mirror of https://github.com/rusefi/bldc.git
316 lines
9.0 KiB
C
316 lines
9.0 KiB
C
/*
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Copyright 2018 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef HW_75_300_H_
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#define HW_75_300_H_
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#define HW_NAME "RD2"
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// HW properties
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#define HW_HAS_3_SHUNTS
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#define HW_HAS_PHASE_SHUNTS
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//#define HW_HAS_PHASE_FILTERS
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// Macros
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#define LED_GREEN_GPIO GPIOB
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#define LED_GREEN_PIN 5
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#define LED_RED_GPIO GPIOB
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#define LED_RED_PIN 7
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#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
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#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
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#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
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#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
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#define CURRENT_FILTER_ON() palSetPad(GPIOD, 2)
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#define CURRENT_FILTER_OFF() palClearPad(GPIOD, 2)
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/*
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* ADC Vector
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*
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* 0 (1): IN0 SENS1
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* 1 (2): IN1 SENS2
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* 2 (3): IN2 SENS3
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* 3 (1): IN10 CURR1
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* 4 (2): IN11 CURR2
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* 5 (3): IN12 CURR3
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* 6 (1): IN5 ADC_EXT1
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* 7 (2): IN6 ADC_EXT2
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* 8 (3): IN3 TEMP_MOS
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* 9 (1): IN14 TEMP_MOTOR
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* 10 (2): IN15 ADC_EXT3
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* 11 (3): IN13 AN_IN
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* 12 (1): Vrefint
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* 13 (2): IN0 SENS1
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* 14 (3): IN1 SENS2
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* 15 (1): IN8 TEMP_MOS_2
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* 16 (2): IN9 TEMP_MOS_3
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* 17 (3): IN3 SENS3
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*/
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#define HW_ADC_CHANNELS 18
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#define HW_ADC_INJ_CHANNELS 3
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#define HW_ADC_NBR_CONV 6
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// ADC Indexes
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#define ADC_IND_SENS1 0
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#define ADC_IND_SENS2 1
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#define ADC_IND_SENS3 2
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#define ADC_IND_CURR1 3
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#define ADC_IND_CURR2 4
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#define ADC_IND_CURR3 5
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#define ADC_IND_VIN_SENS 11
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#define ADC_IND_EXT 6
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#define ADC_IND_EXT2 7
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#define ADC_IND_TEMP_MOS 8
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#define ADC_IND_TEMP_MOS_2 15
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#define ADC_IND_TEMP_MOS_3 16
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#define ADC_IND_TEMP_MOTOR 9
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#define ADC_IND_VREFINT 12
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// ADC macros and settings
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// Component parameters (can be overridden)
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#ifndef V_REG
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#define V_REG 3.44
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#endif
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#ifndef VIN_R1
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#define VIN_R1 56000.0
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#endif
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#ifndef VIN_R2
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#define VIN_R2 2200.0
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#endif
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#ifndef CURRENT_AMP_GAIN
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#define CURRENT_AMP_GAIN 20.0
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#endif
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#ifndef CURRENT_SHUNT_RES
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#define CURRENT_SHUNT_RES (0.0005 / 3.0)
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#endif
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// Input voltage
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#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
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// NTC Termistors
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#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
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#define NTC_TEMP(adc_ind) hw75_300_get_temp()
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#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
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#ifdef HW75_300_VEDDER_FIRST_PCB
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#define NTC_TEMP_MOTOR(beta) (-20)
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#else
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#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)
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#endif
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#ifndef HW75_300_VEDDER_FIRST_PCB
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#define NTC_TEMP_MOS1() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
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#define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_2]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
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#define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
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#endif
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// Voltage on ADC channel
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#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
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// Double samples in beginning and end for positive current measurement.
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// Useful when the shunt sense traces have noise that causes offset.
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#ifndef CURR1_DOUBLE_SAMPLE
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#define CURR1_DOUBLE_SAMPLE 0
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#endif
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#ifndef CURR2_DOUBLE_SAMPLE
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#define CURR2_DOUBLE_SAMPLE 0
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#endif
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#ifndef CURR3_DOUBLE_SAMPLE
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#define CURR3_DOUBLE_SAMPLE 0
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#endif
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// COMM-port ADC GPIOs
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#define HW_ADC_EXT_GPIO GPIOA
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#define HW_ADC_EXT_PIN 5
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#define HW_ADC_EXT2_GPIO GPIOA
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#define HW_ADC_EXT2_PIN 6
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// UART Peripheral
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#define HW_UART_DEV SD3
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#define HW_UART_GPIO_AF GPIO_AF_USART3
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#define HW_UART_TX_PORT GPIOB
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#define HW_UART_TX_PIN 10
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#define HW_UART_RX_PORT GPIOB
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#define HW_UART_RX_PIN 11
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// ICU Peripheral for servo decoding
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#define HW_USE_SERVO_TIM4
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#define HW_ICU_TIMER TIM4
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#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
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#define HW_ICU_DEV ICUD4
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#define HW_ICU_CHANNEL ICU_CHANNEL_1
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#define HW_ICU_GPIO_AF GPIO_AF_TIM4
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#define HW_ICU_GPIO GPIOB
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#define HW_ICU_PIN 6
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// I2C Peripheral
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#define HW_I2C_DEV I2CD2
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#define HW_I2C_GPIO_AF GPIO_AF_I2C2
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#define HW_I2C_SCL_PORT GPIOB
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#define HW_I2C_SCL_PIN 10
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#define HW_I2C_SDA_PORT GPIOB
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#define HW_I2C_SDA_PIN 11
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// Hall/encoder pins
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#define HW_HALL_ENC_GPIO1 GPIOC
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#define HW_HALL_ENC_PIN1 6
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#define HW_HALL_ENC_GPIO2 GPIOC
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#define HW_HALL_ENC_PIN2 7
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#define HW_HALL_ENC_GPIO3 GPIOC
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#define HW_HALL_ENC_PIN3 8
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#define HW_ENC_TIM TIM3
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#define HW_ENC_TIM_AF GPIO_AF_TIM3
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#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
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#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
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#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
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#define HW_ENC_EXTI_CH EXTI9_5_IRQn
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#define HW_ENC_EXTI_LINE EXTI_Line8
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#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
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#define HW_ENC_TIM_ISR_CH TIM3_IRQn
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#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
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// SPI pins
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#define HW_SPI_DEV SPID1
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#define HW_SPI_GPIO_AF GPIO_AF_SPI1
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#define HW_SPI_PORT_NSS GPIOA
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#define HW_SPI_PIN_NSS 4
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#define HW_SPI_PORT_SCK GPIOA
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#define HW_SPI_PIN_SCK 5
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#define HW_SPI_PORT_MOSI GPIOA
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#define HW_SPI_PIN_MOSI 7
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#define HW_SPI_PORT_MISO GPIOA
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#define HW_SPI_PIN_MISO 6
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// NRF SWD
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#define NRF5x_SWDIO_GPIO GPIOC
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#define NRF5x_SWDIO_PIN 10
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#define NRF5x_SWCLK_GPIO GPIOC
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#define NRF5x_SWCLK_PIN 12
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// Boot/ok signal
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#define BOOT_OK_GPIO GPIOB
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#define BOOT_OK_PIN 12
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// Measurement macros
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#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
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#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
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#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
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#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
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// Macros
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#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
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#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
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#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
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// Override dead time. See the stm32f4 reference manual for calculating this value.
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#define HW_DEAD_TIME_NSEC 660.0
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// Default setting overrides
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#ifndef MCCONF_L_MAX_VOLTAGE
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#define MCCONF_L_MAX_VOLTAGE 72.0 // Maximum input voltage
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#endif
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#ifndef MCCONF_DEFAULT_MOTOR_TYPE
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#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
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#endif
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#ifndef MCCONF_FOC_SAMPLE_V0_V7
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#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
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#endif
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#ifndef MCCONF_FOC_SAMPLE_HIGH_CURRENT
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#define MCCONF_FOC_SAMPLE_HIGH_CURRENT true // High current sampling mode (requires three shunts)
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#endif
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#ifndef MCCONF_L_CURRENT_MAX
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#define MCCONF_L_CURRENT_MAX 300.0
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#endif
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#ifndef MCCONF_L_CURRENT_MIN
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#define MCCONF_L_CURRENT_MIN -60.0
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#endif
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#ifndef MCCONF_L_IN_CURRENT_MAX
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#define MCCONF_L_IN_CURRENT_MAX 200.0
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#endif
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#ifndef MCCONF_L_IN_CURRENT_MIN
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#define MCCONF_L_IN_CURRENT_MIN -60.0
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#endif
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#ifndef MCCONF_L_MAX_ABS_CURRENT
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#define MCCONF_L_MAX_ABS_CURRENT 480.0
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#endif
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#ifndef MCCONF_L_RPM_MAX
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#define MCCONF_L_RPM_MAX 32000.0
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#endif
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#ifndef MCCONF_L_RPM_MIN
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#define MCCONF_L_RPM_MIN -32000.0
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#endif
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#ifndef MCCONF_L_RPM_START
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#define MCCONF_L_RPM_START 0.8
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#endif
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#ifndef MCCONF_FOC_CURRENT_KP
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#define MCCONF_FOC_CURRENT_KP 0.0046
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#endif
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#ifndef MCCONF_FOC_CURRENT_KI
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#define MCCONF_FOC_CURRENT_KI 6.6
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#endif
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#ifndef MCCONF_FOC_F_SW
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#define MCCONF_FOC_F_SW 20000.0
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#endif
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#ifndef MCCONF_FOC_MOTOR_L
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#define MCCONF_FOC_MOTOR_L 2.32e-6
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#endif
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#ifndef MCCONF_FOC_MOTOR_R
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#define MCCONF_FOC_MOTOR_R 0.0033
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#endif
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#ifndef MCCONF_FOC_MOTOR_FLUX_LINKAGE
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#define MCCONF_FOC_MOTOR_FLUX_LINKAGE 0.00849
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#endif
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#ifndef MCCONF_FOC_OBSERVER_GAIN
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#define MCCONF_FOC_OBSERVER_GAIN 8.87e6
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#endif
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// Setup Info
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#ifndef MCCONF_SI_MOTOR_POLES
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#define MCCONF_SI_MOTOR_POLES 8 // Motor pole count
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#endif
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#ifndef MCCONF_SI_BATTERY_TYPE
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#define MCCONF_SI_BATTERY_TYPE BATTERY_TYPE_LIION_3_0__4_2 // Battery Type
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#endif
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#ifndef MCCONF_SI_BATTERY_CELLS
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#define MCCONF_SI_BATTERY_CELLS 14 // Battery Cells
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#endif
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#ifndef MCCONF_SI_BATTERY_AH
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#define MCCONF_SI_BATTERY_AH 69.0 // Battery amp hours
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#endif
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// Setting limits
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#define HW_LIM_CURRENT -350.0, 350.0
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#define HW_LIM_CURRENT_IN -350.0, 350.0
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#define HW_LIM_CURRENT_ABS 0.0, 510.0
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#define HW_LIM_VIN 6.0, 72.0
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#define HW_LIM_ERPM -200e3, 200e3
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#define HW_LIM_DUTY_MIN 0.0, 0.1
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#define HW_LIM_DUTY_MAX 0.0, 0.99
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#define HW_LIM_TEMP_FET -40.0, 110.0
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// HW-specific functions
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float hw75_300_get_temp(void);
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#endif /* HW_75_300_H_ */
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