mirror of https://github.com/rusefi/bldc.git
Added STR365
This commit is contained in:
Benjamin Vedder
parent
fa544b7009
commit
b9bccfd7d6
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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_STR365_H_
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#define HW_STR365_H_
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#define HWSTR365
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#include "hw_str365_core.h"
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#endif /* HW_STR500_H_ */
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/*
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Copyright 2018 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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static mutex_t shutdown_mutex;
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static float bt_diff = 0.0;
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static THD_WORKING_AREA(mux_thread_wa, 256);
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static THD_FUNCTION(mux_thread, arg);
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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_reg_adj(lbm_value *args, lbm_uint argn) {
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LBM_CHECK_ARGN_NUMBER(1);
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int val = lbm_dec_as_i32(args[0]);
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utils_truncate_number_int(&val, 0, 4095);
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DAC->DHR12R2 = val;
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return ENC_SYM_TRUE;
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}
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static lbm_value ext_reg_en(lbm_value *args, lbm_uint argn) {
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LBM_CHECK_ARGN_NUMBER(1);
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lbm_dec_as_i32(args[0]) ? REG_ON() : REG_OFF();
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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("hw-reg-adj", ext_reg_adj);
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lbm_add_extension("hw-reg-en", ext_reg_en);
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}
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void hw_init_gpio(void) {
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chMtxObjectInit(&shutdown_mutex);
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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,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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PHASE_FILTER_OFF();
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CURRENT_FILTER_OFF();
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// AUX pin
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AUX_OFF();
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palSetPadMode(AUX_GPIO, AUX_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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// Sensor port voltage
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// SENSOR_PORT_3V3();
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// palSetPadMode(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN,
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// PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
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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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// 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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// Regulator
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palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
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DAC->CR |= DAC_CR_EN2;
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DAC->DHR12R2 = 4095;
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REG_OFF();
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palSetPadMode(REG_GPIO, REG_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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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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chThdCreateStatic(mux_thread_wa, sizeof(mux_thread_wa), NORMALPRIO, mux_thread, NULL);
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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);
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HW_I2C_DEV.state = I2C_STOP;
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2cReleaseBus(&HW_I2C_DEV);
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}
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}
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static THD_FUNCTION(mux_thread, arg) {
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(void)arg;
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chRegSetThreadName("adc_mux");
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palSetPadMode(ADC_SW_EN_PORT, ADC_SW_EN_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(ADC_SW_1_PORT, ADC_SW_1_PIN ,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(ADC_SW_2_PORT, ADC_SW_2_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(ADC_SW_3_PORT, ADC_SW_3_PIN ,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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#define T_SAMP_US 400
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for (;;) {
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ADCMUX_MOT_TEMP();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_TEMP_MOTOR] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_VIN();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_VIN_SENS] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_MOS_TEMP1();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_TEMP_MOS] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_MOS_TEMP2();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_TEMP_MOS_M2] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_NC();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_NC] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_EXT8();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_EXT8] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_EXT7();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_EXT7] = ADC_Value[ADC_IND_ADC_MUX];
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ADCMUX_MOS_TEMP3();
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chThdSleepMicroseconds(T_SAMP_US);
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ADC_Value[ADC_IND_TEMP_MOS_3] = ADC_Value[ADC_IND_ADC_MUX];
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}
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}
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bool hw_sample_shutdown_button(void) {
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chMtxLock(&shutdown_mutex);
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bt_diff = 0.0;
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for (int i = 0;i < 3;i++) {
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palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_INPUT_ANALOG);
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chThdSleep(5);
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float val1 = ADC_VOLTS(ADC_IND_SHUTDOWN);
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chThdSleepMilliseconds(1);
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float val2 = ADC_VOLTS(ADC_IND_SHUTDOWN);
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palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL);
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chThdSleepMilliseconds(1);
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bt_diff += (val1 - val2);
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}
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||||
|
||||
chMtxUnlock(&shutdown_mutex);
|
||||
|
||||
return (bt_diff > 0.12);
|
||||
}
|
||||
|
||||
float hw100_400_get_temp(void) {
|
||||
float t1 = (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15);
|
||||
float t2 = (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_2]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15);
|
||||
float t3 = (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15);
|
||||
float res = 0.0;
|
||||
|
||||
if (t1 > t2 && t1 > t3) {
|
||||
res = t1;
|
||||
} else if (t2 > t1 && t2 > t3) {
|
||||
res = t2;
|
||||
} else {
|
||||
res = t3;
|
||||
}
|
||||
|
||||
return res;
|
||||
}
|
||||
|
|
@ -0,0 +1,321 @@
|
|||
/*
|
||||
Copyright 2022 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_STR365_CORE_H_
|
||||
#define HW_STR365_CORE_H_
|
||||
|
||||
#ifdef HWSTR365
|
||||
#define HW_NAME "STR365"
|
||||
#else
|
||||
#error "Must define hardware type"
|
||||
#endif
|
||||
|
||||
// HW properties
|
||||
#define HW_HAS_3_SHUNTS
|
||||
#define INVERTED_SHUNT_POLARITY
|
||||
#define HW_HAS_PHASE_FILTERS
|
||||
|
||||
// Macros
|
||||
#define LED_GREEN_GPIO GPIOC
|
||||
#define LED_GREEN_PIN 9
|
||||
#define LED_RED_GPIO GPIOC
|
||||
#define LED_RED_PIN 12
|
||||
|
||||
#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 GPIOB
|
||||
#define PHASE_FILTER_PIN 12
|
||||
#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
|
||||
#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
|
||||
|
||||
#define REG_GPIO GPIOB
|
||||
#define REG_PIN 2
|
||||
#define REG_ON() palSetPad(REG_GPIO, REG_PIN)
|
||||
#define REG_OFF() palClearPad(REG_GPIO, REG_PIN)
|
||||
|
||||
// ADC Mux
|
||||
#define ADC_SW_EN_PORT GPIOB
|
||||
#define ADC_SW_EN_PIN 0
|
||||
#define ADC_SW_1_PORT GPIOC
|
||||
#define ADC_SW_1_PIN 14
|
||||
#define ADC_SW_2_PORT GPIOC
|
||||
#define ADC_SW_2_PIN 15
|
||||
#define ADC_SW_3_PORT GPIOD
|
||||
#define ADC_SW_3_PIN 2
|
||||
|
||||
#define AD_DIS() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN)
|
||||
#define AD1_L() palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN)
|
||||
#define AD1_H() palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN)
|
||||
#define AD2_L() palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN)
|
||||
#define AD2_H() palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN)
|
||||
#define AD3_L() palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN)
|
||||
#define AD3_H() palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN)
|
||||
#define AD_EN() palSetPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN)
|
||||
|
||||
#define ADCMUX_MOT_TEMP() AD_DIS(); AD3_L(); AD2_L(); AD1_L(); AD_EN();
|
||||
#define ADCMUX_VIN() AD_DIS(); AD3_L(); AD2_L(); AD1_H(); AD_EN();
|
||||
#define ADCMUX_MOS_TEMP1() AD_DIS(); AD3_L(); AD2_H(); AD1_L(); AD_EN();
|
||||
#define ADCMUX_MOS_TEMP2() AD_DIS(); AD3_L(); AD2_H(); AD1_H(); AD_EN();
|
||||
#define ADCMUX_NC() AD_DIS(); AD3_H(); AD2_L(); AD1_L(); AD_EN();
|
||||
#define ADCMUX_EXT8() AD_DIS(); AD3_H(); AD2_L(); AD1_H(); AD_EN();
|
||||
#define ADCMUX_EXT7() AD_DIS(); AD3_H(); AD2_H(); AD1_L(); AD_EN();
|
||||
#define ADCMUX_MOS_TEMP3() AD_DIS(); AD3_H(); AD2_H(); AD1_H(); AD_EN();
|
||||
|
||||
#define AUX_GPIO GPIOA
|
||||
#define AUX_PIN 15
|
||||
#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
|
||||
#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
|
||||
|
||||
// Shutdown pin
|
||||
#define HW_SHUTDOWN_GPIO GPIOC
|
||||
#define HW_SHUTDOWN_PIN 5
|
||||
#define HW_SHUTDOWN_HOLD_ON() palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
|
||||
#define HW_SHUTDOWN_HOLD_OFF() palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
|
||||
#define HW_SAMPLE_SHUTDOWN() hw_sample_shutdown_button()
|
||||
|
||||
// Hold shutdown pin early to wake up on short pulses
|
||||
#define HW_EARLY_INIT() palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL); \
|
||||
HW_SHUTDOWN_HOLD_ON();
|
||||
|
||||
// Sensor port voltage control
|
||||
//#define SENSOR_VOLTAGE_GPIO GPIOC
|
||||
//#define SENSOR_VOLTAGE_PIN 12
|
||||
#define SENSOR_PORT_5V() //palSetPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
|
||||
#define SENSOR_PORT_3V3() //palClearPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
|
||||
|
||||
/*
|
||||
* ADC Vector
|
||||
*/
|
||||
#define HW_ADC_CHANNELS 18
|
||||
#define HW_ADC_CHANNELS_EXTRA 8
|
||||
#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_EXT5 11
|
||||
#define ADC_IND_EXT 6
|
||||
#define ADC_IND_EXT2 7
|
||||
#define ADC_IND_SHUTDOWN 10
|
||||
#define ADC_IND_EXT3 8
|
||||
#define ADC_IND_EXT6 9
|
||||
#define ADC_IND_VREFINT 12
|
||||
#define ADC_IND_ADC_MUX 15
|
||||
#define ADC_IND_EXT4 16
|
||||
|
||||
#define ADC_IND_TEMP_MOTOR 18
|
||||
#define ADC_IND_TEMP_MOS 20
|
||||
#define ADC_IND_TEMP_MOS_2 21
|
||||
#define ADC_IND_NC 22
|
||||
#define ADC_IND_EXT8 23
|
||||
#define ADC_IND_EXT7 24
|
||||
#define ADC_IND_TEMP_MOS_3 25
|
||||
|
||||
// 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 (0.00025 / 3.0)//990A range
|
||||
#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) hw100_400_get_temp()
|
||||
|
||||
#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)
|
||||
|
||||
#define NTC_TEMP_MOS1() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||
#define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_2]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||
#define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
|
||||
|
||||
// Voltage on ADC channel
|
||||
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
|
||||
|
||||
// COMM-port ADC GPIOs
|
||||
#define HW_ADC_EXT_GPIO GPIOA
|
||||
#define HW_ADC_EXT_PIN 7
|
||||
#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 (SWD/ESP)
|
||||
#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 GPIOB
|
||||
#define HW_SPI_PIN_NSS 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
|
||||
|
||||
// IMU
|
||||
#define LSM6DS3_NSS_GPIO GPIOA
|
||||
#define LSM6DS3_NSS_PIN 15
|
||||
#define LSM6DS3_SCK_GPIO GPIOB
|
||||
#define LSM6DS3_SCK_PIN 3
|
||||
#define LSM6DS3_MOSI_GPIO GPIOB
|
||||
#define LSM6DS3_MOSI_PIN 5
|
||||
#define LSM6DS3_MISO_GPIO GPIOB
|
||||
#define LSM6DS3_MISO_PIN 4
|
||||
//#define BMI160_SPI_PORT_NSS GPIOA
|
||||
//#define BMI160_SPI_PIN_NSS 15
|
||||
//#define BMI160_SPI_PORT_SCK GPIOB
|
||||
//#define BMI160_SPI_PIN_SCK 3
|
||||
//#define BMI160_SPI_PORT_MOSI GPIOB
|
||||
//#define BMI160_SPI_PIN_MOSI 5
|
||||
//#define BMI160_SPI_PORT_MISO GPIOB
|
||||
//#define BMI160_SPI_PIN_MISO 4
|
||||
|
||||
// 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 1000.0
|
||||
|
||||
// Default setting overrides
|
||||
#ifndef MCCONF_L_MIN_VOLTAGE
|
||||
#define MCCONF_L_MIN_VOLTAGE 18.0 // Minimum input voltage
|
||||
#endif
|
||||
#ifndef MCCONF_L_MAX_VOLTAGE
|
||||
#define MCCONF_L_MAX_VOLTAGE 54.0 // 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 120.0 // 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 250.0 // Input current limit in Amperes (Upper)
|
||||
#endif
|
||||
#ifndef MCCONF_L_IN_CURRENT_MIN
|
||||
#define MCCONF_L_IN_CURRENT_MIN -200.0 // Input current limit in Amperes (Lower)
|
||||
#endif
|
||||
#ifndef APPCONF_SHUTDOWN_MODE
|
||||
#define APPCONF_SHUTDOWN_MODE SHUTDOWN_MODE_ALWAYS_ON
|
||||
#endif
|
||||
|
||||
// Setting limits
|
||||
#define HW_LIM_CURRENT -500.0, 500.0
|
||||
#define HW_LIM_CURRENT_IN -500.0, 500.0
|
||||
#define HW_LIM_CURRENT_ABS 0.0, 720.0
|
||||
#define HW_LIM_VIN 11.0, 97.0
|
||||
#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
|
||||
|
||||
// HW-specific functions
|
||||
bool hw_sample_shutdown_button(void);
|
||||
float hw100_400_get_temp(void);
|
||||
|
||||
#endif /* HW_STR500_CORE_H_ */
|
||||
Loading…
Reference in New Issue