mirror of https://github.com/rusefi/bldc.git
198 lines
6.9 KiB
C
Executable File
198 lines
6.9 KiB
C
Executable File
/*
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Copyright 2017 - 2022 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef CONF_GENERAL_H_
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#define CONF_GENERAL_H_
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// Firmware version
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#define FW_VERSION_MAJOR 6
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#define FW_VERSION_MINOR 05
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// Set to 0 for building a release and iterate during beta test builds
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#define FW_TEST_VERSION_NUMBER 25
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#include "datatypes.h"
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// Disable hardware limits on configuration parameters
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//#define DISABLE_HW_LIMITS
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#if !defined(HW_SOURCE) && !defined(HW_SOURCE_ALT)
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#error "No hardware source file set"
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#endif
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#ifndef HW_HEADER
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#error "No hardware header file set"
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#endif
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#ifdef USER_MC_CONF
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#include USER_MC_CONF
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#endif
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#ifdef USER_APP_CONF
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#include USER_APP_CONF
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#endif
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// This is how to provide a custom UI in VESC Tool. The UI can be created and tested in the
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// scripting page, then the source files can be exported. The defines below use the exported
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// files to provide the custom UI when VESC Tool connects.
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//
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// The intention if the HW gui is to be part of the HW-file and the app gui is for custom apps.
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// Both can be used at the same time.
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//
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// Defining QMLUI_HW_FULLSCREEN and/or QMLUI_APP_FULLSCREEN will disable the other pages in the
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// mobile version of VESC Tool.
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//
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//#define QMLUI_SOURCE_HW "qmlui/hw/qmlui_example_hw.c"
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//#define QMLUI_HEADER_HW "qmlui/hw/qmlui_example_hw.h"
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//#define QMLUI_HW_FULLSCREEN
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//
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//#define QMLUI_SOURCE_APP "qmlui/app/qmlui_example_app.c"
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//#define QMLUI_HEADER_APP "qmlui/app/qmlui_example_app.h"
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//#define QMLUI_APP_FULLSCREEN
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/*
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* Select default user motor configuration
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*/
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//#include "mcconf_default.h"
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//#include "mcconf_china_60kv.h"
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/*
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* Select default user app configuration
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*/
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//#include "appconf_example_ppm.h"
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//#include "appconf_custom.h"
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/*
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* Set APP_CUSTOM_TO_USE to the name of the main C file of the custom application.
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*/
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//#define APP_CUSTOM_TO_USE "app_custom_template.c"
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//#define APP_CUSTOM_TO_USE "app_motor_heater.c"
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//#include "er/app_erockit_conf_v2.h"
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//#include "finn/app_finn_az_conf.h"
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#include "hw.h"
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#include "mcconf_default.h"
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#include "appconf_default.h"
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/*
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* Enable blackmagic probe output on SWD port
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*/
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#ifndef HAS_BLACKMAGIC
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#define HAS_BLACKMAGIC 1
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#endif
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/*
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* Enable CAN-bus
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*/
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#ifndef CAN_ENABLE
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#define CAN_ENABLE 1
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#endif
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#ifdef HW_HAS_NO_CAN
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#undef CAN_ENABLE
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#define CAN_ENABLE 0
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#endif
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/*
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* Servo output driver
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*/
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#define SERVO_OUT_PULSE_MIN_US 1000 // Minimum pulse length in microseconds
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#define SERVO_OUT_PULSE_MAX_US 2000 // Maximum pulse length in microseconds
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#define SERVO_OUT_RATE_HZ 50 // Update rate in Hz
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// Correction factor for computations that depend on the old resistor division factor
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#define VDIV_CORR ((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0)))
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// Current ADC to amperes factor
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#define FAC_CURRENT ((V_REG / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN))
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#define VOLTAGE_TO_ADC_FACTOR ( VIN_R2 / (VIN_R2 + VIN_R1) ) * ( 4096.0 / V_REG )
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// Actual voltage on 3.3V net based on internal reference
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//#define V_REG (1.21 / ((float)ADC_Value[ADC_IND_VREFINT] / 4095.0))
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//#define V_REG 3.3
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// Use the pins for the hardware SPI port instead of the hall/encoder pins for the AS5047
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#ifndef AS504x_USE_SW_MOSI_PIN
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#define AS504x_USE_SW_MOSI_PIN 0
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#endif
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/*
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* MCU
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*/
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#define SYSTEM_CORE_CLOCK 168000000
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#define STM32_UUID ((uint32_t*)0x1FFF7A10)
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#define STM32_UUID_8 ((uint8_t*)0x1FFF7A10)
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/*
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* Run the BLDC speed controller in current mode instead of duty cycle mode. This will
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* make it behave like the FOC speed controller. The duty cycle mode has the advantage
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* that it does not require the extra current controller since bldc inherently runs
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* with duty cycle control. The current controller also outputs a duty cycle in the
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* end, and then the speed controller might as well do the same without the current
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* controller dynamics in between. FOC on the other hand is inherently based on current
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* control.
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*/
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#define BLDC_SPEED_CONTROL_CURRENT 1
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/*
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* Run the FOC loop once every N ADC ISR requests. This way the pwm frequency is
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* detached from the FOC calculation, which because it takes ~25usec it can't work
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* at >40khz. To set a 100kHz pwm FOC_CONTROL_LOOP_FREQ_DIVIDER can be set at 3
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* so it skips 2 ISR calls and execute the control loop in the 3rd call.
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*/
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#ifndef FOC_CONTROL_LOOP_FREQ_DIVIDER
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#define FOC_CONTROL_LOOP_FREQ_DIVIDER 1
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#endif
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// Global configuration variables
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extern bool conf_general_permanent_nrf_found;
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extern volatile backup_data g_backup;
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// Functions
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void conf_general_init(void);
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bool conf_general_store_backup_data(void);
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bool conf_general_read_eeprom_var_hw(eeprom_var *v, int address);
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bool conf_general_read_eeprom_var_custom(eeprom_var *v, int address);
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bool conf_general_store_eeprom_var_hw(eeprom_var *v, int address);
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bool conf_general_store_eeprom_var_custom(eeprom_var *v, int address);
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void conf_general_read_app_configuration(app_configuration *conf);
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bool conf_general_store_app_configuration(app_configuration *conf);
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void conf_general_read_mc_configuration(mc_configuration *conf, bool is_motor_2);
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bool conf_general_store_mc_configuration(mc_configuration *conf, bool is_motor_2);
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bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty,
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float *int_limit, float *bemf_coupling_k, int8_t *hall_table, int *hall_res);
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bool conf_general_measure_flux_linkage(float current, float duty,
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float min_erpm, float res, float *linkage);
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uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq);
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int conf_general_measure_flux_linkage_openloop(float current, float duty,
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float erpm_per_sec, float res, float ind, float *linkage,
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float *linkage_undriven, float *undriven_samples, bool *result);
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int conf_general_autodetect_apply_sensors_foc(float current,
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bool store_mcconf_on_success, bool send_mcconf_on_success, int *result);
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void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float tc);
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int conf_general_detect_apply_all_foc(float max_power_loss,
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bool store_mcconf_on_success, bool send_mcconf_on_success);
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int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
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float min_current_in, float max_current_in,
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float openloop_rpm, float sl_erpm,
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void(*reply_func)(unsigned char* data, unsigned int len));
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#endif /* CONF_GENERAL_H_ */
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