From 2c14c458d94eaeb0ad7700a779f80b41399d01d7 Mon Sep 17 00:00:00 2001 From: AlkaMotors <37931458+AlkaMotors@users.noreply.github.com> Date: Sun, 10 Nov 2024 12:00:40 -0400 Subject: [PATCH 1/5] Add hardware group, cremove check for high signal --- Inc/targets.h | 36 +++++++++++ Keil_Projects/AM32_MultiProject.uvmpw | 2 +- .../AM32_MultiProject.uvmpw.uvgui.alkaz | 59 ++++++++++++++----- Keil_Projects/Am32F421.uvguix.alkaz | 12 ++-- Keil_Projects/Am32G071.uvguix.alkaz | 16 ++--- Src/main.c | 28 --------- 6 files changed, 94 insertions(+), 59 deletions(-) diff --git a/Inc/targets.h b/Inc/targets.h index da9d9e23..061a36e0 100644 --- a/Inc/targets.h +++ b/Inc/targets.h @@ -2488,6 +2488,42 @@ #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_1 +#define PHASE_A_GPIO_PORT_LOW GPIOB +#define PHASE_A_GPIO_HIGH LL_GPIO_PIN_12 +#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_11 +#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_IO1 // pb3 +#define PHASE_B_COMP LL_COMP_INPUT_MINUS_IO2 // pb7 +#define PHASE_C_COMP LL_COMP_INPUT_MINUS_IO3 // pa2 + +#endif + #ifdef HARDWARE_GROUP_G4_A #define MCU_G431 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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+ 332 + 01000000040000000100000001000000010000000100000000000000020000000000000001000000010000000000000028000000280000000100000002000000010000000100000035433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4E65775C5372635C6D61696E2E6300000000066D61696E2E6300000000C5D4F200FFFFFFFF38433A5C55736572735C616C6B617A5C4F6E6544726976655C446F63756D656E74735C414D33325F4E65775C496E635C746172676574732E680000000009746172676574732E6800000000FFDC7800FFFFFFFF0100000010000000C5D4F200FFDC7800BECEA100F0A0A100BCA8E1009CC1B600F7B88600D9ADC200A5C2D700B3A6BE00EAD6A300F6FA7D00B5E99D005FC3CF00C1838300CACAD5000100000000000000020000001A0200007000000080070000C8030000 diff --git a/Src/main.c b/Src/main.c index 412142a4..b0d46f7e 100644 --- a/Src/main.c +++ b/Src/main.c @@ -556,27 +556,6 @@ 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) { @@ -606,7 +585,6 @@ 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) { @@ -625,8 +603,6 @@ 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); @@ -750,10 +726,6 @@ 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() From 08859f86f1134a8420d381246483edfc7e66c07b Mon Sep 17 00:00:00 2001 From: AlkaMotors <37931458+AlkaMotors@users.noreply.github.com> Date: Sun, 10 Nov 2024 12:03:30 -0400 Subject: [PATCH 2/5] remove set_hysteresis variable --- Src/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Src/main.c b/Src/main.c index b0d46f7e..1c06fe77 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" @@ -306,7 +307,6 @@ enum inputType { EEprom_t eepromBuffer; uint32_t eeprom_address = EEPROM_START_ADD; -char set_hysteris = 0; uint16_t prop_brake_duty_cycle = 0; uint16_t ledcounter = 0; uint32_t process_time = 0; From e7904968b7347b24352854348501f898995eb99c Mon Sep 17 00:00:00 2001 From: AlkaMotors <37931458+AlkaMotors@users.noreply.github.com> Date: Sun, 10 Nov 2024 12:11:09 -0400 Subject: [PATCH 3/5] cleanup unused functions interrupt zero cross routine --- Src/main.c | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/Src/main.c b/Src/main.c index 1c06fe77..6e4c9f35 100644 --- a/Src/main.c +++ b/Src/main.c @@ -870,18 +870,6 @@ 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(); } From 86948a69968344bea19eaffc92cf76a0087d71a7 Mon Sep 17 00:00:00 2001 From: AlkaMotors <37931458+AlkaMotors@users.noreply.github.com> Date: Wed, 20 Nov 2024 11:15:37 -0400 Subject: [PATCH 4/5] Change comp to medium power mode f421, l431 --- Inc/targets.h | 54 +++++++++++++++++++------------------- Mcu/l431/Src/peripherals.c | 4 +-- Src/main.c | 12 ++++++--- 3 files changed, 38 insertions(+), 32 deletions(-) diff --git a/Inc/targets.h b/Inc/targets.h index 339b0154..0dba315f 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 @@ -3139,34 +3139,34 @@ #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/Mcu/l431/Src/peripherals.c b/Mcu/l431/Src/peripherals.c index f0429fa6..8f7887ba 100644 --- a/Mcu/l431/Src/peripherals.c +++ b/Mcu/l431/Src/peripherals.c @@ -130,7 +130,7 @@ void MX_COMP1_Init(void) NVIC_SetPriority(COMP_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0)); NVIC_EnableIRQ(COMP_IRQn); - 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 9c41a588..9c694e26 100644 --- a/Src/main.c +++ b/Src/main.c @@ -605,9 +605,15 @@ void loadEEpromSettings() } 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; From 5b090f8b9ec15e0f1904c99acec9a0268b3fa745 Mon Sep 17 00:00:00 2001 From: AlkaMotors <37931458+AlkaMotors@users.noreply.github.com> Date: Wed, 20 Nov 2024 11:26:25 -0400 Subject: [PATCH 5/5] Add G0_L group for skystars 80A --- Inc/targets.h | 21 +++++++++++++++------ 1 file changed, 15 insertions(+), 6 deletions(-) diff --git a/Inc/targets.h b/Inc/targets.h index 0dba315f..40e72166 100644 --- a/Inc/targets.h +++ b/Inc/targets.h @@ -2600,14 +2600,14 @@ #define DMA_HANDLE_TYPE_DEF hdma_tim3_ch1 #define IC_DMA_IRQ_NAME DMA1_Channel1_IRQn -#define PHASE_A_GPIO_LOW LL_GPIO_PIN_1 +#define PHASE_A_GPIO_LOW LL_GPIO_PIN_15 #define PHASE_A_GPIO_PORT_LOW GPIOB -#define PHASE_A_GPIO_HIGH LL_GPIO_PIN_12 +#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_11 +#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 @@ -2615,9 +2615,18 @@ #define PHASE_C_GPIO_HIGH LL_GPIO_PIN_8 #define PHASE_C_GPIO_PORT_HIGH GPIOA -#define PHASE_A_COMP LL_COMP_INPUT_MINUS_IO1 // pb3 -#define PHASE_B_COMP LL_COMP_INPUT_MINUS_IO2 // pb7 -#define PHASE_C_COMP LL_COMP_INPUT_MINUS_IO3 // pa2 +#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