mirror of https://github.com/rusefi/bldc.git
585 lines
18 KiB
C
585 lines
18 KiB
C
/*
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
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This program 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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This program 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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#include "hw.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "drv8323s.h"
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#include "comm_can.h"
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#include "mc_interface.h"
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#include "ledpwm.h"
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#include "utils.h"
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typedef enum {
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SWITCH_BOOTED = 0,
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SWITCH_TURN_ON_DELAY_ACTIVE,
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SWITCH_HELD_AFTER_TURN_ON,
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SWITCH_TURNED_ON,
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SWITCH_SHUTTING_DOWN,
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} switch_states;
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// Variables
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static volatile bool i2c_running = false;
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static THD_WORKING_AREA(smart_switch_thread_wa, 128);
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static THD_WORKING_AREA(mux_thread_wa, 256);
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static THD_WORKING_AREA(switch_color_thread_wa, 128);
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static THD_FUNCTION(mux_thread, arg);
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static THD_FUNCTION(switch_color_thread, arg);
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static volatile switch_states switch_state = SWITCH_BOOTED;
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static volatile float switch_bright = 0.75;
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// I2C configuration
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static const I2CConfig i2cfg = {
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OPMODE_I2C,
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100000,
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STD_DUTY_CYCLE
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};
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void hw_init_gpio(void) {
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// GPIO clock enable
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
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#ifdef HW_VER_IS_60D_PLUS
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palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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PHASE_FILTER_OFF();
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palSetPadMode(PHASE_FILTER_GPIO_M2, PHASE_FILTER_PIN_M2,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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PHASE_FILTER_OFF_M2();
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#endif
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// LEDs
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palSetPadMode(GPIOA, 8,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOC, 9,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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//Temp switches
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palSetPadMode(ADC_SW_EN_PORT, ADC_SW_EN_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(ADC_SW_1_PORT, ADC_SW_1_PIN ,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(ADC_SW_2_PORT, ADC_SW_2_PIN,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(ADC_SW_3_PORT, ADC_SW_3_PIN ,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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ENABLE_MOS_TEMP1();
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// GPIOC (ENABLE_GATE)
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palSetPadMode(GPIOE, 14,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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palSetPadMode(GPIOD, 4,
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PAL_MODE_OUTPUT_PUSHPULL |
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PAL_STM32_OSPEED_HIGHEST);
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DISABLE_GATE();
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// GPIOB (DCCAL)
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// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
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palSetPadMode(GPIOE, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOE, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOE, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOE, 11, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOE, 12, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOE, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOC, 6, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOC, 7, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOC, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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palSetPadMode(GPIOA, 7, PAL_MODE_ALTERNATE(GPIO_AF_TIM8) |
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PAL_STM32_OSPEED_HIGHEST |
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PAL_STM32_PUDR_FLOATING);
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// Hall sensors
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palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6, PAL_MODE_INPUT_PULLUP);
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// Fault pin
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palSetPadMode(GPIOE, 3, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(GPIOD, 3, PAL_MODE_INPUT_PULLUP);
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// ADC Pins
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palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
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palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
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ENABLE_GATE();
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drv8323s_init();
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}
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void hw_setup_adc_channels(void) {
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// ADC1 regular channels
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ADC_RegularChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles); //0
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ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 2, ADC_SampleTime_15Cycles); //3
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ADC_RegularChannelConfig(ADC1, ADC_Channel_5 , 3, ADC_SampleTime_15Cycles); //6
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ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 4, ADC_SampleTime_15Cycles); //9
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ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 5, ADC_SampleTime_15Cycles); //12
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// ADC2 regular channels
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ADC_RegularChannelConfig(ADC2, ADC_Channel_8, 1, ADC_SampleTime_15Cycles); //1
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ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 2, ADC_SampleTime_15Cycles); //4
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ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); //7
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ADC_RegularChannelConfig(ADC2, ADC_Channel_12, 4, ADC_SampleTime_15Cycles); //10
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ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 5, ADC_SampleTime_15Cycles); //13
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// ADC3 regular channels
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ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 1, ADC_SampleTime_15Cycles); //2
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ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 2, ADC_SampleTime_15Cycles); //5
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ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 3, ADC_SampleTime_15Cycles); //8
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ADC_RegularChannelConfig(ADC3, ADC_Channel_11, 4, ADC_SampleTime_15Cycles); //11
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ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 5, ADC_SampleTime_15Cycles); //14
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// Injected channels
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_5, 1, ADC_SampleTime_15Cycles);
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ADC_InjectedChannelConfig(ADC2, ADC_Channel_4, 2, ADC_SampleTime_15Cycles);
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// ADC_InjectedChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
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// ADC_InjectedChannelConfig(ADC3, ADC_Channel_0, 2, ADC_SampleTime_15Cycles);
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//ADC_InjectedChannelConfig(ADC3, ADC_Channel_1, 3, ADC_SampleTime_15Cycles);
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chThdCreateStatic(mux_thread_wa, sizeof(mux_thread_wa), NORMALPRIO, mux_thread, NULL);
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chThdCreateStatic(switch_color_thread_wa, sizeof(switch_color_thread_wa), LOWPRIO, switch_color_thread, NULL);
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}
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void hw_start_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (!i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2c_running = true;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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void hw_stop_i2c(void) {
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i2cAcquireBus(&HW_I2C_DEV);
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if (i2c_running) {
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
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i2cStop(&HW_I2C_DEV);
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i2c_running = false;
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}
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i2cReleaseBus(&HW_I2C_DEV);
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}
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/**
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* Try to restore the i2c bus
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*/
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void hw_try_restore_i2c(void) {
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if (i2c_running) {
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i2cAcquireBus(&HW_I2C_DEV);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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for(int i = 0;i < 16;i++) {
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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}
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// Generate start then stop condition
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palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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chThdSleep(1);
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palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
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chThdSleep(1);
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palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
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palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
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PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
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PAL_STM32_OTYPE_OPENDRAIN |
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PAL_STM32_OSPEED_MID1 |
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PAL_STM32_PUDR_PULLUP);
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HW_I2C_DEV.state = I2C_STOP;
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i2cStart(&HW_I2C_DEV, &i2cfg);
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i2cReleaseBus(&HW_I2C_DEV);
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}
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}
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static THD_FUNCTION(mux_thread, arg) {
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chRegSetThreadName("adc_mux");
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(void)arg;
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#define TEMP_FILTER_LEN 9
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uint16_t mot1_temp_samples[TEMP_FILTER_LEN] = {0};
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uint16_t mot2_temp_samples[TEMP_FILTER_LEN] = {0};
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unsigned int mot1_temp_samp_ptr = 0;
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unsigned int mot2_temp_samp_ptr = 0;
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for (;;) {
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ENABLE_MOS_TEMP1();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_TEMP_MOS] = ADC_Value[ADC_IND_ADC_MUX];
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ENABLE_MOS_TEMP2();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_TEMP_MOS_M2] = ADC_Value[ADC_IND_ADC_MUX];
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ENABLE_MOT_TEMP1();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_TEMP_MOTOR] = utils_median_filter_uint16_run(
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mot1_temp_samples, &mot1_temp_samp_ptr, TEMP_FILTER_LEN, ADC_Value[ADC_IND_ADC_MUX]);
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ENABLE_MOT_TEMP2();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_TEMP_MOTOR_2] = utils_median_filter_uint16_run(
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mot2_temp_samples, &mot2_temp_samp_ptr, TEMP_FILTER_LEN, ADC_Value[ADC_IND_ADC_MUX]);
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ENABLE_ADC_EXT_1();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_EXT] = ADC_Value[ADC_IND_ADC_MUX];
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ENABLE_ADC_EXT_2();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_EXT2] = ADC_Value[ADC_IND_ADC_MUX];
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ENABLE_ADC_EXT_3();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_EXT3] = ADC_Value[ADC_IND_ADC_MUX];
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ENABLE_V_BATT_DIV();
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chThdSleepMicroseconds(400);
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ADC_Value[ADC_IND_V_BATT] = ADC_Value[ADC_IND_ADC_MUX];
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}
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}
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void smart_switch_keep_on(void) {
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palSetPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
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}
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void smart_switch_shut_down(void) {
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mc_interface_select_motor_thread(2);
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mc_interface_set_current(0);
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mc_interface_lock();
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mc_interface_select_motor_thread(1);
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mc_interface_set_current(0);
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mc_interface_lock();
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switch_state = SWITCH_SHUTTING_DOWN;
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palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
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palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
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return;
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}
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bool smart_switch_is_pressed(void) {
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if(palReadPad(SWITCH_IN_GPIO, SWITCH_IN_PIN) == 1 && (mc_interface_temp_fet_filtered() < 68.0))
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return true;
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else
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return false;
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}
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static THD_FUNCTION(switch_color_thread, arg) {
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(void)arg;
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chRegSetThreadName("switch_color_thread");
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float switch_red = 0.0;
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float switch_green = 0.0;
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float switch_blue = 0.0;
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for(int i = 0; i < 400; i++) {
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float angle = i*3.14/400.0;
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float s,c;
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utils_fast_sincos_better(angle, &s, &c);
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switch_blue = 0.75* c*c;
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ledpwm_set_intensity(LED_HW1,switch_bright*switch_blue);
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utils_fast_sincos_better(angle + 3.14/3.0, &s, &c);
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switch_green = 0.75* c*c;
|
|
ledpwm_set_intensity(LED_HW2,switch_bright*switch_green);
|
|
utils_fast_sincos_better(angle + 6.28/3.0, &s, &c);
|
|
switch_red = 0.75* c*c;
|
|
ledpwm_set_intensity(LED_HW3,switch_bright*switch_red);
|
|
chThdSleepMilliseconds(4);
|
|
}
|
|
float switch_red_old = switch_red_old;
|
|
float switch_green_old = switch_green;
|
|
float switch_blue_old = switch_blue;
|
|
float wh_left;
|
|
float left = mc_interface_get_battery_level(&wh_left);
|
|
if(left < 0.5){
|
|
float intense = utils_map(left,0.0, 0.5, 0.0, 1.0);
|
|
utils_truncate_number(&intense,0,1);
|
|
switch_blue = intense;
|
|
switch_red = 1.0-intense;
|
|
}else{
|
|
float intense = utils_map(left , 0.5, 1.0, 0.0, 1.0);
|
|
utils_truncate_number(&intense,0,1);
|
|
switch_green = intense;
|
|
switch_blue = 1.0-intense;
|
|
}
|
|
for(int i = 0; i < 100; i++) {
|
|
float red_now = utils_map((float) i,0.0, 100.0, switch_red_old, switch_red);
|
|
float blue_now = utils_map((float) i,0.0, 100.0, switch_blue_old, switch_blue);
|
|
float green_now = utils_map((float) i,0.0, 100.0, switch_green_old, switch_green);
|
|
ledpwm_set_intensity(LED_HW1, switch_bright*blue_now);
|
|
ledpwm_set_intensity(LED_HW2, switch_bright*green_now);
|
|
ledpwm_set_intensity(LED_HW3, switch_bright*red_now);
|
|
chThdSleepMilliseconds(2);
|
|
}
|
|
|
|
for (;;) {
|
|
mc_fault_code fault = mc_interface_get_fault();
|
|
mc_interface_select_motor_thread(2);
|
|
mc_fault_code fault2 = mc_interface_get_fault();
|
|
mc_interface_select_motor_thread(1);
|
|
if (fault != FAULT_CODE_NONE || fault2 != FAULT_CODE_NONE) {
|
|
ledpwm_set_intensity(LED_HW2, 0);
|
|
ledpwm_set_intensity(LED_HW1, 0);
|
|
for (int i = 0;i < (int)fault;i++) {
|
|
|
|
ledpwm_set_intensity(LED_HW3, 1.0);
|
|
chThdSleepMilliseconds(250);
|
|
ledpwm_set_intensity(LED_HW3, 0.0);
|
|
chThdSleepMilliseconds(250);
|
|
}
|
|
|
|
chThdSleepMilliseconds(500);
|
|
|
|
for (int i = 0;i < (int)fault2;i++) {
|
|
ledpwm_set_intensity(LED_HW3, 1.0);
|
|
chThdSleepMilliseconds(250);
|
|
ledpwm_set_intensity(LED_HW3, 0.0);
|
|
chThdSleepMilliseconds(250);
|
|
}
|
|
|
|
chThdSleepMilliseconds(500);
|
|
} else {
|
|
left = mc_interface_get_battery_level(&wh_left);
|
|
if(left < 0.5){
|
|
float intense = utils_map(left,0.0, 0.5, 0.0, 1.0);
|
|
utils_truncate_number(&intense,0,1);
|
|
switch_blue = intense;
|
|
switch_red = 1.0-intense;
|
|
switch_green = 0;
|
|
}else{
|
|
float intense = utils_map(left , 0.5, 1.0, 0.0, 1.0);
|
|
utils_truncate_number(&intense,0,1);
|
|
switch_green = intense;
|
|
switch_blue = 1.0-intense;
|
|
switch_red = 0;
|
|
}
|
|
ledpwm_set_intensity(LED_HW1, switch_bright*switch_blue);
|
|
ledpwm_set_intensity(LED_HW2, switch_bright*switch_green);
|
|
ledpwm_set_intensity(LED_HW3, switch_bright*switch_red);
|
|
}
|
|
|
|
chThdSleepMilliseconds(20);
|
|
}
|
|
}
|
|
|
|
static THD_FUNCTION(smart_switch_thread, arg) {
|
|
(void)arg;
|
|
chRegSetThreadName("smart_switch");
|
|
unsigned int millis_switch_pressed = 0;
|
|
|
|
for (;;) {
|
|
switch (switch_state) {
|
|
case SWITCH_BOOTED:
|
|
switch_state = SWITCH_TURN_ON_DELAY_ACTIVE;
|
|
break;
|
|
case SWITCH_TURN_ON_DELAY_ACTIVE:
|
|
switch_state = SWITCH_HELD_AFTER_TURN_ON;
|
|
mc_interface_select_motor_thread(2);
|
|
mc_interface_set_current(0);
|
|
mc_interface_lock();
|
|
mc_interface_select_motor_thread(1);
|
|
mc_interface_set_current(0);
|
|
mc_interface_lock();
|
|
int cts = 0;
|
|
while((ADC_Value[ADC_IND_V_BATT] < 1 || ADC_Value[ADC_IND_VIN_SENS] < 1) && (cts < 50)){
|
|
chThdSleepMilliseconds(100);
|
|
cts++;
|
|
}
|
|
cts = 0;
|
|
while(((GET_BATT_VOLTAGE() - GET_INPUT_VOLTAGE()) > 8.0) && (cts < 50)){
|
|
chThdSleepMilliseconds(100);
|
|
cts++;
|
|
}
|
|
|
|
palSetPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
|
|
mc_interface_select_motor_thread(2);
|
|
mc_interface_unlock();
|
|
mc_interface_select_motor_thread(1);
|
|
mc_interface_unlock();
|
|
break;
|
|
case SWITCH_HELD_AFTER_TURN_ON:
|
|
smart_switch_keep_on();
|
|
if(smart_switch_is_pressed()){
|
|
switch_state = SWITCH_HELD_AFTER_TURN_ON;
|
|
} else {
|
|
switch_state = SWITCH_TURNED_ON;
|
|
}
|
|
break;
|
|
case SWITCH_TURNED_ON:
|
|
if (smart_switch_is_pressed()) {
|
|
millis_switch_pressed++;
|
|
switch_bright = 0.5;
|
|
} else {
|
|
millis_switch_pressed = 0;
|
|
switch_bright = 1.0;
|
|
}
|
|
|
|
if (millis_switch_pressed > SMART_SWITCH_MSECS_PRESSED_OFF) {
|
|
switch_state = SWITCH_SHUTTING_DOWN;
|
|
}
|
|
break;
|
|
case SWITCH_SHUTTING_DOWN:
|
|
switch_bright = 0;
|
|
comm_can_shutdown(255);
|
|
smart_switch_shut_down();
|
|
chThdSleepMilliseconds(10000);
|
|
smart_switch_keep_on();
|
|
switch_state = SWITCH_TURN_ON_DELAY_ACTIVE;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
chThdSleepMilliseconds(1);
|
|
}
|
|
}
|
|
|
|
void smart_switch_thread_start(void) {
|
|
chThdCreateStatic(smart_switch_thread_wa, sizeof(smart_switch_thread_wa),
|
|
NORMALPRIO, smart_switch_thread, NULL);
|
|
}
|
|
|
|
void smart_switch_pin_init(void) {
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
|
|
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
|
|
|
|
palSetPadMode(SWITCH_IN_GPIO, SWITCH_IN_PIN, PAL_MODE_INPUT_PULLDOWN);
|
|
palSetPadMode(SWITCH_OUT_GPIO,SWITCH_OUT_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
|
|
palSetPadMode(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
|
palSetPadMode(SWITCH_LED_2_GPIO,SWITCH_LED_2_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
|
palSetPadMode(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
|
|
palSetPadMode(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
|
|
palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
|
|
palSetPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
|
|
LED_SWITCH_B_ON();
|
|
LED_SWITCH_R_OFF();
|
|
LED_SWITCH_G_OFF();
|
|
return;
|
|
}
|
|
|