Bayley Wang
robot
config_pins.h@56:c681001dfa46, 2017-01-25 (annotated)
- Committer:
- bwang
- Date:
- Wed Jan 25 22:19:55 2017 +0000
- Revision:
- 56:c681001dfa46
- Parent:
- 42:030e0ec4eac5
- Child:
- 78:b8df106126a7
added (ineffective) LimitingThrottleMapper, updated throttle ranges to get 100% instead of 85%
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 19:a6cf15f89f3d | 1 | #ifndef __CONFIG_PINS_H |
| bwang | 19:a6cf15f89f3d | 2 | #define __CONFIG_PINS_H |
| bwang | 19:a6cf15f89f3d | 3 | |
| bwang | 24:5e18a87a0e95 | 4 | #define PWMA PA_8 |
| bwang | 24:5e18a87a0e95 | 5 | #define PWMB PA_9 |
| bwang | 19:a6cf15f89f3d | 6 | #define PWMC PA_10 |
| bwang | 19:a6cf15f89f3d | 7 | #define EN PB_15 |
| bwang | 19:a6cf15f89f3d | 8 | |
| bwang | 19:a6cf15f89f3d | 9 | #define IA PA_4 |
| bwang | 19:a6cf15f89f3d | 10 | #define IB PB_0 |
| bwang | 19:a6cf15f89f3d | 11 | |
| bwang | 19:a6cf15f89f3d | 12 | #define TH_PIN PB_8 |
| bwang | 42:030e0ec4eac5 | 13 | #define TH_LIMIT_LOW 1100 //uS |
| bwang | 56:c681001dfa46 | 14 | #define TH_LIMIT_HIGH 1750 |
| bwang | 19:a6cf15f89f3d | 15 | |
| bwang | 19:a6cf15f89f3d | 16 | #define I_SCALE_RAW 25.0f //mv/A |
| bwang | 19:a6cf15f89f3d | 17 | #define R_UP 12000.0f //ohms |
| bwang | 19:a6cf15f89f3d | 18 | #define R_DOWN 3600.0f //ohms |
| bwang | 19:a6cf15f89f3d | 19 | #define R_BIAS 3600.0f //ohms |
| bwang | 19:a6cf15f89f3d | 20 | #define AVDD 3300.0f //mV |
| bwang | 19:a6cf15f89f3d | 21 | |
| bwang | 19:a6cf15f89f3d | 22 | #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) |
| bwang | 19:a6cf15f89f3d | 23 | #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) |
| bwang | 19:a6cf15f89f3d | 24 | |
| bwang | 19:a6cf15f89f3d | 25 | #define set_dtc(phase, value) *phase = (value) |
| bwang | 19:a6cf15f89f3d | 26 | |
| bwang | 19:a6cf15f89f3d | 27 | #endif |