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nucleo-f446re: add FOC example based on IHM08M1 expansion board

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This commit is contained in:
raiden00pl 2021-03-15 13:45:51 +01:00 committed by David Sidrane
parent 0186ec1e05
commit 2b309349fe
8 changed files with 503 additions and 1 deletions
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64
boards/arm/stm32/nucleo-f446re/README.txt
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@ -573,3 +573,67 @@ Configurations
CLK D3
Framebuffer application can be started from terminal by typing "fb".
ihm08m1_f32 and ihm08m1_b16:
----------------------------
These examples are dedicated for the X-NUCLEO-IHM08M1 expansion board with
L6398 gate drivers and discrete transistors.
WARNING: L6398 gate drivers require channel 2 negative polarisation and
negative sign for the deadtime. Make sure that your gate drivers logic
is compatible with this configuration.
X-NUCLEO-IHM08M1 must be configured to work with FOC and 3-shunt
resistors. See ST documentation for details.
Pin configuration for the X-NUCLEO-IHM08M1 (TIM1 configuration):
Board Function Chip Function Chip Pin Number
------------- ---------------- -----------------
Phase U high TIM1_CH1 PA8
Phase U low TIM1_CH1N PA7
Phase V high TIM1_CH2 PA9
Phase V low TIM1_CH2N PB0
Phase W high TIM1_CH3 PA10
Phase W low TIM1_CH3N PB1
Current U ADC1_IN0 PA0
Current V ADC1_IN11 PC1
Current W ADC1_IN10 PC0
Temperature ADC1_IN12 PC2
VBUS ADC1_IN1 PA1
BEMF1 (NU) PC3
BEMF2 (NU) PC4
BEMF3 (NU) PC5
LED GPIO_PB2 PB2
+3V3 (CN7_16)
GND (CN7_20)
GPIO_BEMF (NU) PC9
ENCO_A/HALL_H1 TIM2_CH1 PA15
ENCO_B/HALL_H2 TIM2_CH2 PB3
ENCO_Z/HALL_H3 TIM2_CH3 PB10
DAC (NU) PA5
GPIO3 (NU) PB13
CPOUT (NU) PA12
BKIN1 (NU) PA6
BKIN2 (NU) PA11
BKIN3 (NU) PB14
POT/DAC DAC1_CH1/ADC1_IN4 PA4
CURR_REF (NU) PB4
DEBUG0 GPIO PB12
DEBUG1 GPIO PB9
DEBUG2 GPIO PC6
DEBUG3 GPIO PB5
DEBUG4 GPIO PC8
Current shunt resistance = 0.01
Current sense gain = -5.18 (inverted current)
Vbus sense gain = 9.31k/(9.31k+169k) = 0.0522
Vbus min = 10V
Vbus max = 48V
Iout max = 15A RMS
IPHASE_RATIO = 1/(R_shunt*gain) = -19.3
VBUS_RATIO = 1/VBUS_gain = 19.152
For now only 3-shunt resistors configuration is supported.

92
boards/arm/stm32/nucleo-f446re/configs/ihm08m1_b16/defconfig Normal file
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@ -0,0 +1,92 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
CONFIG_ADC=y
CONFIG_ADC_FIFOSIZE=3
CONFIG_ANALOG=y
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="nucleo-f446re"
CONFIG_ARCH_BOARD_NUCLEO_F446RE=y
CONFIG_ARCH_BUTTONS=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F446R=y
CONFIG_ARCH_INTERRUPTSTACK=1024
CONFIG_ARCH_IRQBUTTONS=y
CONFIG_ARMV7M_LIBM=y
CONFIG_BOARD_LOOPSPERMSEC=8499
CONFIG_BOARD_STM32_COMMON=y
CONFIG_BOARD_STM32_IHM08M1=y
CONFIG_BOARD_STM32_IHM08M1_POT=y
CONFIG_BOARD_STM32_IHM08M1_VBUS=y
CONFIG_BUILTIN=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DEFAULT_TASK_STACKSIZE=1024
CONFIG_EXAMPLES_FOC=y
CONFIG_EXAMPLES_FOC_ADC_MAX=4095
CONFIG_EXAMPLES_FOC_ADC_VREF=3300
CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE=2048
CONFIG_EXAMPLES_FOC_FIXED16_INST=1
CONFIG_EXAMPLES_FOC_HAVE_BUTTON=y
CONFIG_EXAMPLES_FOC_IPHASE_ADC=-1555
CONFIG_EXAMPLES_FOC_RAMP_ACC=200000
CONFIG_EXAMPLES_FOC_RAMP_DEC=200000
CONFIG_EXAMPLES_FOC_RAMP_THR=10000
CONFIG_EXAMPLES_FOC_VBUS_ADC=y
CONFIG_EXAMPLES_FOC_VBUS_SCALE=19152
CONFIG_EXAMPLES_FOC_VEL_ADC=y
CONFIG_INDUSTRY_FOC=y
CONFIG_INDUSTRY_FOC_FIXED16=y
CONFIG_INPUT=y
CONFIG_INPUT_BUTTONS=y
CONFIG_INPUT_BUTTONS_LOWER=y
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBM=y
CONFIG_MAX_TASKS=8
CONFIG_MOTOR=y
CONFIG_MOTOR_FOC=y
CONFIG_MOTOR_FOC_TRACE=y
CONFIG_MQ_MAXMSGSIZE=5
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=16386
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_START_DAY=14
CONFIG_START_MONTH=10
CONFIG_START_YEAR=2014
CONFIG_STM32_ADC1_ANIOC_TRIGGER=1
CONFIG_STM32_ADC1_DMA=y
CONFIG_STM32_ADC1_DMA_CFG=1
CONFIG_STM32_ADC1_INJECTED_CHAN=3
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FOC=y
CONFIG_STM32_FOC_FOC0=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_TIM1_CH1MODE=0
CONFIG_STM32_TIM1_CH1NPOL=1
CONFIG_STM32_TIM1_CH2MODE=0
CONFIG_STM32_TIM1_CH2NPOL=1
CONFIG_STM32_TIM1_CH3MODE=0
CONFIG_STM32_TIM1_CH3NPOL=1
CONFIG_STM32_TIM1_MODE=2
CONFIG_STM32_TIM2=y
CONFIG_STM32_USART1=y
CONFIG_STM32_USART2=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART2_TXDMA=y
CONFIG_USER_ENTRYPOINT="nsh_main"

92
boards/arm/stm32/nucleo-f446re/configs/ihm08m1_f32/defconfig Normal file
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@ -0,0 +1,92 @@
#
# This file is autogenerated: PLEASE DO NOT EDIT IT.
#
# You can use "make menuconfig" to make any modifications to the installed .config file.
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
# modifications.
#
CONFIG_ADC=y
CONFIG_ADC_FIFOSIZE=3
CONFIG_ANALOG=y
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="nucleo-f446re"
CONFIG_ARCH_BOARD_NUCLEO_F446RE=y
CONFIG_ARCH_BUTTONS=y
CONFIG_ARCH_CHIP="stm32"
CONFIG_ARCH_CHIP_STM32=y
CONFIG_ARCH_CHIP_STM32F446R=y
CONFIG_ARCH_INTERRUPTSTACK=1024
CONFIG_ARCH_IRQBUTTONS=y
CONFIG_ARMV7M_LIBM=y
CONFIG_BOARD_LOOPSPERMSEC=8499
CONFIG_BOARD_STM32_COMMON=y
CONFIG_BOARD_STM32_IHM08M1=y
CONFIG_BOARD_STM32_IHM08M1_POT=y
CONFIG_BOARD_STM32_IHM08M1_VBUS=y
CONFIG_BUILTIN=y
CONFIG_DEBUG_FULLOPT=y
CONFIG_DEBUG_SYMBOLS=y
CONFIG_DEFAULT_SMALL=y
CONFIG_DEFAULT_TASK_STACKSIZE=1024
CONFIG_EXAMPLES_FOC=y
CONFIG_EXAMPLES_FOC_ADC_MAX=4095
CONFIG_EXAMPLES_FOC_ADC_VREF=3300
CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE=2048
CONFIG_EXAMPLES_FOC_FLOAT_INST=1
CONFIG_EXAMPLES_FOC_HAVE_BUTTON=y
CONFIG_EXAMPLES_FOC_IPHASE_ADC=-1555
CONFIG_EXAMPLES_FOC_RAMP_ACC=200000
CONFIG_EXAMPLES_FOC_RAMP_DEC=200000
CONFIG_EXAMPLES_FOC_RAMP_THR=10000
CONFIG_EXAMPLES_FOC_VBUS_ADC=y
CONFIG_EXAMPLES_FOC_VBUS_SCALE=19152
CONFIG_EXAMPLES_FOC_VEL_ADC=y
CONFIG_INDUSTRY_FOC=y
CONFIG_INDUSTRY_FOC_FLOAT=y
CONFIG_INPUT=y
CONFIG_INPUT_BUTTONS=y
CONFIG_INPUT_BUTTONS_LOWER=y
CONFIG_INTELHEX_BINARY=y
CONFIG_LIBC_FLOATINGPOINT=y
CONFIG_LIBM=y
CONFIG_MAX_TASKS=8
CONFIG_MOTOR=y
CONFIG_MOTOR_FOC=y
CONFIG_MOTOR_FOC_TRACE=y
CONFIG_MQ_MAXMSGSIZE=5
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=16386
CONFIG_RAM_START=0x20000000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_SDCLONE_DISABLE=y
CONFIG_START_DAY=14
CONFIG_START_MONTH=10
CONFIG_START_YEAR=2014
CONFIG_STM32_ADC1_ANIOC_TRIGGER=1
CONFIG_STM32_ADC1_DMA=y
CONFIG_STM32_ADC1_DMA_CFG=1
CONFIG_STM32_ADC1_INJECTED_CHAN=3
CONFIG_STM32_DMA1=y
CONFIG_STM32_DMA2=y
CONFIG_STM32_FOC=y
CONFIG_STM32_FOC_FOC0=y
CONFIG_STM32_JTAG_SW_ENABLE=y
CONFIG_STM32_TIM1_CH1MODE=0
CONFIG_STM32_TIM1_CH1NPOL=1
CONFIG_STM32_TIM1_CH2MODE=0
CONFIG_STM32_TIM1_CH2NPOL=1
CONFIG_STM32_TIM1_CH3MODE=0
CONFIG_STM32_TIM1_CH3NPOL=1
CONFIG_STM32_TIM1_MODE=2
CONFIG_STM32_TIM2=y
CONFIG_STM32_USART1=y
CONFIG_STM32_USART2=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USART2_SERIAL_CONSOLE=y
CONFIG_USART2_TXDMA=y
CONFIG_USER_ENTRYPOINT="nsh_main"

40
boards/arm/stm32/nucleo-f446re/include/board.h
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@ -218,6 +218,10 @@
#define DMACHAN_SPI2_RX DMAMAP_SPI2_RX
#define DMACHAN_SPI2_TX DMAMAP_SPI2_TX
/* ADC 1 */
#define ADC1_DMA_CHAN DMAMAP_ADC1_1
/* Alternate function pin selections ****************************************/
/* USART1:
@ -227,7 +231,7 @@
* PB6 CN5 pin 3, CN10 pin 17
*/
#if 1
#if !defined(CONFIG_BOARD_STM32_IHM08M1)
# define GPIO_USART1_RX GPIO_USART1_RX_1 /* PA10 */
# define GPIO_USART1_TX GPIO_USART1_TX_1 /* PA9 */
#else
@ -376,4 +380,38 @@
#define GPIO_TIM2_CH1IN (GPIO_TIM2_CH1IN_1 | GPIO_PULLUP)
#define GPIO_TIM2_CH2IN (GPIO_TIM2_CH2IN_1 | GPIO_PULLUP)
#ifdef CONFIG_BOARD_STM32_IHM08M1
/* Configuration specific to the X-NUCLEO-IHM08M1 expansion board with
* the L6398 gate drivers.
*/
/* TIM1 configuration *******************************************************/
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 /* TIM1 CH1 - PA8 - U high */
#define GPIO_TIM1_CH1NOUT GPIO_TIM1_CH1N_1 /* TIM1 CH1N - PA7 - U low */
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 /* TIM1 CH2 - PA9 - V high */
#define GPIO_TIM1_CH2NOUT GPIO_TIM1_CH2N_1 /* TIM1 CH2N - PB0 - V low */
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 /* TIM1 CH3 - PA10 - W high */
#define GPIO_TIM1_CH3NOUT GPIO_TIM1_CH3N_1 /* TIM1 CH3N - PB1 - W low */
#define GPIO_TIM1_CH4OUT 0 /* not used as output */
/* Board LED */
# define GPIO_FOC_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
/* Debug pin */
# define GPIO_FOC_DEBUG0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
# define GPIO_FOC_DEBUG1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
# define GPIO_FOC_DEBUG2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
# define GPIO_FOC_DEBUG3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
#endif /* CONFIG_BOARD_STM32_IHM08M1 */
#endif /* __BOARDS_ARM_STM32_NUCLEO_F446RE_INCLUDE_BOARD_H */

6
boards/arm/stm32/nucleo-f446re/src/Make.defs
View File

@ -36,12 +36,14 @@ ifeq ($(CONFIG_LCD_ILI9225),y)
CSRCS += stm32_ili9225.c
endif
ifeq ($(CONFIG_STM32_FOC),n)
ifeq ($(CONFIG_ADC),y)
CSRCS += stm32_adc.c
ifeq ($(CONFIG_INPUT_AJOYSTICK),y)
CSRCS += stm32_ajoystick.c
endif
endif
endif
ifeq ($(CONFIG_CAN),y)
CSRCS += stm32_can.c
@ -51,6 +53,10 @@ ifeq ($(CONFIG_LIB_BOARDCTL),y)
CSRCS += stm32_appinit.c
endif
ifeq ($(CONFIG_BOARD_STM32_IHM08M1),y)
CSRCS += stm32_foc_ihm08m1.c
endif
DEPPATH += --dep-path board
VPATH += :board
CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)

12
boards/arm/stm32/nucleo-f446re/src/nucleo-f446re.h
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@ -318,4 +318,16 @@ int stm32_can_setup(void);
int board_ajoy_initialize(void);
#endif
/****************************************************************************
* Name: stm32_foc_setup
*
* Description:
* Initialize FOC peripheral for the board.
*
****************************************************************************/
#ifdef CONFIG_STM32_FOC
int stm32_foc_setup(void);
#endif
#endif /* __BOARDS_ARM_STM32_NUCLEO_F401RE_SRC_NUCLEO_F446RE_H */

10
boards/arm/stm32/nucleo-f446re/src/stm32_bringup.c
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@ -116,6 +116,16 @@ int stm32_bringup(void)
syslog(LOG_INFO, "[boot] Initialized SDIO\n");
#endif
#ifdef CONFIG_STM32_FOC
/* Initialize and register the FOC device */
ret = stm32_foc_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: stm32_foc_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_ADC
/* Initialize ADC and register the ADC driver. */

188
boards/arm/stm32/nucleo-f446re/src/stm32_foc_ihm08m1.c Normal file
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@ -0,0 +1,188 @@
/****************************************************************************
* boards/arm/stm32/nucleo-f446re/src/stm32_foc_ihm08m1.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 "stm32_ihm08m1.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define CURRENT_SAMPLE_TIME ADC_SMPR_15
#define VBUS_SAMPLE_TIME ADC_SMPR_15
#define POT_SAMPLE_TIME ADC_SMPR_15
/* ADC1 channels used in this example */
#define ADC1_INJECTED (CONFIG_MOTOR_FOC_SHUNTS)
#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
# define IHM08M1_VBUS 1
#else
# define IHM08M1_VBUS 0
#endif
#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
# define IHM08M1_POT 1
#else
# define IHM08M1_POT 0
#endif
#define ADC1_REGULAR (IHM08M1_VBUS + IHM08M1_POT)
#define ADC1_NCHANNELS (ADC1_INJECTED + ADC1_REGULAR)
/* Check ADC1 configuration */
#if ADC1_INJECTED != CONFIG_STM32_ADC1_INJECTED_CHAN
# error
#endif
#if CONFIG_STM32_ADC1_RESOLUTION != 0
# error
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/* FOC ADC configration:
* - Current Phase V -> ADC1 INJ1 -> ADC1_IN0 (PA0)
* - Current Phase U -> ADC1 INJ2 -> ADC1_IN11 (PC1)
* - Current Phase W -> ADC1 INJ3 -> ADC1_IN10 (PC0)
* optional:
* - VBUS -> ADC1 REG -> ADC1_IN1 (PA1)
* - POT -> ADC1 REG -> ADC1_IN4 (PA4)
*
* TIM1 PWM configuration:
* - Phase U high -> TIM1_CH1 (PA8)
* - Phase U low -> TIM1_CH1N (PA7)
* - Phase V high -> TIM1_CH2 (PA9)
* - Phase V low -> TIM1_CH2N (PB0)
* - Phase W high -> TIM1_CH3 (PA10)
* - Phase W low -> TIM1_CH3N (PB1)
*
*/
static uint8_t g_adc1_chan[] =
{
#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
1, /* ADC1 REG1 - VBUS */
#endif
#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
4, /* ADC1 REG - POT */
#endif
0, /* ADC1 INJ1 - PHASE 1 */
#if CONFIG_MOTOR_FOC_SHUNTS > 1
11, /* ADC1 INJ2 - PHASE 2 */
#endif
#if CONFIG_MOTOR_FOC_SHUNTS > 2
10, /* ADC1 INJ3 - PHASE 3 */
#endif
};
static uint32_t g_adc1_pins[] =
{
#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
GPIO_ADC1_IN1,
#endif
#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
GPIO_ADC1_IN4,
#endif
GPIO_ADC1_IN0,
#if CONFIG_MOTOR_FOC_SHUNTS > 1
GPIO_ADC1_IN11,
#endif
#if CONFIG_MOTOR_FOC_SHUNTS > 2
GPIO_ADC1_IN10
#endif
};
/* ADC1 sample time configuration */
static adc_channel_t g_adc1_stime[] =
{
#ifdef CONFIG_BOARD_STM32_IHM08M1_VBUS
{
.channel = 1,
.sample_time = VBUS_SAMPLE_TIME
},
#endif
#ifdef CONFIG_BOARD_STM32_IHM08M1_POT
{
.channel = 4,
.sample_time = POT_SAMPLE_TIME
},
#endif
{
.channel = 0,
.sample_time = CURRENT_SAMPLE_TIME
},
#if CONFIG_MOTOR_FOC_SHUNTS > 1
{
.channel = 11,
.sample_time = CURRENT_SAMPLE_TIME
},
#endif
#if CONFIG_MOTOR_FOC_SHUNTS > 2
{
.channel = 10,
.sample_time = CURRENT_SAMPLE_TIME
},
#endif
};
/* Board specific ADC configuration for FOC */
static struct stm32_foc_adc_s g_adc_cfg =
{
.chan = g_adc1_chan,
.pins = g_adc1_pins,
.stime = g_adc1_stime,
.nchan = ADC1_NCHANNELS,
.regch = ADC1_REGULAR,
.intf = 1
};
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_foc_setup
*
* Description:
* Initialize FOC driver.
*
* This function should be call by board_app_initialize().
*
* Returned Value:
* 0 on success, a negated errno value on failure
*
****************************************************************************/
int stm32_foc_setup(void)
{
return board_ihm08m1_initialize(&g_adc_cfg);
}