app/spejbl_motor/constants.h

   1 /****************************************/
   2 /*      Constants definition for        */
   3 /*        robot Spejbl - motor          */
   4 /****************************************/
   5
   6 /* CAN message IDs */
   7 #define CAN_CLOCK_ID  0x401
   8 #define CAN_CFGMSG_ID 0x4ab
   9 #define CAN_UNDEF_ID  0xf800
  10
  11 #define CANLOAD_ID 0x481
  12 //(*((volatile unsigned long *) 0x40000120))
  13 #define MOTOR_ID CANLOAD_ID
  14
  15 /* CAN timing */
  16 #define CAN_OVERSAMP 80
  17
  18 #define ADC_OVERSAMP 6
  19 #define ADC_MA_LEN   (2*ADC_OVERSAMP)
  20
  21 /* position limits */
  22 #define POS_MIN 0x060
  23 #define POS_MAX 0x3a0
  24
  25 /* input channels */
  26 #define ADCIN_POS 0
  27 #define ADCIN_CURRENT 1
  28
  29 /* reserved value for power-off */
  30 #define CTRL_OFF 0xffff
  31 #define CTRL_MAX SHRT_MAX
  32
  33 //#define CTRL_INT_DIV  (1<<19)
  34 #define CTRL_INT_DIV  (1<<15)
  35 #define CTRL_INT_MAX  (CTRL_INT_DIV*PWM_PERIOD)
  36 #define CTRL_AMP_MUL  (20.0/(12*(1<<11)))
  37
  38 /*controler constants*/
  39 #define CTRL_PI_Q     ((4.0/7.0)*CTRL_INT_MAX*CTRL_AMP_MUL)
  40 #define CTRL_PI_K     (0.6*CTRL_PI_Q)
  41 #define CTRL_PI_Kn    (0.6*0.674*CTRL_PI_Q)
  42
  43 /* PWM and sampling timing */
  44 #define PWM_PERIOD   3000
  45 #define PWM_DEAD     60