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hw_FOC_KING_core.h
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/*
Copyright 2018 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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_FOC_KING_CORE_H_
#define HW_FOC_KING_CORE_H_
#define HW_NAME "FOC_KING_20S"
// HW properties
#define HW_HAS_3_SHUNTS
// Macro
#define LED_GREEN_GPIO GPIOB
#define LED_GREEN_PIN 5
#define LED_RED_GPIO GPIOB
#define LED_RED_PIN 6
#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
#define AUX_GPIO GPIOC
#define AUX_PIN 12
#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
/*
* ADC Vector
*
* 0 (1): IN2 CURR1
* 1 (2): IN1 CURR2
* 2 (3): IN0 CURR3
* 3 (1): IN13 SENS1
* 4 (2): IN12 SENS2
* 5 (3): IN11 SENS3
* 6 (1): IN5 ADC_EXT
* 7 (2): IN6 ADC_EXT2
* 8 (3): IN3 ADC_TEMP
* 9 (1): IN14 TEMP_MOTOR
* 10 (2): IN15 ADC_15
* 11 (3): IN10 AN_IN
* 12 (1): Vrefint
* 13 (2): IN13 SENS1
* 14 (3): IN12 SENS2
* 15 (1): IN8 ADC_8
* 16 (2): IN9 ADC_9
* 17 (3): IN11 SENS3
*/
#define HW_ADC_CHANNELS 18
#define HW_ADC_INJ_CHANNELS 3
#define HW_ADC_NBR_CONV 6
// ADC Indexes
#define ADC_IND_CURR1 0
#define ADC_IND_CURR2 1
#define ADC_IND_CURR3 2
#define ADC_IND_SENS1 3
#define ADC_IND_SENS2 4
#define ADC_IND_SENS3 5
#define ADC_IND_EXT 6
#define ADC_IND_EXT2 7
#define ADC_IND_TEMP_MOS 8
#define ADC_IND_TEMP_MOTOR 9
#define ADC_IND_EXT3 10
#define ADC_IND_VIN_SENS 11
#define ADC_IND_VREFINT 12
#define ADC_IND_ADC_8 15
#define ADC_IND_ADC_9 16
// ADC macros and settings
// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG 3.3
#endif
#ifndef VIN_R1
#define VIN_R1 56000.0
#endif
#ifndef VIN_R2
#define VIN_R2 2000.0
#endif
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN 30.0
#endif
#ifndef CURRENT_SHUNT_RES
#define CURRENT_SHUNT_RES 0.00025
#endif
//#define INVERTED_SHUNT_POLARITY
// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
// 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) / 3380.0) + (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)
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
// 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
#ifndef CURR3_DOUBLE_SAMPLE
#define CURR3_DOUBLE_SAMPLE 0
#endif
// COMM-port ADC GPIOs
#define HW_ADC_EXT_GPIO GPIOA
#define HW_ADC_EXT_PIN 5
#define HW_ADC_EXT2_GPIO GPIOA
#define HW_ADC_EXT2_PIN 6
// 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
/* TODO:
// Permanent UART Peripheral (for NRF51)
#define HW_UART_P_BAUD 115200
#define HW_UART_P_DEV SD4
#define HW_UART_P_GPIO_AF GPIO_AF_UART4
#define HW_UART_P_TX_PORT GPIOC
#define HW_UART_P_TX_PIN 10
#define HW_UART_P_RX_PORT GPIOC
#define HW_UART_P_RX_PIN 11
*/
// ICU Peripheral for servo decoding
#define HW_USE_SERVO_TIM4
#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_2
#define HW_ICU_GPIO_AF GPIO_AF_TIM4
#define HW_ICU_GPIO GPIOB
#define HW_ICU_PIN 7
// 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
// 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
// IMU
#define BMI160_SDA_GPIO GPIOB
#define BMI160_SDA_PIN 2
#define BMI160_SCL_GPIO GPIOA
#define BMI160_SCL_PIN 15
// 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)
// Override dead time. See the stm32f4 reference manual for calculating this value.
#define HW_DEAD_TIME_NSEC 1000.0
// Default setting overrides
#ifndef MCCONF_L_MIN_VOLTAGE
#define MCCONF_L_MIN_VOLTAGE 20.0 // Minimum input voltage
#endif
#ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 90.0 // Maximum input voltage
#endif
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
#endif
#ifndef MCCONF_FOC_F_ZV
#define MCCONF_FOC_F_ZV 20000.0
#endif
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 420.0 // The maximum absolute current above which a fault is generated
#endif
#ifndef MCCONF_FOC_SAMPLE_V0_V7
#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
#endif
#ifndef MCCONF_L_IN_CURRENT_MAX
#define MCCONF_L_IN_CURRENT_MAX 250.0 // Input current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_IN_CURRENT_MIN
#define MCCONF_L_IN_CURRENT_MIN -200.0 // Input current limit in Amperes (Lower)
#endif
// Setting limits
#define HW_LIM_CURRENT -400.0, 400.0
#define HW_LIM_CURRENT_IN -400.0, 400.0
#define HW_LIM_CURRENT_ABS 0.0, 480.0
#define HW_LIM_VIN 17.0, 92.0
#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.99
#define HW_LIM_TEMP_FET -40.0, 110.0
#endif /* HW_FOC_KING_CORE_H_ */