Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

prefs.h@252:38644631ed97, 2018-11-13 (annotated)

Committer:
bwang
Date:
Tue Nov 13 17:46:23 2018 +0000
Revision:
252:38644631ed97
Parent:
243:96b03b3bf3ef 
11/13/2018 12:45 - hitting <return> on empty line prints "\r>", so that hitting enter after intially connecting to the controller generates a prompt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 181:d3510c8beab6 1 #ifndef __CONFIG_H
bwang 181:d3510c8beab6 2 #define __CONFIG_H
bwang 181:d3510c8beab6 3
bwang 181:d3510c8beab6 4 #include "mbed.h"
bwang 181:d3510c8beab6 5
bwang 181:d3510c8beab6 6 /*---programming flag---*/
bwang 181:d3510c8beab6 7 #define _PREFS_VALID __int_reg[0]
bwang 181:d3510c8beab6 8
bwang 181:d3510c8beab6 9 /*---driving---*/
bwang 181:d3510c8beab6 10 #define _TORQUE_MODE __int_reg[1]
bwang 181:d3510c8beab6 11 #define _MAX_TQPCT_PLUS __float_reg[0]
bwang 181:d3510c8beab6 12 #define _MAX_TQPCT_MINUS __float_reg[1]
bwang 181:d3510c8beab6 13 #define _TORQUE_MAX __float_reg[2]
bwang 181:d3510c8beab6 14 #define _W_MAX __float_reg[3]
bwang 181:d3510c8beab6 15
bwang 181:d3510c8beab6 16 /*---inverter---*/
bwang 181:d3510c8beab6 17 #define _BUS_VOLTAGE __float_reg[4]
bwang 181:d3510c8beab6 18 #define _F_SW __float_reg[5]
bwang 181:d3510c8beab6 19
bwang 184:633119bb0b77 20 /*---loop---*/
bwang 184:633119bb0b77 21 #define _K_LOOP_D __float_reg[6]
bwang 184:633119bb0b77 22 #define _KI_BASE_D __float_reg[7]
bwang 181:d3510c8beab6 23
bwang 184:633119bb0b77 24 #define _K_LOOP_Q __float_reg[8]
bwang 184:633119bb0b77 25 #define _KI_BASE_Q __float_reg[9]
bwang 181:d3510c8beab6 26
bwang 184:633119bb0b77 27 #define _F_SLOW_LOOP __float_reg[10]
bwang 181:d3510c8beab6 28
bwang 184:633119bb0b77 29 #define _INTEGRAL_MAX __float_reg[11]
bwang 181:d3510c8beab6 30
bwang 184:633119bb0b77 31 #define _W_FILTER_WINDOW __int_reg[2]
bwang 184:633119bb0b77 32 #define _DQ_FILTER_STRENGTH __float_reg[12]
bwang 184:633119bb0b77 33 #define _THROTTLE_FILTER_WINDOW __int_reg[3]
bwang 181:d3510c8beab6 34
bwang 181:d3510c8beab6 35 /*---motor---*/
bwang 189:760cd81a7633 36 #define _POLE_PAIRS __float_reg[13]
bwang 189:760cd81a7633 37 #define _POS_OFFSET __float_reg[14]
bwang 189:760cd81a7633 38 #define _RESOLVER_LOBES __float_reg[15]
bwang 184:633119bb0b77 39 #define _CPR __int_reg[4]
bwang 189:760cd81a7633 40 #define _Ld __float_reg[16]
bwang 189:760cd81a7633 41 #define _Lq __float_reg[17]
bwang 189:760cd81a7633 42 #define _FLUX_LINKAGE __float_reg[18]
bwang 189:760cd81a7633 43 #define _Rs __float_reg[19]
bwang 189:760cd81a7633 44 #define _KT __float_reg[20]
bwang 189:760cd81a7633 45 #define _W_SAFE __float_reg[21]
bwang 189:760cd81a7633 46 #define _W_CRAZY __float_reg[22]
bwang 181:d3510c8beab6 47
bwang 181:d3510c8beab6 48 /*---rc_throttle---*/
bwang 184:633119bb0b77 49 #define _TH_LIMIT_LOW __int_reg[5]
bwang 184:633119bb0b77 50 #define _TH_LIMIT_HIGH __int_reg[6]
bwang 181:d3510c8beab6 51
bwang 181:d3510c8beab6 52 /*---table---*/
bwang 189:760cd81a7633 53 #define _W_STEP __float_reg[23]
bwang 184:633119bb0b77 54
bwang 184:633119bb0b77 55 /*---data logging---*/
bwang 191:66861311bdcd 56 #define _ENABLE_LOGGING __int_reg[7]
bwang 191:66861311bdcd 57 #define _LOG_PAGE_SIZE __int_reg[8]
bwang 191:66861311bdcd 58 #define _LOG_HEADER_SIZE __int_reg[9]
bwang 191:66861311bdcd 59 #define _LOG_PACKET_SIZE __int_reg[10]
bwang 191:66861311bdcd 60 #define _LOG_BAUD_RATE __int_reg[11]
bwang 181:d3510c8beab6 61
bwang 181:d3510c8beab6 62 /*---operating mode---*/
bwang 181:d3510c8beab6 63
bwang 191:66861311bdcd 64 #define BREMS_mode __int_reg[12]
bwang 191:66861311bdcd 65 #define BREMS_src __int_reg[13]
bwang 191:66861311bdcd 66 #define BREMS_op __int_reg[14]
bwang 181:d3510c8beab6 67
bwang 181:d3510c8beab6 68 /*---error handling---*/
bwang 191:66861311bdcd 69 #define ERR_ignores __int_reg[15]
bwang 181:d3510c8beab6 70
bwang 193:3abadeecf908 71 /*---commutation tweaks---*/
bwang 193:3abadeecf908 72 #define _OVERMODULATION_FACTOR __float_reg[24]
bwang 193:3abadeecf908 73 #define _V_PHASE_SWIZZLE __float_reg[25]
bwang 193:3abadeecf908 74
bwang 240:2aaffa217627 75 /*---speed loop---*/
bwang 240:2aaffa217627 76 #define _K_LOOP_W __float_reg[26]
bwang 240:2aaffa217627 77 #define _KI_BASE_W __float_reg[27]
bwang 240:2aaffa217627 78 #define _W_SETPOINT_MAX __float_reg[28]
bwang 243:96b03b3bf3ef 79 #define _W_LOOP_MAX_TQ __float_reg[29]
bwang 240:2aaffa217627 80
bwang 181:d3510c8beab6 81 /*internal variables and macros*/
bwang 181:d3510c8beab6 82
bwang 181:d3510c8beab6 83 extern float __float_reg[];
bwang 181:d3510c8beab6 84 extern int __int_reg[];
bwang 181:d3510c8beab6 85
bwang 181:d3510c8beab6 86 #define DEFAULT(a) _##a = a
bwang 181:d3510c8beab6 87 #define FPRINT(a) pc->printf("%s: %f\n", #a, _##a)
bwang 181:d3510c8beab6 88 #define DPRINT(a) pc->printf("%s: %d\n", #a, _##a)
bwang 189:760cd81a7633 89 #define FPRINT2(a) pc->printf("%s: %f\n", #a, a);
bwang 191:66861311bdcd 90 #define DPRINT2(a) pc->printf("%s: %d\n", #a, a)
bwang 181:d3510c8beab6 91
bwang 181:d3510c8beab6 92 #define NUM_MODES 4
bwang 181:d3510c8beab6 93 enum {
bwang 181:d3510c8beab6 94 MODE_RUN,
bwang 181:d3510c8beab6 95 MODE_CFG,
bwang 181:d3510c8beab6 96 MODE_ZERO,
bwang 181:d3510c8beab6 97 MODE_CHR,
bwang 181:d3510c8beab6 98 };
bwang 181:d3510c8beab6 99
bwang 181:d3510c8beab6 100 #define NUM_OPS 4
bwang 181:d3510c8beab6 101 enum {
bwang 181:d3510c8beab6 102 OP_TORQUE,
bwang 181:d3510c8beab6 103 OP_DRIVING,
bwang 181:d3510c8beab6 104 OP_SPEED,
bwang 181:d3510c8beab6 105 OP_POSITION,
bwang 181:d3510c8beab6 106 };
bwang 181:d3510c8beab6 107
bwang 181:d3510c8beab6 108 #define NUM_SRCS 6
bwang 181:d3510c8beab6 109 enum {
bwang 181:d3510c8beab6 110 CMD_SRC_RC,
bwang 181:d3510c8beab6 111 CMD_SRC_ANALOG,
bwang 181:d3510c8beab6 112 CMD_SRC_TERMINAL,
bwang 181:d3510c8beab6 113 CMD_SRC_SERIAL,
bwang 181:d3510c8beab6 114 CMD_SRC_CAN,
bwang 181:d3510c8beab6 115 CMD_SRC_INTERNAL
bwang 181:d3510c8beab6 116 };
bwang 181:d3510c8beab6 117
bwang 181:d3510c8beab6 118 #endif