/* Copyright 2022 Benjamin Vedder benjamin@vedder.se 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 . */ #ifndef HW_JetFleetF6_Core_H_ #define HW_JetFleetF6_Core_H_ // HW properties #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_FILTERS #define INVERTED_SHUNT_POLARITY #define SERVO_BUZZER #define HW_USE_BRK #define BRK_HIGH // Macros #define LED_GREEN_GPIO GPIOB #define LED_GREEN_PIN 2 #define LED_RED_GPIO GPIOA #define LED_RED_PIN 15 #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) // Phase filter #define PHASE_FILTER_OFF() palSetPad(GPIOC, 15); palSetPad(GPIOC, 14); palSetPad(GPIOC, 13) #define PHASE_FILTER_ON() palClearPad(GPIOC, 15); palClearPad(GPIOC, 14); palClearPad(GPIOC, 13) // AUX #define AUX_GPIO GPIOC #define AUX_PIN 9 #define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN) #define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN) // Shutdown pin #define HW_SHUTDOWN_GPIO GPIOB #define HW_SHUTDOWN_PIN 0 #define HW_SHUTDOWN_SENSE_GPIO GPIOC #define HW_SHUTDOWN_SENSE_PIN 5 #define HW_SHUTDOWN_HOLD_ON() palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN) #define HW_SHUTDOWN_HOLD_OFF() palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN) #define HW_SAMPLE_SHUTDOWN() hw_sample_shutdown_button() // ADC Config #define HW_ADC_CHANNELS 18 #define HW_ADC_INJ_CHANNELS 3 #define HW_ADC_NBR_CONV 6 // ADC Indexes #define ADC_IND_SENS1 3 #define ADC_IND_SENS2 4 #define ADC_IND_SENS3 5 #define ADC_IND_CURR1 0 #define ADC_IND_CURR2 1 #define ADC_IND_CURR3 2 #define ADC_IND_VIN_SENS 11 #define ADC_IND_EXT 6 #define ADC_IND_EXT2 7 #define ADC_IND_SHUTDOWN 10 #define ADC_IND_TEMP_MOS 8 //#define ADC_IND_TEMP_MOS_2 15 #define ADC_IND_TEMP_MOS_3 16 #define ADC_IND_TEMP_MOTOR 9 #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 150000.0 #endif #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN 20.0 #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES (0.0005 / 2.0) #endif // 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) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) #define NTC_TEMP(adc_ind) hw_JetFleet_get_temp() #define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) #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_MOS1() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15) //#define NTC_TEMP_MOS2() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_2]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15) #define NTC_TEMP_MOS3() (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS_3]) / 10000.0) / 3380.0) + (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 // 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_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 12 #define HW_I2C_SDA_PORT GPIOC #define HW_I2C_SDA_PIN 5 // 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 SPID3 #define HW_SPI_GPIO_AF GPIO_AF_SPI3 #define HW_SPI_PORT_NSS GPIOA #define HW_SPI_PIN_NSS 4 #define HW_SPI_PORT_SCK GPIOC #define HW_SPI_PIN_SCK 10 #define HW_SPI_PORT_MOSI GPIOC #define HW_SPI_PIN_MOSI 12 #define HW_SPI_PORT_MISO GPIOC #define HW_SPI_PIN_MISO 11 // I2C for IMU #define LSM6DS3_SDA_GPIO GPIOB #define LSM6DS3_SDA_PIN 4 #define LSM6DS3_SCL_GPIO GPIOB #define LSM6DS3_SCL_PIN 5 //BRK #define BRK_GPIO GPIOB #define BRK_PIN 12 // UART Peripheral #define HW_UART_DEV SD4 #define HW_UART_GPIO_AF GPIO_AF_UART4 #define HW_UART_TX_PORT GPIOC #define HW_UART_TX_PIN 10 #define HW_UART_RX_PORT GPIOC #define HW_UART_RX_PIN 11 // Permanent UART Peripheral (for NRF52) #define HW_UART_P_BAUD 115200 #define HW_UART_P_DEV SD3 #define HW_UART_P_GPIO_AF GPIO_AF_USART3 #define HW_UART_P_TX_PORT GPIOB #define HW_UART_P_TX_PIN 10 #define HW_UART_P_RX_PORT GPIOB #define HW_UART_P_RX_PIN 11 // 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 450.0 // Default setting overrides #ifndef MCCONF_L_MIN_VOLTAGE #define MCCONF_L_MIN_VOLTAGE 20.0 // Minimum 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 30000.0 #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 50.0 // Input current limit in Amperes (Upper) #endif #ifndef MCCONF_L_IN_CURRENT_MIN #define MCCONF_L_IN_CURRENT_MIN -20.0 // Input current limit in Amperes (Lower) #endif // Setting limits #define HW_LIM_CURRENT_IN -150.0, 150.0 #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, 100.0 // Functions float hw_JetFleet_get_temp(void); bool hw_sample_shutdown_button(void); void buzzer_init(void); #define HW_EARLY_INIT() buzzer_init() #endif /* HW_JetFleetF6_Core_H_ */