Basic gate driver support for Telsa Model 3 inverter (#49)

Pull in the tested tesla::GateDriver from commit
bc109b82 of the c2000-inverter project for the Tesla
Model 3 inverter native. This targets the STGAP1AS
but this appears to be identical to the STGAP1BS from
a programming perspective.

A simple TeslaModel3 class is created to initialise and
poll the operation of the gate driver.

The Tesla Model 3 inverter board is identified
automatically via the expected resistor divider
network.

The GPIO allocation for the gate driver is a
placeholder only and will need further elaboration.

Tests:
 - Core gate driver has been tested with HV on an
   original Tesla Model 3 inverter with TI C2000 MCU
   and open-loop PWM generation. No faults
   experienced in normal operation. Faults trip with
   incorrect PWM generation (dead-time, deliberate IO
   glitches, etc).
- STM32 code compile tested only.

Author: davefiddes

Makefile

@@ -35,7 +35,7 @@ CFLAGS		= -Os -ggdb3 -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/
               -DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
               -mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections
 CPPFLAGS    = -Os -ggdb3 -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \
-              -fno-common -std=c++11 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
+              -fno-common -std=c++14 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
               -DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
               -ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb
 
@@ -51,7 +51,7 @@ OBJSL		= stm32_sine.o hwinit.o stm32scheduler.o params.o terminal.o terminal_prj
            my_string.o digio.o sine_core.o my_fp.o fu.o inc_encoder.o printf.o anain.o \
            temp_meas.o param_save.o throttle.o errormessage.o pwmgeneration.o \
            picontroller.o terminalcommands.o vehiclecontrol.o \
-           stm32_can.o canmap.o canhardware.o cansdo.o GD31xxOI.o
+           stm32_can.o canmap.o canhardware.o cansdo.o GD31xxOI.o crc8.o teslamodel3.o
 
 ifeq ($(CONTROL), SINE)
 	OBJSL += pwmgeneration-sine.o

include/digio_prj.h

@@ -35,6 +35,8 @@
     DIG_IO_ENTRY(v5_ctrl,,,)       \
     DIG_IO_ENTRY(intb_in,,,)       \
     DIG_IO_ENTRY(inta_in,,,)       \
+    DIG_IO_ENTRY(gate_cs_hi,,,)    \
+    DIG_IO_ENTRY(gate_sd_hi,,,)    \
 
 //...Then we assign the physical GPIOs per variant
 
@@ -91,6 +93,29 @@
     DIG_IO_ENTRY(intb_in,     GPIOE, GPIO8,  PinMode::INPUT_FLT)   \
     DIG_IO_ENTRY(inta_in,     GPIOE, GPIO9,  PinMode::INPUT_FLT)   \
 
+#define DIG_IO_LIST_TESLAM3 \
+    DIG_IO_ENTRY(cruise_in,   GPIOB, GPIO2,  PinMode::INPUT_PD)    \
+    DIG_IO_ENTRY(start_in,    GPIOD, GPIO7,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(brake_in,    GPIOE, GPIO4,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(mprot_in,    GPIOE, GPIO5,  PinMode::INPUT_PU)    \
+    DIG_IO_ENTRY(fwd_in,      GPIOA, GPIO4,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(rev_in,      GPIOA, GPIO3,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(emcystop_in, GPIOC, GPIO7,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(bk_in,       GPIOB, GPIO12, PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(bms_in,      GPIOC, GPIO8,  PinMode::INPUT_PD)    \
+    DIG_IO_ENTRY(ocur_in,     GPIOE, GPIO2,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(desat_in,    GPIOC, GPIO9,  PinMode::INPUT_FLT)   \
+    DIG_IO_ENTRY(dcsw_out,    GPIOC, GPIO10, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(fan_out,     GPIOC, GPIO15, PinMode::OUTPUT)  /* map to unused pin by default */    \
+    DIG_IO_ENTRY(vtg_out,     GPIOC, GPIO14, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(prec_out,    GPIOD, GPIO15, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(led_out,     GPIOC, GPIO12, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(err_out,     GPIOD, GPIO14, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(temp0_out,   GPIOD, GPIO13, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(speed_out,   GPIOD, GPIO12, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(brk_out,     GPIOD, GPIO11, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(gate_cs_hi,  GPIOE, GPIO10, PinMode::OUTPUT)      \
+    DIG_IO_ENTRY(gate_sd_hi,  GPIOE, GPIO11, PinMode::OUTPUT)      \
 
 #define DIG_IO_BLUEPILL \
     DIG_IO_ENTRY(brake_in,    GPIOB, GPIO9,  PinMode::INPUT_FLT)   \

include/errormessage_prj.h

@@ -24,5 +24,7 @@
    ERROR_MESSAGE_ENTRY(TMPMMAX, ERROR_DERATE) \
    ERROR_MESSAGE_ENTRY(CANCRC, ERROR_STOP) \
    ERROR_MESSAGE_ENTRY(CANCOUNTER, ERROR_STOP) \
+   ERROR_MESSAGE_ENTRY(GATEDRIVEINITFAIL, ERROR_STOP) \
+   ERROR_MESSAGE_ENTRY(GATEDRIVEFAULT, ERROR_STOP) \
 
 #endif // ERRORMESSAGE_PRJ_H_INCLUDED