/* Copyright 2017 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 . */ #ifndef HW_PALTA_H_ #define HW_PALTA_H_ #define HW_NAME "PALTA" // HW properties #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_SHUNTS // Macros #define ENABLE_GATE() palSetPad(GPIOC, 14) #define DISABLE_GATE() palClearPad(GPIOC, 14) #define DCCAL_ON() #define DCCAL_OFF() #define IS_DRV_FAULT() (!palReadPad(GPIOB, 12)) #define LED_GREEN_ON() palSetPad(GPIOB, 2) #define LED_GREEN_OFF() palClearPad(GPIOB, 2) #define LED_RED_ON() palSetPad(GPIOB, 11) #define LED_RED_OFF() palClearPad(GPIOB, 11) #define PALTA_OC_CLR_PORT GPIOB #define PALTA_OC_CLR_PIN 5 /* * ADC Vector * * 0: IN0 SENS1 * 1: IN1 SENS2 * 2: IN2 SENS3 * 3: IN10 CURR1 * 4: IN11 CURR2 * 5: IN12 CURR3 * 6: IN8 ADC_EXT2 * 7: IN0 SENS1 * 8: IN3 TEMP_PCB * 9: IN14 TEMP_MOTOR * 10: IN15 ADC_EXT1 * 11: IN13 AN_IN * 12: Vrefint * 13: IN0 SENS1 * 14: IN1 SENS2 */ #define HW_ADC_CHANNELS 15 #define HW_ADC_INJ_CHANNELS 3 #define HW_ADC_NBR_CONV 5 // ADC Indexes #define ADC_IND_SENS1 0 #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 10 #define ADC_IND_EXT2 6 #define ADC_IND_TEMP_MOS 8 #define ADC_IND_TEMP_MOTOR 9 #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 246730.0 #endif #ifndef VIN_R2 #define VIN_R2 2200.0 #endif #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN 8.0 #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES 0.0004852941 #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]) / 10000.0) / 3434.0) + (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 // Number of servo outputs #define HW_SERVO_NUM 2 // UART Peripheral #define HW_UART_DEV UARTD3 #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 GPIOD #define HW_UART_RX_PIN 9 //Freeing B11 for fault LED. PD9 not available in LQFT64 package // ICU Peripheral for servo decoding #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 // NRF pins #define NRF_PORT_CSN GPIOB #define NRF_PIN_CSN 12 #define NRF_PORT_SCK GPIOB #define NRF_PIN_SCK 4 #define NRF_PORT_MOSI GPIOB #define NRF_PIN_MOSI 3 #define NRF_PORT_MISO GPIOD #define NRF_PIN_MISO 2 // 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 15 #define HW_SPI_PORT_SCK GPIOC #define HW_SPI_PIN_SCK 10 #define HW_SPI_PORT_MOSI GPIOC #define HW_SPI_PIN_MOSI 12 #define HW_SPI_PORT_MISO GPIOC #define HW_SPI_PIN_MISO 11 // 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_VALUE 202 // Default setting overrides #ifndef MCCONF_DEFAULT_MOTOR_TYPE #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #endif #ifndef MCCONF_FOC_SAMPLE_V0_V7 #define MCCONF_FOC_SAMPLE_V0_V7 true // Run control loop in both v0 and v7 (requires phase shunts) #endif // Setting limits (TODO: Configure these) //#define HW_LIM_CURRENT -100.0, 100.0 //#define HW_LIM_CURRENT_IN -100.0, 100.0 //#define HW_LIM_CURRENT_ABS 0.0, 150.0 //#define HW_LIM_VIN 6.0, 57.0 //#define HW_LIM_ERPM -200e3, 200e3 //#define HW_LIM_DUTY_MIN 0.0, 0.1 //#define HW_LIM_DUTY_MAX 0.0, 1.0 //#define HW_LIM_TEMP_FET -40.0, 110.0 // HW-specific functions void hw_palta_reset_oc(void); #endif /* HW_PALTA_H_ */