N K
/
foc-ed_in_the_bot_compact
last working
Fork of foc-ed_in_the_bot_compact by
Embed:
(wiki syntax)
Show/hide line numbers
config.h
00001 #ifndef __CONFIG_H 00002 #define __CONFIG_H 00003 00004 #define CPR 4096 00005 #define POS_OFFSET 1.73f 00006 #define POLE_PAIRS 3.0f 00007 #define RESOLVER_LOBES 3.0f 00008 00009 #define PWMA PA_8 00010 #define PWMB PA_9 00011 #define PWMC PA_10 00012 #define EN PB_15 00013 00014 #define IA PA_4 00015 #define IB PB_0 00016 00017 #define I_SCALE_RAW 25.0f //mv/A 00018 #define R_UP 12000.0f //ohms 00019 #define R_DOWN 3600.0f //ohms 00020 #define R_BIAS 3600.0f //ohms 00021 #define AVDD 3300.0f //mV 00022 00023 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) 00024 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP))) 00025 00026 #define BUS_VOLTAGE 20.0f 00027 #define K_LOOP 1.0f 00028 #define KI_BASE 0.01f 00029 00030 #define KP (K_LOOP / BUS_VOLTAGE) 00031 #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE) 00032 00033 #define INTEGRAL_MAX 1.0f 00034 00035 #define set_dtc(phase, value) *phase = (value) 00036 #define PI 3.141593f 00037 00038 #endif
Generated on Mon Jul 18 2022 17:14:55 by 1.7.2