/* Copyright 2017 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 . */ #ifndef HW_RH_H_ #define HW_RH_H_ #define HW_NAME "rh" // HW properties #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_SHUNTS #define HW_HAS_DRV8305 #define HW_USE_INTERNAL_RC // Macros #define ENABLE_GATE() palSetPad(GPIOG, 6) #define DISABLE_GATE() palClearPad(GPIOG, 6) #define DCCAL_ON() #define DCCAL_OFF() #define IS_DRV_FAULT() (!palReadPad(GPIOF, 14)) #define LED_GREEN_ON() palClearPad(GPIOE, 12) #define LED_GREEN_OFF() palSetPad(GPIOE, 12) #define LED_RED_ON() palClearPad(GPIOE, 10) #define LED_RED_OFF() palSetPad(GPIOE, 10) /* * ADC Vector * * 0: IN3 SENS1 * 1: IN1 SENS2 * 2: IN2 SENS3 * 3: IN10 CURR1 * 4: IN11 CURR2 * 5: IN12 CURR3 * 6: VREFINT VREFINT * 7: IN13 AN_IN * 8: IN0 NC * 9: IN8 NC * 10: IN9 PWRGD * 11: IN14 EXT */ #define HW_ADC_CHANNELS 12 #define HW_ADC_INJ_CHANNELS 2 #define HW_ADC_NBR_CONV 4 // 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 7 #define ADC_IND_EXT 11 #define ADC_IND_EXT2 11 #define ADC_IND_TEMP_MOS 9 #define ADC_IND_TEMP_MOTOR 9 #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 68000.0 #endif #ifndef VIN_R2 #define VIN_R2 6800.0 #endif #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN 20.0 #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES 0.01 #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) ((4095.0 * 10000.0) / adc_val - 10000.0) #define NTC_TEMP(adc_ind) 0.0 #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) 0.0 // 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 // COMM-port ADC GPIOs #define HW_ADC_EXT_GPIO GPIOC #define HW_ADC_EXT_PIN 4 // UART Peripheral #define HW_UART_DEV SD6 #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_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 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 DRV8305 #define DRV8305_MOSI_GPIO GPIOC #define DRV8305_MOSI_PIN 12 #define DRV8305_MISO_GPIO GPIOC #define DRV8305_MISO_PIN 11 #define DRV8305_SCK_GPIO GPIOC #define DRV8305_SCK_PIN 10 #define DRV8305_CS_GPIO GPIOD #define DRV8305_CS_PIN 8 // 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) // Setting limits TODO! #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, 0.95 #define HW_LIM_TEMP_FET -40.0, 110.0 // Default motor configuration values for this HW #ifndef MCCONF_DEFAULT_MOTOR_TYPE #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #endif #ifndef MCCONF_L_CURRENT_MAX #define MCCONF_L_CURRENT_MAX 2.0 // Current limit in Amperes (Upper) #endif #ifndef MCCONF_L_CURRENT_MIN #define MCCONF_L_CURRENT_MIN -2.0 // Current limit in Amperes (Lower) #endif #ifndef MCCONF_L_IN_CURRENT_MAX #define MCCONF_L_IN_CURRENT_MAX 2.0 // Input current limit in Amperes (Upper) #endif #ifndef MCCONF_L_IN_CURRENT_MIN #define MCCONF_L_IN_CURRENT_MIN -2.0 // Input current limit in Amperes (Lower) #endif #ifndef MCCONF_L_MAX_ABS_CURRENT #define MCCONF_L_MAX_ABS_CURRENT 10.0 // The maximum absolute current above which a fault is generated #endif #ifndef MCCONF_CC_MIN_CURRENT #define MCCONF_CC_MIN_CURRENT 0.01 // Minimum allowed current #endif #endif /* HW_RH_H_ */