/* Copyright 2016 - 2020 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_60_H_ #define HW_60_H_ #ifdef HW60_IS_MK3 #define HW_NAME "60_MK3" #elif defined(HW60_IS_MK4) #define HW_NAME "60_MK4" #elif defined(HW60_IS_MK5) #define HW_NAME "60_MK5" #else #define HW_NAME "60" #endif #define HW_MAJOR 6 #define HW_MINOR 0 // HW properties #define HW_HAS_DRV8301 #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_SHUNTS #if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) #define HW_HAS_PERMANENT_NRF #endif // Macros #ifdef HW60_VEDDER_FIRST_PCB #define ENABLE_GATE() palSetPad(GPIOB, 6) #define DISABLE_GATE() palClearPad(GPIOB, 6) #else #define ENABLE_GATE() palSetPad(GPIOB, 5) #define DISABLE_GATE() palClearPad(GPIOB, 5) #endif #define DCCAL_ON() #define DCCAL_OFF() #define IS_DRV_FAULT() (!palReadPad(GPIOB, 7)) #define LED_GREEN_ON() palSetPad(GPIOB, 0) #define LED_GREEN_OFF() palClearPad(GPIOB, 0) #define LED_RED_ON() palSetPad(GPIOB, 1) #define LED_RED_OFF() palClearPad(GPIOB, 1) #define CURRENT_FILTER_ON() palSetPad(GPIOD, 2) #define CURRENT_FILTER_OFF() palClearPad(GPIOD, 2) #ifdef HW60_IS_MK5 #define HW_HAS_PHASE_FILTERS #define PHASE_FILTER_GPIO GPIOC #define PHASE_FILTER_PIN 13 #define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN) #define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN) #endif #if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) // 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(); \ palSetPadMode(GPIOD, 2, \ PAL_MODE_OUTPUT_PUSHPULL | \ PAL_STM32_OSPEED_HIGHEST); \ CURRENT_FILTER_ON() #else // Switch on current filter if a permanent // NRF24 cannot be found, as the later // HW60 has changed one of the permanent NRF // pins to the current filter activation pin. #define HW_PERMANENT_NRF_FAILED_HOOK() \ palSetPadMode(GPIOD, 2, \ PAL_MODE_OUTPUT_PUSHPULL | \ PAL_STM32_OSPEED_HIGHEST); \ CURRENT_FILTER_ON() #endif /* * ADC Vector * * 0: IN0 SENS1 * 1: IN1 SENS2 * 2: IN2 SENS3 * 3: IN10 CURR1 * 4: IN11 CURR2 * 5: IN12 CURR3 * 6: IN5 ADC_EXT1 * 7: IN6 ADC_EXT2 * 8: IN3 TEMP_PCB * 9: IN14 TEMP_MOTOR * 10: IN15 ADC_EXT3, Shutdown on MK3 * 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 6 #define ADC_IND_EXT2 7 #define ADC_IND_TEMP_MOS 8 #define ADC_IND_TEMP_MOTOR 9 #define ADC_IND_VREFINT 12 #if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) #define ADC_IND_SHUTDOWN 10 #endif // -------- Current sensor test #if 0 #undef ADC_IND_CURR1 #undef ADC_IND_CURR2 #undef ADC_IND_CURR3 #undef CURRENT_FILTER_ON #undef CURRENT_FILTER_OFF #define CURRENT_FILTER_OFF() palClearPad(HW_UART_RX_PORT, HW_UART_RX_PIN) #define CURRENT_FILTER_ON() palClearPad(HW_UART_RX_PORT, HW_UART_RX_PIN) #define ADC_IND_CURR1 6 #define ADC_IND_CURR2 7 #define ADC_IND_CURR3 10 #define HW_EARLY_INIT() palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_OUTPUT_PUSHPULL); \ palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_OUTPUT_PUSHPULL); \ palSetPad(HW_UART_TX_PORT, HW_UART_TX_PIN) #define CURRENT_SHUNT_RES 1 #define CURRENT_AMP_GAIN (2.22e-3 * (4.7 / (4.7 + 2.2))) #define APPCONF_APP_TO_USE APP_NONE #endif // ---------------------------- // 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 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) ((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] / 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 #if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) // Permanent UART Peripheral (for NRF51) #define HW_UART_P_BAUD 115200 #define HW_UART_P_DEV SD4 #define HW_UART_P_DEV_TX SD5 // UART for TX, due to mistake below #define HW_UART_P_GPIO_AF GPIO_AF_UART4 #define HW_UART_P_TX_PORT GPIOC #define HW_UART_P_TX_PIN 12 // This is a mistake in the HW. We have to use a hack to use UART5. #define HW_UART_P_RX_PORT GPIOC #define HW_UART_P_RX_PIN 11 #endif // 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 #if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) // 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 #endif // 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 // SPI for DRV8301 #if !defined(HW60_IS_MK3) && !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) #define DRV8301_MOSI_GPIO GPIOC #define DRV8301_MOSI_PIN 12 #define DRV8301_MISO_GPIO GPIOC #define DRV8301_MISO_PIN 11 #define DRV8301_SCK_GPIO GPIOC #define DRV8301_SCK_PIN 10 #define DRV8301_CS_GPIO GPIOC #define DRV8301_CS_PIN 9 #else #define DRV8301_MOSI_GPIO GPIOB #define DRV8301_MOSI_PIN 4 #define DRV8301_MISO_GPIO GPIOB #define DRV8301_MISO_PIN 3 #define DRV8301_SCK_GPIO GPIOC #define DRV8301_SCK_PIN 10 #define DRV8301_CS_GPIO GPIOC #define DRV8301_CS_PIN 9 #endif // MPU9250 #if !defined(HW60_IS_MK4) && !defined(HW60_IS_MK5) #define MPU9X50_SDA_GPIO GPIOB #define MPU9X50_SDA_PIN 2 #define MPU9X50_SCL_GPIO GPIOA #define MPU9X50_SCL_PIN 15 #define IMU_FLIP #else #define BMI160_SDA_GPIO GPIOB #define BMI160_SDA_PIN 2 #define BMI160_SCL_GPIO GPIOA #define BMI160_SCL_PIN 15 #define IMU_FLIP #define IMU_ROT_180 #endif #if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) // NRF SWD #define NRF5x_SWDIO_GPIO GPIOB #define NRF5x_SWDIO_PIN 12 #define NRF5x_SWCLK_GPIO GPIOA #define NRF5x_SWCLK_PIN 4 #endif // 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) // Default setting overrides #ifndef MCCONF_DEFAULT_MOTOR_TYPE #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #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 // Setting limits #define HW_LIM_CURRENT -120.0, 120.0 #define HW_LIM_CURRENT_IN -120.0, 120.0 #define HW_LIM_CURRENT_ABS 0.0, 160.0 #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, 0.99 #define HW_LIM_TEMP_FET -40.0, 110.0 // Functions #if defined(HW60_IS_MK3) || defined(HW60_IS_MK4) || defined(HW60_IS_MK5) bool hw_sample_shutdown_button(void); #endif #endif /* HW_60_H_ */