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bldc/hwconf/hw.h

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/*
Copyright 2012 - 2020 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_H_
#define HW_H_
#include "stm32f4xx_conf.h"
#include HW_HEADER
#ifdef HW_HAS_DRV8301
#include "drv8301.h"
#endif
#ifdef HW_HAS_DRV8305
#include "drv8305.h"
#endif
#ifdef HW_HAS_DRV8320S
#include "drv8320s.h"
#endif
#ifdef HW_HAS_DRV8323S
#include "drv8323s.h"
#endif
#ifndef HW_NAME
#error "No hardware name set"
#endif
// Possible HW properties.
/*
* #define HW_HAS_DRV8301
*
* Use the DRV8301 driver
*
* Requires defining SPI pins for the driver:
*
* #define DRV8301_MOSI_GPIO GPIOC
* #define DRV8301_MOSI_PIN 12
* #define DRV8301_MISO_GPIO GPIOC
* #define DRV8301_MISO_PIN 11
* #define DRV8301_SCK_GPIO GPIOC
* #define DRV8301_SCK_PIN 10
* #define DRV8301_CS_GPIO GPIOC
* #define DRV8301_CS_PIN 9
*
* Requires running
* drv8301_init();
* at the end of void hw_init_gpio(void)
*/
/*
* #define HW_HAS_DRV8313
*
* Use the DRV8313 driver. Changes how the
* output is switched off and runs an early init hook.
*/
/*
* #define HW_HAS_DRV8305
*
* Use the DRV8305 gate driver. Note that support
* for this driver is incomplete.
*
* Requires defining SPI pins for the driver:
*
* #define DRV8305_MOSI_GPIO GPIOC
* #define DRV8305_MOSI_PIN 12
* #define DRV8305_MISO_GPIO GPIOC
* #define DRV8305_MISO_PIN 11
* #define DRV8305_SCK_GPIO GPIOC
* #define DRV8305_SCK_PIN 10
* #define DRV8305_CS_GPIO GPIOD
* #define DRV8305_CS_PIN 8
*
* Requires running
* drv8305_init();
* at the end of void hw_init_gpio(void)
*/
/*
* #define HW_HAS_DRV8320S
*
* Use the DRV8320S driver.
*
* Requires defining SPI pins for the driver:
*
* #define DRV8320S_MOSI_GPIO GPIOC
* #define DRV8320S_MOSI_PIN 12
* #define DRV8320S_MISO_GPIO GPIOC
* #define DRV8320S_MISO_PIN 11
* #define DRV8320S_SCK_GPIO GPIOC
* #define DRV8320S_SCK_PIN 10
* #define DRV8320S_CS_GPIO GPIOC
* #define DRV8320S_CS_PIN 9
*
* Requires running
* drv8320s_init();
* at the end of void hw_init_gpio(void)
*/
/*
* #define HW_HAS_DRV8323S
*
* Use the DRV8323S driver.
*
* Requires defining SPI pins for the driver:
*
* #define DRV8323S_MOSI_GPIO GPIOC
* #define DRV8323S_MOSI_PIN 12
* #define DRV8323S_MISO_GPIO GPIOB
* #define DRV8323S_MISO_PIN 4
* #define DRV8323S_SCK_GPIO GPIOB
* #define DRV8323S_SCK_PIN 3
* #define DRV8323S_CS_GPIO GPIOC
* #define DRV8323S_CS_PIN 9
*
* Requires running
* drv8323s_init();
* at the end of void hw_init_gpio(void)
*/
/*
* #define HW_USE_INTERNAL_RC
*
* Use the internal RC clock instead of an external crystal.
*/
/*
* define HW_HAS_3_SHUNTS
*
* The hardware has 3 current sensors.
*/
/*
* #define HW_HAS_PHASE_SHUNTS
*
* The current sensors are in line with the motor phases,
* which allows sampling in V0 and V7, and some extra filtering.
*/
/*
* #define HW_HAS_NO_CAN
*
* The hardware is missing CAN-bus.
*/
/*
* Define these to enable MPU9150 or MPU9250 support
* on these pins.
*
* #define MPU9X50_SDA_GPIO GPIOB
* #define MPU9X50_SDA_PIN 7
* #define MPU9X50_SCL_GPIO GPIOB
* #define MPU9X50_SCL_PIN 6
*
* This will flip the axes of the IMU around the horizontal plane
* #define MPU9x50_FLIP
*/
/*
* #define HW_HAS_PERMANENT_NRF
*
* The hardware has a permanently mounted NRF24. Also requires defining its 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
*
* If the NRF is not detected during initialization, the pins will be remapped
* to the COMM port if the NRF app is used. A hook to run if initialization fails
* can also be defined:
*
* #define HW_PERMANENT_NRF_FAILED_HOOK()
*/
// Default macros in case there is no hardware support or no need to change them.
#ifndef ENABLE_GATE
#define ENABLE_GATE()
#endif
#ifndef DISABLE_GATE
#define DISABLE_GATE()
#endif
#ifndef DCCAL_ON
#define DCCAL_ON()
#endif
#ifndef DCCAL_OFF
#define DCCAL_OFF()
#endif
#ifndef IS_DRV_FAULT
#define IS_DRV_FAULT() 0
#endif
#ifndef IS_DRV_FAULT_2
#define IS_DRV_FAULT_2() IS_DRV_FAULT()
#endif
// 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
#ifndef AUX_ON
#define AUX_ON()
#endif
#ifndef AUX_OFF
#define AUX_OFF()
#endif
#ifndef PHASE_FILTER_ON
#define PHASE_FILTER_ON()
#endif
#ifndef PHASE_FILTER_OFF
#define PHASE_FILTER_OFF()
#endif
#ifndef PHASE_FILTER_ON_M2
#define PHASE_FILTER_ON_M2()
#endif
#ifndef PHASE_FILTER_OFF_M2
#define PHASE_FILTER_OFF_M2()
#endif
#ifndef CURRENT_FILTER_ON
#define CURRENT_FILTER_ON()
#endif
#ifndef CURRENT_FILTER_OFF
#define CURRENT_FILTER_OFF()
#endif
// VCC net voltage
#ifndef V_REG
#define V_REG 3.3
#endif
// Individual MOSFET temperature sensors. Override if available.
#ifndef NTC_TEMP_MOS1
#define NTC_TEMP_MOS1() 0.0
#endif
#ifndef NTC_TEMP_MOS2
#define NTC_TEMP_MOS2() 0.0
#endif
#ifndef NTC_TEMP_MOS3
#define NTC_TEMP_MOS3() 0.0
#endif
// Sin/Cos Encoder Signals. Override if available
#ifndef ENCODER_SIN_VOLTS
#define ENCODER_SIN_VOLTS() 0.0
#endif
#ifndef ENCODER_COS_VOLTS
#define ENCODER_COS_VOLTS() 0.0
#endif
// Current ADC macros. Override them for custom current measurement functions.
#ifndef GET_CURRENT1
#ifdef INVERTED_SHUNT_POLARITY
#define GET_CURRENT1() (4095 - ADC_Value[ADC_IND_CURR1])
#else
#define GET_CURRENT1() ADC_Value[ADC_IND_CURR1]
#endif
#endif
#ifndef GET_CURRENT2
#ifdef INVERTED_SHUNT_POLARITY
#define GET_CURRENT2() (4095 - ADC_Value[ADC_IND_CURR2])
#else
#define GET_CURRENT2() ADC_Value[ADC_IND_CURR2]
#endif
#endif
#ifndef GET_CURRENT3
#ifdef INVERTED_SHUNT_POLARITY
#define GET_CURRENT3() (4095 - ADC_Value[ADC_IND_CURR3])
#else
#ifdef ADC_IND_CURR3
#define GET_CURRENT3() ADC_Value[ADC_IND_CURR3]
#else
#define GET_CURRENT3() 0
#endif
#endif
#endif
#ifndef GET_CURRENT1_M2
#ifdef INVERTED_SHUNT_POLARITY
#define GET_CURRENT1_M2() (4095 - ADC_Value[ADC_IND_CURR4])
#else
#define GET_CURRENT1_M2() ADC_Value[ADC_IND_CURR4]
#endif
#endif
#ifndef GET_CURRENT2_M2
#ifdef INVERTED_SHUNT_POLARITY
#define GET_CURRENT2_M2() (4095 - ADC_Value[ADC_IND_CURR5])
#else
#define GET_CURRENT2_M2() ADC_Value[ADC_IND_CURR5]
#endif
#endif
#ifndef GET_CURRENT3_M2
#ifdef INVERTED_SHUNT_POLARITY
#define GET_CURRENT3_M2() (4095 - ADC_Value[ADC_IND_CURR6])
#else
#ifdef ADC_IND_CURR6
#define GET_CURRENT3_M2() ADC_Value[ADC_IND_CURR6]
#else
#define GET_CURRENT3_M2() 0
#endif
#endif
#endif
#ifndef HW_MAX_CURRENT_OFFSET
#define HW_MAX_CURRENT_OFFSET 620
#endif
#ifndef MCCONF_MAX_CURRENT_UNBALANCE
#define MCCONF_MAX_CURRENT_UNBALANCE (FAC_CURRENT * 512)
#endif
#ifndef MCCONF_MAX_CURRENT_UNBALANCE_RATE
#define MCCONF_MAX_CURRENT_UNBALANCE_RATE 0.3
#endif
// ADC Channels
#ifndef ADC_IND_EXT3
#define ADC_IND_EXT3 ADC_IND_EXT
#endif
#ifndef ADC_IND_EXT2
#define ADC_IND_EXT2 ADC_IND_EXT
#endif
// Adc voltage scaling on phases and input
#ifndef ADC_VOLTS_PH_FACTOR
#define ADC_VOLTS_PH_FACTOR 1.0
#endif
#ifndef ADC_VOLTS_INPUT_FACTOR
#define ADC_VOLTS_INPUT_FACTOR 1.0
#endif
// NRF SW SPI (default to spi header pins)
#ifndef NRF_PORT_CSN
#define NRF_PORT_CSN HW_SPI_PORT_NSS
#endif
#ifndef NRF_PIN_CSN
#define NRF_PIN_CSN HW_SPI_PIN_NSS
#endif
#ifndef NRF_PORT_SCK
#define NRF_PORT_SCK HW_SPI_PORT_SCK
#endif
#ifndef NRF_PIN_SCK
#define NRF_PIN_SCK HW_SPI_PIN_SCK
#endif
#ifndef NRF_PORT_MOSI
#define NRF_PORT_MOSI HW_SPI_PORT_MOSI
#endif
#ifndef NRF_PIN_MOSI
#define NRF_PIN_MOSI HW_SPI_PIN_MOSI
#endif
#ifndef NRF_PORT_MISO
#define NRF_PORT_MISO HW_SPI_PORT_MISO
#endif
#ifndef NRF_PIN_MISO
#define NRF_PIN_MISO HW_SPI_PIN_MISO
#endif
// CAN device and port (default CAN1)
#ifndef HW_CANRX_PORT
#define HW_CANRX_PORT GPIOB
#endif
#ifndef HW_CANRX_PIN
#define HW_CANRX_PIN 8
#endif
#ifndef HW_CANTX_PORT
#define HW_CANTX_PORT GPIOB
#endif
#ifndef HW_CANTX_PIN
#define HW_CANTX_PIN 9
#endif
#ifndef HW_CAN_GPIO_AF
#define HW_CAN_GPIO_AF GPIO_AF_CAN1
#endif
#ifndef HW_CAN_DEV
#define HW_CAN_DEV CAND1
#endif
// Hook to call when trying to initialize the permanent NRF failed. Can be
// used to e.g. reconfigure pins.
#ifndef HW_PERMANENT_NRF_FAILED_HOOK
#define HW_PERMANENT_NRF_FAILED_HOOK()
#endif
#ifndef HW_EARLY_INIT
#define HW_EARLY_INIT()
#endif
// Default ID
#ifndef HW_DEFAULT_ID
#define HW_DEFAULT_ID (APPCONF_CONTROLLER_ID >= 0 ? APPCONF_CONTROLLER_ID : hw_id_from_uuid())
#endif
#ifndef HW_LIM_CURRENT
#define HW_LIM_CURRENT -100.0, 100.0
#endif
#ifndef HW_LIM_CURRENT_ABS
#define HW_LIM_CURRENT_ABS 0.0, 140.0
#endif
#ifndef HW_LIM_FOC_CTRL_LOOP_FREQ
#define HW_LIM_FOC_CTRL_LOOP_FREQ 3000.0, 30000.0
#endif
#ifndef HW_FOC_CURRENT_FILTER_LIM
#define HW_FOC_CURRENT_FILTER_LIM 0.05, 1.0
#endif
#ifndef COMM_USE_USB
#define COMM_USE_USB 1
#endif
#ifndef PTC_TEMP_MOTOR
#if defined(NTC_RES_MOTOR) && defined(ADC_IND_TEMP_MOTOR)
#define PTC_TEMP_MOTOR(res, con, tbase) (((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) - res) / res) * 100 / con + tbase)
#define PTC_TEMP_MOTOR_2(res, con, tbase) (((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) - res) / res) * 100 / con + tbase)
#else
#define PTC_TEMP_MOTOR(res, con, tbase) 0.0
#define PTC_TEMP_MOTOR_2(res, con, tbase) 0.0
#endif
#endif
#ifndef NTC100K_TEMP_MOTOR
#if defined(NTC_RES_MOTOR) && defined(ADC_IND_TEMP_MOTOR)
#define NTC100K_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 100000.0) / beta) + (1.0 / 298.15)) - 273.15)
#define NTC100K_TEMP_MOTOR_2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) / 100000.0) / beta) + (1.0 / 298.15)) - 273.15)
#else
#define NTC100K_TEMP_MOTOR(beta) 0.0
#define NTC100K_TEMP_MOTOR2(beta) 0.0
#endif
#endif
// Default second motor defines
#ifndef READ_HALL1_2
#define READ_HALL1_2() READ_HALL1()
#endif
#ifndef READ_HALL2_2
#define READ_HALL2_2() READ_HALL2()
#endif
#ifndef READ_HALL3_2
#define READ_HALL3_2() READ_HALL3()
#endif
#ifndef ADC_IND_TEMP_MOS_M2
#define ADC_IND_TEMP_MOS_M2 ADC_IND_TEMP_MOS
#endif
#ifndef NTC_TEMP_MOTOR_2
#define NTC_TEMP_MOTOR_2(beta) NTC_TEMP_MOTOR(beta)
#endif
#ifndef ADC_IND_TEMP_MOTOR_2
#define ADC_IND_TEMP_MOTOR_2 ADC_IND_TEMP_MOTOR
#endif
#ifndef MOTOR_TEMP_LPF
#define MOTOR_TEMP_LPF 0.01
#endif
#ifndef HW_ADC_CHANNELS_EXTRA
#define HW_ADC_CHANNELS_EXTRA 0
#endif
#ifndef ADC_V_L4
#define ADC_V_L4 ADC_V_L1
#endif
#ifndef ADC_V_L5
#define ADC_V_L5 ADC_V_L2
#endif
#ifndef ADC_V_L6
#define ADC_V_L6 ADC_V_L3
#endif
#ifdef HW_HAS_DRV8323S
#ifndef DRV8323S_CUSTOM_SETTINGS
#define DRV8323S_CUSTOM_SETTINGS()
#endif
#endif
#ifndef HW_PAS1_PORT
#define HW_PAS1_PORT HW_UART_RX_PORT
#define HW_PAS1_PIN HW_UART_RX_PIN
#define HW_PAS2_PORT HW_UART_TX_PORT
#define HW_PAS2_PIN HW_UART_TX_PIN
#endif
#ifndef HW_ICU_TIMER
#ifdef HW_USE_SERVO_TIM4
#define HW_ICU_TIMER TIM4
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
#else
#define HW_ICU_TIMER TIM3
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#endif
#endif
#ifndef HW_RESET_DRV_FAULTS
#define HW_RESET_DRV_FAULTS()
#endif
// Functions
void hw_init_gpio(void);
void hw_setup_adc_channels(void);
void hw_start_i2c(void);
void hw_stop_i2c(void);
void hw_try_restore_i2c(void);
uint8_t hw_id_from_uuid(void);
uint8_t hw_id_from_pins(void);
#endif /* HW_H_ */
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