/* Copyright 2017 Benjamin Vedder benjamin@vedder.se Copyright 2019 Marcos Chaparro mchaparro@powerdesigns.ca For support, please contact www.powerdesigns.ca 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_AXIOM_H_ #define HW_AXIOM_H_ #define HW_NAME "AXIOM" //#define HW_AXIOM_USE_DAC //#define HW_AXIOM_USE_MOTOR_TEMP //#define HW_HAS_INPUT_CURRENT_SENSOR #define HW_USE_LINE_TO_LINE #define HW_AXIOM_FORCE_HIGH_CURRENT_MEASUREMENTS #define HW_VERSION_AXIOM // HW properties #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_SHUNTS #define HW_HAS_SIN_COS_ENCODER #define HW_HAS_GATE_DRIVER_SUPPLY_MONITOR // Macros #define ENABLE_GATE() palSetPad(GPIOC, 14) #define DISABLE_GATE() palClearPad(GPIOC, 14) #define DCCAL_ON() #define DCCAL_OFF() #define IS_DRV_FAULT() (!palReadPad(GPIOB, 12)) #define LED_GREEN_ON() palSetPad(GPIOB, 2) #define LED_GREEN_OFF() palClearPad(GPIOB, 2) #ifdef HW_PALTA_REV_B #define LED_RED_ON() palSetPad(GPIOB, 1) #define LED_RED_OFF() palClearPad(GPIOB, 1) #else #define LED_RED_ON() palSetPad(GPIOB, 11) #define LED_RED_OFF() palClearPad(GPIOB, 11) #endif /* * 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): IN8 ADC_IND_EXT2 * 7 (2): IN6 TEMP_IGBT_2 * 8 (3): IN3 TEMP_PCB * 9 (1): IN14 TEMP_MOTOR * 10 (2): IN15 ADC_IND_EXT * 11 (3): IN13 AN_IN * 12 (1): IN9 V_GATE_DRIVER * 13 (2): IN4 TEMP_IGBT_1 * 14 (3) IN3 UNUSED * 15 (1): IN5 TEMP_IGBT_3 * 16 (2): VREFINT ADC_IND_VREFINT * 17 (3): VREFINT UNUSED */ #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_VOUT_GATE_DRV 12 #define ADC_IND_EXT 10 #define ADC_IND_EXT2 6 #define ADC_IND_TEMP_PCB 8 #define ADC_IND_TEMP_MOTOR 9 #define ADC_IND_TEMP_IGBT_1 13 #define ADC_IND_TEMP_IGBT_2 7 #define ADC_IND_TEMP_IGBT_3 15 #define ADC_IND_VREFINT 16 // When reading switch temperature, return the center IGBT temp // because it will be the hotter one. #define ADC_IND_TEMP_MOS ADC_IND_TEMP_IGBT_2 // ADC macros and settings #ifdef HW_PALTA_REV_B #define HVDC_TRANSFER_FUNCTION 112.15 //[V/V] #define PHASE_VOLTAGE_TRANSFER_FUNCTION 112.15 //[V/V] #else #define HVDC_TRANSFER_FUNCTION 185.0 //[V/V] #define PHASE_VOLTAGE_TRANSFER_FUNCTION 367.7 //[V/V] #endif #define DEFAULT_CURRENT_AMP_GAIN 0.003761 //Transfer Function [V/A] for ISB-425-A //#define DEFAULT_CURRENT_AMP_GAIN 0.001249 //Transfer Function [V/A] for HTFS 800-P //#define DEFAULT_CURRENT_AMP_GAIN 0.004994 //Transfer Function [V/A] for HASS 100-S //#define DEFAULT_CURRENT_AMP_GAIN 0.001249 //Transfer Function [V/A] for HASS 400-S //#define DEFAULT_CURRENT_AMP_GAIN 0.0008324 //Transfer Function [V/A] for HASS 600-S #define DEFAULT_INPUT_CURRENT_AMP_GAIN 0.004 //Transfer Function [V/A] for 4mv/A // Component parameters (can be overridden) #ifndef V_REG #define V_REG 3.3 #endif #ifndef VIN_R1 #define VIN_R1 (PHASE_VOLTAGE_TRANSFER_FUNCTION - 1.0) #endif #ifndef VIN_R2 #define VIN_R2 1.0 #endif #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN hw_axiom_get_current_sensor_gain() #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES 1.0 // Unity gain so we use a single transfer function defined as CURRENT_AMP_GAIN #endif #define HW_MAX_CURRENT_OFFSET 620 // More than this offset (0.5 Vdc) trips the offset fault (likely a sensor disconnected) #define MCCONF_MAX_CURRENT_UNBALANCE 130.0 // [Amp] More than this unbalance trips the fault (likely a sensor disconnected) #define MCCONF_MAX_CURRENT_UNBALANCE_RATE 0.3 // Fault if more than 30% of the time the motor is unbalanced // Input voltage #define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * (HVDC_TRANSFER_FUNCTION)) //Input current #define GET_INPUT_CURRENT() hw_axiom_read_input_current() #define GET_INPUT_CURRENT_OFFSET() hw_axiom_get_input_current_offset() #define MEASURE_INPUT_CURRENT_OFFSET() hw_axiom_start_input_current_sensor_offset_measurement() // NTC Termistors #define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0) #define NTC_RES_IGBT(adc_val) ((4095.0 * 5000.0) / adc_val - 5000.0) #define NTC_TEMP(adc_ind) hw_axiom_get_highest_IGBT_temp() //#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) ((4095.0 * 10000.0) / adc_val - 10000.0) // If DAC enabled, only IGBT_TEMP_3 is available #ifdef HW_AXIOM_USE_DAC #define NTC_TEMP_MOS1() (25.0) #define NTC_TEMP_MOS2() (25.0) #define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_3]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15) #else // Individual IGBT Temperature sensing #define NTC_TEMP_MOS1() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_1]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15) #define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_2]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15) #define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_3]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15) #endif #ifdef HW_AXIOM_USE_MOTOR_TEMP #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) #else #define NTC_TEMP_MOTOR(beta) 25.0 #endif // Voltage on ADC channel #define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG) // Sin/Cos Encoder signals #define ENCODER_SIN_VOLTS ADC_VOLTS(ADC_IND_EXT) #define ENCODER_COS_VOLTS ADC_VOLTS(ADC_IND_EXT2) #ifdef HW_PALTA_REV_B #define GET_GATE_DRIVER_SUPPLY_VOLTAGE() 15.0 #else // Gate driver power supply output voltage #define GET_GATE_DRIVER_SUPPLY_VOLTAGE() ((float)ADC_VOLTS(ADC_IND_VOUT_GATE_DRV) * 11.0) #endif #define ANGLE_TO_DAC_VALUE(angle) ( angle * 512.0 + 0x800 )//angle between -pi to pi // 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 GPIOC #define HW_ADC_EXT_PIN 5 #define HW_ADC_EXT2_GPIO GPIOB #define HW_ADC_EXT2_PIN 0 // 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 GPIOD #define HW_UART_RX_PIN 9 //Freeing B11 for fault LED. PD9 not available in LQFT64 package // 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 // Resolver interface pins #define AD2S1205_SAMPLE_GPIO GPIOB #define AD2S1205_SAMPLE_PIN 3 // 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 // 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 15 #define HW_SPI_PORT_SCK GPIOC #define HW_SPI_PIN_SCK 10 #define HW_SPI_PORT_MOSI GPIOC #define HW_SPI_PIN_MOSI 12 #define HW_SPI_PORT_MISO GPIOC #define HW_SPI_PIN_MISO 11 // Measurement macros #define ADC_V_L1 (ADC_Value[ADC_IND_SENS1]-2048) //phase voltages are centered in 1.65V #define ADC_V_L2 (ADC_Value[ADC_IND_SENS2]-2048) #define ADC_V_L3 (ADC_Value[ADC_IND_SENS3]-2048) #define ADC_V_ZERO 0 // 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 1400.0 #define HW_GATE_DRIVER_SUPPLY_MAX_VOLTAGE 16.0 #define HW_GATE_DRIVER_SUPPLY_MIN_VOLTAGE 14.0 // Default setting overrides #ifndef MCCONF_DEFAULT_MOTOR_TYPE #define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC #endif #ifndef MCCONF_FOC_SAMPLE_V0_V7 #define MCCONF_FOC_SAMPLE_V0_V7 true // Run control loop in both v0 and v7 (requires phase shunts) #endif #ifndef MCCONF_L_MAX_VOLTAGE #define MCCONF_L_MAX_VOLTAGE 0.0 // For safety the board will be held in fault until mc_conf is configured by the user #endif // Execute FOC loop once every "FOC_CONTROL_LOOP_FREQ_DIVIDER" ADC ISR calls #define FOC_CONTROL_LOOP_FREQ_DIVIDER 1 // Setting limits #define HW_LIM_CURRENT -425.0, 425.0 #define HW_LIM_CURRENT_IN -400.0, 400.0 #define HW_LIM_CURRENT_ABS 0.0, 400.0 #define HW_LIM_VIN 0.0, 420.0 #define HW_LIM_ERPM -100e3, 100e3 #define HW_LIM_DUTY_MIN 0.0, 0.1 #define HW_LIM_DUTY_MAX 0.0, 1.0 #define HW_LIM_TEMP_FET -40.0, 110.0 #define HW_LIM_FOC_CTRL_LOOP_FREQ 5000.0, 30000.0 //at around 38kHz the RTOS starts crashing (26us FOC ISR) // HW-specific functions char hw_axiom_configure_FPGA(void); void hw_axiom_DAC1_setdata(uint16_t data); void hw_axiom_DAC2_setdata(uint16_t data); float hw_axiom_get_current_sensor_gain(void); float hw_axiom_get_highest_IGBT_temp(void); float hw_axiom_read_input_current(void); void hw_axiom_get_input_current_offset(void); void hw_axiom_start_input_current_sensor_offset_measurement(void); #endif /* HW_AXIOM_H_ */