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main.h
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/** \mainpage HRI board firmware documentation
* \section intro_sec Introduction
* This is the documentation of the HRI board firmware. You will find a
* description of the provided library and drivers. As all the hardware and
* software is very new, please do not hesitate to suggest improvements to the
* course assistants (Romain Baud, Philipp Hörler and Laurent Jenni).
*
* \section code_struct_sec Code structure
* The code is divided into 3 parts:
* - main: this is where the controllers and the communication protocol are
* implemented. The call of all the initialization functions is also made here.
* - library: all the algorithms, data structures that could be used at many
* places, are put into the library.
* - drivers: there is one driver per peripheral. All the hardware-specific
* code is wrapped into these files, so that the user does not have to worry
* about the microcontroller operation (and spend a lot of time to read the
* documentation).
*
* One module (controller, communication, library or driver) is always splitted
* in two files, .h and .c, like in C++.
* @image html soft_architecture.png
*
* \section lib_how_to How to use the provided library
* For most of the driver/library modules, call x_Init() only once, when the
* program starts (typically in the main()). Then, you can call
* x_Step()/x_Set()/x_Get() everytime as needed, typically in the control
* functions called periodically (ctrl_RegulatePosition()...).
*
* See the "Modules" section of this documentation to see how they work.
*
* \section stm32_resources_usage STM32's resources usage
* \subsection stm32_resources_usage_timers Timers
* - TIM1: PWM of the 4 user LEDs.
* - TIM2: -
* - TIM3: -
* - TIM4: -
* - TIM5: encoder quadrature decoder.
* - TIM6: position loop.
* - TIM7: variables streaming loop.
* - TIM8: H-bridge PWM.
* - TIM9: -
* - TIM10: current loop.
* - TIM11: -
* - TIM12: -
* - TIM13: -
* - TIM14: -
* \subsection stm32_resources_usage_adcs ADCs
* - ADC1: general purpose ADC.
* - ADC2: -
* - ADC3: motor current sensor ADC.
* \subsection stm32_resources_usage_dac DAC
* - DAC: DAC extension.
* \subsection stm32_resources_usage_buses Communication buses
* - USART1: UART extension.
* - USART2: USB communication UART.
* - I2C1: I2C extension.
* - SPI3: SPI extension.
*/
#ifndef __MAIN_H
#define __MAIN_H
#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"
// Clocks configuration.
#define STM_SYSCLOCK_FREQ 168000000 // [Hz].
#define APB1_PRESCALER 4
#define APB2_PRESCALER 2
#define TIM_MULTIPLIER 2
// Interupt priority.
#define CURRENT_LOOP_IRQ_PRIORITY 1 // High freq loop, should interrupt all the others.
#define CONTROL_LOOP_IRQ_PRIORITY 2
#define CODER_INDEX_IRQ_PRIORITY 2 // Useless, remove?
#define UART_RX_IRQ_PRIORIY 3
#define DATA_LOOP_IRQ_PRIORITY 4 // Streaming packets.
#define USER_BUTTON_IRQ_PRIORITY 4
// Electrical parameters.
#define STM_SUPPLY_VOLTAGE 3.3f // Power supply voltage of the microcontroller [V].
#define ADC_REF_VOLTAGE 2.5f // Voltage reference of the ADC (VREF) [V].
#define H_BRIDGE_SUPPLY_VOLTAGE 24.0f // [V].
#define CURRENT_SHUNT_RESISTANCE 0.025f // [ohm].
#define CURRENT_SHUNT_AMPLIFIER_GAIN 30.0f // Gain of 60 (AD817) / 2 (voltage divider) [].
#define MOTOR_RESISTANCE 10.6f + 5.0f // 10.6 ohm according to the datasheet, actually more, depends on the motor [ohm].
// Mechanical parameters.
#define REDUCTION_RATIO 16.5f
#define MOTOR_TORQUE_CONST 0.0538f // [N.m/A].
#define MOTOR_SPEED_CONST 177.0f // [RPM/V].
#define MOTOR_NOMINAL_TORQUE 0.0323f // [N.m].
#endif

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