Bayley Wang
/
foc-ed_in_the_bot_compact
robot
hardware.h
- Committer:
- bwang
- Date:
- 2018-11-13
- Revision:
- 252:38644631ed97
- Parent:
- 245:d97d09df3629
File content as of revision 252:38644631ed97:
#ifndef __LAYOUT_H #define __LAYOUT_H #define PWMA PA_9 #define PWMB PA_10 #define PWMC PA_8 #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 = 1.0f - (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