Added support for HW60_MK3 and disable shutdown when watchdog runs slowly

Author: vedderb

CHANGELOG

@@ -1,3 +1,7 @@
+=== FW 3.64 ===
+* Added support for HW60_MK3
+* Disable shutdown sampling when the watchdog runs slowly.
+
 === FW 3.63 ===
 * NRF remote power meter is now unaffected by temperature decrease and speed limits.
 * Added LZO compression support to firmware upload, making firmware updates 30% - 50% faster.

applications/app_uartcomm.c

@@ -71,7 +71,11 @@ static void send_packet(unsigned char *data, unsigned int len) {
 #ifdef HW_UART_P_DEV
 	if (from_p_uart) {
 		if (uart_p_is_running) {
+#ifdef HW_UART_P_DEV_TX
+			sdWrite(&HW_UART_P_DEV_TX, data, len);
+#else
 			sdWrite(&HW_UART_P_DEV, data, len);
+#endif
 		}
 	} else {
 		if (uart_is_running) {
@@ -117,6 +121,11 @@ void app_uartcomm_start_permanent(void) {
 	}
 
 	sdStart(&HW_UART_P_DEV, &uart_p_cfg);
+
+#ifdef HW_UART_P_DEV_TX
+	sdStart(&HW_UART_P_DEV_TX, &uart_p_cfg);
+#endif
+
 	palSetPadMode(HW_UART_P_TX_PORT, HW_UART_P_TX_PIN, PAL_MODE_ALTERNATE(HW_UART_P_GPIO_AF) |
 			PAL_STM32_OSPEED_HIGHEST |
 			PAL_STM32_PUDR_PULLUP);

conf_general.h

@@ -67,6 +67,9 @@
 // Benjamins first HW60 PCB with PB5 and PB6 swapped
 //#define HW60_VEDDER_FIRST_PCB
 
+// Mark3 version of HW60 with power switch and separate NRF UART.
+#define HW60_IS_MK3
+
 #define HW_SOURCE "hw_60.c"
 #define HW_HEADER "hw_60.h"
 

hwconf/hw_60.c

@@ -22,9 +22,16 @@
 #include "stm32f4xx_conf.h"
 #include "utils.h"
 #include "drv8301.h"
+#include "terminal.h"
+#include "commands.h"
+#include "mc_interface.h"
 
 // Variables
 static volatile bool i2c_running = false;
+#ifdef HW60_IS_MK3
+static mutex_t shutdown_mutex;
+static float bt_diff = 0.0;
+#endif
 
 // I2C configuration
 static const I2CConfig i2cfg = {
@@ -33,7 +40,16 @@ static const I2CConfig i2cfg = {
 		STD_DUTY_CYCLE
 };
 
+#ifdef HW60_IS_MK3
+static void terminal_shutdown_now(int argc, const char **argv);
+static void terminal_button_test(int argc, const char **argv);
+#endif
+
 void hw_init_gpio(void) {
+#ifdef HW60_IS_MK3
+	chMtxObjectInit(&shutdown_mutex);
+#endif
+
 	// GPIO clock enable
 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
@@ -110,9 +126,25 @@ void hw_init_gpio(void) {
 	palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
 	palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
 	palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+#ifndef HW60_IS_MK3
 	palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
+#endif
 
 	drv8301_init();
+
+#ifdef HW60_IS_MK3
+	terminal_register_command_callback(
+		"shutdown",
+		"Shutdown VESC now.",
+		0,
+		terminal_shutdown_now);
+
+	terminal_register_command_callback(
+		"test_button",
+		"Try sampling the shutdown button",
+		0,
+		terminal_button_test);
+#endif
 }
 
 void hw_setup_adc_channels(void) {
@@ -242,3 +274,44 @@ void hw_try_restore_i2c(void) {
 		i2cReleaseBus(&HW_I2C_DEV);
 	}
 }
+
+#ifdef HW60_IS_MK3
+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);
+}
+
+static void terminal_shutdown_now(int argc, const char **argv) {
+	(void)argc;
+	(void)argv;
+	DISABLE_GATE();
+	HW_SHUTDOWN_HOLD_OFF();
+}
+
+static void terminal_button_test(int argc, const char **argv) {
+	(void)argc;
+	(void)argv;
+
+	for (int i = 0;i < 40;i++) {
+		commands_printf("BT: %d %.2f", HW_SAMPLE_SHUTDOWN(), (double)bt_diff);
+		chThdSleepMilliseconds(100);
+	}
+}
+#endif

hwconf/hw_60.h

@@ -20,13 +20,19 @@
 #ifndef HW_60_H_
 #define HW_60_H_
 
+#ifdef HW60_IS_MK3
+#define HW_NAME					"60_MK3"
+#else
 #define HW_NAME					"60"
+#endif
 
 // HW properties
 #define HW_HAS_DRV8301
 #define HW_HAS_3_SHUNTS
-#define HW_HAS_PERMANENT_NRF
 #define HW_HAS_PHASE_SHUNTS
+#ifndef HW60_IS_MK3
+#define HW_HAS_PERMANENT_NRF
+#endif
 
 // Macros
 #ifdef HW60_VEDDER_FIRST_PCB
@@ -48,6 +54,22 @@
 #define CURRENT_FILTER_ON()		palSetPad(GPIOD, 2)
 #define CURRENT_FILTER_OFF()	palClearPad(GPIOD, 2)
 
+#ifdef HW60_IS_MK3
+// Shutdown pin
+#define HW_SHUTDOWN_GPIO		GPIOC
+#define HW_SHUTDOWN_PIN			5
+#define HW_SHUTDOWN_HOLD_ON()	palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
+#define HW_SHUTDOWN_HOLD_OFF()	palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
+#define HW_SAMPLE_SHUTDOWN()	hw_sample_shutdown_button()
+
+// Hold shutdown pin early to wake up on short pulses
+#define HW_EARLY_INIT()			palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL); \
+								HW_SHUTDOWN_HOLD_ON(); \
+								palSetPadMode(GPIOD, 2, \
+								PAL_MODE_OUTPUT_PUSHPULL | \
+								PAL_STM32_OSPEED_HIGHEST); \
+								CURRENT_FILTER_ON()
+#else
 // Switch on current filter if a permanent
 // NRF24 cannot be found, as the later
 // HW60 has changed one of the permanent NRF
@@ -57,6 +79,7 @@
 			PAL_MODE_OUTPUT_PUSHPULL | \
 			PAL_STM32_OSPEED_HIGHEST); \
 			CURRENT_FILTER_ON()
+#endif
 
 /*
  * ADC Vector
@@ -71,7 +94,7 @@
  * 7:	IN6		ADC_EXT2
  * 8:	IN3		TEMP_PCB
  * 9:	IN14	TEMP_MOTOR
- * 10:	IN15	ADC_EXT3
+ * 10:	IN15	ADC_EXT3, Shutdown on MK3
  * 11:	IN13	AN_IN
  * 12:	Vrefint
  * 13:	IN0		SENS1
@@ -95,6 +118,9 @@
 #define ADC_IND_TEMP_MOS		8
 #define ADC_IND_TEMP_MOTOR		9
 #define ADC_IND_VREFINT			12
+#ifdef HW60_IS_MK3
+#define ADC_IND_SHUTDOWN		10
+#endif
 
 // ADC macros and settings
 
@@ -154,6 +180,18 @@
 #define HW_UART_RX_PORT			GPIOB
 #define HW_UART_RX_PIN			11
 
+#ifdef HW60_IS_MK3
+// Permanent UART Peripheral (for NRF51)
+#define HW_UART_P_BAUD			115200
+#define HW_UART_P_DEV			SD4
+#define HW_UART_P_DEV_TX		SD5 // UART for TX, due to mistake below
+#define HW_UART_P_GPIO_AF		GPIO_AF_UART4
+#define HW_UART_P_TX_PORT		GPIOC
+#define HW_UART_P_TX_PIN		12 // This is a mistake in the HW. We have to use a hack to use UART5.
+#define HW_UART_P_RX_PORT		GPIOC
+#define HW_UART_P_RX_PIN		11
+#endif
+
 // ICU Peripheral for servo decoding
 #define HW_USE_SERVO_TIM4
 #define HW_ICU_TIMER			TIM4
@@ -190,6 +228,7 @@
 #define HW_ENC_TIM_ISR_CH		TIM3_IRQn
 #define HW_ENC_TIM_ISR_VEC		TIM3_IRQHandler
 
+#ifndef HW60_IS_MK3
 // NRF pins
 #define NRF_PORT_CSN			GPIOB
 #define NRF_PIN_CSN				12
@@ -199,6 +238,7 @@
 #define NRF_PIN_MOSI			3
 #define NRF_PORT_MISO			GPIOD
 #define NRF_PIN_MISO			2
+#endif
 
 // SPI pins
 #define HW_SPI_DEV				SPID1
@@ -213,6 +253,16 @@
 #define HW_SPI_PIN_MISO			6
 
 // SPI for DRV8301
+#ifndef HW60_IS_MK3
+#define DRV8301_MOSI_GPIO		GPIOB
+#define DRV8301_MOSI_PIN		4
+#define DRV8301_MISO_GPIO		GPIOB
+#define DRV8301_MISO_PIN		3
+#define DRV8301_SCK_GPIO		GPIOC
+#define DRV8301_SCK_PIN			10
+#define DRV8301_CS_GPIO			GPIOC
+#define DRV8301_CS_PIN			9
+#else
 #define DRV8301_MOSI_GPIO		GPIOC
 #define DRV8301_MOSI_PIN		12
 #define DRV8301_MISO_GPIO		GPIOC
@@ -221,6 +271,7 @@
 #define DRV8301_SCK_PIN			10
 #define DRV8301_CS_GPIO			GPIOC
 #define DRV8301_CS_PIN			9
+#endif
 
 // MPU9250
 #define MPU9X50_SDA_GPIO		GPIOB
@@ -229,6 +280,14 @@
 #define MPU9X50_SCL_PIN			15
 #define IMU_FLIP
 
+#ifdef HW60_IS_MK3
+// NRF SWD
+#define NRF5x_SWDIO_GPIO		GPIOB
+#define NRF5x_SWDIO_PIN			12
+#define NRF5x_SWCLK_GPIO		GPIOA
+#define NRF5x_SWCLK_PIN			4
+#endif
+
 // Measurement macros
 #define ADC_V_L1				ADC_Value[ADC_IND_SENS1]
 #define ADC_V_L2				ADC_Value[ADC_IND_SENS2]
@@ -261,4 +320,9 @@
 #define HW_LIM_DUTY_MAX			0.0, 0.99
 #define HW_LIM_TEMP_FET			-40.0, 110.0
 
+// Functions
+#ifdef HW60_IS_MK3
+bool hw_sample_shutdown_button(void);
+#endif
+
 #endif /* HW_60_H_ */

hwconf/hw_hd.c

@@ -266,7 +266,7 @@ bool hw_sample_shutdown_button(void) {
 	bt_diff = 0.0;
 
 	for (int i = 0;i < 3;i++) {
-		palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
+		palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_INPUT_ANALOG);
 		chThdSleep(5);
 		float val1 = ADC_VOLTS(ADC_IND_SHUTDOWN);
 		chThdSleepMilliseconds(1);

hwconf/hw_hd.h

@@ -147,7 +147,7 @@
 #define HW_UART_RX_PORT			GPIOB
 #define HW_UART_RX_PIN			11
 
-// Permanent UART Peripheral (for NRF51)
+// Permanent UART Peripheral (for NRF52)
 #define HW_UART_P_BAUD			115200
 #define HW_UART_P_DEV			SD4
 #define HW_UART_P_GPIO_AF		GPIO_AF_UART4

mcuconf.h

@@ -275,7 +275,7 @@
 #define STM32_SERIAL_USE_USART2             FALSE
 #define STM32_SERIAL_USE_USART3             TRUE
 #define STM32_SERIAL_USE_UART4              TRUE
-#define STM32_SERIAL_USE_UART5              FALSE
+#define STM32_SERIAL_USE_UART5              TRUE
 #define STM32_SERIAL_USE_USART6             TRUE
 #define STM32_SERIAL_USART1_PRIORITY        3
 #define STM32_SERIAL_USART2_PRIORITY        3

shutdown.c

@@ -26,12 +26,17 @@
 bool volatile m_button_pressed = false;
 static volatile float m_inactivity_time = 0.0;
 static THD_WORKING_AREA(shutdown_thread_wa, 128);
+static mutex_t m_sample_mutex;
+static volatile bool m_init_done = false;
+static volatile bool m_sampling_disabled = false;
 
 // Private functions
 static THD_FUNCTION(shutdown_thread, arg);
 
 void shutdown_init(void) {
+	chMtxObjectInit(&m_sample_mutex);
 	chThdCreateStatic(shutdown_thread_wa, sizeof(shutdown_thread_wa), NORMALPRIO, shutdown_thread, NULL);
+	m_init_done = true;
 }
 
 void shutdown_reset_timer(void) {
@@ -46,6 +51,16 @@ float shutdown_get_inactivity_time(void) {
 	return m_inactivity_time;
 }
 
+void shutdown_set_sampling_disabled(bool disabled) {
+	if (!m_init_done) {
+		return;
+	}
+
+	chMtxLock(&m_sample_mutex);
+	m_sampling_disabled = disabled;
+	chMtxUnlock(&m_sample_mutex);
+}
+
 static THD_FUNCTION(shutdown_thread, arg) {
 	(void)arg;
 
@@ -59,12 +74,21 @@ static THD_FUNCTION(shutdown_thread, arg) {
 		float dt = (float)chVTTimeElapsedSinceX(last_iteration_time) / (float)CH_CFG_ST_FREQUENCY;
 		last_iteration_time = chVTGetSystemTimeX();
 
-		const app_configuration *conf = app_get_configuration();
+		chMtxLock(&m_sample_mutex);
+
+		if (m_sampling_disabled) {
+			chMtxUnlock(&m_sample_mutex);
+			chThdSleepMilliseconds(10);
+			continue;
+		}
 
 		bool sample = HW_SAMPLE_SHUTDOWN();
+		chMtxUnlock(&m_sample_mutex);
 		bool clicked = m_button_pressed && !sample;
 		m_button_pressed = sample;
 
+		const app_configuration *conf = app_get_configuration();
+
 		// Note: When the gates are enabled, the push to start function
 		// will prevent the regulator from shutting down. Therefore, the
 		// gate driver has to be disabled.