2018-02-09 07:53:25 +00:00
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#pragma once
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#include "stm32f1xx_hal.h"
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#define R 0.27
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#define P 15
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#define PSI 0.02
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#define V 23
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#define MILLI_R (R * 1000)
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#define MILLI_PSI (PSI * 1000)
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#define MILLI_V (V * 1000)
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2018-02-09 08:39:47 +00:00
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#define PWM_FREQ 16000 // PWM frequency in Hz
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#define DEAD_TIME 32 // PWM deadtime
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2018-02-09 07:53:25 +00:00
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2018-02-18 12:37:50 +00:00
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//#define DC_CUR_LIMIT 34 // Motor DC current limit in amps
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#define DC_CUR_LIMIT 24 // Motor DC current limit in amps
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2018-02-09 07:53:25 +00:00
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2018-02-10 00:37:36 +00:00
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//#define DEBUG_SERIAL_SERVOTERM
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2018-02-18 12:37:50 +00:00
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// #define DEBUG_SERIAL_ASCII
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2018-02-09 08:39:47 +00:00
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#define DEBUG_BAUD 115200 // UART baud rate
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2018-02-09 07:53:25 +00:00
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//#define DEBUG_I2C_LCD
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2018-02-09 08:39:47 +00:00
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2018-02-18 12:37:50 +00:00
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// #define CONTROL_PPM // use PPM CONTROL_PPM
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2018-02-09 08:39:47 +00:00
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#define PPM_NUM_CHANNELS 6 // number of PPM channels to receive
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