mirror of https://github.com/rusefi/bldc.git
Merge pull request #750 from adilrepas/RSR-DDv2.1
update RSR_DD hw and adding RSR_DD v2.1
This commit is contained in:
Benjamin Vedder
GitHub
commit
9bb716c607
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@ -0,0 +1,28 @@
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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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||||||
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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
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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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||||||
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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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#ifndef HW_RSR_DD_V2_R2_H_
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#define HW_RSR_DD_V2_R2_H_
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#define HW_RSR_DD_V2_REV_2
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#include "hw_RSR_DD_V2_core.h"
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#endif /* HW_RSR_DD_V2_R2_H_ */
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@ -20,238 +20,9 @@
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#ifndef HW_RSR_DD_V2_H_
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#ifndef HW_RSR_DD_V2_H_
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#define HW_RSR_DD_V2_H_
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#define HW_RSR_DD_V2_H_
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#define HW_NAME "RSR_DD_V2"
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// HW properties
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#define HW_RSR_DD_V2_REV_1
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#define HW_HAS_3_SHUNTS
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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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/*
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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 (3): Vrefint
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* 11 (2): IN13 AN_IN
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*/
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#define HW_ADC_CHANNELS 12
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#define HW_ADC_INJ_CHANNELS 3
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#define HW_ADC_NBR_CONV 4
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// ADC Indexes
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#define ADC_IND_SENS1 0
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#define ADC_IND_SENS2 1
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#define ADC_IND_SENS3 2
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#define ADC_IND_CURR1 3
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#define ADC_IND_CURR2 4
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#define ADC_IND_CURR3 5
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#define ADC_IND_VIN_SENS 11
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#define ADC_IND_EXT 6
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#define ADC_IND_EXT2 7
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#define ADC_IND_TEMP_MOS 8
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#define ADC_IND_TEMP_MOTOR 9
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#define ADC_IND_VREFINT 10
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// ADC macros and settings
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// Component parameters (can be overridden)
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#ifndef V_REG
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#define V_REG 3.3
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#endif
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#ifndef VIN_R1
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#define VIN_R1 39000.0
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#endif
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#ifndef VIN_R2
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#define VIN_R2 2200.0
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#endif
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#ifndef CURRENT_AMP_GAIN
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#define CURRENT_AMP_GAIN 44.0
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#endif
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#ifndef CURRENT_SHUNT_RES
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#define CURRENT_SHUNT_RES 0.0012
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#endif
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// Input voltage
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#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
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// NTC Termistors
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#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
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#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
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#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
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#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)
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// Voltage on ADC channel
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#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
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// Double samples in beginning and end for positive current measurement.
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// Useful when the shunt sense traces have noise that causes offset.
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#ifndef CURR1_DOUBLE_SAMPLE
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#define CURR1_DOUBLE_SAMPLE 0
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#endif
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#ifndef CURR2_DOUBLE_SAMPLE
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#define CURR2_DOUBLE_SAMPLE 0
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#endif
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#ifndef CURR3_DOUBLE_SAMPLE
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#define CURR3_DOUBLE_SAMPLE 0
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#endif
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// COMM-port ADC GPIOs
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#define HW_ADC_EXT_GPIO GPIOA
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#define HW_ADC_EXT_PIN 5
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#define HW_ADC_EXT2_GPIO GPIOA
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#define HW_ADC_EXT2_PIN 6
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// UART Peripheral
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#define HW_UART_DEV SD3
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#define HW_UART_GPIO_AF GPIO_AF_USART3
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#define HW_UART_TX_PORT GPIOB
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#define HW_UART_TX_PIN 10
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#define HW_UART_RX_PORT GPIOB
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#define HW_UART_RX_PIN 11
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// Permanent UART Peripheral (for NRF52)
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#define HW_UART_P_BAUD 115200
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#define HW_UART_P_DEV SD4
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#define HW_UART_P_GPIO_AF GPIO_AF_UART4
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#define HW_UART_P_TX_PORT GPIOC
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#define HW_UART_P_TX_PIN 10
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#define HW_UART_P_RX_PORT GPIOC
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#define HW_UART_P_RX_PIN 11
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// ICU Peripheral for servo decoding
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#define HW_USE_SERVO_TIM4
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#define HW_ICU_TIMER TIM4
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#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
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#define HW_ICU_DEV ICUD4
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#define HW_ICU_CHANNEL ICU_CHANNEL_1
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#define HW_ICU_GPIO_AF GPIO_AF_TIM4
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#define HW_ICU_GPIO GPIOB
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#define HW_ICU_PIN 6
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// I2C Peripheral
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#define HW_I2C_DEV I2CD2
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#define HW_I2C_GPIO_AF GPIO_AF_I2C2
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#define HW_I2C_SCL_PORT GPIOB
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#define HW_I2C_SCL_PIN 10
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#define HW_I2C_SDA_PORT GPIOB
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#define HW_I2C_SDA_PIN 11
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// Hall/encoder pins
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#define HW_HALL_ENC_GPIO1 GPIOC
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#define HW_HALL_ENC_PIN1 6
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#define HW_HALL_ENC_GPIO2 GPIOC
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#define HW_HALL_ENC_PIN2 7
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#define HW_HALL_ENC_GPIO3 GPIOC
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#define HW_HALL_ENC_PIN3 8
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#define HW_ENC_TIM TIM3
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#define HW_ENC_TIM_AF GPIO_AF_TIM3
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#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
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#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
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#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
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#define HW_ENC_EXTI_CH EXTI9_5_IRQn
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#define HW_ENC_EXTI_LINE EXTI_Line8
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#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
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#define HW_ENC_TIM_ISR_CH TIM3_IRQn
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#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
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// SPI pins
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#define HW_SPI_DEV SPID1
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#define HW_SPI_GPIO_AF GPIO_AF_SPI1
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#define HW_SPI_PORT_NSS GPIOA
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#define HW_SPI_PIN_NSS 4
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#define HW_SPI_PORT_SCK GPIOA
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#define HW_SPI_PIN_SCK 5
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#define HW_SPI_PORT_MOSI GPIOA
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#define HW_SPI_PIN_MOSI 7
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#define HW_SPI_PORT_MISO GPIOA
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#define HW_SPI_PIN_MISO 6
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// Measurement macros
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#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
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#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
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#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
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#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
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// Macros
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#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
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#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
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#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
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// Override dead time. See the stm32f4 reference manual for calculating this value.
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#define HW_DEAD_TIME_NSEC 660.0
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// Default setting overrides
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#ifndef MCCONF_L_MIN_VOLTAGE
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#define MCCONF_L_MIN_VOLTAGE 5.0 // Minimum input voltage
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#endif
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#ifndef MCCONF_L_MAX_VOLTAGE
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#define MCCONF_L_MAX_VOLTAGE 60.0 // Maximum input voltage
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#endif
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#ifndef MCCONF_DEFAULT_MOTOR_TYPE
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#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
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#endif
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#ifndef MCCONF_FOC_F_ZV
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#define MCCONF_FOC_F_ZV 40000.0
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#endif
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#ifndef MCCONF_L_MAX_ABS_CURRENT
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#define MCCONF_L_MAX_ABS_CURRENT 25.0 // The maximum absolute current above which a fault is generated
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#endif
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#ifndef MCCONF_FOC_SAMPLE_V0_V7
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#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
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#endif
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#ifndef MCCONF_L_CURRENT_MAX
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#define MCCONF_L_CURRENT_MAX 20.0 // Current limit in Amperes (Upper)
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#endif
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#ifndef MCCONF_L_CURRENT_MIN
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#define MCCONF_L_CURRENT_MIN -20.0 // Current limit in Amperes (Lower)
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#endif
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#ifndef MCCONF_L_IN_CURRENT_MAX
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#define MCCONF_L_IN_CURRENT_MAX 20.0 // Input current limit in Amperes (Upper)
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#endif
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#ifndef MCCONF_L_IN_CURRENT_MIN
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#define MCCONF_L_IN_CURRENT_MIN -20.0 // Input current limit in Amperes (Lower)
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#endif
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#ifndef MCCONF_L_SLOW_ABS_OVERCURRENT
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#define MCCONF_L_SLOW_ABS_OVERCURRENT true
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#endif
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#ifndef MCCONF_FOC_PHASE_FILTER_ENABLE
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#define MCCONF_FOC_PHASE_FILTER_ENABLE false // Use phase voltage filters when available
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#endif
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#ifndef MCCONF_FOC_OFFSETS_CAL_ON_BOOT
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#define MCCONF_FOC_OFFSETS_CAL_ON_BOOT false // Measure offsets every boot
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#endif
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// Setting limits
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#define HW_LIM_CURRENT -20.0, 20.0
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#define HW_LIM_CURRENT_IN -20.0, 20.0
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#define HW_LIM_CURRENT_ABS 0.0, 25.0
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#define HW_LIM_VIN 5.0, 60.0
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#define HW_LIM_ERPM -500e3, 500e3
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#define HW_LIM_DUTY_MIN 0.0, 0.1
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#define HW_LIM_DUTY_MAX 0.0, 0.99
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#define HW_LIM_TEMP_FET -10.0, 90.0
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#include "hw_RSR_DD_V2_core.h"
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#endif /* HW_RSR_DD_V2_H_ */
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#endif /* HW_RSR_DD_V2_H_ */
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@ -0,0 +1,267 @@
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/*
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||||||
|
Copyright 2018 Benjamin Vedder benjamin@vedder.se
|
||||||
|
|
||||||
|
This file is part of the VESC firmware.
|
||||||
|
|
||||||
|
The VESC firmware is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
The VESC firmware is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
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||||||
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#ifndef HW_RSR_DD_V2_CORE_H_
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#define HW_RSR_DD_V2_CORE_H_
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#ifdef HW_RSR_DD_V2_REV_2
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#define HW_NAME "RSR_DD_V2.1"
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#elif defined(HW_RSR_DD_V2_REV_1)
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#define HW_NAME "RSR_DD_V2"
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#else
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#error "Must define hardware type"
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#endif
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||||||
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// HW properties
|
||||||
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#define HW_HAS_3_SHUNTS
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||||||
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#define HW_HAS_PHASE_SHUNTS
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||||||
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||||||
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// Macros
|
||||||
|
#define LED_GREEN_GPIO GPIOB
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||||||
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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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/*
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||||||
|
* ADC Vector
|
||||||
|
*
|
||||||
|
* 0 (1): IN0 SENS1
|
||||||
|
* 1 (2): IN1 SENS2
|
||||||
|
* 2 (3): IN2 SENS3
|
||||||
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* 3 (1): IN10 CURR1
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||||||
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* 4 (2): IN11 CURR2
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||||||
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* 5 (3): IN12 CURR3
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||||||
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* 6 (1): IN5 ADC_EXT1
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||||||
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* 7 (2): IN6 ADC_EXT2
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||||||
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* 8 (3): IN3 TEMP_MOS
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||||||
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* 9 (1): IN14 TEMP_MOTOR
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||||||
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* 10 (3): Vrefint
|
||||||
|
* 11 (2): IN13 AN_IN
|
||||||
|
*/
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||||||
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|
||||||
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#define HW_ADC_CHANNELS 12
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||||||
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#define HW_ADC_INJ_CHANNELS 3
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||||||
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#define HW_ADC_NBR_CONV 4
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||||||
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|
||||||
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// ADC Indexes
|
||||||
|
#define ADC_IND_SENS1 0
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||||||
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#define ADC_IND_SENS2 1
|
||||||
|
#define ADC_IND_SENS3 2
|
||||||
|
#define ADC_IND_CURR1 3
|
||||||
|
#define ADC_IND_CURR2 4
|
||||||
|
#define ADC_IND_CURR3 5
|
||||||
|
#define ADC_IND_VIN_SENS 11
|
||||||
|
#define ADC_IND_EXT 6
|
||||||
|
#define ADC_IND_EXT2 7
|
||||||
|
#define ADC_IND_TEMP_MOS 8
|
||||||
|
#define ADC_IND_TEMP_MOTOR 9
|
||||||
|
#define ADC_IND_VREFINT 10
|
||||||
|
|
||||||
|
// 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 44.0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifndef CURRENT_SHUNT_RES
|
||||||
|
#ifdef HW_RSR_DD_V2_REV_1
|
||||||
|
#define CURRENT_SHUNT_RES 0.0012 //V2 using hall sensor ACS724
|
||||||
|
#else
|
||||||
|
#define CURRENT_SHUNT_RES 0.0009 //v2.1 using hall sensor CC6920BSO
|
||||||
|
#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_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||||
|
|
||||||
|
#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
|
||||||
|
#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
|
||||||
|
|
||||||
|
// Voltage on ADC channel
|
||||||
|
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
|
||||||
|
|
||||||
|
// Double samples in beginning and end for positive current measurement.
|
||||||
|
// Useful when the shunt sense traces have noise that causes offset.
|
||||||
|
#ifndef CURR1_DOUBLE_SAMPLE
|
||||||
|
#define CURR1_DOUBLE_SAMPLE 0
|
||||||
|
#endif
|
||||||
|
#ifndef CURR2_DOUBLE_SAMPLE
|
||||||
|
#define CURR2_DOUBLE_SAMPLE 0
|
||||||
|
#endif
|
||||||
|
#ifndef CURR3_DOUBLE_SAMPLE
|
||||||
|
#define CURR3_DOUBLE_SAMPLE 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// COMM-port ADC GPIOs
|
||||||
|
#define HW_ADC_EXT_GPIO GPIOA
|
||||||
|
#define HW_ADC_EXT_PIN 5
|
||||||
|
#define HW_ADC_EXT2_GPIO GPIOA
|
||||||
|
#define HW_ADC_EXT2_PIN 6
|
||||||
|
|
||||||
|
// UART Peripheral
|
||||||
|
#define HW_UART_DEV SD3
|
||||||
|
#define HW_UART_GPIO_AF GPIO_AF_USART3
|
||||||
|
#define HW_UART_TX_PORT GPIOB
|
||||||
|
#define HW_UART_TX_PIN 10
|
||||||
|
#define HW_UART_RX_PORT GPIOB
|
||||||
|
#define HW_UART_RX_PIN 11
|
||||||
|
|
||||||
|
// Permanent UART Peripheral (for NRF52)
|
||||||
|
#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 660.0
|
||||||
|
|
||||||
|
// Default setting overrides
|
||||||
|
#ifndef MCCONF_L_MIN_VOLTAGE
|
||||||
|
#define MCCONF_L_MIN_VOLTAGE 5.0 // Minimum input voltage
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_MAX_VOLTAGE
|
||||||
|
#define MCCONF_L_MAX_VOLTAGE 60.0 // 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 40000.0
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_MAX_ABS_CURRENT
|
||||||
|
#define MCCONF_L_MAX_ABS_CURRENT 25.0 // 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_CURRENT_MAX
|
||||||
|
#define MCCONF_L_CURRENT_MAX 20.0 // Current limit in Amperes (Upper)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_CURRENT_MIN
|
||||||
|
#define MCCONF_L_CURRENT_MIN -20.0 // Current limit in Amperes (Lower)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_IN_CURRENT_MAX
|
||||||
|
#define MCCONF_L_IN_CURRENT_MAX 20.0 // Input current limit in Amperes (Upper)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_IN_CURRENT_MIN
|
||||||
|
#define MCCONF_L_IN_CURRENT_MIN -20.0 // Input current limit in Amperes (Lower)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_SLOW_ABS_OVERCURRENT
|
||||||
|
#define MCCONF_L_SLOW_ABS_OVERCURRENT true
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_FOC_PHASE_FILTER_ENABLE
|
||||||
|
#define MCCONF_FOC_PHASE_FILTER_ENABLE false // Use phase voltage filters when available
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_FOC_OFFSETS_CAL_ON_BOOT
|
||||||
|
#define MCCONF_FOC_OFFSETS_CAL_ON_BOOT false // Measure offsets every boot
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Setting limits
|
||||||
|
#define HW_LIM_CURRENT -20.0, 20.0
|
||||||
|
#define HW_LIM_CURRENT_IN -20.0, 20.0
|
||||||
|
#define HW_LIM_CURRENT_ABS 0.0, 25.0
|
||||||
|
#define HW_LIM_VIN 5.0, 60.0
|
||||||
|
#define HW_LIM_ERPM -500e3, 500e3
|
||||||
|
#define HW_LIM_DUTY_MIN 0.0, 0.1
|
||||||
|
#define HW_LIM_DUTY_MAX 0.0, 0.99
|
||||||
|
#define HW_LIM_TEMP_FET -10.0, 90.0
|
||||||
|
|
||||||
|
|
||||||
|
#endif /* HW_RSR_DD_V2_CORE_H_ */
|
||||||
|
|
@ -188,6 +188,7 @@ package_dict["VESC_BASIC"] = [['basic', default_name],
|
||||||
package_dict["RSR_DD_V1"] = [['RSR_DD_V1', default_name],
|
package_dict["RSR_DD_V1"] = [['RSR_DD_V1', default_name],
|
||||||
['RSR_DD_V1_005', 'RSR_DD_V1_005.bin']]
|
['RSR_DD_V1_005', 'RSR_DD_V1_005.bin']]
|
||||||
package_dict["RSR_DD_V2"] = [['RSR_DD_V2', default_name]]
|
package_dict["RSR_DD_V2"] = [['RSR_DD_V2', default_name]]
|
||||||
|
package_dict["RSR_DD_V2.1"] = [['RSR_DD_V2.1', default_name]]
|
||||||
|
|
||||||
# This is the firmware stub string
|
# This is the firmware stub string
|
||||||
res_firmwares_string = ' <file>TARGET_DESTINATION_DIRECTORY/TARGET_DESTINATION_FILENAME</file>\n'
|
res_firmwares_string = ' <file>TARGET_DESTINATION_DIRECTORY/TARGET_DESTINATION_FILENAME</file>\n'
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue