diff --git a/Inc/targets.h b/Inc/targets.h index 5ee42f93..40e72166 100644 --- a/Inc/targets.h +++ b/Inc/targets.h @@ -2114,33 +2114,33 @@ #endif -#ifdef HARDWARE_GROUP_F0_045 // tried B -#define PHASE_A_COMP COMP_PA0 // pa0 // works for polling mode +#ifdef HARDWARE_GROUP_F0_045 +#define PHASE_A_COMP COMP_PA0 // pa0 #define PHASE_B_COMP COMP_PA4 // pa4 #define PHASE_C_COMP COMP_PA5 // pa5 #endif -#ifdef HARDWARE_GROUP_F0_504 // tried F -#define PHASE_A_COMP COMP_PA5 // pa5 // works for polling mode +#ifdef HARDWARE_GROUP_F0_504 +#define PHASE_A_COMP COMP_PA5 // pa5 #define PHASE_B_COMP COMP_PA0 // pa0 #define PHASE_C_COMP COMP_PA4 // pa4 #endif #ifdef HARDWARE_GROUP_F0_450 -#define PHASE_A_COMP COMP_PA4 // pa4 // works for polling mode +#define PHASE_A_COMP COMP_PA4 // pa4 #define PHASE_B_COMP COMP_PA5 // pa5 #define PHASE_C_COMP COMP_PA0 // pa0 #endif #ifdef HARDWARE_GROUP_F0_054 -#define PHASE_A_COMP COMP_PA0 // pa0 // works for polling mode +#define PHASE_A_COMP COMP_PA0 // pa0 #define PHASE_B_COMP COMP_PA5 // pa5 #define PHASE_C_COMP COMP_PA4 // pa4 #endif #ifdef HARDWARE_GROUP_F0_405 -#define PHASE_A_COMP COMP_PA4 // pa4 // works for polling mode +#define PHASE_A_COMP COMP_PA4 // pa4 #define PHASE_B_COMP COMP_PA0 // pa0 #define PHASE_C_COMP COMP_PA5 // pa5 #endif -#ifdef HARDWARE_GROUP_F0_540 // tried H -#define PHASE_A_COMP COMP_PA5 // pa5 // works for polling mode +#ifdef HARDWARE_GROUP_F0_540 +#define PHASE_A_COMP COMP_PA5 // pa5 #define PHASE_B_COMP COMP_PA4 // pa4 #define PHASE_C_COMP COMP_PA0 // pa0 #endif @@ -2585,6 +2585,51 @@ #endif +#ifdef HARDWARE_GROUP_G0_L + +#define MCU_G071 +#define N_VARIANT +#define USE_TIMER_3_CHANNEL_1 +#define INPUT_PIN LL_GPIO_PIN_6 +#define INPUT_PIN_PORT GPIOC +#define IC_TIMER_CHANNEL LL_TIM_CHANNEL_CH1 +#define IC_TIMER_REGISTER TIM3 +#define IC_TIMER_POINTER htim3 + +#define INPUT_DMA_CHANNEL LL_DMA_CHANNEL_1 +#define DMA_HANDLE_TYPE_DEF hdma_tim3_ch1 +#define IC_DMA_IRQ_NAME DMA1_Channel1_IRQn + +#define PHASE_A_GPIO_LOW LL_GPIO_PIN_15 +#define PHASE_A_GPIO_PORT_LOW GPIOB +#define PHASE_A_GPIO_HIGH LL_GPIO_PIN_10 +#define PHASE_A_GPIO_PORT_HIGH GPIOA + +#define PHASE_B_GPIO_LOW LL_GPIO_PIN_0 +#define PHASE_B_GPIO_PORT_LOW GPIOB +#define PHASE_B_GPIO_HIGH LL_GPIO_PIN_9 +#define PHASE_B_GPIO_PORT_HIGH GPIOA + +#define PHASE_C_GPIO_LOW LL_GPIO_PIN_7 +#define PHASE_C_GPIO_PORT_LOW GPIOA +#define PHASE_C_GPIO_HIGH LL_GPIO_PIN_8 +#define PHASE_C_GPIO_PORT_HIGH GPIOA + +#define PHASE_A_COMP LL_COMP_INPUT_MINUS_IO3 // pa0 +#define PHASE_B_COMP LL_COMP_INPUT_MINUS_IO3 // pa2 +#define PHASE_C_COMP LL_COMP_INPUT_MINUS_IO2 // pb7 + +#define PHASE_A_EXTI_LINE LL_EXTI_LINE_17 +#define PHASE_A_COMP_NUMBER COMP1 + +#define PHASE_B_EXTI_LINE LL_EXTI_LINE_18 +#define PHASE_B_COMP_NUMBER COMP2 + +#define PHASE_C_EXTI_LINE LL_EXTI_LINE_18 +#define PHASE_C_COMP_NUMBER COMP2 + +#endif + #ifdef HARDWARE_GROUP_G4_A #define MCU_G431 @@ -3103,34 +3148,34 @@ #endif #ifdef HARDWARE_GROUP_AT_045 -#define PHASE_A_COMP 0x400000E1 // pa0 // works for polling mode -#define PHASE_B_COMP 0x400000C1 // pa4 -#define PHASE_C_COMP 0x400000D1 // pa5 +#define PHASE_A_COMP 0x400000E5 // pa0 Medium Comp Power +#define PHASE_B_COMP 0x400000C5 // pa4 +#define PHASE_C_COMP 0x400000D5 // pa5 #endif #ifdef HARDWARE_GROUP_AT_504 -#define PHASE_A_COMP 0x400000D1 // pa5 // works for polling mode -#define PHASE_B_COMP 0x400000E1 // pa0 -#define PHASE_C_COMP 0x400000C1 // pa4 +#define PHASE_A_COMP 0x400000D5 // pa5 +#define PHASE_B_COMP 0x400000E5 // pa0 +#define PHASE_C_COMP 0x400000C5 // pa4 #endif #ifdef HARDWARE_GROUP_AT_450 -#define PHASE_A_COMP 0x400000C1 // pa4 // works for polling mode -#define PHASE_B_COMP 0x400000D1 // pa5 -#define PHASE_C_COMP 0x400000E1 // pa0 +#define PHASE_A_COMP 0x400000C5 // pa4 +#define PHASE_B_COMP 0x400000D5 // pa5 +#define PHASE_C_COMP 0x400000E5 // pa0 #endif #ifdef HARDWARE_GROUP_AT_054 -#define PHASE_A_COMP 0x400000E1 // pa0 // works for polling mode -#define PHASE_B_COMP 0x400000D1 // pa5 -#define PHASE_C_COMP 0x400000C1 // pa4 +#define PHASE_A_COMP 0x400000E5 // pa0 +#define PHASE_B_COMP 0x400000D5 // pa5 +#define PHASE_C_COMP 0x400000C5 // pa4 #endif #ifdef HARDWARE_GROUP_AT_405 -#define PHASE_A_COMP 0x400000C1 // pa4 // works for polling mode -#define PHASE_B_COMP 0x400000E1 // pa0 -#define PHASE_C_COMP 0x400000D1 // pa5 +#define PHASE_A_COMP 0x400000C5 // pa4 +#define PHASE_B_COMP 0x400000E5 // pa0 +#define PHASE_C_COMP 0x400000D5 // pa5 #endif #ifdef HARDWARE_GROUP_AT_540 -#define PHASE_A_COMP 0x400000D1 // pa5 // works for polling mode -#define PHASE_B_COMP 0x400000C1 // pa4 -#define PHASE_C_COMP 0x400000E1 // pa0 +#define PHASE_A_COMP 0x400000D5 // pa5 +#define PHASE_B_COMP 0x400000C5 // pa4 +#define PHASE_C_COMP 0x400000E5 // pa0 #endif #ifdef HARDWARE_GROUP_AT_245 diff --git a/Keil_Projects/AM32_MultiProject.uvmpw b/Keil_Projects/AM32_MultiProject.uvmpw index cdef7b15..38a86ecf 100644 --- a/Keil_Projects/AM32_MultiProject.uvmpw +++ b/Keil_Projects/AM32_MultiProject.uvmpw @@ -25,11 +25,11 @@ .\Am32F421.uvprojx - 1 .\Am32G071.uvprojx + 1 1 diff --git a/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz b/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz index d3d40e09..02e47739 100644 --- a/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz +++ b/Keil_Projects/AM32_MultiProject.uvmpw.uvgui.alkaz @@ -20,17 +20,17 @@ -1 - 163 - 11 - 1336 - 1013 + 82 + 328 + 1653 + 932 0 - 60 - 010000000400000001000000010000000100000001000000000000000200000000000000010000000100000000000000280000002800000000000000 + 332 + 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COMP_InitStruct.PowerMode = LL_COMP_POWERMODE_HIGHSPEED; + COMP_InitStruct.PowerMode = LL_COMP_POWERMODE_MEDIUMSPEED; COMP_InitStruct.InputPlus = LL_COMP_INPUT_PLUS_IO3; COMP_InitStruct.InputMinus = LL_COMP_INPUT_MINUS_IO5; COMP_InitStruct.InputHysteresis = LL_COMP_HYSTERESIS_NONE; @@ -188,7 +188,7 @@ void MX_COMP2_Init(void) /* USER CODE BEGIN COMP2_Init 1 */ /* USER CODE END COMP2_Init 1 */ - COMP_InitStruct.PowerMode = LL_COMP_POWERMODE_HIGHSPEED; + COMP_InitStruct.PowerMode = LL_COMP_POWERMODE_MEDIUMSPEED; COMP_InitStruct.InputPlus = LL_COMP_INPUT_PLUS_IO1; COMP_InitStruct.InputMinus = LL_COMP_INPUT_MINUS_IO2; COMP_InitStruct.InputHysteresis = LL_COMP_HYSTERESIS_NONE; diff --git a/Src/main.c b/Src/main.c index 94508ed0..9c694e26 100644 --- a/Src/main.c +++ b/Src/main.c @@ -213,6 +213,7 @@ an settings option) - todo fix signal detection *2.16 - add L431 - add variable auto timing + - add droneCAN */ #include "main.h" #include "ADC.h" @@ -301,8 +302,7 @@ fastPID stallPid = { // 1khz loop time }; EEprom_t eepromBuffer; -uint32_t eeprom_address = EEPROM_START_ADD; -char set_hysteris = 0; +uint32_t eeprom_address = EEPROM_START_ADD; uint16_t prop_brake_duty_cycle = 0; uint16_t ledcounter = 0; uint32_t process_time = 0; @@ -552,27 +552,6 @@ uint16_t waitTime = 0; uint16_t signaltimeout = 0; uint8_t ubAnalogWatchdogStatus = RESET; -// void checkForHighSignal(){ -// changeToInput(); - -// setInputPullDown(); -// delayMicros(1000); -// for(int i = 0 ; i < 1000; i ++){ -// if( !(getInputPinState())){ // if the pin is low for 5 checks out of -// 100 in 100ms or more its either no signal or signal. jump to application -// low_pin_count++; -// } -// delayMicros(10); -// } - -// setInputPullUp(); -// if(low_pin_count > 5){ -// return; // its either a signal or a disconnected pin -// }else{ -// allOff(); -// NVIC_SystemReset(); -// } -// } float doPidCalculations(struct fastPID* pidnow, int actual, int target) { @@ -602,7 +581,6 @@ float doPidCalculations(struct fastPID* pidnow, int actual, int target) void loadEEpromSettings() { - //*eepromBuffer = *(EEprom_t*)(eeprom_address); read_flash_bin(eepromBuffer.buffer, eeprom_address, sizeof(eepromBuffer.buffer)); if (eepromBuffer.advance_level > 3) { @@ -621,17 +599,21 @@ void loadEEpromSettings() TIM1_AUTORELOAD / 2 * 3); } SET_AUTO_RELOAD_PWM(TIMER1_MAX_ARR); - // throttle_max_at_high_rpm = TIMER1_MAX_ARR; - // duty_cycle_maximum = TIMER1_MAX_ARR; } else { tim1_arr = TIM1_AUTORELOAD; SET_AUTO_RELOAD_PWM(tim1_arr); } if (eepromBuffer.startup_power < 151 && eepromBuffer.startup_power > 49) { - min_startup_duty = (eepromBuffer.startup_power); - minimum_duty_cycle = (eepromBuffer.startup_power / 3); - stall_protect_minimum_duty = minimum_duty_cycle + 10; + if(!eepromBuffer.comp_pwm){ // higher startup power for non-complementary pwm + min_startup_duty = (eepromBuffer.startup_power) *2 ; + minimum_duty_cycle = (eepromBuffer.startup_power / 2); + stall_protect_minimum_duty = minimum_duty_cycle + 10; + }else{ + min_startup_duty = (eepromBuffer.startup_power); + minimum_duty_cycle = (eepromBuffer.startup_power / 3); + stall_protect_minimum_duty = minimum_duty_cycle + 10; + } } else { min_startup_duty = 150; minimum_duty_cycle = (min_startup_duty / 2) + 10; @@ -748,10 +730,6 @@ void loadEEpromSettings() high_rpm_level = motor_kv / 12 / (32 / eepromBuffer.motor_poles); } reverse_speed_threshold = map(motor_kv, 300, 3000, 1000, 500); - // reverse_speed_threshold = 200; -// if (!eepromBuffer.comp_pwm) { -// eepromBuffer.bi_direction = 0; -// } } void saveEEpromSettings() @@ -896,18 +874,6 @@ void interruptRoutine() maskPhaseInterrupts(); thiszctime = INTERVAL_TIMER_COUNT; SET_INTERVAL_TIMER_COUNT(0); -// if(thiszctime < (commutation_interval - (commutation_interval>>2))){ -// send_LED_RGB(0, 0, 255); -// // waitTime = waitTime + commutation_interval - thiszctime; -// waitTime = waitTime + (commutation_interval>>2); -// // thiszctime = commutation_interval + (commutation_interval>>2); -// }else if(thiszctime > (commutation_interval + (commutation_interval>>2))){ -// send_LED_RGB(255, 0, 0); -// // waitTime = waitTime - thiszctime - commutation_interval; -// waitTime = waitTime - (commutation_interval>>2); -// // thiszctime = commutation_interval - (commutation_interval>>2); -// } - // waitTime = waitTime >> fast_accel; SET_AND_ENABLE_COM_INT(waitTime+1); // enable COM_TIMER interrupt __enable_irq(); }