/* * **************************************************** * @file : flash.h * @brief : Flash Header * @author : sohee kim / Something by People * @data : 2023. 04. 27 * **************************************************** */ #ifndef __FLASH_H_ #define __FLASH_H_ #ifdef __cplusplus extern "C" { #endif #include "main.h" #include "WESPION.h" #include "WESPION_Def.h" ////////////////// Compiling Options //////////////////// ///////////////// COSTANT Declarations /////////////////// #define EEPROM __attribute__((section(".1st_Secter"))) const #define BACKUP __attribute__((section(".2nd_Secter"))) const //#define EEPROM __attribute__((section(".1st_Secter"))) //#define BACKUP __attribute__((section(".2nd_Secter"))) #define FLASH_ORIGIN_SECTOR FLASH_SECTOR_2 #define FLASH_BACKUP_SECTOR FLASH_SECTOR_3 #define SECTOR_SIZE 0x4000 //16KB #define FLASH_VALID_CODE 0x12345678 ///////////////// System Constants //////////////////// #define HW_MODEL 0x01 //RoomFit //#define HW_VER 3 //in main.h #define VER_MAJER 0x00 #define VER_MINER 0x09 #define VER_SUB 0x00 // #define VER_YEAR 2025 #define VER_MONTH 0x03 #define VER_DATE 0x13 // 19 #define MOTOR_PARA_POLE 10 // BS10510 //uint8_t //#define MOTOR_PARA_POLE 8 // JKONG //uint8_t #define MOTOR_PARA_Ld 0.0f #define MOTOR_PARA_Lq 0.0f #define MOTOR_PARA_Rs 0.0f #define MOTOR_PARA_PhaiF (72.2f * 0.001f * MT_1_OVR_SQ3) // BS10510 //#define MOTOR_PARA_PhaiF (25.3f * 0.001f * MT_1_OVR_SQ3) // JKONG #define MOTOR_GAINCURD_Kp 1.0f #define MOTOR_GAINCURD_Ki 0.011f #define MOTOR_GAINCURD_Kaw (1.0f/MOTOR_GAINCURD_Kp) #define MOTOR_GAINCURQ_Kp 1.0f #define MOTOR_GAINCURQ_Ki 0.011f #define MOTOR_GAINCURQ_Kaw (1.0f/MOTOR_GAINCURQ_Kp) #define MOTOR_GAINSPD_Kp 0.0022f #define MOTOR_GAINSPD_Ki 0.00001f #define MOTOR_GAINSPD_Kaw (1.0f/MOTOR_GAINSPD_Kp) #define MOTOR_GAINFWEAK_Kp 2.0f #define MOTOR_GAINFWEAK_Ki 0.002f #define MOTOR_ANG_ENCPULSE (4096*4)// BS10510 - TLE5012B //uint16_t //#define MOTOR_ANG_ENCPULSE (1000*4)// JKONG //uint16_t #define MOTOR_ANG_ANGLESCALE (360.0f/(float)MOTOR_ANG_ENCPULSE) #define MOTOR_ANG_SPEEDSCALE (1000.0f*60.0f/MOTOR_ANG_ENCPULSE) // ENCORDER // BS10510 - check every re-assemble of sensor // PT4B-Sample - 25.02.29 #define MOTOR1_ANG_ANGLEELCOFFSET 183.0f // #define MOTOR2_ANG_ANGLEELCOFFSET 20.0f // // SPOEX#1 (white) //#define MOTOR1_ANG_ANGLEELCOFFSET 345.0f // 24.09.23 - Motor#6 //#define MOTOR2_ANG_ANGLEELCOFFSET 330.0f // 24.09.26 - Motor#7 // SPOEX#2 (black) - 24.02.21 //#define MOTOR1_ANG_ANGLEELCOFFSET 186.0f // 24.02.21 - Motor#2 //#define MOTOR2_ANG_ANGLEELCOFFSET 53.0f // 24.12.13 - Motor#3 // SPOEX#3 (naked) - 24.05.03 //#define MOTOR1_ANG_ANGLEELCOFFSET 180.0f // Motor#5 //#define MOTOR2_ANG_ANGLEELCOFFSET 120.0f // Motor#3 ?? // PT6KC - 24.06.08 //#define MOTOR1_ANG_ANGLEELCOFFSET 132.0f // MotorV3#1 //#define MOTOR2_ANG_ANGLEELCOFFSET 185.0f // MotorV3#1 on Inv2 //#define MOTOR2_ANG_ANGLEELCOFFSET 000.0f // MotorV3#2 // MR #define MOTOR_ANG_MR_MAX_SIN 0 //uint16_t #define MOTOR_ANG_MR_MAX_COS 0 //uint16_t #define MOTOR_ANG_MR_MIN_SIN 4095 //uint16_t #define MOTOR_ANG_MR_MIN_COS 4095 //uint16_t #define MOTOR_ANG_MR_MID_SIN 0 //uint16_t #define MOTOR_ANG_MR_MID_COS 0 //uint16_t #define MOTOR_ANG_MR_GAIN_SIN 1.0f #define MOTOR_ANG_MR_GAIN_COS 1.0f #define INV_PARA_HWADCSCALE (3.3f/4095.0f) #define INV_PARA_HWVDCSCALE (1.0f/(30.0f+1.0f)) #define INV_PARA_HWISCALE (0.002f*15.0f/1.0f) #if defined(TIM_8KHZ) #define INV_PARA_TSAMP (1.0f/8000.0f) #elif defined(TIM_10KHZ) #define INV_PARA_TSAMP (1.0f/10000.0f) #elif defined(TIM_16KHZ) #define INV_PARA_TSAMP (1.0f/16000.0f) #elif defined(TIM_20KHZ) #define INV_PARA_TSAMP (1.0f/20000.0f) #else #define INV_PARA_TSAMP (1.0f/10000.0f) #endif #define INV_PARA_PWM_MAX TIM_PERIOD #define INV_PARA_PWM_MID ((TIM_PERIOD+1)>>1) #define INV_PARA_VDCMARGIN 0.90f // original 0.90f (HSW 24.02.21) #define LPFVDC_FC 1000.0f #define LPFVDC_FS (1.0f/INV_PARA_TSAMP) #define LPFCUR_FC 10.0f #define LPFCUR_FS (1.0f/INV_PARA_TSAMP) #define LPFSPD_FC 100.0f #define LPFSPD_FS 1000.0f #define ERRREF_ISENSOROPEN 3908.0f #define ERRREF_ISENSORSHORT 186.0f #define ERRREF_OVERCURRENT 35.0f // original 30.0 (HSW 24.02.21) #define ERRREF_OVERSPEED 8000.0f // original 4000 (HSW 24.02.21) #define ERRREF_OVERVOLTAGE 70.0 #define ERRREF_UNDERVOLTAGE 30.0 #define ERRREF_ISENSOROFFSETMAX (2048.0f+50.0f) #define ERRREF_ISENSOROFFSETMIN (2048.0f-50.0f) #define INV_CTRL_VDCLIMFWEAK 49.0f #define INV_CTRL_ILIMFWEAK (ERRREF_OVERCURRENT*0.8f) #define MOTOR_ANG_RPMLIM (ERRREF_OVERSPEED*0.8f) #define MOTOR_ANG_SPDCTRLOUTLIM (ERRREF_OVERCURRENT*0.8f) #define MACHINE_SENSOR_GEAR_RATIO 3.0f #define MACHINE_SPOOL_DIAMETER 60.0f // [mm] #define MACHINE_MAX_WEIGHT 30.0f // [kg]인데 현재는 A, 테스트 안전을 위해 막아둠 #define MACHINE_CABLE_MAX_LENGTH 2650 // [mm] #define MACHINE_SCALE_WEIGHT2CURRENT 0.5f // [kg/A] -> C샘플, BS-105-10 기준 약 2 #define MACHINE_SOFT_WINDING_HEIGHT 20 // [mm] #define MACHINE_DEFAULT_WEIGHT 1.0 // [A] #define MACHINE_FRICTION_WEIGHT 0.45 // [A] #define MACHINE_FRICTION_SPEED_PLUS (-20.0f) #define MACHINE_FRICTION_SPEED_MINUS 90.0f ///////////////// Structure Declarations /////////////////// typedef struct { uint8_t model[2]; //0x0000 uint8_t VerMajer; uint8_t VerMiner; uint16_t VerYear; //0x0004 uint8_t VerMonth; uint8_t VerDate; uint8_t Motor_Para_Pole; //0x0008 uint8_t VerSub; ///somebp 2024.02.07 uint16_t Motor_Ang_EncPulse; float Motor_Para_Ld; //0x000C float Motor_Para_Lq; //0x0010 float Motor_Para_Rs; //0x0014 float Motor_Para_Phaif; //0x0018 float Motor_GainCurD_Kp; //0x001C float Motor_GainCurD_Ki; //0x0020 float Motor_GainCurD_Kaw; //0x0024 float Motor_GainCurQ_Kp; //0x0028 float Motor_GainCurQ_Ki; //0x002C float Motor_GainCurQ_Kaw; //0x0030 float Motor_GainSpd_Kp; //0x0034 float Motor_GainSpd_Ki; //0x0038 float Motor_Gainspd_Kaw; //0x003C float Motor_GainFweak_Kp; //0x0040 float Motor_GainFweak_Ki; //0x0044 float Motor_Ang_AngleScale; //0x0048 float Motor_Ang_SpeedScale; //0x004C float Motor1_Ang_AngleElecOffset; //0x0050 float Motor2_Ang_AngleElecOffset; //0x0054 uint16_t Motor_Ang_MR_Max_Sin; //0x0058 uint16_t Motor_Ang_MR_Max_Cos; uint16_t Motor_Ang_MR_Min_Sin; //0x005C uint16_t Motor_Ang_MR_Min_Cos; uint16_t Motor_Ang_MR_Mid_Sin; //0x0060 uint16_t Motor_Ang_MR_Mid_Cos; float Motor_Ang_MR_Gain_Sin; //0x0064 float Motor_Ang_MR_Gain_Cos; //0x0068 float Inv_Para_HwAdcScale; //0x006C float Inv_Para_HwVdcScale; //0x0070 float Inv_Para_HwiScale; //0x0074 float Inv_Para_Tsamp; //0x0078 float Inv_Para_PWM_Max; //0x007C float Inv_Para_PWM_Mid; //0x0080 float Inv_Para_VdcMargin; //0x0084 float LPFVdc_fc; //0x0088 float LPFVdc_fs; //0x008C float LPFCur_fc; //0x0090 float LPFCur_fs; //0x0094 float LPFSpd_fc; //0x0098 float LPFSpd_fs; //0x009C float ErrRef_IsensorOpen; //0x00A0 float ErrRef_IsensorShort; //0x00A4 float ErrRef_OverCurrent; //0x00A8 float ErrRef_OverSpeed; //0x00AC float ErrRef_OverVoltage; //0x00B0 float ErrRef_UnderVoltage; //0x00B4 float ErrRef_IsensorOffsetMax; //0x00B8 float ErrRef_IsensorOffsetMin; //0x00BC float Inv_Ctrl_VdcLimFweak; //0x00C0 float Inv_Ctrl_IlimFweak; //0x00C4 float Motor_Ang_RpmLim; //0x00C8 float Motor_Ang_SpdCtrlOutLim; //0x00CC float Machine_SensorGearRatio; //0x00D0 float Machine_SpoolDiameter; //0x00D4 float Machine_MaxWeight; //0x00D8 float Machine_CableMaxLength; //0x00DC float Machine_Scale_Weight2Current; //0x00E0 float Machine_SoftWindingHeight; //0x00E4 float Machine_DefaultWeight; //0x00E8 float Machine_FrictionWeight; //0x00EC float Machine_FrictionSpeedPlus; //0x00F0 float Machine_FrictionSpeedMinus; //0x00F4 uint32_t check; //FLASH_VALID_CODE //0x00F8 } Data_Form_RAM; typedef struct { uint8_t model[2]; //0x0000 uint8_t VerMajer; uint8_t VerMiner; uint16_t VerYear; //0x0004 uint8_t VerMonth; uint8_t VerDate; uint8_t Motor_Para_Pole; //0x0008 uint8_t VerSub; ///somebp 2024.02.07 uint16_t Motor_Ang_EncPulse; float Motor_Para_Ld; //0x000C float Motor_Para_Lq; //0x0010 float Motor_Para_Rs; //0x0014 float Motor_Para_Phaif; //0x0018 float Motor_GainCurD_Kp; //0x001C float Motor_GainCurD_Ki; //0x0020 float Motor_GainCurD_Kaw; //0x0024 float Motor_GainCurQ_Kp; //0x0028 float Motor_GainCurQ_Ki; //0x002C float Motor_GainCurQ_Kaw; //0x0030 float Motor_GainSpd_Kp; //0x0034 float Motor_GainSpd_Ki; //0x0038 float Motor_Gainspd_Kaw; //0x003C float Motor_GainFweak_Kp; //0x0040 float Motor_GainFweak_Ki; //0x0044 float Motor_Ang_AngleScale; //0x0048 float Motor_Ang_SpeedScale; //0x004C float Motor1_Ang_AngleElecOffset; //0x0050 float Motor2_Ang_AngleElecOffset; //0x0054 uint16_t Motor_Ang_MR_Max_Sin; //0x0058 uint16_t Motor_Ang_MR_Max_Cos; uint16_t Motor_Ang_MR_Min_Sin; //0x005C uint16_t Motor_Ang_MR_Min_Cos; uint16_t Motor_Ang_MR_Mid_Sin; //0x0060 uint16_t Motor_Ang_MR_Mid_Cos; float Motor_Ang_MR_Gain_Sin; //0x0064 float Motor_Ang_MR_Gain_Cos; //0x0068 float Inv_Para_HwAdcScale; //0x006C float Inv_Para_HwVdcScale; //0x0070 float Inv_Para_HwiScale; //0x0074 float Inv_Para_Tsamp; //0x0078 float Inv_Para_PWM_Max; //0x007C float Inv_Para_PWM_Mid; //0x0080 float Inv_Para_VdcMargin; //0x0084 float LPFVdc_fc; //0x0088 float LPFVdc_fs; //0x008C float LPFCur_fc; //0x0090 float LPFCur_fs; //0x0094 float LPFSpd_fc; //0x0098 float LPFSpd_fs; //0x009C float ErrRef_IsensorOpen; //0x00A0 float ErrRef_IsensorShort; //0x00A4 float ErrRef_OverCurrent; //0x00A8 float ErrRef_OverSpeed; //0x00AC float ErrRef_OverVoltage; //0x00B0 float ErrRef_UnderVoltage; //0x00B4 float ErrRef_IsensorOffsetMax; //0x00B8 float ErrRef_IsensorOffsetMin; //0x00BC float Inv_Ctrl_VdcLimFweak; //0x00C0 float Inv_Ctrl_IlimFweak; //0x00C4 float Motor_Ang_RpmLim; //0x00C8 float Motor_Ang_SpdCtrlOutLim; //0x00CC float Machine_SensorGearRatio; //0x00D0 float Machine_SpoolDiameter; //0x00D4 float Machine_MaxWeight; //0x00D8 float Machine_CableMaxLength; //0x00DC float Machine_Scale_Weight2Current; //0x00E0 float Machine_SoftWindingHeight; //0x00E4 float Machine_DefaultWeight; //0x00E8 float Machine_FrictionWeight; //0x00EC float Machine_FrictionSpeedPlus; //0x00F0 float Machine_FrictionSpeedMinus; //0x00F4 uint32_t check; //FLASH_VALID_CODE //0x00F8 uint8_t unused[SECTOR_SIZE-sizeof(Data_Form_RAM)]; } Data_Form; //////////////// Public Variables /////////////////// extern EEPROM Data_Form Origin_Data; //EEPROM Area in Flash(1st Sector : 0x08008000) extern BACKUP Data_Form Backup_Data; //BACKUP Area in Flash(2nd Sector : 0x0800C000) extern const Data_Form_RAM Defualt_RAM_Data; //Constants in Flash(Program Code) extern Data_Form_RAM RAM_Data; //Buffer Area in RAM for Protocol /////////////// Public Functions ////////////////// #define EEPROM_Save() Flash_Write(FLASH_ORIGIN_SECTOR) void Flash_Init(void); //Backup or Restore on Startup HAL_StatusTypeDef Flash_Write(uint8_t sector); //Save Flash #ifdef __cplusplus } #endif #endif /* __FLASH_H_ */