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conf_general.h
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/*
Copyright 2017 - 2022 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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/>.
*/
#ifndef CONF_GENERAL_H_
#define CONF_GENERAL_H_
// Firmware version
#define FW_VERSION_MAJOR 6
#define FW_VERSION_MINOR 06
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 0
#include "datatypes.h"
// Disable hardware limits on configuration parameters
//#define DISABLE_HW_LIMITS
#define HW_HAS_LUNA_SERIAL_DISPLAY
#if !defined(HW_SOURCE) && !defined(HW_SOURCE_ALT)
#error "No hardware source file set"
#endif
#ifndef HW_HEADER
#error "No hardware header file set"
#endif
#ifdef USER_MC_CONF
#include USER_MC_CONF
#endif
#ifdef USER_APP_CONF
#include USER_APP_CONF
#endif
// This is how to provide a custom UI in VESC Tool. The UI can be created and tested in the
// scripting page, then the source files can be exported. The defines below use the exported
// files to provide the custom UI when VESC Tool connects.
//
// The intention if the HW gui is to be part of the HW-file and the app gui is for custom apps.
// Both can be used at the same time.
//
// Defining QMLUI_HW_FULLSCREEN and/or QMLUI_APP_FULLSCREEN will disable the other pages in the
// mobile version of VESC Tool.
//
//#define QMLUI_SOURCE_HW "qmlui/hw/qmlui_example_hw.c"
//#define QMLUI_HEADER_HW "qmlui/hw/qmlui_example_hw.h"
//#define QMLUI_HW_FULLSCREEN
//
//#define QMLUI_SOURCE_APP "qmlui/app/qmlui_example_app.c"
//#define QMLUI_HEADER_APP "qmlui/app/qmlui_example_app.h"
//#define QMLUI_APP_FULLSCREEN
/*
* Select default user motor configuration
*/
//#include "mcconf_default.h"
//#include "mcconf_china_60kv.h"
/*
* Select default user app configuration
*/
//#include "appconf_example_ppm.h"
//#include "appconf_custom.h"
/*
* Set APP_CUSTOM_TO_USE to the name of the main C file of the custom application.
*/
//#define APP_CUSTOM_TO_USE "app_custom_template.c"
//#define APP_CUSTOM_TO_USE "app_motor_heater.c"
//#include "er/app_erockit_conf_v2.h"
//#include "finn/app_finn_az_conf.h"
#include "hw.h"
#include "mcconf_default.h"
#include "appconf_default.h"
/*
* Enable blackmagic probe output on SWD port
*/
#ifndef HAS_BLACKMAGIC
#define HAS_BLACKMAGIC 1
#endif
/*
* Enable CAN-bus
*/
#ifndef CAN_ENABLE
#define CAN_ENABLE 1
#endif
#ifdef HW_HAS_NO_CAN
#undef CAN_ENABLE
#define CAN_ENABLE 0
#endif
/*
* Servo output driver
*/
#define SERVO_OUT_PULSE_MIN_US 1000 // Minimum pulse length in microseconds
#define SERVO_OUT_PULSE_MAX_US 2000 // Maximum pulse length in microseconds
#define SERVO_OUT_RATE_HZ 50 // Update rate in Hz
// Correction factor for computations that depend on the old resistor division factor
#define VDIV_CORR ((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0)))
// Current ADC to amperes factor
#define FAC_CURRENT ((V_REG / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN))
#define FAC_CURRENT1 (FAC_CURRENT * CURRENT_CAL1)
#define FAC_CURRENT2 (FAC_CURRENT * CURRENT_CAL2)
#define FAC_CURRENT3 (FAC_CURRENT * CURRENT_CAL3)
#define FAC_CURRENT1_M2 (FAC_CURRENT * CURRENT_CAL1_M2)
#define FAC_CURRENT2_M2 (FAC_CURRENT * CURRENT_CAL2_M2)
#define FAC_CURRENT3_M2 (FAC_CURRENT * CURRENT_CAL3_M2)
#define VOLTAGE_TO_ADC_FACTOR ( VIN_R2 / (VIN_R2 + VIN_R1) ) * ( 4096.0 / V_REG )
// Actual voltage on 3.3V net based on internal reference
//#define V_REG (1.21 / ((float)ADC_Value[ADC_IND_VREFINT] / 4095.0))
//#define V_REG 3.3
// Use the pins for the hardware SPI port instead of the hall/encoder pins for the AS5047
#ifndef AS504x_USE_SW_MOSI_PIN
#define AS504x_USE_SW_MOSI_PIN 0
#endif
/*
* MCU
*/
#define SYSTEM_CORE_CLOCK 168000000
#define STM32_UUID ((uint32_t*)0x1FFF7A10)
#define STM32_UUID_8 ((uint8_t*)0x1FFF7A10)
/*
* Run the BLDC speed controller in current mode instead of duty cycle mode. This will
* make it behave like the FOC speed controller. The duty cycle mode has the advantage
* that it does not require the extra current controller since bldc inherently runs
* with duty cycle control. The current controller also outputs a duty cycle in the
* end, and then the speed controller might as well do the same without the current
* controller dynamics in between. FOC on the other hand is inherently based on current
* control.
*/
#define BLDC_SPEED_CONTROL_CURRENT 1
/*
* Run the FOC loop once every N ADC ISR requests. This way the pwm frequency is
* detached from the FOC calculation, which because it takes ~25usec it can't work
* at >40khz. To set a 100kHz pwm FOC_CONTROL_LOOP_FREQ_DIVIDER can be set at 3
* so it skips 2 ISR calls and execute the control loop in the 3rd call.
*/
#ifndef FOC_CONTROL_LOOP_FREQ_DIVIDER
#define FOC_CONTROL_LOOP_FREQ_DIVIDER 1
#endif
// Global configuration variables
extern bool conf_general_permanent_nrf_found;
extern volatile backup_data g_backup;
// Functions
void conf_general_init(void);
bool conf_general_store_backup_data(void);
bool conf_general_read_eeprom_var_hw(eeprom_var *v, int address);
bool conf_general_read_eeprom_var_custom(eeprom_var *v, int address);
bool conf_general_store_eeprom_var_hw(eeprom_var *v, int address);
bool conf_general_store_eeprom_var_custom(eeprom_var *v, int address);
void conf_general_read_app_configuration(app_configuration *conf);
bool conf_general_store_app_configuration(app_configuration *conf);
void conf_general_read_mc_configuration(mc_configuration *conf, bool is_motor_2);
bool conf_general_store_mc_configuration(mc_configuration *conf, bool is_motor_2);
bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty,
float *int_limit, float *bemf_coupling_k, int8_t *hall_table, int *hall_res);
bool conf_general_measure_flux_linkage(float current, float duty,
float min_erpm, float res, float *linkage);
uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq);
int conf_general_measure_flux_linkage_openloop(float current, float duty,
float erpm_per_sec, float res, float ind, float *linkage,
float *linkage_undriven, float *undriven_samples, bool *result);
int conf_general_autodetect_apply_sensors_foc(float current,
bool store_mcconf_on_success, bool send_mcconf_on_success, int *result);
void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float tc);
int conf_general_detect_apply_all_foc(float max_power_loss,
bool store_mcconf_on_success, bool send_mcconf_on_success);
int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
float min_current_in, float max_current_in,
float openloop_rpm, float sl_erpm,
void(*reply_func)(unsigned char* data, unsigned int len));
#endif /* CONF_GENERAL_H_ */