Verison 1.0.3 Release

Based on Buildbotics 0.4.14

src/pwr/config.h

@@ -0,0 +1,164 @@
+/******************************************************************************\
+
+                 This file is part of the Buildbotics firmware.
+
+                   Copyright (c) 2015 - 2018, Buildbotics LLC
+                              All rights reserved.
+
+      This file ("the software") is free software: you can redistribute it
+      and/or modify it under the terms of the GNU General Public License,
+       version 2 as published by the Free Software Foundation. You should
+       have received a copy of the GNU General Public License, version 2
+      along with the software. If not, see <http://www.gnu.org/licenses/>.
+
+      The software 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
+                Lesser General Public License for more details.
+
+        You should have received a copy of the GNU Lesser General Public
+                 License along with the software.  If not, see
+                        <http://www.gnu.org/licenses/>.
+
+                 For information regarding this software email:
+                   "Joseph Coffland" <joseph@buildbotics.com>
+
+\******************************************************************************/
+
+#pragma once
+
+#include "pins.h"
+
+
+#define VERSION 6
+
+
+// Pins
+enum {
+  AREF_PIN = PORT_A << 3,
+  PA1_PIN, // NC
+  PA2_PIN, // NC
+  CS1_PIN,
+  CS2_PIN,
+  CS3_PIN,
+  CS4_PIN,
+  VOUT_REF_PIN,
+
+  VIN_REF_PIN = PORT_B << 3,
+  PWR_MOSI_PIN,
+  PWR_MISO_PIN,
+  SHUNT_PIN,
+
+  MOTOR_PIN = PORT_C << 3, // IN1
+  PWR_SCK_PIN,
+  PC2_PIN,                 // NC
+  PWR_RESET,
+  LOAD2_PIN,               // IN3
+  LOAD1_PIN,               // IN4
+};
+
+
+// ADC channels
+enum {
+  CS1_ADC,  // Motor current
+  CS2_ADC,  // Vdd current
+  CS3_ADC,  // Load 2 current
+  CS4_ADC,  // Load 1 current
+  VOUT_ADC, // Motor voltage
+  VIN_ADC,  // Input voltage
+  NC6_ADC,
+  NC7_ADC,
+  NC8_ADC,
+  NC9_ADC,
+  NC10_ADC,
+  NC11_ADC,
+  NC12_ADC,
+  NC13_ADC,
+  TEMP_ADC, // Temperature
+};
+
+
+#define SHUNT_FAIL_VOLTAGE       5
+#define CAP_CHARGE_TIME          20 // ms
+#define VOLTAGE_MIN              11
+#define VOLTAGE_MAX              39
+#define CURRENT_MAX              25
+#define CURRENT_OVERTEMP         19 // Should read ~21A but > 11.86A is error
+#define LOAD_OVERTEMP_MAX        10
+#define MOTOR_SHUTDOWN_THRESH    15
+#define VOLTAGE_SETTLE_COUNT     5
+#define VOLTAGE_SETTLE_PERIOD    20 // ms
+#define VOLTAGE_SETTLE_TOLERANCE 0.01
+#define VOLTAGE_EXP              0.01
+
+#define SHUNT_WATTS              5
+#define SHUNT_OHMS               5.1
+#define SHUNT_PERIOD             65000 // ms
+#define SHUNT_JOULES             25    // Power per shunt period
+#define SHUNT_JOULES_PER_MS      ((float)SHUNT_JOULES / SHUNT_PERIOD)
+#define SHUNT_MIN_V              2
+
+#define VOLTAGE_REF              1.1
+#define VOLTAGE_REF_R1           37400
+#define VOLTAGE_REF_R2           1000
+#define CURRENT_REF_R2           137
+#define CURRENT_REF_MUL (100.0 * 2700 / CURRENT_REF_R2) // 2700 from datasheet
+
+#define REG_SCALE                100
+#define AVG_SCALE                3
+#define BUCKETS                  (1 << AVG_SCALE)
+
+// Addresses 0x60 to 0x67
+#define I2C_ADDR                 0x60
+#define I2C_MASK                 0b00001111
+
+#define I2C_ERROR_BM             (1 << TWBE)
+#define I2C_DATA_INT_BM          (1 << TWDIF)
+#define I2C_READ_BM              (1 << TWDIR)
+#define I2C_ADDRESS_STOP_INT_BM  (1 << TWASIF)
+#define I2C_ADDRESS_MATCH_BM     (1 << TWAS)
+
+
+typedef enum {
+  TEMP_REG,
+  VIN_REG,
+  VOUT_REG,
+  MOTOR_REG,
+  LOAD1_REG,
+  LOAD2_REG,
+  VDD_REG,
+  FLAGS_REG,
+  VERSION_REG,
+  NUM_REGS
+} regs_t;
+
+
+enum {
+  // Fatal
+  UNDER_VOLTAGE_FLAG             = 1 << 0,
+  OVER_VOLTAGE_FLAG              = 1 << 1,
+  OVER_CURRENT_FLAG              = 1 << 2,
+  SENSE_ERROR_FLAG               = 1 << 3,
+  SHUNT_OVERLOAD_FLAG            = 1 << 4,
+  MOTOR_OVERLOAD_FLAG            = 1 << 5,
+
+  // Non fatal
+  LOAD1_SHUTDOWN_FLAG            = 1 << 6,
+  LOAD2_SHUTDOWN_FLAG            = 1 << 7,
+  MOTOR_UNDER_VOLTAGE_FLAG       = 1 << 8,
+  SHUNT_ERROR_FLAG               = 1 << 15,
+
+  // Sense errors
+  MOTOR_VOLTAGE_SENSE_ERROR_FLAG = 1 << 9,
+  MOTOR_CURRENT_SENSE_ERROR_FLAG = 1 << 10,
+  LOAD1_SENSE_ERROR_FLAG         = 1 << 11,
+  LOAD2_SENSE_ERROR_FLAG         = 1 << 12,
+  VDD_CURRENT_SENSE_ERROR_FLAG   = 1 << 13,
+
+  // State flags
+  POWER_SHUTDOWN_FLAG            = 1 << 14,
+};
+
+
+#define FATAL_FLAGS       0x003f
+#define SENSE_ERROR_FLAGS 0x3e00