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hw_410.h
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hw_410.h
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/*
Copyright 2015 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_410_H_
#define HW_410_H_
#define HW_NAME "410"
// Macros
#define ENABLE_GATE() palSetPad(GPIOC, 10)
#define DISABLE_GATE() palClearPad(GPIOC, 10)
#define DCCAL_ON() palSetPad(GPIOB, 12)
#define DCCAL_OFF() palClearPad(GPIOB, 12)
#define IS_DRV_FAULT() (!palReadPad(GPIOC, 12))
#define LED_GREEN_ON() palSetPad(GPIOC, 4)
#define LED_GREEN_OFF() palClearPad(GPIOC, 4)
#define LED_RED_ON() palSetPad(GPIOC, 5)
#define LED_RED_OFF() palClearPad(GPIOC, 5)
/*
* ADC Vector
*
* 0: IN0 SENS3
* 1: IN1 SENS2
* 2: IN2 SENS1
* 3: IN8 CURR2
* 4: IN9 CURR1
* 5: IN3 TEMP_MOSFET
* 6: Vrefint
* 7: IN6 ADC_EXT2
* 8: IN12 AN_IN
* 9: IN4 TX_SDA_NSS
* 10: IN5 ADC_EXT
* 11: IN3 TEMP_MOTOR
*/
#define HW_ADC_CHANNELS 12
#define HW_ADC_INJ_CHANNELS 2
#define HW_ADC_NBR_CONV 4
// ADC Indexes
#define ADC_IND_SENS1 2
#define ADC_IND_SENS2 1
#define ADC_IND_SENS3 0
#define ADC_IND_CURR1 4
#define ADC_IND_CURR2 3
#define ADC_IND_VIN_SENS 8
#define ADC_IND_EXT 10
#define ADC_IND_EXT2 7
#define ADC_IND_TEMP_MOS 5
#define ADC_IND_TEMP_MOTOR 11
#define ADC_IND_VREFINT 6
// 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) ((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)
// 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
// UART Peripheral
#define HW_UART_DEV SD6
#define HW_UART_GPIO_AF GPIO_AF_USART6
#define HW_UART_TX_PORT GPIOC
#define HW_UART_TX_PIN 6
#define HW_UART_RX_PORT GPIOC
#define HW_UART_RX_PIN 7
// ICU Peripheral for servo decoding
#define HW_ICU_TIMER TIM3
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#define HW_ICU_DEV ICUD3
#define HW_ICU_CHANNEL ICU_CHANNEL_2
#define HW_ICU_GPIO_AF GPIO_AF_TIM3
#define HW_ICU_GPIO GPIOB
#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 GPIOB
#define HW_HALL_ENC_PIN1 6
#define HW_HALL_ENC_GPIO2 GPIOB
#define HW_HALL_ENC_PIN2 7
#define HW_HALL_ENC_GPIO3 GPIOC
#define HW_HALL_ENC_PIN3 11
#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_PortSourceGPIOC
#define HW_ENC_EXTI_PINSRC EXTI_PinSource11
#define HW_ENC_EXTI_CH EXTI15_10_IRQn
#define HW_ENC_EXTI_LINE EXTI_Line11
#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
// SPI pins
#define HW_SPI_DEV SPID1
#define HW_SPI_GPIO_AF GPIO_AF_SPI1
#define HW_SPI_PORT_NSS GPIOA
#define HW_SPI_PIN_NSS 4
#define HW_SPI_PORT_SCK GPIOA
#define HW_SPI_PIN_SCK 5
#define HW_SPI_PORT_MOSI GPIOA
#define HW_SPI_PIN_MOSI 7
#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_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)
// Setting limits
#define HW_LIM_CURRENT -100.0, 100.0
#define HW_LIM_CURRENT_IN -100.0, 100.0
#define HW_LIM_CURRENT_ABS 0.0, 150.0
#define HW_LIM_VIN 6.0, 57.0
#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, 110.0
#endif /* HW_410_H_ */