99513ac23e
These values are board-specific properties that must be known on the application side. Until now, these values had to be hardcoded on the application side.
480 lines
12 KiB
C
480 lines
12 KiB
C
/****************************************************************************
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* boards/arm/stm32/common/src/stm32_ihm07m1.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <assert.h>
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#include <debug.h>
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#include <arch/board/board.h>
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#include <nuttx/analog/adc.h>
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#include "stm32_foc.h"
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#include "stm32_gpio.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#if CONFIG_MOTOR_FOC_SHUNTS != 3
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# error For now ony 3-shunts configuration is supported
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#endif
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/* Configuration specific for L6230:
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* 1. PWM enable on high
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* 2. PWM channels must have positive polarity
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* 3. DIAG-EN enable on high, configured as open drain output
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*/
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#if CONFIG_STM32_TIM1_CH1POL != 0
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# error
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#endif
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#if CONFIG_STM32_TIM1_CH2POL != 0
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# error
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#endif
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#if CONFIG_STM32_TIM1_CH3POL != 0
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# error
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#endif
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/* Aux ADC needs DMA enabled */
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#ifdef CONFIG_ADC
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# ifndef CONFIG_STM32_ADC1_DMA
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# error
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# endif
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#endif
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/* L6230 has fixed 1us (typ.) deadtime but for sure set it also on TIMER
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* side
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*/
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#define PWM_DEADTIME (70)
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#define PWM_DEADTIME_NS (1000)
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/* Devpath for FOC driver */
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#define FOC_DEVPATH "/dev/foc0"
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/* Board parameters:
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* Current shunt resistance = 0.33
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* Current sense gain = -1.53 (inverted current)
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* Vbus sense gain = 0.0522
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* Vbus min = 8V
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* Vbus max = 48V
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* Iout max = 1.4A RMS
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* IPHASE_RATIO = 1/(R_shunt*gain) = -1.98
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* ADC_REF_VOLTAGE = 3.3
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* ADC_VAL_MAX = 4095
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* ADC_TO_VOLT = ADC_REF_VOLTAGE / ADC_VAL_MAX
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* IPHASE_ADC = IPHASE_RATIO * ADC_TO_VOLT = -0.00160
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* VBUS_RATIO = 1/VBUS_gain = 19.152
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*/
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/* Center-aligned PWM duty cycle limits */
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#define MAX_DUTY_B16 ftob16(0.95f)
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Protototypes
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****************************************************************************/
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static int board_foc_setup(struct foc_dev_s *dev);
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static int board_foc_shutdown(struct foc_dev_s *dev);
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static int board_foc_calibration(struct foc_dev_s *dev, bool state);
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static int board_foc_fault_clear(struct foc_dev_s *dev);
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static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
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static int board_foc_current_get(struct foc_dev_s *dev,
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int16_t *curr_raw,
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foc_current_t *curr);
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static int board_foc_info_get(struct foc_dev_s *dev,
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struct foc_info_s *info);
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#ifdef CONFIG_MOTOR_FOC_TRACE
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static int board_foc_trace_init(struct foc_dev_s *dev);
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static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
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#endif
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* Board specific ops */
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static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
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{
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.setup = board_foc_setup,
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.shutdown = board_foc_shutdown,
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.calibration = board_foc_calibration,
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.fault_clear = board_foc_fault_clear,
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.pwm_start = board_foc_pwm_start,
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.current_get = board_foc_current_get,
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.info_get = board_foc_info_get,
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#ifdef CONFIG_MOTOR_FOC_TRACE
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.trace_init = board_foc_trace_init,
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.trace = board_foc_trace
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#endif
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};
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/* Board specific data */
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static struct stm32_foc_board_data_s g_stm32_foc_board_data =
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{
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.adc_cfg = NULL, /* board-specific */
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.pwm_dt = PWM_DEADTIME
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};
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/* Board specific configuration */
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static struct stm32_foc_board_s g_stm32_foc_board =
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{
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.data = &g_stm32_foc_board_data,
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.ops = &g_stm32_foc_board_ops,
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};
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/* Global pointer to the upper FOC driver */
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static struct foc_dev_s *g_foc_dev = NULL;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_foc_setup
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****************************************************************************/
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static int board_foc_setup(struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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/* Configure EN_U, EN_V, EN_W, DIAGEN GPIOs */
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stm32_configgpio(GPIO_FOC_EN_U);
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stm32_configgpio(GPIO_FOC_EN_V);
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stm32_configgpio(GPIO_FOC_EN_W);
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stm32_configgpio(GPIO_FOC_DIAGEN);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_shutdown
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****************************************************************************/
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static int board_foc_shutdown(struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_calibration
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****************************************************************************/
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static int board_foc_calibration(struct foc_dev_s *dev, bool state)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_fault_clear
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****************************************************************************/
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static int board_foc_fault_clear(struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_pwm_start
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****************************************************************************/
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static int board_foc_pwm_start(struct foc_dev_s *dev, bool state)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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/* Set/reset ENABLE input */
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stm32_gpiowrite(GPIO_FOC_DIAGEN, state);
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/* Enable/disable UVW output */
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stm32_gpiowrite(GPIO_FOC_EN_U, state);
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stm32_gpiowrite(GPIO_FOC_EN_V, state);
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stm32_gpiowrite(GPIO_FOC_EN_W, state);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_current_get
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****************************************************************************/
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static int board_foc_current_get(struct foc_dev_s *dev,
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int16_t *curr_raw,
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foc_current_t *curr)
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{
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DEBUGASSERT(dev);
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DEBUGASSERT(curr_raw);
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DEBUGASSERT(curr);
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/* Get currents */
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curr[0] = curr_raw[0];
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curr[1] = curr_raw[1];
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curr[2] = curr_raw[2];
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return OK;
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}
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#ifdef CONFIG_MOTOR_FOC_TRACE
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/****************************************************************************
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* Name: board_foc_trace_init
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****************************************************************************/
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static int board_foc_trace_init(struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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/* Configure debug GPIO */
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stm32_configgpio(GPIO_FOC_DEBUG0);
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stm32_configgpio(GPIO_FOC_DEBUG1);
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stm32_configgpio(GPIO_FOC_DEBUG2);
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stm32_configgpio(GPIO_FOC_DEBUG3);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_info_get
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****************************************************************************/
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static int board_foc_info_get(struct foc_dev_s *dev,
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struct foc_info_s *info)
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{
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DEBUGASSERT(dev);
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DEBUGASSERT(info);
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UNUSED(dev);
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/* PWM */
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info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
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info->hw_cfg.pwm_max = MAX_DUTY_B16;
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/* ADC BEMF */
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#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
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info->hw_cfg.bemf_scale = 0; /* TODO */
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#endif
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/* ADC Current - dynamic current scale not supported */
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info->hw_cfg.iphase_max = 1400;
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info->hw_cfg.iphase_scale = -160;
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_trace
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****************************************************************************/
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static void board_foc_trace(struct foc_dev_s *dev, int type, bool state)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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switch (type)
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{
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case FOC_TRACE_NONE:
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{
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break;
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}
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case FOC_TRACE_PARAMS:
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{
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stm32_gpiowrite(GPIO_FOC_DEBUG0, state);
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break;
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}
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case FOC_TRACE_STATE:
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{
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stm32_gpiowrite(GPIO_FOC_DEBUG1, state);
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break;
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}
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case FOC_TRACE_NOTIFIER:
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{
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stm32_gpiowrite(GPIO_FOC_DEBUG2, state);
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break;
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}
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case FOC_TRACE_LOWER:
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{
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stm32_gpiowrite(GPIO_FOC_DEBUG3, state);
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break;
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}
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default:
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{
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mtrerr("board_foc_trace type=%d not supported!\n", type);
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DEBUGPANIC();
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}
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}
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}
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#endif
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_ihm07m1_initialize
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****************************************************************************/
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int board_ihm07m1_initialize(struct stm32_foc_adc_s *adc_cfg)
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{
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struct foc_dev_s *foc = NULL;
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int ret = OK;
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DEBUGASSERT(adc_cfg);
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/* Initialize only once */
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if (g_foc_dev == NULL)
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{
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/* Connect ADC configuration */
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g_stm32_foc_board_data.adc_cfg = adc_cfg;
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/* Initialize arch specific FOC lower-half */
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foc = stm32_foc_initialize(0, &g_stm32_foc_board);
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if (foc == NULL)
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{
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ret = -errno;
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mtrerr("Failed to initialize STM32 FOC: %d\n", ret);
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goto errout;
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}
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DEBUGASSERT(foc->lower);
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/* Register FOC device */
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ret = foc_register(FOC_DEVPATH, foc);
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if (ret < 0)
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{
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mtrerr("Failed to register FOC device: %d\n", ret);
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goto errout;
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}
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/* Store pointer to driver */
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g_foc_dev = foc;
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}
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errout:
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return ret;
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}
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#ifdef CONFIG_ADC
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/****************************************************************************
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* Name: stm32_adc_setup
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*
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* Description:
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* Initialize ADC and register the ADC driver.
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*
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****************************************************************************/
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int stm32_adc_setup(void)
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{
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struct adc_dev_s *adc = NULL;
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int ret = OK;
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static bool initialized = false;
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/* Initialize only once */
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if (initialized == false)
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{
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if (g_foc_dev == NULL)
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{
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mtrerr("Failed to get g_foc_dev device\n");
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ret = -EACCES;
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goto errout;
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}
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/* Register regular channel ADC */
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adc = stm32_foc_adcget(g_foc_dev);
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if (adc == NULL)
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{
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mtrerr("Failed to get ADC device: %d\n", ret);
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goto errout;
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}
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ret = adc_register("/dev/adc0", adc);
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if (ret < 0)
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{
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mtrerr("adc_register failed: %d\n", ret);
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goto errout;
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}
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initialized = true;
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}
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errout:
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return ret;
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}
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#endif
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