Jared DiCarlo / Mbed 2 deprecated foc-ed_in_the_bot_compact

working version

Dependencies:   FastPWM3 mbed

Fork of foc-ed_in_the_bot_compact by Bayley Wang

config.h@13:41d102a53caf, 2016-10-30 (annotated)

Committer:
dicarloj
Date:
Sun Oct 30 02:06:03 2016 +0000
Revision:
13:41d102a53caf
Parent:
12:5723a4fa5864 
IT WORKS THIS VERSION

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #ifndef __CONFIG_H
bwang 0:bac9c3a3a6ca 2 #define __CONFIG_H
bwang 0:bac9c3a3a6ca 3
bwang 12:5723a4fa5864 4 #define POS_OFFSET 1.49f //1.73f
bwang 9:074575151e4b 5 #define POLE_PAIRS 3.0f
bwang 9:074575151e4b 6 #define RESOLVER_LOBES 3.0f
bwang 12:5723a4fa5864 7 #define CURRENT_U ib
bwang 12:5723a4fa5864 8 #define CURRENT_V ia
bwang 10:f49df0fe0382 9 #define CPR 4096
bwang 0:bac9c3a3a6ca 10
bwang 12:5723a4fa5864 11 #define PWMA PA_9
bwang 12:5723a4fa5864 12 #define PWMB PA_8
bwang 0:bac9c3a3a6ca 13 #define PWMC PA_10
bwang 0:bac9c3a3a6ca 14 #define EN PB_15
bwang 0:bac9c3a3a6ca 15
bwang 0:bac9c3a3a6ca 16 #define IA PA_4
bwang 0:bac9c3a3a6ca 17 #define IB PB_0
bwang 0:bac9c3a3a6ca 18
bwang 0:bac9c3a3a6ca 19 #define I_SCALE_RAW 25.0f //mv/A
bwang 0:bac9c3a3a6ca 20 #define R_UP 12000.0f //ohms
bwang 0:bac9c3a3a6ca 21 #define R_DOWN 3600.0f //ohms
bwang 0:bac9c3a3a6ca 22 #define R_BIAS 3600.0f //ohms
bwang 0:bac9c3a3a6ca 23 #define AVDD 3300.0f //mV
bwang 0:bac9c3a3a6ca 24
bwang 0:bac9c3a3a6ca 25 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 0:bac9c3a3a6ca 26 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
bwang 0:bac9c3a3a6ca 27
bwang 9:074575151e4b 28 #define BUS_VOLTAGE 20.0f
bwang 2:eabe8feaaabb 29 #define K_LOOP 1.0f
bwang 0:bac9c3a3a6ca 30 #define KI_BASE 0.01f
bwang 0:bac9c3a3a6ca 31
bwang 0:bac9c3a3a6ca 32 #define KP (K_LOOP / BUS_VOLTAGE)
bwang 0:bac9c3a3a6ca 33 #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE)
bwang 0:bac9c3a3a6ca 34
bwang 2:eabe8feaaabb 35 #define INTEGRAL_MAX 1.0f
bwang 2:eabe8feaaabb 36
bwang 9:074575151e4b 37 #define set_dtc(phase, value) *phase = (value)
bwang 9:074575151e4b 38 #define PI 3.141593f
bwang 9:074575151e4b 39
dicarloj 13:41d102a53caf 40 #define Q_MAX 50
dicarloj 13:41d102a53caf 41
bwang 0:bac9c3a3a6ca 42 #endif