Add MG setup and files (#48)

* Remove duplicate unit tests from libopeninv (#47) As libopeninv now has unit tests remove the duplicates. Update the Makefile and Code::Blocks project to reference the new libopeninv tests and add missing files. Update the GitHub Action workflow to run both sets of tests. * Add MG setup and files --------- Co-authored-by: David J. Fiddes <[email protected]>
jsphuebner · Dec 12, 2024 · 5284de6 · 5284de6
1 parent 1b43e4c
commit 5284de6
Show file tree

Hide file tree

Showing 15 changed files with 476 additions and 918 deletions.
diff --git a/.github/workflows/CI-build.yml b/.github/workflows/CI-build.yml
@@ -54,8 +54,12 @@ jobs:
 
       - name: Build unit tests on host
         run: |
-          make -C test
+          make Test
 
-      - name: Run unit tests on host
+      - name: Run stm32-sine unit tests on host
         run: |
           test/test_sine
+
+      - name: Run libopeninv unit tests on host
+        run: |
+          libopeninv/test/test_libopeninv
diff --git a/Makefile b/Makefile
@@ -51,7 +51,7 @@ OBJSL		= stm32_sine.o hwinit.o stm32scheduler.o params.o terminal.o terminal_prj
            my_string.o digio.o sine_core.o my_fp.o fu.o inc_encoder.o printf.o anain.o \
            temp_meas.o param_save.o throttle.o errormessage.o pwmgeneration.o \
            picontroller.o terminalcommands.o vehiclecontrol.o \
-           stm32_can.o canmap.o canhardware.o cansdo.o
+           stm32_can.o canmap.o canhardware.o cansdo.o GD31xxOI.o
 
 ifeq ($(CONTROL), SINE)
 	OBJSL += pwmgeneration-sine.o

diff --git a/include/GD31xxOI.h b/include/GD31xxOI.h
@@ -0,0 +1,46 @@
+/*
+ * This file is part of the stm32-sine project.
+ *
+ * Copyright (C) 2011 Johannes Huebner <[email protected]>
+ * Copyright (C) 2019 Nail Guzel
+ *
+ * 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/>.
+ *
+ * Simplified library for interfacing with the NXP GD3100 gate drivers
+ * found on the MG inverter platform.
+ */
+
+#include "stddef.h"
+#include "stdbool.h"
+#include <stdint.h>
+#include "delay.h"
+
+#define REQ_ADC_EXT 0x4001
+#define REQ_STAT1   0x2800
+#define REQ_STAT2   0x3000
+#define REQ_STAT3   0x3800
+
+/// SPI channels
+enum SpiChannelMG
+{
+	MGSPI1_H = 1,
+	MGSPI2_H = 2,
+	MGSPI3_H = 3,
+	MGSPI1_L = 4,
+	MGSPI2_L = 5,
+	MGSPI3_L = 6,
+};
+
+extern uint32_t Send16 (enum SpiChannelMG channel,uint16_t txData16);
+extern uint32_t Config_MG (enum SpiChannelMG channel);
diff --git a/include/digio_prj.h b/include/digio_prj.h
@@ -4,26 +4,36 @@
 #include "hwdefs.h"
 
 #define DIG_IO_LIST \
-    DIG_IO_ENTRY(cruise_in,   GPIOB, GPIO5,  PinMode::INPUT_FLT)   \
-    DIG_IO_ENTRY(start_in,    GPIOB, GPIO6,  PinMode::INPUT_FLT)   \
-    DIG_IO_ENTRY(brake_in,    GPIOA, GPIO2,  PinMode::INPUT_FLT)   \
-    DIG_IO_ENTRY(mprot_in,    GPIOA, GPIO3,  PinMode::INPUT_PU)    \
+    DIG_IO_ENTRY(cruise_in,   GPIOB, GPIO2,  PinMode::INPUT_PD)   \
+    DIG_IO_ENTRY(start_in,    GPIOD, GPIO7,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(brake_in,    GPIOE, GPIO4,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(mprot_in,    GPIOE, GPIO5,  PinMode::INPUT_PU)    \
     DIG_IO_ENTRY(fwd_in,      GPIOA, GPIO4,  PinMode::INPUT_FLT)   \
-    DIG_IO_ENTRY(rev_in,      GPIOC, GPIO6,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(rev_in,      GPIOA, GPIO3,  PinMode::INPUT_FLT)   \
     DIG_IO_ENTRY(emcystop_in, GPIOC, GPIO7,  PinMode::INPUT_FLT)   \
     DIG_IO_ENTRY(bk_in,       GPIOB, GPIO12, PinMode::INPUT_FLT)   \
     DIG_IO_ENTRY(bms_in,      GPIOC, GPIO8,  PinMode::INPUT_PD)    \
-    DIG_IO_ENTRY(ocur_in,     GPIOA, GPIO1,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(ocur_in,     GPIOE, GPIO2,  PinMode::INPUT_FLT)   \
     DIG_IO_ENTRY(desat_in,    GPIOC, GPIO9,  PinMode::INPUT_FLT)   \
-    DIG_IO_ENTRY(dcsw_out,    GPIOC, GPIO13, PinMode::OUTPUT)      \
-    DIG_IO_ENTRY(fan_out,     GPIOA, GPIO0,  PinMode::OUTPUT)  /* map to unused pin by default */    \
-    DIG_IO_ENTRY(vtg_out,     GPIOC, GPIO11, PinMode::OUTPUT)      \
-    DIG_IO_ENTRY(prec_out,    GPIOB, GPIO1,  PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(dcsw_out,    GPIOC, GPIO10, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(fan_out,     GPIOC, GPIO15, PinMode::OUTPUT)  /* map to unused pin by default */    \
+    DIG_IO_ENTRY(vtg_out,     GPIOC, GPIO14, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(prec_out,    GPIOD, GPIO15, PinMode::OUTPUT)      \
     DIG_IO_ENTRY(led_out,     GPIOC, GPIO12, PinMode::OUTPUT)      \
-    DIG_IO_ENTRY(err_out,     GPIOC, GPIO10, PinMode::OUTPUT)      \
-    DIG_IO_ENTRY(temp0_out,   GPIOC, GPIO10, PinMode::OUTPUT)      \
-    DIG_IO_ENTRY(speed_out,   GPIOB, GPIO9,  PinMode::OUTPUT)      \
-    DIG_IO_ENTRY(brk_out,     GPIOC, GPIO5,  PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(err_out,     GPIOD, GPIO14, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(temp0_out,   GPIOD, GPIO13, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(speed_out,   GPIOD, GPIO12, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(brk_out,     GPIOD, GPIO11, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(cs1_hi,      GPIOE, GPIO10, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(cs2_hi,      GPIOE, GPIO11, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(cs3_hi,      GPIOE, GPIO12, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(cs1_lo,      GPIOE, GPIO13, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(cs2_lo,      GPIOE, GPIO14, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(cs3_lo,      GPIOE, GPIO15, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(v5_ctrl,     GPIOD, GPIO6,  PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(intb_in,     GPIOE, GPIO8,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(inta_in,     GPIOE, GPIO9,  PinMode::INPUT_FLT)   \
+
 
 #define DIG_IO_BLUEPILL \
     DIG_IO_ENTRY(brake_in,    GPIOB, GPIO9,  PinMode::INPUT_FLT)   \

diff --git a/include/hwinit.h b/include/hwinit.h
@@ -33,6 +33,7 @@ void usart_setup(void);
 void nvic_setup(void);
 void rtc_setup(void);
 void tim_setup(void);
+void tim5_setup(void);
 void spi_setup(void);
 HWREV detect_hw(void);
 void write_bootloader_pininit(bool bootprec, bool pwmActiveLow);

diff --git a/include/param_prj.h b/include/param_prj.h
@@ -25,7 +25,7 @@
    3. Display values
  */
 //Next param id (increase when adding new parameter!): 159
-//Next value Id: 2055
+//Next value Id: 2066
 /*              category     name         unit       min     max     default id */
 
 #define MOTOR_PARAMETERS_COMMON \
@@ -166,6 +166,7 @@
     VALUE_ENTRY(opmode,      OPMODES, 2000 ) \
     VALUE_ENTRY(lasterr,     errorListString,  2038 ) \
     VALUE_ENTRY(status,      STATUS,  2044 ) \
+    VALUE_ENTRY(status_GD3100,      STATUS3100,  2063 ) \
     VALUE_ENTRY(udc,         "V",     2001 ) \
     VALUE_ENTRY(idc,         "A",     2002 ) \
     VALUE_ENTRY(il1,         "A",     2003 ) \
@@ -201,6 +202,12 @@
     VALUE_ENTRY(din_bms,     ONOFF,   2032 ) \
     VALUE_ENTRY(uptime,      "10ms",  2054 ) \
     VALUE_ENTRY(cpuload,     "%",     2035 ) \
+    VALUE_ENTRY(MG_Rx0,      "dig",   2056 ) \
+    VALUE_ENTRY(MG_Rx1,      "dig",   2057 ) \
+    VALUE_ENTRY(MG_Rx2,      "dig",   2058 ) \
+    VALUE_ENTRY(MG_Rx3,      "dig",   2059 ) \
+    VALUE_ENTRY(INT_L,       ONOFF,   2064 ) \
+    VALUE_ENTRY(INT_H,       ONOFF,   2065 ) \
 
 #define VALUES_SINE \
     VALUE_ENTRY(ilmax,       "A",     2005 ) \
@@ -281,6 +288,7 @@
 #define SWAPS        "0=None, 1=Currents12, 2=SinCos, 4=PWMOutput13, 8=PWMOutput23"
 #define OUTMODES     "0=DcSw, 1=TmpmThresh, 2=TmphsThresh"
 #define STATUS       "0=None, 1=UdcLow, 2=UdcHigh, 4=UdcBelowUdcSw, 8=UdcLim, 16=EmcyStop, 32=MProt, 64=PotPressed, 128=TmpHs, 256=WaitStart, 512=BrakeCheck"
+#define STATUS3100   "0=None, 1=IGBTOC, 2=IGBTSC, 3=DESAT, 4=CLAMP, 5=TempWarn, 6=Temp_Shdn, 7=DIEOT, 8=VSUPOV, 9=VCCREGUV, 10=VCCREGOV, 11=VEEOR, 12=VREFOR, 13=DIECOMM, 14=WDOG, 15=VGE, 16=CRCERR,17=SPIERR,18=PWMDT,19=VDDOR,20=BISTFail,21=VGEPIN,22=INTPIN,23=FSENBPIN,24=FSSTATPIN,25=PWMALTPIN,26=PWMPIN,27=FSISOPIN"
 #define CHECKS       "0=CounterOnly, 1=StmCrc8"
 #define CAT_MOTOR    "Motor"
 #define CAT_INVERTER "Inverter"
@@ -417,6 +425,38 @@ enum status
    STAT_BRAKECHECK = 512
 };
 
+enum status_GD3100
+{
+   None = 0,
+   IGBT_OVER_CURRENT = 1,
+   IGBT_SHORT_CIRCUIT = 2,
+   VCE_DESAT_EVENT = 3,
+   VCE_CLAMP_EVENT = 4,
+   IGBT_OVERTEMP_WARN = 5,
+   IGBT_OVERTEMP_SHUTDN = 6,
+   DIE_OVERTEMP_SHUTDN = 7,
+   VSUP_OVER_VOLTAGE = 8,
+   VCCREG_UNDER_VOLTAGE = 9,
+   VCC_OVER_VOLTAGE = 10,
+   VEE_OUT_OF_RANGE = 11,
+   VREF_OUT_OF_RANGE = 12,
+   DIE_COMM_ERROR = 13,
+   WDOG_FAULT = 14,
+   VGE_FAULT = 15,
+   CONFIG_CRC_ERROR = 16,
+   SPI_ERROR = 17,
+   PWM_DEADTIME_FAULT = 18,
+   VDD_OUT_OF_RANGE = 19,
+   BIST_FAILURE = 20,
+   VGE_PIN_STATE = 21,
+   INTB_PIN_STATE = 22,
+   FSENB_PIN_STATE = 23,
+   FSSTATE_PIN_STATE = 24,
+   PWMALT_PIN_STATE = 25,
+   PWM_PIN_STATE = 26,
+   FSISO_PIN_STATE=27
+};
+
 //Generated enum-string for possible errors
 extern const char* errorListString;
 
diff --git a/libopeninv b/libopeninv
diff --git a/sinus.cbp b/sinus.cbp
@@ -58,6 +58,15 @@
 					<Add directory="include" />
 				</Compiler>
 			</Target>
+			<Target title="Test libopeninv">
+				<Option output="libopeninv/test/test_libopeninv" prefix_auto="1" extension_auto="1" />
+				<Option working_dir="libopeninv/test" />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add directory="include" />
+				</Compiler>
+			</Target>
 		</Build>
 		<Unit filename="Makefile">
 			<Option target="SlipControl" />
@@ -77,6 +86,7 @@
 		<Unit filename="libopeninv/include/anain.h" />
 		<Unit filename="libopeninv/include/canhardware.h" />
 		<Unit filename="libopeninv/include/canmap.h" />
+		<Unit filename="libopeninv/include/canobd2.h" />
 		<Unit filename="libopeninv/include/cansdo.h" />
 		<Unit filename="libopeninv/include/crc8.h" />
 		<Unit filename="libopeninv/include/delay.h" />
@@ -101,6 +111,7 @@
 		<Unit filename="libopeninv/src/anain.cpp" />
 		<Unit filename="libopeninv/src/canhardware.cpp" />
 		<Unit filename="libopeninv/src/canmap.cpp" />
+		<Unit filename="libopeninv/src/canobd2.cpp" />
 		<Unit filename="libopeninv/src/cansdo.cpp" />
 		<Unit filename="libopeninv/src/crc8.cpp" />
 		<Unit filename="libopeninv/src/digio.cpp" />
@@ -125,6 +136,40 @@
 		<Unit filename="libopeninv/src/stm32scheduler.cpp" />
 		<Unit filename="libopeninv/src/terminal.cpp" />
 		<Unit filename="libopeninv/src/terminalcommands.cpp" />
+		<Unit filename="libopeninv/test/Makefile">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/stub_canhardware.cpp">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/stub_canhardware.h">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/stub_libopencm3.c">
+			<Option compilerVar="CC" />
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test-include/hwdefs.h">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test-include/param_prj.h">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test.h">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test_canmap.cpp">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test_fp.cpp">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test_fu.cpp">
+			<Option target="Test libopeninv" />
+		</Unit>
+		<Unit filename="libopeninv/test/test_main.cpp">
+			<Option target="Test libopeninv" />
+		</Unit>
 		<Unit filename="src/hwinit.cpp" />
 		<Unit filename="src/inc_encoder.cpp" />
 		<Unit filename="src/pwmgeneration-foc.cpp" />
@@ -142,6 +187,16 @@
 		<Unit filename="test/Makefile">
 			<Option target="Test" />
 		</Unit>
+		<Unit filename="test/stub_canhardware.cpp">
+			<Option target="Test" />
+		</Unit>
+		<Unit filename="test/stub_canhardware.h">
+			<Option target="Test" />
+		</Unit>
+		<Unit filename="test/stub_libopencm3.c">
+			<Option compilerVar="CC" />
+			<Option target="Test" />
+		</Unit>
 		<Unit filename="test/test.h">
 			<Option target="Test" />
 		</Unit>
+37 −0		.github/workflows/CI-build.yml
+2 −0		.gitignore
+3 −0		README.md
+3 −3		include/canhardware.h
+7 −2		include/canmap.h
+2 −2		include/canobd2.h
+1 −1		include/cansdo.h
+1 −1		include/picontroller.h
+6 −5		src/canhardware.cpp
+53 −24		src/canmap.cpp
+1 −3		src/canobd2.cpp
+2 −5		src/cansdo.cpp
+2 −2		src/picontroller.cpp
+1 −1		src/stm32_can.cpp
+34 −0		test/Makefile
+45 −0		test/stub_canhardware.cpp
+48 −0		test/stub_canhardware.h
+58 −0		test/stub_libopencm3.c
+28 −0		test/test-include/hwdefs.h
+27 −0		test/test-include/param_prj.h
+36 −0		test/test.h
+1,140 −0		test/test_canmap.cpp
+68 −0		test/test_fp.cpp
+75 −0		test/test_fu.cpp
+61 −0		test/test_main.cpp