From 984b8464019c73ff78e2982c264bd2be7bdc5931 Mon Sep 17 00:00:00 2001 From: Benjamin Vedder Date: Sun, 4 Oct 2015 01:43:26 +0200 Subject: [PATCH] FW 1.14: configuration loss fix, HW49 support, mcpwm interfaces for apps --- conf_general.h | 6 +- eeprom.c | 40 ++++++-- flash_helper.c | 13 +++ flash_helper.h | 1 + hwconf/hw.h | 2 + hwconf/hw_48.h | 10 +- hwconf/hw_49.c | 245 +++++++++++++++++++++++++++++++++++++++++++++++ hwconf/hw_49.h | 182 +++++++++++++++++++++++++++++++++++ hwconf/hwconf.mk | 1 + main.c | 5 +- mcpwm.c | 43 +++++++++ mcpwm.h | 2 + 12 files changed, 533 insertions(+), 17 deletions(-) create mode 100644 hwconf/hw_49.c create mode 100644 hwconf/hw_49.h diff --git a/conf_general.h b/conf_general.h index df7fd4d4..dcc5cc4f 100644 --- a/conf_general.h +++ b/conf_general.h @@ -27,7 +27,7 @@ // Firmware version #define FW_VERSION_MAJOR 1 -#define FW_VERSION_MINOR 13 +#define FW_VERSION_MINOR 14 #include "datatypes.h" @@ -50,11 +50,13 @@ * Select only one hardware version */ #if !defined(HW_VERSION_40) && !defined(HW_VERSION_45) && !defined(HW_VERSION_46) && \ - !defined(HW_VERSION_48) && !defined(HW_VERSION_R2) && !defined(HW_VERSION_VICTOR_R1A) + !defined(HW_VERSION_48) && !defined(HW_VERSION_49) && !defined(HW_VERSION_R2) && \ + !defined(HW_VERSION_VICTOR_R1A) //#define HW_VERSION_40 //#define HW_VERSION_45 //#define HW_VERSION_46 // Also for 4.7 #define HW_VERSION_48 +//#define HW_VERSION_49 //#define HW_VERSION_R2 //#define HW_VERSION_VICTOR_R1A #endif diff --git a/eeprom.c b/eeprom.c index 9c4b0557..6b1a8ce4 100644 --- a/eeprom.c +++ b/eeprom.c @@ -25,6 +25,7 @@ /* Includes ------------------------------------------------------------------*/ #include "eeprom.h" +#include "flash_helper.h" /* Private typedef -----------------------------------------------------------*/ /* Private define ------------------------------------------------------------*/ @@ -43,6 +44,7 @@ static FLASH_Status EE_Format(void); static uint16_t EE_FindValidPage(uint8_t Operation); static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data); static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data); +static uint16_t EE_EraseSectorIfNotEmpty(uint32_t FLASH_Sector, uint8_t VoltageRange); /** * @brief Restore the pages to a known good state in case of page's status @@ -71,7 +73,7 @@ uint16_t EE_Init(void) if (PageStatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */ { /* Erase Page0 */ - FlashStatus = FLASH_EraseSector(PAGE0_ID,VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID,VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -81,7 +83,7 @@ uint16_t EE_Init(void) else if (PageStatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */ { /* Erase Page0 */ - FlashStatus = FLASH_EraseSector(PAGE0_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -142,7 +144,7 @@ uint16_t EE_Init(void) return FlashStatus; } /* Erase Page1 */ - FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -152,7 +154,7 @@ uint16_t EE_Init(void) else if (PageStatus1 == ERASED) /* Page0 receive, Page1 erased */ { /* Erase Page1 */ - FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -192,7 +194,7 @@ uint16_t EE_Init(void) else if (PageStatus1 == ERASED) /* Page0 valid, Page1 erased */ { /* Erase Page1 */ - FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -233,7 +235,7 @@ uint16_t EE_Init(void) return FlashStatus; } /* Erase Page0 */ - FlashStatus = FLASH_EraseSector(PAGE0_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -354,7 +356,7 @@ static FLASH_Status EE_Format(void) FLASH_Status FlashStatus = FLASH_COMPLETE; /* Erase Page0 */ - FlashStatus = FLASH_EraseSector(PAGE0_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE0_ID, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) @@ -372,7 +374,7 @@ static FLASH_Status EE_Format(void) } /* Erase Page1 */ - FlashStatus = FLASH_EraseSector(PAGE1_ID, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(PAGE1_ID, VOLTAGE_RANGE); /* Return Page1 erase operation status */ return FlashStatus; @@ -590,7 +592,7 @@ static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data) } /* Erase the old Page: Set old Page status to ERASED status */ - FlashStatus = FLASH_EraseSector(OldPageId, VOLTAGE_RANGE); + FlashStatus = EE_EraseSectorIfNotEmpty(OldPageId, VOLTAGE_RANGE); /* If erase operation was failed, a Flash error code is returned */ if (FlashStatus != FLASH_COMPLETE) { @@ -609,6 +611,26 @@ static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data) return FlashStatus; } +#include "hw.h" +#include "ch.h" +#include "hal.h" + +/* + * Erase flash page if it is not already erased. This is to save write cycles and + * prevent the memory from getting erased in case of unstable voltage at boot. + */ +static uint16_t EE_EraseSectorIfNotEmpty(uint32_t FLASH_Sector, uint8_t VoltageRange) { + uint8_t *addr = flash_helper_get_sector_address(FLASH_Sector); + + for (unsigned int i = 0;i < PAGE_SIZE;i++) { + if (addr[i] != 0xFF) { + return FLASH_EraseSector(FLASH_Sector, VoltageRange); + } + } + + return FLASH_COMPLETE; +} + /** * @} */ diff --git a/flash_helper.c b/flash_helper.c index 1859d223..9feb9f6a 100644 --- a/flash_helper.c +++ b/flash_helper.c @@ -181,3 +181,16 @@ void flash_helper_jump_to_bootloader(void) { // Jump to the bootloader jump_to_bootloader(); } + +uint8_t* flash_helper_get_sector_address(uint32_t fsector) { + uint8_t *res = 0; + + for (int i = 0;i < FLASH_SECTORS;i++) { + if (flash_sector[i] == fsector) { + res = (uint8_t *)flash_addr[i]; + break; + } + } + + return res; +} diff --git a/flash_helper.h b/flash_helper.h index 9be957d5..e481d2aa 100644 --- a/flash_helper.h +++ b/flash_helper.h @@ -31,5 +31,6 @@ uint16_t flash_helper_erase_new_app(uint32_t new_app_size); uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len); void flash_helper_jump_to_bootloader(void); +uint8_t* flash_helper_get_sector_address(uint32_t fsector); #endif /* FLASH_HELPER_H_ */ diff --git a/hwconf/hw.h b/hwconf/hw.h index d97974f6..110d373d 100644 --- a/hwconf/hw.h +++ b/hwconf/hw.h @@ -35,6 +35,8 @@ #include "hw_46.h" #elif defined HW_VERSION_48 #include "hw_48.h" +#elif defined HW_VERSION_49 +#include "hw_49.h" #elif defined HW_VERSION_R2 #include "hw_r2.h" #elif defined HW_VERSION_BW diff --git a/hwconf/hw_48.h b/hwconf/hw_48.h index 79382b85..f1e44ca5 100644 --- a/hwconf/hw_48.h +++ b/hwconf/hw_48.h @@ -150,13 +150,13 @@ // NRF pins #define NRF_PORT_CSN GPIOB -#define NRF_PIN_CSN 1 +#define NRF_PIN_CSN 11 #define NRF_PORT_SCK GPIOC #define NRF_PIN_SCK 5 -#define NRF_PORT_MOSI HW_I2C_SDA_PORT -#define NRF_PIN_MOSI HW_I2C_SDA_PIN -#define NRF_PORT_MISO HW_I2C_SCL_PORT -#define NRF_PIN_MISO HW_I2C_SCL_PIN +#define NRF_PORT_MOSI GPIOB +#define NRF_PIN_MOSI 10 +#define NRF_PORT_MISO GPIOB +#define NRF_PIN_MISO 1 // Measurement macros #define ADC_V_L1 ADC_Value[ADC_IND_SENS1] diff --git a/hwconf/hw_49.c b/hwconf/hw_49.c new file mode 100644 index 00000000..704b14c3 --- /dev/null +++ b/hwconf/hw_49.c @@ -0,0 +1,245 @@ +/* + 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 . + */ + +#include "hw.h" +#ifdef HW_VERSION_49 + +#include "ch.h" +#include "hal.h" +#include "stm32f4xx_conf.h" +#include "servo.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); + + // LEDs + palSetPadMode(GPIOC, 4, + PAL_MODE_OUTPUT_PUSHPULL | + PAL_STM32_OSPEED_HIGHEST); + palSetPadMode(GPIOC, 5, + PAL_MODE_OUTPUT_PUSHPULL | + PAL_STM32_OSPEED_HIGHEST); + + // GPIOC (ENABLE_GATE) + palSetPadMode(GPIOC, 10, + PAL_MODE_OUTPUT_PUSHPULL | + PAL_STM32_OSPEED_HIGHEST); + DISABLE_GATE(); + + // GPIOB (DCCAL) + palSetPadMode(GPIOB, 12, + PAL_MODE_OUTPUT_PUSHPULL | + PAL_STM32_OSPEED_HIGHEST); + + // 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(GPIOC, 12, 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, 4, PAL_MODE_INPUT_ANALOG); + palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG); + palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG); + + palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG); + palSetPadMode(GPIOB, 1, 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, 5, PAL_MODE_INPUT_ANALOG); +} + +void hw_setup_adc_channels(void) { + // ADC1 regular channels + ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 3, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 4, ADC_SampleTime_15Cycles); + + // ADC2 regular channels + ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles); + + // ADC3 regular channels + ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 2, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles); + ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 4, ADC_SampleTime_15Cycles); + + // Injected channels + ADC_InjectedChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles); + ADC_InjectedChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles); + ADC_InjectedChannelConfig(ADC2, ADC_Channel_8, 1, ADC_SampleTime_15Cycles); + ADC_InjectedChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles); +} + +void hw_setup_servo_outputs(void) { + // Set up GPIO ports + RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); + + // Set up servo structures + servos[0].gpio = GPIOB; + servos[0].pin = 5; + servos[0].offset = 0; + servos[0].pos = 128; + + servos[1].gpio = GPIOB; + servos[1].pin = 4; + servos[1].offset = 0; + servos[1].pos = 0; +} + +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); + } +} + +#endif diff --git a/hwconf/hw_49.h b/hwconf/hw_49.h new file mode 100644 index 00000000..8a375185 --- /dev/null +++ b/hwconf/hw_49.h @@ -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 . + */ + +#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_ */ diff --git a/hwconf/hwconf.mk b/hwconf/hwconf.mk index 9e764dcd..ab61ccbe 100644 --- a/hwconf/hwconf.mk +++ b/hwconf/hwconf.mk @@ -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 diff --git a/main.c b/main.c index d844d758..88d6bd8d 100644 --- a/main.c +++ b/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; diff --git a/mcpwm.c b/mcpwm.c index 0c3ddc11..9338591b 100644 --- a/mcpwm.c +++ b/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 */ diff --git a/mcpwm.h b/mcpwm.h index a1e20f65..4d5871ab 100644 --- a/mcpwm.h +++ b/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);