Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Config/user_config.h@71:b314182de37f, 23 months ago (annotated)
- Committer:
- adimmit
- Date:
- Fri Aug 26 21:44:23 2022 +0000
- Revision:
- 71:b314182de37f
- Parent:
- 55:c4c9fec8539c
- Child:
- 73:5676f1232a81
modified by adding current controller gains in flash;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 23:2adf23ee0305 | 1 | /// Values stored in flash, which are modifieable by user actions /// |
benkatz | 23:2adf23ee0305 | 2 | |
benkatz | 23:2adf23ee0305 | 3 | #ifndef USER_CONFIG_H |
benkatz | 23:2adf23ee0305 | 4 | #define USER_CONFIG_H |
benkatz | 23:2adf23ee0305 | 5 | |
benkatz | 23:2adf23ee0305 | 6 | |
benkatz | 25:f5741040c4bb | 7 | #define E_OFFSET __float_reg[0] // Encoder electrical offset |
benkatz | 25:f5741040c4bb | 8 | #define M_OFFSET __float_reg[1] // Encoder mechanical offset |
benkatz | 25:f5741040c4bb | 9 | #define I_BW __float_reg[2] // Current loop bandwidth |
benkatz | 51:6cd89bd6fcaa | 10 | #define I_MAX __float_reg[3] // Torque limit (current limit = torque_limit/(kt*gear ratio)) |
benkatz | 26:2b865c00d7e9 | 11 | #define THETA_MIN __float_reg[4] // Minimum position setpoint |
benkatz | 26:2b865c00d7e9 | 12 | #define THETA_MAX __float_reg[5] // Maximum position setpoint |
benkatz | 51:6cd89bd6fcaa | 13 | #define I_FW_MAX __float_reg[6] // Maximum field weakening current |
benkatz | 55:c4c9fec8539c | 14 | #define R_NOMINAL __float_reg[7] // Nominal motor resistance, set during calibration |
benkatz | 55:c4c9fec8539c | 15 | #define TEMP_MAX __float_reg[8] // Temperature safety lmit |
benkatz | 55:c4c9fec8539c | 16 | #define I_MAX_CONT __float_reg[9] // Continuous max current |
adimmit | 71:b314182de37f | 17 | #define K_SCALE __float_reg[10] // Current Controller KP scaled w/ BW |
adimmit | 71:b314182de37f | 18 | #define KI_D __float_reg[11] // Current Controller KI D-Axis |
adimmit | 71:b314182de37f | 19 | #define KI_Q __float_reg[12] // Current Controller KI Q-Axis |
benkatz | 28:8c7e29f719c5 | 20 | |
benkatz | 25:f5741040c4bb | 21 | #define PHASE_ORDER __int_reg[0] // Phase swapping during calibration |
benkatz | 25:f5741040c4bb | 22 | #define CAN_ID __int_reg[1] // CAN bus ID |
benkatz | 26:2b865c00d7e9 | 23 | #define CAN_MASTER __int_reg[2] // CAN bus "master" ID |
benkatz | 28:8c7e29f719c5 | 24 | #define CAN_TIMEOUT __int_reg[3] // CAN bus timeout period |
adimmit | 71:b314182de37f | 25 | #define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long |
benkatz | 37:c0f352d6e8e3 | 26 | |
benkatz | 23:2adf23ee0305 | 27 | |
benkatz | 28:8c7e29f719c5 | 28 | |
benkatz | 51:6cd89bd6fcaa | 29 | |
benkatz | 23:2adf23ee0305 | 30 | extern float __float_reg[]; |
benkatz | 23:2adf23ee0305 | 31 | extern int __int_reg[]; |
benkatz | 23:2adf23ee0305 | 32 | |
benkatz | 23:2adf23ee0305 | 33 | #endif |