Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

hardware.h@216:198ebadc005c, 2018-04-30 (annotated)

Committer:
bwang
Date:
Mon Apr 30 10:23:31 2018 +0000
Revision:
216:198ebadc005c
Parent:
196:7172e6e28867
Child:
223:b986e7cee521
added RESOLVER_RESET pin, firmware now resets resolver decode IC on boot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 184:633119bb0b77 1 #ifndef __LAYOUT_H
bwang 184:633119bb0b77 2 #define __LAYOUT_H
bwang 184:633119bb0b77 3
bwang 184:633119bb0b77 4 #define PWMA PA_8
bwang 184:633119bb0b77 5 #define PWMB PA_9
bwang 184:633119bb0b77 6 #define PWMC PA_10
bwang 184:633119bb0b77 7 #define EN PB_15
bwang 184:633119bb0b77 8
bwang 184:633119bb0b77 9 #define IA PA_4
bwang 184:633119bb0b77 10 #define IB PB_0
bwang 184:633119bb0b77 11
bwang 184:633119bb0b77 12 #define TH_PIN PB_8
bwang 216:198ebadc005c 13 #define RESOLVER_RESET PC_12
bwang 184:633119bb0b77 14
bwang 184:633119bb0b77 15 #define LOG_TX PC_10
bwang 184:633119bb0b77 16 #define LOG_RX PC_11
bwang 184:633119bb0b77 17
bwang 184:633119bb0b77 18 #define I_SCALE_RAW 25.0f //mv/A
bwang 184:633119bb0b77 19 #define R_UP 12000.0f //ohms
bwang 184:633119bb0b77 20 #define R_DOWN 3600.0f //ohms
bwang 184:633119bb0b77 21 #define R_BIAS 3600.0f //ohms
bwang 184:633119bb0b77 22 #define AVDD 3300.0f //mV
bwang 184:633119bb0b77 23
bwang 189:760cd81a7633 24 /*allows for inverting power modules*/
bwang 184:633119bb0b77 25 #define set_dtc(phase, value) *phase = (value)
bwang 184:633119bb0b77 26
bwang 189:760cd81a7633 27 /*inverter linearity limit*/
bwang 189:760cd81a7633 28 #define LINEAR_DTC_MAX 0.945f
bwang 189:760cd81a7633 29
bwang 191:66861311bdcd 30 //don't change these!
bwang 184:633119bb0b77 31 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 184:633119bb0b77 32 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 184:633119bb0b77 33
bwang 191:66861311bdcd 34 #define PI 3.141593f
bwang 191:66861311bdcd 35
bwang 184:633119bb0b77 36 #endif