Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

prefs.h@184:633119bb0b77, 2018-02-09 (annotated)

Committer:
bwang
Date:
Fri Feb 09 21:02:14 2018 +0000
Revision:
184:633119bb0b77
Parent:
181:d3510c8beab6
Child:
189:760cd81a7633
02/09/2018 16:01 - moved pinouts to layout.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 181:d3510c8beab6 1 #ifndef __CONFIG_H
bwang 181:d3510c8beab6 2 #define __CONFIG_H
bwang 181:d3510c8beab6 3
bwang 181:d3510c8beab6 4 #include "mbed.h"
bwang 181:d3510c8beab6 5
bwang 181:d3510c8beab6 6 /*---programming flag---*/
bwang 181:d3510c8beab6 7 #define _PREFS_VALID __int_reg[0]
bwang 181:d3510c8beab6 8
bwang 181:d3510c8beab6 9 /*---driving---*/
bwang 181:d3510c8beab6 10 #define _TORQUE_MODE __int_reg[1]
bwang 181:d3510c8beab6 11 #define _MAX_TQPCT_PLUS __float_reg[0]
bwang 181:d3510c8beab6 12 #define _MAX_TQPCT_MINUS __float_reg[1]
bwang 181:d3510c8beab6 13 #define _TORQUE_MAX __float_reg[2]
bwang 181:d3510c8beab6 14 #define _W_MAX __float_reg[3]
bwang 181:d3510c8beab6 15
bwang 181:d3510c8beab6 16 /*---inverter---*/
bwang 181:d3510c8beab6 17 #define _BUS_VOLTAGE __float_reg[4]
bwang 181:d3510c8beab6 18 #define _F_SW __float_reg[5]
bwang 181:d3510c8beab6 19
bwang 184:633119bb0b77 20 /*---loop---*/
bwang 184:633119bb0b77 21 #define _K_LOOP_D __float_reg[6]
bwang 184:633119bb0b77 22 #define _KI_BASE_D __float_reg[7]
bwang 181:d3510c8beab6 23
bwang 184:633119bb0b77 24 #define _K_LOOP_Q __float_reg[8]
bwang 184:633119bb0b77 25 #define _KI_BASE_Q __float_reg[9]
bwang 181:d3510c8beab6 26
bwang 184:633119bb0b77 27 #define _F_SLOW_LOOP __float_reg[10]
bwang 181:d3510c8beab6 28
bwang 184:633119bb0b77 29 #define _INTEGRAL_MAX __float_reg[11]
bwang 181:d3510c8beab6 30
bwang 184:633119bb0b77 31 #define _W_FILTER_WINDOW __int_reg[2]
bwang 184:633119bb0b77 32 #define _DQ_FILTER_STRENGTH __float_reg[12]
bwang 184:633119bb0b77 33 #define _THROTTLE_FILTER_WINDOW __int_reg[3]
bwang 181:d3510c8beab6 34
bwang 184:633119bb0b77 35 #define _KP_D __float_reg[13]
bwang 184:633119bb0b77 36 #define _KI_D __float_reg[14]
bwang 181:d3510c8beab6 37
bwang 184:633119bb0b77 38 #define _KP_Q __float_reg[15]
bwang 184:633119bb0b77 39 #define _KI_Q __float_reg[16]
bwang 181:d3510c8beab6 40
bwang 184:633119bb0b77 41 #define _SLOW_LOOP_COUNTER __float_reg[17]
bwang 181:d3510c8beab6 42
bwang 181:d3510c8beab6 43 /*---motor---*/
bwang 184:633119bb0b77 44 #define _POLE_PAIRS __float_reg[18]
bwang 184:633119bb0b77 45 #define _POS_OFFSET __float_reg[19]
bwang 184:633119bb0b77 46 #define _RESOLVER_LOBES __float_reg[20]
bwang 184:633119bb0b77 47 #define _CPR __int_reg[4]
bwang 184:633119bb0b77 48 #define _Ld __float_reg[21]
bwang 184:633119bb0b77 49 #define _Lq __float_reg[22]
bwang 184:633119bb0b77 50 #define _FLUX_LINKAGE __float_reg[23]
bwang 184:633119bb0b77 51 #define _Rs __float_reg[24]
bwang 184:633119bb0b77 52 #define _KT __float_reg[25]
bwang 184:633119bb0b77 53 #define _W_SAFE __float_reg[26]
bwang 184:633119bb0b77 54 #define _W_CRAZY __float_reg[27]
bwang 181:d3510c8beab6 55
bwang 181:d3510c8beab6 56 /*---rc_throttle---*/
bwang 184:633119bb0b77 57 #define _TH_LIMIT_LOW __int_reg[5]
bwang 184:633119bb0b77 58 #define _TH_LIMIT_HIGH __int_reg[6]
bwang 181:d3510c8beab6 59
bwang 181:d3510c8beab6 60 /*---table---*/
bwang 184:633119bb0b77 61 #define _ROWS __int_reg[7]
bwang 184:633119bb0b77 62 #define _COLUMNS __int_reg[8]
bwang 184:633119bb0b77 63 #define _W_STEP __float_reg[28]
bwang 184:633119bb0b77 64
bwang 184:633119bb0b77 65
bwang 184:633119bb0b77 66 /*---data logging---*/
bwang 184:633119bb0b77 67 #define _ENABLE_LOGGING __int_reg[9]
bwang 184:633119bb0b77 68 #define _LOG_PAGE_SIZE __int_reg[10]
bwang 184:633119bb0b77 69 #define _LOG_HEADER_SIZE __int_reg[11]
bwang 184:633119bb0b77 70 #define _LOG_PACKET_SIZE __int_reg[12]
bwang 184:633119bb0b77 71 #define _LOG_BAUD_RATE __int_reg[13]
bwang 181:d3510c8beab6 72
bwang 181:d3510c8beab6 73 /*---operating mode---*/
bwang 181:d3510c8beab6 74
bwang 184:633119bb0b77 75 #define BREMS_mode __int_reg[14]
bwang 184:633119bb0b77 76 #define BREMS_src __int_reg[15]
bwang 184:633119bb0b77 77 #define BREMS_op __int_reg[16]
bwang 181:d3510c8beab6 78
bwang 181:d3510c8beab6 79 /*---error handling---*/
bwang 184:633119bb0b77 80 #define ERR_ignores __int_reg[17]
bwang 181:d3510c8beab6 81
bwang 181:d3510c8beab6 82 /*internal variables and macros*/
bwang 181:d3510c8beab6 83
bwang 181:d3510c8beab6 84 extern float __float_reg[];
bwang 181:d3510c8beab6 85 extern int __int_reg[];
bwang 181:d3510c8beab6 86
bwang 181:d3510c8beab6 87 #define DEFAULT(a) _##a = a
bwang 181:d3510c8beab6 88 #define FPRINT(a) pc->printf("%s: %f\n", #a, _##a)
bwang 181:d3510c8beab6 89 #define DPRINT(a) pc->printf("%s: %d\n", #a, _##a)
bwang 181:d3510c8beab6 90
bwang 181:d3510c8beab6 91 #define NUM_MODES 4
bwang 181:d3510c8beab6 92 enum {
bwang 181:d3510c8beab6 93 MODE_RUN,
bwang 181:d3510c8beab6 94 MODE_CFG,
bwang 181:d3510c8beab6 95 MODE_ZERO,
bwang 181:d3510c8beab6 96 MODE_CHR,
bwang 181:d3510c8beab6 97 };
bwang 181:d3510c8beab6 98
bwang 181:d3510c8beab6 99 #define NUM_OPS 4
bwang 181:d3510c8beab6 100 enum {
bwang 181:d3510c8beab6 101 OP_TORQUE,
bwang 181:d3510c8beab6 102 OP_DRIVING,
bwang 181:d3510c8beab6 103 OP_SPEED,
bwang 181:d3510c8beab6 104 OP_POSITION,
bwang 181:d3510c8beab6 105 };
bwang 181:d3510c8beab6 106
bwang 181:d3510c8beab6 107 #define NUM_SRCS 6
bwang 181:d3510c8beab6 108 enum {
bwang 181:d3510c8beab6 109 CMD_SRC_RC,
bwang 181:d3510c8beab6 110 CMD_SRC_ANALOG,
bwang 181:d3510c8beab6 111 CMD_SRC_TERMINAL,
bwang 181:d3510c8beab6 112 CMD_SRC_SERIAL,
bwang 181:d3510c8beab6 113 CMD_SRC_CAN,
bwang 181:d3510c8beab6 114 CMD_SRC_INTERNAL
bwang 181:d3510c8beab6 115 };
bwang 181:d3510c8beab6 116
bwang 181:d3510c8beab6 117 #endif