Bayley Wang
/
foc-ed_in_the_bot_compact
robot
hardware.h@196:7172e6e28867, 2018-02-10 (annotated)
- Committer:
- bwang
- Date:
- Sat Feb 10 06:35:52 2018 +0000
- Revision:
- 196:7172e6e28867
- Parent:
- layout.h@191:66861311bdcd
- Child:
- 216:198ebadc005c
02/10/2017 01:35 - can now switch command source to terminal, added 'clear' command (which clears the screen on POSIX-compliant terminals)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 184:633119bb0b77 | 1 | #ifndef __LAYOUT_H |
bwang | 184:633119bb0b77 | 2 | #define __LAYOUT_H |
bwang | 184:633119bb0b77 | 3 | |
bwang | 184:633119bb0b77 | 4 | #define PWMA PA_8 |
bwang | 184:633119bb0b77 | 5 | #define PWMB PA_9 |
bwang | 184:633119bb0b77 | 6 | #define PWMC PA_10 |
bwang | 184:633119bb0b77 | 7 | #define EN PB_15 |
bwang | 184:633119bb0b77 | 8 | |
bwang | 184:633119bb0b77 | 9 | #define IA PA_4 |
bwang | 184:633119bb0b77 | 10 | #define IB PB_0 |
bwang | 184:633119bb0b77 | 11 | |
bwang | 184:633119bb0b77 | 12 | #define TH_PIN PB_8 |
bwang | 184:633119bb0b77 | 13 | |
bwang | 184:633119bb0b77 | 14 | #define LOG_TX PC_10 |
bwang | 184:633119bb0b77 | 15 | #define LOG_RX PC_11 |
bwang | 184:633119bb0b77 | 16 | |
bwang | 184:633119bb0b77 | 17 | #define I_SCALE_RAW 25.0f //mv/A |
bwang | 184:633119bb0b77 | 18 | #define R_UP 12000.0f //ohms |
bwang | 184:633119bb0b77 | 19 | #define R_DOWN 3600.0f //ohms |
bwang | 184:633119bb0b77 | 20 | #define R_BIAS 3600.0f //ohms |
bwang | 184:633119bb0b77 | 21 | #define AVDD 3300.0f //mV |
bwang | 184:633119bb0b77 | 22 | |
bwang | 189:760cd81a7633 | 23 | /*allows for inverting power modules*/ |
bwang | 184:633119bb0b77 | 24 | #define set_dtc(phase, value) *phase = (value) |
bwang | 184:633119bb0b77 | 25 | |
bwang | 189:760cd81a7633 | 26 | /*inverter linearity limit*/ |
bwang | 189:760cd81a7633 | 27 | #define LINEAR_DTC_MAX 0.945f |
bwang | 189:760cd81a7633 | 28 | |
bwang | 191:66861311bdcd | 29 | //don't change these! |
bwang | 184:633119bb0b77 | 30 | #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) |
bwang | 184:633119bb0b77 | 31 | #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) |
bwang | 184:633119bb0b77 | 32 | |
bwang | 191:66861311bdcd | 33 | #define PI 3.141593f |
bwang | 191:66861311bdcd | 34 | |
bwang | 184:633119bb0b77 | 35 | #endif |