Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

config_inverter.h@15:b583cd30b063, 2016-10-30 (annotated)

Committer:
bwang
Date:
Sun Oct 30 22:16:30 2016 +0000
Revision:
15:b583cd30b063
Child:
19:a6cf15f89f3d
split config.h into three config headers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 15:b583cd30b063 1 #ifndef __CONFIG_INVERTER_H
bwang 15:b583cd30b063 2 #define __CONFIG_INVERTER_H
bwang 15:b583cd30b063 3
bwang 15:b583cd30b063 4 #define PWMA PA_9
bwang 15:b583cd30b063 5 #define PWMB PA_8
bwang 15:b583cd30b063 6 #define PWMC PA_10
bwang 15:b583cd30b063 7 #define EN PB_15
bwang 15:b583cd30b063 8
bwang 15:b583cd30b063 9 #define IA PA_4
bwang 15:b583cd30b063 10 #define IB PB_0
bwang 15:b583cd30b063 11
bwang 15:b583cd30b063 12 #define TH_PIN PB_8
bwang 15:b583cd30b063 13
bwang 15:b583cd30b063 14 #define CURRENT_U ib
bwang 15:b583cd30b063 15 #define CURRENT_V ia
bwang 15:b583cd30b063 16
bwang 15:b583cd30b063 17 #define I_SCALE_RAW 25.0f //mv/A
bwang 15:b583cd30b063 18 #define R_UP 12000.0f //ohms
bwang 15:b583cd30b063 19 #define R_DOWN 3600.0f //ohms
bwang 15:b583cd30b063 20 #define R_BIAS 3600.0f //ohms
bwang 15:b583cd30b063 21 #define AVDD 3300.0f //mV
bwang 15:b583cd30b063 22
bwang 15:b583cd30b063 23 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 15:b583cd30b063 24 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 15:b583cd30b063 25
bwang 15:b583cd30b063 26 #define BUS_VOLTAGE 20.0f
bwang 15:b583cd30b063 27 #define set_dtc(phase, value) *phase = (value)
bwang 15:b583cd30b063 28
bwang 15:b583cd30b063 29 #endif