#ifndef _BOARD_MC_V3_H__ #define _BOARD_MC_V3_H__ #if defined (GD32F30X_HD) || defined (GD32F30X_XD) || defined (GD32F30X_CL) #include "gd32f30x.h" #elif defined GD32E10x #include "gd32e10x.h" #endif #define CONFIG_HW_MAX_DC_CURRENT 250.0f #define CONFIG_HW_MAX_CHRG_CURRENT (-100.0f) #define CONFIG_HW_MAX_MOTOR_RPM 9000.0f #define CONFIG_HW_MAX_PHASE_CURR 500.0F #define CONFIG_HW_MAX_PHASE_VOL 115.0f #define CONFIG_MAX_TORQUE CONFIG_HW_MAX_PHASE_CURR #define CONFIG_MAX_LOCK_TORQUE 100 #define CONFIG_MAX_ACTIVE_EMF 5000.0F #define CONFIG_STALL_MAX_CURRENT 100.0f //最大堵转相电流电流 #define CONFIG_STALL_MAX_TIME 3000 //ms, 超过最大堵转电流持续时间，判断堵转 #define CONFIG_DAUL_THROTTLE 1 //双转把 //#define CONFIG_SMO_OBSERVER #define CONFIG_LADRC_OBSERVER //#define CONFIG_SPEED_LADRC #define CONFIG_FORCE_HIGH_VOL_MODE #ifndef CONFIG_FORCE_HIGH_VOL_MODE #define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F) #endif #ifdef CONFIG_SENSORLESS_TOW_SAMPLES #define CONFIG_SENSORLESS_TS (FOC_CTRL_US/2.0f) #else #define CONFIG_SENSORLESS_TS FOC_CTRL_US #endif #define SCHED_TIMER TIMER5 #define SCHED_TIMER_RCU RCU_TIMER5 #define SCHED_TIMER_IRQ TIMER5_IRQn #define SCHED_TIMER_IRQHandler TIMER5_IRQHandler #define PWM_DEAD_TIME_NS 600u #define MOS_TOFF_DELAY_MAX 100u //from mos datasheet #define MOS_TON_DELAY_MIN 30u //from mos datasheet #define MOSDRV_DEAD_TIME_NS 200u //from H bridge driver's datasheet max is 190 #define MOS_MILE_VOL_DROP_NS 100u //from mos' mile #define HW_RISE_TIME_NS 150u #define HW_NOISE_TIME_NS 300u #define CONFIG_HW_DeadTime NS_2_TCLK(PWM_DEAD_TIME_NS + MOSDRV_DEAD_TIME_NS + (MOS_TOFF_DELAY_MAX - MOS_TON_DELAY_MIN) + MOS_MILE_VOL_DROP_NS)/* ����ʱ�� */ #define TRise NS_2_TCLK(HW_RISE_TIME_NS)/* MOS ����ʱ��*/ #define TNoise NS_2_TCLK(HW_NOISE_TIME_NS)/* MOS��������Ŀ�������ʱ�� */ #define TADC ((uint16_t)((ADC_TRIG_CONV_LATENCY_CYCLES + ADC_SAMPLING_CYCLES) *2 * TIM_CLOCK_MHz) / ADC_CLOCK_MHz + 1u)/* ADC ����ʱ�� */ #define TSampleMIN (CONFIG_HW_DeadTime + TRise + TADC) //采样需要的总时间 #define TSampleBefore (CONFIG_HW_DeadTime + TRise) //采样开始前需要等待的时间 //#define CONFIG_START_LINE_DTC_CURRENT 5.0F /* 死区补偿开始电流，取决于电流噪声 */ //#define CONFIG_END_LINE_DTC_CURRENT 15.0F #define ADC_REFERENCE_VOLTAGE (3.3F) #define ADC_FULL_MAX (4095.0F) /* MOS驱动 */ #define MOS_PWM_TIMER TIMER0 #define PWM_MODE TIMER_OC_MODE_PWM0 #define PWM_U_P_GROUP GPIOA #define PWM_U_P_PIN GPIO_PIN_8 #define PWM_U_P_RCU RCU_GPIOA #define PWM_U_P_MODE GPIO_MODE_AF_PP #define PWM_U_N_GROUP GPIOB #define PWM_U_N_PIN GPIO_PIN_13 #define PWM_U_N_RCU RCU_GPIOB #define PWM_U_N_MODE GPIO_MODE_AF_PP #define PWM_V_P_GROUP GPIOA #define PWM_V_P_PIN GPIO_PIN_9 #define PWM_V_P_RCU RCU_GPIOA #define PWM_V_P_MODE GPIO_MODE_AF_PP #define PWM_V_N_GROUP GPIOB #define PWM_V_N_PIN GPIO_PIN_14 #define PWM_V_N_RCU RCU_GPIOB #define PWM_V_N_MODE GPIO_MODE_AF_PP #define PWM_W_P_GROUP GPIOA #define PWM_W_P_PIN GPIO_PIN_10 #define PWM_W_P_RCU RCU_GPIOA #define PWM_W_P_MODE GPIO_MODE_AF_PP #define PWM_W_N_GROUP GPIOB #define PWM_W_N_PIN GPIO_PIN_15 #define PWM_W_N_RCU RCU_GPIOB #define PWM_W_N_MODE GPIO_MODE_AF_PP #define PWM_BRAKE_GROUP GPIOB #define PWM_BRAKE_PIN GPIO_PIN_12 #define PWM_BRAKE_RCU RCU_GPIOB #define PWM_BRAKE_MODE GPIO_MODE_IN_FLOATING #ifdef GD32F30X_CL #define PWM_BRK_IRQ TIMER0_BRK_TIMER8_IRQn #define PWM_UP_IRQ TIMER0_UP_TIMER9_IRQn #define PWM_UP_IRQHandler TIMER0_UP_TIMER9_IRQHandler #define PWM_BRK_IRQHandler TIMER0_BRK_TIMER8_IRQHandler #else #define PWM_BRK_IRQ TIMER0_BRK_IRQn #define PWM_UP_IRQ TIMER0_UP_IRQn #define PWM_UP_IRQHandler TIMER0_UP_IRQHandler #define PWM_BRK_IRQHandler TIMER0_BRK_IRQHandler #endif /* 高边电流传感器采样 */ #define HIGH_SIDE_CURRENT_SENSOR #define V_PHASE_I_CHAN ADC_CHANNEL_14 #define W_PHASE_I_CHAN ADC_CHANNEL_10 #define V_PHASE_ADC_GROUP GPIOC #define V_PHASE_ADC_PIN GPIO_PIN_4 #define V_PHASE_ADC_RCU RCU_GPIOC #define V_PHASE_ADC_MODE GPIO_MODE_AIN #define W_PHASE_ADC_GROUP GPIOC #define W_PHASE_ADC_PIN GPIO_PIN_0 #define W_PHASE_ADC_RCU RCU_GPIOC #define W_PHASE_ADC_MODE GPIO_MODE_AIN #define ADC_TO_CURR_ceof1 (CONFIG_CURRENT_SENSOR_CEOF) #define ADC_TO_CURR_ceof2 (CONFIG_CURRENT_SENSOR_CEOF) #define CONFIG_PWM_UV_SWAP 1 //#define CONFIG_HW_MUTISAMPLE ADC_OVERSAMPLING_RATIO_MUL8 //#define CONFIG_HW_MUTISAMPLE_SHIFT ADC_OVERSAMPLING_SHIFT_3B //#define CONFIG_SW_MUTISAMPLE 1 /* 母线电压采集 */ #define VBUS_V_CHAN ADC_CHANNEL_12 //adc012 #define VBUS_V_ADC_GROUP GPIOC #define VBUS_V_ADC_PIN GPIO_PIN_2 #define VBUS_V_ADC_RCU RCU_GPIOC #define VBUS_V_ADC_MODE GPIO_MODE_AIN #define VBUS_VOL_CEOF (ADC_REFERENCE_VOLTAGE*41/ADC_FULL_MAX) #define ACC_V_CHAN ADC_CHANNEL_11 //adc012 #define ACC_V_ADC_GROUP GPIOC #define ACC_V_ADC_PIN GPIO_PIN_1 #define ACC_V_ADC_RCU RCU_GPIOC #define ACC_V_ADC_MODE GPIO_MODE_AIN #define ACC_VOL_CEOF (ADC_REFERENCE_VOLTAGE*41/ADC_FULL_MAX) #define VBUS_I_CHAN ADC_CHANNEL_0 //adc012 #define VBUS_I_ADC_GROUP GPIOA #define VBUS_I_ADC_PIN GPIO_PIN_0 #define VBUS_I_ADC_RCU RCU_GPIOA #define VBUS_I_ADC_MODE GPIO_MODE_AIN #define VBUS_I_CEOF (CONFIG_CURRENT_SENSOR_CEOF) /* MOS 温度采集 */ #define MOS_TEMP_ADC_CHAN ADC_CHANNEL_8 #define MOS_TEMP_ADC_GROUP GPIOB #define MOS_TEMP_ADC_PIN GPIO_PIN_0 #define MOS_TEMP_ADC_RCU RCU_GPIOB #define MOS_TEMP_ADC_MODE GPIO_MODE_AIN #define MOS_TEMP_R(adc) ((adc)/ADC_FULL_MAX / ((1.0f - (adc)/ADC_FULL_MAX)/(10.0f*1000.0f))) /* 电机温度采集 */ #define MOTOR_TEMP_ADC_CHAN ADC_CHANNEL_5 #define MOTOR_TEMP_ADC_GROUP GPIOA #define MOTOR_TEMP_ADC_PIN GPIO_PIN_5 #define MOTOR_TEMP_ADC_RCU RCU_GPIOA #define MOTOR_TEMP_ADC_MODE GPIO_MODE_AIN #define MOTOR_TEMP_R(adc) ((adc)/ADC_FULL_MAX / ((1.0f - (adc)/ADC_FULL_MAX)/2000.0f)) /* 是否有母线电流采集 */ //#define NO_SAMPLE_IDC //如果硬件没有采集母线电流，定义一下 /* 转把信号电压采集 */ #define THROTTLE_CHAN ADC_CHANNEL_4 #define THROTTLE_V_ADC_GROUP GPIOA #define THROTTLE_V_ADC_PIN GPIO_PIN_4 #define THROTTLE_V_ADC_RCU RCU_GPIOA #define THROTTLE_V_ADC_MODE GPIO_MODE_AIN #define THROTTLE_VOL_CEOF (ADC_REFERENCE_VOLTAGE*(15.1f/10.0f)/ADC_FULL_MAX) /* 第二路转把信号电压采集 */ #define THROTTLE2_CHAN ADC_CHANNEL_7 #define THROTTLE2_V_ADC_GROUP GPIOA #define THROTTLE2_V_ADC_PIN GPIO_PIN_7 #define THROTTLE2_V_ADC_RCU RCU_GPIOA #define THROTTLE2_V_ADC_MODE GPIO_MODE_AIN /* 转把供电5V电压采集 */ #define THROTTLE_5V_CHAN ADC_CHANNEL_6 #define THROTTLE_5V_ADC_GROUP GPIOA #define THROTTLE_5V_ADC_PIN GPIO_PIN_6 #define THROTTLE_5V_ADC_RCU RCU_GPIOA #define THROTTLE_5V_ADC_MODE GPIO_MODE_AIN /* 第二路供电5V电压采集 */ #define THROTTLE2_5V_CHAN ADC_CHANNEL_9 #define THROTTLE2_5V_ADC_GROUP GPIOB #define THROTTLE2_5V_ADC_PIN GPIO_PIN_1 #define THROTTLE2_5V_ADC_RCU RCU_GPIOB #define THROTTLE2_5V_ADC_MODE GPIO_MODE_AIN /* UVW三相对地电压采集 */ #define U_VOL_ADC_CHAN ADC_CHANNEL_15 #define U_VOL_ADC_GROUP GPIOC #define U_VOL_ADC_PIN GPIO_PIN_5 #define U_VOL_ADC_RCU RCU_GPIOC #define U_VOL_ADC_MODE GPIO_MODE_AIN #define V_VOL_ADC_CHAN ADC_CHANNEL_1 //adc012 #define V_VOL_ADC_GROUP GPIOA #define V_VOL_ADC_PIN GPIO_PIN_1 #define V_VOL_ADC_RCU RCU_GPIOA #define V_VOL_ADC_MODE GPIO_MODE_AIN #define W_VOL_ADC_CHAN ADC_CHANNEL_2 //adc012 #define W_VOL_ADC_GROUP GPIOA #define W_VOL_ADC_PIN GPIO_PIN_2 #define W_VOL_ADC_RCU RCU_GPIOA #define W_VOL_ADC_MODE GPIO_MODE_AIN #define PHASE_VOL_Gain ((PHASE_VOL_R + PHASE_VOL_R1)/PHASE_VOL_R1) #define Phase_Vol_LPF_R ((PHASE_VOL_R * PHASE_VOL_R1)/(PHASE_VOL_R + PHASE_VOL_R1)) #define PHASE_VOL_LPF_BAND (1/(2*3.14F*Phase_Vol_LPF_R*PHASE_VOL_C1)) #define UVW_VOL_CEOF (ADC_REFERENCE_VOLTAGE*PHASE_VOL_Gain/ADC_FULL_MAX) /* 模拟5v电压采集 */ #define DC5V_ADC_CHAN ADC_CHANNEL_3 //adc012 #define DC5V_ADC_GROUP GPIOA #define DC5V_ADC_PIN GPIO_PIN_3 #define DC5V_ADC_RCU RCU_GPIOA #define DC5V_ADC_MODE GPIO_MODE_AIN /* 0v电压采集，主要是用来给上一次的采集放电 */ #define ZERO_ADC_CHAN ADC_CHANNEL_13 //adc012 #define ZERO_ADC_GROUP GPIOC #define ZERO_ADC_PIN GPIO_PIN_3 #define ZERO_ADC_RCU RCU_GPIOC #define ZERO_ADC_MODE GPIO_MODE_AIN /* 刹车手把输入 */ #define GPIO_BREAK_MODE GPIO_LOW_BRK_MODE #define GPIO_BRAKE_IN_GROUP GPIOB #define GPIO_BRAKE_IN_PIN GPIO_PIN_3 #define GPIO_BRAKE_IN_RCU RCU_GPIOB #define GPIO_BRAKE_IN_MODE GPIO_MODE_IN_FLOATING #define GPIO_BRAKE_IRQ EXTI3_IRQn #define GPIO_BRAKE_EXTI EXTI_3 #define GPIO_BRAKE_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB #define GPIO_BRAKE_EXIT_SRC_PIN GPIO_PIN_SOURCE_3 #define GPIO_BRAKE_PIN_REMAP GPIO_SWJ_SWDPENABLE_REMAP /* 锁电机线, 使用查询模式 */ #define GPIO_MLOCK_IN_GROUP GPIOC #define GPIO_MLOCK_IN_PIN GPIO_PIN_13 #define GPIO_MLOCK_IN_RCU RCU_GPIOC #define GPIO_MLOCK_IN_MODE GPIO_MODE_IN_FLOATING /* 触发U相检测 */ #define GPIO_UDEC_OUT_GROUP GPIOB #define GPIO_UDEC_OUT_PIN GPIO_PIN_7 #define GPIO_UDEC_OUT_RCU RCU_GPIOB #define GPIO_UDEC_OUT_MODE GPIO_MODE_OUT_PP /* 风扇 PWM */ #define GPIO_FAN_OUT_GROUP GPIOC #define GPIO_FAN_OUT_PIN GPIO_PIN_8 #define GPIO_FAN_OUT_RCU RCU_GPIOC #define GPIO_FAN_OUT_MODE GPIO_MODE_AF_PP #define FAN_PWM_TIMER TIMER7 #define FAN_PWM_CHAN TIMER_CH_2 #define FAN_TIMER_RCU RCU_TIMER7 /* 风扇1检测 */ #define GPIO_FAN1_IN_GROUP GPIOC #define GPIO_FAN1_IN_PIN GPIO_PIN_11 #define GPIO_FAN1_IN_RCU RCU_GPIOC #define GPIO_FAN1_IN_MODE GPIO_MODE_IN_FLOATING #define GPIO_FAN1_IRQ EXTI10_15_IRQn #define GPIO_FAN1_EXTI EXTI_11 #define GPIO_FAN1_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOC #define GPIO_FAN1_EXIT_SRC_PIN GPIO_PIN_SOURCE_11 /* LED 灯控制 */ #define GPIO_LED_OUT_GROUP GPIOC #define GPIO_LED_OUT_PIN GPIO_PIN_14 #define GPIO_LED_OUT_RCU RCU_GPIOC #define GPIO_LED_OUT_MODE GPIO_MODE_OUT_PP /* 刹车灯控制，能量回收的时候需要电量刹车灯 */ #define GPIO_BRAKE_LIGHT_OUT_GROUP GPIOD #define GPIO_BRAKE_LIGHT_OUT_PIN GPIO_PIN_2 #define GPIO_BRAKE_LIGHT_OUT_RCU RCU_GPIOD #define GPIO_BRAKE_LIGHT_OUT_MODE GPIO_MODE_OUT_PP /* 一键修复，低电平有效 */ #define REPEAR_IN_GROUP GPIOC #define REPEAR_IN_PIN GPIO_PIN_10 #define REPEAR_IN_RCU RCU_GPIOC #define REPEAR_IN_MODE GPIO_MODE_IN_FLOATING /* CAN 定义 */ #define CAN_TX_GROUP GPIOB #define CAN_TX_PIN GPIO_PIN_9 #define CAN_RX_GROUP GPIOB #define CAN_RX_PIN GPIO_PIN_8 #define CAN_PIN_RCU RCU_GPIOB #ifdef GD32F30X_CL #define CAN_REMAP GPIO_CAN0_PARTIAL_REMAP #define CAN_IRQ0 CAN0_RX0_IRQn #define CAN_RX0_IRQHandler CAN0_RX0_IRQHandler #else #define CAN_REMAP GPIO_CAN_PARTIAL_REMAP #define CAN_IRQ0 USBD_LP_CAN0_RX0_IRQn #define CAN_RX0_IRQHandler USBD_LP_CAN0_RX0_IRQHandler #endif /* 是否用编码器 */ #define USE_ENCODER_ABI #define ENCODER_TYPE ENCODER_MT /* 编码器 */ #define ENC_A_GROUP GPIOB #define ENC_A_PIN GPIO_PIN_4 #define ENC_A_RCU RCU_GPIOB #define ENC_A_MODE GPIO_MODE_IN_FLOATING #define ENC_B_GROUP GPIOB #define ENC_B_PIN GPIO_PIN_5 #define ENC_B_RCU RCU_GPIOB #define ENC_B_MODE GPIO_MODE_IN_FLOATING #define TIMER2_PB4_PB5_REMAP GPIO_TIMER2_PARTIAL_REMAP #define ENC_PWM_GROUP GPIOA #define ENC_PWM_PIN GPIO_PIN_15 #define ENC_PWM_RCU RCU_GPIOA #define ENC_PWM_MODE GPIO_MODE_IN_FLOATING #define TIMER1_PA15_REMAP GPIO_TIMER1_PARTIAL_REMAP0 #define ENC_I_GROUP GPIOB /*测量编码器的ABI的I信号，360度同步一次*/ #define ENC_I_PIN GPIO_PIN_6 #define ENC_I_RCU RCU_GPIOB #if 0 #define ENC_I_MODE GPIO_MODE_IPU #define ENC_I_IRQ EXTI5_9_IRQn #define ENC_I_EXTI EXTI_6 #define ENC_I_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB #define ENC_I_EXIT_SRC_PIN GPIO_PIN_SOURCE_6 #else #define ENC_I_MODE GPIO_MODE_IN_FLOATING #define ENC_I_TIMER TIMER3 /* 测量绝对编码器PWM输出的占空比，获取转子angle*/ #define ENC_I_TIMER_RCU RCU_TIMER3 #define ENC_I_TIMER_IRQ TIMER3_IRQn #define ENC_I_TIMER_CHAN TIMER_CH_0 #define ENC_I_TIMER_IRQ_CH TIMER_INT_CH0 #define ENC_I_TIMER_INT_FLG TIMER_INT_FLAG_CH0 #define ENC_I_IRQHandler TIMER3_IRQHandler #endif #define ENC_TIMER TIMER2 /* 测量编码器的ABI信号的AB信号 */ #define ENC_TIMER_RCU RCU_TIMER2 #define ENC_TIMER_IRQ TIMER2_IRQn #define ENC_TIMER_IRQHandler TIMER2_IRQHandler #define ENC_PWM_TIMER TIMER1 /* 测量绝对编码器PWM输出的占空比，获取转子angle*/ #define ENC_PWM_TIMER_RCU RCU_TIMER1 #define ENC_PWM_TIMER_IRQ TIMER1_IRQn #define ENC_PWM_TIMER_CHAN TIMER_CH_0 #define ENC_PWM_TIMER_IRQ_CH TIMER_INT_CH0 #define ENC_PWM_TIMER_INT_FLG TIMER_INT_FLAG_CH0 #define ENC_PWM_IRQHandler TIMER1_IRQHandler /* board id, 0x01=>v3, 0x02=>v4 */ #define BOOT_PIN_0_GROUP GPIOC #define BOOT_PIN_0_PIN GPIO_PIN_6 #define BOOT_PIN_1_GROUP GPIOC #define BOOT_PIN_1_PIN GPIO_PIN_7 #define ENC_MAX_interpolation 1.0F /* 200hz机械转速，200K(12000RPM)，AB信号高低电平宽度5us/2=2.5us, 按照timer滤波系数12算，1/7.5*8=1.06us采集到信号没有变才认为是有效值*/ #define CONFIG_ENC_FILTER_NR 12 //1100： fSAMP=fDTS/16, N=8,采样率 120M/16 = 7.5M #define CONFIG_PWM_FILTER_NR 12 /* Z 信号宽度设计为4LSB，200hz机械转速，200K(12000RPM)，Z脉冲宽度5us*4=20us, 按照timer滤波系数15算，1/3.75*8=2.1us采集到信号没有变才认为是有效值*/ #define CONFIG_Z_IDX_FILTER_NR 15///1111: fSAMP=fDTS/32, N=8,采样率 120M/32 = 3.75M #ifdef CONFIG_PWM_UV_SWAP #define ENCODER_CC_INVERT 1 #endif /* 编码器参数 */ #define ENC_MAX_RES 4096.0f #define ENC_Duty_2_Pluse_Nr(duty) (duty * ENC_MAX_RES) //通过占空比计算有几个脉冲 #define ENC_Pluse_Nr_2_angle(Nr) (360.0f/(float)ENC_MAX_RES * (Nr)) #define ENC_PWM_Min_P 0.0f//(1.0f/(131.0f + 1.0f)) #define ENC_PWM_Max_P 1.0f #if ENCODER_TYPE==ENCODER_MPS #define ENC_Duty(d, t) ((1.0f/128.0f) * (130.0f * (d)/(t) - 1.0f)) #elif ENCODER_TYPE==ENCODER_MT /*min. 994 hz*/ #define ENC_PWM_MAX_RES 4119.0F #define ENC_PWM_INIT_WIDTH 16.0F //PWM 起始宽度 #define ENC_PWM_END_WIDTH 8.0F //#define ENC_PWM_Min_P (ENC_PWM_INIT_WIDTH/(ENC_PWM_MAX_RES + 1.0f)) //#define ENC_PWM_Max_P ((ENC_PWM_MAX_RES-ENC_PWM_END_WIDTH)/(ENC_PWM_MAX_RES - 1.0f)) #define PWM_Duty(d, t) ((d)/(t)) #define ENC_Duty(d, t) ((PWM_Duty(d, t)*ENC_PWM_MAX_RES - ENC_PWM_INIT_WIDTH)/(ENC_PWM_MAX_RES - ENC_PWM_END_WIDTH - ENC_PWM_INIT_WIDTH)) #else #error "Postion sensor ERROR" #endif #define DEBUG_PORT_UART2 //#define CONFIG_MOTOR_TORQUE_CONF "foc/motor/A1_motor_config.c" //#define CONFIG_DQ_STEP_RESPONSE #endif /*_BOARD_MC_V3_H__ */