#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_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 200.0f #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 (CONFIG_MOS_MAX_VOL - 20.0F) #define CONFIG_MAX_TORQUE CONFIG_HW_MAX_PHASE_CURR #define CONFIG_MAX_LOCK_TORQUE 20 #define CONFIG_MAX_ACTIVE_EMF 5000.0F //#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_96V_MODE_VOL (60.0F) #define CONFIG_LADRC_OBSERVER //#define CONFIG_FORCE_96V_MODE #ifdef CONFIG_SENSORLESS_TOW_SAMPLES #define CONFIG_SENSORLESS_TS (FOC_CTRL_US/2.0f) #else #define CONFIG_SENSORLESS_TS FOC_CTRL_US #endif //#define CONFIG_FORCE_96V_MODE 1 #define SCHED_TIMER TMR5 #define SCHED_TIMER_RCU CRM_TMR5_PERIPH_CLOCK #define SCHED_TIMER_IRQ TMR5_GLOBAL_IRQn #define SCHED_TIMER_IRQHandler TMR5_GLOBAL_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 TMR1 #define PWM_MODE TMR_OUTPUT_CONTROL_PWM_MODE_A #define PWM_CRM_CLK CRM_TMR1_PERIPH_CLOCK #define PWM_U_P_GROUP GPIOA #define PWM_U_P_PIN GPIO_PINS_8 #define PWM_U_P_RCU CRM_GPIOA_PERIPH_CLOCK #define PWM_U_P_MODE GPIO_MODE_MUX #define PWM_U_N_GROUP GPIOB #define PWM_U_N_PIN GPIO_PINS_13 #define PWM_U_N_RCU CRM_GPIOB_PERIPH_CLOCK #define PWM_U_N_MODE GPIO_MODE_MUX #define PWM_V_P_GROUP GPIOA #define PWM_V_P_PIN GPIO_PINS_9 #define PWM_V_P_RCU CRM_GPIOA_PERIPH_CLOCK #define PWM_V_P_MODE GPIO_MODE_MUX #define PWM_V_N_GROUP GPIOB #define PWM_V_N_PIN GPIO_PINS_14 #define PWM_V_N_RCU CRM_GPIOB_PERIPH_CLOCK #define PWM_V_N_MODE GPIO_MODE_MUX #define PWM_W_P_GROUP GPIOA #define PWM_W_P_PIN GPIO_PINS_10 #define PWM_W_P_RCU CRM_GPIOA_PERIPH_CLOCK #define PWM_W_P_MODE GPIO_MODE_MUX #define PWM_W_N_GROUP GPIOB #define PWM_W_N_PIN GPIO_PINS_15 #define PWM_W_N_RCU CRM_GPIOB_PERIPH_CLOCK #define PWM_W_N_MODE GPIO_MODE_MUX #define PWM_BRAKE_GROUP GPIOB #define PWM_BRAKE_PIN GPIO_PINS_12 #define PWM_BRAKE_RCU CRM_GPIOB_PERIPH_CLOCK #define PWM_BRAKE_MODE GPIO_MODE_INPUT #define HALL_SENSOR_CEOF 0.32F /* 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_PINS_4 #define V_PHASE_ADC_RCU CRM_GPIOC_PERIPH_CLOCK #define V_PHASE_ADC_MODE GPIO_MODE_ANALOG #define W_PHASE_ADC_GROUP GPIOC #define W_PHASE_ADC_PIN GPIO_PINS_0 #define W_PHASE_ADC_RCU CRM_GPIOC_PERIPH_CLOCK #define W_PHASE_ADC_MODE GPIO_MODE_ANALOG #define ADC_TO_CURR_ceof1 (HALL_SENSOR_CEOF) #define ADC_TO_CURR_ceof2 (HALL_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_PINS_2 #define VBUS_V_ADC_RCU CRM_GPIOC_PERIPH_CLOCK #define VBUS_V_ADC_MODE GPIO_MODE_ANALOG #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_PINS_1 #define ACC_V_ADC_RCU CRM_GPIOC_PERIPH_CLOCK #define ACC_V_ADC_MODE GPIO_MODE_ANALOG #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_PINS_0 #define VBUS_I_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define VBUS_I_ADC_MODE GPIO_MODE_ANALOG #define VBUS_I_CEOF (HALL_SENSOR_CEOF) #define VBUS_I_POSITIVE 1 /* 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_PINS_0 #define MOS_TEMP_ADC_RCU CRM_GPIOB_PERIPH_CLOCK #define MOS_TEMP_ADC_MODE GPIO_MODE_ANALOG #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_PINS_5 #define MOTOR_TEMP_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define MOTOR_TEMP_ADC_MODE GPIO_MODE_ANALOG #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_PINS_4 #define THROTTLE_V_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define THROTTLE_V_ADC_MODE GPIO_MODE_ANALOG #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_PINS_7 #define THROTTLE2_V_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define THROTTLE2_V_ADC_MODE GPIO_MODE_ANALOG /* 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_PINS_6 #define THROTTLE_5V_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define THROTTLE_5V_ADC_MODE GPIO_MODE_ANALOG /* 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_PINS_1 #define THROTTLE2_5V_ADC_RCU CRM_GPIOB_PERIPH_CLOCK #define THROTTLE2_5V_ADC_MODE GPIO_MODE_ANALOG /* 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_PINS_5 #define U_VOL_ADC_RCU CRM_GPIOC_PERIPH_CLOCK #define U_VOL_ADC_MODE GPIO_MODE_ANALOG #define V_VOL_ADC_CHAN ADC_CHANNEL_1 //adc012 #define V_VOL_ADC_GROUP GPIOA #define V_VOL_ADC_PIN GPIO_PINS_1 #define V_VOL_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define V_VOL_ADC_MODE GPIO_MODE_ANALOG #define W_VOL_ADC_CHAN ADC_CHANNEL_2 //adc012 #define W_VOL_ADC_GROUP GPIOA #define W_VOL_ADC_PIN GPIO_PINS_2 #define W_VOL_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define W_VOL_ADC_MODE GPIO_MODE_ANALOG #define UVW_VOL_CEOF (ADC_REFERENCE_VOLTAGE*(41.0f)/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_PINS_3 #define DC5V_ADC_RCU CRM_GPIOA_PERIPH_CLOCK #define DC5V_ADC_MODE GPIO_MODE_ANALOG /* 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_PINS_3 #define ZERO_ADC_RCU CRM_GPIOC_PERIPH_CLOCK #define ZERO_ADC_MODE GPIO_MODE_ANALOG /* 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_PINS_3 #define GPIO_BRAKE_IN_RCU CRM_GPIOC_PERIPH_CLOCK #define GPIO_BRAKE_IN_MODE GPIO_MODE_INPUT #define GPIO_BRAKE_IRQ EXINT3_IRQn #define GPIO_BRAKE_EXTI EXINT_LINE_3 #define GPIO_BRAKE_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB #define GPIO_BRAKE_EXIT_SRC_PIN GPIO_PINS_SOURCE3 #define GPIO_BRAKE_PIN_REMAP SWJTAG_CONF_010 /* 锁电机线, 使用查询模式 */ #define GPIO_MLOCK_IN_GROUP GPIOC #define GPIO_MLOCK_IN_PIN GPIO_PINS_13 #define GPIO_MLOCK_IN_RCU CRM_GPIOC_PERIPH_CLOCK #define GPIO_MLOCK_IN_MODE GPIO_MODE_INPUT /* 触发U相检测 */ #define GPIO_UDEC_OUT_GROUP GPIOB #define GPIO_UDEC_OUT_PIN GPIO_PINS_7 #define GPIO_UDEC_OUT_RCU CRM_GPIOB_PERIPH_CLOCK #define GPIO_UDEC_OUT_MODE GPIO_MODE_OUTPUT /* 风扇 PWM */ #define GPIO_FAN_OUT_GROUP GPIOC #define GPIO_FAN_OUT_PIN GPIO_PINS_8 #define GPIO_FAN_OUT_RCU CRM_GPIOC_PERIPH_CLOCK #define GPIO_FAN_OUT_MODE GPIO_MODE_MUX #define FAN_PWM_TIMER TMR8 #define FAN_PWM_CHAN TMR_SELECT_CHANNEL_3 #define FAN_TIMER_RCU CRM_TMR8_PERIPH_CLOCK /* 风扇1检测 */ #define GPIO_FAN1_IN_GROUP GPIOC #define GPIO_FAN1_IN_PIN GPIO_PINS_11 #define GPIO_FAN1_IN_RCU CRM_GPIOC_PERIPH_CLOCK #define GPIO_FAN1_IN_MODE GPIO_MODE_INPUT #define GPIO_FAN1_IRQ EXINT15_10_IRQn #define GPIO_FAN1_EXTI EXINT_LINE_11 #define GPIO_FAN1_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOC #define GPIO_FAN1_EXIT_SRC_PIN GPIO_PINS_SOURCE11 /* LED 灯控制 */ #define GPIO_LED_OUT_GROUP GPIOC #define GPIO_LED_OUT_PIN GPIO_PINS_14 #define GPIO_LED_OUT_RCU CRM_GPIOC_PERIPH_CLOCK #define GPIO_LED_OUT_MODE GPIO_MODE_OUTPUT /* 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_PINS_2 #define GPIO_BRAKE_LIGHT_OUT_RCU CRM_GPIOD_PERIPH_CLOCK #define GPIO_BRAKE_LIGHT_OUT_MODE GPIO_MODE_OUTPUT /* CAN 定义 */ #define CAN_TX_GROUP GPIOB #define CAN_TX_PIN GPIO_PINS_9 #define CAN_RX_GROUP GPIOB #define CAN_RX_PIN GPIO_PINS_8 #define CAN_PIN_RCU CRM_GPIOB_PERIPH_CLOCK #define CAN_REMAP CAN_MUX_10 /* 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_PINS_4 #define ENC_A_RCU CRM_GPIOB_PERIPH_CLOCK #define ENC_A_MODE GPIO_MODE_INPUT #define ENC_B_GROUP GPIOB #define ENC_B_PIN GPIO_PINS_5 #define ENC_B_RCU CRM_GPIOB_PERIPH_CLOCK #define ENC_B_MODE GPIO_MODE_INPUT #define TIMER2_PB4_PB5_REMAP TMR3_MUX_10 #define ENC_PWM_GROUP GPIOA #define ENC_PWM_PIN GPIO_PINS_15 #define ENC_PWM_RCU CRM_GPIOA_PERIPH_CLOCK #define ENC_PWM_MODE GPIO_MODE_MUX #define TIMER1_PA15_REMAP TMR2_MUX_01 #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_PINS_6 #define ENC_I_RCU CRM_GPIOB_PERIPH_CLOCK #define ENC_I_MODE GPIO_MODE_INPUT #define ENC_I_IRQ EXINT9_5_IRQn #define ENC_I_EXTI EXINT_LINE_6 #define ENC_I_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB #define ENC_I_EXIT_SRC_PIN GPIO_PINS_SOURCE6 #define ENC_TIMER TMR3 /* 测量编码器的ABI信号的AB信号 */ #define ENC_TIMER_RCU CRM_TMR3_PERIPH_CLOCK #define ENC_TIMER_IRQ TMR3_GLOBAL_IRQn #define ENC_TIMER_IRQHandler TMR3_GLOBAL_IRQHandler #define ENC_PWM_TIMER TMR2 /* 测量绝对编码器PWM输出的占空比，获取转子angle*/ #define ENC_PWM_TIMER_RCU CRM_TMR2_PERIPH_CLOCK #define ENC_PWM_TIMER_IRQ TMR2_GLOBAL_IRQn #define ENC_PWM_TIMER_CHAN TMR_SELECT_CHANNEL_1 #define ENC_PWM_TIMER_IRQ_CH TMR_C1_INT #define ENC_PWM_TIMER_INT_FLG TMR_C1_FLAG #define ENC_PWM_IRQHandler TMR2_GLOBAL_IRQHandler /* board id, 0x01=>v3, 0x02=>v4 */ #define BOOT_PIN_0_GROUP GPIOC #define BOOT_PIN_0_PIN GPIO_PINS_6 #define BOOT_PIN_1_GROUP GPIOC #define BOOT_PIN_1_PIN GPIO_PINS_7 #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_ZD_100 //#define CONFIG_DQ_STEP_RESPONSE #endif /*_BOARD_MC_V3_H__ */