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29 #define ENABLE_GATE() palSetPad(GPIOC, 9)
30 #define DISABLE_GATE() palClearPad(GPIOC, 9)
31 #define DCCAL_ON() palSetPad(GPIOB, 12)
32 #define DCCAL_OFF() palClearPad(GPIOB, 12)
33 #define IS_DRV_FAULT() (!palReadPad(GPIOC, 12))
35 #define LED_GREEN_ON() palSetPad(GPIOB, 6)
36 #define LED_GREEN_OFF() palClearPad(GPIOB, 6)
37 #define LED_RED_ON() palSetPad(GPIOB, 7)
38 #define LED_RED_OFF() palClearPad(GPIOB, 7)
60 #define HW_ADC_CHANNELS 15
61 #define HW_ADC_NBR_CONV 5
64 #define ADC_IND_SENS1 2
65 #define ADC_IND_SENS2 1
66 #define ADC_IND_SENS3 0
67 #define ADC_IND_CURR1 3
68 #define ADC_IND_CURR2 4
69 #define ADC_IND_VIN_SENS 12
70 #define ADC_IND_EXT 10
71 #define ADC_IND_TEMP_MOS1 11
72 #define ADC_IND_TEMP_MOS2 8
73 #define ADC_IND_TEMP_MOS3 14
74 #define ADC_IND_TEMP_MOS4 13
75 #define ADC_IND_TEMP_MOS5 7
76 #define ADC_IND_TEMP_MOS6 7 // TODO! Same as MOS5
77 #define ADC_IND_TEMP_PCB 6
78 #define ADC_IND_VREFINT 9
87 #define VIN_R1 33000.0
92 #ifndef CURRENT_AMP_GAIN
93 #define CURRENT_AMP_GAIN 10.0
95 #ifndef CURRENT_SHUNT_RES
96 #define CURRENT_SHUNT_RES 0.001
100 #define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
103 #define NTC_RES(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0))
104 #define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3434.0) + (1.0 / 298.15)) - 273.15)
107 #define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
111 #ifndef CURR1_DOUBLE_SAMPLE
112 #define CURR1_DOUBLE_SAMPLE 0
114 #ifndef CURR2_DOUBLE_SAMPLE
115 #define CURR2_DOUBLE_SAMPLE 0
119 #define HW_SERVO_NUM 2
122 #define HW_UART_DEV UARTD3
123 #define HW_UART_GPIO_AF GPIO_AF_USART3
124 #define HW_UART_TX_PORT GPIOC
125 #define HW_UART_TX_PIN 10
126 #define HW_UART_RX_PORT GPIOC
127 #define HW_UART_RX_PIN 11
130 #define HW_ICU_CHANNEL ICU_CHANNEL_2
131 #define HW_ICU_GPIO_AF GPIO_AF_TIM3
132 #define HW_ICU_GPIO GPIOB
136 #define HW_I2C_DEV I2CD2
137 #define HW_I2C_GPIO_AF GPIO_AF_I2C2
138 #define HW_I2C_SCL_PORT GPIOB
139 #define HW_I2C_SCL_PIN 10
140 #define HW_I2C_SDA_PORT GPIOB
141 #define HW_I2C_SDA_PIN 11
144 #define HW_HALL_ENC_GPIO1 GPIOC
145 #define HW_HALL_ENC_PIN1 6
146 #define HW_HALL_ENC_GPIO2 GPIOC
147 #define HW_HALL_ENC_PIN2 7
148 #define HW_HALL_ENC_GPIO3 GPIOC
149 #define HW_HALL_ENC_PIN3 8
150 #define HW_ENC_TIM TIM3
151 #define HW_ENC_TIM_AF GPIO_AF_TIM3
152 #define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
153 #define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
154 #define HW_ENC_EXTI_PINSRC EXTI_PinSource8
155 #define HW_ENC_EXTI_CH EXTI9_5_IRQn
156 #define HW_ENC_EXTI_LINE EXTI_Line8
157 #define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
160 #define NRF_PORT_CSN HW_ICU_GPIO
161 #define NRF_PIN_CSN HW_ICU_PIN
162 #define NRF_PORT_SCK GPIOC
163 #define NRF_PIN_SCK 5
164 #define NRF_PORT_MOSI HW_I2C_SDA_PORT
165 #define NRF_PIN_MOSI HW_I2C_SDA_PIN
166 #define NRF_PORT_MISO HW_I2C_SCL_PORT
167 #define NRF_PIN_MISO HW_I2C_SCL_PIN
170 #define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
171 #define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
172 #define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
173 #define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
176 #define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
177 #define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
178 #define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)