mirror of https://github.com/rusefi/bldc.git
475 lines
15 KiB
C
475 lines
15 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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#ifndef HW_STORMCORE_60D_H_
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#define HW_STORMCORE_60D_H_
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#ifdef HW_VER_IS_60D_PLUS
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#define HW_NAME "STORMCORE_60D+"
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#elif defined (HW_VER_IS_60D_XS)
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#define HW_NAME "STORMCORE_60Dxs"
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#else
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#define HW_NAME "STORMCORE_60D"
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#endif
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#define HW_HAS_DUAL_MOTORS
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#include "drv8323s.h"
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// HW properties
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#define HW_HAS_DRV8323S // for idrive do 0x073b for reg 4 (LS) and 0x034b for reg 3 (HS)
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#define HW_HAS_3_SHUNTS
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#if defined (HW_VER_IS_60D_XS)
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#define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
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drv8323s_write_reg(3,0x3aa); \
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drv8323s_write_reg(4,0x7aa);
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#else
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#define DRV8323S_CUSTOM_SETTINGS(); drv8323s_set_current_amp_gain(CURRENT_AMP_GAIN); \
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drv8323s_write_reg(3,0x3af); \
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drv8323s_write_reg(4,0x7af);
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#endif
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//#define HW_DEAD_TIME_NSEC 360.0 // Dead time
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//Switch Pins
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#define HW_HAS_STORMCORE_SWITCH
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#define HW_HAS_RGB_SWITCH
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#define SWITCH_IN_GPIO GPIOA
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#define SWITCH_IN_PIN 15
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#define SWITCH_OUT_GPIO GPIOB
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#define SWITCH_OUT_PIN 13
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#define SWITCH_PRECHARGED_GPIO GPIOE
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#define SWITCH_PRECHARGED_PIN 2
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#define SWITCH_LED_3_GPIO GPIOD
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#define SWITCH_LED_3_PIN 11
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#define SWITCH_LED_2_GPIO GPIOD
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#define SWITCH_LED_2_PIN 10
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#define SWITCH_LED_1_GPIO GPIOD
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#define SWITCH_LED_1_PIN 15
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#define LED_PWM1_ON() palClearPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN)
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#define LED_PWM1_OFF() palSetPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN)
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#define LED_PWM2_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
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#define LED_PWM2_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
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#define LED_PWM3_ON() palClearPad(SWITCH_LED_3_GPIO, SWITCH_LED_3_PIN)
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#define LED_PWM3_OFF() palSetPad(SWITCH_LED_3_GPIO, SWITCH_LED_3_PIN)
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#define SMART_SWITCH_MSECS_PRESSED_OFF 2000
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#if defined (HW_VER_IS_60D_PLUS) || defined (HW_VER_IS_60D_XS)
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#define HW_HAS_PHASE_FILTERS
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#define PHASE_FILTER_GPIO GPIOE
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#define PHASE_FILTER_PIN 4
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#define PHASE_FILTER_GPIO_M2 GPIOE
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#define PHASE_FILTER_PIN_M2 1
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#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
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#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
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#define PHASE_FILTER_ON_M2() palSetPad(PHASE_FILTER_GPIO_M2, PHASE_FILTER_PIN_M2)
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#define PHASE_FILTER_OFF_M2() palClearPad(PHASE_FILTER_GPIO_M2, PHASE_FILTER_PIN_M2)
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#endif
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#define HW_SHUTDOWN_HOLD_ON();
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#define HW_SAMPLE_SHUTDOWN() 1
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#define HW_SHUTDOWN_HOLD_OFF() palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN); \
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palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
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#define DCCAL_ON() //drv8323s_dccal_on()
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#define DCCAL_OFF() //drv8323s_dccal_off()
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#define HW_EARLY_INIT() smart_switch_pin_init(); \
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smart_switch_thread_start();
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//Pins for BLE UART
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#define HW_UART_P_BAUD 115200
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#define HW_UART_P_DEV SD1
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#define HW_UART_P_GPIO_AF GPIO_AF_USART1
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#define HW_UART_P_TX_PORT GPIOA
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#define HW_UART_P_TX_PIN 9
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#define HW_UART_P_RX_PORT GPIOA
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#define HW_UART_P_RX_PIN 10
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#if defined (HW_VER_IS_60D_PLUS) || defined (HW_VER_IS_60D_XS)
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//Pins for Third UART
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#define HW_UART_3_BAUD 115200
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#define HW_UART_3_DEV SD2
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#define HW_UART_3_GPIO_AF GPIO_AF_USART2
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#define HW_UART_3_TX_PORT GPIOD
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#define HW_UART_3_TX_PIN 6
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#define HW_UART_3_RX_PORT GPIOD
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#define HW_UART_3_RX_PIN 5
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#endif
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// SPI for DRV8301
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#ifdef HW_VER_IS_60D_XS
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#define DRV8323S_MOSI_GPIO GPIOC
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#define DRV8323S_MOSI_PIN 11
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#define DRV8323S_MISO_GPIO GPIOC
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#define DRV8323S_MISO_PIN 12
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#else
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#define DRV8323S_MOSI_GPIO GPIOC
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#define DRV8323S_MOSI_PIN 12
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#define DRV8323S_MISO_GPIO GPIOC
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#define DRV8323S_MISO_PIN 11
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#endif
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#define DRV8323S_SCK_GPIO GPIOC
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#define DRV8323S_SCK_PIN 10
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#define DRV8323S_CS_GPIO GPIOC
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#define DRV8323S_CS_PIN 13
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#define DRV8323S_CS_GPIO2 GPIOD
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#define DRV8323S_CS_PIN2 2
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#define DRV8323S_CS_GPIO3 GPIOE
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#define DRV8323S_CS_PIN3 15
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// Macros
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#define ENABLE_GATE() palSetPad(GPIOE, 14); palSetPad(GPIOD, 4);
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#define DISABLE_GATE() palClearPad(GPIOE, 14); palClearPad(GPIOD, 4);
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#define ADC_SW_EN_PORT GPIOB
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#define ADC_SW_EN_PIN 12
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#define ADC_SW_1_PORT GPIOD
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#define ADC_SW_1_PIN 7
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#define ADC_SW_2_PORT GPIOB
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#define ADC_SW_2_PIN 3
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#define ADC_SW_3_PORT GPIOE
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#define ADC_SW_3_PIN 7
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#define AD_DIS() palSetPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN )
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#define AD1_L() palClearPad(ADC_SW_1_PORT, ADC_SW_1_PIN )
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#define AD1_H() palSetPad(ADC_SW_1_PORT, ADC_SW_1_PIN )
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#define AD2_L() palClearPad(ADC_SW_2_PORT, ADC_SW_2_PIN )
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#define AD2_H() palSetPad(ADC_SW_2_PORT, ADC_SW_2_PIN )
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#define AD3_L() palClearPad(ADC_SW_3_PORT, ADC_SW_3_PIN )
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#define AD3_H() palSetPad(ADC_SW_3_PORT, ADC_SW_3_PIN )
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#define AD_EN() palClearPad(ADC_SW_EN_PORT, ADC_SW_EN_PIN )
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#define ENABLE_MOS_TEMP1() AD_DIS(); AD3_L(); AD2_L(); AD1_L(); AD_EN();
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#define ENABLE_MOS_TEMP2() AD_DIS(); AD3_L(); AD2_L(); AD1_H(); AD_EN();
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#define ENABLE_MOT_TEMP1() AD_DIS(); AD3_L(); AD2_H(); AD1_L(); AD_EN();
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#define ENABLE_MOT_TEMP2() AD_DIS(); AD3_L(); AD2_H(); AD1_H(); AD_EN();
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#define ENABLE_ADC_EXT_2() AD_DIS(); AD3_H(); AD2_L(); AD1_L(); AD_EN();
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#define ENABLE_ADC_EXT_1() AD_DIS(); AD3_H(); AD2_L(); AD1_H(); AD_EN();
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#define ENABLE_ADC_EXT_3() AD_DIS(); AD3_H(); AD2_H(); AD1_L(); AD_EN();
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#define ENABLE_V_BATT_DIV() AD_DIS(); AD3_H(); AD2_H(); AD1_H(); AD_EN();
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#define IS_DRV_FAULT() (!palReadPad(GPIOE, 3))
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#define IS_DRV_FAULT2() (!palReadPad(GPIOD, 3))
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#define LED_GREEN_ON() palSetPad(GPIOC, 9);// palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN);
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#define LED_GREEN_OFF() palClearPad(GPIOC, 9);// palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN);
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#define LED_RED_ON() palSetPad(GPIOA, 8); //palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN);
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#define LED_RED_OFF() palClearPad(GPIOA, 8); //palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN);
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#define LED_SWITCH_R_ON() palClearPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN)
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#define LED_SWITCH_R_OFF() palSetPad(SWITCH_LED_3_GPIO,SWITCH_LED_3_PIN)
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#define LED_SWITCH_G_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
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#define LED_SWITCH_G_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
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#define LED_SWITCH_B_ON() palClearPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN)
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#define LED_SWITCH_B_OFF() palSetPad(SWITCH_LED_1_GPIO, SWITCH_LED_1_PIN)
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/*
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* ADC Vector
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*
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* 0: IN0 CURR3
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* 1: IN15 CURR4
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* 2: IN3 SERVO2/ADC
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* 3: IN9 CURR1
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* 4: IN8 CURR2
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* 5: IN10 AN_IN
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* 6: IN0 SENS2
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* 7: IN1 SENS3
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* 8: IN2 SENS1
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* 9: IN5 ADC_EXT
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* 10: IN4 ADC_TEMP
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* 11: IN13 SENS4
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* 12: Vrefint
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* 13: IN11 SENS6
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* 14: IN12 SENS5
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* 15: IN6 ADC_EXT2
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*/
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#define HW_ADC_CHANNELS 15
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#define HW_ADC_CHANNELS_EXTRA 15
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#define HW_ADC_INJ_CHANNELS 2
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#define HW_ADC_NBR_CONV 5
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// ADC Indexes
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#define ADC_IND_CURR1 0
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#define ADC_IND_CURR2 1
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#define ADC_IND_VIN_SENS 2
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#define ADC_IND_CURR3 3
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#define ADC_IND_CURR4 4
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#define ADC_IND_VM_SENSE 5
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#define ADC_IND_CURR6 6
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#define ADC_IND_CURR5 7
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#define ADC_IND_SENS4 8
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#define ADC_IND_ADC_MUX 9
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#define ADC_IND_SENS5 10
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#define ADC_IND_SENS6 11
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#define ADC_IND_SENS2 12
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#define ADC_IND_SENS3 13
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#define ADC_IND_SENS1 14
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#define ADC_IND_TEMP_MOS 15
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#define ADC_IND_TEMP_MOS_M2 16
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#define ADC_IND_TEMP_MOTOR 17
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#define ADC_IND_TEMP_MOTOR_2 18
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#define ADC_IND_EXT 19
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#define ADC_IND_EXT2 20
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#define ADC_IND_EXT3 21
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#define ADC_IND_V_BATT 22
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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 3.3
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#endif
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#ifndef VIN_R1
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#define VIN_R1 39000.0
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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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#if defined (HW_VER_IS_60D_PLUS) || defined (HW_VER_IS_60D_XS)
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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
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#endif
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#else
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#ifndef CURRENT_AMP_GAIN
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#define CURRENT_AMP_GAIN 10.0
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#endif
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#ifndef CURRENT_SHUNT_RES
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#define CURRENT_SHUNT_RES 0.001
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#endif
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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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#define GET_BATT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_V_BATT] * ((VIN_R1 + VIN_R2) / VIN_R2))
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#define GET_VM_SENSE_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VM_SENSE] * ((VIN_R1 + VIN_R2) / VIN_R2))
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// Voltage on ADC channel
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#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
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// NTC Termistors
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#define NTC_RES(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side // High side ->((4095.0 * 10000.0) / adc_val - 10000.0)
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#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3434.0) + (1.0 / 298.15)) - 273.15)
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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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#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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#define NTC_TEMP_MOTOR_2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
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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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// Number of servo outputs
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#define HW_SERVO_NUM 2
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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_ICU_TIMER TIM9
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#define HW_ICU_TIM_CLK_EN() RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE)
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#define HW_ICU_DEV ICUD9
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#define HW_ICU_CHANNEL ICU_CHANNEL_1
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#define HW_ICU_GPIO_AF GPIO_AF_TIM9
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#define HW_ICU_GPIO GPIOE
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#define HW_ICU_PIN 5
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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 GPIOD
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#define HW_HALL_ENC_PIN1 13
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#define HW_HALL_ENC_GPIO2 GPIOD
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#define HW_HALL_ENC_PIN2 12
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#define HW_HALL_ENC_GPIO3 GPIOD
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#define HW_HALL_ENC_PIN3 14
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#define HW_ENC_TIM TIM4
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#define HW_ENC_TIM_AF GPIO_AF_TIM4
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#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
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#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOD
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#define HW_ENC_EXTI_PINSRC EXTI_PinSource14
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#define HW_ENC_EXTI_CH EXTI15_10_IRQn
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#define HW_ENC_EXTI_LINE EXTI_Line14
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#define HW_ENC_EXTI_ISR_VEC EXTI15_10_IRQHandler
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#define HW_ENC_TIM_ISR_CH TIM4_IRQn
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#define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler
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#define HW_HALL_ENC_GPIO4 GPIOB
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#define HW_HALL_ENC_PIN4 4
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#define HW_HALL_ENC_GPIO5 GPIOB
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#define HW_HALL_ENC_PIN5 6
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#define HW_HALL_ENC_GPIO6 GPIOB
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#define HW_HALL_ENC_PIN6 7
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#define HW_ENC_TIM2 TIM3
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#define HW_ENC_TIM_AF2 GPIO_AF_TIM3
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#define HW_ENC_TIM_CLK_EN2() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
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#define HW_ENC_EXTI_PORTSRC2 EXTI_PortSourceGPIOB
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#define HW_ENC_EXTI_PINSRC2 EXTI_PinSource7
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#define HW_ENC_EXTI_CH2 EXTI9_5_IRQn
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#define HW_ENC_EXTI_LINE2 EXTI_Line6
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#define HW_ENC_EXTI_ISR_VEC2 EXTI9_5_IRQHandler
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#define HW_ENC_TIM_ISR_CH2 TIM3_IRQn
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#define HW_ENC_TIM_ISR_VEC2 TIM3_IRQHandler
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// NRF pins
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// NRF pins
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#define NRF_PORT_CSN GPIOD
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#define NRF_PIN_CSN 3
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#define NRF_PORT_SCK GPIOD
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#define NRF_PIN_SCK 2
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#define NRF_PORT_MOSI GPIOD
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#define NRF_PIN_MOSI 11
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#define NRF_PORT_MISO GPIOD
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#define NRF_PIN_MISO 10
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// NRF SWD
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#if defined (HW_VER_IS_60D_PLUS) || defined (HW_VER_IS_60D_XS)
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#define NRF5x_SWDIO_GPIO GPIOD
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#define NRF5x_SWDIO_PIN 9
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#define NRF5x_SWCLK_GPIO GPIOD
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#define NRF5x_SWCLK_PIN 8
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#else
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#define NRF5x_SWDIO_GPIO GPIOD
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#define NRF5x_SWDIO_PIN 6
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#define NRF5x_SWCLK_GPIO GPIOD
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#define NRF5x_SWCLK_PIN 5
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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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// 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 GPIOB
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#define HW_SPI_PIN_NSS 11
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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 GPIOB
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#define HW_SPI_PIN_MOSI 5
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#define HW_SPI_PORT_MISO GPIOA
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#define HW_SPI_PIN_MISO 6
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// LSM6DS3
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#define LSM6DS3_SDA_GPIO GPIOB
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#define LSM6DS3_SDA_PIN 9
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#define LSM6DS3_SCL_GPIO GPIOB
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#define LSM6DS3_SCL_PIN 8
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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_L4 ADC_Value[ADC_IND_SENS4]
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#define ADC_V_L5 ADC_Value[ADC_IND_SENS5]
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#define ADC_V_L6 ADC_Value[ADC_IND_SENS6]
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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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#define READ_HALL1_2() palReadPad(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4)
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#define READ_HALL2_2() palReadPad(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5)
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#define READ_HALL3_2() palReadPad(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6)
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//CAN
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#define HW_CANRX_PORT GPIOD
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#define HW_CANRX_PIN 0
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#define HW_CANTX_PORT GPIOD
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#define HW_CANTX_PIN 1
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#ifndef MCCONF_M_DRV8301_OC_ADJ
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#define MCCONF_M_DRV8301_OC_ADJ 14
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#endif
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#ifndef MCCONF_L_DUTY_START
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#define MCCONF_L_DUTY_START 0.9 // Start limiting current at this duty cycle
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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 200.0 // The maximum absolute current above which a fault is generated
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#endif
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#ifndef MCCONF_L_DUTY_START
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#define MCCONF_L_DUTY_START 0.9 // Start limiting current at this duty cycle
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#endif
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// Setting limits
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#define HW_LIM_CURRENT -150.0, 150.0
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#define HW_LIM_CURRENT_IN -120.0, 120.0
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#define HW_LIM_CURRENT_ABS 0.0, 200.0
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#define HW_LIM_VIN 6.0, 57.0
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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, 0.95
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#define HW_LIM_TEMP_FET -40.0, 120.0
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// Functions
|
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void smart_switch_thread_start(void);
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void smart_switch_pin_init(void);
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bool smart_switch_is_pressed(void);
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void smart_switch_shut_down(void);
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void smart_switch_keep_on(void);
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#endif /* HW_STORMCORE_60D_H_ */
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