MC100/Applications/bsp/at32/board_at32_mc.h

#ifndef _BOARD_AT32_MC_H__
#define _BOARD_AT32_MC_H__

#define CONFIG_HW_MAX_DC_CURRENT 10.0f
#define CONFIG_HW_MAX_CHRG_CURRENT (-10.0f)
#define CONFIG_HW_MAX_MOTOR_RPM      9000.0f
#define CONFIG_HW_MAX_PHASE_CURR   45.0F
#define CONFIG_HW_MAX_PHASE_VOL    50.0f
#define CONFIG_MAX_TORQUE       CONFIG_HW_MAX_PHASE_CURR
#define CONFIG_MAX_LOCK_TORQUE  30
#define CONFIG_MAX_ACTIVE_EMF   5000.0F
#define CONFIG_STALL_MAX_CURRENT 40.0f //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_LADRC_OBSERVER
#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_HIGH_VOL_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 CONFIG_THREE_SHUNT 
#define CONFIG_MAX_MODULATION 0.95F
#define PWM_DEAD_TIME_NS 300u
#define PWM_TOFF_DELAY_MAX 240u
#define PWM_TON_DELAY_MIN 200u
#define HW_DEAD_TIME_NS  210u
#define HW_RISE_TIME_NS  150u
#define HW_NOISE_TIME_NS 300u

#define CONFIG_HW_DeadTime NS_2_TCLK(HW_DEAD_TIME_NS + PWM_DEAD_TIME_NS + (PWM_TOFF_DELAY_MAX - PWM_TON_DELAY_MIN))/* ����ʱ�� */
#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 CONFIG_CURRENT_SENSOR_CEOF (ADC_REFERENCE_VOLTAGE/ADC_FULL_MAX/16.5F/0.002F) ///(3.3/4095/16.5/0.002)

#define U_PHASE_I_CHAN				ADC_CHANNEL_0
#define V_PHASE_I_CHAN  			ADC_CHANNEL_1
#define W_PHASE_I_CHAN  			ADC_CHANNEL_2

#define U_PHASE_ADC_GROUP 			GPIOA
#define U_PHASE_ADC_PIN 			GPIO_PINS_0
#define U_PHASE_ADC_RCU 			CRM_GPIOA_PERIPH_CLOCK
#define U_PHASE_ADC_MODE 			GPIO_MODE_ANALOG

#define V_PHASE_ADC_GROUP 			GPIOA
#define V_PHASE_ADC_PIN 			GPIO_PINS_1
#define V_PHASE_ADC_RCU 			CRM_GPIOA_PERIPH_CLOCK
#define V_PHASE_ADC_MODE 			GPIO_MODE_ANALOG

#define W_PHASE_ADC_GROUP 			GPIOA
#define W_PHASE_ADC_PIN 			GPIO_PINS_2
#define W_PHASE_ADC_RCU 			CRM_GPIOA_PERIPH_CLOCK
#define W_PHASE_ADC_MODE 			GPIO_MODE_ANALOG

#define ADC_TO_CURR_ceof  			(CONFIG_CURRENT_SENSOR_CEOF)

/* 母线电压采集 */
#define VBUS_V_CHAN 				ADC_CHANNEL_7  //adc012
#define VBUS_V_ADC_GROUP 			GPIOA
#define VBUS_V_ADC_PIN 				GPIO_PINS_7
#define VBUS_V_ADC_RCU 				CRM_GPIOA_PERIPH_CLOCK
#define VBUS_V_ADC_MODE 			GPIO_MODE_ANALOG
#define VBUS_VOL_CEOF 				(ADC_REFERENCE_VOLTAGE*(1.39F + 18.0F)/ADC_FULL_MAX)

#define VBUS_I_CHAN 				ADC_CHANNEL_3 //adc012
#define VBUS_I_ADC_GROUP 			GPIOA
#define VBUS_I_ADC_PIN 				GPIO_PINS_3
#define VBUS_I_ADC_RCU 				CRM_GPIOA_PERIPH_CLOCK
#define VBUS_I_ADC_MODE 			GPIO_MODE_ANALOG
#define VBUS_I_CEOF         		(ADC_REFERENCE_VOLTAGE/ADC_FULL_MAX/9.85F/0.005F)

#define CONFIG_VBUS_I_POSITIVE     	1

/* MOS 温度采集 */
#define MOS_TEMP_ADC_CHAN    		ADC_CHANNEL_9
#define MOS_TEMP_ADC_GROUP 	 		GPIOB
#define MOS_TEMP_ADC_PIN 	 		GPIO_PINS_1
#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)))

/* 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_10
#define THROTTLE_V_ADC_GROUP 		GPIOC
#define THROTTLE_V_ADC_PIN 			GPIO_PINS_0
#define THROTTLE_V_ADC_RCU 			CRM_GPIOC_PERIPH_CLOCK
#define THROTTLE_V_ADC_MODE 		GPIO_MODE_ANALOG
#define THROTTLE_VOL_CEOF 			(ADC_REFERENCE_VOLTAGE/ADC_FULL_MAX)

/* UVW三相对地电压采集 */
#define U_VOL_ADC_CHAN     			ADC_CHANNEL_4
#define U_VOL_ADC_GROUP 			GPIOA
#define U_VOL_ADC_PIN 				GPIO_PINS_5
#define U_VOL_ADC_RCU 				CRM_GPIOA_PERIPH_CLOCK
#define U_VOL_ADC_MODE 				GPIO_MODE_ANALOG

#define V_VOL_ADC_CHAN     			ADC_CHANNEL_5 //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_6 //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*((37.4F + 3.9F)/3.9F)/ADC_FULL_MAX)
#define PHASE_VOL_R (37.4f*1000.0f)
#define PHASE_VOL_R1 (3.9f*1000.0f)
#define PHASE_VOL_C1 (10e-9f) //10nF
#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))

/* 霍尔3线 */
#define HALL_A_PIN					GPIO_PINS_4
#define HALL_B_PIN					GPIO_PINS_5
#define HALL_C_PIN					GPIO_PINS_0
#define HALL_A_GROUP				GPIOB
#define HALL_B_GROUP				GPIOB
#define HALL_C_GROUP				GPIOB
#define HALL_A_RCU					CRM_GPIOB_PERIPH_CLOCK
#define HALL_B_RCU					CRM_GPIOB_PERIPH_CLOCK
#define HALL_C_RCU					CRM_GPIOB_PERIPH_CLOCK
#define HALL_TIMER 					TMR3
#define HALL_TIMER_RCU				CRM_TMR3_PERIPH_CLOCK
#define HALL_CAPTURE_IOMUX			TMR3_GMUX_0010
#define HALL_TMR_IRQHandler			TMR3_GLOBAL_IRQHandler
#define HALL_TMR_IRQn				TMR3_GLOBAL_IRQn

#define	STATUS3_LED_GPIO_CRM_CLK	CRM_GPIOC_PERIPH_CLOCK
#define	STATUS3_LED_PORT			GPIOC
#define	STATUS3_LED_GPIO_PIN		GPIO_PINS_15

#define CONFIG_BOARD_COM_UART 
//#define CONFIG_DQ_STEP_RESPONSE

#endif /*_BOARD_AT32_MC_H__ */