Bayley Wang
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prefs.h@179:935f9d78d936, 2018-02-08 (annotated)
- Committer:
- bwang
- Date:
- Thu Feb 08 02:42:16 2018 +0000
- Revision:
- 179:935f9d78d936
- Parent:
- 178:4e721c904fd7
02/07/2017 21:39 - updated BREMS*.h/cpp to include PreferenceWriter functionality, updated CommandProcessor to match current config variables
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 178:4e721c904fd7 | 1 | #ifndef __CONFIG_H |
bwang | 178:4e721c904fd7 | 2 | #define __CONFIG_H |
bwang | 178:4e721c904fd7 | 3 | |
bwang | 178:4e721c904fd7 | 4 | #include "mbed.h" |
bwang | 178:4e721c904fd7 | 5 | |
bwang | 178:4e721c904fd7 | 6 | /*---driving---*/ |
bwang | 178:4e721c904fd7 | 7 | #define _TORQUE_MODE __int_reg[0] |
bwang | 178:4e721c904fd7 | 8 | #define _MAX_TQPCT_PLUS __float_reg[0] |
bwang | 178:4e721c904fd7 | 9 | #define _MAX_TQPCT_MINUS __float_reg[1] |
bwang | 178:4e721c904fd7 | 10 | #define _TORQUE_MAX __float_reg[2] |
bwang | 178:4e721c904fd7 | 11 | #define _W_MAX __float_reg[3] |
bwang | 178:4e721c904fd7 | 12 | |
bwang | 178:4e721c904fd7 | 13 | /*---inverter---*/ |
bwang | 178:4e721c904fd7 | 14 | #define _BUS_VOLTAGE __float_reg[4] |
bwang | 178:4e721c904fd7 | 15 | #define _F_SW __float_reg[5] |
bwang | 178:4e721c904fd7 | 16 | |
bwang | 178:4e721c904fd7 | 17 | /*---logging---*/ |
bwang | 178:4e721c904fd7 | 18 | #define _ENABLE_LOGGING __int_reg[1] |
bwang | 178:4e721c904fd7 | 19 | #define _LOG_FREQUENCY __float_reg[6] |
bwang | 178:4e721c904fd7 | 20 | |
bwang | 178:4e721c904fd7 | 21 | /*---loop---*/ |
bwang | 178:4e721c904fd7 | 22 | #define _K_LOOP_D __float_reg[7] |
bwang | 178:4e721c904fd7 | 23 | #define _KI_BASE_D __float_reg[8] |
bwang | 178:4e721c904fd7 | 24 | |
bwang | 178:4e721c904fd7 | 25 | #define _K_LOOP_Q __float_reg[9] |
bwang | 178:4e721c904fd7 | 26 | #define _KI_BASE_Q __float_reg[10] |
bwang | 178:4e721c904fd7 | 27 | |
bwang | 178:4e721c904fd7 | 28 | #define _F_SLOW_LOOP __float_reg[11] |
bwang | 178:4e721c904fd7 | 29 | |
bwang | 178:4e721c904fd7 | 30 | #define _INTEGRAL_MAX __float_reg[12] |
bwang | 178:4e721c904fd7 | 31 | |
bwang | 179:935f9d78d936 | 32 | #define _W_FILTER_WINDOW __int_reg[2] |
bwang | 179:935f9d78d936 | 33 | #define _DQ_FILTER_STRENGTH __float_reg[13] |
bwang | 179:935f9d78d936 | 34 | #define _THROTTLE_FILTER_WINDOW __int_reg[3] |
bwang | 178:4e721c904fd7 | 35 | |
bwang | 179:935f9d78d936 | 36 | #define _KP_D __float_reg[14] |
bwang | 179:935f9d78d936 | 37 | #define _KI_D __float_reg[15] |
bwang | 178:4e721c904fd7 | 38 | |
bwang | 179:935f9d78d936 | 39 | #define _KP_Q __float_reg[16] |
bwang | 179:935f9d78d936 | 40 | #define _KI_Q __float_reg[17] |
bwang | 178:4e721c904fd7 | 41 | |
bwang | 179:935f9d78d936 | 42 | #define _SLOW_LOOP_COUNTER __float_reg[18] |
bwang | 178:4e721c904fd7 | 43 | |
bwang | 178:4e721c904fd7 | 44 | /*---motor---*/ |
bwang | 179:935f9d78d936 | 45 | #define _POLE_PAIRS __float_reg[19] |
bwang | 179:935f9d78d936 | 46 | #define _POS_OFFSET __float_reg[20] |
bwang | 179:935f9d78d936 | 47 | #define _RESOLVER_LOBES __float_reg[21] |
bwang | 179:935f9d78d936 | 48 | #define _CPR __int_reg[4] |
bwang | 179:935f9d78d936 | 49 | #define _Ld __float_reg[22] |
bwang | 179:935f9d78d936 | 50 | #define _Lq __float_reg[23] |
bwang | 179:935f9d78d936 | 51 | #define _FLUX_LINKAGE __float_reg[24] |
bwang | 179:935f9d78d936 | 52 | #define _Rs __float_reg[25] |
bwang | 179:935f9d78d936 | 53 | #define _KT __float_reg[26] |
bwang | 179:935f9d78d936 | 54 | #define _W_SAFE __float_reg[27] |
bwang | 179:935f9d78d936 | 55 | #define _W_CRAZY __float_reg[28] |
bwang | 178:4e721c904fd7 | 56 | |
bwang | 178:4e721c904fd7 | 57 | /*---rc_throttle---*/ |
bwang | 179:935f9d78d936 | 58 | #define _TH_LIMIT_LOW __int_reg[5] |
bwang | 179:935f9d78d936 | 59 | #define _TH_LIMIT_HIGH __int_reg[6] |
bwang | 178:4e721c904fd7 | 60 | |
bwang | 178:4e721c904fd7 | 61 | /*---table---*/ |
bwang | 179:935f9d78d936 | 62 | #define _ROWS __int_reg[7] |
bwang | 179:935f9d78d936 | 63 | #define _COLUMNS __int_reg[8] |
bwang | 179:935f9d78d936 | 64 | #define _W_STEP __float_reg[29] |
bwang | 178:4e721c904fd7 | 65 | |
bwang | 178:4e721c904fd7 | 66 | /*---operating mode---*/ |
bwang | 178:4e721c904fd7 | 67 | |
bwang | 179:935f9d78d936 | 68 | #define BREMS_mode __int_reg[9] |
bwang | 179:935f9d78d936 | 69 | #define BREMS_src __int_reg[10] |
bwang | 179:935f9d78d936 | 70 | #define BREMS_op __int_reg[11] |
bwang | 178:4e721c904fd7 | 71 | |
bwang | 178:4e721c904fd7 | 72 | /*---error handling---*/ |
bwang | 179:935f9d78d936 | 73 | #define ERR_ignores __int_reg[12] |
bwang | 178:4e721c904fd7 | 74 | |
bwang | 178:4e721c904fd7 | 75 | /*internal variables and macros*/ |
bwang | 178:4e721c904fd7 | 76 | |
bwang | 178:4e721c904fd7 | 77 | extern float __float_reg[]; |
bwang | 178:4e721c904fd7 | 78 | extern int __int_reg[]; |
bwang | 178:4e721c904fd7 | 79 | |
bwang | 178:4e721c904fd7 | 80 | #define DEFAULT(a) _##a = a |
bwang | 178:4e721c904fd7 | 81 | #define FPRINT(a) pc->printf("%s: %f\n", #a, _##a) |
bwang | 178:4e721c904fd7 | 82 | #define DPRINT(a) pc->printf("%s: %d\n", #a, _##a) |
bwang | 178:4e721c904fd7 | 83 | |
bwang | 178:4e721c904fd7 | 84 | #define NUM_MODES 4 |
bwang | 178:4e721c904fd7 | 85 | enum { |
bwang | 178:4e721c904fd7 | 86 | MODE_RUN, |
bwang | 178:4e721c904fd7 | 87 | MODE_CFG, |
bwang | 178:4e721c904fd7 | 88 | MODE_ZERO, |
bwang | 178:4e721c904fd7 | 89 | MODE_CHR, |
bwang | 178:4e721c904fd7 | 90 | }; |
bwang | 178:4e721c904fd7 | 91 | |
bwang | 178:4e721c904fd7 | 92 | #define NUM_OPS 4 |
bwang | 178:4e721c904fd7 | 93 | enum { |
bwang | 178:4e721c904fd7 | 94 | OP_TORQUE, |
bwang | 178:4e721c904fd7 | 95 | OP_DRIVING, |
bwang | 178:4e721c904fd7 | 96 | OP_SPEED, |
bwang | 178:4e721c904fd7 | 97 | OP_POSITION, |
bwang | 178:4e721c904fd7 | 98 | }; |
bwang | 178:4e721c904fd7 | 99 | |
bwang | 178:4e721c904fd7 | 100 | #define NUM_SRCS 6 |
bwang | 178:4e721c904fd7 | 101 | enum { |
bwang | 178:4e721c904fd7 | 102 | CMD_SRC_RC, |
bwang | 178:4e721c904fd7 | 103 | CMD_SRC_ANALOG, |
bwang | 178:4e721c904fd7 | 104 | CMD_SRC_TERMINAL, |
bwang | 178:4e721c904fd7 | 105 | CMD_SRC_SERIAL, |
bwang | 178:4e721c904fd7 | 106 | CMD_SRC_CAN, |
bwang | 178:4e721c904fd7 | 107 | CMD_SRC_INTERNAL |
bwang | 178:4e721c904fd7 | 108 | }; |
bwang | 178:4e721c904fd7 | 109 | |
bwang | 178:4e721c904fd7 | 110 | #endif |