forked from vedderb/bldc
/
hw_unity.h
295 lines (261 loc) · 10.6 KB
/
hw_unity.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
This program 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.
This program 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_UNITY_H_
#define HW_UNITY_H_
#define HW_NAME "UNITY"
#define HW_HAS_DUAL_MOTOR
//Switch Pins
#define SWITCH_IN_GPIO GPIOE
#define SWITCH_IN_PIN 15
#define SWITCH_OUT_GPIO GPIOB
#define SWITCH_OUT_PIN 13
#define SWITCH_LED_1_GPIO GPIOD
#define SWITCH_LED_1_PIN 10
#define SWITCH_LED_2_GPIO GPIOD
#define SWITCH_LED_2_PIN 11
//Pins for BLE UART
//#define USE_ALT_UART_PORT
#ifdef USE_ALT_UART_PORT
#define BT_UART_DEV SD2
#define BT_UART_GPIO_AF GPIO_AF_USART2
#define BT_UART_TX_PORT GPIOD
#define BT_UART_TX_PIN 5
#define BT_UART_RX_PORT GPIOD
#define BT_UART_RX_PIN 6
#else
#define BT_UART_DEV SD1
#define BT_UART_GPIO_AF GPIO_AF_USART1
#define BT_UART_TX_PORT GPIOA
#define BT_UART_TX_PIN 9
#define BT_UART_RX_PORT GPIOA
#define BT_UART_RX_PIN 10
#endif
// SPI for DRV8301
#define HW_HAS_DRV8301
#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 13
#define DRV8301_CS_GPIO2 GPIOE
#define DRV8301_CS_PIN2 0
// Macros
#define ENABLE_GATE() palSetPad(GPIOE, 2)
#define DISABLE_GATE() palClearPad(GPIOE, 2)
#define ENABLE_GATE2() palSetPad(GPIOD, 4)
#define DISABLE_GATE2() palClearPad(GPIOD, 4)
#define ENABLE_MOS_TEMP1() palSetPad(GPIOE, 7); palClearPad(GPIOD, 8);\
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
#define ENABLE_MOS_TEMP2() palSetPad(GPIOD, 8); palClearPad(GPIOE, 7);\
palClearPad(GPIOD, 9); palClearPad(GPIOB, 12);
#define ENABLE_MOT_TEMP1() palSetPad(GPIOD, 9); palClearPad(GPIOE, 7);\
palClearPad(GPIOD, 8); palClearPad(GPIOB, 12);
#define ENABLE_MOT_TEMP2() palSetPad(GPIOB, 12); palClearPad(GPIOE, 7);\
palClearPad(GPIOD, 8); palClearPad(GPIOD, 9);
#define DCCAL_ON() palSetPad(GPIOB, 8)
#define DCCAL_OFF() palClearPad(GPIOB, 8)
#define IS_DRV_FAULT() (!palReadPad(GPIOE, 3))
#define IS_DRV_FAULT2() (!palReadPad(GPIOE, 1))
#define LED_GREEN_ON() palSetPad(GPIOD, 7)
#define LED_GREEN_OFF() palClearPad(GPIOD, 7)
#define LED_RED_ON() palSetPad(GPIOD, 3)
#define LED_RED_OFF() palClearPad(GPIOD, 3)
#define LED_SWITCH_1_ON() palClearPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN)
#define LED_SWITCH_1_OFF() palSetPad(SWITCH_LED_1_GPIO,SWITCH_LED_1_PIN)
#define LED_SWITCH_2_ON() palClearPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
#define LED_SWITCH_2_OFF() palSetPad(SWITCH_LED_2_GPIO, SWITCH_LED_2_PIN)
/*
* ADC Vector
*
* 0: IN14 CURR3
* 1: IN15 CURR4
* 2: IN3 SERVO2/ADC
* 3: IN9 CURR1
* 4: IN8 CURR2
* 5: IN10 AN_IN
* 6: IN0 SENS2
* 7: IN1 SENS3
* 8: IN2 SENS1
* 9: IN5 ADC_EXT
* 10: IN4 ADC_TEMP
* 11: IN13 SENS4
* 12: Vrefint
* 13: IN11 SENS6
* 14: IN12 SENS5
* 15: IN6 ADC_EXT2
*/
#define HW_ADC_CHANNELS 15
#define HW_ADC_INJ_CHANNELS 2
#define HW_ADC_NBR_CONV 5
// ADC Indexes
#define ADC_IND_SENS1 8
#define ADC_IND_SENS2 6
#define ADC_IND_SENS3 7
#define ADC_IND_SENS4 11
#define ADC_IND_SENS5 14
#define ADC_IND_SENS6 13
#define ADC_IND_CURR1 3
#define ADC_IND_CURR2 4
#define ADC_IND_CURR3 0
#define ADC_IND_CURR4 1
#define ADC_IND_VIN_SENS 5
#define ADC_IND_EXT 9
#define ADC_IND_EXT2 15
#define ADC_IND_TEMP_MOS 10
#define ADC_IND_TEMP_MOTOR 10
#define ADC_IND_TEMP_MOTOR2 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 39000.0
#endif
#ifndef VIN_R2
#define VIN_R2 2200.0
#endif
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN -10.0
#endif
#ifndef CURRENT_SHUNT_RES
#define CURRENT_SHUNT_RES 0.001
#endif
// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
// NTC Termistors
#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)
#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3434.0) + (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) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
#define NTC_TEMP_MOTOR2(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR2]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
// 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
// Number of servo outputs
#define HW_SERVO_NUM 2
// 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
#define HW_ICU_TIMER TIM9
#define HW_ICU_DEV ICUD9
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM9
#define HW_ICU_GPIO GPIOE
#define HW_ICU_PIN 5
// 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 GPIOD
#define HW_HALL_ENC_PIN1 13
#define HW_HALL_ENC_GPIO2 GPIOD
#define HW_HALL_ENC_PIN2 12
#define HW_HALL_ENC_GPIO3 GPIOD
#define HW_HALL_ENC_PIN3 14
#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_EXTI_PORTSRC EXTI_PortSourceGPIOD
#define HW_ENC_EXTI_PINSRC EXTI_PinSource14
#define HW_ENC_EXTI_CH EXTI15_10_IRQn
#define HW_ENC_EXTI_LINE EXTI_Line14
#define HW_ENC_EXTI_ISR_VEC EXTI15_10_IRQHandler
#define HW_ENC_TIM_ISR_CH TIM4_IRQn
#define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler
#define HW_HALL_ENC_GPIO4 GPIOB
#define HW_HALL_ENC_PIN4 4
#define HW_HALL_ENC_GPIO5 GPIOB
#define HW_HALL_ENC_PIN5 6
#define HW_HALL_ENC_GPIO6 GPIOB
#define HW_HALL_ENC_PIN6 7
#define HW_ENC_TIM2 TIM3
#define HW_ENC_TIM_AF2 GPIO_AF_TIM3
#define HW_ENC_TIM_CLK_EN2() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#define HW_ENC_EXTI_PORTSRC2 EXTI_PortSourceGPIOB
#define HW_ENC_EXTI_PINSRC2 EXTI_PinSource7
#define HW_ENC_EXTI_CH2 EXTI9_5_IRQn
#define HW_ENC_EXTI_LINE2 EXTI_Line6
#define HW_ENC_EXTI_ISR_VEC2 EXTI9_5_IRQHandler
#define HW_ENC_TIM_ISR_CH2 TIM3_IRQn
#define HW_ENC_TIM_ISR_VEC2 TIM3_IRQHandler
// NRF pins
// NRF pins
#define NRF_PORT_CSN GPIOD
#define NRF_PIN_CSN 3
#define NRF_PORT_SCK GPIOD
#define NRF_PIN_SCK 2
#define NRF_PORT_MOSI GPIOD
#define NRF_PIN_MOSI 11
#define NRF_PORT_MISO GPIOD
#define NRF_PIN_MISO 10
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
#endif
// SPI pins
#define HW_SPI_DEV SPID1
#define HW_SPI_GPIO_AF GPIO_AF_SPI1
#define HW_SPI_PORT_NSS GPIOB
#define HW_SPI_PIN_NSS 11
#define HW_SPI_PORT_SCK GPIOA
#define HW_SPI_PIN_SCK 5
#define HW_SPI_PORT_MOSI GPIOB
#define HW_SPI_PIN_MOSI 5
#define HW_SPI_PORT_MISO GPIOA
#define HW_SPI_PIN_MISO 6
// 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_L4 ADC_Value[ADC_IND_SENS4]
#define ADC_V_L5 ADC_Value[ADC_IND_SENS5]
#define ADC_V_L6 ADC_Value[ADC_IND_SENS6]
#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)
#define READ_HALL4() palReadPad(HW_HALL_ENC_GPIO4, HW_HALL_ENC_PIN4)
#define READ_HALL5() palReadPad(HW_HALL_ENC_GPIO5, HW_HALL_ENC_PIN5)
#define READ_HALL6() palReadPad(HW_HALL_ENC_GPIO6, HW_HALL_ENC_PIN6)
// Setting limits
#define HW_LIM_CURRENT -150.0, 150.0
#define HW_LIM_CURRENT_IN -120.0, 120.0
#define HW_LIM_CURRENT_ABS 0.0, 200.0
#define HW_LIM_VIN 6.0, 59.0
#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.95
#define HW_LIM_TEMP_FET -40.0, 120.0
#endif /* HW_UNITY_H_ */