Changing structure names and hardware configuration of IVY VESC

.clang-format

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+# VESC firmware uses tab indentation and is NOT clang-formatted upstream
+# (vedderb/bldc). DisableFormat makes clang-format leave files untouched, so
+# editors with "format on save" stop churning whitespace in shared files -
+# which otherwise produces huge noisy diffs and constant merge conflicts.
+#
+# Remove this file only if you deliberately want to reformat the whole tree.
+DisableFormat: true

hwconf/IVY_Esk8/650_330/hw_650_330.c

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+/*
+	Copyright 2018 Benjamin Vedder	benjamin@vedder.se
+	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/>.
+	*/
+
+// V2
+
+#include "hw.h"
+#include "hw_650_330.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "utils.h"
+#include <math.h>
+#include "mc_interface.h"
+
+// Variables
+static volatile bool i2c_running = false;
+static mutex_t shutdown_mutex;
+static float bt_diff = 0.0;
+
+// I2C configuration
+static const I2CConfig i2cfg = {
+	OPMODE_I2C,
+	100000,
+	STD_DUTY_CYCLE};
+
+void hw_init_gpio(void)
+{
+	chMtxObjectInit(&shutdown_mutex);
+	// GPIO clock enable
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+
+	// LEDs
+	palSetPadMode(LED_GREEN_GPIO, LED_GREEN_PIN,
+				  PAL_MODE_OUTPUT_PUSHPULL |
+					  PAL_STM32_OSPEED_HIGHEST);
+	palSetPadMode(LED_RED_GPIO, LED_RED_PIN,
+				  PAL_MODE_OUTPUT_PUSHPULL |
+					  PAL_STM32_OSPEED_HIGHEST);
+
+	// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
+	palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
+	palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
+	palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
+
+	palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
+	palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
+	palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
+
+	// Hall sensors
+	palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
+	palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
+	palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
+
+#ifdef HW_HAS_PHASE_FILTERS
+	// Phase filters
+	palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+				  PAL_MODE_OUTPUT_PUSHPULL |
+					  PAL_STM32_OSPEED_HIGHEST);
+	PHASE_FILTER_OFF();
+#endif
+
+#ifdef HW_HAS_CURR_FILTERS
+	// Current filter
+	palSetPadMode(GPIOD, 2,
+				  PAL_MODE_OUTPUT_PUSHPULL |
+					  PAL_STM32_OSPEED_HIGHEST);
+
+	CURRENT_FILTER_OFF();
+#endif
+
+	// AUX pin
+	// AUX_OFF();
+	// palSetPadMode(AUX_GPIO, AUX_PIN,
+	// 		PAL_MODE_OUTPUT_PUSHPULL |
+	// 		PAL_STM32_OSPEED_HIGHEST);
+
+	// ADC Pins
+	palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
+
+	palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
+
+	palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
+	palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+}
+
+void hw_setup_adc_channels(void)
+{
+	// ADC1 regular channels
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 6, ADC_SampleTime_15Cycles);
+
+	// ADC2 regular channels
+	ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 6, ADC_SampleTime_15Cycles);
+
+	// ADC3 regular channels
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 6, ADC_SampleTime_15Cycles);
+
+	// Injected channels
+	ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
+}
+
+void hw_start_i2c(void)
+{
+	i2cAcquireBus(&HW_I2C_DEV);
+
+	if (!i2c_running)
+	{
+		palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+					  PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+						  PAL_STM32_OTYPE_OPENDRAIN |
+						  PAL_STM32_OSPEED_MID1 |
+						  PAL_STM32_PUDR_PULLUP);
+		palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+					  PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+						  PAL_STM32_OTYPE_OPENDRAIN |
+						  PAL_STM32_OSPEED_MID1 |
+						  PAL_STM32_PUDR_PULLUP);
+
+		i2cStart(&HW_I2C_DEV, &i2cfg);
+		i2c_running = true;
+	}
+
+	i2cReleaseBus(&HW_I2C_DEV);
+}
+
+void hw_stop_i2c(void)
+{
+	i2cAcquireBus(&HW_I2C_DEV);
+
+	if (i2c_running)
+	{
+		palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
+		palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
+
+		i2cStop(&HW_I2C_DEV);
+		i2c_running = false;
+	}
+
+	i2cReleaseBus(&HW_I2C_DEV);
+}
+
+/**
+ * Try to restore the i2c bus
+ */
+void hw_try_restore_i2c(void)
+{
+	if (i2c_running)
+	{
+		i2cAcquireBus(&HW_I2C_DEV);
+
+		palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+					  PAL_STM32_OTYPE_OPENDRAIN |
+						  PAL_STM32_OSPEED_MID1 |
+						  PAL_STM32_PUDR_PULLUP);
+
+		palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+					  PAL_STM32_OTYPE_OPENDRAIN |
+						  PAL_STM32_OSPEED_MID1 |
+						  PAL_STM32_PUDR_PULLUP);
+
+		palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+		palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+		chThdSleep(1);
+
+		for (int i = 0; i < 16; i++)
+		{
+			palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+			chThdSleep(1);
+			palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+			chThdSleep(1);
+		}
+
+		// Generate start then stop condition
+		palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+		chThdSleep(1);
+		palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+		chThdSleep(1);
+		palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+		chThdSleep(1);
+		palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+		palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+					  PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+						  PAL_STM32_OTYPE_OPENDRAIN |
+						  PAL_STM32_OSPEED_MID1 |
+						  PAL_STM32_PUDR_PULLUP);
+
+		palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+					  PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+						  PAL_STM32_OTYPE_OPENDRAIN |
+						  PAL_STM32_OSPEED_MID1 |
+						  PAL_STM32_PUDR_PULLUP);
+
+		HW_I2C_DEV.state = I2C_STOP;
+		i2cStart(&HW_I2C_DEV, &i2cfg);
+
+		i2cReleaseBus(&HW_I2C_DEV);
+	}
+}
+
+bool hw_sample_shutdown_button(void)
+{
+	chMtxLock(&shutdown_mutex);
+
+	bt_diff = 0.0;
+
+	for (int i = 0; i < 3; i++)
+	{
+		palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_INPUT_ANALOG);
+		chThdSleep(5);
+		float val1 = ADC_VOLTS(ADC_IND_SHUTDOWN);
+		chThdSleepMilliseconds(1);
+		float val2 = ADC_VOLTS(ADC_IND_SHUTDOWN);
+		palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL);
+		chThdSleepMilliseconds(1);
+
+		bt_diff += (val1 - val2);
+	}
+
+	chMtxUnlock(&shutdown_mutex);
+
+	return (bt_diff > 0.12);
+}