51 lines
1.3 KiB
C
51 lines
1.3 KiB
C
#ifndef FTW_CONSTANTS_H
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#define FTW_CONSTANTS_H
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/* Serial */
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#define BAUD_RATE 115200
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/* SPI */
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#define SPI_CLOCK_DIV SPI_CLOCK_DIV4
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/* Motor driver */
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#define ACCELERATION 20000
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#define ENC_DEVIATION_LIMIT 1500
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#define ENC_CONST 0x000C1F40
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#define ENCMODE_DECIMAL 0x400
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/* Yaw axis */
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#define YAW_STEPS_PER_ROUND 177000
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#define YAW_GEAR_RATIO 739.5555f
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#define YAW_GLOBAL_SCALER 80
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#define YAW_DEFAULT_XACTUAL 0x0007A120
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#define YAW_ENDSTOP_SPEED 25000
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#define YAW_DEFAULT_VMAX 50000
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/* Pitch axis */
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#define PITCH_STEPS_PER_ROUND 500000
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#define PITCH_GEAR_RATIO 739.5555f
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#define PITCH_GLOBAL_SCALER 50
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#define PITCH_DEFAULT_XACTUAL 500000
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#define PITCH_ENDSTOP_SPEED 150000
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#define PITCH_DEFAULT_VMAX 250000
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/* Homing */
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#define HOMING_MIN_ROUND_DIFF_OFFSET 6000
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#define HOMING_XENC_MARGIN 1000
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#define HOMING_DELAY_MS 10
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#define HOMING_PITCH_INITIAL_DELAY 1000
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#define HOMING_YAW_TIMEOUT_MS 2000
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/* Thermal */
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#define THERMAL_FAN_ON_TEMP 25
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#define THERMAL_FAN_GAIN 20
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#define THERMAL_FAN_MAX_PWM 255
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#define THERMAL_FAN_PULSE_US 100000
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#define THERMAL_FAN_FREQ_DIV 0.004
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#define THERMAL_LOOP_INTERVAL 250
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/* Info print interval */
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#define INFO_PRINT_INTERVAL_MS 250
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#endif
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