N K / Mbed 2 deprecated foc-ed_in_the_bot_compact

last working

Dependencies:   FastPWM3 mbed

Fork of foc-ed_in_the_bot_compact by Bayley Wang

config.h@10:6829abb438fc, 2016-05-17 (annotated)

Committer:
nki
Date:
Tue May 17 09:58:58 2016 +0000
Revision:
10:6829abb438fc
Parent:
9:074575151e4b 
Bayley tweaked- that night we took the altermoter apart;

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 9:074575151e4b 4 #define CPR 4096
nki 10:6829abb438fc 5 #define POS_OFFSET 1.73f
bwang 9:074575151e4b 6 #define POLE_PAIRS 3.0f
bwang 9:074575151e4b 7 #define RESOLVER_LOBES 3.0f
bwang 0:bac9c3a3a6ca 8
bwang 0:bac9c3a3a6ca 9 #define PWMA PA_8
bwang 0:bac9c3a3a6ca 10 #define PWMB PA_9
bwang 0:bac9c3a3a6ca 11 #define PWMC PA_10
bwang 0:bac9c3a3a6ca 12 #define EN PB_15
bwang 0:bac9c3a3a6ca 13
bwang 0:bac9c3a3a6ca 14 #define IA PA_4
bwang 0:bac9c3a3a6ca 15 #define IB PB_0
bwang 0:bac9c3a3a6ca 16
bwang 0:bac9c3a3a6ca 17 #define I_SCALE_RAW 25.0f //mv/A
bwang 0:bac9c3a3a6ca 18 #define R_UP 12000.0f //ohms
bwang 0:bac9c3a3a6ca 19 #define R_DOWN 3600.0f //ohms
bwang 0:bac9c3a3a6ca 20 #define R_BIAS 3600.0f //ohms
bwang 0:bac9c3a3a6ca 21 #define AVDD 3300.0f //mV
bwang 0:bac9c3a3a6ca 22
bwang 0:bac9c3a3a6ca 23 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 0:bac9c3a3a6ca 24 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 0:bac9c3a3a6ca 25
bwang 9:074575151e4b 26 #define BUS_VOLTAGE 20.0f
bwang 2:eabe8feaaabb 27 #define K_LOOP 1.0f
bwang 0:bac9c3a3a6ca 28 #define KI_BASE 0.01f
bwang 0:bac9c3a3a6ca 29
bwang 0:bac9c3a3a6ca 30 #define KP (K_LOOP / BUS_VOLTAGE)
bwang 0:bac9c3a3a6ca 31 #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE)
bwang 0:bac9c3a3a6ca 32
bwang 2:eabe8feaaabb 33 #define INTEGRAL_MAX 1.0f
bwang 2:eabe8feaaabb 34
bwang 9:074575151e4b 35 #define set_dtc(phase, value) *phase = (value)
bwang 9:074575151e4b 36 #define PI 3.141593f
bwang 9:074575151e4b 37
bwang 0:bac9c3a3a6ca 38 #endif