File content as of revision 65:cb3497b549e9:

/// Values stored in flash, which are modifieable by user actions ///

#ifndef USER_CONFIG_H
#define USER_CONFIG_H


#define E_OFFSET                __float_reg[0]                                  // Encoder electrical offset
#define M_OFFSET                __float_reg[1]                                  // Encoder mechanical offset
#define I_BW                    __float_reg[2]                                  // Current loop bandwidth
#define I_MAX                   __float_reg[3]                                  // Torque limit (current limit = torque_limit/(kt*gear ratio))
#define THETA_MIN               __float_reg[4]                                  // Minimum position setpoint
#define THETA_MAX               __float_reg[5]                                  // Maximum position setpoint
#define I_FW_MAX                __float_reg[6]                                  // Maximum field weakening current

#define MOTOR_KP                __float_reg[64] // Motor position control kp
#define MOTOR_KI                __float_reg[65] // Motor position control ki
#define MOTOR_KD                __float_reg[66] // Motor position control kd


#define PHASE_ORDER             __int_reg[0]                                    // Phase swapping during calibration
#define CAN_ID                  __int_reg[1]                                    // CAN bus ID
#define CAN_MASTER              __int_reg[2]                                    // CAN bus "master" ID
#define CAN_TIMEOUT             __int_reg[3]                                    // CAN bus timeout period
#define ENCODER_LUT             __int_reg[5]                                    // Encoder offset LUT - 128 elements long

#define CALIBRATE_DIR           __int_reg[256] //calibration direction

#define CALIBRATE_OFFSET        __float_reg[67]
#define CALIBRATE_SPEED         __float_reg[68]

//#define CALIBRATE_OFFSET        __float_reg[64]
//#define CALIBRATE_SPEED         __float_reg[65]

extern float __float_reg[];
extern int __int_reg[];

#endif