Jens Frank Jensen / Mbed 2 deprecated foc-ed_in_the_bot_compact

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed FastPWM3

config.h@0:bac9c3a3a6ca, 2016-03-09 (annotated)

Committer:
bwang
Date:
Wed Mar 09 06:44:51 2016 +0000
Revision:
0:bac9c3a3a6ca
Child:
1:7b61790f6be9
open loop, working; motor draws ~400mA at 30V; pre-center aligned PWM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #ifndef __CONFIG_H
bwang 0:bac9c3a3a6ca 2 #define __CONFIG_H
bwang 0:bac9c3a3a6ca 3
bwang 0:bac9c3a3a6ca 4 #define set_dtc(phase, value) phase = 1.0f - (value)
bwang 0:bac9c3a3a6ca 5
bwang 0:bac9c3a3a6ca 6 #define PWMA PA_8
bwang 0:bac9c3a3a6ca 7 #define PWMB PA_9
bwang 0:bac9c3a3a6ca 8 #define PWMC PA_10
bwang 0:bac9c3a3a6ca 9 #define EN PB_15
bwang 0:bac9c3a3a6ca 10
bwang 0:bac9c3a3a6ca 11 #define IA PA_4
bwang 0:bac9c3a3a6ca 12 #define IB PB_0
bwang 0:bac9c3a3a6ca 13 #define TEST_DAC PA_5
bwang 0:bac9c3a3a6ca 14
bwang 0:bac9c3a3a6ca 15 #define PI 3.141593f
bwang 0:bac9c3a3a6ca 16 #define CPR 4096
bwang 0:bac9c3a3a6ca 17 #define POS_OFFSET 5.3f
bwang 0:bac9c3a3a6ca 18
bwang 0:bac9c3a3a6ca 19 #define I_SCALE_RAW 25.0f //mv/A
bwang 0:bac9c3a3a6ca 20 #define R_UP 12000.0f //ohms
bwang 0:bac9c3a3a6ca 21 #define R_DOWN 3600.0f //ohms
bwang 0:bac9c3a3a6ca 22 #define R_BIAS 3600.0f //ohms
bwang 0:bac9c3a3a6ca 23 #define AVDD 3300.0f //mV
bwang 0:bac9c3a3a6ca 24
bwang 0:bac9c3a3a6ca 25 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 0:bac9c3a3a6ca 26 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 0:bac9c3a3a6ca 27
bwang 0:bac9c3a3a6ca 28 #define K_LOOP 5.0f
bwang 0:bac9c3a3a6ca 29 #define KI_BASE 0.01f
bwang 0:bac9c3a3a6ca 30 #define BUS_VOLTAGE 20.0f
bwang 0:bac9c3a3a6ca 31
bwang 0:bac9c3a3a6ca 32 #define KP (K_LOOP / BUS_VOLTAGE)
bwang 0:bac9c3a3a6ca 33 #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE)
bwang 0:bac9c3a3a6ca 34
bwang 0:bac9c3a3a6ca 35 #endif