mirror of https://github.com/rusefi/bldc.git
Added hw_basic
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b7d9a72878
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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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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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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_BASIC_H_
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#define HW_BASIC_H_
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#define HW_BASIC
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#include "hw_basic_core.h"
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#endif /* HW_BASIC_H_ */
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/*
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Copyright 2023 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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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "utils_math.h"
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#include <math.h>
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#include "mc_interface.h"
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#include "lispif.h"
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#include "lispbm.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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static lbm_value ext_basic_read_brake(lbm_value *args, lbm_uint argn) {
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(void)args; (void)argn;
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return lbm_enc_i(ADC_VOLTS(ADC_IND_EXT2) < 0.5 ? 1 : 0);
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}
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static lbm_value ext_basic_set_out1(lbm_value *args, lbm_uint argn) {
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LBM_CHECK_ARGN_NUMBER(1);
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if (lbm_dec_as_i32(args[0])) {
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OUT_1_ON();
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} else {
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OUT_1_OFF();
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}
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return ENC_SYM_TRUE;
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}
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static lbm_value ext_basic_set_out2(lbm_value *args, lbm_uint argn) {
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LBM_CHECK_ARGN_NUMBER(1);
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if (lbm_dec_as_i32(args[0])) {
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OUT_2_ON();
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} else {
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OUT_2_OFF();
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}
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return ENC_SYM_TRUE;
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}
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static lbm_value ext_basic_set_out3(lbm_value *args, lbm_uint argn) {
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LBM_CHECK_ARGN_NUMBER(1);
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if (lbm_dec_as_i32(args[0])) {
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OUT_3_ON();
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} else {
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OUT_3_OFF();
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}
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return ENC_SYM_TRUE;
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}
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static void load_extensions(void) {
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lbm_add_extension("basic-read-brake", ext_basic_read_brake);
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lbm_add_extension("basic-set-out1", ext_basic_set_out1);
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lbm_add_extension("basic-set-out2", ext_basic_set_out2);
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lbm_add_extension("basic-set-out3", ext_basic_set_out3);
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}
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void hw_init_gpio(void) {
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// GPIO clock enable
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
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// LEDs
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palSetPadMode(LED_GREEN_GPIO, LED_GREEN_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(LED_RED_GPIO, LED_RED_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
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palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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// Hall sensors
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palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
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// Phase filters
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// palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
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// PHASE_FILTER_OFF();
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// Phase filters
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palSetPadMode(GPIOC, 13, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOC, 14, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOC, 15, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
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PHASE_FILTER_OFF();
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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, 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, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
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// DAC as voltage reference for shunt amps
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palSetPadMode(GPIOA, 4, PAL_MODE_INPUT_ANALOG);
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RCC_APB1PeriphClockCmd(RCC_APB1Periph_DAC, ENABLE);
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DAC->CR |= DAC_CR_EN1;
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DAC->DHR12R1 = 2047;
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palSetPadMode(OUT_1_GPIO, OUT_1_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(OUT_2_GPIO, OUT_2_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(OUT_3_GPIO, OUT_3_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
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OUT_1_OFF();
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OUT_2_OFF();
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OUT_3_OFF();
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lispif_add_ext_load_callback(load_extensions);
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}
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void hw_setup_adc_channels(void) {
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// ADC1 regular channels
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ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles); //0
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ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 2, ADC_SampleTime_15Cycles); //3
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ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles); //6
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ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles); //9
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ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles); //12
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ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles); //15
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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles); //1
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 2, ADC_SampleTime_15Cycles); //4
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ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); //7
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ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles); //10
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ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles); //13
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ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles); //16
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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles); //2
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 2, ADC_SampleTime_15Cycles); //5
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ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles); //8
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ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles); //11
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ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles); //14
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles); //17
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// Injected channels
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
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}
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void hw_start_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (!i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2c_running = true;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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void hw_stop_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
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i2cStop(&HW_I2C_DEV);
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i2c_running = false;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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/**
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* Try to restore the i2c bus
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*/
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void hw_try_restore_i2c(void) {
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if (i2c_running) {
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i2cAcquireBus(&HW_I2C_DEV);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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for(int i = 0;i < 16;i++) {
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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}
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// Generate start then stop condition
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palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
|
||||||
|
|
||||||
|
HW_I2C_DEV.state = I2C_STOP;
|
||||||
|
i2cStart(&HW_I2C_DEV, &i2cfg);
|
||||||
|
|
||||||
|
i2cReleaseBus(&HW_I2C_DEV);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
|
@ -0,0 +1,265 @@
|
||||||
|
/*
|
||||||
|
Copyright 2023 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef HW_BASIC_CORE_H_
|
||||||
|
#define HW_BASIC_CORE_H_
|
||||||
|
|
||||||
|
#ifdef HW_BASIC
|
||||||
|
#define HW_NAME "VESC_BASIC"
|
||||||
|
#else
|
||||||
|
#error "Must define hardware type"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// HW properties
|
||||||
|
#define HW_HAS_3_SHUNTS
|
||||||
|
#define HW_HAS_PHASE_FILTERS
|
||||||
|
#define INVERTED_SHUNT_POLARITY
|
||||||
|
|
||||||
|
// Macros
|
||||||
|
#define LED_GREEN_GPIO GPIOB
|
||||||
|
#define LED_GREEN_PIN 7
|
||||||
|
#define LED_RED_GPIO GPIOB
|
||||||
|
#define LED_RED_PIN 5
|
||||||
|
|
||||||
|
#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
|
||||||
|
#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
|
||||||
|
#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
|
||||||
|
#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
|
||||||
|
|
||||||
|
#define PHASE_FILTER_GPIO GPIOC
|
||||||
|
#define PHASE_FILTER_PIN 15
|
||||||
|
|
||||||
|
// Phase filter
|
||||||
|
#define PHASE_FILTER_OFF() palSetPad(GPIOC, 13); palSetPad(GPIOC, 14); palSetPad(GPIOC, 15)
|
||||||
|
#define PHASE_FILTER_ON() palClearPad(GPIOC, 13); palClearPad(GPIOC, 14); palClearPad(GPIOC, 15)
|
||||||
|
|
||||||
|
// Output1
|
||||||
|
#define OUT_1_GPIO GPIOC
|
||||||
|
#define OUT_1_PIN 10
|
||||||
|
#define OUT_1_ON() palSetPad(OUT_1_GPIO, OUT_1_PIN)
|
||||||
|
#define OUT_1_OFF() palClearPad(OUT_1_GPIO, OUT_1_PIN)
|
||||||
|
|
||||||
|
// Output2
|
||||||
|
#define OUT_2_GPIO GPIOC
|
||||||
|
#define OUT_2_PIN 11
|
||||||
|
#define OUT_2_ON() palSetPad(OUT_2_GPIO, OUT_2_PIN)
|
||||||
|
#define OUT_2_OFF() palClearPad(OUT_2_GPIO, OUT_2_PIN)
|
||||||
|
|
||||||
|
// Output3
|
||||||
|
#define OUT_3_GPIO GPIOA
|
||||||
|
#define OUT_3_PIN 15
|
||||||
|
#define OUT_3_ON() palSetPad(OUT_3_GPIO, OUT_3_PIN)
|
||||||
|
#define OUT_3_OFF() palClearPad(OUT_3_GPIO, OUT_3_PIN)
|
||||||
|
|
||||||
|
/*
|
||||||
|
* ADC Vector
|
||||||
|
*
|
||||||
|
* 0 (1): IN10 CURR1
|
||||||
|
* 1 (2): IN11 CURR2
|
||||||
|
* 2 (3): IN12 CURR3
|
||||||
|
* 3 (1): IN0 SENS1
|
||||||
|
* 4 (2): IN1 SENS2
|
||||||
|
* 5 (3): IN2 SENS3
|
||||||
|
* 6 (1): IN5
|
||||||
|
* 7 (2): IN6
|
||||||
|
* 8 (3): IN3
|
||||||
|
* 9 (1): IN14
|
||||||
|
* 10 (2): IN15
|
||||||
|
* 11 (3): IN13
|
||||||
|
* 12 (1): Vrefint
|
||||||
|
* 13 (2): IN0
|
||||||
|
* 14 (3): IN1
|
||||||
|
* 15 (1): IN8
|
||||||
|
* 16 (2): IN9
|
||||||
|
* 17 (3): IN2
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define HW_ADC_CHANNELS 18
|
||||||
|
#define HW_ADC_INJ_CHANNELS 3
|
||||||
|
#define HW_ADC_NBR_CONV 6
|
||||||
|
|
||||||
|
// ADC Indexes
|
||||||
|
#define ADC_IND_SENS1 3
|
||||||
|
#define ADC_IND_SENS2 4
|
||||||
|
#define ADC_IND_SENS3 5
|
||||||
|
#define ADC_IND_CURR1 0
|
||||||
|
#define ADC_IND_CURR2 1
|
||||||
|
#define ADC_IND_CURR3 2
|
||||||
|
#define ADC_IND_VIN_SENS 11
|
||||||
|
#define ADC_IND_EXT 8
|
||||||
|
#define ADC_IND_EXT2 15
|
||||||
|
#define ADC_IND_TEMP_MOS 10
|
||||||
|
#define ADC_IND_TEMP_MOTOR 16
|
||||||
|
#define ADC_IND_VREFINT 12
|
||||||
|
|
||||||
|
// ADC macros and settings
|
||||||
|
|
||||||
|
// Component parameters (can be overridden)
|
||||||
|
#ifndef V_REG
|
||||||
|
#define V_REG 3.3
|
||||||
|
#endif
|
||||||
|
#ifndef VIN_R1
|
||||||
|
#define VIN_R1 150000.0
|
||||||
|
#endif
|
||||||
|
#ifndef VIN_R2
|
||||||
|
#define VIN_R2 4700.0
|
||||||
|
#endif
|
||||||
|
#ifndef CURRENT_AMP_GAIN
|
||||||
|
#define CURRENT_AMP_GAIN 20.0
|
||||||
|
#endif
|
||||||
|
#ifndef CURRENT_SHUNT_RES
|
||||||
|
#define CURRENT_SHUNT_RES 0.0005
|
||||||
|
#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) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // MOS temp sensor on low side //((4095.0 * 10000.0) / adc_val - 10000.0)
|
||||||
|
#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||||
|
|
||||||
|
#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
|
||||||
|
#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
|
||||||
|
|
||||||
|
// Voltage on ADC channel
|
||||||
|
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
|
||||||
|
|
||||||
|
// COMM-port ADC GPIOs
|
||||||
|
#define HW_ADC_EXT_GPIO GPIOA
|
||||||
|
#define HW_ADC_EXT_PIN 3
|
||||||
|
#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
|
||||||
|
|
||||||
|
// 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
|
||||||
|
|
||||||
|
// IMU
|
||||||
|
#define LSM6DS3_NSS_GPIO GPIOC
|
||||||
|
#define LSM6DS3_NSS_PIN 4
|
||||||
|
#define LSM6DS3_SCK_GPIO GPIOA
|
||||||
|
#define LSM6DS3_SCK_PIN 6
|
||||||
|
#define LSM6DS3_MOSI_GPIO GPIOA
|
||||||
|
#define LSM6DS3_MOSI_PIN 5
|
||||||
|
#define LSM6DS3_MISO_GPIO GPIOB
|
||||||
|
#define LSM6DS3_MISO_PIN 2
|
||||||
|
|
||||||
|
// 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 //Replicated from the IMU
|
||||||
|
#define HW_SPI_DEV SPID1
|
||||||
|
#define HW_SPI_GPIO_AF GPIO_AF_SPI1
|
||||||
|
#define HW_SPI_PORT_NSS GPIOB
|
||||||
|
#define HW_SPI_PIN_NSS 11
|
||||||
|
#define HW_SPI_PORT_SCK GPIOA
|
||||||
|
#define HW_SPI_PIN_SCK 5
|
||||||
|
#define HW_SPI_PORT_MOSI GPIOB
|
||||||
|
#define HW_SPI_PIN_MOSI 2
|
||||||
|
#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 200.0
|
||||||
|
|
||||||
|
// Default setting overrides
|
||||||
|
#ifndef MCCONF_L_MIN_VOLTAGE
|
||||||
|
#define MCCONF_L_MIN_VOLTAGE 15.0 // Minimum voltage input
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_MAX_VOLTAGE
|
||||||
|
#define MCCONF_L_MAX_VOLTAGE 50.0 // Maximum input voltage
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
|
||||||
|
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_FOC_F_ZV
|
||||||
|
#define MCCONF_FOC_F_ZV 30000.0
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_MAX_ABS_CURRENT
|
||||||
|
#define MCCONF_L_MAX_ABS_CURRENT 150.0 // The maximum absolute current above which a fault is generated
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_FOC_SAMPLE_V0_V7
|
||||||
|
#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_IN_CURRENT_MAX
|
||||||
|
#define MCCONF_L_IN_CURRENT_MAX 30.0 // Input current limit in Amperes (Upper)
|
||||||
|
#endif
|
||||||
|
#ifndef MCCONF_L_IN_CURRENT_MIN
|
||||||
|
#define MCCONF_L_IN_CURRENT_MIN -30.0 // Input current limit in Amperes (Lower)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// Setting limits
|
||||||
|
#define HW_LIM_CURRENT -150.0, 150.0
|
||||||
|
#define HW_LIM_CURRENT_IN -130.0, 130.0
|
||||||
|
#define HW_LIM_CURRENT_ABS 0.0, 160.0
|
||||||
|
#define HW_LIM_VIN 11.0, 94.0
|
||||||
|
#define HW_LIM_ERPM -200e3, 200e3
|
||||||
|
#define HW_LIM_DUTY_MIN 0.0, 0.1
|
||||||
|
#define HW_LIM_DUTY_MAX 0.0, 0.99
|
||||||
|
#define HW_LIM_TEMP_FET -40.0, 110.0
|
||||||
|
|
||||||
|
#endif /* HW_BASIC_CORE_H_ */
|
|
@ -175,6 +175,8 @@ package_dict["RB"] = [['rb', default_name]]
|
||||||
package_dict["STR365"] = [['str365', default_name],
|
package_dict["STR365"] = [['str365', default_name],
|
||||||
['str365_no_limits', no_limits_name]]
|
['str365_no_limits', no_limits_name]]
|
||||||
package_dict["SPARKF"] = [['sparkf', default_name]]
|
package_dict["SPARKF"] = [['sparkf', default_name]]
|
||||||
|
package_dict["VESC_BASIC"] = [['basic', default_name],
|
||||||
|
['basic_no_limits', no_limits_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