Hoshino Taiga / Mbed 2 deprecated Tourobo2022_TBCMotorDriver

#define MOTOR_DRIVE_VERSION 6 ↓ #define MOTOR_DRIVE_VERSION 5 TIMEOUT_VALUE 1.0f ↓ TIMEOUT_VALUE 10.0f ↓

Dependencies:   mbed can_network_definition_2022 bitCommunication_Ver2 motorDrive_LAP PID QEI_hw LPC1549QEI LPC1549_EEPROM motorDrive_SMB MedianFilter2020 buzzer USBDevice

definition.h@9:c1dc00ede75d, 2022-08-24 (annotated)

Committer:
hoshi_t
Date:
Wed Aug 24 12:54:02 2022 +0000
Revision:
9:c1dc00ede75d
Parent:
8:f6851c48f94b 
jsiojoijrt

Who changed what in which revision?

UserRevisionLine numberNew contents of line
YutaTogashi 0:4fe08f484460 1 #ifndef PARAMETER_DEFINITION_H
YutaTogashi 0:4fe08f484460 2 #define PARAMETER_DEFINITION_H
YutaTogashi 0:4fe08f484460 3 /***********************************************************************************************
YutaTogashi 0:4fe08f484460 4 definition constant vaule
YutaTogashi 0:4fe08f484460 5 ***********************************************************************************************/
YutaTogashi 0:4fe08f484460 6 enum can_pin_number { CAN_TD , CAN_RD , CAN_PIN_NUMNBER};
YutaTogashi 0:4fe08f484460 7 enum encoder_pin_number { ENCODER_A , ENCODER_B , ENCODER_PIN_NUMBER};
YutaTogashi 0:4fe08f484460 8 enum led_pin_number { CW , CCW, FREE , LED_PIN_NUMBER};
YutaTogashi 0:4fe08f484460 9 enum a3921_pin_number { PWMH , PHASE , A3921_PIN_NUMBER};
YutaTogashi 0:4fe08f484460 10 enum serial_pin_number { SERIAL_TX , SERIAL_RX , SERIAL_PIN_NUMBER};
YutaTogashi 0:4fe08f484460 11 enum id_switch_pin_number { SWITCH1 , SWITCH2 , SWITCH3 , SWITCH4 , SWITCH_PIN_NUMBER};
YutaTogashi 0:4fe08f484460 12
YutaTogashi 0:4fe08f484460 13 enum parameter_number { KP , KI , KD , ACCELERATION ,PARAMETER_NUMBER};
YutaTogashi 0:4fe08f484460 14
YutaTogashi 0:4fe08f484460 15 namespace communication_baud {
YutaTogashi 8:f6851c48f94b 16 const int CAN = 1000000; //CAN通信の通信速度(Hz)
YutaTogashi 0:4fe08f484460 17 const int PC = 460800; //Serial通信の通信速度(bps)
YutaTogashi 0:4fe08f484460 18 };
YutaTogashi 0:4fe08f484460 19
YutaTogashi 0:4fe08f484460 20 const int ENCODER_PPR = 512; //ロータリーエンコーダのPPR
YutaTogashi 0:4fe08f484460 21
YutaTogashi 0:4fe08f484460 22 namespace motor_option {
YutaTogashi 0:4fe08f484460 23 const float FREQUENCY = 20000.0f; //Motorの動作周波数
YutaTogashi 0:4fe08f484460 24 const float UPPER_LIMIT = 1.0f; //Dutyの上限
YutaTogashi 0:4fe08f484460 25 const float LOWER_LIMIT = -1.0f; //Dutyの下限
YutaTogashi 0:4fe08f484460 26 };
YutaTogashi 0:4fe08f484460 27
YutaTogashi 0:4fe08f484460 28 namespace period {
YutaTogashi 0:4fe08f484460 29 const float CONTROL_CYCLE = 0.01f; //制御周期
YutaTogashi 0:4fe08f484460 30 };
YutaTogashi 0:4fe08f484460 31
hoshi_t 9:c1dc00ede75d 32 const float TIMEOUT_VALUE = 10.0f; //CAN通信のTIMEOUT時間
YutaTogashi 0:4fe08f484460 33 /************************************************************************************************
YutaTogashi 0:4fe08f484460 34 definition pin
YutaTogashi 0:4fe08f484460 35 ************************************************************************************************/
YutaTogashi 2:40528aee5ebe 36 #if MOTOR_DRIVER_VERSION == 4
YutaTogashi 2:40528aee5ebe 37 //MD_ver 4.0
YutaTogashi 2:40528aee5ebe 38 const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13}; //{CAN_TD,CAN_RD}
YutaTogashi 2:40528aee5ebe 39 const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_6,P0_5}; //{Encoder_Apulse,Encoder_Bpulse}
YutaTogashi 2:40528aee5ebe 40 const PinName LED_PIN[LED_PIN_NUMBER] = {P0_25,P0_26,P0_27}; //{CW,CCW,Free}
YutaTogashi 2:40528aee5ebe 41 const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_12,P0_10}; //{PWMH,PHASE}
YutaTogashi 2:40528aee5ebe 42 const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_28,P0_29}; //{Serial TX,Serial RX}
YutaTogashi 2:40528aee5ebe 43 const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_19,P0_20,P0_15,P0_17}; //{Switch pin}
YutaTogashi 2:40528aee5ebe 44 const PinName PWML_PIN = P0_11; //PWML pin
YutaTogashi 2:40528aee5ebe 45 #elif MOTOR_DRIVER_VERSION == 5
YutaTogashi 2:40528aee5ebe 46 //MD_ver 5.0
YutaTogashi 0:4fe08f484460 47 const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13}; //{CAN_TD,CAN_RD}
YutaTogashi 0:4fe08f484460 48 const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_6,P0_5}; //{Encoder_Apulse,Encoder_Bpulse}
YutaTogashi 0:4fe08f484460 49 const PinName LED_PIN[LED_PIN_NUMBER] = {P0_14,P0_12,P0_0}; //{CW,CCW,Free}
YutaTogashi 0:4fe08f484460 50 const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_29,P0_28}; //{PWMH,PHASE}
YutaTogashi 0:4fe08f484460 51 const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_2,P0_1}; //{Serial TX,Serial RX}
YutaTogashi 2:40528aee5ebe 52 const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_25,P0_24,P0_26,P0_27}; //{Switch pin}
YutaTogashi 2:40528aee5ebe 53 #elif MOTOR_DRIVER_VERSION == 6
YutaTogashi 2:40528aee5ebe 54 //MD_ver 6.0
YutaTogashi 2:40528aee5ebe 55 const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13}; //{CAN_TD,CAN_RD}
YutaTogashi 2:40528aee5ebe 56 const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_3,P0_2}; //{Encoder_Apulse,Encoder_Bpulse}
YutaTogashi 8:f6851c48f94b 57 const PinName LED_PIN[LED_PIN_NUMBER] = {P0_14,P0_9,P0_28}; //{CW,CCW,Free}
YutaTogashi 2:40528aee5ebe 58 const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_20,P0_29}; //{PWMH,PHASE}
YutaTogashi 2:40528aee5ebe 59 const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_12,P0_11}; //{Serial TX,Serial RX}
YutaTogashi 2:40528aee5ebe 60 const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_5,P0_8,P0_7,P0_6}; //{Switch pin}
YutaTogashi 2:40528aee5ebe 61 #endif
YutaTogashi 0:4fe08f484460 62 /***********************************************************************************************
YutaTogashi 0:4fe08f484460 63 definition struct union
YutaTogashi 0:4fe08f484460 64 ***********************************************************************************************/
YutaTogashi 0:4fe08f484460 65 union can_flame{float f; int i; char c[4];};
YutaTogashi 0:4fe08f484460 66
YutaTogashi 0:4fe08f484460 67 #endif