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hw_rh.h
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/*
Copyright 2017 Benjamin Vedder [email protected]
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_RH_H_
#define HW_RH_H_
#define HW_NAME "rh"
// HW properties
#define HW_HAS_3_SHUNTS
#define HW_HAS_PHASE_SHUNTS
#define HW_HAS_DRV8305
// Macros
#define ENABLE_GATE() palSetPad(GPIOG, 6)
#define DISABLE_GATE() palClearPad(GPIOG, 6)
#define DCCAL_ON()
#define DCCAL_OFF()
#define IS_DRV_FAULT() (!palReadPad(GPIOF, 14))
#define LED_GREEN_ON() palClearPad(GPIOE, 12)
#define LED_GREEN_OFF() palSetPad(GPIOE, 12)
#define LED_RED_ON() palClearPad(GPIOE, 10)
#define LED_RED_OFF() palSetPad(GPIOE, 10)
/*
* ADC Vector
*
* 0: IN3 SENS1
* 1: IN1 SENS2
* 2: IN2 SENS3
* 3: IN10 CURR1
* 4: IN11 CURR2
* 5: IN12 CURR3
* 6: VREFINT VREFINT
* 7: IN13 AN_IN
* 8: IN0 NC
* 9: IN8 NC
* 10: IN9 PWRGD
* 11: IN14 EXT
*/
#define HW_ADC_CHANNELS 12
#define HW_ADC_INJ_CHANNELS 2
#define HW_ADC_NBR_CONV 4
// ADC Indexes
#define ADC_IND_SENS1 0
#define ADC_IND_SENS2 1
#define ADC_IND_SENS3 2
#define ADC_IND_CURR1 3
#define ADC_IND_CURR2 4
#define ADC_IND_CURR3 5
#define ADC_IND_VIN_SENS 7
#define ADC_IND_EXT 11
#define ADC_IND_EXT2 11
#define ADC_IND_TEMP_MOS 9
#define ADC_IND_TEMP_MOTOR 9
#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 68000.0
#endif
#ifndef VIN_R2
#define VIN_R2 6800.0
#endif
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN 20.0
#endif
#ifndef CURRENT_SHUNT_RES
#define CURRENT_SHUNT_RES 0.01
#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) 0.0
#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) 0.0
// 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 UARTD6
#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 TIM4
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
#define HW_ICU_DEV ICUD4
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM4
#define HW_ICU_GPIO GPIOB
#define HW_ICU_PIN 6
// 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 GPIOC
#define HW_HALL_ENC_PIN1 6
#define HW_HALL_ENC_GPIO2 GPIOC
#define HW_HALL_ENC_PIN2 7
#define HW_HALL_ENC_GPIO3 GPIOC
#define HW_HALL_ENC_PIN3 8
#define HW_ENC_TIM TIM3
#define HW_ENC_TIM_AF GPIO_AF_TIM3
#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
#define HW_ENC_EXTI_CH EXTI9_5_IRQn
#define HW_ENC_EXTI_LINE EXTI_Line8
#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
#define HW_ENC_TIM_ISR_CH TIM3_IRQn
#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
// NRF pins
#define NRF_PORT_CSN GPIOA
#define NRF_PIN_CSN 4
#define NRF_PORT_SCK GPIOA
#define NRF_PIN_SCK 5
#define NRF_PORT_MOSI GPIOA
#define NRF_PIN_MOSI 7
#define NRF_PORT_MISO GPIOA
#define NRF_PIN_MISO 6
// 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
// SPI for DRV8305
#define DRV8305_MOSI_GPIO GPIOC
#define DRV8305_MOSI_PIN 12
#define DRV8305_MISO_GPIO GPIOC
#define DRV8305_MISO_PIN 11
#define DRV8305_SCK_GPIO GPIOC
#define DRV8305_SCK_PIN 10
#define DRV8305_CS_GPIO GPIOD
#define DRV8305_CS_PIN 8
// 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 TODO!
#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
// Default motor configuration values for this HW
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
#endif
#ifndef MCCONF_L_CURRENT_MAX
#define MCCONF_L_CURRENT_MAX 2.0 // Current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_CURRENT_MIN
#define MCCONF_L_CURRENT_MIN -2.0 // Current limit in Amperes (Lower)
#endif
#ifndef MCCONF_L_IN_CURRENT_MAX
#define MCCONF_L_IN_CURRENT_MAX 2.0 // Input current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_IN_CURRENT_MIN
#define MCCONF_L_IN_CURRENT_MIN -2.0 // Input current limit in Amperes (Lower)
#endif
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 10.0 // The maximum absolute current above which a fault is generated
#endif
#ifndef MCCONF_CC_MIN_CURRENT
#define MCCONF_CC_MIN_CURRENT 0.01 // Minimum allowed current
#endif
#endif /* HW_RH_H_ */