Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

prefs.h@86:b059f637e9ac, 2017-03-12 (annotated)

Committer:
bwang
Date:
Sun Mar 12 08:54:19 2017 +0000
Revision:
86:b059f637e9ac
Parent:
Preferences.h@85:2280526f9bad 
renamed some stuff

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 82:5e741c5ffd9f 1 #ifndef __CONFIG_H
bwang 82:5e741c5ffd9f 2 #define __CONFIG_H
bwang 82:5e741c5ffd9f 3
bwang 82:5e741c5ffd9f 4 #include "mbed.h"
bwang 82:5e741c5ffd9f 5
bwang 82:5e741c5ffd9f 6 /*---driving---*/
bwang 82:5e741c5ffd9f 7 #define _TORQUE_MODE __int_reg[0]
bwang 82:5e741c5ffd9f 8 #define _MAX_TQPCT_PLUS __float_reg[0]
bwang 82:5e741c5ffd9f 9 #define _MAX_TQPCT_MINUS __float_reg[1]
bwang 82:5e741c5ffd9f 10 #define _TORQUE_MAX __float_reg[2]
bwang 82:5e741c5ffd9f 11 #define _W_MAX __float_reg[3]
bwang 82:5e741c5ffd9f 12
bwang 82:5e741c5ffd9f 13 /*---inverter---*/
bwang 82:5e741c5ffd9f 14 #define _BUS_VOLTAGE __float_reg[4]
bwang 82:5e741c5ffd9f 15 #define _F_SW __float_reg[5]
bwang 82:5e741c5ffd9f 16
bwang 82:5e741c5ffd9f 17 /*---logging---*/
bwang 82:5e741c5ffd9f 18 #define _ENABLE_LOGGING __int_reg[1]
bwang 82:5e741c5ffd9f 19 #define _LOG_FREQUENCY __float_reg[6]
bwang 82:5e741c5ffd9f 20
bwang 82:5e741c5ffd9f 21 /*---loop---*/
bwang 82:5e741c5ffd9f 22 #define _K_LOOP_D __float_reg[7]
bwang 82:5e741c5ffd9f 23 #define _KI_BASE_D __float_reg[8]
bwang 82:5e741c5ffd9f 24
bwang 82:5e741c5ffd9f 25 #define _K_LOOP_Q __float_reg[9]
bwang 82:5e741c5ffd9f 26 #define _KI_BASE_Q __float_reg[10]
bwang 82:5e741c5ffd9f 27
bwang 82:5e741c5ffd9f 28 #define _F_SLOW_LOOP __float_reg[11]
bwang 82:5e741c5ffd9f 29
bwang 82:5e741c5ffd9f 30 #define _INTEGRAL_MAX __float_reg[12]
bwang 82:5e741c5ffd9f 31
bwang 82:5e741c5ffd9f 32 #define _W_FILTER_STRENGTH __float_reg[13]
bwang 82:5e741c5ffd9f 33 #define _DQ_FILTER_STRENGTH __float_reg[14]
bwang 82:5e741c5ffd9f 34 #define _THROTTLE_FILTER_STRENGTH __float_reg[15]
bwang 82:5e741c5ffd9f 35
bwang 82:5e741c5ffd9f 36 #define _KP_D __float_reg[17]
bwang 82:5e741c5ffd9f 37 #define _KI_D __float_reg[18]
bwang 82:5e741c5ffd9f 38
bwang 82:5e741c5ffd9f 39 #define _KP_Q __float_reg[19]
bwang 82:5e741c5ffd9f 40 #define _KI_Q __float_reg[20]
bwang 82:5e741c5ffd9f 41
bwang 82:5e741c5ffd9f 42 #define _SLOW_LOOP_COUNTER __float_reg[21]
bwang 82:5e741c5ffd9f 43
bwang 82:5e741c5ffd9f 44 /*---motor---*/
bwang 82:5e741c5ffd9f 45 #define _POLE_PAIRS __float_reg[22]
bwang 82:5e741c5ffd9f 46 #define _POS_OFFSET __float_reg[23]
bwang 82:5e741c5ffd9f 47 #define _RESOLVER_LOBES __float_reg[24]
bwang 82:5e741c5ffd9f 48 #define _CPR __int_reg[2]
bwang 82:5e741c5ffd9f 49 #define _Ld __float_reg[25]
bwang 82:5e741c5ffd9f 50 #define _Lq __float_reg[26]
bwang 82:5e741c5ffd9f 51 #define _FLUX_LINKAGE __float_reg[27]
bwang 82:5e741c5ffd9f 52 #define _Rs __float_reg[28]
bwang 82:5e741c5ffd9f 53 #define _KT __float_reg[29]
bwang 82:5e741c5ffd9f 54 #define _W_SAFE __float_reg[30]
bwang 82:5e741c5ffd9f 55 #define _W_CRAZY __float_reg[31]
bwang 82:5e741c5ffd9f 56
bwang 82:5e741c5ffd9f 57 /*---rc_throttle---*/
bwang 82:5e741c5ffd9f 58 #define _TH_LIMIT_LOW __int_reg[3]
bwang 82:5e741c5ffd9f 59 #define _TH_LIMIT_HIGH __int_reg[4]
bwang 82:5e741c5ffd9f 60 #define _TH_LIMIT_CRAZY __int_reg[5]
bwang 82:5e741c5ffd9f 61
bwang 82:5e741c5ffd9f 62 /*---table---*/
bwang 82:5e741c5ffd9f 63 #define _ROWS __int_reg[6]
bwang 82:5e741c5ffd9f 64 #define _COLUMNS __int_reg[7]
bwang 82:5e741c5ffd9f 65 #define _W_STEP __float_reg[8]
bwang 82:5e741c5ffd9f 66
bwang 82:5e741c5ffd9f 67 /*---operating mode---*/
bwang 82:5e741c5ffd9f 68
bwang 82:5e741c5ffd9f 69 #define BREMS_mode __int_reg[8]
bwang 82:5e741c5ffd9f 70 #define BREMS_src __int_reg[9]
bwang 82:5e741c5ffd9f 71 #define BREMS_op __int_reg[10]
bwang 82:5e741c5ffd9f 72
bwang 84:dd32640942a4 73 /*---error handling---*/
bwang 84:dd32640942a4 74 #define ERR_ignores __int_reg[11]
bwang 84:dd32640942a4 75
bwang 82:5e741c5ffd9f 76 /*internal variables and macros*/
bwang 82:5e741c5ffd9f 77
bwang 82:5e741c5ffd9f 78 extern float __float_reg[];
bwang 82:5e741c5ffd9f 79 extern int __int_reg[];
bwang 82:5e741c5ffd9f 80
bwang 82:5e741c5ffd9f 81 #define DEFAULT(a) _##a = a
bwang 82:5e741c5ffd9f 82 #define FPRINT(a) pc->printf("%s: %f\n", #a, _##a)
bwang 82:5e741c5ffd9f 83 #define DPRINT(a) pc->printf("%s: %d\n", #a, _##a)
bwang 82:5e741c5ffd9f 84
bwang 84:dd32640942a4 85 #define NUM_MODES 4
bwang 82:5e741c5ffd9f 86 enum {
bwang 82:5e741c5ffd9f 87 MODE_RUN,
bwang 82:5e741c5ffd9f 88 MODE_CFG,
bwang 82:5e741c5ffd9f 89 MODE_ZERO,
bwang 82:5e741c5ffd9f 90 MODE_CHR,
bwang 82:5e741c5ffd9f 91 };
bwang 82:5e741c5ffd9f 92
bwang 84:dd32640942a4 93 #define NUM_OPS 4
bwang 82:5e741c5ffd9f 94 enum {
bwang 82:5e741c5ffd9f 95 OP_TORQUE,
bwang 82:5e741c5ffd9f 96 OP_DRIVING,
bwang 82:5e741c5ffd9f 97 OP_SPEED,
bwang 82:5e741c5ffd9f 98 OP_POSITION,
bwang 82:5e741c5ffd9f 99 };
bwang 82:5e741c5ffd9f 100
bwang 84:dd32640942a4 101 #define NUM_SRCS 6
bwang 82:5e741c5ffd9f 102 enum {
bwang 82:5e741c5ffd9f 103 CMD_SRC_RC,
bwang 82:5e741c5ffd9f 104 CMD_SRC_ANALOG,
bwang 82:5e741c5ffd9f 105 CMD_SRC_TERMINAL,
bwang 82:5e741c5ffd9f 106 CMD_SRC_SERIAL,
bwang 82:5e741c5ffd9f 107 CMD_SRC_CAN,
bwang 82:5e741c5ffd9f 108 CMD_SRC_INTERNAL
bwang 82:5e741c5ffd9f 109 };
bwang 82:5e741c5ffd9f 110
bwang 82:5e741c5ffd9f 111 #endif