Aditya Mehrotra
Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: Config/user_config.h
- Revision:
- 73:5676f1232a81
- Parent:
- 71:b314182de37f
- Child:
- 74:fcc5f8e7f0ef
--- a/Config/user_config.h Sun Aug 28 18:01:26 2022 +0000 +++ b/Config/user_config.h Mon Aug 29 16:03:54 2022 +0000 @@ -18,6 +18,22 @@ #define KI_D __float_reg[11] // Current Controller KI D-Axis #define KI_Q __float_reg[12] // Current Controller KI Q-Axis +//MOTOR PARAMETERS MOVED TO FLASH +#define R_PHASE __float_reg[13] //Phase resistance in OHMS +#define L_D __float_reg[14] //D-axis inductance in HENRIES +#define L_Q __float_reg[15] //L-axis inductance in HENRIES +#define NPP __int_reg[4] //Number of motor Pole Pairs +//ACTUATOR PARAMETERS +#define KT __float_reg[16] //Torque Constance Nm/peak phase amp, = WB*NPP*3/2 +#define GR __float_reg[17] //Output gear ratio +#define KT_OUT __float_reg[18] //KT*GR +#define WB __float_reg[19] //Flux linkage, Webers. (from motor KT, see above formula) +//THERMAL OBSERVER +#define R_TH __float_reg[20] //Kelvin watt per joule (motor thermal resistance) +#define INV_M_TH __float_reg[21] //Kelvin per Joule (some observer thing) +#define T_AMBIENT __float_reg[22] // ambient temperature during temp calibration + + #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