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Changing structure names and hardware configuration of IVY VESC #756

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Changing structure names and hardware configuration of IVY VESC #756

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59a7e8c
Add and rename the Config files for IVY VESCs
TaixiLu Aug 10, 2024
458fddb
Edit the VIN in resister value of 100V versions
TaixiLu Aug 10, 2024
706e054
modified hw_IVY_80V_MINI.h
TaixiLu Aug 27, 2024
8e4a2ce
Merge branch 'vedderb:master' into master
TaixiLu Aug 27, 2024
6a5f670
Remove unnecessary Preprocessor commands
TaixiLu Sep 9, 2024
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270 changes: 270 additions & 0 deletions hwconf/IVY_Esk8/80_110/hw_IVY_80_110.c
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/*
Copyright 2018 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/>.
*/

// V2

#include "hw.h"
#include "hw_IVY_80_110.h"

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

// Variables
static volatile bool i2c_running = false;
static mutex_t shutdown_mutex;
static float bt_diff = 0.0;

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

void hw_init_gpio(void)
{
chMtxObjectInit(&shutdown_mutex);
// 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(LED_GREEN_GPIO, LED_GREEN_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(LED_RED_GPIO, LED_RED_PIN,
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);

#ifdef HW_HAS_PHASE_FILTERS
// Phase filters
palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST);
PHASE_FILTER_OFF();
#endif

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

CURRENT_FILTER_OFF();
#endif

// 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(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOB, 1, 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);
}

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);
}
}

bool hw_sample_shutdown_button(void)
{
chMtxLock(&shutdown_mutex);

bt_diff = 0.0;

for (int i = 0; i < 3; i++)
{
palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_INPUT_ANALOG);
chThdSleep(5);
float val1 = ADC_VOLTS(ADC_IND_SHUTDOWN);
chThdSleepMilliseconds(1);
float val2 = ADC_VOLTS(ADC_IND_SHUTDOWN);
palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL);
chThdSleepMilliseconds(1);

bt_diff += (val1 - val2);
}

chMtxUnlock(&shutdown_mutex);

return (bt_diff > 0.12);
}
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