mirror of https://github.com/rusefi/bldc.git
302 lines
8.9 KiB
C
302 lines
8.9 KiB
C
/*
|
|
Copyright 2021 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 <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef HW_60V2_ALVA_H_
|
|
#define HW_60V2_ALVA_H_
|
|
|
|
#define HW_NAME "60v2_alva"
|
|
|
|
#define ALVA_V0_PPM
|
|
//#define ALVA_V0_ABI_ENC
|
|
|
|
// HW properties
|
|
#define HW_HAS_3_SHUNTS
|
|
#define HW_HAS_PHASE_SHUNTS
|
|
#define HW_HAS_PHASE_FILTERS
|
|
|
|
// Macros
|
|
#define LED_GREEN_GPIO GPIOB
|
|
#define LED_GREEN_PIN 3
|
|
#if defined(ALVA_V0_PPM) || defined(ALVA_V0_ABI_ENC)
|
|
#define LED_RED_GPIO GPIOB
|
|
#define LED_RED_PIN 7
|
|
#else
|
|
#define LED_RED_GPIO GPIOB
|
|
#define LED_RED_PIN 4
|
|
#endif
|
|
|
|
#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 GPIOC
|
|
#define PHASE_FILTER_PIN 9
|
|
#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
|
|
#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
|
|
|
|
#define AUX_GPIO GPIOC
|
|
#define AUX_PIN 12
|
|
#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
|
|
#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
|
|
#define AUX2_GPIO GPIOC
|
|
#define AUX2_PIN 13
|
|
#define AUX2_ON() palSetPad(AUX2_GPIO, AUX2_PIN)
|
|
#define AUX2_OFF() palClearPad(AUX2_GPIO, AUX2_PIN)
|
|
|
|
#define CURRENT_FILTER_GPIO GPIOD
|
|
#define CURRENT_FILTER_PIN 2
|
|
#define CURRENT_FILTER_ON() palSetPad(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN)
|
|
#define CURRENT_FILTER_OFF() palClearPad(CURRENT_FILTER_GPIO, CURRENT_FILTER_PIN)
|
|
|
|
// Sensor port voltage control
|
|
#define SENSOR_VOLTAGE_GPIO GPIOA
|
|
#define SENSOR_VOLTAGE_PIN 15
|
|
#define SENSOR_PORT_5V() palClearPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
|
|
#define SENSOR_PORT_3V3() palSetPad(SENSOR_VOLTAGE_GPIO, SENSOR_VOLTAGE_PIN)
|
|
|
|
/*
|
|
* 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 TEMP_MOTOR_S2
|
|
* 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 TEMP_MOS
|
|
*/
|
|
|
|
#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_TEMP_MOS 8
|
|
#define ADC_IND_TEMP_MOTOR 9
|
|
#define ADC_IND_TEMP_MOTOR_S2 10
|
|
#define ADC_IND_VREFINT 12
|
|
|
|
// ADC macros and settings
|
|
|
|
// Component parameters (can be overridden)
|
|
#ifndef V_REG
|
|
#define V_REG 3.3
|
|
#endif
|
|
#ifndef VIN_R1
|
|
#define VIN_R1 56000.0
|
|
#endif
|
|
#ifndef VIN_R2
|
|
#define VIN_R2 2200.0
|
|
#endif
|
|
#ifndef CURRENT_AMP_GAIN
|
|
#define CURRENT_AMP_GAIN 20.0
|
|
#endif
|
|
#ifndef CURRENT_SHUNT_RES
|
|
#define CURRENT_SHUNT_RES 0.0005
|
|
#endif
|
|
|
|
// Input voltage
|
|
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
|
|
|
|
// NTC Termistors
|
|
#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
|
|
#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (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) alva_temp_motor_max(beta)
|
|
|
|
// Voltage on ADC channel
|
|
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
|
|
|
|
// 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
|
|
|
|
// ICU Peripheral for servo decoding
|
|
#ifdef ALVA_V0_ABI_ENC
|
|
#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 GPIOD
|
|
#define HW_ICU_PIN 12
|
|
#elif defined(ALVA_V0_PPM)
|
|
#define HW_ICU_TIMER TIM3
|
|
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
|
|
#define HW_ICU_DEV ICUD3
|
|
#define HW_ICU_CHANNEL ICU_CHANNEL_1
|
|
#define HW_ICU_GPIO_AF GPIO_AF_TIM3
|
|
#define HW_ICU_GPIO GPIOB
|
|
#define HW_ICU_PIN 4
|
|
#else
|
|
#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_2
|
|
#define HW_ICU_GPIO_AF GPIO_AF_TIM4
|
|
#define HW_ICU_GPIO GPIOB
|
|
#define HW_ICU_PIN 7
|
|
#endif
|
|
|
|
// 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
|
|
|
|
// The first version has the same timer for both the encoder and PPM input. This option disables
|
|
// the encoder and enables PPM input.
|
|
#ifdef ALVA_V0_PPM
|
|
#undef HW_ENC_TIM
|
|
#undef HW_ENC_TIM_AF
|
|
#undef HW_ENC_TIM_CLK_EN
|
|
#undef HW_ENC_TIM_ISR_CH
|
|
#undef HW_ENC_TIM_ISR_VEC
|
|
#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_TIM_ISR_CH TIM4_IRQn
|
|
#define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler
|
|
#endif
|
|
|
|
// 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 GPIOC
|
|
#define BMI160_SDA_PIN 11
|
|
#define BMI160_SCL_GPIO GPIOC
|
|
#define BMI160_SCL_PIN 10
|
|
#define IMU_FLIP
|
|
#define IMU_ROT_180
|
|
|
|
// Second redundant CAN-port
|
|
#define HW_CAN2_RX_PORT GPIOB
|
|
#define HW_CAN2_RX_PIN 5
|
|
#define HW_CAN2_TX_PORT GPIOB
|
|
#define HW_CAN2_TX_PIN 6
|
|
#define HW_CAN2_GPIO_AF GPIO_AF_CAN2
|
|
#define HW_CAN2_DEV CAND2
|
|
|
|
// 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
|
|
#define HW_DEAD_TIME_NSEC 500.0
|
|
|
|
// Default setting overrides
|
|
#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 150.0 // 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
|
|
|
|
// Setting limits
|
|
#define HW_LIM_CURRENT -120.0, 120.0
|
|
#define HW_LIM_CURRENT_IN -120.0, 120.0
|
|
#define HW_LIM_CURRENT_ABS 0.0, 160.0
|
|
#define HW_LIM_VIN 6.0, 57.0
|
|
#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 Functions
|
|
float alva_temp_motor_max(float beta);
|
|
|
|
#endif /* HW_60V2_ALVA_H_ */
|