mirror of https://github.com/rusefi/bldc.git
335 lines
11 KiB
C
335 lines
11 KiB
C
/*
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Copyright 2017 Benjamin Vedder benjamin@vedder.se
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Copyright 2019 Marcos Chaparro mchaparro@powerdesigns.ca
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For support, please contact www.powerdesigns.ca
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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 HW_AXIOM_H_
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#define HW_AXIOM_H_
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#define HW_NAME "AXIOM"
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//#define HW_AXIOM_USE_DAC
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//#define HW_AXIOM_USE_MOTOR_TEMP
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//#define HW_HAS_INPUT_CURRENT_SENSOR
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#define HW_USE_LINE_TO_LINE
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#define HW_AXIOM_FORCE_HIGH_CURRENT_MEASUREMENTS
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#define HW_VERSION_AXIOM
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// HW properties
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#define HW_HAS_3_SHUNTS
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#define HW_HAS_PHASE_SHUNTS
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#define HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
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// Macros
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#define ENABLE_GATE() palSetPad(GPIOC, 14)
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#define DISABLE_GATE() palClearPad(GPIOC, 14)
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#define DCCAL_ON()
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#define DCCAL_OFF()
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#define IS_DRV_FAULT() (!palReadPad(GPIOB, 12))
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#define LED_GREEN_ON() palSetPad(GPIOB, 2)
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#define LED_GREEN_OFF() palClearPad(GPIOB, 2)
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#ifdef HW_PALTA_REV_B
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#define LED_RED_ON() palSetPad(GPIOB, 1)
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#define LED_RED_OFF() palClearPad(GPIOB, 1)
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#else
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#define LED_RED_ON() palSetPad(GPIOB, 11)
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#define LED_RED_OFF() palClearPad(GPIOB, 11)
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#endif
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/*
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* ADC Vector
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*
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* 0 (1): IN0 SENS1
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* 1 (2): IN1 SENS2
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* 2 (3): IN2 SENS3
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* 3 (1): IN10 CURR1
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* 4 (2): IN11 CURR2
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* 5 (3): IN12 CURR3
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* 6 (1): IN8 ADC_IND_EXT2
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* 7 (2): IN6 TEMP_IGBT_2
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* 8 (3): IN3 TEMP_PCB
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* 9 (1): IN14 TEMP_MOTOR
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* 10 (2): IN15 ADC_IND_EXT
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* 11 (3): IN13 AN_IN
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* 12 (1): IN9 V_GATE_DRIVER
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* 13 (2): IN4 TEMP_IGBT_1
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* 14 (3) IN3 UNUSED
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* 15 (1): IN5 TEMP_IGBT_3
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* 16 (2): VREFINT ADC_IND_VREFINT
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* 17 (3): VREFINT UNUSED
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*/
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#define HW_ADC_CHANNELS 18
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#define HW_ADC_INJ_CHANNELS 3
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#define HW_ADC_NBR_CONV 6
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// ADC Indexes
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#define ADC_IND_SENS1 0
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#define ADC_IND_SENS2 1
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#define ADC_IND_SENS3 2
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#define ADC_IND_CURR1 3
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#define ADC_IND_CURR2 4
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#define ADC_IND_CURR3 5
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#define ADC_IND_VIN_SENS 11
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#define ADC_IND_VOUT_GATE_DRV 12
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#define ADC_IND_EXT 10
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#define ADC_IND_EXT2 6
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#define ADC_IND_TEMP_PCB 8
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#define ADC_IND_TEMP_MOTOR 9
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#define ADC_IND_TEMP_IGBT_1 13
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#define ADC_IND_TEMP_IGBT_2 7
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#define ADC_IND_TEMP_IGBT_3 15
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#define ADC_IND_VREFINT 16
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// When reading switch temperature, return the center IGBT temp
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// because it will be the hotter one.
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#define ADC_IND_TEMP_MOS ADC_IND_TEMP_IGBT_2
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// ADC macros and settings
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#ifdef HW_PALTA_REV_B
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#define HVDC_TRANSFER_FUNCTION 112.15 //[V/V]
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#define PHASE_VOLTAGE_TRANSFER_FUNCTION 112.15 //[V/V]
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#else
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#define HVDC_TRANSFER_FUNCTION 185.0 //[V/V]
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#define PHASE_VOLTAGE_TRANSFER_FUNCTION 367.7 //[V/V]
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#endif
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#define DEFAULT_CURRENT_AMP_GAIN 0.003761 //Transfer Function [V/A] for ISB-425-A
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//#define DEFAULT_CURRENT_AMP_GAIN 0.001249 //Transfer Function [V/A] for HTFS 800-P
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//#define DEFAULT_CURRENT_AMP_GAIN 0.004994 //Transfer Function [V/A] for HASS 100-S
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//#define DEFAULT_CURRENT_AMP_GAIN 0.001249 //Transfer Function [V/A] for HASS 400-S
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//#define DEFAULT_CURRENT_AMP_GAIN 0.0008324 //Transfer Function [V/A] for HASS 600-S
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#define DEFAULT_INPUT_CURRENT_AMP_GAIN 0.004 //Transfer Function [V/A] for 4mv/A
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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 (PHASE_VOLTAGE_TRANSFER_FUNCTION - 1.0)
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#endif
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#ifndef VIN_R2
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#define VIN_R2 1.0
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#endif
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#ifndef CURRENT_AMP_GAIN
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#define CURRENT_AMP_GAIN hw_axiom_get_current_sensor_gain()
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#endif
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#ifndef CURRENT_SHUNT_RES
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#define CURRENT_SHUNT_RES 1.0 // Unity gain so we use a single transfer function defined as CURRENT_AMP_GAIN
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#endif
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#define HW_MAX_CURRENT_OFFSET 620 // More than this offset (0.5 Vdc) trips the offset fault (likely a sensor disconnected)
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#define MCCONF_MAX_CURRENT_UNBALANCE 130.0 // [Amp] More than this unbalance trips the fault (likely a sensor disconnected)
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#define MCCONF_MAX_CURRENT_UNBALANCE_RATE 0.3 // Fault if more than 30% of the time the motor is unbalanced
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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] * (HVDC_TRANSFER_FUNCTION))
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//Input current
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#define GET_INPUT_CURRENT() hw_axiom_read_input_current()
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#define GET_INPUT_CURRENT_OFFSET() hw_axiom_get_input_current_offset()
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#define MEASURE_INPUT_CURRENT_OFFSET() hw_axiom_start_input_current_sensor_offset_measurement()
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// NTC Termistors
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#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
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#define NTC_RES_IGBT(adc_val) ((4095.0 * 5000.0) / adc_val - 5000.0)
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#define NTC_TEMP(adc_ind) hw_axiom_get_highest_IGBT_temp()
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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) ((4095.0 * 10000.0) / adc_val - 10000.0)
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// If DAC enabled, only IGBT_TEMP_3 is available
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#ifdef HW_AXIOM_USE_DAC
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#define NTC_TEMP_MOS1() (25.0)
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#define NTC_TEMP_MOS2() (25.0)
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#define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_3]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15)
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#else
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// Individual IGBT Temperature sensing
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#define NTC_TEMP_MOS1() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_1]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15)
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#define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_2]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15)
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#define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES_IGBT(ADC_Value[ADC_IND_TEMP_IGBT_3]) / 5000.0) / 3433.0) + (1.0 / 298.15)) - 273.15)
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#endif
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#ifdef HW_AXIOM_USE_MOTOR_TEMP
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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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#else
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#define NTC_TEMP_MOTOR(beta) 25.0
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#endif
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// Voltage on ADC channel
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#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
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// Sin/Cos Encoder signals
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#define ENCODER_SIN_VOLTS ADC_VOLTS(ADC_IND_EXT)
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#define ENCODER_COS_VOLTS ADC_VOLTS(ADC_IND_EXT2)
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#ifdef HW_PALTA_REV_B
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#define GET_GATE_DRIVER_SUPPLY_VOLTAGE() 15.0
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#else
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// Gate driver power supply output voltage
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#define GET_GATE_DRIVER_SUPPLY_VOLTAGE() ((float)ADC_VOLTS(ADC_IND_VOUT_GATE_DRV) * 11.0)
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#endif
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#define ANGLE_TO_DAC_VALUE(angle) ( angle * 512.0 + 0x800 )//angle between -pi to pi
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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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#ifndef CURR3_DOUBLE_SAMPLE
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#define CURR3_DOUBLE_SAMPLE 0
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#endif
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// COMM-port ADC GPIOs
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#define HW_ADC_EXT_GPIO GPIOC
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#define HW_ADC_EXT_PIN 5
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#define HW_ADC_EXT2_GPIO GPIOB
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#define HW_ADC_EXT2_PIN 0
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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 GPIOD
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#define HW_UART_RX_PIN 9 //Freeing B11 for fault LED. PD9 not available in LQFT64 package
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// ICU Peripheral for servo decoding
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#define HW_USE_SERVO_TIM4
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#define HW_ICU_TIMER TIM4
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#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
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#define HW_ICU_DEV ICUD4
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#define HW_ICU_CHANNEL ICU_CHANNEL_1
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#define HW_ICU_GPIO_AF GPIO_AF_TIM4
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#define HW_ICU_GPIO GPIOB
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#define HW_ICU_PIN 6
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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 GPIOC
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#define HW_HALL_ENC_PIN1 6
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#define HW_HALL_ENC_GPIO2 GPIOC
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#define HW_HALL_ENC_PIN2 7
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#define HW_HALL_ENC_GPIO3 GPIOC
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#define HW_HALL_ENC_PIN3 8
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#define HW_ENC_TIM TIM3
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#define HW_ENC_TIM_AF GPIO_AF_TIM3
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#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
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#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
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#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
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#define HW_ENC_EXTI_CH EXTI9_5_IRQn
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#define HW_ENC_EXTI_LINE EXTI_Line8
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#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
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#define HW_ENC_TIM_ISR_CH TIM3_IRQn
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#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
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// Resolver interface pins
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#define AD2S1205_SAMPLE_GPIO GPIOB
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#define AD2S1205_SAMPLE_PIN 3
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// NRF pins
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#define NRF_PORT_CSN GPIOB
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#define NRF_PIN_CSN 12
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#define NRF_PORT_SCK GPIOB
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#define NRF_PIN_SCK 4
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#define NRF_PORT_MOSI GPIOB
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#define NRF_PIN_MOSI 3
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#define NRF_PORT_MISO GPIOD
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#define NRF_PIN_MISO 2
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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 GPIOA
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#define HW_SPI_PIN_NSS 15
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#define HW_SPI_PORT_SCK GPIOC
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#define HW_SPI_PIN_SCK 10
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#define HW_SPI_PORT_MOSI GPIOC
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#define HW_SPI_PIN_MOSI 12
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#define HW_SPI_PORT_MISO GPIOC
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#define HW_SPI_PIN_MISO 11
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// Measurement macros
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#define ADC_V_L1 (ADC_Value[ADC_IND_SENS1]-2048) //phase voltages are centered in 1.65V
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#define ADC_V_L2 (ADC_Value[ADC_IND_SENS2]-2048)
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#define ADC_V_L3 (ADC_Value[ADC_IND_SENS3]-2048)
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#define ADC_V_ZERO 0
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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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// Override dead time. See the stm32f4 reference manual for calculating this value.
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#define HW_DEAD_TIME_NSEC 1400.0
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#define HW_GATE_DRIVER_SUPPLY_MAX_VOLTAGE 16.0
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#define HW_GATE_DRIVER_SUPPLY_MIN_VOLTAGE 14.0
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// Default setting overrides
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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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#ifndef MCCONF_FOC_SAMPLE_V0_V7
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#define MCCONF_FOC_SAMPLE_V0_V7 true // Run control loop in both v0 and v7 (requires phase shunts)
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#endif
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#ifndef MCCONF_L_MAX_VOLTAGE
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#define MCCONF_L_MAX_VOLTAGE 0.0 // For safety the board will be held in fault until mc_conf is configured by the user
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#endif
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// Execute FOC loop once every "FOC_CONTROL_LOOP_FREQ_DIVIDER" ADC ISR calls
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#define FOC_CONTROL_LOOP_FREQ_DIVIDER 1
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// Setting limits
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#define HW_LIM_CURRENT -425.0, 425.0
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#define HW_LIM_CURRENT_IN -400.0, 400.0
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#define HW_LIM_CURRENT_ABS 0.0, 400.0
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#define HW_LIM_VIN 0.0, 420.0
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#define HW_LIM_ERPM -100e3, 100e3
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#define HW_LIM_DUTY_MIN 0.0, 0.1
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#define HW_LIM_DUTY_MAX 0.0, 1.0
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#define HW_LIM_TEMP_FET -40.0, 110.0
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#define HW_LIM_FOC_CTRL_LOOP_FREQ 5000.0, 30000.0 //at around 38kHz the RTOS starts crashing (26us FOC ISR)
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// HW-specific functions
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char hw_axiom_configure_FPGA(void);
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void hw_axiom_DAC1_setdata(uint16_t data);
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void hw_axiom_DAC2_setdata(uint16_t data);
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float hw_axiom_get_current_sensor_gain(void);
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float hw_axiom_get_highest_IGBT_temp(void);
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float hw_axiom_read_input_current(void);
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void hw_axiom_get_input_current_offset(void);
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void hw_axiom_start_input_current_sensor_offset_measurement(void);
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#endif /* HW_AXIOM_H_ */
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