW_UART_RX_PORT GPIOC
|
||||
#define HW_UART_RX_PIN 7
|
||||
|
||||
// ICU Peripheral for servo decoding
|
||||
#define HW_ICU_CHANNEL ICU_CHANNEL_2
|
||||
#define HW_ICU_GPIO_AF GPIO_AF_TIM3
|
||||
#define HW_ICU_GPIO GPIOB
|
||||
#define HW_ICU_PIN 5
|
||||
|
||||
// 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 GPIOB
|
||||
#define HW_HALL_ENC_PIN1 6
|
||||
#define HW_HALL_ENC_GPIO2 GPIOB
|
||||
#define HW_HALL_ENC_PIN2 7
|
||||
#define HW_HALL_ENC_GPIO3 GPIOC
|
||||
#define HW_HALL_ENC_PIN3 11
|
||||
#define HW_ENC_TIM TIM4
|
||||
#define HW_ENC_TIM_AF GPIO_AF_TIM4
|
||||
#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
|
||||
#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
|
||||
#define HW_ENC_EXTI_PINSRC EXTI_PinSource11
|
||||
#define HW_ENC_EXTI_CH EXTI15_10_IRQn
|
||||
#define HW_ENC_EXTI_LINE EXTI_Line11
|
||||
#define HW_ENC_EXTI_ISR_VEC EXTI15_10_IRQHandler
|
||||
|
||||
// NRF pins
|
||||
#define NRF_PORT_CSN GPIOB
|
||||
#define NRF_PIN_CSN 11
|
||||
#define NRF_PORT_SCK GPIOA
|
||||
#define NRF_PIN_SCK 5
|
||||
#define NRF_PORT_MOSI GPIOA
|
||||
#define NRF_PIN_MOSI 7
|
||||
#define NRF_PORT_MISO GPIOA
|
||||
#define NRF_PIN_MISO 6
|
||||
|
||||
// SPI pins
|
||||
#define HW_SPI_PORT_CSN GPIOB
|
||||
#define HW_SPI_PIN_CSN 11
|
||||
#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)
|
||||
|
||||
#endif /* HW_49_H_ */
|
|
@ -3,6 +3,7 @@ HWSRC = hwconf/hw_40.c \
|
|||
hwconf/hw_r2.c \
|
||||
hwconf/hw_46.c \
|
||||
hwconf/hw_48.c \
|
||||
hwconf/hw_49.c \
|
||||
hwconf/hw_victor_r1a.c
|
||||
|
||||
HWINC = hwconf
|
||||
|
|
5
main.c
5
main.c
|
@ -293,8 +293,11 @@ int main(void) {
|
|||
|
||||
chThdSleepMilliseconds(1000);
|
||||
|
||||
conf_general_init();
|
||||
hw_init_gpio();
|
||||
LED_RED_OFF();
|
||||
LED_GREEN_OFF();
|
||||
|
||||
conf_general_init();
|
||||
ledpwm_init();
|
||||
|
||||
mc_configuration mcconf;
|
||||
|
|
43
mcpwm.c
43
mcpwm.c
|
@ -103,6 +103,9 @@ static volatile bool lock_override_once;
|
|||
static volatile bool sensorless_now;
|
||||
static volatile int hall_detect_table[8][7];
|
||||
|
||||
// Function pointers
|
||||
static void(*pwn_done_func)(void) = 0;
|
||||
|
||||
// KV FIR filter
|
||||
#define KV_FIR_TAPS_BITS 7
|
||||
#define KV_FIR_LEN (1 << KV_FIR_TAPS_BITS)
|
||||
|
@ -607,6 +610,32 @@ void mcpwm_set_duty(float dutyCycle) {
|
|||
set_duty_cycle_hl(dutyCycle);
|
||||
}
|
||||
|
||||
/**
|
||||
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
|
||||
* stop the motor.
|
||||
*
|
||||
* WARNING: This function does not use ramping. A too large step with a large motor
|
||||
* can destroy hardware.
|
||||
*
|
||||
* @param dutyCycle
|
||||
* The duty cycle to use.
|
||||
*/
|
||||
void mcpwm_set_duty_noramp(float dutyCycle) {
|
||||
if (try_input()) {
|
||||
return;
|
||||
}
|
||||
|
||||
control_mode = CONTROL_MODE_DUTY;
|
||||
|
||||
if (state != MC_STATE_RUNNING) {
|
||||
set_duty_cycle_hl(dutyCycle);
|
||||
} else {
|
||||
dutycycle_set = dutyCycle;
|
||||
dutycycle_now = dutyCycle;
|
||||
set_duty_cycle_ll(dutyCycle);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Use PID rpm control. Note that this value has to be multiplied by half of
|
||||
* the number of motor poles.
|
||||
|
@ -2226,6 +2255,10 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
|
|||
|
||||
main_dma_adc_handler();
|
||||
|
||||
if (pwn_done_func) {
|
||||
pwn_done_func();
|
||||
}
|
||||
|
||||
if (ENCODER_ENABLE) {
|
||||
run_pid_control_pos(1.0 / switching_frequency_now);
|
||||
}
|
||||
|
@ -2364,6 +2397,16 @@ mc_rpm_dep_struct mcpwm_get_rpm_dep(void) {
|
|||
return rpm_dep;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set a function that should be called after each PWM cycle.
|
||||
*
|
||||
* @param p_func
|
||||
* The function to be called. 0 will not call any function.
|
||||
*/
|
||||
void mcpwm_set_pwm_callback(void (*p_func)(void)) {
|
||||
pwn_done_func = p_func;
|
||||
}
|
||||
|
||||
/**
|
||||
* Reset the hall sensor detection table
|
||||
*/
|
||||
|
|
2
mcpwm.h
2
mcpwm.h
|
@ -35,6 +35,7 @@ const volatile mc_configuration* mcpwm_get_configuration(void);
|
|||
void mcpwm_set_configuration(mc_configuration *configuration);
|
||||
void mcpwm_init_hall_table(int8_t *table);
|
||||
void mcpwm_set_duty(float dutyCycle);
|
||||
void mcpwm_set_duty_noramp(float dutyCycle);
|
||||
void mcpwm_set_pid_speed(float rpm);
|
||||
void mcpwm_set_pid_pos(float pos);
|
||||
void mcpwm_set_current(float current);
|
||||
|
@ -81,6 +82,7 @@ mc_comm_mode mcpwm_get_comm_mode(void);
|
|||
float mcpwm_get_last_adc_isr_duration(void);
|
||||
float mcpwm_get_last_inj_adc_isr_duration(void);
|
||||
mc_rpm_dep_struct mcpwm_get_rpm_dep(void);
|
||||
void mcpwm_set_pwm_callback(void (*p_func)(void));
|
||||
|
||||
// Interrupt handlers
|
||||
void mcpwm_adc_inj_int_handler(void);
|
||||
|
|
Loading…
Reference in New Issue