Bayley Wang
/
foc-ed_in_the_bot_compact
robot
hardware.h@245:d97d09df3629, 2018-11-12 (annotated)
- Committer:
- bwang
- Date:
- Mon Nov 12 12:43:31 2018 +0000
- Revision:
- 245:d97d09df3629
- Parent:
- 244:1c6c0af8508e
11/12/2018 07:42 - PWM configured to be non-inverting in BREMSConfigRegisters, moved inverting code to hardware.h like it should be
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 184:633119bb0b77 | 1 | #ifndef __LAYOUT_H |
bwang | 184:633119bb0b77 | 2 | #define __LAYOUT_H |
bwang | 184:633119bb0b77 | 3 | |
bwang | 244:1c6c0af8508e | 4 | #define PWMA PA_9 |
bwang | 244:1c6c0af8508e | 5 | #define PWMB PA_10 |
bwang | 244:1c6c0af8508e | 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 | 245:d97d09df3629 | 27 | #define set_dtc(phase, value) *phase = 1.0f - (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 |