user_config.h

00001 /// Values stored in flash, which are modifieable by user actions ///
00002 
00003 #ifndef USER_CONFIG_H
00004 #define USER_CONFIG_H
00005 
00006 
00007 #define E_OFFSET                __float_reg[0]                                  // Encoder electrical offset
00008 #define M_OFFSET                __float_reg[1]                                  // Encoder mechanical offset
00009 #define I_BW                    __float_reg[2]                                  // Current loop bandwidth
00010 #define TORQUE_LIMIT            __float_reg[3]                                  // Torque limit (current limit = torque_limit/(kt*gear ratio))
00011 #define THETA_MIN               __float_reg[4]                                  // Minimum position setpoint
00012 #define THETA_MAX               __float_reg[5]                                  // Maximum position setpoint
00013 
00014 
00015 #define PHASE_ORDER             __int_reg[0]                                    // Phase swapping during calibration
00016 #define CAN_ID                  __int_reg[1]                                    // CAN bus ID
00017 #define CAN_MASTER              __int_reg[2]                                    // CAN bus "master" ID
00018 #define CAN_TIMEOUT             __int_reg[3]                                    // CAN bus timeout period
00019 #define ENCODER_LUT             __int_reg[5]                                    // Encoder offset LUT - 128 elements long
00020 
00021 
00022 
00023 extern float __float_reg[];
00024 extern int __int_reg[];
00025 
00026 #endif