FW 1.14: configuration loss fix, HW49 support, mcpwm interfaces for apps

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

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;
+}
+
 /**
  * @}
  */

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;
+}

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_ */

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

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_PORT_MOSI	GPIOB
-#define NRF_PIN_MOSI	HW_I2C_SDA_PIN
+#define NRF_PIN_MOSI	10
-#define NRF_PORT_MISO	HW_I2C_SCL_PORT
+#define NRF_PORT_MISO	GPIOB
-#define NRF_PIN_MISO	HW_I2C_SCL_PIN
+#define NRF_PIN_MISO	1
 
 // Measurement macros
 #define ADC_V_L1					ADC_Value[ADC_IND_SENS1]

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 <http://www.gnu.org/licenses/>.
+ */
+
+#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

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 <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_ */

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

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;

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
  */

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);