hoverboard-firmware-hack-foc-serial-esc/Inc/defines.h

/*
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#pragma once
#include "stm32f1xx_hal.h"

#define LEFT_HALL_U_PIN GPIO_PIN_5
#define LEFT_HALL_V_PIN GPIO_PIN_6
#define LEFT_HALL_W_PIN GPIO_PIN_7

#define LEFT_HALL_U_PORT GPIOB
#define LEFT_HALL_V_PORT GPIOB
#define LEFT_HALL_W_PORT GPIOB

#define RIGHT_HALL_U_PIN GPIO_PIN_10
#define RIGHT_HALL_V_PIN GPIO_PIN_11
#define RIGHT_HALL_W_PIN GPIO_PIN_12

#define RIGHT_HALL_U_PORT GPIOC
#define RIGHT_HALL_V_PORT GPIOC
#define RIGHT_HALL_W_PORT GPIOC

#define LEFT_TIM TIM8
#define LEFT_TIM_U CCR1
#define LEFT_TIM_UH_PIN GPIO_PIN_6
#define LEFT_TIM_UH_PORT GPIOC
#define LEFT_TIM_UL_PIN GPIO_PIN_7
#define LEFT_TIM_UL_PORT GPIOA
#define LEFT_TIM_V CCR2
#define LEFT_TIM_VH_PIN GPIO_PIN_7
#define LEFT_TIM_VH_PORT GPIOC
#define LEFT_TIM_VL_PIN GPIO_PIN_0
#define LEFT_TIM_VL_PORT GPIOB
#define LEFT_TIM_W CCR3
#define LEFT_TIM_WH_PIN GPIO_PIN_8
#define LEFT_TIM_WH_PORT GPIOC
#define LEFT_TIM_WL_PIN GPIO_PIN_1
#define LEFT_TIM_WL_PORT GPIOB

#define RIGHT_TIM TIM1
#define RIGHT_TIM_U CCR1
#define RIGHT_TIM_UH_PIN GPIO_PIN_8
#define RIGHT_TIM_UH_PORT GPIOA
#define RIGHT_TIM_UL_PIN GPIO_PIN_13
#define RIGHT_TIM_UL_PORT GPIOB
#define RIGHT_TIM_V CCR2
#define RIGHT_TIM_VH_PIN GPIO_PIN_9
#define RIGHT_TIM_VH_PORT GPIOA
#define RIGHT_TIM_VL_PIN GPIO_PIN_14
#define RIGHT_TIM_VL_PORT GPIOB
#define RIGHT_TIM_W CCR3
#define RIGHT_TIM_WH_PIN GPIO_PIN_10
#define RIGHT_TIM_WH_PORT GPIOA
#define RIGHT_TIM_WL_PIN GPIO_PIN_15
#define RIGHT_TIM_WL_PORT GPIOB

// #define LEFT_DC_CUR_ADC ADC1
// #define LEFT_U_CUR_ADC ADC1
// #define LEFT_V_CUR_ADC ADC1

#define LEFT_DC_CUR_PIN GPIO_PIN_0
#define LEFT_U_CUR_PIN GPIO_PIN_0
#define LEFT_V_CUR_PIN GPIO_PIN_3

#define LEFT_DC_CUR_PORT GPIOC
#define LEFT_U_CUR_PORT GPIOA
#define LEFT_V_CUR_PORT GPIOC

// #define RIGHT_DC_CUR_ADC ADC2
// #define RIGHT_U_CUR_ADC ADC2
// #define RIGHT_V_CUR_ADC ADC2

#define RIGHT_DC_CUR_PIN GPIO_PIN_1
#define RIGHT_U_CUR_PIN GPIO_PIN_4
#define RIGHT_V_CUR_PIN GPIO_PIN_5

#define RIGHT_DC_CUR_PORT GPIOC
#define RIGHT_U_CUR_PORT GPIOC
#define RIGHT_V_CUR_PORT GPIOC

// #define DCLINK_ADC ADC3
// #define DCLINK_CHANNEL
#define DCLINK_PIN GPIO_PIN_2
#define DCLINK_PORT GPIOC
// #define DCLINK_PULLUP 30000
// #define DCLINK_PULLDOWN 1000

#define LED_PIN GPIO_PIN_2
#define LED_PORT GPIOB

#define BUZZER_PIN GPIO_PIN_4
#define BUZZER_PORT GPIOA

#define SWITCH_PIN GPIO_PIN_1
#define SWITCH_PORT GPIOA

#define OFF_PIN GPIO_PIN_5
#define OFF_PORT GPIOA

#define BUTTON_PIN GPIO_PIN_1
#define BUTTON_PORT GPIOA

#define CHARGER_PIN GPIO_PIN_12
#define CHARGER_PORT GPIOA

#define DELAY_TIM_FREQUENCY_US 1000000

#define MILLI_R (R * 1000)
#define MILLI_PSI (PSI * 1000)
#define MILLI_V (V * 1000)

#define NO 0
#define YES 1
#define ABS(a) (((a) < 0) ? -(a) : (a))
#define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
#define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
#define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))
#define STEP(from, to, step) (((from) < (to)) ? (MIN((from) + (step), (to))) : (MAX((from) - (step), (to))))
#define DEG(a) ((a)*M_PI / 180.0f)
#define RAD(a) ((a)*180.0f / M_PI)
#define SIGN(a) (((a) < 0) ? (-1) : (((a) > 0) ? (1) : (0)))
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define SCALE(value, high, max) MIN(MAX(((max) - (value)) / ((max) - (high)), 0.0f), 1.0f)
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#define MAX(a, b) (((a) > (b)) ? (a) : (b))
#define MIN3(a, b, c) MIN(a, MIN(b, c))
#define MAX3(a, b, c) MAX(a, MAX(b, c))

typedef struct {
  uint16_t dcr; 
  uint16_t dcl; 
  uint16_t rl1;
  uint16_t rl2;
  uint16_t rr1;
  uint16_t rr2;
  uint16_t batt1;
  uint16_t l_tx2;
  uint16_t temp;
  uint16_t l_rx2;
} adc_buf_t;

typedef struct {
  uint32_t 	t_timePrev;
  uint8_t 	z_pulseCntPrev;
  uint8_t 	b_hysteresis;
  uint8_t 	b_multipleTap;
} MultipleTap;

// Define Beep functions
void longBeep(uint8_t freq);
void shortBeep(uint8_t freq);

// Define additional functions. Implementation is in main.c
void filtLowPass32(int16_t u, uint16_t coef, int32_t *y);
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL);
void rateLimiter16(int16_t u, int16_t rate, int16_t *y);
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);

// Define I2C and Nunchuck functions
void I2C_Init(void);
void Nunchuck_Init(void);
void Nunchuck_Read(void);
uint8_t Nunchuck_Ping(void);