Bayley Wang
/
foc-ed_in_the_bot_compact
robot
Diff: hardware.h
- Revision:
- 196:7172e6e28867
- Parent:
- 191:66861311bdcd
- Child:
- 216:198ebadc005c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/hardware.h Sat Feb 10 06:35:52 2018 +0000 @@ -0,0 +1,35 @@ +#ifndef __LAYOUT_H +#define __LAYOUT_H + +#define PWMA PA_8 +#define PWMB PA_9 +#define PWMC PA_10 +#define EN PB_15 + +#define IA PA_4 +#define IB PB_0 + +#define TH_PIN PB_8 + +#define LOG_TX PC_10 +#define LOG_RX PC_11 + +#define I_SCALE_RAW 25.0f //mv/A +#define R_UP 12000.0f //ohms +#define R_DOWN 3600.0f //ohms +#define R_BIAS 3600.0f //ohms +#define AVDD 3300.0f //mV + +/*allows for inverting power modules*/ +#define set_dtc(phase, value) *phase = (value) + +/*inverter linearity limit*/ +#define LINEAR_DTC_MAX 0.945f + +//don't change these! +#define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) +#define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) + +#define PI 3.141593f + +#endif \ No newline at end of file