#include <math.h>
#include <stdbool.h>
#include "arm_math.h"
#include "stm32f4xx_adc.h"
#include "stm32f4xx_dac.h"
#include "stm32f4xx_dma.h"
#include "stm32f4xx_exti.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_i2c.h"
#include "stm32f4xx_iwdg.h"
#include "stm32f4xx_pwr.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_rtc.h"
#include "stm32f4xx_spi.h"
#include "stm32f4xx_syscfg.h"
#include "stm32f4xx_tim.h"
#include "stm32f4xx_usart.h"
#include "stm32f4xx_wwdg.h"

Macros
#define	STM_SYSCLOCK_FREQ 168000000

#define	APB1_PRESCALER 4

#define	APB2_PRESCALER 2

#define	TIM_MULTIPLIER 2

#define	CURRENT_LOOP_IRQ_PRIORITY 1

#define	CONTROL_LOOP_IRQ_PRIORITY 2

#define	CODER_INDEX_IRQ_PRIORITY 2

#define	UART_RX_IRQ_PRIORIY 3

#define	DATA_LOOP_IRQ_PRIORITY 4

#define	USER_BUTTON_IRQ_PRIORITY 4

#define	STM_SUPPLY_VOLTAGE 3.3f

#define	ADC_REF_VOLTAGE 2.5f

#define	H_BRIDGE_SUPPLY_VOLTAGE 24.0f

#define	CURRENT_SHUNT_RESISTANCE 0.025f

#define	CURRENT_SHUNT_AMPLIFIER_GAIN 30.0f

#define	MOTOR_RESISTANCE (10.6f + 5.0f)

#define	REDUCTION_RATIO 15.0f

#define	MOTOR_TORQUE_CONST 0.0538f

#define	MOTOR_SPEED_CONST 177.0f

#define	MOTOR_NOMINAL_TORQUE 0.0323f

Macro Definition Documentation

◆ ADC_REF_VOLTAGE

#define ADC_REF_VOLTAGE 2.5f

◆ APB1_PRESCALER

#define APB1_PRESCALER 4

◆ APB2_PRESCALER

#define APB2_PRESCALER 2

◆ CODER_INDEX_IRQ_PRIORITY

#define CODER_INDEX_IRQ_PRIORITY 2

◆ CONTROL_LOOP_IRQ_PRIORITY

#define CONTROL_LOOP_IRQ_PRIORITY 2

◆ CURRENT_LOOP_IRQ_PRIORITY

#define CURRENT_LOOP_IRQ_PRIORITY 1

◆ CURRENT_SHUNT_AMPLIFIER_GAIN

#define CURRENT_SHUNT_AMPLIFIER_GAIN 30.0f

◆ CURRENT_SHUNT_RESISTANCE

#define CURRENT_SHUNT_RESISTANCE 0.025f

◆ DATA_LOOP_IRQ_PRIORITY

#define DATA_LOOP_IRQ_PRIORITY 4

◆ H_BRIDGE_SUPPLY_VOLTAGE

#define H_BRIDGE_SUPPLY_VOLTAGE 24.0f

◆ MOTOR_NOMINAL_TORQUE

#define MOTOR_NOMINAL_TORQUE 0.0323f

◆ MOTOR_RESISTANCE

#define MOTOR_RESISTANCE (10.6f + 5.0f)

◆ MOTOR_SPEED_CONST

#define MOTOR_SPEED_CONST 177.0f

◆ MOTOR_TORQUE_CONST

#define MOTOR_TORQUE_CONST 0.0538f

◆ REDUCTION_RATIO

#define REDUCTION_RATIO 15.0f

◆ STM_SUPPLY_VOLTAGE

#define STM_SUPPLY_VOLTAGE 3.3f

◆ STM_SYSCLOCK_FREQ

#define STM_SYSCLOCK_FREQ 168000000

◆ TIM_MULTIPLIER

#define TIM_MULTIPLIER 2

◆ UART_RX_IRQ_PRIORIY

#define UART_RX_IRQ_PRIORIY 3

◆ USER_BUTTON_IRQ_PRIORITY

#define USER_BUTTON_IRQ_PRIORITY 4

Macros