144 lines
4.2 KiB
C++
144 lines
4.2 KiB
C++
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/*
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* @brief Contains board specific configuration for ODrive v3.x
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*/
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#ifndef __BOARD_CONFIG_H
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#define __BOARD_CONFIG_H
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#include <stdbool.h>
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// STM specific includes
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#include <stm32f4xx_hal.h>
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#include <gpio.h>
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#include <spi.h>
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#include <tim.h>
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#include <can.h>
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#include <i2c.h>
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#include <usb_device.h>
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#include <main.h>
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#include "cmsis_os.h"
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#include <arm_math.h>
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#include <Drivers/STM32/stm32_system.h>
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#if HW_VERSION_MINOR <= 3
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#define SHUNT_RESISTANCE (675e-6f)
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#else
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#define SHUNT_RESISTANCE (500e-6f)
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#endif
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#define AXIS_COUNT (2)
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// Total count of GPIOs, including encoder pins, CAN pins and a dummy GPIO0.
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// ODrive v3.4 and earlier don't have GPIOs 6, 7 and 8 but to keep the numbering
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// consistent we just leave a gap in the counting scheme.
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#define GPIO_COUNT (17)
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#define CAN_FREQ (2000000UL)
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#if HW_VERSION_MINOR >= 5 && HW_VERSION_VOLTAGE >= 48
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#define DEFAULT_BRAKE_RESISTANCE (2.0f) // [ohm]
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#else
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#define DEFAULT_BRAKE_RESISTANCE (0.47f) // [ohm]
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#endif
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#define DEFAULT_ERROR_PIN 0
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#define DEFAULT_MIN_DC_VOLTAGE 8.0f
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#define DEFAULT_GPIO_MODES \
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ODriveIntf::GPIO_MODE_DIGITAL, \
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ODriveIntf::GPIO_MODE_UART_A, \
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ODriveIntf::GPIO_MODE_UART_A, \
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ODriveIntf::GPIO_MODE_ANALOG_IN, \
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ODriveIntf::GPIO_MODE_ANALOG_IN, \
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ODriveIntf::GPIO_MODE_ANALOG_IN, \
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ODriveIntf::GPIO_MODE_DIGITAL, \
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ODriveIntf::GPIO_MODE_DIGITAL, \
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ODriveIntf::GPIO_MODE_DIGITAL, \
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ODriveIntf::GPIO_MODE_ENC0, \
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ODriveIntf::GPIO_MODE_ENC0, \
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ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
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ODriveIntf::GPIO_MODE_ENC1, \
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ODriveIntf::GPIO_MODE_ENC1, \
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ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
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ODriveIntf::GPIO_MODE_CAN_A, \
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ODriveIntf::GPIO_MODE_CAN_A,
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#define TIM_TIME_BASE TIM14
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// Run control loop at the same frequency as the current measurements.
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#define CONTROL_TIMER_PERIOD_TICKS (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1))
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#define TIM1_INIT_COUNT (TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128) // TODO: explain why this offset
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// The delta from the control loop timestamp to the current sense timestamp is
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// exactly 0 for M0 and TIM1_INIT_COUNT for M1.
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#define MAX_CONTROL_LOOP_UPDATE_TO_CURRENT_UPDATE_DELTA (TIM_1_8_PERIOD_CLOCKS / 2 + 1 * 128)
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#ifdef __cplusplus
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#include <Drivers/DRV8301/drv8301.hpp>
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#include <Drivers/STM32/stm32_gpio.hpp>
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#include <Drivers/STM32/stm32_spi_arbiter.hpp>
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#include <MotorControl/pwm_input.hpp>
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#include <MotorControl/thermistor.hpp>
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using TGateDriver = Drv8301;
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using TOpAmp = Drv8301;
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#include <MotorControl/motor.hpp>
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#include <MotorControl/encoder.hpp>
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extern std::array<Axis, AXIS_COUNT> axes;
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extern Motor motors[AXIS_COUNT];
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extern OnboardThermistorCurrentLimiter fet_thermistors[AXIS_COUNT];
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extern Encoder encoders[AXIS_COUNT];
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extern Stm32Gpio gpios[GPIO_COUNT];
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struct GpioFunction { int mode = 0; uint8_t alternate_function = 0xff; };
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extern std::array<GpioFunction, 3> alternate_functions[GPIO_COUNT];
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extern USBD_HandleTypeDef& usb_dev_handle;
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extern Stm32SpiArbiter& ext_spi_arbiter;
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extern UART_HandleTypeDef* uart_a;
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extern UART_HandleTypeDef* uart_b;
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extern UART_HandleTypeDef* uart_c;
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extern PwmInput pwm0_input;
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#endif
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// Period in [s]
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#define CURRENT_MEAS_PERIOD ( (float)2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1) / (float)TIM_1_8_CLOCK_HZ )
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static const float current_meas_period = CURRENT_MEAS_PERIOD;
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// Frequency in [Hz]
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#define CURRENT_MEAS_HZ ( (float)(TIM_1_8_CLOCK_HZ) / (float)(2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1)) )
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static const int current_meas_hz = CURRENT_MEAS_HZ;
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#if HW_VERSION_VOLTAGE >= 48
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#define VBUS_S_DIVIDER_RATIO 19.0f
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#elif HW_VERSION_VOLTAGE == 24
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#define VBUS_S_DIVIDER_RATIO 11.0f
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#else
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#error "unknown board voltage"
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#endif
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// Linear range of the DRV8301 opamp output: 0.3V...5.7V. We set the upper limit
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// to 3.0V so that it's symmetric around the center point of 1.65V.
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#define CURRENT_SENSE_MIN_VOLT 0.3f
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#define CURRENT_SENSE_MAX_VOLT 3.0f
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// This board has no board-specific user configurations
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static inline bool board_read_config() { return true; }
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static inline bool board_write_config() { return true; }
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static inline void board_clear_config() { }
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static inline bool board_apply_config() { return true; }
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void system_init();
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bool board_init();
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void start_timers();
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#endif // __BOARD_CONFIG_H
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