Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

hardware.h@229:90c6892f4d3b, 2018-11-10 (annotated)

Committer:
bwang
Date:
Sat Nov 10 06:27:07 2018 +0000
Revision:
229:90c6892f4d3b
Parent:
228:8a14f1da2121
Child:
230:7ac00598d366
11/10/2018 01:26 - renamed ia_supp_offset, ib_supp_offset to ad1, ad2_supp_offset to reflect the fact that they correspond to ADC channel offsets and not currents (which can be renamed in elsewhere)

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 229:90c6892f4d3b 4 #define PWMA PA_10
bwang 229:90c6892f4d3b 5 #define PWMB PA_9
bwang 228:8a14f1da2121 6 #define PWMC PA_8
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 227:e058e025c72d 13 #define RESOLVER_RESET PC_0
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 223:b986e7cee521 18 #define STATUS_LED PB_14
bwang 223:b986e7cee521 19
bwang 184:633119bb0b77 20 #define I_SCALE_RAW 25.0f //mv/A
bwang 184:633119bb0b77 21 #define R_UP 12000.0f //ohms
bwang 184:633119bb0b77 22 #define R_DOWN 3600.0f //ohms
bwang 184:633119bb0b77 23 #define R_BIAS 3600.0f //ohms
bwang 184:633119bb0b77 24 #define AVDD 3300.0f //mV
bwang 184:633119bb0b77 25
bwang 189:760cd81a7633 26 /*allows for inverting power modules*/
bwang 184:633119bb0b77 27 #define set_dtc(phase, value) *phase = (value)
bwang 184:633119bb0b77 28
bwang 189:760cd81a7633 29 /*inverter linearity limit*/
bwang 189:760cd81a7633 30 #define LINEAR_DTC_MAX 0.945f
bwang 189:760cd81a7633 31
bwang 191:66861311bdcd 32 //don't change these!
bwang 184:633119bb0b77 33 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 184:633119bb0b77 34 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 184:633119bb0b77 35
bwang 191:66861311bdcd 36 #define PI 3.141593f
bwang 191:66861311bdcd 37
bwang 184:633119bb0b77 38 #endif