main.h

/*
 * EGG Electric Unicycle firmware
 *
 * Copyright (C) Casainho, 2015, 2106.
 *
 * Released under the GPL License, Version 3
 */

#ifndef _MAIN_H_
#define _MAIN_H_

// Define for the NVIC IRQChannel Preemption Priority
// lower number has higher priority
#define ADC_ANALOG_WATCHDOG_PRIORITY		0
#define HALL_SENSORS_PRIORITY			1
#define	TIM2_PRIORITY				2

// State machine
#define COAST			0
#define RUNNING 		1
#define OVER_MAX_CURRENT 	2
#define OVER_CURRENT 		3

// Battery voltage
// voltage measured values:
//  20V | 0.75V
//  30V | 1.12V
//  40V | 1.50V
//  50V | 1.88V
//  60V | 2.25V
// about 38mv for each 1V

// Phase current
// Voltage measured values:
//  4.7A | 1.77V
//  2.8A | 1.74V
//    0A | 1.71V
// -2.8A | 1.68V
// -4.7A | 1.65V
// about 12.7mv for each 1A

#define K_ADC_VOLTAGE 161 // amplified 100k

// Motor
#define MOTOR_MAX_CURRENT	1 // Define max motor current (used on adc.c)
#define MOTOR_MAX_SPEED 	20000 // meter per hour
//#define MOTOR_MIN_SPEED 	5000 // meter per hour -- walking speed is 5km/h
#define MOTOR_MIN_SPEED 	0 // meter per hour -- walking speed is 5km/h
#define MOTOR_SPEED_CONVERSION 	0.5574 // convert hall sensor signal period (each 10us) to motor speed

extern unsigned int machine_state;
void delay_ms (unsigned int ms);
void printDouble(double v, int decimalDigits);



#endif /* _MAIN_H_ */