N K
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foc-ed_in_the_bot_compact
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Fork of
foc-ed_in_the_bot_compact
by 
Bayley Wang
config.h@9:074575151e4b, 2016-05-17 (annotated)
- Committer:
- bwang
- Date:
- Tue May 17 06:44:09 2016 +0000
- Revision:
- 9:074575151e4b
- Parent:
- 2:eabe8feaaabb
- Child:
- 10:6829abb438fc
prepping for altermotter operation
Who changed what in which revision?
| User | Revision | Line number | New 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 |
| bwang | 9:074575151e4b | 5 | #define POS_OFFSET 5.3f |
| 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 |