Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

prefs.h@243:96b03b3bf3ef, 2018-11-12 (annotated)

Committer:
bwang
Date:
Mon Nov 12 11:16:43 2018 +0000
Revision:
243:96b03b3bf3ef
Parent:
240:2aaffa217627 
11/12/2018 06:16 - added W_LOOP_MAX_TQ parameter to limit acceleration in speed mode (actually, to make bench supplies not freak out when the motor ramps)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 181:d3510c8beab6 1 #ifndef __CONFIG_H
bwang 181:d3510c8beab6 2 #define __CONFIG_H
bwang 181:d3510c8beab6 3
bwang 181:d3510c8beab6 4 #include "mbed.h"
bwang 181:d3510c8beab6 5
bwang 181:d3510c8beab6 6 /*---programming flag---*/
bwang 181:d3510c8beab6 7 #define _PREFS_VALID __int_reg[0]
bwang 181:d3510c8beab6 8
bwang 181:d3510c8beab6 9 /*---driving---*/
bwang 181:d3510c8beab6 10 #define _TORQUE_MODE __int_reg[1]
bwang 181:d3510c8beab6 11 #define _MAX_TQPCT_PLUS __float_reg[0]
bwang 181:d3510c8beab6 12 #define _MAX_TQPCT_MINUS __float_reg[1]
bwang 181:d3510c8beab6 13 #define _TORQUE_MAX __float_reg[2]
bwang 181:d3510c8beab6 14 #define _W_MAX __float_reg[3]
bwang 181:d3510c8beab6 15
bwang 181:d3510c8beab6 16 /*---inverter---*/
bwang 181:d3510c8beab6 17 #define _BUS_VOLTAGE __float_reg[4]
bwang 181:d3510c8beab6 18 #define _F_SW __float_reg[5]
bwang 181:d3510c8beab6 19
bwang 184:633119bb0b77 20 /*---loop---*/
bwang 184:633119bb0b77 21 #define _K_LOOP_D __float_reg[6]
bwang 184:633119bb0b77 22 #define _KI_BASE_D __float_reg[7]
bwang 181:d3510c8beab6 23
bwang 184:633119bb0b77 24 #define _K_LOOP_Q __float_reg[8]
bwang 184:633119bb0b77 25 #define _KI_BASE_Q __float_reg[9]
bwang 181:d3510c8beab6 26
bwang 184:633119bb0b77 27 #define _F_SLOW_LOOP __float_reg[10]
bwang 181:d3510c8beab6 28
bwang 184:633119bb0b77 29 #define _INTEGRAL_MAX __float_reg[11]
bwang 181:d3510c8beab6 30
bwang 184:633119bb0b77 31 #define _W_FILTER_WINDOW __int_reg[2]
bwang 184:633119bb0b77 32 #define _DQ_FILTER_STRENGTH __float_reg[12]
bwang 184:633119bb0b77 33 #define _THROTTLE_FILTER_WINDOW __int_reg[3]
bwang 181:d3510c8beab6 34
bwang 181:d3510c8beab6 35 /*---motor---*/
bwang 189:760cd81a7633 36 #define _POLE_PAIRS __float_reg[13]
bwang 189:760cd81a7633 37 #define _POS_OFFSET __float_reg[14]
bwang 189:760cd81a7633 38 #define _RESOLVER_LOBES __float_reg[15]
bwang 184:633119bb0b77 39 #define _CPR __int_reg[4]
bwang 189:760cd81a7633 40 #define _Ld __float_reg[16]
bwang 189:760cd81a7633 41 #define _Lq __float_reg[17]
bwang 189:760cd81a7633 42 #define _FLUX_LINKAGE __float_reg[18]
bwang 189:760cd81a7633 43 #define _Rs __float_reg[19]
bwang 189:760cd81a7633 44 #define _KT __float_reg[20]
bwang 189:760cd81a7633 45 #define _W_SAFE __float_reg[21]
bwang 189:760cd81a7633 46 #define _W_CRAZY __float_reg[22]
bwang 181:d3510c8beab6 47
bwang 181:d3510c8beab6 48 /*---rc_throttle---*/
bwang 184:633119bb0b77 49 #define _TH_LIMIT_LOW __int_reg[5]
bwang 184:633119bb0b77 50 #define _TH_LIMIT_HIGH __int_reg[6]
bwang 181:d3510c8beab6 51
bwang 181:d3510c8beab6 52 /*---table---*/
bwang 189:760cd81a7633 53 #define _W_STEP __float_reg[23]
bwang 184:633119bb0b77 54
bwang 184:633119bb0b77 55 /*---data logging---*/
bwang 191:66861311bdcd 56 #define _ENABLE_LOGGING __int_reg[7]
bwang 191:66861311bdcd 57 #define _LOG_PAGE_SIZE __int_reg[8]
bwang 191:66861311bdcd 58 #define _LOG_HEADER_SIZE __int_reg[9]
bwang 191:66861311bdcd 59 #define _LOG_PACKET_SIZE __int_reg[10]
bwang 191:66861311bdcd 60 #define _LOG_BAUD_RATE __int_reg[11]
bwang 181:d3510c8beab6 61
bwang 181:d3510c8beab6 62 /*---operating mode---*/
bwang 181:d3510c8beab6 63
bwang 191:66861311bdcd 64 #define BREMS_mode __int_reg[12]
bwang 191:66861311bdcd 65 #define BREMS_src __int_reg[13]
bwang 191:66861311bdcd 66 #define BREMS_op __int_reg[14]
bwang 181:d3510c8beab6 67
bwang 181:d3510c8beab6 68 /*---error handling---*/
bwang 191:66861311bdcd 69 #define ERR_ignores __int_reg[15]
bwang 181:d3510c8beab6 70
bwang 193:3abadeecf908 71 /*---commutation tweaks---*/
bwang 193:3abadeecf908 72 #define _OVERMODULATION_FACTOR __float_reg[24]
bwang 193:3abadeecf908 73 #define _V_PHASE_SWIZZLE __float_reg[25]
bwang 193:3abadeecf908 74
bwang 240:2aaffa217627 75 /*---speed loop---*/
bwang 240:2aaffa217627 76 #define _K_LOOP_W __float_reg[26]
bwang 240:2aaffa217627 77 #define _KI_BASE_W __float_reg[27]
bwang 240:2aaffa217627 78 #define _W_SETPOINT_MAX __float_reg[28]
bwang 243:96b03b3bf3ef 79 #define _W_LOOP_MAX_TQ __float_reg[29]
bwang 240:2aaffa217627 80
bwang 181:d3510c8beab6 81 /*internal variables and macros*/
bwang 181:d3510c8beab6 82
bwang 181:d3510c8beab6 83 extern float __float_reg[];
bwang 181:d3510c8beab6 84 extern int __int_reg[];
bwang 181:d3510c8beab6 85
bwang 181:d3510c8beab6 86 #define DEFAULT(a) _##a = a
bwang 181:d3510c8beab6 87 #define FPRINT(a) pc->printf("%s: %f\n", #a, _##a)
bwang 181:d3510c8beab6 88 #define DPRINT(a) pc->printf("%s: %d\n", #a, _##a)
bwang 189:760cd81a7633 89 #define FPRINT2(a) pc->printf("%s: %f\n", #a, a);
bwang 191:66861311bdcd 90 #define DPRINT2(a) pc->printf("%s: %d\n", #a, a)
bwang 181:d3510c8beab6 91
bwang 181:d3510c8beab6 92 #define NUM_MODES 4
bwang 181:d3510c8beab6 93 enum {
bwang 181:d3510c8beab6 94 MODE_RUN,
bwang 181:d3510c8beab6 95 MODE_CFG,
bwang 181:d3510c8beab6 96 MODE_ZERO,
bwang 181:d3510c8beab6 97 MODE_CHR,
bwang 181:d3510c8beab6 98 };
bwang 181:d3510c8beab6 99
bwang 181:d3510c8beab6 100 #define NUM_OPS 4
bwang 181:d3510c8beab6 101 enum {
bwang 181:d3510c8beab6 102 OP_TORQUE,
bwang 181:d3510c8beab6 103 OP_DRIVING,
bwang 181:d3510c8beab6 104 OP_SPEED,
bwang 181:d3510c8beab6 105 OP_POSITION,
bwang 181:d3510c8beab6 106 };
bwang 181:d3510c8beab6 107
bwang 181:d3510c8beab6 108 #define NUM_SRCS 6
bwang 181:d3510c8beab6 109 enum {
bwang 181:d3510c8beab6 110 CMD_SRC_RC,
bwang 181:d3510c8beab6 111 CMD_SRC_ANALOG,
bwang 181:d3510c8beab6 112 CMD_SRC_TERMINAL,
bwang 181:d3510c8beab6 113 CMD_SRC_SERIAL,
bwang 181:d3510c8beab6 114 CMD_SRC_CAN,
bwang 181:d3510c8beab6 115 CMD_SRC_INTERNAL
bwang 181:d3510c8beab6 116 };
bwang 181:d3510c8beab6 117
bwang 181:d3510c8beab6 118 #endif