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DRV8323S wip

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This commit is contained in:
Nils Schulte 2024-07-17 21:22:58 +02:00
parent 9de2e98a6e
commit 53d773b169
2 changed files with 99 additions and 96 deletions
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73
fw/src/DRV8323S.hpp Normal file
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@ -0,0 +1,73 @@
#ifndef _DRV8323S_H
#define _DRV8323S_H
enum {
DRV8323S_FAULT_STATUS1_REG = 0x00,
DRV8323S_FAULT_STATUS2_REG = 0x01,
DRV8323S_DRIVER_CONTROL_REG = 0x02,
DRV8323S_GATE_DRIVE_HS_REG = 0x03,
DRV8323S_GATE_DRIVE_LS_REG = 0x04,
DRV8323S_OCP_CONTROL_REG = 0x05,
DRV8323S_CSA_CONTROL_REG = 0x06,
};
enum /* 0x00 */ {
DRV8323S_FAULT_STATUS1_FAULT_MASK = 1 << 10, /* logic or of all faults */
DRV8323S_FAULT_STATUS1_VDS_OCP_MASK = 1 << 9, /* vds monitor overcurrent */
DRV8323S_FAULT_STATUS1_GDF_MASK = 1 << 8, /* gate drive fault */
DRV8323S_FAULT_STATUS1_UVLO_MASK = 1 << 7, /* undervoltage lockout fault */
DRV8323S_FAULT_STATUS1_OTSD_MASK = 1 << 6, /* over temperature shutdown */
DRV8323S_FAULT_STATUS1_VDS_HA_MASK = 1 << 5, /* overcurrent on FET */
DRV8323S_FAULT_STATUS1_VDS_LA_MASK = 1 << 4,
DRV8323S_FAULT_STATUS1_VDS_HB_MASK = 1 << 3,
DRV8323S_FAULT_STATUS1_VDS_LB_MASK = 1 << 2,
DRV8323S_FAULT_STATUS1_VDS_HC_MASK = 1 << 1,
DRV8323S_FAULT_STATUS1_VDS_LC_MASK = 1 << 0,
};
enum /* 0x01 */ {
DRV8323S_FAULT_STATUS1_SA_OC_MASK = 1 << 10, /* Sense amp OC */
DRV8323S_FAULT_STATUS1_SB_OC_MASK = 1 << 9,
DRV8323S_FAULT_STATUS1_SC_OC_MASK = 1 << 8,
DRV8323S_FAULT_STATUS1_OTW_MASK = 1 << 7, /* over temp warning */
DRV8323S_FAULT_STATUS1_CPUV_MASK = 1 << 6, /* charge pump fault */
DRV8323S_FAULT_STATUS1_VGS_HA_MASK = 1 << 5, /* FET gate drive failt */
DRV8323S_FAULT_STATUS1_VGS_LA_MASK = 1 << 4,
DRV8323S_FAULT_STATUS1_VGS_HB_MASK = 1 << 3,
DRV8323S_FAULT_STATUS1_VGS_LB_MASK = 1 << 2,
DRV8323S_FAULT_STATUS1_VGS_HC_MASK = 1 << 1,
DRV8323S_FAULT_STATUS1_VGS_LC_MASK = 1 << 0,
};
enum /* 0x02 */ {
DRV8323S_DRIVER_CONTROL_DIS_CPUV_MASK =
1 << 9, /* chrg pump uvlo fault disable */
DRV8323S_DRIVER_CONTROL_DIS_GDF_MASK = 1 << 8, /* gate drive fault disable */
DRV8323S_DRIVER_CONTROL_OTW_REP_MASK = 1
<< 7, /* over temp wariing reported */
DRV8323S_DRIVER_CONTROL_PWM_MODE_MASK = 0b11 << 5, /* PWM mode */
DRV8323S_DRIVER_CONTROL_1PWM_COM_MASK = 1 << 4, /* 1PWM mode diode freewheel*/
DRV8323S_DRIVER_CONTROL_1PWM_DIR_MASK = 1 << 3, /* 1PWM mode direction */
DRV8323S_DRIVER_CONTROL_COAST_MASK = 1 << 2, /* all FETs in Hi-Z */
DRV8323S_DRIVER_CONTROL_BRAKE_MASK = 1 << 1, /* all low FETs on */
DRV8323S_DRIVER_CONTROL_CLR_FLT_MASK = 1 << 1, /* clear latched fault bits */
};
enum /* 0x03 */ {
DRV8323S_GATE_DRIVE_HS_LOCK_MASK = 0b111 << 8, /* lock register */
DRV8323S_GATE_DRIVE_HS_IDRIVEP_HS_MASK = 0b1111 << 4, /* HS positiv current */
DRV8323S_GATE_DRIVE_HS_IDRIVEN_HS_MASK = 0b1111 << 0, /* HS negativ current */
};
enum /* 0x04 */ {
DRV8323S_GATE_DRIVE_LS_CBC_MASK = 1 << 10, /* cycle-by cycle operation */
DRV8323S_GATE_DRIVE_LS_TDRIVE_MASK = 0b11 << 8, /* peak gate curr drive t*/
DRV8323S_GATE_DRIVE_LS_IDRIVEP_LS_MASK = 0b1111 << 4, /* LS positiv current */
DRV8323S_GATE_DRIVE_LS_IDRIVEN_LS_MASK = 0b1111 << 0, /* LS negativ current */
};
enum /* 0x05 */ {
DRV8323S_OCP_CONTROL_TRETRY_MASK = 1 << 10, /* 0=4ms, 1=50us */
};
#endif /* _DRV8323S_H */

122
fw/src/main.cpp
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@ -24,36 +24,33 @@
// #include "esp32-hal.h" // #include "esp32-hal.h"
// #include "simplesync.hpp" // #include "simplesync.hpp"
#define ENC_A 17 #define ENC_A 11
#define ENC_B 8 #define ENC_B 8
#define I2C_SDA 18 #define I2C_SDA 18
#define I2C_SCL 0 #define I2C_SCL 0
#define DRVOFF 46 #define DRVEN 15
#define TERP_PCB 2 #define TERMISTOR_PCB 3
#define TERP_EXT 1 #define TERMISTOR_EXT 9
#define SOA 3 #define SOA 1
#define SOB 9 #define SOB 2
#define SOC 10 #define SOC 10
#define INLA 21 #define INHA 14
#define INHA 47 #define INHB 13
#define INLB 13
#define INHB 14
#define INLC 11
#define INHC 12 #define INHC 12
#define CAN_TX 45 #define CAN_TX 6
#define CAN_RX 48 #define CAN_RX 7
#define SPI_MISO 6 #define SPI_MISO 45
#define SPI_MOSI 7 #define SPI_MOSI 48
#define SPI_CLK 15 #define SPI_CLK 47
#define SPI_DRV_SC 16 #define SPI_DRV_SC 21
#define MOTOR // #define MOTOR
#define SSIF_USBSERIAL #define SSIF_USBSERIAL
#define FW_NO_WATCHDOG #define FW_NO_WATCHDOG
@ -94,21 +91,11 @@ void read_i2c(uint8_t addr, uint8_t reg, uint8_t *buf, uint8_t len) {
Wire.write(reg); // MAN:0x2E Wire.write(reg); // MAN:0x2E
int error = Wire.endTransmission(); int error = Wire.endTransmission();
if (error != 0) { if (error != 0) {
// Serial.println("read error!");
return; return;
} }
delayMicroseconds(50); delayMicroseconds(50);
int ret = Wire.requestFrom(addr, len); int ret = Wire.requestFrom(addr, len);
// Serial.print("0x");
// Serial.print(reg, HEX);
// Serial.print(": ");
Wire.readBytes(buf, ret); Wire.readBytes(buf, ret);
// for (int i = 0; i < ret; ++i) {
// Serial.print("0x");
// Serial.print(Wire.read(), HEX);
// Serial.print(" ");
// }
// Serial.println();
return; return;
} }
@ -118,7 +105,6 @@ void write_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val) {
Wire.write(data, sizeof data); Wire.write(data, sizeof data);
int error = Wire.endTransmission(); int error = Wire.endTransmission();
if (error != 0) { if (error != 0) {
// Serial.println("write error!");
return; return;
} }
} }
@ -128,67 +114,10 @@ void write_dual_i2c(uint8_t addr, uint8_t reg_lsb, uint8_t val1, uint8_t val2) {
Wire.write(data, sizeof data); Wire.write(data, sizeof data);
int error = Wire.endTransmission(); int error = Wire.endTransmission();
if (error != 0) { if (error != 0) {
// Serial.println("write error!");
return; return;
} }
} }
void status() {
DRV8316Status status = driver.getStatus();
SSYNCIF.println("DRV8316 Status:");
SSYNCIF.print("Fault: ");
SSYNCIF.println(status.isFault());
SSYNCIF.print("Buck Error: ");
SSYNCIF.print(status.isBuckError());
SSYNCIF.print(" Undervoltage: ");
SSYNCIF.print(status.isBuckUnderVoltage());
SSYNCIF.print(" OverCurrent: ");
SSYNCIF.println(status.isBuckOverCurrent());
SSYNCIF.print("Charge Pump UnderVoltage: ");
SSYNCIF.println(status.isChargePumpUnderVoltage());
SSYNCIF.print("OTP Error: ");
SSYNCIF.println(status.isOneTimeProgrammingError());
SSYNCIF.print("OverCurrent: ");
SSYNCIF.print(status.isOverCurrent());
SSYNCIF.print(" Ah: ");
SSYNCIF.print(status.isOverCurrent_Ah());
SSYNCIF.print(" Al: ");
SSYNCIF.print(status.isOverCurrent_Al());
SSYNCIF.print(" Bh: ");
SSYNCIF.print(status.isOverCurrent_Bh());
SSYNCIF.print(" Bl: ");
SSYNCIF.print(status.isOverCurrent_Bl());
SSYNCIF.print(" Ch: ");
SSYNCIF.print(status.isOverCurrent_Ch());
SSYNCIF.print(" Cl: ");
SSYNCIF.println(status.isOverCurrent_Cl());
SSYNCIF.print("OverTemperature: ");
SSYNCIF.print(status.isOverTemperature());
SSYNCIF.print(" Shutdown: ");
SSYNCIF.print(status.isOverTemperatureShutdown());
SSYNCIF.print(" Warning: ");
SSYNCIF.println(status.isOverTemperatureWarning());
SSYNCIF.print("OverVoltage: ");
SSYNCIF.println(status.isOverVoltage());
SSYNCIF.print("PowerOnReset: ");
SSYNCIF.println(status.isPowerOnReset());
SSYNCIF.print("SPI Error: ");
SSYNCIF.print(status.isSPIError());
SSYNCIF.print(" Address: ");
SSYNCIF.print(status.isSPIAddressError());
SSYNCIF.print(" Clock: ");
SSYNCIF.print(status.isSPIClockFramingError());
SSYNCIF.print(" Parity: ");
SSYNCIF.println(status.isSPIParityError());
DRV8316_PWMMode val = driver.getPWMMode();
SSYNCIF.print("PWM Mode: ");
SSYNCIF.println(val);
SSYNCIF.print("Recirculation: ");
SSYNCIF.println(driver.getRecirculationMode());
}
// Preferences prefs;
SemaphoreHandle_t mutex; SemaphoreHandle_t mutex;
struct sync_params {}; struct sync_params {};
@ -235,14 +164,14 @@ void setup() {
// Wire.setTimeOut(10); // Wire.setTimeOut(10);
Wire.begin(I2C_SDA, I2C_SCL, 400000); Wire.begin(I2C_SDA, I2C_SCL, 400000);
pinMode(DRVOFF, OUTPUT); // pinMode(DRVOFF, OUTPUT);
digitalWrite(DRVOFF, 0); // enable // digitalWrite(DRVOFF, 0); // enable
pinMode(INLA, OUTPUT); // pinMode(INLA, OUTPUT);
digitalWrite(INLA, 1); // enable // digitalWrite(INLA, 1); // enable
pinMode(INLB, OUTPUT); // pinMode(INLB, OUTPUT);
digitalWrite(INLB, 1); // enable // digitalWrite(INLB, 1); // enable
pinMode(INLC, OUTPUT); // pinMode(INLC, OUTPUT);
digitalWrite(INLC, 1); // enable // digitalWrite(INLC, 1); // enable
// write_i2c(0x36,0x07, 0b00000011); // write_i2c(0x36,0x07, 0b00000011);
write_i2c(0x36, 0x09, 0xFF); write_i2c(0x36, 0x09, 0xFF);
@ -253,7 +182,6 @@ void setup() {
driver.voltage_power_supply = 15; driver.voltage_power_supply = 15;
SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC); SPI.begin(SPI_CLK, SPI_MISO, SPI_MOSI, SPI_DRV_SC);
driver.init(&SPI); driver.init(&SPI);
driver.setSlew(DRV8316_Slew::Slew_200Vus);
status(); status();
motor.linkDriver(&driver); motor.linkDriver(&driver);
// motor.linkSensor(&encoder); // motor.linkSensor(&encoder);
@ -384,7 +312,9 @@ void loop() {
motor.move(3); motor.move(3);
#endif #endif
// delay(100); encoder.update(); // optional: Update manually if not using loopfoc()
SSYNCIF.println(encoder.getAngle());
delay(100);
// static int i = 0; // static int i = 0;
// if (i++ % 100 == 0) // if (i++ % 100 == 0)
// status(); // status();