/* Copyright 2017 - 2021 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 CONF_GENERAL_H_ #define CONF_GENERAL_H_ // Firmware version #define FW_VERSION_MAJOR 5 #define FW_VERSION_MINOR 03 // Set to 0 for building a release and iterate during beta test builds #define FW_TEST_VERSION_NUMBER 44 #include "datatypes.h" // Settings and parameters to override //#define VIN_R1 33000.0 //#define VIN_R1 39200.0 //#define VIN_R2 2200.0 //#define CURRENT_AMP_GAIN 10.0 //#define CURRENT_SHUNT_RES 0.005 //#define WS2811_ENABLE 1 //#define WS2811_TEST 1 //#define CURR1_DOUBLE_SAMPLE 0 //#define CURR2_DOUBLE_SAMPLE 0 //#define AS5047_USE_HW_SPI_PINS 1 // Disable hardware limits on configuration parameters //#define DISABLE_HW_LIMITS /* * Select only one hardware version, if it is not passed * as an argument. */ #if !defined(HW_SOURCE) && !defined(HW_HEADER) //#define HW_SOURCE "hw_40.c" //#define HW_HEADER "hw_40.h" //#define HW_SOURCE "hw_45.c" //#define HW_HEADER "hw_45.h" //#define HW_SOURCE "hw_46.c" // Also for 4.7 //#define HW_HEADER "hw_46.h" // Also for 4.7 //#define HW_SOURCE "hw_48.c" //#define HW_HEADER "hw_48.h" //#define HW_SOURCE "hw_49.c" //#define HW_HEADER "hw_49.h" //#define HW_SOURCE "hw_410.c" // Also for 4.11 and 4.12 //#define HW_HEADER "hw_410.h" // Also for 4.11 and 4.12 //#define HW_SOURCE "hw_gesc.c" //#define HW_HEADER "hw_gesc.h" // Mark3 version of HW60 with power switch and separate NRF UART. //#define HW60_IS_MK3 //#define HW60_IS_MK4 #define HW60_IS_MK5 #define HW_SOURCE "hw_60.c" #define HW_HEADER "hw_60.h" //#define HW_SOURCE "hw_r2.c" //#define HW_HEADER "hw_r2.h" //#define HW_SOURCE "hw_victor_r1a.c" //#define HW_HEADER "hw_victor_r1a.h" //#define HW_SOURCE "hw_das_rs.c" //#define HW_HEADER "hw_das_rs.h" //#define HW_SOURCE "hw_axiom.c" //#define HW_HEADER "hw_axiom.h" //#define HW_SOURCE "hw_luna_bbshd.c" //#define HW_HEADER "hw_luna_bbshd.h" //#define HW_SOURCE "hw_rh.c" //#define HW_HEADER "hw_rh.h" //#define HW_SOURCE "hw_tp.c" //#define HW_HEADER "hw_tp.h" // Benjamins first HW75_300 PCB with different LED pins and motor temp error //#define HW75_300_VEDDER_FIRST_PCB // Second revision with separate UART for NRF51 //#define HW75_300_REV_2 #define HW75_300_REV_3 //#define HW_SOURCE "hw_75_300.c" //#define HW_HEADER "hw_75_300.h" //#define HW_SOURCE "hw_mini4.c" //#define HW_HEADER "hw_mini4.h" //#define HW_SOURCE "hw_das_mini.c" //#define HW_HEADER "hw_das_mini.h" //#define HW_SOURCE "hw_uavc_qcube.c" //#define HW_HEADER "hw_uavc_qcube.h" //#define HW_SOURCE "hw_uavc_omega.c" //#define HW_HEADER "hw_uavc_omega.h" //#define HW_SOURCE "hw_hd60.c" //#define HW_HEADER "hw_hd60.h" //#define HW_SOURCE "hw_hd75.c" //#define HW_HEADER "hw_hd75.h" //#define HW_SOURCE "hw_a200s_v2.c" //#define HW_HEADER "hw_a200s_v2.h" //#define HW_SOURCE "hw_rd2.c" //#define HW_HEADER "hw_rd2.h" //#define HW_SOURCE "hw_100_250.c" //#define HW_HEADER "hw_100_250.h" //#define HW_SOURCE "hw_unity.c" //#define HW_HEADER "hw_unity.h" //#define HW_SOURCE "hw_uxv_sr.c" //#define HW_HEADER "hw_uxv_sr.h" //#define HW_DUAL_CONFIG_PARALLEL //#define HW_VER_IS_100D_V2 //#define HW_SOURCE "hw_stormcore_100d.c" //#define HW_HEADER "hw_stormcore_100d.h" //#define HW_VER_IS_60D_PLUS //#define HW_SOURCE "hw_stormcore_60d.c" //#define HW_HEADER "hw_stormcore_60d.h" //#define HW_SOURCE "hw_stormcore_100s.c" //#define HW_HEADER "hw_stormcore_100s.h" //#define HW_SOURCE "hw_Cheap_FOCer_2.c" //#define HW_HEADER "hw_Cheap_FOCer_2.h" //#define HW_SOURCE "hw_140_300.c" //#define HW_HEADER "hw_140_300.h" //#define HW_SOURCE "hw_es19.c" //#define HW_HEADER "hw_es19.h" //#define HW_SOURCE "hw_Little_FOCer.c" //#define HW_HEADER "hw_Little_FOCer.h" //#define HW_SOURCE "hw_100_500.c" //#define HW_HEADER "hw_100_500.h" #endif #ifndef HW_SOURCE #error "No hardware source file set" #endif #ifndef HW_HEADER #error "No hardware header file set" #endif #ifdef USER_MC_CONF #include USER_MC_CONF #endif #ifdef USER_APP_CONF #include USER_APP_CONF #endif // This is how to provide a custom UI in VESC Tool. The UI can be created and tested in the // scripting page, then the source files can be exported. The defines below use the exported // files to provide the custom UI when VESC Tool connects. // // The intention if the HW gui is to be part of the HW-file and the app gui is for custom apps. // Both can be used at the same time. // // Defining QMLUI_HW_FULLSCREEN and/or QMLUI_APP_FULLSCREEN will disable the other pages in the // mobile version of VESC Tool. // //#define QMLUI_SOURCE_HW "qmlui/hw/qmlui_example_hw.c" //#define QMLUI_HEADER_HW "qmlui/hw/qmlui_example_hw.h" //#define QMLUI_HW_FULLSCREEN // //#define QMLUI_SOURCE_APP "qmlui/app/qmlui_example_app.c" //#define QMLUI_HEADER_APP "qmlui/app/qmlui_example_app.h" //#define QMLUI_APP_FULLSCREEN /* * Select default user motor configuration */ //#include "mcconf_default.h" //#include "mcconf_china_60kv.h" /* * Select default user app configuration */ //#include "appconf_example_ppm.h" //#include "appconf_custom.h" /* * Set APP_CUSTOM_TO_USE to the name of the main C file of the custom application. */ //#define APP_CUSTOM_TO_USE "app_custom_template.c" //#define APP_CUSTOM_TO_USE "app_motor_heater.c" //#include "er/app_erockit_conf_v2.h" //#include "finn/app_finn_az_conf.h" //#include "vccu/app_vccu_conf.h" //#include "pitch/app_pitch_conf.h" // CAN-plotter //#define APP_CUSTOM_TO_USE "app_plot_can.c" //#define APPCONF_APP_TO_USE APP_CUSTOM //#define APPCONF_CAN_BAUD_RATE CAN_BAUD_75K #include "hw.h" #include "mcconf_default.h" #include "appconf_default.h" /* * Enable blackmagic probe output on SWD port */ #ifndef HAS_BLACKMAGIC #define HAS_BLACKMAGIC 1 #endif /* * Enable CAN-bus */ #ifndef CAN_ENABLE #define CAN_ENABLE 1 #endif #ifdef HW_HAS_NO_CAN #undef CAN_ENABLE #define CAN_ENABLE 0 #endif /* * Settings for the external LEDs (hardcoded for now) */ #define LED_EXT_BATT_LOW 28.0 #define LED_EXT_BATT_HIGH 33.0 /* * Servo output driver */ #define SERVO_OUT_PULSE_MIN_US 1000 // Minimum pulse length in microseconds #define SERVO_OUT_PULSE_MAX_US 2000 // Maximum pulse length in microseconds #define SERVO_OUT_RATE_HZ 50 // Update rate in Hz // Correction factor for computations that depend on the old resistor division factor #define VDIV_CORR ((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0))) // Current ADC to amperes factor #define FAC_CURRENT ((V_REG / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN)) #define VOLTAGE_TO_ADC_FACTOR ( VIN_R2 / (VIN_R2 + VIN_R1) ) * ( 4096.0 / V_REG ) // Actual voltage on 3.3V net based on internal reference //#define V_REG (1.21 / ((float)ADC_Value[ADC_IND_VREFINT] / 4095.0)) //#define V_REG 3.3 // Use the pins for the hardware SPI port instead of the hall/encoder pins for the AS5047 #ifndef AS5047_USE_HW_SPI_PINS #define AS5047_USE_HW_SPI_PINS 0 #endif #ifndef AD2S1205_USE_HW_SPI_PINS #define AD2S1205_USE_HW_SPI_PINS 0 #endif #ifndef MT6816_USE_HW_SPI_PINS #define MT6816_USE_HW_SPI_PINS 0 #endif /* * MCU */ #define SYSTEM_CORE_CLOCK 168000000 #define STM32_UUID ((uint32_t*)0x1FFF7A10) #define STM32_UUID_8 ((uint8_t*)0x1FFF7A10) /* * Run the BLDC speed controller in current mode instead of duty cycle mode. This will * make it behave like the FOC speed controller. The duty cycle mode has the advantage * that it does not require the extra current controller since bldc inherently runs * with duty cycle control. The current controller also outputs a duty cycle in the * end, and then the speed controller might as well do the same without the current * controller dynamics in between. FOC on the other hand is inherently based on current * control. */ #define BLDC_SPEED_CONTROL_CURRENT 1 /* * Run the FOC loop once every N ADC ISR requests. This way the pwm frequency is * detached from the FOC calculation, which because it takes ~25usec it can't work * at >40khz. To set a 100kHz pwm FOC_CONTROL_LOOP_FREQ_DIVIDER can be set at 3 * so it skips 2 ISR calls and execute the control loop in the 3rd call. */ #ifndef FOC_CONTROL_LOOP_FREQ_DIVIDER #define FOC_CONTROL_LOOP_FREQ_DIVIDER 1 #endif // Global configuration variables extern bool conf_general_permanent_nrf_found; extern volatile backup_data g_backup; // Functions void conf_general_init(void); bool conf_general_store_backup_data(void); bool conf_general_read_eeprom_var_hw(eeprom_var *v, int address); bool conf_general_read_eeprom_var_custom(eeprom_var *v, int address); bool conf_general_store_eeprom_var_hw(eeprom_var *v, int address); bool conf_general_store_eeprom_var_custom(eeprom_var *v, int address); void conf_general_read_app_configuration(app_configuration *conf); bool conf_general_store_app_configuration(app_configuration *conf); void conf_general_read_mc_configuration(mc_configuration *conf, bool is_motor_2); bool conf_general_store_mc_configuration(mc_configuration *conf, bool is_motor_2); bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty, float *int_limit, float *bemf_coupling_k, int8_t *hall_table, int *hall_res); bool conf_general_measure_flux_linkage(float current, float duty, float min_erpm, float res, float *linkage); uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq); bool conf_general_measure_flux_linkage_openloop(float current, float duty, float erpm_per_sec, float res, float ind, float *linkage, float *linkage_undriven, float *undriven_samples); int conf_general_autodetect_apply_sensors_foc(float current, bool store_mcconf_on_success, bool send_mcconf_on_success); void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float tc); int conf_general_detect_apply_all_foc(float max_power_loss, bool store_mcconf_on_success, bool send_mcconf_on_success); int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss, float min_current_in, float max_current_in, float openloop_rpm, float sl_erpm); #endif /* CONF_GENERAL_H_ */