Made some updates

2022-08-27 16:53:03 +02:00
parent b307e1bc79
commit f01a34c109
5 changed files with 174 additions and 36 deletions
--- a/.gitignore
+++ b/.gitignore
@ -9,3 +9,14 @@ build/
 # VS Code
 .vscode/
 .cache/
+
+# Jetbrains
+.idea/
+cmake-build-*/
+
+# other
+hover.map
+libemanuel_foc_model.a
+libstm32_hal.a
+pcbv2_test.bin
+pcbv2_test.elf
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -200,8 +200,108 @@ add_custom_command(OUTPUT greyhash.bin COMMAND arm-none-eabi-objcopy -O binary -
 add_custom_target(greyhash ALL SOURCES greyhash.hex greyhash.bin)
 add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin)

+#
+# peters platine v2 front
+#
+add_executable(pcbv2_front.elf config.h defines.h main.cpp)
+target_link_libraries(pcbv2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(pcbv2_front.elf PRIVATE
+        #    -DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        #     -DIS_BACK
+        -DAMPERE2BIT_CONV=28
+)
+add_custom_command(OUTPUT pcbv2_front.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_front.elf pcbv2_front.hex DEPENDS pcbv2_front.elf)
+add_custom_command(OUTPUT pcbv2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_front.elf pcbv2_front.bin DEPENDS pcbv2_front.elf)
+add_custom_target(pcbv2_front ALL SOURCES pcbv2_front.hex pcbv2_front.bin)
+add_custom_target(flash-pcbv2_front COMMAND st-flash --reset write pcbv2_front.bin 0x8000000 SOURCES pcbv2_front.bin DEPENDS pcbv2_front.bin)

+#
+# peters platine v2 back
+#
+add_executable(pcbv2_back.elf config.h defines.h main.cpp)
+target_link_libraries(pcbv2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(pcbv2_back.elf PRIVATE
+        #    -DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        -DIS_BACK
+        -DAMPERE2BIT_CONV=28
+)
+add_custom_command(OUTPUT pcbv2_back.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_back.elf pcbv2_back.hex DEPENDS pcbv2_back.elf)
+add_custom_command(OUTPUT pcbv2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_back.elf pcbv2_back.bin DEPENDS pcbv2_back.elf)
+add_custom_target(pcbv2_back ALL SOURCES pcbv2_back.hex pcbv2_back.bin)
+add_custom_target(flash-pcbv2_back COMMAND st-flash --reset write pcbv2_back.bin 0x8000000 SOURCES pcbv2_back.bin DEPENDS pcbv2_back.bin)

+#
+# peters platine v2 motortest
+#
+add_executable(pcbv2_test.elf config.h defines.h main.cpp)
+target_link_libraries(pcbv2_test.elf stm32_hal emanuel_foc_model bobbycar-protocol)
+target_compile_options(pcbv2_test.elf PRIVATE
+        -DMOTOR_TEST
+        -DFEATURE_IGNORE_OTHER_MOTOR
+        #    -DHALL_BCA
+        #    -DPWM_FREQ_12KHZ
+        #    -DFEATURE_BUTTON
+        -DPETERS_PLATINE
+        #    -DHUART2
+        #    -DHUART3
+        #    -DFEATURE_SERIAL_CONTROL
+        #    -DFEATURE_SERIAL_FEEDBACK
+        #    -DLOG_TO_SERIAL
+        #    -DFEATURE_CAN
+        #    -DCAN_LOG_UNKNOWN_ADDR
+        #    -DIS_BACK
+        -DAMPERE2BIT_CONV=28
+        -DLEFT_HALL_ABC
+        #-DLEFT_HALL_ACB
+        #-DLEFT_HALL_BAC
+        #-DLEFT_HALL_BCA
+        #-DLEFT_HALL_CAB
+        #-DLEFT_HALL_CBA
+
+        -DRIGHT_HALL_ABC
+        #-DRIGHT_HALL_ACB
+        #-DRIGHT_HALL_BAC
+        #-DRIGHT_HALL_BCA
+        #-DRIGHT_HALL_CAB
+        #-DRIGHT_HALL_CBA
+
+        -DFEATURE_BETTER_FOC_CONFIG
+        -DLEFT_PHASE_MEAS_AB
+        #-DLEFT_PHASE_MEAS_AC
+        #-DLEFT_PHASE_MEAS_BC
+
+        #-DRIGHT_PHASE_MEAS_AB
+        #-DRIGHT_PHASE_MEAS_AC
+        -DRIGHT_PHASE_MEAS_BC
+)
+add_custom_command(OUTPUT pcbv2_test.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_test.elf pcbv2_test.hex DEPENDS pcbv2_test.elf)
+add_custom_command(OUTPUT pcbv2_test.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_test.elf pcbv2_test.bin DEPENDS pcbv2_test.elf)
+add_custom_target(pcbv2_test ALL SOURCES pcbv2_test.hex pcbv2_test.bin)
+add_custom_target(flash-pcbv2_test COMMAND st-flash --reset write pcbv2_test.bin 0x8000000 SOURCES pcbv2_test.bin DEPENDS pcbv2_test.bin)


 # util targets
--- a/config.h
+++ b/config.h
@ -6,7 +6,10 @@
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
 #define DEAD_TIME              48     // PWM deadtime
-#define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+
+#ifndef AMPERE2BIT_CONV
+#define AMPERE2BIT_CONV        50     // Ampere to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+#endif

 // ADC conversion time definitions
 #define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)
--- a/defines.h
+++ b/defines.h
@ -24,57 +24,63 @@

 #ifdef PETERS_PLATINE

-#ifdef HALL_CAB
+#ifdef LEFT_HALL_CAB
    #define LEFT_HALL_U_PIN GPIO_PIN_11
    #define LEFT_HALL_V_PIN GPIO_PIN_12
    #define LEFT_HALL_W_PIN GPIO_PIN_10
-#elif HALL_CBA
+#elif LEFT_HALL_CBA
    #define LEFT_HALL_U_PIN GPIO_PIN_11
    #define LEFT_HALL_V_PIN GPIO_PIN_10
    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif HALL_BAC
+#elif LEFT_HALL_BAC
    #define LEFT_HALL_U_PIN GPIO_PIN_10
    #define LEFT_HALL_V_PIN GPIO_PIN_12
    #define LEFT_HALL_W_PIN GPIO_PIN_11
-#elif HALL_BCA
+#elif LEFT_HALL_BCA
    #define LEFT_HALL_U_PIN GPIO_PIN_10
    #define LEFT_HALL_V_PIN GPIO_PIN_11
    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif HALL_ABC
+#elif LEFT_HALL_ABC
    #define LEFT_HALL_U_PIN GPIO_PIN_12
    #define LEFT_HALL_V_PIN GPIO_PIN_10
    #define LEFT_HALL_W_PIN GPIO_PIN_11
-#else //HALL_ACB
+#else //LEFT_HALL_ACB
+#ifndef LEFT_HALL_ACB
+    #warning "No left Hall configuration defined, using default ACB"
+#endif
    #define LEFT_HALL_U_PIN GPIO_PIN_12
    #define LEFT_HALL_V_PIN GPIO_PIN_11
    #define LEFT_HALL_W_PIN GPIO_PIN_10
 #endif

-    #define LEFT_HALL_U_PORT GPIOC
-    #define LEFT_HALL_V_PORT GPIOC
-    #define LEFT_HALL_W_PORT GPIOC
+#define LEFT_HALL_U_PORT GPIOC
+#define LEFT_HALL_V_PORT GPIOC
+#define LEFT_HALL_W_PORT GPIOC

-#ifdef HALL_CAB
+#ifdef RIGHT_HALL_CAB
    #define RIGHT_HALL_U_PIN GPIO_PIN_6
    #define RIGHT_HALL_V_PIN GPIO_PIN_5
    #define RIGHT_HALL_W_PIN GPIO_PIN_7
-#elif HALL_CBA
+#elif RIGHT_HALL_CBA
    #define RIGHT_HALL_U_PIN GPIO_PIN_6
    #define RIGHT_HALL_V_PIN GPIO_PIN_7
    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif HALL_BAC
+#elif RIGHT_HALL_BAC
    #define RIGHT_HALL_U_PIN GPIO_PIN_7
    #define RIGHT_HALL_V_PIN GPIO_PIN_5
    #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#elif HALL_BCA
+#elif RIGHT_HALL_BCA
    #define RIGHT_HALL_U_PIN GPIO_PIN_7
    #define RIGHT_HALL_V_PIN GPIO_PIN_6
    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif HALL_ABC
+#elif RIGHT_HALL_ABC
    #define RIGHT_HALL_U_PIN GPIO_PIN_5
    #define RIGHT_HALL_V_PIN GPIO_PIN_7
    #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#else //HALL_ACB
+#else //RIGHT_HALL_ACB
+#ifndef RIGHT_HALL_ACB
+    #warning "No right Hall configuration defined, using default ACB"
+#endif
    #define RIGHT_HALL_U_PIN GPIO_PIN_5
    #define RIGHT_HALL_V_PIN GPIO_PIN_6
    #define RIGHT_HALL_W_PIN GPIO_PIN_7
@ -83,7 +89,7 @@
    #define RIGHT_HALL_U_PORT GPIOB
    #define RIGHT_HALL_V_PORT GPIOB
    #define RIGHT_HALL_W_PORT GPIOB
-#else
+#else // defined(PETERS_PLATINE)
 #ifdef HALL_BCA
    #define LEFT_HALL_U_PIN GPIO_PIN_7
    #define LEFT_HALL_V_PIN GPIO_PIN_6
--- a/main.cpp
+++ b/main.cpp
@ -317,6 +317,7 @@ int main()

        enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };

+#ifndef FEATURE_BETTER_FOC_CONFIG
 #ifdef PETERS_PLATINE
        left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
 #else
@ -324,6 +325,23 @@ int main()
 #endif

        right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
+#else
+#ifdef LEFT_PHASE_MEAS_AB
+        left.rtP.z_selPhaCurMeasABC  = CurrentMeasAB;
+#elif LEFT_PHASE_MEAS_BC
+        left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
+#else
+        left.rtP.z_selPhaCurMeasABC  = CurrentMeasAC;
+#endif
+
+#ifdef RIGHT_PHASE_MEAS_AB
+        right.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
+#elif RIGHT_PHASE_MEAS_BC
+        right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
+#else
+        right.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
+#endif
+#endif
    }

    applyDefaultSettings();
@ -477,11 +495,11 @@ void updateMotors()
 #endif
    int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);

-    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * A2BIT_CONV);
+    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
    if (chopL)
        left.chops++;

-    const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * A2BIT_CONV);
+    const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * AMPERE2BIT_CONV);
    if (chopR)
        right.chops++;

@ -1403,22 +1421,22 @@ void doMotorTest()

    left.enable = true;
    left.rtU.r_inpTgt            = pwm;
-    left.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
-    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Torque);
-    left.rtP.i_max               = (2 * A2BIT_CONV) << 4;
+    left.rtP.z_ctrlTypSel        = uint8_t(ControlType::Sinusoidal);
+    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Voltage);
+    left.rtP.i_max               = (2 * AMPERE2BIT_CONV) << 4;
    left.iDcMax                  = 8;
    left.rtP.n_max               = 1000 << 4;
-    left.rtP.id_fieldWeakMax     = (0 * A2BIT_CONV) << 4;
+    left.rtP.id_fieldWeakMax     = (0 * AMPERE2BIT_CONV) << 4;
    left.rtP.a_phaAdvMax         = 40 << 4;

    right.enable = true;
    right.rtU.r_inpTgt           = -pwm;
    right.rtP.z_ctrlTypSel       = uint8_t(ControlType::FieldOrientedControl);
-    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Torque);
-    right.rtP.i_max              = (2 * A2BIT_CONV) << 4;
+    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Voltage);
+    right.rtP.i_max              = (2 * AMPERE2BIT_CONV) << 4;
    right.iDcMax                 = 8;
    right.rtP.n_max              = 1000 << 4;
-    right.rtP.id_fieldWeakMax    = (0 * A2BIT_CONV) << 4;
+    right.rtP.id_fieldWeakMax    = (0 * AMPERE2BIT_CONV) << 4;
    right.rtP.a_phaAdvMax        = 40 << 4;

    constexpr auto pwmMax = 400;
@ -1471,9 +1489,9 @@ void parseCommand()
        left.iDcMax = command.left.iDcMax;

        left.rtP.z_ctrlTypSel    = uint8_t(command.left.ctrlTyp);
-        left.rtP.i_max           = (int16_t(command.left.iMotMax) * A2BIT_CONV) << 4;
+        left.rtP.i_max           = (int16_t(command.left.iMotMax) * AMPERE2BIT_CONV) << 4;
        left.rtP.n_max           = command.left.nMotMax << 4;
-        left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * A2BIT_CONV) << 4;
+        left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * AMPERE2BIT_CONV) << 4;
        left.rtP.a_phaAdvMax     = command.left.phaseAdvMax << 4;
        left.rtU.z_ctrlModReq    = uint8_t(command.left.ctrlMod);
        left.rtU.r_inpTgt        = command.left.pwm;
@ -1481,9 +1499,9 @@ void parseCommand()
        right.iDcMax = command.right.iDcMax;

        right.rtP.z_ctrlTypSel    = uint8_t(command.right.ctrlTyp);
-        right.rtP.i_max           = (int16_t(command.right.iMotMax) * A2BIT_CONV) << 4;        // fixdt(1,16,4)
+        right.rtP.i_max           = (int16_t(command.right.iMotMax) * AMPERE2BIT_CONV) << 4;        // fixdt(1,16,4)
        right.rtP.n_max           = command.right.nMotMax << 4;                       // fixdt(1,16,4)
-        right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * A2BIT_CONV) << 4;   // fixdt(1,16,4)
+        right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * AMPERE2BIT_CONV) << 4;   // fixdt(1,16,4)
        right.rtP.a_phaAdvMax     = command.right.phaseAdvMax << 4;                   // fixdt(1,16,4)
        right.rtU.z_ctrlModReq    = uint8_t(command.right.ctrlMod);
        right.rtU.r_inpTgt        = command.right.pwm;
@ -1624,14 +1642,14 @@ void applyIncomingCanMessage()
    case MotorController<isBackBoard, true> ::Command::CtrlTyp:       right.rtP.z_ctrlTypSel    = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, false>::Command::CtrlMod:       left .rtU.z_ctrlModReq    = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, true> ::Command::CtrlMod:       right.rtU.z_ctrlModReq    = *((uint8_t*)buf);       break;
-    case MotorController<isBackBoard, false>::Command::IMotMax:       left .rtP.i_max           = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::IMotMax:       right.rtP.i_max           = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::IMotMax:       left .rtP.i_max           = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::IMotMax:       right.rtP.i_max           = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
    case MotorController<isBackBoard, false>::Command::IDcMax:        left .iDcMax              = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, true> ::Command::IDcMax:        right.iDcMax              = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, false>::Command::NMotMax:       left .rtP.n_max           = *((uint16_t*)buf) << 4; break;
    case MotorController<isBackBoard, true> ::Command::NMotMax:       right.rtP.n_max           = *((uint16_t*)buf) << 4; break;
-    case MotorController<isBackBoard, false>::Command::FieldWeakMax:  left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::FieldWeakMax:  right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::FieldWeakMax:  left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::FieldWeakMax:  right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
    case MotorController<isBackBoard, false>::Command::PhaseAdvMax:   left .rtP.a_phaAdvMax     = *((uint16_t*)buf) << 4; break;
    case MotorController<isBackBoard, true> ::Command::PhaseAdvMax:   right.rtP.a_phaAdvMax     = *((uint16_t*)buf) << 4; break;
    case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
@ -1815,10 +1833,10 @@ void applyDefaultSettings()
        motor.rtU.r_inpTgt            = 0;
        motor.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
        motor.rtU.z_ctrlModReq        = uint8_t(ControlMode::OpenMode);
-        motor.rtP.i_max               = (5 * A2BIT_CONV) << 4;
+        motor.rtP.i_max               = (5 * AMPERE2BIT_CONV) << 4;
        motor.iDcMax                  = 7;
        motor.rtP.n_max               = 1000 << 4;
-        motor.rtP.id_fieldWeakMax     = (1 * A2BIT_CONV) << 4;
+        motor.rtP.id_fieldWeakMax     = (1 * AMPERE2BIT_CONV) << 4;
        motor.rtP.a_phaAdvMax         = 40 << 4;
        motor.rtP.b_cruiseCtrlEna     = false;
        motor.rtP.n_cruiseMotTgt      = 0;