sergiotarxz/nuttx
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

boards/stm32/common: add support for IHM16M1

Browse Source
This commit is contained in:
raiden00pl 2021-04-14 15:01:43 +02:00 committed by Xiang Xiao
parent 5e59d3753a
commit 25240d9114
4 changed files with 526 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
boards/arm/stm32/common/Kconfig
View File

@ -50,6 +50,24 @@ config BOARD_STM32_IHM08M1_POT
endif # BOARD_STM32_IHM08M1
menuconfig BOARD_STM32_IHM16M1
bool "X-NUCLEO-IHM16M1 board support"
default n
---help---
Board based on the STSPIN830 three-phase brushless motor driver.
if BOARD_STM32_IHM16M1
config BOARD_STM32_IHM16M1_VBUS
bool "X-NUCLEO-IHM16M1 board VBUS sense"
default n
config BOARD_STM32_IHM16M1_POT
bool "X-NUCLEO-IHM16M1 board POT support"
default n
endif # BOARD_STM32_IHM16M1
endif # STM32_FOC
endif # BOARD_STM32_COMMON

59
boards/arm/stm32/common/include/stm32_ihm16m1.h Normal file
View File

@ -0,0 +1,59 @@
/****************************************************************************
* boards/arm/stm32/common/include/stm32_ihm16m1.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __STM32_IHM16M1_H
#define __STM32_IHM16M1_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "stm32_foc.h"
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: stm32_ihm16m1_initialize
****************************************************************************/
int board_ihm16m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif // __STM32_IHM16M1_H

4
boards/arm/stm32/common/src/Make.defs
View File

@ -122,6 +122,10 @@ ifeq ($(CONFIG_BOARD_STM32_IHM08M1),y)
CSRCS += stm32_ihm08m1.c
endif
ifeq ($(CONFIG_BOARD_STM32_IHM16M1),y)
CSRCS += stm32_ihm16m1.c
endif
DEPPATH += --dep-path src
VPATH += :src
CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)

445
boards/arm/stm32/common/src/stm32_ihm16m1.c Normal file
View File

@ -0,0 +1,445 @@
/****************************************************************************
* boards/arm/stm32/common/src/stm32_ihm16m1.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <errno.h>
#include <assert.h>
#include <debug.h>
#include <arch/board/board.h>
#include <nuttx/analog/adc.h>
#include "stm32_foc.h"
#include "stm32_gpio.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#if CONFIG_MOTOR_FOC_SHUNTS != 3
# error For now ony 3-shunts configuration is supported
#endif
/* Configuration specific for STSPIN830:
* 1. PWM enable on high
* 2. PWM channels must have positive polarity
* 3. EN_FAULT enable on high, configured as open drain output
*/
#if CONFIG_STM32_TIM1_CH1POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH2POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH3POL != 0
# error
#endif
/* Aux ADC needs DMA enabled */
#ifdef CONFIG_ADC
# ifndef CONFIG_STM32_ADC1_DMA
# error
# endif
#endif
/* REVISIT: dead-time STSPIN830 */
#define PWM_DEADTIME (20)
#define PWM_DEADTIME_NS (500)
/* Devpath for FOC driver */
#define FOC_DEVPATH "/dev/foc0"
/* Board parameters:
* Current shunt resistance = 0.33
* Current sense gain = -1.53 (inverted current)
* Vbus sense gain = 0.0522
* Vbus min = 7V
* Vbus max = 45V
* Iout max = 1.5A RMS
* IPHASE_RATIO = 1/(R_shunt*gain) = -1.98
* ADC_REF_VOLTAGE = 3.3
* ADC_VAL_MAX = 4095
* ADC_TO_VOLT = ADC_REF_VOLTAGE / ADC_VAL_MAX
* IPHASE_ADC = IPHASE_RATIO * ADC_TO_VOLT = -0.00160
* VBUS_RATIO = 1/VBUS_gain = 16
*/
/* Center-aligned PWM duty cycle limits */
#define MAX_DUTY_B16 ftob16(0.95f)
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Protototypes
****************************************************************************/
static int board_foc_setup(FAR struct foc_dev_s *dev);
static int board_foc_shutdown(FAR struct foc_dev_s *dev);
static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state);
static int board_foc_fault_clear(FAR struct foc_dev_s *dev);
static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state);
static int board_foc_current_get(FAR struct foc_dev_s *dev,
FAR int16_t *curr_raw,
FAR foc_current_t *curr);
#ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(FAR struct foc_dev_s *dev);
static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/* Board specific ops */
static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
{
.setup = board_foc_setup,
.shutdown = board_foc_shutdown,
.calibration = board_foc_calibration,
.fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get,
#ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init,
.trace = board_foc_trace
#endif
};
/* Board specific data */
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = NULL, /* board-specific */
.duty_max = (MAX_DUTY_B16),
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
};
/* Board specific configuration */
static struct stm32_foc_board_s g_stm32_foc_board =
{
.data = &g_stm32_foc_board_data,
.ops = &g_stm32_foc_board_ops,
};
/* Global pointer to the upper FOC driver */
static FAR struct foc_dev_s *g_foc_dev = NULL;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: board_foc_setup
****************************************************************************/
static int board_foc_setup(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Configure EN_U, EN_V, EN_W, EN_FAULT GPIOs */
stm32_configgpio(GPIO_FOC_EN_U);
stm32_configgpio(GPIO_FOC_EN_V);
stm32_configgpio(GPIO_FOC_EN_W);
stm32_configgpio(GPIO_FOC_ENFAULT);
return OK;
}
/****************************************************************************
* Name: board_foc_shutdown
****************************************************************************/
static int board_foc_shutdown(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_calibration
****************************************************************************/
static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_fault_clear
****************************************************************************/
static int board_foc_fault_clear(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_pwm_start
****************************************************************************/
static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Set/reset ENABLE input */
stm32_gpiowrite(GPIO_FOC_ENFAULT, state);
/* Enable/disable UVW output */
stm32_gpiowrite(GPIO_FOC_EN_U, state);
stm32_gpiowrite(GPIO_FOC_EN_V, state);
stm32_gpiowrite(GPIO_FOC_EN_W, state);
return OK;
}
/****************************************************************************
* Name: board_foc_current_get
****************************************************************************/
static int board_foc_current_get(FAR struct foc_dev_s *dev,
FAR int16_t *curr_raw,
FAR foc_current_t *curr)
{
DEBUGASSERT(dev);
DEBUGASSERT(curr_raw);
DEBUGASSERT(curr);
/* Get currents */
curr[0] = curr_raw[0];
curr[1] = curr_raw[1];
curr[2] = curr_raw[2];
return OK;
}
#ifdef CONFIG_MOTOR_FOC_TRACE
/****************************************************************************
* Name: board_foc_trace_init
****************************************************************************/
static int board_foc_trace_init(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Configure debug GPIO */
stm32_configgpio(GPIO_FOC_DEBUG0);
stm32_configgpio(GPIO_FOC_DEBUG1);
stm32_configgpio(GPIO_FOC_DEBUG2);
stm32_configgpio(GPIO_FOC_DEBUG3);
return OK;
}
/****************************************************************************
* Name: board_foc_trace
****************************************************************************/
static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
switch (type)
{
case FOC_TRACE_NONE:
{
break;
}
case FOC_TRACE_PARAMS:
{
stm32_gpiowrite(GPIO_FOC_DEBUG0, state);
break;
}
case FOC_TRACE_STATE:
{
stm32_gpiowrite(GPIO_FOC_DEBUG1, state);
break;
}
case FOC_TRACE_NOTIFIER:
{
stm32_gpiowrite(GPIO_FOC_DEBUG2, state);
break;
}
case FOC_TRACE_LOWER:
{
stm32_gpiowrite(GPIO_FOC_DEBUG3, state);
break;
}
default:
{
mtrerr("board_foc_trace type=%d not supported!\n", type);
DEBUGASSERT(0);
}
}
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_ihm16m1_initialize
****************************************************************************/
int board_ihm16m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
{
FAR struct foc_dev_s *foc = NULL;
int ret = OK;
DEBUGASSERT(adc_cfg);
/* Initialize only once */
if (g_foc_dev == NULL)
{
/* Connect ADC configuration */
g_stm32_foc_board_data.adc_cfg = adc_cfg;
/* Initialize arch specific FOC lower-half */
foc = stm32_foc_initialize(0, &g_stm32_foc_board);
if (foc == NULL)
{
ret = -errno;
mtrerr("Failed to initialize STM32 FOC: %d\n", ret);
goto errout;
}
DEBUGASSERT(foc->lower);
/* Register FOC device */
ret = foc_register(FOC_DEVPATH, foc);
if (ret < 0)
{
mtrerr("Failed to register FOC device: %d\n", ret);
goto errout;
}
/* Store pointer to driver */
g_foc_dev = foc;
}
errout:
return ret;
}
#ifdef CONFIG_ADC
/****************************************************************************
* Name: stm32_adc_setup
*
* Description:
* Initialize ADC and register the ADC driver.
*
****************************************************************************/
int stm32_adc_setup(void)
{
FAR struct adc_dev_s *adc = NULL;
int ret = OK;
static bool initialized = false;
/* Initialize only once */
if (initialized == false)
{
if (g_foc_dev == NULL)
{
mtrerr("Failed to get g_foc_dev device\n");
ret = -EACCES;
goto errout;
}
/* Register regular channel ADC */
adc = stm32_foc_adcget(g_foc_dev);
if (adc == NULL)
{
mtrerr("Failed to get ADC device: %d\n", ret);
goto errout;
}
ret = adc_register("/dev/adc0", adc);
if (ret < 0)
{
mtrerr("adc_register failed: %d\n", ret);
goto errout;
}
initialized = true;
}
errout:
return ret;
}
#endif