#ifndef _BOARD_MC_V3_H__ #define _BOARD_MC_V3_H__ #define CONFIG_MOS_MAX_VOL 145.0F #define CONFIG_HW_MAX_DC_VOLTAGE 110.0F #define CONFIG_RATED_DC_VOL (96.0f) /* 母线最大电压 V*/ #define CONFIG_MIN_DC_VOL (36.0f) #define CONFIG_HW_MAX_DC_CURRENT 120.0f #define CONFIG_HW_MAX_MOTOR_RPM 9000.0f #define CONFIG_HW_MAX_PHASE_CURR 500.0F #define CONFIG_HW_MAX_PHASE_VOL (CONFIG_MOS_MAX_VOL - 20.0F) #define CONFIG_MAX_TORQUE CONFIG_HW_MAX_PHASE_CURR #define CONFIG_MAX_LOCK_TORQUE 20 //#define CONFIG_BEEP #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_UNDER_VOL_RPM 1000 #define CONFIG_UNDER_VOL_PHASE_CURR 100.0F #define CONFIG_UNDER_VOL_DC_CURR 15.0F #define CONFIG_CURR_LP_WC (600.0F) #define CONFIG_CURR_LP_CEOF (CONFIG_CURR_LP_WC*2*3.14F/(float)FOC_PWM_FS) #define CONFIG_HIGH_VOL_MODE_MIN_VOL (60.0F) #define CONFIG_SMO_OBSERVER 1 //#define CONFIG_SPEED_LADRC 1 //#define CONFIG_FORCE_HIGH_VOL_MODE 1 #define SCHED_TIMER TIM5 #define SCHED_TIMER_RCU RCU_TIMER5 #define SCHED_TIMER_IRQ TIM5_IRQn #define SCHED_TIMER_IRQHandler TIM5_IRQHandler #define PWM_DEAD_TIME_NS 400u #define HW_DEAD_TIME_NS 200u #define HW_RISE_TIME_NS 500u #define HW_NOISE_TIME_NS 300u #define TDead NS_2_TCLK(HW_DEAD_TIME_NS + PWM_DEAD_TIME_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 (TDead + TRise + TADC) //采样需要的总时间 #define TSampleBefore (TDead + TRise) //采样开始前需要等待的时间 #define ADC_REFERENCE_VOLTAGE (3.3F) #define ADC_FULL_MAX (4095.0F) /* MOS驱动 */ #define MOS_PWM_TIMER TIM1 #define PWM_TIM_CLK RCU_TIMER1 #define PWM_MODE TIM_OCMODE_PWM1 #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 #define PWM_BRK_IRQ TIM1_BRK_IRQn #define PWM_UP_IRQ TIM1_UP_IRQn #define PWM_UP_IRQHandler TIM1_UP_IRQHandler #define PWM_BRK_IRQHandler TIM1_BRK_IRQHandler #define CONFIG_CURRENT_SENSOR_CEOF 0.32F /* 高边电流传感器采样 */ #define HIGH_SIDE_CURRENT_SENSOR #define V_PHASE_I_CHAN ADC_CH_6 //adc12 #define W_PHASE_I_CHAN ADC_CH_5 //adc2 #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_CH_8 //adc12 #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_CH_7 //adc12 #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_CH_1 //adc1 #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) #define CONFIG_VBUS_I_POSITIVE 1 /* MOS 温度采集 */ #define MOS_TEMP_ADC_CHAN ADC_CH_3 //adc2 #define MOS_TEMP_ADC_GROUP GPIOB #define MOS_TEMP_ADC_PIN GPIO_PIN_1 #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_CH_2 //adc2 #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_CH_1 //adc2 #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_CH_4 //adc2 #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_CH_3 //adc1 #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 #if 0 /* 第二路供电5V电压采集 */ #define THROTTLE2_5V_CHAN ADC_CH_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 #endif /* UVW三相对地电压采集 */ #define U_VOL_ADC_CHAN ADC_CH_12 //adc2 #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_CH_2 //adc1 #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_CH_11 //adc12 #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 UVW_VOL_CEOF (ADC_REFERENCE_VOLTAGE*(41.0f)/ADC_FULL_MAX) /* 模拟5v电压采集 */ #define DC5V_ADC_CHAN ADC_CH_4 //adc1 #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_CH_9 //adc12 #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_LINE3 #define GPIO_BRAKE_EXIT_SRC_GROUP GPIOB_PORT_SOURCE #define GPIO_BRAKE_EXIT_SRC_PIN GPIO_PIN_SOURCE3 #define GPIO_BRAKE_PIN_REMAP GPIO_RMP_SW_JTAG_SW_ENABLE /* 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 TIM8 #define FAN_PWM_CHAN TIM_CH_3 #define FAN_TIMER_RCU RCU_TIMER8 /* 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 EXTI15_10_IRQn #define GPIO_FAN1_EXTI EXTI_LINE11 #define GPIO_FAN1_EXIT_SRC_GROUP GPIOC_PORT_SOURCE #define GPIO_FAN1_EXIT_SRC_PIN GPIO_PIN_SOURCE11 /* 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 /* 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 #define CAN_REMAP GPIO_RMP2_CAN1 #define CAN_IRQ0 USB_LP_CAN1_RX0_IRQn #define CAN_RX0_IRQHandler USB_LP_CAN1_RX0_IRQHandler #define CAN_RX1_IRQHandler CAN1_RX1_IRQHandler /* 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_PART1_RMP_TIM3 #define ENC_PWM_GROUP GPIOB #define ENC_PWM_PIN GPIO_PIN_6 #define ENC_PWM_RCU RCU_GPIOB #define ENC_PWM_MODE GPIO_MODE_IN_FLOATING #define ENC_I_GROUP GPIOA /*测量编码器的ABI的I信号，360度同步一次*/ #define ENC_I_PIN GPIO_PIN_15 #define ENC_I_RCU RCU_GPIOA #define ENC_I_MODE GPIO_MODE_IPU #define ENC_I_IRQ EXTI15_10_IRQn #define ENC_I_EXTI EXTI_LINE15 #define ENC_I_EXIT_SRC_GROUP GPIOB_PORT_SOURCE #define ENC_I_EXIT_SRC_PIN GPIO_PIN_SOURCE15 #define ENC_TIMER TIM3 /* 测量编码器的ABI信号的AB信号 */ #define ENC_TIMER_RCU RCU_TIMER3 #define ENC_TIMER_IRQ TIM3_IRQn #define ENC_TIMER_IRQHandler TIM3_IRQHandler #define ENC_PWM_TIMER TIM4 /* 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_TIMER4 #define ENC_PWM_TIMER_IRQ TIM4_IRQn #define ENC_PWM_TIMER_CHAN TIM_CH_1 #define ENC_PWM_TIMER_IRQ_CH TIM_INT_CC1 #define ENC_PWM_TIMER_INT_FLG TIM_INT_CC1 #define ENC_PWM_IRQHandler TIM4_IRQHandler #define ENC_MAX_interpolation 1.0F #define ENC_FILTER_NR 15 #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_MOT_TYPE MOTOR_BLUESHARK_A1 //#define CONFIG_DQ_STEP_RESPONSE #endif /*_BOARD_MC_V3_H__ */