Macro definitions. More...

Macros
#define	CONVERT_RIDERTRQ_TO_NM(X)
	Convert rider torque to Nm.

#define	CONVERT_STEERPOS_TO_RAD(X)
	Convert steer position to radiants.

#define	CONVERT_STEERVEL_TO_RADPS(X)
	Convert steer rate to rad/s.

#define	CONVERT_ACTCURR_TO_A(X)
	Convert steer rate to rad/s.

#define	CONVERT_CURRENT_TO_PWM(X)
	Convert reference current to PWM value.

#define	CONVERT_CURRENT_TO_DAC(X)
	Convert reference current to DAC value.

#define	CONVERT_TRHOTTLE_TO_DAC(X)
	Convert reference throttle to DAC value.

#define	CONVERT_VOLTAGE_TO_V(X)
	Convert battery voltage to volts.

#define	CONVERT_FORKDISP_TO_MM(X)
	Convert fork displacement to millimiters.

#define	CONVERT_CHANNEL_TO_FLOAT(X, XMIN, XMAX)
	Convert SBUS channel to float.

#define	CONVERT_BRLEV_TO_STEPS(X)
	Convert brake lever position to motor steps.

#define	CONVERT_TRHOTTLE_TO_STEPS(X)
	Convert throttle to motor steps.

#define	USB_CONNECTED (!bitRead(USB1_PORTSC1,7))
	Macro for checking the USB connection status-.

#define	MTR_EN_STATE HIGH
	Enable state for steer motor.

#define	RELAY_EN_STATE HIGH
	Enable state for relay.

#define	BR_SLEEP_STATE HIGH
	Enable state for brake motor.

#define	MTR_ENABLE digitalWriteFast(MTR_EN_PIN, MTR_EN_STATE), delay(100)
	Macro for motor enable.

#define	RELAY_ENABLE digitalWriteFast(RELAY_EN_PIN, RELAY_EN_STATE), delay(500)
	Macro for relay enable.

#define	BR_ENABLE digitalWriteFast(BR_SLEEP_PIN, BR_SLEEP_STATE)
	Macro for brake motor enable.

#define	BR_DISABLE digitalWriteFast(BR_SLEEP_PIN, !BR_SLEEP_STATE)
	Macro for brake motor enable.

#define	LEDON digitalWriteFast(LED_BUILTIN, HIGH)
	Macro for LED on.

#define	LEDOFF digitalWriteFast(LED_BUILTIN, LOW)
	Macro for LED off.

#define	POWER_OFF SNVS_LPCR \|= (1<<6)
	Macro for turning off the microcontroller.

Detailed Description

Macro definitions.

Definition of the macros for conversions and utilities. This includes definitions of macros for unit conversions and utilities, such such enable macros.

Macro Definition Documentation

◆ BR_DISABLE

#define BR_DISABLE digitalWriteFast(BR_SLEEP_PIN, !BR_SLEEP_STATE)

Macro for brake motor enable.

See also: BR_SLEEP_PIN BR_SLEEP_STATE

◆ BR_ENABLE

#define BR_ENABLE digitalWriteFast(BR_SLEEP_PIN, BR_SLEEP_STATE)

Macro for brake motor enable.

See also: BR_SLEEP_PIN BR_SLEEP_STATE

◆ BR_SLEEP_STATE

#define BR_SLEEP_STATE HIGH

Enable state for brake motor.

◆ CONVERT_ACTCURR_TO_A

#define CONVERT_ACTCURR_TO_A ( X )

Value:

(-(GAIN_ACTCURR * X / (powf(2, ADC_RES) - 1) + OFFSET_ACTCURR))

ADC_RES

#define ADC_RES

ADC resolution (in bits).

Definition config.h:51

OFFSET_ACTCURR

#define OFFSET_ACTCURR

Offset of actual motor current.

Definition config.h:149

GAIN_ACTCURR

#define GAIN_ACTCURR

Gain of actual motor current.

Definition config.h:148

Convert steer rate to rad/s.

Macro for the conversion of the steer rate from raw value (in bits from the ADC) to rad/s. The macro makes use of GAIN_STEERVEL, OFFSET_STEERVEL, and ADC_RES to remap the values using a linear interpolation.

Parameters

X	The ADC value to convert (in bits).

Returns: The value in rad.

See also: ADC_RES GAIN_STEERVEL OFFSET_STEERVEL

◆ CONVERT_BRLEV_TO_STEPS

#define CONVERT_BRLEV_TO_STEPS ( X )

Value:

((X*BR_STEPS)/BR_SPEED_RATIO)

BR_SPEED_RATIO

#define BR_SPEED_RATIO

Speed ratio of the brake motor to brake lever (mm/revolution).

Definition config.h:187

BR_STEPS

#define BR_STEPS

Number of steps of the brake motor.

Definition config.h:186

Convert brake lever position to motor steps.

Macro for the conversion of the brake lever position (mm) to the number of steps of the steeper motor.

Parameters

X	The brake lever position (mm).

Returns: The number of steps of the steeper motor.

See also: BR_STEPS BR_SPEED_RATIO

◆ CONVERT_CHANNEL_TO_FLOAT

#define CONVERT_CHANNEL_TO_FLOAT	(	X,
		XMIN,
		XMAX )

Value:

(float(X)-MIN_SBUS)/(MAX_SBUS-MIN_SBUS)*(XMAX-XMIN) + XMIN

MAX_SBUS

#define MAX_SBUS

Maximum value from SBUS.

Definition config.h:160

MIN_SBUS

#define MIN_SBUS

Minimum value from SBUS.

Definition config.h:161

Convert SBUS channel to float.

Macro for the conversion of the value of a SBUS channel from int16_t to a float within a defined range.

Parameters

X	The value of SBUS channel. It must be within MIN_SBUS and MAX_SBUS.
XMIN	The minimum value of the float.
XMAX	The maximum value of the float.

Returns: The float value within MIN and MAX.

See also: MAX_SBUS MIN_SBUS

◆ CONVERT_CURRENT_TO_DAC

#define CONVERT_CURRENT_TO_DAC ( X )

Value:

abs(X / MAX_REFCUR * (powf(2, DAC_RES) - 1))

DAC_RES

#define DAC_RES

DAC resolution (in bits).

Definition config.h:55

MAX_REFCUR

#define MAX_REFCUR

Maximum reference current.

Definition config.h:177

Convert reference current to DAC value.

Macro for the conversion of the reference current to a DAC value. The macro makes use of MAX_REFCUR, and DAC_RES to remap the values using a linear interpolation. The sign is removed.

Parameters

X	The reference current.

Returns: The DAC value.

See also: MAX_REFCUR DAC_RES

◆ CONVERT_CURRENT_TO_PWM

#define CONVERT_CURRENT_TO_PWM ( X )

Value:

(PWM_MIN * (powf(2, PWM_RES) - 1) + abs((PWM_MAX - PWM_MIN) * X / MAX_REFCUR * (powf(2, PWM_RES) - 1)))

PWM_MAX

#define PWM_MAX

Maximum PWM value for motor current reference.

Definition config.h:63

PWM_RES

#define PWM_RES

PWM resolution in bit (max is 14).

Definition config.h:60

PWM_MIN

#define PWM_MIN

Minimum PWM value for motor current reference.

Definition config.h:62

Convert reference current to PWM value.

Macro for the conversion of the reference current to a PWM value. The macro makes use of MAX_REFCUR, PWM_MIN, PWM_MAX, and PWM_RES to remap the values using a linear interpolation. The sign is removed.

Parameters

X	The reference current.

Returns: The PWM value.

See also: MAX_REFCUR PWM_MIN PWM_MAX PWM_RES

◆ CONVERT_FORKDISP_TO_MM

#define CONVERT_FORKDISP_TO_MM ( X )

Value:

(GAIN_FORKDISP * X / (powf(2, ADC_RES) - 1) + OFFSET_FORKDISP)

GAIN_FORKDISP

#define GAIN_FORKDISP

Fain of front fork displacement.

Definition config.h:152

OFFSET_FORKDISP

#define OFFSET_FORKDISP

Offset of front fork displacement.

Definition config.h:153

Convert fork displacement to millimiters.

Macro for the conversion of the fork displacement from raw value (in bits from the ADC) to millimiters. The macro makes use of GAIN_FORKDISP, OFFSET_FORKDISP, and ADC_RES to remap the values using a linear interpolation.

Parameters

X	The ADC value to conver (in bits).

Returns: The value in volts.

See also: ADC_RES GAIN_FORKDISP OFFSET_FORKDISP

◆ CONVERT_RIDERTRQ_TO_NM

#define CONVERT_RIDERTRQ_TO_NM ( X )

Value:

(GAIN_RIDERTRQ * X / (powf(2, ADC_RES) - 1) * 3.3F / 5.0F * 1.0e3 + OFFSET_RIDERTRQ)

GAIN_RIDERTRQ

#define GAIN_RIDERTRQ

Gain of rider torque (Nm/(mV/V), with 5V supply).

Definition config.h:142

OFFSET_RIDERTRQ

#define OFFSET_RIDERTRQ

Offset of rider torque (mV/V).

Definition config.h:143

Convert rider torque to Nm.

Macro for the conversion of the rider torque from raw value (in bits from the ADC) to Nm. The macro makes use of GAIN_RIDERTRQ, OFFSET_RIDERTRQ, and ADC_RES to remap the values using a linear interpolation.

Parameters

X	The ADC value to convert (in bits).

Returns: The value in Nm.

See also: ADC_RES GAIN_RIDERTRQ OFFSET_RIDERTRQ

◆ CONVERT_STEERPOS_TO_RAD

#define CONVERT_STEERPOS_TO_RAD ( X )

Value:

(GAIN_STEERPOS * X / (powf(2, ADC_RES) - 1) + OFFSET_STEERPOS)

GAIN_STEERPOS

#define GAIN_STEERPOS

Fain of steer position.

Definition config.h:144

OFFSET_STEERPOS

#define OFFSET_STEERPOS

Offset of steer position.

Definition config.h:145

Convert steer position to radiants.

Macro for the conversion of the steer position from raw value (in bits from the ADC) to radiants. The macro makes use of GAIN_STEERPOS, OFFSET_STEERPOS, and ADC_RES to remap the values using a linear interpolation.

Parameters

X	The ADC value to convert (in bits).

Returns: The value in radiants.

See also: ADC_RES GAIN_STEERPOS OFFSET_STEERPOS

◆ CONVERT_STEERVEL_TO_RADPS

#define CONVERT_STEERVEL_TO_RADPS ( X )

Value:

((GAIN_STEERVEL * X / (powf(2, ADC_RES) - 1) + OFFSET_STEERVEL)/STEERVEL_RATIO)

OFFSET_STEERVEL

#define OFFSET_STEERVEL

Offset of steer velocity.

Definition config.h:147

GAIN_STEERVEL

#define GAIN_STEERVEL

Gain of steer velocity.

Definition config.h:146

STEERVEL_RATIO

#define STEERVEL_RATIO

Speed ratio of steer velocity.

Definition config.h:341

Convert steer rate to rad/s.

Macro for the conversion of the steer rate from raw value (in bits from the ADC) to rad/s. The macro makes use of GAIN_STEERVEL, OFFSET_STEERVEL, and ADC_RES to remap the values using a linear interpolation.

Parameters

X	The ADC value to convert (in bits).

Returns: The value in rad.

See also: ADC_RES GAIN_STEERVEL OFFSET_STEERVEL

◆ CONVERT_TRHOTTLE_TO_DAC

#define CONVERT_TRHOTTLE_TO_DAC ( X )

Value:

(X / MAX_REFTHROTTLE * (powf(2, DAC_RES) - 1))

MAX_REFTHROTTLE

#define MAX_REFTHROTTLE

Maximum throttle value.

Definition config.h:178

Convert reference throttle to DAC value.

Macro for the conversion of the reference throttle to a DAC value. The macro makes use of MAX_REFTHROTTLE, and DAC_RES to remap the values using a linear interpolation. The sign is removed.

Parameters

X	The reference throttle.

Returns: The DAC value.

See also: MAX_REFTHROTTLE DAC_RES

◆ CONVERT_TRHOTTLE_TO_STEPS

#define CONVERT_TRHOTTLE_TO_STEPS ( X )

Value:

CONVERT_BRLEV_TO_STEPS(X / MAX_REFTHROTTLE * MAX_BR_DISP)

MAX_BR_DISP

#define MAX_BR_DISP

Maximum brake lever displacement (mm).

Definition config.h:188

CONVERT_BRLEV_TO_STEPS

#define CONVERT_BRLEV_TO_STEPS(X)

Convert brake lever position to motor steps.

Definition config.h:299

Convert throttle to motor steps.

Macro for the conversion of the throttle to the number of steps of the steeper motor.

Parameters

X	The reference throttle.

Returns: The number of steps of the steeper motor.

See also: CONVERT_BRLEV_TO_STEPS

◆ CONVERT_VOLTAGE_TO_V

#define CONVERT_VOLTAGE_TO_V ( X )

Value:

(GAIN_VOLTAGE * X / (powf(2, ADC_RES) - 1) + OFFSET_VOLTAGE)

OFFSET_VOLTAGE

#define OFFSET_VOLTAGE

Offset of voltage.

Definition config.h:151

GAIN_VOLTAGE

#define GAIN_VOLTAGE

Gain of voltage.

Definition config.h:150

Convert battery voltage to volts.

Macro for the conversion of the battery voltage from raw value (in bits from the ADC) to volts. The macro makes use of GAIN_VOLTAGE, OFFSET_VOLTAGE, and ADC_RES to remap the values using a linear interpolation.

Parameters

X	The ADC value to conver (in bits).

Returns: The value in volts.

See also: ADC_RES GAIN_VOLTAGE OFFSET_VOLTAGE

◆ LEDOFF

#define LEDOFF digitalWriteFast(LED_BUILTIN, LOW)

Macro for LED off.

Standard value for LED_BUILTIN is 13 in the Arduino environment.

◆ LEDON

#define LEDON digitalWriteFast(LED_BUILTIN, HIGH)

Macro for LED on.

Standard value for LED_BUILTIN is 13 in the Arduino environment.

◆ MTR_EN_STATE

#define MTR_EN_STATE HIGH

Enable state for steer motor.

◆ MTR_ENABLE

#define MTR_ENABLE digitalWriteFast(MTR_EN_PIN, MTR_EN_STATE), delay(100)

Macro for motor enable.

See also: MTR_EN_PIN MTR_EN_STATE

◆ POWER_OFF

#define POWER_OFF SNVS_LPCR |= (1<<6)

Macro for turning off the microcontroller.

Refer to the MCU manual for details.

See also: https://forum.pjrc.com/threads/59125-Is-there-a-hook-to-know-when-the-on-off-pin-on-the-Teensy-4-0-has-been-grounded

◆ RELAY_EN_STATE

#define RELAY_EN_STATE HIGH

Enable state for relay.

◆ RELAY_ENABLE

#define RELAY_ENABLE digitalWriteFast(RELAY_EN_PIN, RELAY_EN_STATE), delay(500)

Macro for relay enable.

See also: RELAY_EN_PIN RELAY_EN_STATE

◆ USB_CONNECTED

#define USB_CONNECTED (!bitRead(USB1_PORTSC1,7))

Macro for checking the USB connection status-.

See https://forum.pjrc.com/threads/70721-detecting-usb-connection-on-a-teensy-4-0

Macros

Detailed Description

Macro Definition Documentation

◆ BR_DISABLE

◆ BR_ENABLE

◆ BR_SLEEP_STATE

◆ CONVERT_ACTCURR_TO_A

◆ CONVERT_BRLEV_TO_STEPS

◆ CONVERT_CHANNEL_TO_FLOAT

◆ CONVERT_CURRENT_TO_DAC

◆ CONVERT_CURRENT_TO_PWM

◆ CONVERT_FORKDISP_TO_MM

◆ CONVERT_RIDERTRQ_TO_NM

◆ CONVERT_STEERPOS_TO_RAD

◆ CONVERT_STEERVEL_TO_RADPS

◆ CONVERT_TRHOTTLE_TO_DAC

◆ CONVERT_TRHOTTLE_TO_STEPS

◆ CONVERT_VOLTAGE_TO_V

◆ LEDOFF

◆ LEDON

◆ MTR_EN_STATE

◆ MTR_ENABLE

◆ POWER_OFF

◆ RELAY_EN_STATE

◆ RELAY_ENABLE

◆ USB_CONNECTED