/* * **************************************************** * @file : flash.h * @brief : Flash Header * @author : HSW / WESPION * @data : 2025. 05. 06 * **************************************************** */ #ifndef __FLASH_H_ #define __FLASH_H_ #ifdef __cplusplus extern "C" { #endif #include "main.h" #include "WESPION.h" #include "WESPION_Def.h" ////////////////// Compiling Options //////////////////// ///////////////// COSTANT Declarations /////////////////// #define EEPROM __attribute__((section(".1st_Secter"))) const #define BACKUP __attribute__((section(".2nd_Secter"))) const //#define EEPROM __attribute__((section(".1st_Secter"))) //#define BACKUP __attribute__((section(".2nd_Secter"))) #define FLASH_ORIGIN_SECTOR FLASH_SECTOR_2 #define FLASH_BACKUP_SECTOR FLASH_SECTOR_3 #define SECTOR_SIZE 0x4000 //16KB #define FLASH_VALID_CODE 0x12345678 ///////////////// System Constants //////////////////// #define HW_MODEL 0x01 //RoomFit //#define HW_VER 3 //in main.h // 아래 3개는 이제 사용 안할 예정 -> 다른 걸로 활용하기!! (25.05.03) #define VER_MAJER 0x01 #define VER_MINER 0x00 // 12 #define VER_SUB 0x01 // #define VER_YEAR 2025 #define VER_MONTH 0x06 #define VER_DATE 0x30 // // 위의 6개는 여기서 수정해봐야 아무 의미 없음 -> Initialize_WESPION()에서 수정해야 함! #define MOTOR_PARA_POLE 10 // BS10510 //uint8_t //#define MOTOR_PARA_POLE 8 // JKONG //uint8_t #define MOTOR_PARA_Ld 0.0f #define MOTOR_PARA_Lq 0.0f #define MOTOR_PARA_Rs 0.0f #define MOTOR_PARA_PhaiF (72.2f * 0.001f * MT_1_OVR_SQ3) // BS10510 //#define MOTOR_PARA_PhaiF (25.3f * 0.001f * MT_1_OVR_SQ3) // JKONG #define MOTOR_GAINCURD_Kp 1.0f #define MOTOR_GAINCURD_Ki 0.011f #define MOTOR_GAINCURD_Kaw (1.0f/MOTOR_GAINCURD_Kp) #define MOTOR_GAINCURQ_Kp 1.0f #define MOTOR_GAINCURQ_Ki 0.011f #define MOTOR_GAINCURQ_Kaw (1.0f/MOTOR_GAINCURQ_Kp) #define MOTOR_GAINSPD_Kp 0.0022f #define MOTOR_GAINSPD_Ki 0.00001f #define MOTOR_GAINSPD_Kaw (1.0f/MOTOR_GAINSPD_Kp) #define MOTOR_GAINFWEAK_Kp 2.0f #define MOTOR_GAINFWEAK_Ki 0.002f #define MOTOR_ANG_ENCPULSE (4096*4)// BS10510 - TLE5012B //uint16_t //#define MOTOR_ANG_ENCPULSE (1000*4)// JKONG //uint16_t #define MOTOR_ANG_ANGLESCALE (360.0f/(float)MOTOR_ANG_ENCPULSE) #define MOTOR_ANG_SPEEDSCALE (1000.0f*60.0f/MOTOR_ANG_ENCPULSE) // ENCORDER // 양산 #000 - 에러테스트 // #define MOTOR1_ANG_ANGLEELCOFFSET 90.0f // #define MOTOR2_ANG_ANGLEELCOFFSET 256.0f // 양산 #001 //#define MOTOR1_ANG_ANGLEELCOFFSET 313.0f // Mtr#1-1 25.05.07 //#define MOTOR2_ANG_ANGLEELCOFFSET 338.0f // Mtr#1-2 25.05.07 // 양산 #002 //#define MOTOR1_ANG_ANGLEELCOFFSET 338.0f // Mtr#1-3 25.05.07 //#define MOTOR2_ANG_ANGLEELCOFFSET 60.0f // Mtr#1-2 25.05.07 // 양산 #003 //#define MOTOR1_ANG_ANGLEELCOFFSET 278.0f // Mtr#11-3 25.05.07 //#define MOTOR2_ANG_ANGLEELCOFFSET 123.0f // Mtr#1-2 25.05.07 // 양산 #004 - 25.05.08 //#define MOTOR1_ANG_ANGLEELCOFFSET 152.0f // Mtr#26-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 17.0f // Mtr#26-4 // 양산 #005 - 25.05.08 //#define MOTOR1_ANG_ANGLEELCOFFSET 155.0f // Mtr#36-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 234.0f // Mtr#36-2 //// 양산 #006 - 25.05.08 //#define MOTOR1_ANG_ANGLEELCOFFSET 92.0f // Mtr#21-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 207.0f // Mtr#21-2 //// 양산 #007 - 25.05.08 //#define MOTOR1_ANG_ANGLEELCOFFSET 8.0f // Mtr#21-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 260.0f // Mtr#21-4 //// 양산 #008 - 25.05.09 //#define MOTOR1_ANG_ANGLEELCOFFSET 32.0f // Mtr#36-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 328.0f // Mtr#36-4 //// 양산 #009 - 25.05.09 //#define MOTOR1_ANG_ANGLEELCOFFSET 5.0f // Mtr#51-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 195.0f // Mtr#51-2 //// 양산 #010 - 25.05.09 //#define MOTOR1_ANG_ANGLEELCOFFSET 248.0f // Mtr#46-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 192.0f // Mtr#46-2 //// 양산 #011 - 25.05.09 //#define MOTOR1_ANG_ANGLEELCOFFSET 16.0f // Mtr#46-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 68.0f // Mtr#46-4 //// 양산 #012 - 25.05.09 //#define MOTOR1_ANG_ANGLEELCOFFSET 306.0f // Mtr#71-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 311.0f // Mtr#71-2 //// 양산 #013 - 25.05.09 //#define MOTOR1_ANG_ANGLEELCOFFSET 294.0f // Mtr#71-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 36.0f // Mtr#71-4 // 양산 #014 - 25.05.14 //#define MOTOR1_ANG_ANGLEELCOFFSET 331.0f // Mtr#61-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 14.0f // Mtr#7-2 // 양산 #015 - 25.05.14 //#define MOTOR1_ANG_ANGLEELCOFFSET 75.0f // Mtr#2-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 330.0f // Mtr#2-4 // 양산 #016 - 25.05.14 //#define MOTOR1_ANG_ANGLEELCOFFSET 25.0f // Mtr#3-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 185.0f // Mtr#3-2 //// 양산 #017 - 25.05.14 //#define MOTOR1_ANG_ANGLEELCOFFSET 188.0f // Mtr#3-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 235.0f // Mtr#3-4 // 양산 #018 - 25.05.14 //#define MOTOR1_ANG_ANGLEELCOFFSET 189.0f // Mtr#4-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 241.0f // Mtr#4-2 // 양산 #019 - 25.05.15 //#define MOTOR1_ANG_ANGLEELCOFFSET 138.0f // Mtr#5-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 255.0f // Mtr#5-4 // 양산 #020 - 25.05.15 //#define MOTOR1_ANG_ANGLEELCOFFSET 286.0f // Mtr#6-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 92.0f // Mtr#6-4 // 양산 #021 - 25.05.15 //#define MOTOR1_ANG_ANGLEELCOFFSET 318.0f // Mtr#7-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 228.0f // Mtr#61-2 //// 양산 #022 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 66.0f // Mtr#7-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 76.0f // Mtr#7-4 //// 양산 #023 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 358.0f // Mtr#8-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 150.0f // Mtr#8-2 //// 양산 #024 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 77.0f // Mtr#9-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 243.0f // Mtr#9-2 //// 양산 #025 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 28.0f // Mtr#9-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 10.0f // Mtr#9-4 //// 양산 #026 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 171.0f // Mtr#10-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 229.0f // Mtr#10-2 //// 양산 #027 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 285.0f // Mtr#10-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 105.0f // Mtr#10-4 //// 양산 #028 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 343.0f // Mtr#12-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 228.0f // Mtr#61-2 //// 양산 #029 - 25.05.19 //#define MOTOR1_ANG_ANGLEELCOFFSET 305.0f // Mtr#12-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 295.0f // Mtr#12-4 //// 양산 (내부용 예정) #030 - 25.05. //#define MOTOR1_ANG_ANGLEELCOFFSET 0.0f // Mtr# //#define MOTOR2_ANG_ANGLEELCOFFSET 0.0f // Mtr# // 양산 #031 - 25.05.22 //#define MOTOR1_ANG_ANGLEELCOFFSET 140.0f // Mtr#14-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 110.0f // Mtr#14-2 // 양산 #032 - 25.05.22 //#define MOTOR1_ANG_ANGLEELCOFFSET 280.0f // Mtr#14-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 105.0f // Mtr#14-4 // 양산 #033 - 25.05.22 //#define MOTOR1_ANG_ANGLEELCOFFSET 300.0f // Mtr#15-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 1.0f // Mtr#15-2 // 양산 #034 - 25.05.22 //#define MOTOR1_ANG_ANGLEELCOFFSET 78.0f // Mtr#15-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 195.0f // Mtr#15-4 // 양산 #035 - 25.05.23 //#define MOTOR1_ANG_ANGLEELCOFFSET 90.0f // Mtr#16-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 222.0f // Mtr#16-4 // 양산 #036 - 25.05.23 //#define MOTOR1_ANG_ANGLEELCOFFSET 25.0f // Mtr#17-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 270.0f // Mtr#17-2 // 양산 #037 - 25.05.23 //#define MOTOR1_ANG_ANGLEELCOFFSET 281.0f // Mtr#17-3 //#define MOTOR2_ANG_ANGLEELCOFFSET 52.0f // Mtr#17-4 // 양산 #038 - 25.05.23 //#define MOTOR1_ANG_ANGLEELCOFFSET 95.0f // Mtr#18-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 92.0f // Mtr#18-2 // 양산 #039 - 25.05.26 //#define MOTOR1_ANG_ANGLEELCOFFSET 235.0f // Mtr#19-1 //#define MOTOR2_ANG_ANGLEELCOFFSET 356.0f // Mtr#19-2 // 양산 #040 - 25.05.26 // #define MOTOR1_ANG_ANGLEELCOFFSET 113.0f // Mtr#20-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 148.0f // Mtr#20-2 // 양산 #041 - 25.05.26 // #define MOTOR1_ANG_ANGLEELCOFFSET 356.0f // Mtr#20-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 50.0f // Mtr#20-4 // 양산 #042 - 25.05.26 // #define MOTOR1_ANG_ANGLEELCOFFSET 182.0f // Mtr#22-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 75.0f // Mtr#22-2 // 양산 #043 - 25.05.27 // #define MOTOR1_ANG_ANGLEELCOFFSET 97.0f // Mtr#23-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 91.0f // Mtr#23-2 // 양산 #044 - 25.05.27 // #define MOTOR1_ANG_ANGLEELCOFFSET 312.0f // Mtr#23-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 13.0f // Mtr#23-4 // 양산 #045 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 308.0f // Mtr#25-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 246.0f // Mtr#25-2 // 양산 #046 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 143.0f // Mtr#24-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 6.0f // Mtr#24-2 // 양산 #047 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 56.0f // Mtr#27-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 265.0f // Mtr#27-4 // 양산 #048 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 72.0f // Mtr#28-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 174.0f // Mtr#28-4 // 양산 #049 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 173.0f // Mtr#28-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 261.0f // Mtr#28-2 // 양산 #050 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 7.0f // Mtr#29-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 267.0f // Mtr#29-2 // 양산 #051 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 325.0f // Mtr#30-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 190.0f // Mtr#30-2 // 양산 #052 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 166.0f // Mtr#29-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 120.0f // Mtr#29-4 // 양산 #053 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 188.0f // Mtr#31-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 139.0f // Mtr#31-2 // 양산 #054 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 355.0f // Mtr#32-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 100.0f // Mtr#32-2 // 양산 #055 - 25.05.28 // #define MOTOR1_ANG_ANGLEELCOFFSET 118.0f // Mtr#31-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 308.0f // Mtr#31-4 // 양산 #000B (내부용) - 25.05.30 // #define MOTOR1_ANG_ANGLEELCOFFSET 118.0f // Mtr#33-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 143.0f // Mtr#33-3 // 양산 #056 - 25.06.03 // #define MOTOR1_ANG_ANGLEELCOFFSET 270.0f // Mtr#33-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 14.0f // Mtr#34-2 // 양산 #057 - 25.06.03 // #define MOTOR1_ANG_ANGLEELCOFFSET 340.0f // Mtr#34-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 348.0f // Mtr#34-4 // 양산 #058 - 25.06.03 // #define MOTOR1_ANG_ANGLEELCOFFSET 4.0f // Mtr#35-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 270.0f // Mtr#35-4 // 양산 #059 - 25.06.03 // #define MOTOR1_ANG_ANGLEELCOFFSET 155.0f // Mtr#35-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 331.0f // Mtr#35-2 // 양산 #060 - 25.06.04 // #define MOTOR1_ANG_ANGLEELCOFFSET 70.0f // Mtr#37-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 357.0f // Mtr#37-2 // 양산 #061 - 25.06.04 // #define MOTOR1_ANG_ANGLEELCOFFSET 112.0f // Mtr#37-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 233.0f // Mtr#37-4 // 양산 #062 - 25.06.04 // #define MOTOR1_ANG_ANGLEELCOFFSET 332.0f // Mtr#38-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 275.0f // Mtr#38-2 // 양산 #063 - 25.06.04 // #define MOTOR1_ANG_ANGLEELCOFFSET 65.0f // Mtr#38-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 55.0f // Mtr#38-4 // 양산 #064 - 25.06.04 // #define MOTOR1_ANG_ANGLEELCOFFSET 308.0f // Mtr#39-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 270.0f // Mtr#39-2 // 양산 #065 - 25.06.04 // #define MOTOR1_ANG_ANGLEELCOFFSET 120.0f // Mtr#39-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 165.0f // Mtr#39-4 // 양산 #066 - 25.06.05 // #define MOTOR1_ANG_ANGLEELCOFFSET 67.0f // Mtr#40-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 268.0f // Mtr#40-3 // 양산 #067 - 25.06.09 // #define MOTOR1_ANG_ANGLEELCOFFSET 15.0f // Mtr#40-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 171.0f // Mtr#41-1 // 양산 #068 - 25.06.09 // #define MOTOR1_ANG_ANGLEELCOFFSET 341.0f // Mtr#41-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 48.0f // Mtr#42-1 // 양산 #069 - 25.06.09 // #define MOTOR1_ANG_ANGLEELCOFFSET 341.0f // Mtr#42-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 168.0f // Mtr#42-4 // 양산 #070 - 25.06.09 // #define MOTOR1_ANG_ANGLEELCOFFSET 98.0f // Mtr#43-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 352.0f // Mtr#43-3 // 양산 #071 - 25.06.10 // #define MOTOR1_ANG_ANGLEELCOFFSET 58.0f // Mtr#43-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 182.0f // Mtr#44-1 // 양산 #072 - 25.06.10 // #define MOTOR1_ANG_ANGLEELCOFFSET 176.0f // Mtr#44-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 172.0f // Mtr#44-3 // 양산 #073 - 25.06.10 // #define MOTOR1_ANG_ANGLEELCOFFSET 177.0f // Mtr#44-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 255.0f // Mtr#45-1 // 양산 #074 - 25.06.10 // #define MOTOR1_ANG_ANGLEELCOFFSET 83.0f // Mtr#45-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 315.0f // Mtr#45-3 // 양산 #075 - 25.06.11 // #define MOTOR1_ANG_ANGLEELCOFFSET 75.0f // Mtr#45-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 10.0f // Mtr#47-1 // 양산 #076 - 25.06.11 // #define MOTOR1_ANG_ANGLEELCOFFSET 283.0f // Mtr#47-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 291.0f // Mtr#47-4 // 양산 #077 - 25.06.11 // #define MOTOR1_ANG_ANGLEELCOFFSET 213.0f // Mtr#48-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 243.0f // Mtr#48-3 // 양산 #078 - 25.06.11 // #define MOTOR1_ANG_ANGLEELCOFFSET 62.0f // Mtr#48-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 331.0f // Mtr#49-3 // 양산 #079 - 25.06.12 // #define MOTOR1_ANG_ANGLEELCOFFSET 28.0f // Mtr#49-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 160.0f // Mtr#50-2 // 양산 #080 - 25.06.12 // #define MOTOR1_ANG_ANGLEELCOFFSET 209.0f // Mtr#50-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 250.0f // Mtr#50-4 // 양산 #081 - 25.06.12 // #define MOTOR1_ANG_ANGLEELCOFFSET 96.0f // Mtr#52-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 70.0f // Mtr#52-4 // 양산 #082 - 25.06.12 // #define MOTOR1_ANG_ANGLEELCOFFSET 115.0f // Mtr#53-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 236.0f // Mtr#53-2 // 양산 #083 - 25.06.12 // #define MOTOR1_ANG_ANGLEELCOFFSET 280.0f // Mtr#53-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 202.0f // Mtr#53-4 // 양산 #084 - 25.06.13 // #define MOTOR1_ANG_ANGLEELCOFFSET 314.0f // Mtr#13-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 210.0f // Mtr#40-3 // 양산 #085 - 25.06.13 // #define MOTOR1_ANG_ANGLEELCOFFSET 88.0f // Mtr#54-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 133.0f // Mtr#54-2 // 양산 #086 - 25.06.13 // #define MOTOR1_ANG_ANGLEELCOFFSET 42.0f // Mtr#54-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 41.0f // Mtr#54-3 // 양산 #087 - 25.06.13 // #define MOTOR1_ANG_ANGLEELCOFFSET 221.0f // Mtr#25-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 305.0f // Mtr#51-4 // 양산 #088 - 25.06.13 // #define MOTOR1_ANG_ANGLEELCOFFSET 13.0f // Mtr#55-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 179.0f // Mtr#55-2 // 양산 #089 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 293.0f // Mtr#4-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 22.0f // Mtr#5-1 // 양산 #090 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 198.0f // Mtr#56-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 358.0f // Mtr#56-2 // 양산 #091 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 133.0f // Mtr#19-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 118.0f // Mtr#22-4 // 양산 #092 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 270.0f // Mtr#6-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 43.0f // Mtr#13-1 // 양산 #093 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 291.0f // Mtr#57-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 97.0f // Mtr#57-2 // 양산 #094 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 80.0f // Mtr#57-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 127.0f // Mtr#57-4 // 양산 #095 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 32.0f // Mtr#58-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 240.0f // Mtr#58-2 // 양산 #096 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 152.0f // Mtr#58-3 // #define MOTOR2_ANG_ANGLEELCOFFSET 174.0f // Mtr#58-4 // 양산 #097 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 352.0f // Mtr#24-4 // #define MOTOR2_ANG_ANGLEELCOFFSET 183.0f // Mtr#56-4 // 양산 #098 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 87.0f // Mtr#59-1 // #define MOTOR2_ANG_ANGLEELCOFFSET 158.0f // Mtr#59-2 // 양산 #099 - 25.06.15 // #define MOTOR1_ANG_ANGLEELCOFFSET 272.0f // Mtr#26-2 // #define MOTOR2_ANG_ANGLEELCOFFSET 325.0f // Mtr#59-3 // RF1#000A (250702 체크) #define MOTOR1_ANG_ANGLEELCOFFSET 90.0f // Mtr#61-4 #define MOTOR2_ANG_ANGLEELCOFFSET 256.0f // Mtr#61-3 // 양산 테스트#1 25.04.21 //#define MOTOR1_ANG_ANGLEELCOFFSET 69.0f // 25.04.21 //#define MOTOR2_ANG_ANGLEELCOFFSET 10.0f // 25.04.21 // BS10510 - check every re-assemble of sensor // SPX25 - 25.03.26 //#define MOTOR1_ANG_ANGLEELCOFFSET 246.0f // 25.03.26 //#define MOTOR2_ANG_ANGLEELCOFFSET 223.0f // 25.03.26 // 최종 목업 - 25.03.25 //#define MOTOR1_ANG_ANGLEELCOFFSET 108.0f // 25.03.25 //#define MOTOR2_ANG_ANGLEELCOFFSET 112.0f // 25.03.25 // PT4B-Sample - 25.02.29 //#define MOTOR1_ANG_ANGLEELCOFFSET 183.0f // //#define MOTOR2_ANG_ANGLEELCOFFSET 20.0f // // SPOEX#1 (white) //#define MOTOR1_ANG_ANGLEELCOFFSET 345.0f // 24.09.23 - Motor#6 //#define MOTOR2_ANG_ANGLEELCOFFSET 330.0f // 24.09.26 - Motor#7 // SPOEX#2 (black) - 24.02.21 //#define MOTOR1_ANG_ANGLEELCOFFSET 186.0f // 24.02.21 - Motor#2 //#define MOTOR2_ANG_ANGLEELCOFFSET 53.0f // 24.12.13 - Motor#3 // SPOEX#3 (naked) - 24.05.03 //#define MOTOR1_ANG_ANGLEELCOFFSET 180.0f // Motor#5 //#define MOTOR2_ANG_ANGLEELCOFFSET 120.0f // Motor#3 ?? // PT6KC - 24.06.08 //#define MOTOR1_ANG_ANGLEELCOFFSET 132.0f // MotorV3#1 //#define MOTOR2_ANG_ANGLEELCOFFSET 185.0f // MotorV3#1 on Inv2 //#define MOTOR2_ANG_ANGLEELCOFFSET 000.0f // MotorV3#2 // MR #define MOTOR_ANG_MR_MAX_SIN 0 //uint16_t #define MOTOR_ANG_MR_MAX_COS 0 //uint16_t #define MOTOR_ANG_MR_MIN_SIN 4095 //uint16_t #define MOTOR_ANG_MR_MIN_COS 4095 //uint16_t #define MOTOR_ANG_MR_MID_SIN 0 //uint16_t #define MOTOR_ANG_MR_MID_COS 0 //uint16_t #define MOTOR_ANG_MR_GAIN_SIN 1.0f #define MOTOR_ANG_MR_GAIN_COS 1.0f #define INV_PARA_HWADCSCALE (3.3f/4095.0f) #define INV_PARA_HWVDCSCALE (1.0f/(30.0f+1.0f)) #define INV_PARA_HWISCALE (0.002f*15.0f/1.0f) #if defined(TIM_8KHZ) #define INV_PARA_TSAMP (1.0f/8000.0f) #elif defined(TIM_10KHZ) #define INV_PARA_TSAMP (1.0f/10000.0f) #elif defined(TIM_16KHZ) #define INV_PARA_TSAMP (1.0f/16000.0f) #elif defined(TIM_20KHZ) #define INV_PARA_TSAMP (1.0f/20000.0f) #else #define INV_PARA_TSAMP (1.0f/10000.0f) #endif #define INV_PARA_PWM_MAX TIM_PERIOD #define INV_PARA_PWM_MID ((TIM_PERIOD+1)>>1) #define INV_PARA_VDCMARGIN 0.90f // original 0.90f (HSW 24.02.21) #define LPFVDC_FC 1000.0f #define LPFVDC_FS (1.0f/INV_PARA_TSAMP) #define LPFCUR_FC 10.0f #define LPFCUR_FS (1.0f/INV_PARA_TSAMP) #define LPFSPD_FC 100.0f #define LPFSPD_FS 1000.0f #define ERRREF_ISENSOROPEN 3908.0f #define ERRREF_ISENSORSHORT 186.0f #define ERRREF_OVERCURRENT 35.0f // original 30.0 (HSW 24.02.21) #define ERRREF_OVERSPEED 8000.0f // original 4000 (HSW 24.02.21) #define ERRREF_OVERVOLTAGE 70.0 #define ERRREF_UNDERVOLTAGE 30.0 #define ERRREF_ISENSOROFFSETMAX (2048.0f+50.0f) #define ERRREF_ISENSOROFFSETMIN (2048.0f-50.0f) #define INV_CTRL_VDCLIMFWEAK 49.0f #define INV_CTRL_ILIMFWEAK (ERRREF_OVERCURRENT*0.8f) #define MOTOR_ANG_RPMLIM (ERRREF_OVERSPEED*0.8f) #define MOTOR_ANG_SPDCTRLOUTLIM (ERRREF_OVERCURRENT*0.8f) #define MACHINE_SENSOR_GEAR_RATIO 3.0f #define MACHINE_SPOOL_DIAMETER 60.0f // [mm] #define MACHINE_MAX_WEIGHT 30.0f // [kg]인데 현재는 A, 테스트 안전을 위해 막아둠 #define MACHINE_CABLE_MAX_LENGTH 2650 // [mm] #define MACHINE_SCALE_WEIGHT2CURRENT 0.5f // [kg/A] -> C샘플, BS-105-10 기준 약 2 #define MACHINE_SOFT_WINDING_HEIGHT 20 // [mm] #define MACHINE_DEFAULT_WEIGHT 1.0 // [A] #define MACHINE_FRICTION_WEIGHT 0.45 // [A] #define MACHINE_FRICTION_SPEED_PLUS (-20.0f) #define MACHINE_FRICTION_SPEED_MINUS 90.0f #define DFU_Status DFU_STATUS_FACTORY // Flash 초기상태를 의도한 값. 참고용 ///////////////// Structure Declarations /////////////////// typedef struct { uint8_t model[2]; //0x0000 uint8_t VerMajer; uint8_t VerMiner; uint16_t VerYear; //0x0004 uint8_t VerMonth; uint8_t VerDate; uint8_t Motor_Para_Pole; //0x0008 uint8_t VerSub; ///somebp 2024.02.07 uint16_t Motor_Ang_EncPulse; float Motor_Para_Ld; //0x000C float Motor_Para_Lq; //0x0010 float Motor_Para_Rs; //0x0014 float Motor_Para_Phaif; //0x0018 float Motor_GainCurD_Kp; //0x001C float Motor_GainCurD_Ki; //0x0020 float Motor_GainCurD_Kaw; //0x0024 float Motor_GainCurQ_Kp; //0x0028 float Motor_GainCurQ_Ki; //0x002C float Motor_GainCurQ_Kaw; //0x0030 float Motor_GainSpd_Kp; //0x0034 float Motor_GainSpd_Ki; //0x0038 float Motor_Gainspd_Kaw; //0x003C float Motor_GainFweak_Kp; //0x0040 float Motor_GainFweak_Ki; //0x0044 float Motor_Ang_AngleScale; //0x0048 float Motor_Ang_SpeedScale; //0x004C float Motor1_Ang_AngleElecOffset; //0x0050 float Motor2_Ang_AngleElecOffset; //0x0054 uint16_t Motor_Ang_MR_Max_Sin; //0x0058 uint16_t Motor_Ang_MR_Max_Cos; uint16_t Motor_Ang_MR_Min_Sin; //0x005C uint16_t Motor_Ang_MR_Min_Cos; uint16_t Motor_Ang_MR_Mid_Sin; //0x0060 uint16_t Motor_Ang_MR_Mid_Cos; float Motor_Ang_MR_Gain_Sin; //0x0064 float Motor_Ang_MR_Gain_Cos; //0x0068 float Inv_Para_HwAdcScale; //0x006C float Inv_Para_HwVdcScale; //0x0070 float Inv_Para_HwiScale; //0x0074 float Inv_Para_Tsamp; //0x0078 float Inv_Para_PWM_Max; //0x007C float Inv_Para_PWM_Mid; //0x0080 float Inv_Para_VdcMargin; //0x0084 float LPFVdc_fc; //0x0088 float LPFVdc_fs; //0x008C float LPFCur_fc; //0x0090 float LPFCur_fs; //0x0094 float LPFSpd_fc; //0x0098 float LPFSpd_fs; //0x009C float ErrRef_IsensorOpen; //0x00A0 float ErrRef_IsensorShort; //0x00A4 float ErrRef_OverCurrent; //0x00A8 float ErrRef_OverSpeed; //0x00AC float ErrRef_OverVoltage; //0x00B0 float ErrRef_UnderVoltage; //0x00B4 float ErrRef_IsensorOffsetMax; //0x00B8 float ErrRef_IsensorOffsetMin; //0x00BC float Inv_Ctrl_VdcLimFweak; //0x00C0 float Inv_Ctrl_IlimFweak; //0x00C4 float Motor_Ang_RpmLim; //0x00C8 float Motor_Ang_SpdCtrlOutLim; //0x00CC float Machine_SensorGearRatio; //0x00D0 float Machine_SpoolDiameter; //0x00D4 float Machine_MaxWeight; //0x00D8 float Machine_CableMaxLength; //0x00DC float Machine_Scale_Weight2Current; //0x00E0 float Machine_SoftWindingHeight; //0x00E4 float Machine_DefaultWeight; //0x00E8 float Machine_FrictionWeight; //0x00EC float Machine_FrictionSpeedPlus; //0x00F0 float Machine_FrictionSpeedMinus; //0x00F4 uint32_t DFU_Status; //0x00F8 (25.05.06 HSW) uint32_t check; //FLASH_VALID_CODE //0x00FC } Data_Form_RAM; typedef struct { uint8_t model[2]; //0x0000 uint8_t VerMajer; uint8_t VerMiner; uint16_t VerYear; //0x0004 uint8_t VerMonth; uint8_t VerDate; uint8_t Motor_Para_Pole; //0x0008 uint8_t VerSub; ///somebp 2024.02.07 uint16_t Motor_Ang_EncPulse; float Motor_Para_Ld; //0x000C float Motor_Para_Lq; //0x0010 float Motor_Para_Rs; //0x0014 float Motor_Para_Phaif; //0x0018 float Motor_GainCurD_Kp; //0x001C float Motor_GainCurD_Ki; //0x0020 float Motor_GainCurD_Kaw; //0x0024 float Motor_GainCurQ_Kp; //0x0028 float Motor_GainCurQ_Ki; //0x002C float Motor_GainCurQ_Kaw; //0x0030 float Motor_GainSpd_Kp; //0x0034 float Motor_GainSpd_Ki; //0x0038 float Motor_Gainspd_Kaw; //0x003C float Motor_GainFweak_Kp; //0x0040 float Motor_GainFweak_Ki; //0x0044 float Motor_Ang_AngleScale; //0x0048 float Motor_Ang_SpeedScale; //0x004C float Motor1_Ang_AngleElecOffset; //0x0050 float Motor2_Ang_AngleElecOffset; //0x0054 uint16_t Motor_Ang_MR_Max_Sin; //0x0058 uint16_t Motor_Ang_MR_Max_Cos; uint16_t Motor_Ang_MR_Min_Sin; //0x005C uint16_t Motor_Ang_MR_Min_Cos; uint16_t Motor_Ang_MR_Mid_Sin; //0x0060 uint16_t Motor_Ang_MR_Mid_Cos; float Motor_Ang_MR_Gain_Sin; //0x0064 float Motor_Ang_MR_Gain_Cos; //0x0068 float Inv_Para_HwAdcScale; //0x006C float Inv_Para_HwVdcScale; //0x0070 float Inv_Para_HwiScale; //0x0074 float Inv_Para_Tsamp; //0x0078 float Inv_Para_PWM_Max; //0x007C float Inv_Para_PWM_Mid; //0x0080 float Inv_Para_VdcMargin; //0x0084 float LPFVdc_fc; //0x0088 float LPFVdc_fs; //0x008C float LPFCur_fc; //0x0090 float LPFCur_fs; //0x0094 float LPFSpd_fc; //0x0098 float LPFSpd_fs; //0x009C float ErrRef_IsensorOpen; //0x00A0 float ErrRef_IsensorShort; //0x00A4 float ErrRef_OverCurrent; //0x00A8 float ErrRef_OverSpeed; //0x00AC float ErrRef_OverVoltage; //0x00B0 float ErrRef_UnderVoltage; //0x00B4 float ErrRef_IsensorOffsetMax; //0x00B8 float ErrRef_IsensorOffsetMin; //0x00BC float Inv_Ctrl_VdcLimFweak; //0x00C0 float Inv_Ctrl_IlimFweak; //0x00C4 float Motor_Ang_RpmLim; //0x00C8 float Motor_Ang_SpdCtrlOutLim; //0x00CC float Machine_SensorGearRatio; //0x00D0 float Machine_SpoolDiameter; //0x00D4 float Machine_MaxWeight; //0x00D8 float Machine_CableMaxLength; //0x00DC float Machine_Scale_Weight2Current; //0x00E0 float Machine_SoftWindingHeight; //0x00E4 float Machine_DefaultWeight; //0x00E8 float Machine_FrictionWeight; //0x00EC float Machine_FrictionSpeedPlus; //0x00F0 float Machine_FrictionSpeedMinus; //0x00F4 uint32_t DFU_Status; //0x00F8 (25.05.06 HSW) uint32_t check; //FLASH_VALID_CODE //0x00FC uint8_t unused[SECTOR_SIZE-sizeof(Data_Form_RAM)]; } Data_Form; //////////////// Public Variables /////////////////// extern EEPROM Data_Form Origin_Data; //EEPROM Area in Flash(1st Sector : 0x08008000) extern BACKUP Data_Form Backup_Data; //BACKUP Area in Flash(2nd Sector : 0x0800C000) extern const Data_Form_RAM Defualt_RAM_Data; //Constants in Flash(Program Code) extern Data_Form_RAM RAM_Data; //Buffer Area in RAM for Protocol /////////////// Public Functions ////////////////// #define EEPROM_Save() Flash_Write(FLASH_ORIGIN_SECTOR) // DFUv2 (25.05.06) #define DFU_STATUS_FACTORY 0xFFFFFFFF // 초기 상태 (공장 출하 상태) #define DFU_STATUS_DOWNLOADING 0xA5A5A5A5 // DFU 다운로드 중 (실패했을 가능성 있음) #define DFU_STATUS_COMPLETED 0x5A5A5A5A // DFU 완료됨 (안전하게 실행 가능) void Flash_Init(void); //Backup or Restore on Startup HAL_StatusTypeDef Flash_Write(uint8_t sector); //Save Flash HAL_StatusTypeDef Flash_Erase(uint32_t sector); #ifdef __cplusplus } #endif #endif /* __FLASH_H_ */