diff --git a/conf_general.c b/conf_general.c
index 9db234e6e9..87c717308a 100644
--- a/conf_general.c
+++ b/conf_general.c
@@ -1262,7 +1262,7 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
* Send motor configuration if the detection succeeds.
*
* @result
- * 2: AS5147 detected successfully
+ * 2: AS5047 detected successfully
* 1: Hall sensors detected successfully
* 0: No sensors detected and sensorless mode applied successfully
* -1: Detection failed
diff --git a/hwconf/Autoro/410/hw_aesc_410_pro.c b/hwconf/Autoro/410/hw_aesc_410_pro.c
new file mode 100644
index 0000000000..2637fa89f7
--- /dev/null
+++ b/hwconf/Autoro/410/hw_aesc_410_pro.c
@@ -0,0 +1,224 @@
+/*
+ Copyright 2015 Benjamin Vedder benjamin@vedder.se
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#include "hw.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+
+// Variables
+static volatile bool i2c_running = false;
+
+// I2C configuration
+static const I2CConfig i2cfg = {
+ OPMODE_I2C,
+ 100000,
+ STD_DUTY_CYCLE
+};
+
+void hw_init_gpio(void) {
+ // GPIO clock enable
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+
+ // LEDs
+ palSetPadMode(GPIOC, 4,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ palSetPadMode(GPIOC, 5,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // GPIOC (ENABLE_GATE)
+ palSetPadMode(GPIOC, 10,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ DISABLE_GATE();
+
+ // GPIOB (DCCAL)
+ palSetPadMode(GPIOB, 12,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
+ palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ // Hall sensors
+ palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
+
+ // Fault pin
+ palSetPadMode(GPIOC, 12, PAL_MODE_INPUT_PULLUP);
+
+ // ADC Pins
+ palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 4, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
+
+ palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
+
+ palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
+}
+
+void hw_setup_adc_channels(void) {
+ // ADC1 regular channels
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_4, 4, ADC_SampleTime_15Cycles);
+
+ // ADC2 regular channels
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_5, 4, ADC_SampleTime_15Cycles);
+
+ // ADC3 regular channels
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 2, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 4, ADC_SampleTime_15Cycles);
+
+ // Injected channels
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_9, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_8, 2, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_8, 1, ADC_SampleTime_15Cycles);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_9, 2, ADC_SampleTime_15Cycles);
+}
+
+void hw_start_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (!i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+ i2c_running = true;
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+void hw_stop_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
+
+ i2cStop(&HW_I2C_DEV);
+ i2c_running = false;
+
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+/**
+ * Try to restore the i2c bus
+ */
+void hw_try_restore_i2c(void) {
+ if (i2c_running) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ chThdSleep(1);
+
+ for(int i = 0;i < 16;i++) {
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ }
+
+ // Generate start then stop condition
+ palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+ chThdSleep(1);
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ HW_I2C_DEV.state = I2C_STOP;
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+
+ i2cReleaseBus(&HW_I2C_DEV);
+ }
+}
diff --git a/hwconf/Autoro/410/hw_aesc_410_pro.h b/hwconf/Autoro/410/hw_aesc_410_pro.h
new file mode 100644
index 0000000000..a53e5454df
--- /dev/null
+++ b/hwconf/Autoro/410/hw_aesc_410_pro.h
@@ -0,0 +1,186 @@
+/*
+ Copyright 2015 Benjamin Vedder benjamin@vedder.se
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#ifndef HW_AESC_410_PRO_H_
+#define HW_AESC_410_PRO_H_
+
+#define HW_NAME "AESC_410_Pro"
+#define HW_MAJOR 4
+#define HW_MINOR 10
+
+// Macros
+#define ENABLE_GATE() palSetPad(GPIOC, 10)
+#define DISABLE_GATE() palClearPad(GPIOC, 10)
+#define DCCAL_ON() palSetPad(GPIOB, 12)
+#define DCCAL_OFF() palClearPad(GPIOB, 12)
+#define IS_DRV_FAULT() (!palReadPad(GPIOC, 12))
+
+#define LED_GREEN_ON() palSetPad(GPIOC, 4)
+#define LED_GREEN_OFF() palClearPad(GPIOC, 4)
+#define LED_RED_ON() palSetPad(GPIOC, 5)
+#define LED_RED_OFF() palClearPad(GPIOC, 5)
+
+/*
+ * ADC Vector
+ *
+ * 0: IN0 SENS3
+ * 1: IN1 SENS2
+ * 2: IN2 SENS1
+ * 3: IN8 CURR2
+ * 4: IN9 CURR1
+ * 5: IN3 TEMP_MOSFET
+ * 6: Vrefint
+ * 7: IN6 ADC_EXT2
+ * 8: IN12 AN_IN
+ * 9: IN4 TX_SDA_NSS
+ * 10: IN5 ADC_EXT
+ * 11: IN3 TEMP_MOTOR
+ */
+
+#define HW_ADC_CHANNELS 12
+#define HW_ADC_INJ_CHANNELS 2
+#define HW_ADC_NBR_CONV 4
+
+// ADC Indexes
+#define ADC_IND_SENS1 2
+#define ADC_IND_SENS2 1
+#define ADC_IND_SENS3 0
+#define ADC_IND_CURR1 4
+#define ADC_IND_CURR2 3
+#define ADC_IND_VIN_SENS 8
+#define ADC_IND_EXT 10
+#define ADC_IND_EXT2 7
+#define ADC_IND_TEMP_MOS 5
+#define ADC_IND_TEMP_MOTOR 11
+#define ADC_IND_VREFINT 6
+
+// Component parameters (can be overridden)
+#ifndef V_REG
+#define V_REG 3.3
+#endif
+#ifndef VIN_R1
+#define VIN_R1 39000.0
+#endif
+#ifndef VIN_R2
+#define VIN_R2 2200.0
+#endif
+#ifndef CURRENT_AMP_GAIN
+#define CURRENT_AMP_GAIN 10.0
+#endif
+#ifndef CURRENT_SHUNT_RES
+#define CURRENT_SHUNT_RES 0.001
+#endif
+
+// Input voltage
+#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
+
+// Voltage on ADC channel
+#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4095.0 * V_REG)
+
+// NTC Termistors
+#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
+#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3434.0) + (1.0 / 298.15)) - 273.15)
+
+#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
+#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
+
+// Double samples in beginning and end for positive current measurement.
+// Useful when the shunt sense traces have noise that causes offset.
+#ifndef CURR1_DOUBLE_SAMPLE
+#define CURR1_DOUBLE_SAMPLE 0
+#endif
+#ifndef CURR2_DOUBLE_SAMPLE
+#define CURR2_DOUBLE_SAMPLE 0
+#endif
+
+// UART Peripheral
+#define HW_UART_DEV SD6
+#define HW_UART_GPIO_AF GPIO_AF_USART6
+#define HW_UART_TX_PORT GPIOC
+#define HW_UART_TX_PIN 6
+#define HW_UART_RX_PORT GPIOC
+#define HW_UART_RX_PIN 7
+
+// ICU Peripheral for servo decoding
+#define HW_ICU_TIMER TIM3
+#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
+#define HW_ICU_DEV ICUD3
+#define HW_ICU_CHANNEL ICU_CHANNEL_2
+#define HW_ICU_GPIO_AF GPIO_AF_TIM3
+#define HW_ICU_GPIO GPIOB
+#define HW_ICU_PIN 5
+
+// I2C Peripheral
+#define HW_I2C_DEV I2CD2
+#define HW_I2C_GPIO_AF GPIO_AF_I2C2
+#define HW_I2C_SCL_PORT GPIOB
+#define HW_I2C_SCL_PIN 10
+#define HW_I2C_SDA_PORT GPIOB
+#define HW_I2C_SDA_PIN 11
+
+// Hall/encoder pins
+#define HW_HALL_ENC_GPIO1 GPIOB
+#define HW_HALL_ENC_PIN1 6
+#define HW_HALL_ENC_GPIO2 GPIOB
+#define HW_HALL_ENC_PIN2 7
+#define HW_HALL_ENC_GPIO3 GPIOC
+#define HW_HALL_ENC_PIN3 11
+#define HW_ENC_TIM TIM4
+#define HW_ENC_TIM_AF GPIO_AF_TIM4
+#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
+#define HW_ENC_EXTI_PINSRC EXTI_PinSource11
+#define HW_ENC_EXTI_CH EXTI15_10_IRQn
+#define HW_ENC_EXTI_LINE EXTI_Line11
+#define HW_ENC_EXTI_ISR_VEC EXTI15_10_IRQHandler
+#define HW_ENC_TIM_ISR_CH TIM4_IRQn
+#define HW_ENC_TIM_ISR_VEC TIM4_IRQHandler
+
+// SPI pins
+#define HW_SPI_DEV SPID1
+#define HW_SPI_GPIO_AF GPIO_AF_SPI1
+#define HW_SPI_PORT_NSS GPIOA
+#define HW_SPI_PIN_NSS 4
+#define HW_SPI_PORT_SCK GPIOA
+#define HW_SPI_PIN_SCK 5
+#define HW_SPI_PORT_MOSI GPIOA
+#define HW_SPI_PIN_MOSI 7
+#define HW_SPI_PORT_MISO GPIOA
+#define HW_SPI_PIN_MISO 6
+
+// Measurement macros
+#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
+#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
+#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
+#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
+
+// Macros
+#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
+#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
+#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
+
+// Setting limits
+#define HW_LIM_CURRENT -100.0, 100.0
+#define HW_LIM_CURRENT_IN -100.0, 100.0
+#define HW_LIM_CURRENT_ABS 0.0, 200.0
+#define HW_LIM_VIN 6.0, 57.0
+#define HW_LIM_ERPM -200e3, 200e3
+#define HW_LIM_DUTY_MIN 0.0, 0.1
+#define HW_LIM_DUTY_MAX 0.0, 0.95
+#define HW_LIM_TEMP_FET -40.0, 110.0
+
+#endif /* HW_AESC_410_PRO_H_ */
diff --git a/hwconf/Autoro/60/hw_aesc_60_core.c b/hwconf/Autoro/60/hw_aesc_60_core.c
new file mode 100644
index 0000000000..f3a2c3da38
--- /dev/null
+++ b/hwconf/Autoro/60/hw_aesc_60_core.c
@@ -0,0 +1,259 @@
+/*
+ Copyright 2012-2022 Benjamin Vedder benjamin@vedder.se
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#include "hw.h"
+
+#include "ch.h"
+#include "hal.h"
+#include "stm32f4xx_conf.h"
+#include "utils_math.h"
+#include "drv8301.h"
+#include "terminal.h"
+#include "commands.h"
+#include "mc_interface.h"
+
+// Variables
+static volatile bool i2c_running = false;
+
+// I2C configuration
+static const I2CConfig i2cfg = {
+ OPMODE_I2C,
+ 100000,
+ STD_DUTY_CYCLE
+};
+
+void hw_init_gpio(void) {
+
+ // GPIO clock enable
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
+ RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
+
+ // LEDs
+ palSetPadMode(GPIOB, 0,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ palSetPadMode(GPIOB, 1,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ // ENABLE_GATE
+ palSetPadMode(GPIOB, 5,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ ENABLE_GATE();
+
+ // Current filter
+ palSetPadMode(GPIOD, 2,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+
+ CURRENT_FILTER_OFF();
+
+ // GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
+ palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+ palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) |
+ PAL_STM32_OSPEED_HIGHEST |
+ PAL_STM32_PUDR_FLOATING);
+
+ // Hall sensors
+ palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
+ palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
+
+ // Phase filters
+#ifdef PHASE_FILTER_GPIO
+ palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN,
+ PAL_MODE_OUTPUT_PUSHPULL |
+ PAL_STM32_OSPEED_HIGHEST);
+ PHASE_FILTER_OFF();
+#endif
+
+ // Fault pin
+ palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP);
+
+ // ADC Pins
+ palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG);
+
+ palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
+ palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
+
+ drv8301_init();
+}
+
+void hw_setup_adc_channels(void) {
+ uint8_t t_samp = ADC_SampleTime_15Cycles;
+
+ // ADC1 regular channels
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 1, t_samp);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 2, t_samp);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, t_samp);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, t_samp);
+ ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, t_samp);
+
+ // ADC2 regular channels
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 1, t_samp);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 2, t_samp);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, t_samp);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, t_samp);
+ ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, t_samp);
+
+ // ADC3 regular channels
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 1, t_samp);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 2, t_samp);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, t_samp);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, t_samp);
+ ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, t_samp);
+
+ // Current oversampling
+// for (int i = 6;i <= 15;i++) {
+// ADC_RegularChannelConfig(ADC1, ADC_Channel_10, i, ADC_SampleTime_56Cycles);
+// ADC_RegularChannelConfig(ADC2, ADC_Channel_11, i, ADC_SampleTime_56Cycles);
+// ADC_RegularChannelConfig(ADC3, ADC_Channel_12, i, ADC_SampleTime_56Cycles);
+// }
+
+ // Injected channels
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, t_samp);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, t_samp);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, t_samp);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, t_samp);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, t_samp);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, t_samp);
+ ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, t_samp);
+ ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, t_samp);
+ ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, t_samp);
+}
+
+void hw_start_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (!i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+ i2c_running = true;
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+void hw_stop_i2c(void) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ if (i2c_running) {
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
+
+ i2cStop(&HW_I2C_DEV);
+ i2c_running = false;
+
+ }
+
+ i2cReleaseBus(&HW_I2C_DEV);
+}
+
+/**
+ * Try to restore the i2c bus
+ */
+void hw_try_restore_i2c(void) {
+ if (i2c_running) {
+ i2cAcquireBus(&HW_I2C_DEV);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ chThdSleep(1);
+
+ for(int i = 0;i < 16;i++) {
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ }
+
+ // Generate start then stop condition
+ palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+ chThdSleep(1);
+ palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
+ chThdSleep(1);
+ palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
+
+ palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
+ PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
+ PAL_STM32_OTYPE_OPENDRAIN |
+ PAL_STM32_OSPEED_MID1 |
+ PAL_STM32_PUDR_PULLUP);
+
+ HW_I2C_DEV.state = I2C_STOP;
+ i2cStart(&HW_I2C_DEV, &i2cfg);
+
+ i2cReleaseBus(&HW_I2C_DEV);
+ }
+}
+
diff --git a/hwconf/Autoro/60/hw_aesc_60_core.h b/hwconf/Autoro/60/hw_aesc_60_core.h
new file mode 100644
index 0000000000..d4280e0723
--- /dev/null
+++ b/hwconf/Autoro/60/hw_aesc_60_core.h
@@ -0,0 +1,275 @@
+/*
+ Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
+
+ This file is part of the VESC firmware.
+
+ The VESC firmware is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ The VESC firmware is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#ifndef HW_AESC_60_CORE_H_
+#define HW_AESC_60_CORE_H_
+
+#ifdef HW60_PRO
+#define HW_NAME "AESC_60_Pro"
+#else
+#error "Must include hardware type"
+#endif
+
+#define HW_MAJOR 6
+#define HW_MINOR 0
+
+// HW properties
+#define HW_HAS_DRV8301
+#define HW_HAS_3_SHUNTS
+#define HW_HAS_PHASE_SHUNTS
+#define HW_HAS_PERMANENT_NRF
+
+// Macros
+#define ENABLE_GATE() palSetPad(GPIOB, 5)
+#define DISABLE_GATE() palClearPad(GPIOB, 5)
+#define DCCAL_ON()
+#define DCCAL_OFF()
+#define IS_DRV_FAULT() (!palReadPad(GPIOB, 7))
+
+#define LED_GREEN_ON() palSetPad(GPIOB, 0)
+#define LED_GREEN_OFF() palClearPad(GPIOB, 0)
+#define LED_RED_ON() palSetPad(GPIOB, 1)
+#define LED_RED_OFF() palClearPad(GPIOB, 1)
+
+#define CURRENT_FILTER_ON() palSetPad(GPIOD, 2)
+#define CURRENT_FILTER_OFF() palClearPad(GPIOD, 2)
+
+// Switch on current filter if a permanent
+// NRF24 cannot be found, as the later
+// HW60 has changed one of the permanent NRF
+// pins to the current filter activation pin.
+#define HW_PERMANENT_NRF_FAILED_HOOK() \
+ palSetPadMode(GPIOD, 2, \
+ PAL_MODE_OUTPUT_PUSHPULL | \
+ PAL_STM32_OSPEED_HIGHEST); \
+ CURRENT_FILTER_ON()
+
+
+/*
+ * ADC Vector
+ *
+ * 0: IN0 SENS1
+ * 1: IN1 SENS2
+ * 2: IN2 SENS3
+ * 3: IN10 CURR1
+ * 4: IN11 CURR2
+ * 5: IN12 CURR3
+ * 6: IN5 ADC_EXT1
+ * 7: IN6 ADC_EXT2
+ * 8: IN3 TEMP_PCB
+ * 9: IN14 TEMP_MOTOR
+ * 10: IN15 ADC_EXT3, Shutdown on MK3
+ * 11: IN13 AN_IN
+ * 12: Vrefint
+ * 13: IN0 SENS1
+ * 14: IN1 SENS2
+ */
+
+#define HW_ADC_INJ_CHANNELS 3
+#define HW_ADC_NBR_CONV 5
+#define HW_ADC_CHANNELS (HW_ADC_NBR_CONV * 3)
+
+// ADC Indexes
+#define ADC_IND_SENS1 3
+#define ADC_IND_SENS2 4
+#define ADC_IND_SENS3 5
+#define ADC_IND_CURR1 0
+#define ADC_IND_CURR2 1
+#define ADC_IND_CURR3 2
+#define ADC_IND_VIN_SENS 11
+#define ADC_IND_EXT 6
+#define ADC_IND_EXT2 7
+#define ADC_IND_TEMP_MOS 8
+#define ADC_IND_TEMP_MOTOR 9
+#define ADC_IND_VREFINT 12
+
+// ----------------------------
+
+// ADC macros and settings
+
+// Component parameters (can be overridden)
+#ifndef V_REG
+#define V_REG 3.3
+#endif
+#ifndef VIN_R1
+#define VIN_R1 39000.0
+#endif
+#ifndef VIN_R2
+#define VIN_R2 2200.0
+#endif
+#ifndef CURRENT_AMP_GAIN
+#define CURRENT_AMP_GAIN 20.0
+#endif
+#ifndef CURRENT_SHUNT_RES
+#define CURRENT_SHUNT_RES 0.0005
+#endif
+
+// Input voltage
+#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
+
+// NTC Termistors
+#define NTC_RES(adc_val) ((4095.0 * 10000.0) / adc_val - 10000.0)
+#define NTC_TEMP(adc_ind) (1.0 / ((logf(NTC_RES(ADC_Value[adc_ind]) / 10000.0) / 3380.0) + (1.0 / 298.15)) - 273.15)
+
+#define NTC_RES_MOTOR(adc_val) (10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
+#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
+
+// Voltage on ADC channel
+#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
+
+// Double samples in beginning and end for positive current measurement.
+// Useful when the shunt sense traces have noise that causes offset.
+#ifndef CURR1_DOUBLE_SAMPLE
+#define CURR1_DOUBLE_SAMPLE 0
+#endif
+#ifndef CURR2_DOUBLE_SAMPLE
+#define CURR2_DOUBLE_SAMPLE 0
+#endif
+#ifndef CURR3_DOUBLE_SAMPLE
+#define CURR3_DOUBLE_SAMPLE 0
+#endif
+
+// COMM-port ADC GPIOs
+#define HW_ADC_EXT_GPIO GPIOA
+#define HW_ADC_EXT_PIN 5
+#define HW_ADC_EXT2_GPIO GPIOA
+#define HW_ADC_EXT2_PIN 6
+
+// UART Peripheral
+#define HW_UART_DEV SD3
+#define HW_UART_GPIO_AF GPIO_AF_USART3
+#define HW_UART_TX_PORT GPIOB
+#define HW_UART_TX_PIN 10
+#define HW_UART_RX_PORT GPIOB
+#define HW_UART_RX_PIN 11
+
+// ICU Peripheral for servo decoding
+#define HW_USE_SERVO_TIM4
+#define HW_ICU_TIMER TIM4
+#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
+#define HW_ICU_DEV ICUD4
+#define HW_ICU_CHANNEL ICU_CHANNEL_1
+#define HW_ICU_GPIO_AF GPIO_AF_TIM4
+#define HW_ICU_GPIO GPIOB
+#define HW_ICU_PIN 6
+
+// I2C Peripheral
+#define HW_I2C_DEV I2CD2
+#define HW_I2C_GPIO_AF GPIO_AF_I2C2
+#define HW_I2C_SCL_PORT GPIOB
+#define HW_I2C_SCL_PIN 10
+#define HW_I2C_SDA_PORT GPIOB
+#define HW_I2C_SDA_PIN 11
+
+// Hall/encoder pins
+#define HW_HALL_ENC_GPIO1 GPIOC
+#define HW_HALL_ENC_PIN1 6
+#define HW_HALL_ENC_GPIO2 GPIOC
+#define HW_HALL_ENC_PIN2 7
+#define HW_HALL_ENC_GPIO3 GPIOC
+#define HW_HALL_ENC_PIN3 8
+#define HW_ENC_TIM TIM3
+#define HW_ENC_TIM_AF GPIO_AF_TIM3
+#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
+#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
+#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
+#define HW_ENC_EXTI_CH EXTI9_5_IRQn
+#define HW_ENC_EXTI_LINE EXTI_Line8
+#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
+#define HW_ENC_TIM_ISR_CH TIM3_IRQn
+#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
+
+// NRF pins
+#define NRF_PORT_CSN GPIOB
+#define NRF_PIN_CSN 12
+#define NRF_PORT_SCK GPIOB
+#define NRF_PIN_SCK 4
+#define NRF_PORT_MOSI GPIOB
+#define NRF_PIN_MOSI 3
+#define NRF_PORT_MISO GPIOD
+#define NRF_PIN_MISO 2
+
+#define HW_SPI_DEV SPID1
+#define HW_SPI_GPIO_AF GPIO_AF_SPI1
+#define HW_SPI_PORT_NSS GPIOA
+#define HW_SPI_PIN_NSS 4
+#define HW_SPI_PORT_SCK GPIOA
+#define HW_SPI_PIN_SCK 5
+#define HW_SPI_PORT_MOSI GPIOA
+#define HW_SPI_PIN_MOSI 7
+#define HW_SPI_PORT_MISO GPIOA
+#define HW_SPI_PIN_MISO 6
+
+// SPI for DRV8301
+#define DRV8301_MOSI_GPIO GPIOC
+#define DRV8301_MOSI_PIN 12
+#define DRV8301_MISO_GPIO GPIOC
+#define DRV8301_MISO_PIN 11
+#define DRV8301_SCK_GPIO GPIOC
+#define DRV8301_SCK_PIN 10
+#define DRV8301_CS_GPIO GPIOC
+#define DRV8301_CS_PIN 9
+
+// MPU9250
+#define MPU9X50_SDA_GPIO GPIOB
+#define MPU9X50_SDA_PIN 2
+#define MPU9X50_SCL_GPIO GPIOA
+#define MPU9X50_SCL_PIN 15
+#define IMU_FLIP
+
+// Measurement macros
+#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
+#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
+#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
+#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
+
+// Macros
+#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
+#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
+#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
+
+// Default setting overrides
+#ifndef MCCONF_DEFAULT_MOTOR_TYPE
+#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
+#endif
+#ifndef MCCONF_FOC_F_ZV
+#define MCCONF_FOC_F_ZV 30000.0
+#endif
+#ifndef MCCONF_L_MAX_ABS_CURRENT
+#define MCCONF_L_MAX_ABS_CURRENT 150.0 // The maximum absolute current above which a fault is generated
+#endif
+#ifndef MCCONF_FOC_SAMPLE_V0_V7
+#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
+#endif
+
+// Setting limits
+#define HW_LIM_CURRENT -120.0, 120.0
+#define HW_LIM_CURRENT_IN -120.0, 120.0
+#define HW_LIM_CURRENT_ABS 0.0, 200.0
+#ifndef MCCONF_M_DRV8301_OC_ADJ
+#define MCCONF_M_DRV8301_OC_ADJ 17 // DRV8301 over current protection threshold
+#endif
+#define HW_LIM_VIN 6.0, 57.0
+#define HW_LIM_ERPM -200e3, 200e3
+#define HW_LIM_DUTY_MIN 0.0, 0.1
+#define HW_LIM_DUTY_MAX 0.0, 0.99
+#define HW_LIM_TEMP_FET -40.0, 110.0
+
+
+#endif /* HW_AESC_60_CORE_H_ */
diff --git a/hwconf/Autoro/60/hw_aesc_60_pro.h b/hwconf/Autoro/60/hw_aesc_60_pro.h
new file mode 100644
index 0000000000..3a15e31a9f
--- /dev/null
+++ b/hwconf/Autoro/60/hw_aesc_60_pro.h
@@ -0,0 +1,26 @@
+/*
+ Copyright 2016 - 2020 Benjamin Vedder benjamin@vedder.se
+
+ This file is part of the VESC firmware.
+
+ The VESC firmware is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ The VESC firmware is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see .
+ */
+
+#ifndef HW_AESC_60_PRO_H_
+#define HW_AESC_60_PRO_H_
+
+#define HW60_PRO
+#include "hw_aesc_60_core.h"
+
+#endif /* HW_AESC_60_PRO_H_ */
diff --git a/hwconf/Ubox/100v/hw_ubox_100_core.c b/hwconf/Ubox/100v/hw_ubox_100_core.c
old mode 100644
new mode 100755
index a5a27702c8..06bc5bd055
--- a/hwconf/Ubox/100v/hw_ubox_100_core.c
+++ b/hwconf/Ubox/100v/hw_ubox_100_core.c
@@ -42,7 +42,7 @@
#define UBOX_QUERY_POWER_KEY_IO() (palReadPad(GPIOC, 13))
-void shutdown_ubox_init(void);
+void shutdown_init(void);
// Variables
static volatile bool i2c_running = false;
@@ -131,8 +131,8 @@ void hw_init_gpio(void) {
palSetPadMode(GPIOC, 13, PAL_MODE_OUTPUT_OPENDRAIN | PAL_MODE_INPUT_PULLUP);
UBOX_POWER_KEY_IO_RELEASE();
-
- shutdown_ubox_init();
+
+ shutdown_init();
}
void hw_setup_adc_channels(void) {
@@ -287,21 +287,37 @@ float hw100_250_get_temp(void) {
// Private variables
static bool volatile m_button_pressed = false;
static volatile float m_inactivity_time = 0.0;
-static THD_WORKING_AREA(shutdown_ubox_thread_wa, 256);
+static THD_WORKING_AREA(shutdown_thread_wa, 256);
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_ubox_thread, arg);
+static THD_FUNCTION(shutdown_thread, arg);
-void shutdown_ubox_init(void) {
- chMtxObjectInit(&m_sample_mutex);
- chThdCreateStatic(shutdown_ubox_thread_wa, sizeof(shutdown_ubox_thread_wa), NORMALPRIO, shutdown_ubox_thread, NULL);
- m_init_done = true;
+void shutdown_init(void) {
+ if(!m_init_done){
+ chMtxObjectInit(&m_sample_mutex);
+ chThdCreateStatic(shutdown_thread_wa, sizeof(shutdown_thread_wa), NORMALPRIO, shutdown_thread, NULL);
+ m_init_done = true;
+ }
}
-static bool do_shutdown_ubox(void) {
+void shutdown_reset_timer(void) {
+ m_inactivity_time = 0.0;
+}
+
+float shutdown_get_inactivity_time(void) {
+ return m_inactivity_time;
+}
+
+void shutdown_hold(bool hold) {
+ (void)hold;
+}
+
+// TODO: Doesn't use resample. Maybe in future allow resampling if enPOWER_KEY_TYPE is momentary?
+bool do_shutdown(bool resample) {
+ (void)resample;
conf_general_store_backup_data();
chThdSleepMilliseconds(100);
@@ -310,7 +326,6 @@ static bool do_shutdown_ubox(void) {
return true;
}
-
typedef enum {
power_key_type_undecided = 0,
power_key_type_momentary,
@@ -321,7 +336,7 @@ static enPOWER_KEY_TYPE power_key_type = power_key_type_undecided;
static uint32_t power_key_pressed_ms = 0;
static bool power_key_pressed_when_power_on = false;
-static THD_FUNCTION(shutdown_ubox_thread, arg) {
+static THD_FUNCTION(shutdown_thread, arg) {
(void)arg;
chRegSetThreadName("Shutdown_ubox");
@@ -352,6 +367,7 @@ static THD_FUNCTION(shutdown_ubox_thread, arg) {
}
} else {
if((power_key_pressed_ms > 50) && (power_key_pressed_ms < 500)) {
+ // TODO: Could toggle different led types here??
power_key_click = 1;
}
power_key_pressed_ms = 0;
@@ -394,7 +410,7 @@ static THD_FUNCTION(shutdown_ubox_thread, arg) {
//Inactive after 10 seconds, MCU cancels the enable signal, regulator shuts down if button released.
m_inactivity_time += dt;
if (m_inactivity_time >= 10.0f) {
- do_shutdown_ubox();
+ do_shutdown(false);
}
break;
case SHUTDOWN_MODE_ALWAYS_ON:
@@ -414,7 +430,7 @@ static THD_FUNCTION(shutdown_ubox_thread, arg) {
break;
case SHUTDOWN_MODE_TOGGLE_BUTTON_ONLY:
if(clicked) {
- do_shutdown_ubox();
+ do_shutdown(true);
}
break;
default: break;
@@ -434,7 +450,7 @@ static THD_FUNCTION(shutdown_ubox_thread, arg) {
default: break;
}
if (m_inactivity_time >= shutdown_timeout) {
- do_shutdown_ubox();
+ do_shutdown(false);
}
} else {
//Because SHUTDOWN_MODE_ALWAYS_OFF's implementation will check m_inactivity_time.
@@ -444,7 +460,7 @@ static THD_FUNCTION(shutdown_ubox_thread, arg) {
}
if(power_key_pressed_ms > 2000) {
- do_shutdown_ubox();
+ do_shutdown(true);
}
} else {
m_inactivity_time += dt;
diff --git a/hwconf/Ubox/100v/hw_ubox_100_core.h b/hwconf/Ubox/100v/hw_ubox_100_core.h
old mode 100644
new mode 100755
index 1257c0af50..9cd2886552
--- a/hwconf/Ubox/100v/hw_ubox_100_core.h
+++ b/hwconf/Ubox/100v/hw_ubox_100_core.h
@@ -22,6 +22,8 @@
#ifndef HW_UBOX_V2_100_CORE_H_
#define HW_UBOX_V2_100_CORE_H_
+#define HW_SHUTDOWN_CUSTOM
+
#ifdef HW_UBOX_V2_100
#define HW_NAME "UBOX_V2_100"
#elif defined (HW_UBOX_SINGLE_100)
diff --git a/hwconf/floatwheel/hw_adv_core.h b/hwconf/floatwheel/hw_adv_core.h
index 384a2d69b1..5290af95d0 100644
--- a/hwconf/floatwheel/hw_adv_core.h
+++ b/hwconf/floatwheel/hw_adv_core.h
@@ -194,11 +194,19 @@
#define HW_SPI_PORT_MISO GPIOA
#define HW_SPI_PIN_MISO 6
+#ifdef ADV200
// IMU: BMI160
#define BMI160_SDA_GPIO GPIOB
#define BMI160_SDA_PIN 2
#define BMI160_SCL_GPIO GPIOA
#define BMI160_SCL_PIN 15
+#else
+// LSM6DS3
+#define LSM6DS3_SDA_GPIO GPIOB
+#define LSM6DS3_SDA_PIN 2
+#define LSM6DS3_SCL_GPIO GPIOA
+#define LSM6DS3_SCL_PIN 15
+#endif
// NRF SWD
#define NRF5x_SWDIO_GPIO GPIOB
diff --git a/hwconf/shutdown.c b/hwconf/shutdown.c
index 73e3485759..07ef167645 100644
--- a/hwconf/shutdown.c
+++ b/hwconf/shutdown.c
@@ -26,7 +26,9 @@
#include "lispif.h"
#endif
-#ifdef HW_SHUTDOWN_HOLD_ON
+#ifdef HW_SHUTDOWN_CUSTOM
+// Do nothing. All shutdown functionality is handled in the hardware file.
+#elif defined(HW_SHUTDOWN_HOLD_ON)
// Private variables
bool volatile m_button_pressed = false;
diff --git a/package_firmware.py b/package_firmware.py
index 06599c1ebf..35073dc4fd 100755
--- a/package_firmware.py
+++ b/package_firmware.py
@@ -100,7 +100,7 @@ def get_git_revision_short_hash() -> str:
package_dict["Little_FOCer"] = [['Little_FOCer', default_name]]
package_dict["Little_FOCer_V3"] = [['Little_FOCer_V3', default_name]]
package_dict["Little_FOCer_V3_1"] = [['Little_FOCer_V3_1', default_name]]
-package_dict["Little_FOCer_4"] = [['Little_FOCer_4', default_name]]
+package_dict["Little_FOCer_V4"] = [['Little_FOCer_V4', default_name]]
package_dict["TRONIC_250R"] = [['TRONIC_250R', default_name]]
package_dict["X12_PRO24"] = [['x12_pro24', default_name]]
package_dict["X12_PRO30"] = [['x12_pro30', default_name]]