Support pin swap (only PWM channels) in sine firmware also

include/param_prj.h

@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 5.32.R
+#define VER 5.33.R
 
 /* Entries should be ordered as follows:
    1. Saveable parameters
@@ -71,10 +71,10 @@
     PARAM_ENTRY(CAT_INVERTER,udcgain,     "dig/V",   0,      4095,   6.175,  29  ) \
     PARAM_ENTRY(CAT_INVERTER,udcofs,      "dig",     0,      4095,   0,      77  ) \
     PARAM_ENTRY(CAT_INVERTER,udclim,      "V",       0,      1000,   540,    48  ) \
-    PARAM_ENTRY(CAT_INVERTER,snshs,       SNS_HS,    0,      7,      0,      45  )
+    PARAM_ENTRY(CAT_INVERTER,snshs,       SNS_HS,    0,      7,      0,      45  ) \
+    PARAM_ENTRY(CAT_INVERTER,pinswap,     SWAPS,     0,      15,     0,      109 ) \
 
 #define INVERTER_PARAMETERS_FOC \
-    PARAM_ENTRY(CAT_INVERTER,pinswap,     SWAPS,     0,      15,     0,      109 ) \
     PARAM_ENTRY(CAT_INVERTER,modmax,      "dig",     37000,  45000,  37836,  148 )
 
 #define DERATE_PARAMETERS_COMMON \

include/pwmgeneration.h

@@ -20,6 +20,7 @@
 #define PWMGENERATION_H
 
 #include <stdint.h>
+#include <libopencm3/stm32/timer.h>
 #include "my_fp.h"
 #include "anain.h"
 
@@ -74,6 +75,7 @@ class PwmGeneration
       static int opmode;
       static s32fp ilofs[2];
       static int polePairRatio;
+      static tim_oc_id ocChannels[3];
 };
 
 #endif // PWMGENERATION_H

include/throttle.h

@@ -25,7 +25,7 @@
 class Throttle
 {
    public:
-      static bool CheckAndLimitRange(int* potval, int potIdx);
+      static bool CheckAndLimitRange(int* potval, uint8_t potIdx);
       static float DigitsToPercent(int potval, int potidx);
       static float CalcThrottle(float potval, float pot2val, bool brkpedal, float rotorHz);
       static float CalcThrottleBiDir(float potval, bool brkpedal);

src/pwmgeneration-foc.cpp

@@ -44,7 +44,6 @@ static const s32fp dcCurFac = FP_FROMFLT(0.81649658092772603273 * 1.05); //sqrt(
 static const int32_t fwOutMax = 1024;
 static const uint32_t shiftForFilter = 8;
 static s32fp idMtpa = 0, iqMtpa = 0;
-static tim_oc_id ocChannels[3];
 static PiController qController;
 static PiController dController;
 static s32fp fwCurMax = 0;
@@ -186,25 +185,6 @@ void PwmGeneration::PwmInit()
    dController.SetCallingFrequency(pwmfrq);
    dController.SetMinMaxY(-maxVd, maxVd);
 
-   if ((Param::GetInt(Param::pinswap) & SWAP_PWM13) > 0)
-   {
-      ocChannels[0] = TIM_OC3;
-      ocChannels[1] = TIM_OC2;
-      ocChannels[2] = TIM_OC1;
-   }
-   else if ((Param::GetInt(Param::pinswap) & SWAP_PWM23) > 0)
-   {
-      ocChannels[0] = TIM_OC1;
-      ocChannels[1] = TIM_OC3;
-      ocChannels[2] = TIM_OC2;
-   }
-   else
-   {
-      ocChannels[0] = TIM_OC1;
-      ocChannels[1] = TIM_OC2;
-      ocChannels[2] = TIM_OC3;
-   }
-
    if (opmode == MOD_ACHEAT)
       AcHeatTimerSetup();
 }

src/pwmgeneration-sine.cpp

@@ -68,9 +68,10 @@ void PwmGeneration::Run()
       }
 
       /* Match to PWM resolution */
-      timer_set_oc_value(PWM_TIMER, TIM_OC1, SineCore::DutyCycles[0] >> shiftForTimer);
-      timer_set_oc_value(PWM_TIMER, TIM_OC2, SineCore::DutyCycles[1] >> shiftForTimer);
-      timer_set_oc_value(PWM_TIMER, TIM_OC3, SineCore::DutyCycles[2] >> shiftForTimer);
+      for (int i = 0; i < 3; i++)
+      {
+         timer_set_oc_value(PWM_TIMER, ocChannels[i], SineCore::DutyCycles[i] >> shiftForTimer);
+      }
    }
    else if (opmode == MOD_BOOST || opmode == MOD_BUCK)
    {

src/pwmgeneration.cpp

@@ -36,17 +36,18 @@
 #define DIGIT_TO_DEGREE(a) FP_FROMINT(angle) / (65536 / 360)
 #define FRQ_DIVIDER 8192 //PWM ISR callback frequency divider
 
-uint16_t PwmGeneration::pwmfrq = 1;
-uint16_t PwmGeneration::angle;
-s32fp    PwmGeneration::ampnom;
-s32fp    PwmGeneration::fslip;
-s32fp    PwmGeneration::frq;
-s32fp    PwmGeneration::frqFiltered;
-uint8_t  PwmGeneration::shiftForTimer;
-int      PwmGeneration::opmode;
-s32fp    PwmGeneration::ilofs[2];
-int      PwmGeneration::polePairRatio;
-int16_t  PwmGeneration::slipIncr;
+uint16_t  PwmGeneration::pwmfrq = 1;
+uint16_t  PwmGeneration::angle;
+s32fp     PwmGeneration::ampnom;
+s32fp     PwmGeneration::fslip;
+s32fp     PwmGeneration::frq;
+s32fp     PwmGeneration::frqFiltered;
+uint8_t   PwmGeneration::shiftForTimer;
+int       PwmGeneration::opmode;
+s32fp     PwmGeneration::ilofs[2];
+int       PwmGeneration::polePairRatio;
+int16_t   PwmGeneration::slipIncr;
+tim_oc_id PwmGeneration::ocChannels[3];
 
 static int      execTicks;
 static bool     tripped;
@@ -370,6 +371,25 @@ uint16_t PwmGeneration::TimerSetup(uint16_t deadtime, bool activeLow)
    const uint16_t pwmmax = 1U << pwmdigits;
    const uint8_t outputMode = activeLow ? GPIO_CNF_OUTPUT_ALTFN_OPENDRAIN : GPIO_CNF_OUTPUT_ALTFN_PUSHPULL;
 
+   if ((Param::GetInt(Param::pinswap) & SWAP_PWM13) > 0)
+   {
+      ocChannels[0] = TIM_OC3;
+      ocChannels[1] = TIM_OC2;
+      ocChannels[2] = TIM_OC1;
+   }
+   else if ((Param::GetInt(Param::pinswap) & SWAP_PWM23) > 0)
+   {
+      ocChannels[0] = TIM_OC1;
+      ocChannels[1] = TIM_OC3;
+      ocChannels[2] = TIM_OC2;
+   }
+   else
+   {
+      ocChannels[0] = TIM_OC1;
+      ocChannels[1] = TIM_OC2;
+      ocChannels[2] = TIM_OC3;
+   }
+
    //Disable output in active low mode before resetting timer, otherwise shoot through will occur!
    if (activeLow)
    {

src/throttle.cpp

@@ -55,7 +55,7 @@ int Throttle::accelflt;
 float Throttle::maxregentravelhz;
 float Throttle::regenrampstr;
 
-bool Throttle::CheckAndLimitRange(int* potval, int potIdx)
+bool Throttle::CheckAndLimitRange(int* potval, uint8_t potIdx)
 {
    int potMin = potmax[potIdx] > potmin[potIdx] ? potmin[potIdx] : potmax[potIdx];
    int potMax = potmax[potIdx] > potmin[potIdx] ? potmax[potIdx] : potmin[potIdx];
@@ -87,10 +87,10 @@ float Throttle::DigitsToPercent(int potval, int potidx)
 
 
 /**
- * Calculate throttle and regen. 
+ * Calculate throttle and regen.
  * - Increase regentravel when lifting accelerator using historical pedal values.
  * - Decrease regentravel when speed goes below regenrampstr.
- * 
+ *
  * Parameters:
  * potnom = accelerator pedal pressed percentage
  * pot2nom = optional potentiometer for adjusting regen braking
@@ -134,7 +134,7 @@ float Throttle::CalcThrottle(float potnom, float pot2nom, bool brkpedal, float r
    }
 
    // increase currentRegenTravel when lifting accelerator
-   if (currentRegentravel < speedBasedRegenTravel) // if currentregentravel is smaller than speedBaseRegenTravel 
+   if (currentRegentravel < speedBasedRegenTravel) // if currentregentravel is smaller than speedBaseRegenTravel
    {
       // current pedal position delta compared against average of last 200ms
       float acceleratorDelta = potnom - potnomSums / history;