/* Copyright 2018 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_T12T_ #define HW_T12T_ #define HW_NAME "X12_PRO24" // HW propertiest #define HW_HAS_3_SHUNTS #define HW_HAS_PHASE_SHUNTS #define HW_HAS_PHASE_FILTERS //#define INVERTED_SHUNT_POLARITY //#define HW_USE_BRK // Macros #define LED_GREEN_GPIO GPIOC #define LED_GREEN_PIN 9 #define LED_RED_GPIO GPIOB #define LED_RED_PIN 2 #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, 13); palSetPad(GPIOC, 14); palSetPad(GPIOC, 15) #define PHASE_FILTER_ON() palClearPad(GPIOC, 13); palClearPad(GPIOC, 14); palClearPad(GPIOC, 15) //#define BRK_GPIO GPIOB //#define BRK_PIN 12 //#define AUX_GPIO GPIOC //#define AUX_PIN 12 //#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN) //#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN) #define HW_ADC_CHANNELS 18 #define HW_ADC_INJ_CHANNELS 3 #define HW_ADC_NBR_CONV 6 // ADC Indexes #define ADC_IND_CURR1 0 //PC10 #define ADC_IND_CURR2 1 //PC11 #define ADC_IND_CURR3 2 //PC12 #define ADC_IND_SENS1 3 //PA0 #define ADC_IND_SENS2 4 //PA1 #define ADC_IND_SENS3 5 //PA2 #define ADC_IND_VIN_SENS 8 //PC13 #define ADC_IND_EXT 11 //PA3 #define ADC_IND_EXT2 13 //PA4 #define ADC_IND_EXT3 9 //PA7 #define ADC_IND_TEMP_MOS 10 //PC4 #define ADC_IND_TEMP_MOS_2 12 //PC5 #define ADC_IND_TEMP_MOS_3 10 //Only 2 sensors #define ADC_IND_TEMP_MOTOR 16 //PB1 #define ADC_IND_VREFINT 15 //Must be ADC1//WHY DO WE NEED THIS??? // ADC macros and settings // Component parameters (can be overridden) #ifndef V_REG #define V_REG 3.3 #endif #ifndef VIN_R1 #define VIN_R1 100000.0 #endif #ifndef VIN_R2 #define VIN_R2 2700.0 #endif #ifndef CURRENT_AMP_GAIN #define CURRENT_AMP_GAIN (1.35/750) //Isolated current ring sensors for 750A, experiment shows 1.35V/750A #endif #ifndef CURRENT_SHUNT_RES #define CURRENT_SHUNT_RES (1.0) #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) ((4095.0 * 10000.0) / adc_val - 10000.0) #define NTC_TEMP(adc_ind) hwt12t_get_temp() #define NTC_RES_MOTOR(adc_val) (4700.0 / ((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_MOS1() (1.0 / ((logf(NTC_RES((4095-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((4095-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((4095-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) // 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 // Permanent UART Peripheral (for NRF52) //No NRF used // 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 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 //Placeholder on T12T, only applicable to later versions where input filter caps not fitted #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 //TBC...//re-use ADC in 2 on PA4 since it has the hardware NSS #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 LSM6DS3_NSS_GPIO GPIOA #define LSM6DS3_NSS_PIN 15 #define LSM6DS3_SCK_GPIO GPIOB #define LSM6DS3_SCK_PIN 3 #define LSM6DS3_MOSI_GPIO GPIOB #define LSM6DS3_MOSI_PIN 5 #define LSM6DS3_MISO_GPIO GPIOB #define LSM6DS3_MISO_PIN 4 #define LSM6DS3_SPEED_700KHZ //#define IMU_FLIP // NRF SWD//NO NRF //No NRF used // 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 350.0 // Default setting overrides #ifndef MCCONF_L_MIN_VOLTAGE #define MCCONF_L_MIN_VOLTAGE 18.0 //Minimum input voltage, T12T turns on at any voltage, but we do not want to go lower than this because of risk of gate driver undervoltage #endif #ifndef MCCONF_L_MAX_VOLTAGE #define MCCONF_L_MAX_VOLTAGE 110.0 //Set max in to 110V - targetting 24s = 24*4.2 = 100.8 , keep some headroom for the MOS #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_L_MAX_ABS_CURRENT #define MCCONF_L_MAX_ABS_CURRENT 550.0 // 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 -250.0 // Input current limit in Amperes (Lower) #endif // Setting limits #define HW_LIM_CURRENT -500.0, 500.0 #define HW_LIM_CURRENT_IN -250.0, 250.0 #define HW_LIM_CURRENT_ABS 0.0, 600.0 #define HW_LIM_VIN 18.0, 115.0 #define HW_LIM_ERPM -200e3, 200e3 #define HW_LIM_DUTY_MIN 0.0, 0.1 #define HW_LIM_DUTY_MAX 0.0, 0.98 #define HW_LIM_TEMP_FET -40.0, 90.0 // HW-specific functions float hwt12t_get_temp(void); #endif /* HW_T12T_ */