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Add Phoque1 and Phoque2 brushless driver variants
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‎variants/STM32G4xx/G431C(6-8-B)U_G441CBU/CMakeLists.txt‎

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@@ -23,6 +23,7 @@ add_library(variant_bin STATIC EXCLUDE_FROM_ALL
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PeripheralPins.c
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PeripheralPins_B_G431B_ESC1.c
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variant_B_G431B_ESC1.cpp
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variant_PHOQUE2.cpp
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variant_generic.cpp
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)
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target_link_libraries(variant_bin PUBLIC variant_usage)

‎variants/STM32G4xx/G431C(6-8-B)U_G441CBU/variant_PHOQUE2.cpp‎

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/*
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*******************************************************************************
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* Copyright (c) 2020, STMicroelectronics
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* All rights reserved.
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*
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* This software component is licensed by ST under BSD 3-Clause license,
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* the "License"; You may not use this file except in compliance with the
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* License. You may obtain a copy of the License at:
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* opensource.org/licenses/BSD-3-Clause
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*
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*******************************************************************************
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*/
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#if defined(ARDUINO_PHOQUE2)
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#include "pins_arduino.h"
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#include "pinmap.h"
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#include <stm32g4xx_hal.h>
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// Digital PinName array
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extern "C" const PinName digitalPin[] = {
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PA_0, // D0/A0
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PA_1, // D1/A1
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PA_2, // D2/A2
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PA_3, // D3/A3
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PA_4, // D4/A4
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PA_5, // D5/A5
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PA_6, // D6/A6
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PA_7, // D7/A7
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PA_8, // D8
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PA_9, // D9
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PA_10, // D10
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PA_11, // D11
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PA_12, // D12
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PA_13, // D13
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PA_14, // D14
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PA_15, // D15
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PB_0, // D16/A8
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PB_1, // D17/A9
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PB_2, // D18/A10
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PB_3, // D19
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PB_4, // D20
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PB_5, // D21
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PB_6, // D22
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PB_7, // D23
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PB_8, // D24
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PB_9, // D25
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PB_10, // D26
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PB_11, // D27/A11
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PB_12, // D28/A12
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PB_13, // D29
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PB_14, // D30/A13
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PB_15, // D31/A14
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PC_4, // D32/A15
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PC_6, // D33
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PC_10, // D34
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PC_11, // D35
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PC_13, // D36
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PC_14, // D37
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PC_15, // D38
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PF_0, // D39/A16
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PF_1, // D40/A17
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PG_10 // D41
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};
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// Analog (Ax) pin number array
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extern "C" const uint32_t analogInputPin[] = {
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0, // A0, PA0
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1, // A1, PA1
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2, // A2, PA2
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3, // A3, PA3
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4, // A4, PA4
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5, // A5, PA5
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6, // A6, PA6
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7, // A7, PA7
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16, // A8, PB0
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17, // A9, PB1
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18, // A10, PB2
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27, // A11, PB11
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28, // A12, PB12
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30, // A13, PB14
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31, // A14, PB15
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32, // A15, PC4
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39, // A16, PF0
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40 // A17, PF1
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};
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__weak void SystemClock_Config(void)
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{
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RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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/** Configure the main internal regulator output voltage
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*/
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HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
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/** Initializes the RCC Oscillators according to the specified parameters
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* in the RCC_OscInitTypeDef structure.
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*/
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RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI48|RCC_OSCILLATORTYPE_HSE;
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RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
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RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
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#if 0
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
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#else
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RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
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RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV2;
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#endif
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RCC_OscInitStruct.PLL.PLLN = 85;
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RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
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RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
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RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
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if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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{
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Error_Handler();
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}
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/** Initializes the CPU, AHB and APB buses clocks
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*/
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RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
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|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
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RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
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RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
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RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
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RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
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if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
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{
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Error_Handler();
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}
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#if 1
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RCC_PeriphCLKInitTypeDef PeriphClkInit;
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PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_FDCAN | RCC_PERIPHCLK_USB | RCC_PERIPHCLK_RNG | RCC_PERIPHCLK_LPUART1 | RCC_PERIPHCLK_I2C1;
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PeriphClkInit.Lpuart1ClockSelection = RCC_LPUART1CLKSOURCE_PCLK1;
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PeriphClkInit.FdcanClockSelection = RCC_FDCANCLKSOURCE_PLL; //CAN will run at 170MHz (PLLQ)
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PeriphClkInit.I2c1ClockSelection = RCC_I2C1CLKSOURCE_PCLK1; //I2C1 at 170MHz
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PeriphClkInit.UsbClockSelection = RCC_USBCLKSOURCE_HSI48;
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PeriphClkInit.RngClockSelection = RCC_RNGCLKSOURCE_HSI48;
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if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
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{
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Error_Handler();
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}
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//__HAL_RCC_RNG_CLK_ENABLE();
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#endif
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HAL_SYSCFG_EnableVREFBUF();
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}
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#endif /* ARDUINO_GENERIC_* */

‎variants/STM32G4xx/G431C(6-8-B)U_G441CBU/variant_PHOQUE2.h‎

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#pragma once
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/*----------------------------------------------------------------------------
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* STM32 pins number
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*----------------------------------------------------------------------------*/
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#define PA0 PIN_A0
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#define PA1 PIN_A1
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#define PA2 PIN_A2
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#define PA3 PIN_A3
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#define PA4 PIN_A4
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#define PA5 PIN_A5
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#define PA6 PIN_A6
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#define PA7 PIN_A7
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#define PA8 8
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#define PA9 9
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#define PA10 10
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#define PA11 11
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#define PA12 12
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#define PA13 13
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#define PA14 14
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#define PA15 15
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#define PB0 PIN_A8
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#define PB1 PIN_A9
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#define PB2 PIN_A10
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#define PB3 19
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#define PB4 20
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#define PB5 21
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#define PB6 22
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#define PB7 23
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#define PB8 24
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#define PB9 25
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#define PB10 26
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#define PB11 PIN_A11
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#define PB12 PIN_A12
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#define PB13 29
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#define PB14 PIN_A13
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#define PB15 PIN_A14
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#define PC4 PIN_A15
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#define PC6 33
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#define PC10 34
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#define PC11 35
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#define PC13 36
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#define PC14 37
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#define PC15 38
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#define PF0 PIN_A16
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#define PF1 PIN_A17
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#define PG10 41
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// Alternate pins number
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#define PA0_ALT1 (PA0 | ALT1)
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#define PA1_ALT1 (PA1 | ALT1)
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#define PA2_ALT1 (PA2 | ALT1)
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#define PA3_ALT1 (PA3 | ALT1)
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#define PA4_ALT1 (PA4 | ALT1)
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#define PA6_ALT1 (PA6 | ALT1)
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#define PA7_ALT1 (PA7 | ALT1)
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#define PA7_ALT2 (PA7 | ALT2)
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#define PA7_ALT3 (PA7 | ALT3)
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#define PA9_ALT1 (PA9 | ALT1)
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#define PA10_ALT1 (PA10 | ALT1)
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#define PA11_ALT1 (PA11 | ALT1)
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#define PA11_ALT2 (PA11 | ALT2)
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#define PA12_ALT1 (PA12 | ALT1)
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#define PA12_ALT2 (PA12 | ALT2)
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#define PA13_ALT1 (PA13 | ALT1)
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#define PA15_ALT1 (PA15 | ALT1)
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#define PB0_ALT1 (PB0 | ALT1)
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#define PB0_ALT2 (PB0 | ALT2)
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#define PB1_ALT1 (PB1 | ALT1)
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#define PB1_ALT2 (PB1 | ALT2)
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#define PB3_ALT1 (PB3 | ALT1)
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#define PB4_ALT1 (PB4 | ALT1)
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#define PB4_ALT2 (PB4 | ALT2)
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#define PB5_ALT1 (PB5 | ALT1)
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#define PB5_ALT2 (PB5 | ALT2)
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#define PB6_ALT1 (PB6 | ALT1)
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#define PB6_ALT2 (PB6 | ALT2)
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#define PB7_ALT1 (PB7 | ALT1)
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#define PB7_ALT2 (PB7 | ALT2)
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#define PB8_ALT1 (PB8 | ALT1)
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#define PB8_ALT2 (PB8 | ALT2)
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#define PB9_ALT1 (PB9 | ALT1)
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#define PB9_ALT2 (PB9 | ALT2)
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#define PB9_ALT3 (PB9 | ALT3)
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#define PB11_ALT1 (PB11 | ALT1)
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#define PB13_ALT1 (PB13 | ALT1)
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#define PB14_ALT1 (PB14 | ALT1)
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#define PB15_ALT1 (PB15 | ALT1)
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#define PB15_ALT2 (PB15 | ALT2)
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#define PC6_ALT1 (PC6 | ALT1)
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#define PC10_ALT1 (PC10 | ALT1)
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#define PC11_ALT1 (PC11 | ALT1)
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#define PC13_ALT1 (PC13 | ALT1)
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#define NUM_DIGITAL_PINS 42
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#define NUM_ANALOG_INPUTS 18
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/* Alias */
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#define A_PHASE_UL PB15
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#define A_PHASE_UH PA10
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#define A_PHASE_VL PB14
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#define A_PHASE_VH PA9
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#define A_PHASE_WL PB13
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#define A_PHASE_WH PA8
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#define PIN_SS_DRIVER PC14 //Gate driver chip select
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#define PIN_NFAULT PC15 //Gate driver fault pin
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#define A_VBUS PB0 //Pin to sense supply voltage, connected to COMP4
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#define BRAKE_RESISTOR PB1 //Brake resistor control, also connected to output of COMP4
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#define BRAKE_AF 3 //Alternate function 8
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#define BRAKE_DAC DAC3 //DAC3
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#define BRAKE_DAC_CHAN DAC_CHANNEL_2 //Channel 2
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#define BRAKE_COMP COMP4 //Comparator 4
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#define BRAKE_COMP_PLUS COMP_INPUT_PLUS_IO1
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#define BRAKE_COMP_MINUS COMP_INPUT_MINUS_DAC1_CH2
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#define VBUS_MUL_FACTOR 23 //Multiply the adc voltage read by this value to get the supply voltage
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//BEMF inputs are connected to comparators with a 10k resistor to phase, 1k to 3.3v and 1k to gnd, so it's offset slightly above ground
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#define A_CURRU PA2 //Current sense connected to phase U
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#define A_BEMFU PA0 //BEMF connected to comparator 3 for phase U
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#define A_CURRV PA7 //Current sense connected to phase V
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#define A_BEMFV PA1 //BEMF connected to comparator 4 for phase V
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#define A_CURRW PC4 //Current sense connected to phase W
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#define A_BEMFW PA3 //BEMF connected to comparator 1 for phase W
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#define A_POTENTIOMETER PB2
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#define A_TEMPERATURE PB12
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//Voltage divider based on CMFA104J4250HANT and 100k resistor
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#define NTC_B_CONSTANT 4250 //B = ln(R/R0)/(1/T-1/T0)
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#define NTC_T0 (273.15f+25)//Kelvin
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#ifndef NTC_DIVIDER_BALANCE
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#define NTC_DIVIDER_BALANCE (22.f/100.f) //R1 (value of the other resistance in the voltage divider) over R0 (resistance of NTC at T0)
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#endif
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#define CAN_RX PB8
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#define CAN_TX PB9
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#define CAN_PWR PC13 //Pin must be high to turn on CAN transceiver
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#define SWDIO PA13
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#define SWCLK PA14
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#define ENCODER_A PA6 //TIM3_CH1 @ J5
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#define ENCODER_B PA4 //TIM3_CH2 @ J5
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#define ENCODER_Z PB3 //TIM3_ETR @ J5
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// On-board LED pin number
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#ifndef LED_BUILTIN
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#define LED_BUILTIN PB6 //Drive low to turn on
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#endif
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//Magnetic angle sensor gets dedicated SPI
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#define PIN_MISO_MAG_ANGLE PC11 //SPI3_MISO
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#define PIN_CLK_MAG_ANGLE PC10 //SPI3_CLK
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#define PIN_SS_MAG_ANGLE PC6 //GPIO
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/**
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* Not actually connected to MOSI, but Arduino needs this since it doesn't expect RX-only SPI
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* Call pinmap_pinout(digitalPinToPinName(PIN_SPI_MOSI), PinMap_SPI_MOSI); to reset the pin to the other SPI if needed
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*/
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#define PIN_MOSI_MAG_ANGLE PB5_ALT1
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// SPI definitions
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#ifndef PIN_SPI_SS
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#define PIN_SPI_SS PNUM_NOT_DEFINED
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#endif
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#ifndef PIN_SPI_SS1
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#define PIN_SPI_SS1 PNUM_NOT_DEFINED
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#endif
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#ifndef PIN_SPI_SS2
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#define PIN_SPI_SS2 PNUM_NOT_DEFINED
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#endif
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#ifndef PIN_SPI_SS3
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#define PIN_SPI_SS3 PNUM_NOT_DEFINED
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#endif
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#ifndef PIN_SPI_MOSI
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#define PIN_SPI_MOSI PB5 //SPI1_MOSI @ J6
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#endif
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#ifndef PIN_SPI_MISO
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#define PIN_SPI_MISO PB4 //SPI1_MISO @ J6
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#endif
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#ifndef PIN_SPI_SCK
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#define PIN_SPI_SCK PA5 //SPI1_SCK @ J6
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#endif
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//Qwiic-standard I2C on J1
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// I2C definitions
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#ifndef PIN_WIRE_SDA
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#define PIN_WIRE_SDA PB7
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#endif
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#ifndef PIN_WIRE_SCL
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#define PIN_WIRE_SCL PA15
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#endif
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// Timer Definitions
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// Use TIM6/TIM7 when possible as servo and tone don't need GPIO output pin
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#ifndef TIMER_TONE
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#define TIMER_TONE TIM6
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#endif
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#ifndef TIMER_SERVO
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#define TIMER_SERVO TIM7
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#endif
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// UART Definitions
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#define SERIAL_UART_INSTANCE 0
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//LPUART1 on J7
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// Default pin used for 'Serial' instance (ex: ST-Link)
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// Mandatory for Firmata
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#ifndef PIN_SERIAL_RX
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#define PIN_SERIAL_RX PB10
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#endif
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#ifndef PIN_SERIAL_TX
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#define PIN_SERIAL_TX PB11
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#endif
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/* HAL configuration */
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#define HSE_VALUE (8000000UL)
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/* Extra HAL modules */
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#if !defined(HAL_DAC_MODULE_DISABLED)
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#define HAL_DAC_MODULE_ENABLED
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#endif
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#if !defined(HAL_FDCAN_MODULE_DISABLED)
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#define HAL_FDCAN_MODULE_ENABLED
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#endif

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