/* Copyright 2016 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_STORMCORE_100D_H_ #define HW_STORMCORE_100D_H_ #ifdef HW_DUAL_CONFIG_PARALLEL #define HW_HAS_DUAL_PARALLEL #else #define HW_HAS_DUAL_MOTORS #endif #ifdef HW_HAS_DUAL_PARALLEL #define HW_NAME "STORMCORE_100D_PARALLEL" #elif defined(HW_VER_IS_100D_V2) #define HW_NAME "STORMCORE_100D_V2" #elif defined(HW_VER_IS_100DX) #define HW_NAME "STORMCORE_100DX" #define INVERTED_SHUNT_POLARITY #define HW_DEAD_TIME_NSEC 600.0 // Dead time #else #define HW_NAME "STORMCORE_100D" #endif #ifndef HW_VER_IS_100DX #include "drv8323s.h" // HW properties #define HW_HAS_DRV8323S // for idrive do 0x073b for reg 4 (LS) and 0x034b for reg 3 (HS) #define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \ drv8323s_write_reg(3,0x3af); \ drv8323s_write_reg(4,0x7af); #endif #define HW_HAS_3_SHUNTS //Switch Pins #define HW_HAS_STORMCORE_SWITCH #define HW_HAS_RGB_SWITCH #define SWITCH_IN_GPIO GPIOA #define SWITCH_IN_PIN 15 #define SWITCH_OUT_GPIO GPIOB #define SWITCH_OUT_PIN 13 #define SWITCH_PRECHARGED_GPIO GPIOE #define SWITCH_PRECHARGED_PIN 2 #define SWITCH_LED_3_GPIO GPIOD #define SWITCH_LED_3_PIN 11 #define SWITCH_LED_2_GPIO GPIOD #define SWITCH_LED_2_PIN 10 #define SWITCH_LED_1_GPIO GPIOD #define SWITCH_LED_1_PIN 15 #define LED_PWM1_ON() palClearPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN) #define LED_PWM1_OFF() palSetPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN) #define LED_PWM2_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN) #define LED_PWM2_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN) #define LED_PWM3_ON() palClearPad(SWITCH_LED_3_GPIO, SWITCH_LED_3_PIN) #define LED_PWM3_OFF() palSetPad(SWITCH_LED_3_GPIO, SWITCH_LED_3_PIN) #define SMART_SWITCH_MSECS_PRESSED_OFF 2000 #if defined(HW_VER_IS_100D_V2) || defined(HW_VER_IS_100DX) #define HW_HAS_PHASE_FILTERS #define PHASE_FILTER_GPIO GPIOE #define PHASE_FILTER_PIN 4 #define PHASE_FILTER_GPIO_M2 GPIOE #define PHASE_FILTER_PIN_M2 1 #define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN) #define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN) #define PHASE_FILTER_ON_M2() palSetPad(PHASE_FILTER_GPIO_M2, PHASE_FILTER_PIN_M2) #define PHASE_FILTER_OFF_M2() palClearPad(PHASE_FILTER_GPIO_M2, PHASE_FILTER_PIN_M2) #endif #define HW_SHUTDOWN_HOLD_ON(); #define HW_SAMPLE_SHUTDOWN() 1 #define HW_SHUTDOWN_HOLD_OFF() palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN); \ palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN); #define DCCAL_ON() //drv8323s_dccal_on() #define DCCAL_OFF() //drv8323s_dccal_off() #define HW_EARLY_INIT() smart_switch_pin_init(); \ smart_switch_thread_start(); //Pins for BLE UART //#define USE_ALT_UART_PORT #define HW_UART_P_BAUD 115200 #define HW_UART_P_DEV SD1 #define HW_UART_P_GPIO_AF GPIO_AF_USART1 #define HW_UART_P_TX_PORT GPIOA #define HW_UART_P_TX_PIN 9 #define HW_UART_P_RX_PORT GPIOA #define HW_UART_P_RX_PIN 10 #ifdef HW_VER_IS_100D_V2 //Pins for Third UART #define HW_UART_3_BAUD 115200 #define HW_UART_3_DEV SD2 #define HW_UART_3_GPIO_AF GPIO_AF_USART2 #define HW_UART_3_TX_PORT GPIOD #define HW_UART_3_TX_PIN 6 #define HW_UART_3_RX_PORT GPIOD #define HW_UART_3_RX_PIN 5 #endif // SPI for DRV8301 #define DRV8323S_MOSI_GPIO GPIOC #define DRV8323S_MOSI_PIN 12 #define DRV8323S_MISO_GPIO GPIOC #define DRV8323S_MISO_PIN 11 #define DRV8323S_SCK_GPIO GPIOC #define DRV8323S_SCK_PIN 10 #define DRV8323S_CS_GPIO GPIOC #define DRV8323S_CS_PIN 13 #define DRV8323S_CS_GPIO2 GPIOD #define DRV8323S_CS_PIN2 2 #define DRV8323S_CS_GPIO3 GPIOE #define DRV8323S_CS_PIN3 15 // Macros #define ENABLE_GATE() palSetPad(GPIOE, 14); palSetPad(GPIOD, 4); #define DISABLE_GATE() palClearPad(GPIOE, 14); palClearPad(GPIOD, 4); #define ADC_SW_EN_PORT GPIOB #define ADC_SW_EN_PIN 12 #define ADC_SW_1_PORT GPIOD #define ADC_SW_1_PIN 7 #define ADC_SW_2_PORT GPIOB #define ADC_SW_2_PIN 3 #define ADC_SW_3_PORT GPIOE #define ADC_SW_3_PIN 7 #define AD_DIS() palSetPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN ) #define AD1_L() palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN ) #define AD1_H() palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN ) #define AD2_L() palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN ) #define AD2_H() palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN ) #define AD3_L() palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN ) #define AD3_H() palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN ) #define AD_EN() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN ) #define ENABLE_MOS_TEMP1() AD_DIS(); AD3_L(); AD2_L(); AD1_L(); AD_EN(); #define ENABLE_MOS_TEMP2() AD_DIS(); AD3_L(); AD2_L(); AD1_H(); AD_EN(); #define ENABLE_MOT_TEMP1() AD_DIS(); AD3_L(); AD2_H(); AD1_L(); AD_EN(); #define ENABLE_MOT_TEMP2() AD_DIS(); AD3_L(); AD2_H(); AD1_H(); AD_EN(); #define ENABLE_ADC_EXT_2() AD_DIS(); AD3_H(); AD2_L(); AD1_L(); AD_EN(); #define ENABLE_ADC_EXT_1() AD_DIS(); AD3_H(); AD2_L(); AD1_H(); AD_EN(); #define ENABLE_ADC_EXT_3() AD_DIS(); AD3_H(); AD2_H(); AD1_L(); AD_EN(); #define ENABLE_V_BATT_DIV() AD_DIS(); AD3_H(); AD2_H(); AD1_H(); AD_EN(); #define IS_DRV_FAULT() (!palReadPad(GPIOE, 3)) #define IS_DRV_FAULT2() (!palReadPad(GPIOD, 3)) #define LED_GREEN_ON() palSetPad(GPIOC, 9);// palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN); #define LED_GREEN_OFF() palClearPad(GPIOC, 9);// palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN); #define LED_RED_ON() palSetPad(GPIOA, 8); //palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN); #define LED_RED_OFF() palClearPad(GPIOA, 8); //palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN); #define LED_SWITCH_R_ON() palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN) #define LED_SWITCH_R_OFF() palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN) #define LED_SWITCH_G_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN) #define LED_SWITCH_G_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN) #define LED_SWITCH_B_ON() palClearPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN) #define LED_SWITCH_B_OFF() palSetPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN) /* * ADC Vector * * 0: IN0 CURR3 * 1: IN15 CURR4 * 2: IN3 SERVO2/ADC * 3: IN9 CURR1 * 4: IN8 CURR2 * 5: IN10 AN_IN * 6: IN0 SENS2 * 7: IN1 SENS3 * 8: IN2 SENS1 * 9: IN5 ADC_EXT * 10: IN4 ADC_TEMP * 11: IN13 SENS4 * 12: Vrefint * 13: IN11 SENS6 * 14: IN12 SENS5 * 15: IN6 ADC_EXT2 */ #define HW_ADC_CHANNELS 15 #define HW_ADC_CHANNELS_EXTRA 15 #define HW_ADC_INJ_CHANNELS 2 #define HW_ADC_NBR_CONV 5 // ADC Indexes #define ADC_IND_CURR1 0 #define ADC_IND_CURR2 1 #define ADC_IND_VIN_SENS 2 #define ADC_IND_CURR3 3 #define ADC_IND_CURR4 4 #define ADC_IND_VM_SENSE 5 #define ADC_IND_CURR6 6 #define ADC_IND_CURR5 7 #define ADC_IND_SENS4 8 #define ADC_IND_ADC_MUX 9 #define ADC_IND_SENS5 10 #define ADC_IND_SENS6 11 #define ADC_IND_SENS2 12 #define ADC_IND_SENS3 13 #define ADC_IND_SENS1 14 #define ADC_IND_TEMP_MOS 15 #define ADC_IND_TEMP_MOS_M2 16 #define ADC_IND_TEMP_MOTOR 17 #define ADC_IND_TEMP_MOTOR_2 18 #define ADC_IND_EXT 19 #define ADC_IND_EXT2 20 #define ADC_IND_EXT3 21 #define ADC_IND_V_BATT 22 // 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 2200.0 #endif #if defined(HW_VER_IS_100D_V2) || defined(HW_VER_IS_100DX) #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN 20.0 #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES 0.0005 #endif #else #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN 10.0 #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES 0.001 #endif #endif #define VBATT_R1 360000.0 #define VBATT_R2 10000.0 // Input voltage #define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2)) #define GET_BATT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_V_BATT] * ((VBATT_R1 + VBATT_R2) / VBATT_R2)) #define GET_VM_SENSE_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VM_SENSE] * ((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) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side // High side ->((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) #define NTC_TEMP_MOTOR_2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) / 10000.0) / beta) + (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 // Number of servo outputs #define HW_SERVO_NUM 2 // 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 // ICU Peripheral for servo decoding #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 GPIOD #define HW_HALL_ENC_PIN1 13 #define HW_HALL_ENC_GPIO2 GPIOD #define HW_HALL_ENC_PIN2 12 #define HW_HALL_ENC_GPIO3 GPIOD #define HW_HALL_ENC_PIN3 14 #define HW_ENC_TIM TIM4 #define HW_ENC_TIM_AF GPIO_AF_TIM4 #define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE) #define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOD #define HW_ENC_EXTI_PINSRC EXTI_PinSource14 #define HW_ENC_EXTI_CH EXTI15_10_IRQn #define HW_ENC_EXTI_LINE EXTI_Line14 #define HW_ENC_EXTI_ISR_VEC EXTI15_10_IRQHandler #define HW_ENC_TIM_ISR_CH TIM4_IRQn #define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler #define HW_HALL_ENC_GPIO4 GPIOB #define HW_HALL_ENC_PIN4 4 #define HW_HALL_ENC_GPIO5 GPIOB #define HW_HALL_ENC_PIN5 6 #define HW_HALL_ENC_GPIO6 GPIOB #define HW_HALL_ENC_PIN6 7 #define HW_ENC_TIM2 TIM3 #define HW_ENC_TIM_AF2 GPIO_AF_TIM3 #define HW_ENC_TIM_CLK_EN2() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE) #define HW_ENC_EXTI_PORTSRC2 EXTI_PortSourceGPIOB #define HW_ENC_EXTI_PINSRC2 EXTI_PinSource7 #define HW_ENC_EXTI_CH2 EXTI9_5_IRQn #define HW_ENC_EXTI_LINE2 EXTI_Line6 #define HW_ENC_EXTI_ISR_VEC2 EXTI9_5_IRQHandler #define HW_ENC_TIM_ISR_CH2 TIM3_IRQn #define HW_ENC_TIM_ISR_VEC2 TIM3_IRQHandler // NRF pins // NRF pins #define NRF_PORT_CSN GPIOD #define NRF_PIN_CSN 3 #define NRF_PORT_SCK GPIOD #define NRF_PIN_SCK 2 #define NRF_PORT_MOSI GPIOD #define NRF_PIN_MOSI 11 #define NRF_PORT_MISO GPIOD #define NRF_PIN_MISO 10 // NRF SWD #if defined(HW_VER_IS_100D_V2) || defined(HW_VER_IS_100DX) #define NRF5x_SWDIO_GPIO GPIOD #define NRF5x_SWDIO_PIN 9 #define NRF5x_SWCLK_GPIO GPIOD #define NRF5x_SWCLK_PIN 8 #else #define NRF5x_SWDIO_GPIO GPIOD #define NRF5x_SWDIO_PIN 6 #define NRF5x_SWCLK_GPIO GPIOD #define NRF5x_SWCLK_PIN 5 #endif #ifndef MCCONF_DEFAULT_MOTOR_TYPE #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #endif // SPI pins #define HW_SPI_DEV SPID1 #define HW_SPI_GPIO_AF GPIO_AF_SPI1 #define HW_SPI_PORT_NSS GPIOB #define HW_SPI_PIN_NSS 11 #define HW_SPI_PORT_SCK GPIOA #define HW_SPI_PIN_SCK 5 #define HW_SPI_PORT_MOSI GPIOB #define HW_SPI_PIN_MOSI 5 #define HW_SPI_PORT_MISO GPIOA #define HW_SPI_PIN_MISO 6 // LSM6DS3 #define LSM6DS3_SDA_GPIO GPIOB #define LSM6DS3_SDA_PIN 9 #define LSM6DS3_SCL_GPIO GPIOB #define LSM6DS3_SCL_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_L4 ADC_Value[ADC_IND_SENS4] #define ADC_V_L5 ADC_Value[ADC_IND_SENS5] #define ADC_V_L6 ADC_Value[ADC_IND_SENS6] #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) #define READ_HALL1_2() palReadPad(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4) #define READ_HALL2_2() palReadPad(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5) #define READ_HALL3_2() palReadPad(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6) //CAN #define HW_CANRX_PORT GPIOD #define HW_CANRX_PIN 0 #define HW_CANTX_PORT GPIOD #define HW_CANTX_PIN 1 #ifndef MCCONF_L_MAX_VOLTAGE #define MCCONF_L_MAX_VOLTAGE 92.0 #endif #ifndef MCCONF_M_DRV8301_OC_ADJ #define MCCONF_M_DRV8301_OC_ADJ 14 #endif #ifndef MCCONF_L_DUTY_START #define MCCONF_L_DUTY_START 0.9 // Start limiting current at this duty cycle #endif // Setting limits #ifdef HW_HAS_DUAL_PARALLEL #define HW_LIM_CURRENT -300.0, 300.0 #define HW_LIM_CURRENT_ABS 0.0, 400.0 #ifndef MCCONF_L_MAX_ABS_CURRENT #define MCCONF_L_MAX_ABS_CURRENT 400.0 // The maximum absolute current above which a fault is generated #endif #else #define HW_LIM_CURRENT -150.0, 150.0 #define HW_LIM_CURRENT_ABS 0.0, 200.0 #ifndef MCCONF_L_MAX_ABS_CURRENT #define MCCONF_L_MAX_ABS_CURRENT 200.0 // The maximum absolute current above which a fault is generated #endif #endif #define HW_LIM_CURRENT_IN -100.0, 100.0 #define HW_LIM_VIN 6.0, 94.0 #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, 120.0 // Functions void smart_switch_thread_start(void); void smart_switch_pin_init(void); bool smart_switch_is_pressed(void); void smart_switch_shut_down(void); void smart_switch_keep_on(void); #endif /* HW_STORMCORE_100D_H_ */