mirror of
https://github.com/infiniteCable2/panda.git
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7c0c1d956b
* body * hoverboard motors * pass test * body ignition exception and remove used comms Co-authored-by: rexblade21 <zkhuang4968@gmail.com> * send extra empty message to distinguish fingerprint * can.h body v2 put safety hook = 1 * change v2 extra id to 0x396 * fix mirsa style error * move ignition exception to seperate bus 2 if statement * silence heartbeat siren on body * turn ignition off on switch repress * 0x250 interception in panda fw * send extra body data, same as v1 body * cleanup data passing for more predictable inputs and lower rpm deadband * remove extra downscaling * change v2 fingerprint from 0x002 to 0x222 * clean up, bus 0 ignition exception and trq mode * keep in SPD mode for now * remove comment * clean * apply suggestions --------- Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>
56 lines
2.3 KiB
C
56 lines
2.3 KiB
C
#ifndef BLDC_DEFS_H
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#define BLDC_DEFS_H
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#include "stm32h7xx.h" // For GPIO_TypeDef
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#define COM_CTRL 0 // [-] Commutation Control Type
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#define SIN_CTRL 1 // [-] Sinusoidal Control Type
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#define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type
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#define LEFT_TIM TIM8
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#define RIGHT_TIM TIM1
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#define PWM_FREQ 32000
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#define PWM_MARGIN 100
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#define CF_SPEED_COEF (PWM_FREQ / 3)
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#define MAX_RPM 1000
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#define RPM_TO_UNIT 16
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#define RPM_DEADBAND 1
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#define BODY_MOTOR_LEFT 1U
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#define BODY_MOTOR_RIGHT 2U
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// Stall detection recovery time. Time to wait after a stall before re-enabling controls.
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#define STALL_DEQUAL_TIME_MS 3000
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#define T_ERR_DEQUAL_CYCLES (uint16_t)(STALL_DEQUAL_TIME_MS * (PWM_FREQ / 2) / 1000)
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// Motor
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#define I_DC_MAX 6
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#define I_MOT_MAX 6
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#define A2BIT_CONV 310
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#define N_MOT_MAX 1000
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// Control selections
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#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
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#define CTRL_MOD_REQ SPD_MODE // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
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#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
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// Field Weakening / Phase Advance
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#define FIELD_WEAK_ENA 1 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
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#define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC).
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#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN).
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#define FIELD_WEAK_HI 1000 // Input target High threshold
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#define FIELD_WEAK_LO 750 // Input target Low threshold
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// Battery configuration
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#define BAT_CELLS 3 // 3 sets in series
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#define BAT_CELL_FULL_MV 4200U // mV per cell at 100%
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#define BAT_CELL_EMPTY_MV 3386U // mV per cell at 0% (from V1: 4200 - 100 * 8.14)
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#define VOLTS_PER_PERCENT 0.00814 // Volts per percent, for conversion of volts to percentage
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#define BAT_CALIB_REAL_VOLTAGE 1260U // multimeter voltage
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#define BAT_CALIB_ADC 1275U // adc reading voltage
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void bldc_init(void);
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void bldc_step(void);
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#endif |