hw_45.h

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/*
    Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

/*
 * hw_45.h
 *
 *  Created on: 19 okt 2014
 *      Author: benjamin
 */

#ifndef HW_45_H_
#define HW_45_H_

// Macros
#define ENABLE_GATE()           palSetPad(GPIOC, 10)
#define DISABLE_GATE()          palClearPad(GPIOC, 10)
#define DCCAL_ON()              palSetPad(GPIOB, 12)
#define DCCAL_OFF()             palClearPad(GPIOB, 12)
#define IS_DRV_FAULT()          (!palReadPad(GPIOC, 12))

#define LED_GREEN_ON()              palSetPad(GPIOC, 4)
#define LED_GREEN_OFF()             palClearPad(GPIOC, 4)
#define LED_RED_ON()                palSetPad(GPIOA, 7)
#define LED_RED_OFF()               palClearPad(GPIOA, 7)

/*
 * ADC Vector
 *
 * 0:   IN0     SENS3
 * 1:   IN1     SENS2
 * 2:   IN2     SENS1
 * 3:   IN5     CURR2
 * 4:   IN6     CURR1
 * 5:   IN3     NC
 * 6:   VREFINT
 * 7:   IN11    NC
 * 8:   IN12    AN_IN
 * 9:   IN13    NC
 * 10:  IN15    ADC_EXT
 * 11:  IN10    TEMP_MOTOR
 */

#define HW_ADC_CHANNELS             12
#define HW_ADC_NBR_CONV             4

// ADC Indexes
#define ADC_IND_SENS1               2
#define ADC_IND_SENS2               1
#define ADC_IND_SENS3               0
#define ADC_IND_CURR1               4
#define ADC_IND_CURR2               3
#define ADC_IND_VIN_SENS            8
#define ADC_IND_EXT                 10
#define ADC_IND_VREFINT             6

// ADC macros and settings

// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG               3.3
#endif
#ifndef VIN_R1
#define VIN_R1              33000.0
#endif
#ifndef VIN_R2
#define VIN_R2              2200.0
#endif
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN    10.0
#endif
#ifndef CURRENT_SHUNT_RES
#define CURRENT_SHUNT_RES   0.001
#endif

// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))

// Voltage on ADC channel
#define ADC_VOLTS(ch)       ((float)ADC_Value[ch] / 4095.0 * V_REG)

// NTC Termistors
#define NTC_RES(adc_val)    (0.0)
#define NTC_TEMP(adc_ind)   hw45_get_temp()

// 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 1
#endif
#ifndef CURR2_DOUBLE_SAMPLE
#define CURR2_DOUBLE_SAMPLE 0
#endif

// Number of servo outputs
#define HW_SERVO_NUM        2

// UART Peripheral
#define HW_UART_DEV         UARTD6
#define HW_UART_GPIO_AF     GPIO_AF_USART6
#define HW_UART_TX_PORT     GPIOC
#define HW_UART_TX_PIN      6
#define HW_UART_RX_PORT     GPIOC
#define HW_UART_RX_PIN      7

// ICU Peripheral for servo decoding
#define HW_ICU_CHANNEL      ICU_CHANNEL_2
#define HW_ICU_GPIO_AF      GPIO_AF_TIM3
#define HW_ICU_GPIO         GPIOB
#define HW_ICU_PIN          5

// I2C Peripheral
#define HW_I2C_DEV          I2CD2
#define HW_I2C_GPIO_AF      GPIO_AF_I2C2
#define HW_I2C_SCL_PORT     GPIOB
#define HW_I2C_SCL_PIN      10
#define HW_I2C_SDA_PORT     GPIOB
#define HW_I2C_SDA_PIN      11

// Hall/encoder pins
#define HW_HALL_ENC_GPIO1       GPIOB
#define HW_HALL_ENC_PIN1        6
#define HW_HALL_ENC_GPIO2       GPIOB
#define HW_HALL_ENC_PIN2        7
#define HW_HALL_ENC_GPIO3       GPIOC
#define HW_HALL_ENC_PIN3        11
#define HW_ENC_TIM              TIM4
#define HW_ENC_TIM_AF           GPIO_AF_TIM4
#define HW_ENC_TIM_CLK_EN()     RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
#define HW_ENC_EXTI_PORTSRC     EXTI_PortSourceGPIOC
#define HW_ENC_EXTI_PINSRC      EXTI_PinSource11
#define HW_ENC_EXTI_CH          EXTI15_10_IRQn
#define HW_ENC_EXTI_LINE        EXTI_Line11
#define HW_ENC_EXTI_ISR_VEC     EXTI15_10_IRQHandler

// NRF pins
#define NRF_PORT_CSN    HW_ICU_GPIO
#define NRF_PIN_CSN     HW_ICU_PIN
#define NRF_PORT_SCK    GPIOC
#define NRF_PIN_SCK     5
#define NRF_PORT_MOSI   HW_I2C_SDA_PORT
#define NRF_PIN_MOSI    HW_I2C_SDA_PIN
#define NRF_PORT_MISO   HW_I2C_SCL_PORT
#define NRF_PIN_MISO    HW_I2C_SCL_PIN

// 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)

// HW-specific functions
float hw45_get_temp(void);

#endif /* HW_40_H_ */