Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

layout.h@189:760cd81a7633, 2018-02-10 (annotated)

Committer:
bwang
Date:
Sat Feb 10 02:47:07 2018 +0000
Revision:
189:760cd81a7633
Parent:
184:633119bb0b77
Child:
191:66861311bdcd
02/09/2018 21:45 - started switching code to run on flash-saved parameters instead of hardcoded ones; moved delay in BREMSConfig.cpp to avoid intermittent freeze after programming

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 184:633119bb0b77 13
bwang 184:633119bb0b77 14 #define LOG_TX PC_10
bwang 184:633119bb0b77 15 #define LOG_RX PC_11
bwang 184:633119bb0b77 16
bwang 184:633119bb0b77 17 #define I_SCALE_RAW 25.0f //mv/A
bwang 184:633119bb0b77 18 #define R_UP 12000.0f //ohms
bwang 184:633119bb0b77 19 #define R_DOWN 3600.0f //ohms
bwang 184:633119bb0b77 20 #define R_BIAS 3600.0f //ohms
bwang 184:633119bb0b77 21 #define AVDD 3300.0f //mV
bwang 184:633119bb0b77 22
bwang 189:760cd81a7633 23 /*allows for inverting power modules*/
bwang 184:633119bb0b77 24 #define set_dtc(phase, value) *phase = (value)
bwang 184:633119bb0b77 25
bwang 189:760cd81a7633 26 /*inverter linearity limit*/
bwang 189:760cd81a7633 27 #define LINEAR_DTC_MAX 0.945f
bwang 189:760cd81a7633 28
bwang 184:633119bb0b77 29 //don't change this!
bwang 184:633119bb0b77 30 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 184:633119bb0b77 31 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 184:633119bb0b77 32
bwang 184:633119bb0b77 33 #endif