*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
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+/*
+* @brief Contains board specific configuration for ODrive v3.x
+*/
+
+#ifndef __BOARD_CONFIG_H
+#define __BOARD_CONFIG_H
+
+#include <stdbool.h>
+
+// STM specific includes
+#include <stm32f4xx_hal.h>
+#include <gpio.h>
+#include <spi.h>
+#include <tim.h>
+#include <can.h>
+#include <i2c.h>
+#include <usb_device.h>
+#include <main.h>
+#include "cmsis_os.h"
+
+#include <arm_math.h>
+
+#include <Drivers/STM32/stm32_system.h>
+
+#if HW_VERSION_MINOR <= 3
+#define SHUNT_RESISTANCE (675e-6f)
+#else
+#define SHUNT_RESISTANCE (500e-6f)
+#endif
+
+#define AXIS_COUNT (2)
+
+// Total count of GPIOs, including encoder pins, CAN pins and a dummy GPIO0.
+// ODrive v3.4 and earlier don't have GPIOs 6, 7 and 8 but to keep the numbering
+// consistent we just leave a gap in the counting scheme.
+#define GPIO_COUNT  (17)
+
+#define CAN_FREQ (2000000UL)
+
+#if HW_VERSION_MINOR >= 5 && HW_VERSION_VOLTAGE >= 48
+#define DEFAULT_BRAKE_RESISTANCE (2.0f) // [ohm]
+#else
+#define DEFAULT_BRAKE_RESISTANCE (0.47f) // [ohm]
+#endif
+
+#define DEFAULT_ERROR_PIN 0
+#define DEFAULT_MIN_DC_VOLTAGE 8.0f
+
+#define DEFAULT_GPIO_MODES \
+    ODriveIntf::GPIO_MODE_DIGITAL, \
+    ODriveIntf::GPIO_MODE_UART_A, \
+    ODriveIntf::GPIO_MODE_UART_A, \
+    ODriveIntf::GPIO_MODE_ANALOG_IN, \
+    ODriveIntf::GPIO_MODE_ANALOG_IN, \
+    ODriveIntf::GPIO_MODE_ANALOG_IN, \
+    ODriveIntf::GPIO_MODE_DIGITAL, \
+    ODriveIntf::GPIO_MODE_DIGITAL, \
+    ODriveIntf::GPIO_MODE_DIGITAL, \
+    ODriveIntf::GPIO_MODE_ENC0, \
+    ODriveIntf::GPIO_MODE_ENC0, \
+    ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
+    ODriveIntf::GPIO_MODE_ENC1, \
+    ODriveIntf::GPIO_MODE_ENC1, \
+    ODriveIntf::GPIO_MODE_DIGITAL_PULL_DOWN, \
+    ODriveIntf::GPIO_MODE_CAN_A, \
+    ODriveIntf::GPIO_MODE_CAN_A,
+
+#define TIM_TIME_BASE TIM14
+
+// Run control loop at the same frequency as the current measurements.
+#define CONTROL_TIMER_PERIOD_TICKS  (2 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1))
+
+#define TIM1_INIT_COUNT (TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128) // TODO: explain why this offset
+
+// The delta from the control loop timestamp to the current sense timestamp is
+// exactly 0 for M0 and TIM1_INIT_COUNT for M1.
+#define MAX_CONTROL_LOOP_UPDATE_TO_CURRENT_UPDATE_DELTA (TIM_1_8_PERIOD_CLOCKS / 2 + 1 * 128)
+
+#ifdef __cplusplus
+#include <Drivers/DRV8301/drv8301.hpp>
+#include <Drivers/STM32/stm32_gpio.hpp>
+#include <Drivers/STM32/stm32_spi_arbiter.hpp>
+#include <MotorControl/pwm_input.hpp>
+#include <MotorControl/thermistor.hpp>
+
+using TGateDriver = Drv8301;
+using TOpAmp = Drv8301;
+
+#include <MotorControl/motor.hpp>
+#include <MotorControl/encoder.hpp>
+
+extern std::array<Axis, AXIS_COUNT> axes;
+extern Motor motors[AXIS_COUNT];
+extern OnboardThermistorCurrentLimiter fet_thermistors[AXIS_COUNT];
+extern Encoder encoders[AXIS_COUNT];
+extern Stm32Gpio gpios[GPIO_COUNT];
+
+struct GpioFunction { int mode = 0; uint8_t alternate_function = 0xff; };
+extern std::array<GpioFunction, 3> alternate_functions[GPIO_COUNT];
+
+extern USBD_HandleTypeDef& usb_dev_handle;
+
+extern Stm32SpiArbiter& ext_spi_arbiter;
+
+extern UART_HandleTypeDef* uart_a;
+extern UART_HandleTypeDef* uart_b;
+extern UART_HandleTypeDef* uart_c;
+
+extern PwmInput pwm0_input;
+#endif
+
+// Period in [s]
+#define CURRENT_MEAS_PERIOD ( (float)2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1) / (float)TIM_1_8_CLOCK_HZ )
+static const float current_meas_period = CURRENT_MEAS_PERIOD;
+
+// Frequency in [Hz]
+#define CURRENT_MEAS_HZ ( (float)(TIM_1_8_CLOCK_HZ) / (float)(2*TIM_1_8_PERIOD_CLOCKS*(TIM_1_8_RCR+1)) )
+static const int current_meas_hz = CURRENT_MEAS_HZ;
+
+#if HW_VERSION_VOLTAGE >= 48
+#define VBUS_S_DIVIDER_RATIO 19.0f
+#elif HW_VERSION_VOLTAGE == 24
+#define VBUS_S_DIVIDER_RATIO 11.0f
+#else
+#error "unknown board voltage"
+#endif
+
+// Linear range of the DRV8301 opamp output: 0.3V...5.7V. We set the upper limit
+// to 3.0V so that it's symmetric around the center point of 1.65V.
+#define CURRENT_SENSE_MIN_VOLT  0.3f
+#define CURRENT_SENSE_MAX_VOLT  3.0f
+
+// This board has no board-specific user configurations
+static inline bool board_read_config() { return true; }
+static inline bool board_write_config() { return true; }
+static inline void board_clear_config() { }
+static inline bool board_apply_config() { return true; }
+
+void system_init();
+bool board_init();
+void start_timers();
+
+#endif // __BOARD_CONFIG_H