uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
mc_interface_unlock();
mc_interface_release_motor();
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
for (uint32_t i = 0;i < len;i++) {
uint16_t res = FLASH_ProgramByte(flash_addr[NEW_APP_BASE] + offset + i, data[i]);
if (res != FLASH_COMPLETE) {
FLASH_Lock();
return res;
}
}
FLASH_Lock();
timeout_configure_IWDT();
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
new_app_size += flash_addr[NEW_APP_BASE];
mc_interface_unlock();
mc_interface_release_motor();
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
for (int i = 0;i < NEW_APP_SECTORS;i++) {
if (new_app_size > flash_addr[NEW_APP_BASE + i]) {
uint16_t res = FLASH_EraseSector(flash_sector[NEW_APP_BASE + i], VoltageRange_3);
if (res != FLASH_COMPLETE) {
FLASH_Lock();
return res;
}
} else {
break;
}
}
FLASH_Lock();
timeout_configure_IWDT();
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
new_app_size += flash_addr[NEW_APP_BASE];
mcpwm_unlock();
mcpwm_release_motor();
utils_sys_lock_cnt();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
for (int i = 0;i < NEW_APP_SECTORS;i++) {
if (new_app_size > flash_addr[NEW_APP_BASE + i]) {
uint16_t res = FLASH_EraseSector(flash_sector[NEW_APP_BASE + i], VoltageRange_3);
if (res != FLASH_COMPLETE) {
return res;
}
} else {
break;
}
}
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
void gpdrive_set_configuration(volatile mc_configuration *configuration) {
// Stop everything first to be safe
m_output_mode = GPD_OUTPUT_MODE_NONE;
stop_pwm_hw();
utils_sys_lock_cnt();
m_conf = configuration;
utils_sys_unlock_cnt();
}
uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
mcpwm_unlock();
mcpwm_release_motor();
utils_sys_lock_cnt();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
for (uint32_t i = 0;i < len;i++) {
uint16_t res = FLASH_ProgramByte(flash_addr[NEW_APP_BASE] + offset + i, data[i]);
if (res != FLASH_COMPLETE) {
return res;
}
}
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
void gpdrive_init(volatile mc_configuration *configuration) {
utils_sys_lock_cnt();
m_init_done = false;
// Restore timers
TIM_DeInit(TIM1);
TIM1->CNT = 0;
// Disable channel 2 pins
palSetPadMode(GPIOA, 9, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(GPIOA, 9);
palSetPadMode(GPIOB, 14, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(GPIOB, 14);
m_conf = configuration;
m_fsw_now = 40000;
m_mod_now = 0.0;
m_current_now = 0.0;
m_current_now_filtered = 0.0;
m_output_mode = GPD_OUTPUT_MODE_NONE;
memset((void*)&m_sample_buffer, 0, sizeof(m_sample_buffer));
m_buffer_int_scale = 1.0 / 128.0;
m_is_running = false;
m_output_now = 0.0;
m_curr0_sum = 0;
m_curr1_sum = 0;
m_curr_samples = 0;
m_curr0_offset = 0;
m_curr1_offset = 0;
m_dccal_done = false;
#ifdef HW_HAS_3_SHUNTS
m_curr2_sum = 0;
m_curr2_offset = 0;
#endif
m_last_adc_isr_duration = 0;
memset((void*)&m_current_state, 0, sizeof(m_current_state));
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / (int)m_fsw_now;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM1->ARR / 2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = conf_general_calculate_deadtime(HW_DEAD_TIME_NSEC, SYSTEM_CORE_CLOCK);
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3, ENABLE);
dmaStreamAllocate(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)),
3,
(stm32_dmaisr_t)adc_int_handler,
(void *)0);
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC_Value;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC->CDR;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = HW_ADC_CHANNELS;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream4, &DMA_InitStructure);
DMA_Cmd(DMA2_Stream4, ENABLE);
DMA_ITConfig(DMA2_Stream4, DMA_IT_TC, ENABLE);
// Note that the ADC is running at 42MHz, which is higher than the
// specified 36MHz in the data sheet, but it works.
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Falling;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T1_CC2;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = HW_ADC_NBR_CONV;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = 0;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_Init(ADC3, &ADC_InitStructure);
ADC_TempSensorVrefintCmd(ENABLE);
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
hw_setup_adc_channels();
ADC_Cmd(ADC1, ENABLE);
ADC_Cmd(ADC2, ENABLE);
ADC_Cmd(ADC3, ENABLE);
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
// Always sample ADC in the beginning of the PWM cycle
TIM1->CCR2 = 200;
utils_sys_unlock_cnt();
ENABLE_GATE();
DCCAL_OFF();
do_dc_cal();
// Start threads
timer_thd_stop = false;
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
stop_pwm_hw();
// Check if the system has resumed from IWDG reset
if (timeout_had_IWDG_reset()) {
mc_interface_fault_stop(FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET);
}
m_init_done = true;
}