Bayley Wang
/
dc_motor_control
bad dc motor controller with current mode
Diff: globals.h
- Revision:
- 0:2b1edabdd26b
diff -r 000000000000 -r 2b1edabdd26b globals.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/globals.h Sun Feb 03 03:38:05 2019 +0000 @@ -0,0 +1,47 @@ +#ifndef __GLOBALS_H +#define __GLOBALS_H + +#include "FastPWM.h" +#include "PreferenceWriter.h" + +extern FastPWM *out1, *out2, *out3; +extern int adval1, adval2; +extern PreferenceWriter *pref; +extern float current, throttle, vout, user_cmd; + +extern int __int_reg[]; +extern float __float_reg[]; + +#define I_LIMIT __float_reg[0] +#define KP __float_reg[1] +#define KI __float_reg[2] +#define F_SW __float_reg[3] +#define THROTTLE_DEADBAND __float_reg[4] +#define ANALOG_THROTTLE_LOW __float_reg[5] +#define ANALOG_THROTTLE_HI __float_reg[6] + +#define PREFS_VALID __int_reg[0] +#define BREMS_src __int_reg[1] +#define BREMS_op __int_reg[2] + +#define NUM_OPS 4 +enum { + OP_TORQUE, + OP_DRIVING, + OP_SPEED, + OP_POSITION, +}; + +#define NUM_SRCS 6 +enum { + CMD_SRC_RC, + CMD_SRC_ANALOG, + CMD_SRC_TERMINAL, + CMD_SRC_SERIAL, + CMD_SRC_CAN, + CMD_SRC_INTERNAL +}; + +#define set_dtc(a, x) *a = (x) + +#endif \ No newline at end of file