/* Copyright 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_ES19_H_ #define HW_ES19_H_ #define HW_NAME "ES19" #include "si8900.h" // HW properties #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_SHUNTS #define HW_HAS_PHASE_FILTERS #define HW_HAS_SI8900 // Macros #define LED_GREEN_GPIO GPIOE #define LED_GREEN_PIN 8 #define LED_RED_GPIO GPIOE #define LED_RED_PIN 9 #define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN) #define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN) #define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN) #define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN) #define PHASE_FILTER_GPIO GPIOD #define PHASE_FILTER_PIN 4 #define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN) #define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN) #define CURRENT_FILTER_ON() palSetPad(GPIOD, 2); palSetPad(GPIOD, 3) #define CURRENT_FILTER_OFF() palClearPad(GPIOD, 2); palClearPad(GPIOD, 3) /* * ADC Vector * * 0 (1): IN0 SENS1 * 1 (2): IN1 SENS2 * 2 (3): IN2 SENS3 * 3 (1): IN10 CURR1 * 4 (2): IN11 CURR2 * 5 (3): IN12 CURR3 * 6 (1): IN5 ADC_EXT1 * 7 (2): IN6 ADC_EXT2 * 8 (3): IN3 TEMP_MOS * 9 (1): IN14 TEMP_MOTOR * 10 (2): IN15 ADC_EXT3 * 11 (3): IN13 AN_IN * 12 (1): Vrefint * 13 (2): IN0 SENS1 * 14 (3): IN1 SENS2 * 15 (1): IN8 TEMP_MOS_2 * 16 (2): IN9 TEMP_MOS_3 * 17 (3): IN3 SENS3 */ #define HW_ADC_CHANNELS 18 #define HW_ADC_INJ_CHANNELS 3 #define HW_ADC_NBR_CONV 6 // 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_EXT3 10 #define ADC_IND_TEMP_MOS 8 #define ADC_IND_TEMP_MOS_2 15 #define ADC_IND_TEMP_MOS_3 16 #define ADC_IND_TEMP_MOTOR 9 #define ADC_IND_VREFINT 12 // -------- Current sensor test #if 1 #undef ADC_IND_CURR1 #undef ADC_IND_CURR2 #undef ADC_IND_CURR3 #undef CURRENT_FILTER_ON #undef CURRENT_FILTER_OFF #define ADC_IND_CURR1 6 #define ADC_IND_CURR2 7 #define ADC_IND_CURR3 10 #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 (499e3 * 6.0) #endif #ifndef VIN_R2 #define VIN_R2 0.94737e3 // Take the 18k single-ended input impedance of the AMC1301 into account. TODO: Double-check this #endif #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN (1.5 / 1000.0) #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES 1.0 #endif // Voltage on ADC channel #define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG) #define ADC_VOLTS_PH_FACTOR ((1.0 / 8.2) * (10.0 / 15.0)) // AMC1301 gain + diff amp gain #define ADC_VOLTS_INPUT_FACTOR ADC_VOLTS_PH_FACTOR // Input voltage #define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2) * ADC_VOLTS_INPUT_FACTOR) // NTC Termistors #define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0) #define NTC_RES_REL(adc_val) (10000.0 / (1.0 / adc_val - 1.0)) #define NTC_TEMP(adc_ind) hw_es19_get_temp() #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) #define NTC_TEMP_MOS1() (1.0 / ((logf(NTC_RES_REL(si8900_get_val_rel(0)) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15) #define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES_REL(si8900_get_val_rel(1)) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15) #define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES_REL(si8900_get_val_rel(2)) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15) // 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 // UART for SI8900 #define HW_SI8900_DEV SD4 #define HW_SI8900_GPIO_AF GPIO_AF_UART4 #define HW_SI8900_TX_PORT GPIOC #define HW_SI8900_TX_PIN 10 #define HW_SI8900_RX_PORT GPIOC #define HW_SI8900_RX_PIN 11 // ICU Peripheral for servo decoding #define HW_USE_SERVO_TIM4 #define HW_ICU_TIMER TIM9 #define HW_ICU_TIM_CLK_EN() RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE) #define HW_ICU_DEV ICUD9 #define HW_ICU_CHANNEL ICU_CHANNEL_1 #define HW_ICU_GPIO_AF GPIO_AF_TIM9 #define HW_ICU_GPIO GPIOE #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 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 // BMI160 #define BMI160_SDA_GPIO GPIOE #define BMI160_SDA_PIN 14 #define BMI160_SCL_GPIO GPIOE #define BMI160_SCL_PIN 15 #define IMU_FLIP // 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_NSEC 1000.0 // Default setting overrides #ifndef MCCONF_L_MIN_VOLTAGE #define MCCONF_L_MIN_VOLTAGE 0.0 // Minimum input voltage #endif #ifndef MCCONF_L_MAX_VOLTAGE #define MCCONF_L_MAX_VOLTAGE 600.0 // Maximum input voltage #endif #ifndef MCCONF_DEFAULT_MOTOR_TYPE #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #endif #ifndef MCCONF_FOC_F_ZV #define MCCONF_FOC_F_ZV 30000.0 #endif #ifndef MCCONF_L_MAX_ABS_CURRENT #define MCCONF_L_MAX_ABS_CURRENT 700.0 // 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 #ifndef MCCONF_L_IN_CURRENT_MAX #define MCCONF_L_IN_CURRENT_MAX 250.0 // Input current limit in Amperes (Upper) #endif #ifndef MCCONF_L_IN_CURRENT_MIN #define MCCONF_L_IN_CURRENT_MIN -200.0 // Input current limit in Amperes (Lower) #endif // Setting limits #define HW_LIM_CURRENT -400.0, 400.0 #define HW_LIM_CURRENT_IN -400.0, 400.0 #define HW_LIM_CURRENT_ABS 0.0, 480.0 #define HW_LIM_VIN 0.0, 620.0 #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 // HW-specific functions float hw_es19_get_temp(void); #endif /* HW_ES19_H_ */