3.3.2 Macros

#define HIGH_FREQUENCY false

#define MC_F_SAMPLING PWM_FREQUENCY

#define MC_RPM_TO_MCSPEED(RPM) (mc_speed_t) (((float) (RPM) * 65536.0 * (float) (MC_MOTOR_PAIR_POLES)) / ((float)(MC_F_SAMPLING) * 60.0) + 0.5)

#define MC_MCSPEED_TO_RPM(MCSPEED) (float) (MC_F_SAMPLING) * (float) (MCSPEED) * 60.0 / ( 65536.0 * (float) (MC_MOTOR_PAIR_POLES) )

#define MC_HZ_TO_MCSPEED(HZ) (mc_speed_t) (((float)(HZ) * 65536.0) / ((float)(MC_F_SAMPLING)) + 0.5)

#define MC_MCSPEED_TO_HZ(MCSPEED) (float) (MC_F_SAMPLING) * (float)(MCSPEED) / 65536.0

#define MC_DELAY_MS MC_DelayMs