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KIT EPC9146 #673

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aa9fdc8
add KIT EPC9146
karu2003 Nov 5, 2023
d3d54fe
pid tuning
karu2003 Nov 7, 2023
17c0682
...
karu2003 Nov 9, 2023
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6 changes: 5 additions & 1 deletion comm/commands.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1992,7 +1992,11 @@ static THD_FUNCTION(blocking_thread, arg) {

// Lower f_zv means less dead time distortion and higher possible current
// when measuring inductance on high-inductance motors.
mcconf->foc_f_zv = 10000.0;
#ifdef HW_HIGH_F_MEASUREMENTS
mcconf->foc_f_zv = 80000.0;
#else
mcconf->foc_f_zv = 10000.0;
#endif

mc_interface_set_configuration(mcconf);

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246 changes: 246 additions & 0 deletions hwconf/ipm/EPC9146/hw_EPC9146.c
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Original file line number Diff line number Diff line change
@@ -0,0 +1,246 @@
/*
Copyright 2019 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/>.
*/

#include "hw.h"

#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
// #include "utils.h"
#include "utils_math.h"
// #include <math.h>
// #include "mc_interface.h"

// Variables
static volatile bool i2c_running = false;

// I2C configuration
static const I2CConfig i2cfg = {
OPMODE_I2C,
100000,
STD_DUTY_CYCLE
};

void hw_init_gpio(void) {
// GPIO clock enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);

// LEDs
palSetPadMode(GPIOB, 0,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(GPIOB, 1,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);

// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);

palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_FLOATING);

// Hall sensors
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);

// nFault pin
palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);

// // Phase filters
// palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
// PAL_MODE_OUTPUT_PUSHPULL |
// PAL_STM32_OSPEED_HIGHEST);
// PHASE_FILTER_OFF();

// // Current filter
// palSetPadMode(GPIOD, 2,
// PAL_MODE_OUTPUT_PUSHPULL |
// PAL_STM32_OSPEED_HIGHEST);

// CURRENT_FILTER_OFF();

// // AUX pin
// AUX_OFF();
// palSetPadMode(AUX_GPIO, AUX_PIN,
// PAL_MODE_OUTPUT_PUSHPULL |
// PAL_STM32_OSPEED_HIGHEST);

// ADC Pins
palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);

palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
}

void hw_setup_adc_channels(void) {
// ADC1 regular channels
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles );

// ADC2 regular channels
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles );

// ADC3 regular channels
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles );
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles );

// Injected channels
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles );
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles );
}

void hw_start_i2c(void) {
i2cAcquireBus(&HW_I2C_DEV);

if (!i2c_running) {
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);

i2cStart(&HW_I2C_DEV, &i2cfg);
i2c_running = true;
}

i2cReleaseBus(&HW_I2C_DEV);
}

void hw_stop_i2c(void) {
i2cAcquireBus(&HW_I2C_DEV);

if (i2c_running) {
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);

i2cStop(&HW_I2C_DEV);
i2c_running = false;

}

i2cReleaseBus(&HW_I2C_DEV);
}

/**
* Try to restore the i2c bus
*/
void hw_try_restore_i2c(void) {
if (i2c_running) {
i2cAcquireBus(&HW_I2C_DEV);

palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);

palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);

palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);

chThdSleep(1);

for(int i = 0; i < 16; i++) {
palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
}

// Generate start then stop condition
palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
chThdSleep(1);
palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);

palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);

palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);

HW_I2C_DEV.state = I2C_STOP;
i2cStart(&HW_I2C_DEV, &i2cfg);

i2cReleaseBus(&HW_I2C_DEV);
}
}
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