删除mc144的硬件配置

Signed-off-by: unknown <huhui@sharkgulf.com>

Applications/bsp/gd32/board_mc144_v1.h

@@ -1,420 +0,0 @@
-#ifndef _BOARD_MC_V3_H__
-#define _BOARD_MC_V3_H__
-#if defined (GD32F30X_HD) || defined (GD32F30X_XD) || defined (GD32F30X_CL)
-#include "gd32f30x.h"
-#elif defined GD32E10x
-#include "gd32e10x.h"
-#endif
-
-#define CONFIG_HW_MAX_DC_VOLTAGE 175.0F
-#define CONFIG_HW_MAX_DC_CURRENT 100.0f
-#define CONFIG_HW_MAX_CHRG_CURRENT (-100.0f)
-#define CONFIG_HW_MAX_MOTOR_RPM      8000.0f
-#define CONFIG_HW_MAX_PHASE_CURR   350.0F
-#define CONFIG_HW_MAX_PHASE_VOL    175.0f
-#define CONFIG_MAX_TORQUE       CONFIG_HW_MAX_PHASE_CURR
-#define CONFIG_MAX_LOCK_TORQUE  100
-#define CONFIG_MAX_ACTIVE_EMF   5000.0F
-//#define CONFIG_BEEP 
-#define CONFIG_STALL_MAX_CURRENT 100.0f //最大堵转相电流电流
-#define CONFIG_STALL_MAX_TIME    3000   //ms, 超过最大堵转电流持续时间，判断堵转
-
-#define CONFIG_96V_MODE_VOL (60.0F)
-
-#define CONFIG_DAUL_THROTTLE 1  //双转把
-//#define CONFIG_SENSORLESS_TOW_SAMPLES
-//#define CONFIG_SMO_OBSERVER 
-#define CONFIG_LADRC_OBSERVER
-//#define CONFIG_SPEED_LADRC  
-#define CONFIG_FORCE_96V_MODE
-#ifdef CONFIG_SENSORLESS_TOW_SAMPLES
-#define CONFIG_SENSORLESS_TS (FOC_CTRL_US/2.0f)
-#else
-#define CONFIG_SENSORLESS_TS FOC_CTRL_US
-#endif
-
-#define SCHED_TIMER TIMER5
-#define SCHED_TIMER_RCU RCU_TIMER5
-#define SCHED_TIMER_IRQ TIMER5_IRQn
-#define SCHED_TIMER_IRQHandler TIMER5_IRQHandler
-
-#define PWM_DEAD_TIME_NS 400u
-#define PWM_TOFF_DELAY_MAX 240u
-#define PWM_TON_DELAY_MIN 200u
-#define HW_DEAD_TIME_NS  210u
-#define HW_RISE_TIME_NS  150u
-#define HW_NOISE_TIME_NS 300u
-
-#define CONFIG_HW_DeadTime NS_2_TCLK(HW_DEAD_TIME_NS + PWM_DEAD_TIME_NS + (PWM_TOFF_DELAY_MAX - PWM_TON_DELAY_MIN))/* ����ʱ�� */
-#define TRise NS_2_TCLK(HW_RISE_TIME_NS)/* MOS ����ʱ��*/
-#define TNoise NS_2_TCLK(HW_NOISE_TIME_NS)/* MOS��������Ŀ�������ʱ�� */
-#define TADC  ((uint16_t)((ADC_TRIG_CONV_LATENCY_CYCLES + ADC_SAMPLING_CYCLES) *2 * TIM_CLOCK_MHz) / ADC_CLOCK_MHz + 1u)/* ADC ����ʱ�� */
-#define TSampleMIN (TDead + TRise + TADC) //采样需要的总时间
-#define TSampleBefore (TDead + TRise) //采样开始前需要等待的时间
-
-//#define CONFIG_START_LINE_DTC_CURRENT 5.0F /* 死区补偿开始电流，取决于电流噪声 */
-//#define COMFIG_END_LINE_DTC_CURRENT   15.0F
-
-#define ADC_REFERENCE_VOLTAGE  (3.3F)
-#define ADC_FULL_MAX          (4095.0F)
-
-/* MOS驱动 */
-#define MOS_PWM_TIMER TIMER0
-#define PWM_MODE TIMER_OC_MODE_PWM0
-#define PWM_U_P_GROUP 	GPIOA
-#define PWM_U_P_PIN 	GPIO_PIN_8
-#define PWM_U_P_RCU 	RCU_GPIOA
-#define PWM_U_P_MODE 	GPIO_MODE_AF_PP
-
-#define PWM_U_N_GROUP 	GPIOB
-#define PWM_U_N_PIN 	GPIO_PIN_13
-#define PWM_U_N_RCU 	RCU_GPIOB
-#define PWM_U_N_MODE 	GPIO_MODE_AF_PP
-
-#define PWM_V_P_GROUP 	GPIOA
-#define PWM_V_P_PIN 	GPIO_PIN_9
-#define PWM_V_P_RCU 	RCU_GPIOA
-#define PWM_V_P_MODE 	GPIO_MODE_AF_PP
-
-#define PWM_V_N_GROUP 	GPIOB
-#define PWM_V_N_PIN 	GPIO_PIN_14
-#define PWM_V_N_RCU 	RCU_GPIOB
-#define PWM_V_N_MODE 	GPIO_MODE_AF_PP
-
-#define PWM_W_P_GROUP 	GPIOA
-#define PWM_W_P_PIN 	GPIO_PIN_10
-#define PWM_W_P_RCU 	RCU_GPIOA
-#define PWM_W_P_MODE 	GPIO_MODE_AF_PP
-
-#define PWM_W_N_GROUP 	GPIOB
-#define PWM_W_N_PIN 	GPIO_PIN_15
-#define PWM_W_N_RCU 	RCU_GPIOB
-#define PWM_W_N_MODE 	GPIO_MODE_AF_PP
-
-#define PWM_BRAKE_GROUP 	GPIOB
-#define PWM_BRAKE_PIN 	GPIO_PIN_12
-#define PWM_BRAKE_RCU 	RCU_GPIOB
-#define PWM_BRAKE_MODE 	GPIO_MODE_IN_FLOATING
-
-#ifdef GD32F30X_CL
-#define PWM_BRK_IRQ TIMER0_BRK_TIMER8_IRQn
-#define PWM_UP_IRQ  TIMER0_UP_TIMER9_IRQn
-#define PWM_UP_IRQHandler   TIMER0_UP_TIMER9_IRQHandler
-#define PWM_BRK_IRQHandler  TIMER0_BRK_TIMER8_IRQHandler
-
-#else
-#define PWM_BRK_IRQ TIMER0_BRK_IRQn
-#define PWM_UP_IRQ  TIMER0_UP_IRQn
-#define PWM_UP_IRQHandler   TIMER0_UP_IRQHandler
-#define PWM_BRK_IRQHandler  TIMER0_BRK_IRQHandler
-#endif
-
-
-#define HALL_SENSOR_CEOF 0.303F
-
-/* 高边电流传感器采样 */
-#define HIGH_SIDE_CURRENT_SENSOR
-
-#define V_PHASE_I_CHAN  ADC_CHANNEL_14
-#define W_PHASE_I_CHAN  ADC_CHANNEL_10
-
-#define V_PHASE_ADC_GROUP 	GPIOC
-#define V_PHASE_ADC_PIN 	GPIO_PIN_4
-#define V_PHASE_ADC_RCU 	RCU_GPIOC
-#define V_PHASE_ADC_MODE 	GPIO_MODE_AIN
-
-#define W_PHASE_ADC_GROUP 	GPIOC
-#define W_PHASE_ADC_PIN 	GPIO_PIN_0
-#define W_PHASE_ADC_RCU 	RCU_GPIOC
-#define W_PHASE_ADC_MODE 	GPIO_MODE_AIN
-
-#define ADC_TO_CURR_ceof1  (HALL_SENSOR_CEOF)
-#define ADC_TO_CURR_ceof2  (HALL_SENSOR_CEOF)
-
-#define CONFIG_PWM_UV_SWAP 1
-
-//#define CONFIG_HW_MUTISAMPLE ADC_OVERSAMPLING_RATIO_MUL8
-//#define CONFIG_HW_MUTISAMPLE_SHIFT ADC_OVERSAMPLING_SHIFT_3B
-//#define CONFIG_SW_MUTISAMPLE 1
-
-/* 母线电压采集 */
-#define VBUS_V_CHAN 		ADC_CHANNEL_12  //adc012
-#define VBUS_V_ADC_GROUP 	GPIOC
-#define VBUS_V_ADC_PIN 		GPIO_PIN_2
-#define VBUS_V_ADC_RCU 		RCU_GPIOC
-#define VBUS_V_ADC_MODE 	GPIO_MODE_AIN
-#define VBUS_VOL_CEOF 		(ADC_REFERENCE_VOLTAGE*41/ADC_FULL_MAX)
-
-#define ACC_V_CHAN 			ADC_CHANNEL_11    //adc012
-#define ACC_V_ADC_GROUP 	GPIOC
-#define ACC_V_ADC_PIN 		GPIO_PIN_1
-#define ACC_V_ADC_RCU 		RCU_GPIOC
-#define ACC_V_ADC_MODE 		GPIO_MODE_AIN
-#define ACC_VOL_CEOF 		(ADC_REFERENCE_VOLTAGE*41/ADC_FULL_MAX)
-
-#define VBUS_I_CHAN 		ADC_CHANNEL_0 //adc012
-#define VBUS_I_ADC_GROUP 	GPIOA
-#define VBUS_I_ADC_PIN 		GPIO_PIN_0
-#define VBUS_I_ADC_RCU 		RCU_GPIOA
-#define VBUS_I_ADC_MODE 	GPIO_MODE_AIN
-#define VBUS_I_CEOF         (0.303f)
-#define VBUS_I_POSITIVE     1
-
-/* MOS 温度采集 */
-#define MOS_TEMP_ADC_CHAN    ADC_CHANNEL_8
-#define MOS_TEMP_ADC_GROUP 	 GPIOB
-#define MOS_TEMP_ADC_PIN 	 GPIO_PIN_0
-#define MOS_TEMP_ADC_RCU 	 RCU_GPIOB
-#define MOS_TEMP_ADC_MODE 	 GPIO_MODE_AIN
-#define MOS_TEMP_R(adc) ((adc)/ADC_FULL_MAX / ((1.0f - (adc)/ADC_FULL_MAX)/(10.0f*1000.0f)))
-
-/* 电机温度采集 */
-#define MOTOR_TEMP_ADC_CHAN     ADC_CHANNEL_5
-#define MOTOR_TEMP_ADC_GROUP 	GPIOA
-#define MOTOR_TEMP_ADC_PIN 	GPIO_PIN_5
-#define MOTOR_TEMP_ADC_RCU 	RCU_GPIOA
-#define MOTOR_TEMP_ADC_MODE 	GPIO_MODE_AIN
-#define MOTOR_TEMP_R(adc) ((adc)/ADC_FULL_MAX / ((1.0f - (adc)/ADC_FULL_MAX)/2000.0f))
-
-/* 是否有母线电流采集 */
-//#define NO_SAMPLE_IDC //如果硬件没有采集母线电流，定义一下
-
-/* 转把信号电压采集 */
-#define THROTTLE_CHAN           ADC_CHANNEL_4
-#define THROTTLE_V_ADC_GROUP 	GPIOA
-#define THROTTLE_V_ADC_PIN 		GPIO_PIN_4
-#define THROTTLE_V_ADC_RCU 		RCU_GPIOA
-#define THROTTLE_V_ADC_MODE 	GPIO_MODE_AIN
-#define THROTTLE_VOL_CEOF 		(ADC_REFERENCE_VOLTAGE*(15.1f/10.0f)/ADC_FULL_MAX)
-
-/* 第二路转把信号电压采集 */
-#define THROTTLE2_CHAN           	ADC_CHANNEL_7
-#define THROTTLE2_V_ADC_GROUP 		GPIOA
-#define THROTTLE2_V_ADC_PIN 		GPIO_PIN_7
-#define THROTTLE2_V_ADC_RCU 		RCU_GPIOA
-#define THROTTLE2_V_ADC_MODE 		GPIO_MODE_AIN
-
-/* 转把供电5V电压采集 */
-#define THROTTLE_5V_CHAN           ADC_CHANNEL_6
-#define THROTTLE_5V_ADC_GROUP 	GPIOA
-#define THROTTLE_5V_ADC_PIN 		GPIO_PIN_6
-#define THROTTLE_5V_ADC_RCU 		RCU_GPIOA
-#define THROTTLE_5V_ADC_MODE 	GPIO_MODE_AIN
-
-/* 第二路供电5V电压采集 */
-#define THROTTLE2_5V_CHAN           	ADC_CHANNEL_9
-#define THROTTLE2_5V_ADC_GROUP 		GPIOB
-#define THROTTLE2_5V_ADC_PIN 		GPIO_PIN_1
-#define THROTTLE2_5V_ADC_RCU 		RCU_GPIOB
-#define THROTTLE2_5V_ADC_MODE 		GPIO_MODE_AIN
-
-
-/* UVW三相对地电压采集 */
-#define U_VOL_ADC_CHAN     ADC_CHANNEL_15
-#define U_VOL_ADC_GROUP 	GPIOC
-#define U_VOL_ADC_PIN 	GPIO_PIN_5
-#define U_VOL_ADC_RCU 	RCU_GPIOC
-#define U_VOL_ADC_MODE 	GPIO_MODE_AIN
-
-#define V_VOL_ADC_CHAN     ADC_CHANNEL_1 //adc012
-#define V_VOL_ADC_GROUP 	GPIOA
-#define V_VOL_ADC_PIN 	GPIO_PIN_1
-#define V_VOL_ADC_RCU 	RCU_GPIOA
-#define V_VOL_ADC_MODE 	GPIO_MODE_AIN
-
-#define W_VOL_ADC_CHAN     ADC_CHANNEL_2 //adc012
-#define W_VOL_ADC_GROUP 	GPIOA
-#define W_VOL_ADC_PIN 	GPIO_PIN_2
-#define W_VOL_ADC_RCU 	RCU_GPIOA
-#define W_VOL_ADC_MODE 	GPIO_MODE_AIN
-#define UVW_VOL_CEOF (ADC_REFERENCE_VOLTAGE*(41.0f)/ADC_FULL_MAX)
-
-/* 模拟5v电压采集 */
-#define DC5V_ADC_CHAN     ADC_CHANNEL_3 //adc012
-#define DC5V_ADC_GROUP 	GPIOA
-#define DC5V_ADC_PIN 	GPIO_PIN_3
-#define DC5V_ADC_RCU 	RCU_GPIOA
-#define DC5V_ADC_MODE 	GPIO_MODE_AIN
-
-/* 0v电压采集，主要是用来给上一次的采集放电 */
-#define ZERO_ADC_CHAN     ADC_CHANNEL_13 //adc012
-#define ZERO_ADC_GROUP 	GPIOC
-#define ZERO_ADC_PIN 	GPIO_PIN_3
-#define ZERO_ADC_RCU 	RCU_GPIOC
-#define ZERO_ADC_MODE 	GPIO_MODE_AIN
-
-/* 刹车手把输入 */
-#define GPIO_BREAK_MODE GPIO_LOW_BRK_MODE
-#define GPIO_BRAKE_IN_GROUP 	GPIOB
-#define GPIO_BRAKE_IN_PIN 	GPIO_PIN_3
-#define GPIO_BRAKE_IN_RCU 	RCU_GPIOB
-#define GPIO_BRAKE_IN_MODE 	GPIO_MODE_IN_FLOATING
-#define GPIO_BRAKE_IRQ  EXTI3_IRQn
-#define GPIO_BRAKE_EXTI EXTI_3
-#define GPIO_BRAKE_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB
-#define GPIO_BRAKE_EXIT_SRC_PIN GPIO_PIN_SOURCE_3
-#define GPIO_BRAKE_PIN_REMAP GPIO_SWJ_SWDPENABLE_REMAP
-
-/* 锁电机线,  使用查询模式 */
-#define GPIO_MLOCK_IN_GROUP GPIOC
-#define GPIO_MLOCK_IN_PIN GPIO_PIN_13
-#define GPIO_MLOCK_IN_RCU RCU_GPIOC
-#define GPIO_MLOCK_IN_MODE 	GPIO_MODE_IN_FLOATING
-
-/* 触发U相检测 */
-#define GPIO_UDEC_OUT_GROUP 	GPIOB
-#define GPIO_UDEC_OUT_PIN 	GPIO_PIN_7
-#define GPIO_UDEC_OUT_RCU 	RCU_GPIOB
-#define GPIO_UDEC_OUT_MODE 	GPIO_MODE_OUT_PP
-
-/* 风扇 PWM */
-#define GPIO_FAN_OUT_GROUP 	GPIOC
-#define GPIO_FAN_OUT_PIN 	GPIO_PIN_8
-#define GPIO_FAN_OUT_RCU 	RCU_GPIOC
-#define GPIO_FAN_OUT_MODE 	GPIO_MODE_AF_PP
-#define FAN_PWM_TIMER TIMER7
-#define FAN_PWM_CHAN  TIMER_CH_2
-#define FAN_TIMER_RCU  RCU_TIMER7
-
-/* 风扇1检测 */
-#define GPIO_FAN1_IN_GROUP 	GPIOC
-#define GPIO_FAN1_IN_PIN 	GPIO_PIN_11
-#define GPIO_FAN1_IN_RCU 	RCU_GPIOC
-#define GPIO_FAN1_IN_MODE 	GPIO_MODE_IN_FLOATING
-#define GPIO_FAN1_IRQ  EXTI10_15_IRQn
-#define GPIO_FAN1_EXTI EXTI_11
-#define GPIO_FAN1_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOC
-#define GPIO_FAN1_EXIT_SRC_PIN GPIO_PIN_SOURCE_11
-
-/* LED 灯控制 */
-#define GPIO_LED_OUT_GROUP 	GPIOC
-#define GPIO_LED_OUT_PIN 	GPIO_PIN_14
-#define GPIO_LED_OUT_RCU 	RCU_GPIOC
-#define GPIO_LED_OUT_MODE 	GPIO_MODE_OUT_PP
-
-/* 刹车灯控制，能量回收的时候需要电量刹车灯 */
-#define GPIO_BRAKE_LIGHT_OUT_GROUP 	GPIOD
-#define GPIO_BRAKE_LIGHT_OUT_PIN 	GPIO_PIN_2
-#define GPIO_BRAKE_LIGHT_OUT_RCU 	RCU_GPIOD
-#define GPIO_BRAKE_LIGHT_OUT_MODE 	GPIO_MODE_OUT_PP
-
-/* 一键修复，低电平有效 */
-#define REPEAR_IN_GROUP 	GPIOC
-#define REPEAR_IN_PIN 	GPIO_PIN_10
-#define REPEAR_IN_RCU 	RCU_GPIOC
-#define REPEAR_IN_MODE 	GPIO_MODE_IN_FLOATING
-
-/* CAN 定义 */
-#define CAN_TX_GROUP GPIOB
-#define CAN_TX_PIN   GPIO_PIN_9
-#define CAN_RX_GROUP GPIOB
-#define CAN_RX_PIN   GPIO_PIN_8
-#define CAN_PIN_RCU  RCU_GPIOB
-#ifdef GD32F30X_CL
-#define CAN_REMAP    GPIO_CAN0_PARTIAL_REMAP
-#define CAN_IRQ0     CAN0_RX0_IRQn
-#define CAN_RX0_IRQHandler  CAN0_RX0_IRQHandler
-#else
-#define CAN_REMAP    GPIO_CAN_PARTIAL_REMAP
-#define CAN_IRQ0     USBD_LP_CAN0_RX0_IRQn
-#define CAN_RX0_IRQHandler  USBD_LP_CAN0_RX0_IRQHandler
-#endif
-/* 是否用编码器 */
-#define USE_ENCODER_ABI
-#define ENCODER_TYPE ENCODER_MT
-
-/* 编码器 */
-#define ENC_A_GROUP GPIOB
-#define ENC_A_PIN GPIO_PIN_4
-#define ENC_A_RCU RCU_GPIOB
-#define ENC_A_MODE GPIO_MODE_IN_FLOATING
-
-#define ENC_B_GROUP GPIOB
-#define ENC_B_PIN GPIO_PIN_5
-#define ENC_B_RCU RCU_GPIOB
-#define ENC_B_MODE GPIO_MODE_IN_FLOATING
-
-#define TIMER2_PB4_PB5_REMAP GPIO_TIMER2_PARTIAL_REMAP
-
-#define ENC_PWM_GROUP GPIOA
-#define ENC_PWM_PIN GPIO_PIN_15
-#define ENC_PWM_RCU RCU_GPIOA
-#define ENC_PWM_MODE GPIO_MODE_IN_FLOATING
-#define TIMER1_PA15_REMAP GPIO_TIMER1_PARTIAL_REMAP0
-
-#define ENC_I_GROUP GPIOB     /*测量编码器的ABI的I信号，360度同步一次*/
-#define ENC_I_PIN GPIO_PIN_6
-#define ENC_I_RCU RCU_GPIOB
-#if 0
-#define ENC_I_MODE GPIO_MODE_IPU
-#define ENC_I_IRQ  EXTI5_9_IRQn
-#define ENC_I_EXTI EXTI_6
-#define ENC_I_EXIT_SRC_GROUP GPIO_PORT_SOURCE_GPIOB
-#define ENC_I_EXIT_SRC_PIN GPIO_PIN_SOURCE_6
-#else
-#define ENC_I_MODE GPIO_MODE_IN_FLOATING
-#define ENC_I_TIMER TIMER3    /* 测量绝对编码器PWM输出的占空比，获取转子angle*/
-#define ENC_I_TIMER_RCU RCU_TIMER3
-#define ENC_I_TIMER_IRQ TIMER3_IRQn
-#define ENC_I_TIMER_CHAN  TIMER_CH_0
-#define ENC_I_TIMER_IRQ_CH TIMER_INT_CH0
-#define ENC_I_TIMER_INT_FLG TIMER_INT_FLAG_CH0
-#define ENC_I_IRQHandler TIMER3_IRQHandler
-#endif
-#define ENC_TIMER TIMER2  /* 测量编码器的ABI信号的AB信号 */
-#define ENC_TIMER_RCU RCU_TIMER2
-#define ENC_TIMER_IRQ TIMER2_IRQn
-#define ENC_TIMER_IRQHandler TIMER2_IRQHandler
-
-#define ENC_PWM_TIMER TIMER1    /* 测量绝对编码器PWM输出的占空比，获取转子angle*/
-#define ENC_PWM_TIMER_RCU RCU_TIMER1
-#define ENC_PWM_TIMER_IRQ TIMER1_IRQn
-#define ENC_PWM_TIMER_CHAN  TIMER_CH_0
-#define ENC_PWM_TIMER_IRQ_CH TIMER_INT_CH0
-#define ENC_PWM_TIMER_INT_FLG TIMER_INT_FLAG_CH0
-#define ENC_PWM_IRQHandler TIMER1_IRQHandler
-
-/* board id, 0x01=>v3, 0x02=>v4 */
-#define BOOT_PIN_0_GROUP GPIOC 
-#define BOOT_PIN_0_PIN   GPIO_PIN_6
-#define BOOT_PIN_1_GROUP GPIOC 
-#define BOOT_PIN_1_PIN   GPIO_PIN_7
-
-#define ENC_MAX_interpolation 1.0F
-
-#define CONFIG_ENC_FILTER_NR          12 //1100： fSAMP=fDTS/16, N=8,采样率 120M/16 = 7.5M
-#define CONFIG_PWM_FILTER_NR          12
-
-#ifdef CONFIG_PWM_UV_SWAP
-#define ENCODER_CC_INVERT 1
-#endif
-/* 编码器参数      */
-#define ENC_MAX_RES  4096.0f
-#define ENC_Duty_2_Pluse_Nr(duty) (duty * ENC_MAX_RES) //通过占空比计算有几个脉冲
-#define ENC_Pluse_Nr_2_angle(Nr) (360.0f/(float)ENC_MAX_RES * (Nr))
-#define ENC_PWM_Min_P 0.0f//(1.0f/(131.0f + 1.0f))
-#define ENC_PWM_Max_P  1.0f
-
-#if ENCODER_TYPE==ENCODER_MPS
-#define ENC_Duty(d, t) ((1.0f/128.0f) * (130.0f * (d)/(t) - 1.0f))
-#elif ENCODER_TYPE==ENCODER_MT
-/*min. 994 hz*/
-#define ENC_PWM_MAX_RES    4119.0F
-#define ENC_PWM_INIT_WIDTH 16.0F //PWM 起始宽度
-#define ENC_PWM_END_WIDTH   8.0F
-//#define ENC_PWM_Min_P      (ENC_PWM_INIT_WIDTH/(ENC_PWM_MAX_RES + 1.0f))
-//#define ENC_PWM_Max_P      ((ENC_PWM_MAX_RES-ENC_PWM_END_WIDTH)/(ENC_PWM_MAX_RES - 1.0f))
-#define PWM_Duty(d, t) ((d)/(t))
-#define ENC_Duty(d, t) ((PWM_Duty(d, t)*ENC_PWM_MAX_RES - ENC_PWM_INIT_WIDTH)/(ENC_PWM_MAX_RES - ENC_PWM_END_WIDTH - ENC_PWM_INIT_WIDTH))
-#else
-#error "Postion sensor ERROR"
-#endif
-
-#define DEBUG_PORT_UART2
-//#define CONFIG_MOTOR_TORQUE_CONF "foc/motor/A1_motor_config.c"
-
-//#define CONFIG_DQ_STEP_RESPONSE
-
-#endif /*_BOARD_MC_V3_H__ */
-
-