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nucleo-f302r8: add FOC example based on IHM07M1 expansion board
This commit is contained in:
raiden00pl
committed by
David Sidrane
David Sidrane
parent
3543ac95bf
commit
0186ec1e05
@@ -24,3 +24,67 @@ Variants include
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NUCLEO-L152RE STM32L152RET6
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NUCLEO-L152RE STM32L152RET6
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NUCLEO-L452RE STM32L452RET6
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NUCLEO-L452RE STM32L452RET6
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NUCLEO-L476RG STM32L476RGT6
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NUCLEO-L476RG STM32L476RGT6
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Configurations
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==============
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ihm07m1_f32 and ihm07m1_b16:
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----------------------------
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These examples are dedicated for the X-NUCLEO-IHM07M1 expansion board
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based on L6230 DMOS driver for three-phase brushless DC motors.
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X-NUCLEO-IHM07M1 must be configured to work with FOC and 3-shunt
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resistors. See ST documentation for details.
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Pin configuration for the X-NUCLEO-IHM07M1 (TIM1 configuration):
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Board Function Chip Function Chip Pin Number
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------------- ---------------- -----------------
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Phase U high TIM1_CH1 PA8
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Phase U enable GPIO_PC10 PC10
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Phase V high TIM1_CH2 PA9
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Phase V enable GPIO_PC11 PC11
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Phase W high TIM1_CH3 PA10
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Phase W enable GPIO_PC12 PC12
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DIAG/EN GPIO_PA11 PA11
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Current U ADC1_IN1 PA0
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Current V ADC1_IN7 PC1
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Current W ADC1_IN6 PC0
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Temperature ADC1_IN8 PC2
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VBUS ADC1_IN2 PA1
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BEMF1 (NU) PC3
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BEMF2 (NU) PB0
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BEMF3 (NU) PA7
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LED GPIO_PB2 PB2
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+3V3 (CN7_16)
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GND (CN7_20)
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GPIO_BEMF (NU) PC9
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ENCO_A/HALL_H1 TIM2_CH1 PA15
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ENCO_B/HALL_H2 TIM2_CH2 PB3
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ENCO_Z/HALL_H3 TIM2_CH3 PB10
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GPIO1 (NU) PB13
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GPIO2 (NU) PB5
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GPIO3 (NU) PA5
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CPOUT (NU) PA12
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BKIN1 (NU) PB14
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POT ADC1_IN12 PB1
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CURR_REF (NU) PB4
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DAC DAC1_CH1 PA4
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DEBUG0 GPIO PB8
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DEBUG1 GPIO PB9
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DEBUG2 GPIO PC6
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DEBUG3 GPIO PC5
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DEBUG4 GPIO PC8
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Current shunt resistance = 0.33
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Current sense gain = -1.53 (inverted current)
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Vbus sense gain = 9.31k/(9.31k+169k) = 0.0522124390107
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Vbus min = 8V
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Vbus max = 48V
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Iout max = 1.4A RMS
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IPHASE_RATIO = 1/(R_shunt*gain) = -1.98
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VBUS_RATIO = 1/VBUS_gain = 19.152
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For now only 3-shunt resistors configuration is supported.
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@@ -0,0 +1,88 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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CONFIG_ADC=y
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CONFIG_ADC_FIFOSIZE=3
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CONFIG_ANALOG=y
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="nucleo-f302r8"
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CONFIG_ARCH_BOARD_NUCLEO_F302R8=y
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CONFIG_ARCH_BUTTONS=y
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CONFIG_ARCH_CHIP="stm32"
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CONFIG_ARCH_CHIP_STM32=y
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CONFIG_ARCH_CHIP_STM32F302R8=y
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CONFIG_ARCH_INTERRUPTSTACK=1024
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CONFIG_ARCH_IRQBUTTONS=y
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CONFIG_ARMV7M_LIBM=y
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CONFIG_BOARD_LOOPSPERMSEC=8499
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CONFIG_BOARD_STM32_COMMON=y
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CONFIG_BOARD_STM32_IHM07M1=y
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CONFIG_BOARD_STM32_IHM07M1_POT=y
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CONFIG_BOARD_STM32_IHM07M1_VBUS=y
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CONFIG_BUILTIN=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_DEFAULT_TASK_STACKSIZE=1024
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CONFIG_EXAMPLES_FOC=y
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CONFIG_EXAMPLES_FOC_ADC_MAX=4095
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CONFIG_EXAMPLES_FOC_ADC_VREF=3300
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CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE=2048
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CONFIG_EXAMPLES_FOC_FIXED16_INST=1
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CONFIG_EXAMPLES_FOC_HAVE_BUTTON=y
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CONFIG_EXAMPLES_FOC_IPHASE_ADC=-160
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CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=5000
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CONFIG_EXAMPLES_FOC_PWM_FREQ=20000
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CONFIG_EXAMPLES_FOC_RAMP_ACC=1000000
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CONFIG_EXAMPLES_FOC_RAMP_DEC=1000000
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CONFIG_EXAMPLES_FOC_RAMP_THR=10000
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CONFIG_EXAMPLES_FOC_VBUS_ADC=y
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CONFIG_EXAMPLES_FOC_VBUS_SCALE=19152
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CONFIG_EXAMPLES_FOC_VEL_ADC=y
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CONFIG_INDUSTRY_FOC=y
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CONFIG_INDUSTRY_FOC_FIXED16=y
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CONFIG_INPUT=y
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CONFIG_INPUT_BUTTONS=y
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CONFIG_INPUT_BUTTONS_LOWER=y
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CONFIG_INTELHEX_BINARY=y
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CONFIG_LIBM=y
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CONFIG_MAX_TASKS=4
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CONFIG_MOTOR=y
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CONFIG_MOTOR_FOC=y
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CONFIG_MOTOR_FOC_TRACE=y
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CONFIG_MQ_MAXMSGSIZE=5
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_PREALLOC_TIMERS=4
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CONFIG_RAM_SIZE=16386
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CONFIG_RAM_START=0x20000000
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CONFIG_RAW_BINARY=y
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CONFIG_RR_INTERVAL=200
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CONFIG_SCHED_WAITPID=y
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CONFIG_SDCLONE_DISABLE=y
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CONFIG_START_DAY=14
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CONFIG_START_MONTH=10
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CONFIG_START_YEAR=2014
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CONFIG_STM32_ADC1_ANIOC_TRIGGER=1
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CONFIG_STM32_ADC1_DMA=y
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CONFIG_STM32_ADC1_DMA_CFG=1
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CONFIG_STM32_ADC1_INJECTED_CHAN=3
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CONFIG_STM32_DMA1=y
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CONFIG_STM32_DMA2=y
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CONFIG_STM32_FOC=y
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CONFIG_STM32_FOC_FOC0=y
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CONFIG_STM32_JTAG_SW_ENABLE=y
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CONFIG_STM32_TIM1_CH1MODE=0
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CONFIG_STM32_TIM1_CH2MODE=0
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CONFIG_STM32_TIM1_CH3MODE=0
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CONFIG_STM32_TIM1_MODE=2
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CONFIG_STM32_USART2=y
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CONFIG_SYSTEM_NSH=y
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CONFIG_TASK_NAME_SIZE=0
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CONFIG_USART2_SERIAL_CONSOLE=y
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CONFIG_USART2_TXDMA=y
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CONFIG_USER_ENTRYPOINT="nsh_main"
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@@ -0,0 +1,88 @@
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#
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# This file is autogenerated: PLEASE DO NOT EDIT IT.
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#
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# You can use "make menuconfig" to make any modifications to the installed .config file.
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# You can then do "make savedefconfig" to generate a new defconfig file that includes your
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# modifications.
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#
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CONFIG_ADC=y
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CONFIG_ADC_FIFOSIZE=3
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CONFIG_ANALOG=y
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CONFIG_ARCH="arm"
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CONFIG_ARCH_BOARD="nucleo-f302r8"
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CONFIG_ARCH_BOARD_NUCLEO_F302R8=y
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CONFIG_ARCH_BUTTONS=y
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CONFIG_ARCH_CHIP="stm32"
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CONFIG_ARCH_CHIP_STM32=y
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CONFIG_ARCH_CHIP_STM32F302R8=y
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CONFIG_ARCH_INTERRUPTSTACK=1024
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CONFIG_ARCH_IRQBUTTONS=y
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CONFIG_ARMV7M_LIBM=y
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CONFIG_BOARD_LOOPSPERMSEC=8499
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CONFIG_BOARD_STM32_COMMON=y
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CONFIG_BOARD_STM32_IHM07M1=y
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CONFIG_BOARD_STM32_IHM07M1_POT=y
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CONFIG_BOARD_STM32_IHM07M1_VBUS=y
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CONFIG_BUILTIN=y
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CONFIG_DEBUG_FULLOPT=y
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CONFIG_DEBUG_SYMBOLS=y
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CONFIG_DEFAULT_SMALL=y
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CONFIG_DEFAULT_TASK_STACKSIZE=1024
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CONFIG_EXAMPLES_FOC=y
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CONFIG_EXAMPLES_FOC_ADC_MAX=4095
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CONFIG_EXAMPLES_FOC_ADC_VREF=3300
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CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE=2048
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CONFIG_EXAMPLES_FOC_FLOAT_INST=1
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CONFIG_EXAMPLES_FOC_HAVE_BUTTON=y
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CONFIG_EXAMPLES_FOC_IPHASE_ADC=-160
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CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=5000
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CONFIG_EXAMPLES_FOC_PWM_FREQ=20000
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CONFIG_EXAMPLES_FOC_RAMP_ACC=1000000
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CONFIG_EXAMPLES_FOC_RAMP_DEC=1000000
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CONFIG_EXAMPLES_FOC_RAMP_THR=10000
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CONFIG_EXAMPLES_FOC_VBUS_ADC=y
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CONFIG_EXAMPLES_FOC_VBUS_SCALE=19152
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CONFIG_EXAMPLES_FOC_VEL_ADC=y
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CONFIG_INDUSTRY_FOC=y
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CONFIG_INDUSTRY_FOC_FLOAT=y
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CONFIG_INPUT=y
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CONFIG_INPUT_BUTTONS=y
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CONFIG_INPUT_BUTTONS_LOWER=y
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CONFIG_INTELHEX_BINARY=y
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CONFIG_LIBM=y
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CONFIG_MAX_TASKS=4
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CONFIG_MOTOR=y
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CONFIG_MOTOR_FOC=y
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CONFIG_MOTOR_FOC_TRACE=y
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CONFIG_MQ_MAXMSGSIZE=5
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CONFIG_NSH_ARCHINIT=y
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CONFIG_NSH_BUILTIN_APPS=y
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CONFIG_PREALLOC_TIMERS=4
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CONFIG_RAM_SIZE=16386
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CONFIG_RAM_START=0x20000000
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CONFIG_RAW_BINARY=y
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CONFIG_RR_INTERVAL=200
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CONFIG_SCHED_WAITPID=y
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CONFIG_SDCLONE_DISABLE=y
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CONFIG_START_DAY=14
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CONFIG_START_MONTH=10
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CONFIG_START_YEAR=2014
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CONFIG_STM32_ADC1_ANIOC_TRIGGER=1
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CONFIG_STM32_ADC1_DMA=y
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CONFIG_STM32_ADC1_DMA_CFG=1
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CONFIG_STM32_ADC1_INJECTED_CHAN=3
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CONFIG_STM32_DMA1=y
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CONFIG_STM32_DMA2=y
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CONFIG_STM32_FOC=y
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CONFIG_STM32_FOC_FOC0=y
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CONFIG_STM32_JTAG_SW_ENABLE=y
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CONFIG_STM32_TIM1_CH1MODE=0
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CONFIG_STM32_TIM1_CH2MODE=0
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CONFIG_STM32_TIM1_CH3MODE=0
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CONFIG_STM32_TIM1_MODE=2
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CONFIG_STM32_USART2=y
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CONFIG_SYSTEM_NSH=y
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CONFIG_TASK_NAME_SIZE=0
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CONFIG_USART2_SERIAL_CONSOLE=y
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CONFIG_USART2_TXDMA=y
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CONFIG_USER_ENTRYPOINT="nsh_main"
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@@ -203,6 +203,11 @@
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#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PA3 */
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#define GPIO_USART2_RX GPIO_USART2_RX_2 /* PA3 */
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#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PA2 */
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#define GPIO_USART2_TX GPIO_USART2_TX_2 /* PA2 */
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/* USART1 */
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#define GPIO_USART1_RX GPIO_USART1_RX_2 /* PB7 */
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#define GPIO_USART1_TX GPIO_USART1_TX_2 /* PB6 */
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/* PWM configuration ********************************************************/
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/* PWM configuration ********************************************************/
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/* TIM1 PWM */
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/* TIM1 PWM */
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@@ -228,4 +233,47 @@
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#define ADC1_DMA_CHAN DMACHAN_ADC1 /* DMA1_CH1 */
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#define ADC1_DMA_CHAN DMACHAN_ADC1 /* DMA1_CH1 */
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#ifdef CONFIG_BOARD_STM32_IHM07M1
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/* Configuration specific for the X-NUCLEO-IHM07M1 expansion board with
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* the L6230 gate drivers.
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*/
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/* TIM1 configuration *******************************************************/
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# define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_2 /* TIM1 CH1 - PA8 - U high */
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# define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_2 /* TIM1 CH2 - PA9 - V high */
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# define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_2 /* TIM1 CH3 - PA10 - W high */
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# define GPIO_TIM1_CH4OUT 0 /* not used as output */
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/* UVW ENABLE */
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# define GPIO_FOC_EN_U (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN10)
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# define GPIO_FOC_EN_V (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN11)
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# define GPIO_FOC_EN_W (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN12)
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/* DIAG/ENABLE */
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# define GPIO_FOC_DIAGEN (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN11)
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# define GPIO_FOC_LED2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
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/* Debug pins */
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# define GPIO_FOC_DEBUG0 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
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# define GPIO_FOC_DEBUG1 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
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# define GPIO_FOC_DEBUG2 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)
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# define GPIO_FOC_DEBUG3 (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz| \
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GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN5)
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#endif /* CONFIG_BOARD_STM32_IHM07M1 */
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#endif /* __BOARDS_ARM_STM32_NUCLEO_F302R8_INCLUDE_BOARD_H */
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#endif /* __BOARDS_ARM_STM32_NUCLEO_F302R8_INCLUDE_BOARD_H */
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@@ -44,6 +44,10 @@ ifeq ($(CONFIG_NUCLEOF302R8_HIGHPRI),y)
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CSRCS += stm32_highpri.c
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CSRCS += stm32_highpri.c
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endif
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endif
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ifeq ($(CONFIG_BOARD_STM32_IHM07M1),y)
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CSRCS += stm32_foc_ihm07m1.c
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endif
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DEPPATH += --dep-path board
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DEPPATH += --dep-path board
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VPATH += :board
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VPATH += :board
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CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)
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CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)board)
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@@ -134,4 +134,28 @@ int stm32_bringup(void);
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int stm32_pwm_setup(void);
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int stm32_pwm_setup(void);
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#endif
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#endif
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/****************************************************************************
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* Name: stm32_foc_setup
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*
|
||||||
|
* Description:
|
||||||
|
* Initialize FOC peripheral for the board.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_FOC
|
||||||
|
int stm32_foc_setup(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_adc_setup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Initialize ADC and register the ADC driver.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#ifdef CONFIG_ADC
|
||||||
|
int stm32_adc_setup(void);
|
||||||
|
#endif
|
||||||
|
|
||||||
#endif /* __BOARDS_ARM_STM32_NUCLEO_F302R8_SRC_NUCLEO_F302R8_H */
|
#endif /* __BOARDS_ARM_STM32_NUCLEO_F302R8_SRC_NUCLEO_F302R8_H */
|
||||||
|
|||||||
@@ -107,6 +107,26 @@ int stm32_bringup(void)
|
|||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_STM32_FOC
|
||||||
|
/* Initialize and register the FOC device */
|
||||||
|
|
||||||
|
ret = stm32_foc_setup();
|
||||||
|
if (ret < 0)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: stm32_foc_setup failed: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_ADC
|
||||||
|
/* Initialize ADC and register the ADC driver. */
|
||||||
|
|
||||||
|
ret = stm32_adc_setup();
|
||||||
|
if (ret < 0)
|
||||||
|
{
|
||||||
|
syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
UNUSED(ret);
|
UNUSED(ret);
|
||||||
return OK;
|
return OK;
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -0,0 +1,183 @@
|
|||||||
|
/****************************************************************************
|
||||||
|
* boards/arm/stm32/nucleo-f302r8/src/stm32_foc_ihm07m1.c
|
||||||
|
*
|
||||||
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||||
|
* contributor license agreements. See the NOTICE file distributed with
|
||||||
|
* this work for additional information regarding copyright ownership. The
|
||||||
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
||||||
|
* "License"); you may not use this file except in compliance with the
|
||||||
|
* License. You may obtain a copy of the License at
|
||||||
|
*
|
||||||
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
*
|
||||||
|
* Unless required by applicable law or agreed to in writing, software
|
||||||
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
||||||
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
||||||
|
* License for the specific language governing permissions and limitations
|
||||||
|
* under the License.
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Included Files
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#include <nuttx/config.h>
|
||||||
|
|
||||||
|
#include "stm32_ihm07m1.h"
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Pre-processor Definitions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
#define CURRENT_SAMPLE_TIME ADC_SMPR_19p5
|
||||||
|
#define VBUS_SAMPLE_TIME ADC_SMPR_601p5
|
||||||
|
#define POT_SAMPLE_TIME ADC_SMPR_601p5
|
||||||
|
|
||||||
|
/* ADC1 channels used in this example */
|
||||||
|
|
||||||
|
#define ADC1_INJECTED (CONFIG_MOTOR_FOC_SHUNTS)
|
||||||
|
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_VBUS
|
||||||
|
# define IHM07M1_VBUS 1
|
||||||
|
#else
|
||||||
|
# define IHM07M1_VBUS 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_POT
|
||||||
|
# define IHM07M1_POT 1
|
||||||
|
#else
|
||||||
|
# define IHM07M1_POT 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define ADC1_REGULAR (IHM07M1_VBUS + IHM07M1_POT)
|
||||||
|
#define ADC1_NCHANNELS (ADC1_INJECTED + ADC1_REGULAR)
|
||||||
|
|
||||||
|
/* Check ADC1 configuration */
|
||||||
|
|
||||||
|
#if ADC1_INJECTED != CONFIG_STM32_ADC1_INJECTED_CHAN
|
||||||
|
# error
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if CONFIG_STM32_ADC1_RESOLUTION != 0
|
||||||
|
# error
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Private Data
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/* FOC ADC configration:
|
||||||
|
* - Current Phase V -> ADC1 INJ1 -> ADC1_IN1 (PA0)
|
||||||
|
* - Current Phase U -> ADC1 INJ2 -> ADC1_IN7 (PC1)
|
||||||
|
* - Current Phase W -> ADC1 INJ3 -> ADC1_IN6 (PC0)
|
||||||
|
* optional:
|
||||||
|
* - VBUS -> ADC1 REG -> ADC1_IN2 (PA1)
|
||||||
|
* - POT -> ADC1 REG -> ADC1_IN12 (PB1)
|
||||||
|
*
|
||||||
|
* TIM1 PWM configuration:
|
||||||
|
* - Phase U high -> TIM1_CH1 (PA8)
|
||||||
|
* - Phase V high -> TIM1_CH2 (PA9)
|
||||||
|
* - Phase W high -> TIM1_CH3 (PA10)
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
|
||||||
|
static uint8_t g_adc1_chan[] =
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_VBUS
|
||||||
|
2, /* ADC1 REG - VBUS */
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_POT
|
||||||
|
12, /* ADC1 REG - POT */
|
||||||
|
#endif
|
||||||
|
1, /* ADC1 INJ1 - PHASE 1 */
|
||||||
|
#if CONFIG_MOTOR_FOC_SHUNTS == 3
|
||||||
|
7, /* ADC1 INJ2 - PHASE 2 */
|
||||||
|
6, /* ADC1 INJ3 - PHASE 3 */
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
static uint32_t g_adc1_pins[] =
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_VBUS
|
||||||
|
GPIO_ADC1_IN2,
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_POT
|
||||||
|
GPIO_ADC1_IN12,
|
||||||
|
#endif
|
||||||
|
GPIO_ADC1_IN1,
|
||||||
|
#if CONFIG_MOTOR_FOC_SHUNTS > 1
|
||||||
|
GPIO_ADC1_IN7,
|
||||||
|
#endif
|
||||||
|
#if CONFIG_MOTOR_FOC_SHUNTS > 2
|
||||||
|
GPIO_ADC1_IN6,
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
/* ADC1 sample time configuration */
|
||||||
|
|
||||||
|
static adc_channel_t g_adc1_stime[] =
|
||||||
|
{
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_VBUS
|
||||||
|
{
|
||||||
|
.channel = 2,
|
||||||
|
.sample_time = VBUS_SAMPLE_TIME
|
||||||
|
},
|
||||||
|
#endif
|
||||||
|
#ifdef CONFIG_BOARD_STM32_IHM07M1_POT
|
||||||
|
{
|
||||||
|
.channel = 12,
|
||||||
|
.sample_time = POT_SAMPLE_TIME
|
||||||
|
},
|
||||||
|
#endif
|
||||||
|
{
|
||||||
|
.channel = 1,
|
||||||
|
.sample_time = CURRENT_SAMPLE_TIME
|
||||||
|
},
|
||||||
|
#if CONFIG_MOTOR_FOC_SHUNTS > 1
|
||||||
|
{
|
||||||
|
.channel = 7,
|
||||||
|
.sample_time = CURRENT_SAMPLE_TIME
|
||||||
|
},
|
||||||
|
#endif
|
||||||
|
#if CONFIG_MOTOR_FOC_SHUNTS > 2
|
||||||
|
{
|
||||||
|
.channel = 6,
|
||||||
|
.sample_time = CURRENT_SAMPLE_TIME
|
||||||
|
},
|
||||||
|
#endif
|
||||||
|
};
|
||||||
|
|
||||||
|
/* Board specific ADC configuration for FOC */
|
||||||
|
|
||||||
|
static struct stm32_foc_adc_s g_adc_cfg =
|
||||||
|
{
|
||||||
|
.chan = g_adc1_chan,
|
||||||
|
.pins = g_adc1_pins,
|
||||||
|
.stime = g_adc1_stime,
|
||||||
|
.nchan = ADC1_NCHANNELS,
|
||||||
|
.regch = ADC1_REGULAR,
|
||||||
|
.intf = 1
|
||||||
|
};
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Public Functions
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
/****************************************************************************
|
||||||
|
* Name: stm32_foc_setup
|
||||||
|
*
|
||||||
|
* Description:
|
||||||
|
* Initialize FOC driver.
|
||||||
|
*
|
||||||
|
* This function should be call by board_app_initialize().
|
||||||
|
*
|
||||||
|
* Returned Value:
|
||||||
|
* 0 on success, a negated errno value on failure
|
||||||
|
*
|
||||||
|
****************************************************************************/
|
||||||
|
|
||||||
|
int stm32_foc_setup(void)
|
||||||
|
{
|
||||||
|
return board_ihm07m1_initialize(&g_adc_cfg);
|
||||||
|
}
|
||||||
Reference in New Issue
Block a user