Merge branch 'devel' into uart

Inc/main.h

@@ -55,6 +55,10 @@
 #define HW_VERSION_MAJOR 3
 #define HW_VERSION_MINOR 3
 
+#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 1 \
+||  HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR == 2
+#include "prev_board_ver/main_V3_2.h"
+#else
 /* USER CODE END Includes */
 
 /* Private define ------------------------------------------------------------*/
@@ -148,6 +152,7 @@
 #define M1_ENC_B_GPIO_Port GPIOB
 
 /* USER CODE BEGIN Private defines */
+#endif
 
 #define CURRENT_MEAS_PERIOD ((float)(2*TIM_1_8_PERIOD_CLOCKS)/(float)TIM_1_8_CLOCK_HZ)
 #define CURRENT_MEAS_HZ (TIM_1_8_CLOCK_HZ/(2*TIM_1_8_PERIOD_CLOCKS))

Inc/prev_board_ver/main_V3_2.h

@@ -0,0 +1,91 @@
+
+/* Private define ------------------------------------------------------------*/
+#define TIM_1_8_CLOCK_HZ 168000000
+#define TIM_1_8_PERIOD_CLOCKS 10192
+#define TIM_1_8_DEADTIME_CLOCKS 20
+#define TIM_APB1_CLOCK_HZ 84000000
+#define TIM_APB1_PERIOD_CLOCKS 4096
+#define TIM_APB1_DEADTIME_CLOCKS 40
+
+#define M0_nCS_Pin GPIO_PIN_13
+#define M0_nCS_GPIO_Port GPIOC
+#define M1_nCS_Pin GPIO_PIN_14
+#define M1_nCS_GPIO_Port GPIOC
+#define M1_DC_CAL_Pin GPIO_PIN_15
+#define M1_DC_CAL_GPIO_Port GPIOC
+#define M0_IB_Pin GPIO_PIN_0
+#define M0_IB_GPIO_Port GPIOC
+#define M0_IC_Pin GPIO_PIN_1
+#define M0_IC_GPIO_Port GPIOC
+#define M1_IC_Pin GPIO_PIN_2
+#define M1_IC_GPIO_Port GPIOC
+#define M1_IB_Pin GPIO_PIN_3
+#define M1_IB_GPIO_Port GPIOC
+#define VBUS_S_Pin GPIO_PIN_0
+#define VBUS_S_GPIO_Port GPIOA
+#define M1_TEMP_Pin GPIO_PIN_1
+#define M1_TEMP_GPIO_Port GPIOA
+#define AUX_I_Pin GPIO_PIN_2
+#define AUX_I_GPIO_Port GPIOA
+#define GPIO_4_Pin GPIO_PIN_3
+#define GPIO_4_GPIO_Port GPIOA
+#define GPIO_3_Pin GPIO_PIN_4
+#define GPIO_3_GPIO_Port GPIOA
+#define GPIO_3_EXTI_IRQn EXTI4_IRQn
+#define GPIO_2_Pin GPIO_PIN_5
+#define GPIO_2_GPIO_Port GPIOA
+#define AUX_V_Pin GPIO_PIN_6
+#define AUX_V_GPIO_Port GPIOA
+#define M1_AL_Pin GPIO_PIN_7
+#define M1_AL_GPIO_Port GPIOA
+#define AUX_TEMP_Pin GPIO_PIN_4
+#define AUX_TEMP_GPIO_Port GPIOC
+#define M0_TEMP_Pin GPIO_PIN_5
+#define M0_TEMP_GPIO_Port GPIOC
+#define M1_BL_Pin GPIO_PIN_0
+#define M1_BL_GPIO_Port GPIOB
+#define M1_CL_Pin GPIO_PIN_1
+#define M1_CL_GPIO_Port GPIOB
+#define GPIO_1_Pin GPIO_PIN_2
+#define GPIO_1_GPIO_Port GPIOB
+#define GPIO_1_EXTI_IRQn EXTI2_IRQn
+#define AUX_L_Pin GPIO_PIN_10
+#define AUX_L_GPIO_Port GPIOB
+#define AUX_H_Pin GPIO_PIN_11
+#define AUX_H_GPIO_Port GPIOB
+#define EN_GATE_Pin GPIO_PIN_12
+#define EN_GATE_GPIO_Port GPIOB
+#define M0_AL_Pin GPIO_PIN_13
+#define M0_AL_GPIO_Port GPIOB
+#define M0_BL_Pin GPIO_PIN_14
+#define M0_BL_GPIO_Port GPIOB
+#define M0_CL_Pin GPIO_PIN_15
+#define M0_CL_GPIO_Port GPIOB
+#define M1_AH_Pin GPIO_PIN_6
+#define M1_AH_GPIO_Port GPIOC
+#define M1_BH_Pin GPIO_PIN_7
+#define M1_BH_GPIO_Port GPIOC
+#define M1_CH_Pin GPIO_PIN_8
+#define M1_CH_GPIO_Port GPIOC
+#define M0_DC_CAL_Pin GPIO_PIN_9
+#define M0_DC_CAL_GPIO_Port GPIOC
+#define M0_AH_Pin GPIO_PIN_8
+#define M0_AH_GPIO_Port GPIOA
+#define M0_BH_Pin GPIO_PIN_9
+#define M0_BH_GPIO_Port GPIOA
+#define M0_CH_Pin GPIO_PIN_10
+#define M0_CH_GPIO_Port GPIOA
+#define M0_ENC_Z_Pin GPIO_PIN_15
+#define M0_ENC_Z_GPIO_Port GPIOA
+#define nFAULT_Pin GPIO_PIN_2
+#define nFAULT_GPIO_Port GPIOD
+#define M1_ENC_Z_Pin GPIO_PIN_3
+#define M1_ENC_Z_GPIO_Port GPIOB
+#define M0_ENC_A_Pin GPIO_PIN_4
+#define M0_ENC_A_GPIO_Port GPIOB
+#define M0_ENC_B_Pin GPIO_PIN_5
+#define M0_ENC_B_GPIO_Port GPIOB
+#define M1_ENC_A_Pin GPIO_PIN_6
+#define M1_ENC_A_GPIO_Port GPIOB
+#define M1_ENC_B_Pin GPIO_PIN_7
+#define M1_ENC_B_GPIO_Port GPIOB

MotorControl/low_level.c

@@ -84,7 +84,7 @@ Motor_t motors[] = {
         .shunt_conductance = 1.0f/0.0005f, //[S]
         .phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
         .current_control = {
-            // .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings
+            // .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
             .current_lim = 10.0f, //[A]
             .p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
             .i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
@@ -167,7 +167,7 @@ Motor_t motors[] = {
         .shunt_conductance = 1.0f/0.0005f, //[S]
         .phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
         .current_control = {
-            // .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings
+            // .current_lim = 75.0f, //[A] // If setting higher than 75A, you MUST change DRV8301_ShuntAmpGain. TODO: make this automatic
             .current_lim = 10.0f, //[A]
             .p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
             .i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement