#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
- Committer:
- YutaTogashi
- Date:
- 2021-07-16
- Revision:
- 4:6e88615c830b
- Parent:
- 2:40528aee5ebe
- Child:
- 8:f6851c48f94b
File content as of revision 4:6e88615c830b:
#ifndef PARAMETER_DEFINITION_H #define PARAMETER_DEFINITION_H /*********************************************************************************************** definition constant vaule ***********************************************************************************************/ enum can_pin_number { CAN_TD , CAN_RD , CAN_PIN_NUMNBER}; enum encoder_pin_number { ENCODER_A , ENCODER_B , ENCODER_PIN_NUMBER}; enum led_pin_number { CW , CCW, FREE , LED_PIN_NUMBER}; enum a3921_pin_number { PWMH , PHASE , A3921_PIN_NUMBER}; enum serial_pin_number { SERIAL_TX , SERIAL_RX , SERIAL_PIN_NUMBER}; enum id_switch_pin_number { SWITCH1 , SWITCH2 , SWITCH3 , SWITCH4 , SWITCH_PIN_NUMBER}; enum parameter_number { KP , KI , KD , ACCELERATION ,PARAMETER_NUMBER}; namespace communication_baud { const int CAN = 500000; //CAN通信の通信速度(Hz) const int PC = 460800; //Serial通信の通信速度(bps) }; const int ENCODER_PPR = 512; //ロータリーエンコーダのPPR namespace motor_option { const float FREQUENCY = 20000.0f; //Motorの動作周波数 const float UPPER_LIMIT = 1.0f; //Dutyの上限 const float LOWER_LIMIT = -1.0f; //Dutyの下限 }; namespace period { const float CONTROL_CYCLE = 0.01f; //制御周期 }; const float TIMEOUT_VALUE = 1.0f; //CAN通信のTIMEOUT時間 /************************************************************************************************ definition pin ************************************************************************************************/ #if MOTOR_DRIVER_VERSION == 4 //MD_ver 4.0 const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13}; //{CAN_TD,CAN_RD} const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_6,P0_5}; //{Encoder_Apulse,Encoder_Bpulse} const PinName LED_PIN[LED_PIN_NUMBER] = {P0_25,P0_26,P0_27}; //{CW,CCW,Free} const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_12,P0_10}; //{PWMH,PHASE} const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_28,P0_29}; //{Serial TX,Serial RX} const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_19,P0_20,P0_15,P0_17}; //{Switch pin} const PinName PWML_PIN = P0_11; //PWML pin #elif MOTOR_DRIVER_VERSION == 5 //MD_ver 5.0 const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13}; //{CAN_TD,CAN_RD} const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_6,P0_5}; //{Encoder_Apulse,Encoder_Bpulse} const PinName LED_PIN[LED_PIN_NUMBER] = {P0_14,P0_12,P0_0}; //{CW,CCW,Free} const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_29,P0_28}; //{PWMH,PHASE} const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_2,P0_1}; //{Serial TX,Serial RX} const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_25,P0_24,P0_26,P0_27}; //{Switch pin} #elif MOTOR_DRIVER_VERSION == 6 //MD_ver 6.0 const PinName CAN_PIN[CAN_PIN_NUMNBER] = {P0_18,P0_13}; //{CAN_TD,CAN_RD} const PinName ENCODER_PIN[ENCODER_PIN_NUMBER] = {P0_3,P0_2}; //{Encoder_Apulse,Encoder_Bpulse} const PinName LED_PIN[LED_PIN_NUMBER] = {P0_14,P0_12,P0_28}; //{CW,CCW,Free} const PinName A3921_PIN[A3921_PIN_NUMBER] = {P0_20,P0_29}; //{PWMH,PHASE} const PinName SERIAL_PIN[SERIAL_PIN_NUMBER] = {P0_12,P0_11}; //{Serial TX,Serial RX} const PinName ID_PIN[SWITCH_PIN_NUMBER] = {P0_5,P0_8,P0_7,P0_6}; //{Switch pin} #endif /*********************************************************************************************** definition struct union ***********************************************************************************************/ union can_flame{float f; int i; char c[4];}; #endif