Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

hardware.h

Committer:
bwang
Date:
2018-11-10
Revision:
237:1a4591a0dd2d
Parent:
230:7ac00598d366
Child:
244:1c6c0af8508e

File content as of revision 237:1a4591a0dd2d:

#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 RESOLVER_RESET PC_0

#define LOG_TX PC_10
#define LOG_RX PC_11

#define STATUS_LED PB_14

#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