Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

Config/user_config.h@54:e201ae25e467, 2020-10-23 (annotated)

Committer:
shaorui
Date:
Fri Oct 23 09:37:45 2020 +0000
Revision:
54:e201ae25e467
Parent:
52:d4d5e3414865 
Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 23:2adf23ee0305 1 /// Values stored in flash, which are modifieable by user actions ///
benkatz 23:2adf23ee0305 2
benkatz 23:2adf23ee0305 3 #ifndef USER_CONFIG_H
benkatz 23:2adf23ee0305 4 #define USER_CONFIG_H
benkatz 23:2adf23ee0305 5
benkatz 23:2adf23ee0305 6
benkatz 25:f5741040c4bb 7 #define E_OFFSET __float_reg[0] // Encoder electrical offset
benkatz 25:f5741040c4bb 8 #define M_OFFSET __float_reg[1] // Encoder mechanical offset
benkatz 25:f5741040c4bb 9 #define I_BW __float_reg[2] // Current loop bandwidth
benkatz 25:f5741040c4bb 10 #define TORQUE_LIMIT __float_reg[3] // Torque limit (current limit = torque_limit/(kt*gear ratio))
benkatz 26:2b865c00d7e9 11 #define THETA_MIN __float_reg[4] // Minimum position setpoint
benkatz 26:2b865c00d7e9 12 #define THETA_MAX __float_reg[5] // Maximum position setpoint
shaorui 48:1b51771c3647 13 #define JOINT_E_OFFSET __float_reg[8] // Encoder joint electrical offset
shaorui 48:1b51771c3647 14 #define JOINT_M_OFFSET __float_reg[7] // Encoder joint mechanical offset
Rushu 52:d4d5e3414865 15 #define I_FW_MAX __float_reg[6] // Maximum field weakening current
Rushu 52:d4d5e3414865 16
Rushu 52:d4d5e3414865 17 #define R_NOMINAL __float_reg[11] // Nominal motor resistance, set during calibration
Rushu 52:d4d5e3414865 18 #define TEMP_MAX __float_reg[10] // Temperature safety lmit
Rushu 52:d4d5e3414865 19 #define I_MAX_CONT __float_reg[9] // Continuous max current
benkatz 28:8c7e29f719c5 20
benkatz 25:f5741040c4bb 21 #define PHASE_ORDER __int_reg[0] // Phase swapping during calibration
benkatz 25:f5741040c4bb 22 #define CAN_ID __int_reg[1] // CAN bus ID
benkatz 26:2b865c00d7e9 23 #define CAN_MASTER __int_reg[2] // CAN bus "master" ID
benkatz 28:8c7e29f719c5 24 #define CAN_TIMEOUT __int_reg[3] // CAN bus timeout period
benkatz 37:c0f352d6e8e3 25 #define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long
shaorui 48:1b51771c3647 26 #define ENCODER_JOINT __int_reg[135] // Encoder offset JOINT - 120 elements long
benkatz 28:8c7e29f719c5 27
benkatz 23:2adf23ee0305 28 extern float __float_reg[];
benkatz 23:2adf23ee0305 29 extern int __int_reg[];
benkatz 23:2adf23ee0305 30
benkatz 23:2adf23ee0305 31 #endif