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

boards/b-g431b-esc1: support for BEMF sensing

Browse Source
This commit is contained in:
raiden00pl 2023-01-21 21:47:35 +01:00 committed by Alan Carvalho de Assis
parent bfdb7f8909
commit d7e7990548
3 changed files with 110 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
boards/arm/stm32/b-g431b-esc1/README.txt
View File

@ -48,9 +48,13 @@ Configuration Sub-directories
ENCO_Z/HALL_H3 TIM4_CH3 PB8
BUTTON GPIO_PC10 PC10
PWM PA15
CAN_RX PA11
CAN_TX PB9
CAN_RX FDCAN1_RX PA11
CAN_TX FDCAN1_TX PB9
CAN_TERM PC14
GPIO_BEMF PB5
BEMF1 ADC2_IN17 PA4
BEMF2 ADC2_IN5 PC4
BEMF3 ADC2_IN14 PB11
Current shunt resistance = 0.003
PGA gain = 16
@ -59,6 +63,7 @@ Configuration Sub-directories
Vbus min = ?
Vbus max = 25V
Iout max = 40A peak
BEMF sense gain = 2.2k/(10k+2.2k) = 0.18
IPHASE_RATIO = 1/(R_shunt*gain) = -36.47
VBUS_RATIO = 1/VBUS_gain = 10.4

5
boards/arm/stm32/b-g431b-esc1/src/b-g431b-esc1.h
View File

@ -103,6 +103,11 @@
#define GPIO_CANTERM (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
/* GPIO_BEMF */
#define GPIO_GPIOBEMF (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
/****************************************************************************
* Public Data
****************************************************************************/

98
boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
View File

@ -138,6 +138,7 @@
/* ADC sample time */
#define CURRENT_SAMPLE_TIME ADC_SMPR_2p5
#define VOLTAGE_SAMPLE_TIME ADC_SMPR_2p5
#define VBUS_SAMPLE_TIME ADC_SMPR_640p5
#define POT_SAMPLE_TIME ADC_SMPR_640p5
@ -160,6 +161,14 @@
#define ADC1_REGULAR (BG431BESC1_FOC_VBUS + BG431BESC1_FOC_POT)
#define ADC1_NCHANNELS (ADC1_INJECTED + ADC1_REGULAR)
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
/* ADC2 channels used for BEMF sensing */
# define ADC2_INJECTED (CONFIG_MOTOR_FOC_PHASES)
# define ADC2_REGULAR (0)
# define ADC2_NCHANNELS (ADC2_INJECTED + ADC2_REGULAR)
#endif
/* Check ADC1 configuration */
#ifdef CONFIG_STM32_FOC_G4_ADCCHAN0_WORKAROUND
@ -203,6 +212,11 @@ static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw,
foc_current_t *curr);
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
static int board_foc_voltage_get(struct foc_dev_s *dev,
int16_t *volt_raw,
foc_voltage_t *volt);
#endif
#ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(struct foc_dev_s *dev);
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
@ -300,6 +314,52 @@ static struct stm32_foc_adc_s g_adc_cfg =
.intf = 1
};
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
static uint8_t g_adc2_chan[] =
{
17, /* ADC2 INJ1 - PHASE 1 */
5, /* ADC2 INJ2 - PHASE 2 */
14, /* ADC2 INJ3 - PHASE 3 */
};
static uint32_t g_adc2_pins[] =
{
GPIO_ADC2_IN17,
GPIO_ADC2_IN5,
GPIO_ADC2_IN14,
};
/* ADC2 sample time configuration */
static adc_channel_t g_adc2_stime[] =
{
{
.channel = 17,
.sample_time = VOLTAGE_SAMPLE_TIME
},
{
.channel = 5,
.sample_time = VOLTAGE_SAMPLE_TIME
},
{
.channel = 14,
.sample_time = VOLTAGE_SAMPLE_TIME
},
};
/* Board specific ADC configuration for BEMF */
static struct stm32_foc_adc_s g_vadc_cfg =
{
.chan = g_adc2_chan,
.pins = g_adc2_pins,
.stime = g_adc2_stime,
.nchan = ADC2_NCHANNELS,
.regch = ADC2_REGULAR,
.intf = 2
};
#endif
/* Board specific ops */
static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
@ -310,6 +370,9 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
.fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get,
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
.voltage_get = board_foc_voltage_get,
#endif
#ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init,
.trace = board_foc_trace
@ -321,6 +384,9 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = &g_adc_cfg,
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
.vadc_cfg = &g_vadc_cfg,
#endif
.duty_max = (MAX_DUTY_B16),
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
@ -374,6 +440,9 @@ static int board_foc_setup(struct foc_dev_s *dev)
stm32_configgpio(GPIO_OPAMP3_VINM0);
stm32_configgpio(GPIO_OPAMP3_VINP0);
stm32_configgpio(GPIO_OPAMP3_VOUT);
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
stm32_configgpio(GPIO_GPIOBEMF);
#endif
/* Configure OPAMP inputs */
@ -405,6 +474,12 @@ static int board_foc_setup(struct foc_dev_s *dev)
putreg32(regval, STM32_OPAMP2_CSR);
putreg32(regval, STM32_OPAMP3_CSR);
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
/* Keep GPIO_BEMF low to create BEMF voltage divider */
stm32_gpiowrite(GPIO_GPIOBEMF, false);
#endif
return OK;
}
@ -484,6 +559,29 @@ static int board_foc_current_get(struct foc_dev_s *dev,
return OK;
}
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
/****************************************************************************
* Name: board_foc_voltage_get
****************************************************************************/
static int board_foc_voltage_get(struct foc_dev_s *dev,
int16_t *volt_raw,
foc_voltage_t *volt)
{
DEBUGASSERT(dev);
DEBUGASSERT(volt_raw);
DEBUGASSERT(volt);
/* Get voltages */
volt[0] = volt_raw[0];
volt[1] = volt_raw[1];
volt[2] = volt_raw[2];
return OK;
}
#endif
#ifdef CONFIG_MOTOR_FOC_TRACE
/****************************************************************************
* Name: board_foc_trace_init