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1、取消了滤波； #878

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1、取消了滤波； #878

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2 changes: 1 addition & 1 deletion conf_general.h
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@
// Correction factor for computations that depend on the old resistor division factor
#define VDIV_CORR ((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0)))

// Current ADC to amperes factor
// Current ADC to amperes factor 转换电流因子
#define FAC_CURRENT ((V_REG / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN))

#define VOLTAGE_TO_ADC_FACTOR ( VIN_R2 / (VIN_R2 + VIN_R1) ) * ( 4096.0 / V_REG )
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36 changes: 20 additions & 16 deletions hwconf/trampa/75_300/hw_75_300_core.h
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@
// HW properties
#define HW_HAS_3_SHUNTS
#define HW_HAS_PHASE_SHUNTS
#define HW_HAS_PHASE_FILTERS
//#define HW_HAS_PHASE_FILTERS

// Macros
#ifdef HW75_300_VEDDER_FIRST_PCB
Expand All @@ -53,7 +53,7 @@
#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)

#if defined(HW75_300_REV_2) || defined(HW75_300_REV_3)
#if defined(HW75_300_REV_2) || defined(HW75_300_REV_3) //无滤波
#define PHASE_FILTER_GPIO GPIOC
#define PHASE_FILTER_PIN 9
#else
Expand All @@ -62,8 +62,10 @@
#endif
#define PHASE_FILTER_ON() palSetPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
#define PHASE_FILTER_OFF() palClearPad(PHASE_FILTER_GPIO, PHASE_FILTER_PIN)
// Default setting overrides
#define MCCONF_FOC_PHASE_FILTER_ENABLE false

#define AUX_GPIO GPIOC
#define AUX_GPIO GPIOC //无遥控
#define AUX_PIN 12
#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
Expand Down Expand Up @@ -125,19 +127,19 @@

// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG 3.44
#define V_REG 3.3
#endif
#ifndef VIN_R1
#define VIN_R1 56000.0
#endif
#ifndef VIN_R2
#define VIN_R2 2200.0
#define VIN_R2 2210.0
#endif
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN 20.0
#endif
#ifndef CURRENT_SHUNT_RES
#define CURRENT_SHUNT_RES (0.0005 / 3.0)
#define CURRENT_SHUNT_RES 0.00025
#endif

// Input voltage
Expand Down Expand Up @@ -177,10 +179,10 @@
#endif

// COMM-port ADC GPIOs
#define HW_ADC_EXT_GPIO GPIOA
#define HW_ADC_EXT_PIN 5
#define HW_ADC_EXT2_GPIO GPIOA
#define HW_ADC_EXT2_PIN 6
// #define HW_ADC_EXT_GPIO GPIOA
// #define HW_ADC_EXT_PIN 5
// #define HW_ADC_EXT2_GPIO GPIOA
// #define HW_ADC_EXT2_PIN 6

// UART Peripheral
#define HW_UART_DEV SD3
Expand All @@ -202,7 +204,7 @@
#endif

#ifdef HW75_300_REV_3
// NRF SWD
// // NRF SWD
#define NRF5x_SWDIO_GPIO GPIOA
#define NRF5x_SWDIO_PIN 15
#define NRF5x_SWCLK_GPIO GPIOB
Expand All @@ -219,7 +221,7 @@
#define HW_ICU_GPIO GPIOB
#define HW_ICU_PIN 6

// I2C Peripheral
// // I2C Peripheral
#define HW_I2C_DEV I2CD2
#define HW_I2C_GPIO_AF GPIO_AF_I2C2
#define HW_I2C_SCL_PORT GPIOB
Expand Down Expand Up @@ -273,10 +275,10 @@

// Default setting overrides
#ifndef MCCONF_L_MIN_VOLTAGE
#define MCCONF_L_MIN_VOLTAGE 12.0 // Minimum input voltage
#define MCCONF_L_MIN_VOLTAGE 11.0 // Minimum input voltage
#endif
#ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 72.0 // Maximum input voltage
#define MCCONF_L_MAX_VOLTAGE 84.0 // Maximum input voltage
#endif
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
Expand All @@ -300,13 +302,15 @@
// Setting limits
#define HW_LIM_CURRENT -400.0, 400.0
#define HW_LIM_CURRENT_IN -400.0, 400.0
#define HW_LIM_CURRENT_ABS 0.0, 480.0
#define HW_LIM_VIN 11.0, 72.0
#define HW_LIM_CURRENT_ABS 0.0, 420.0
#define HW_LIM_VIN 11.0, 84.0
#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.99
#define HW_LIM_TEMP_FET -40.0, 110.0

#define APPCONF_CAN_MODE CAN_MODE_UAVCAN
#define APPCONF_UAVCAN_RAW_MODE UAVCAN_RAW_MODE_DUTY
// HW-specific functions
float hw75_300_get_temp(void);

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