Diff: fw_config.h

Revision:

1:64b881306f6f

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/fw_config.h	Thu Oct 11 04:13:45 2018 +0000
@@ -0,0 +1,58 @@
+#ifndef FW_CONFIG_H
+#define FW_CONFIG_H
+
+//hardware stuff
+#define R_S 0.027f            //Ohms
+#define L_S 0.00004f            //Henries
+
+//#define KT .07f                 //N-m per peak phase amp (= RMS amps/1.5)
+#define POLE_PAIRS 7                 //Number of pole pairs
+#define ENC_TICKS_PER_REV 8191 //wank
+//#define WB KT/NPP               //Webers.  
+
+
+
+//current controler settings
+#define K_D 0.25f                     // Volts/Amp
+#define K_Q 0.25f                     // Volts/Amp
+
+#define KI_D 0.03f                  // 1/samples
+#define KI_Q 0.03f                  // 1/samples
+
+/*
+#define K_D 8.1f                     // Volts/Amp
+#define K_Q 8.1f                     // Volts/Amp
+#define KI_D 0.02f                  // 1/samples
+#define KI_Q 0.02f                  // 1/samples
+*/
+#define V_BUS 14.0f                // Volts, actual bus voltage
+#define V_CLIP 14.0f        // Volts, This is when the controller will nope out- not actually the real bus voltage
+//#define V_BUS 6.0f                // Volts, actual bus voltage
+//#define V_CLIP 6.0f        // Volts, This is when the controller will nope out- not actually the real bus voltage
+
+#define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
+#define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples
+
+//#define MODULATION_FACTOR 0.574f // //perfect with zero clipping if v = v_bus, actually equal to 0.57735f * (DTC_MAX-DTC_MIN)
+#define MODULATION_FACTOR 0.57f // //perfect with zero clipping if v = v_bus, actually equal to 0.57735f * (DTC_MAX-DTC_MIN)
+//#define MODULATION_FACTOR 0.45f // //perfect with zero clipping if v = v_bus, actually equal to 0.57735f * (DTC_MAX-DTC_MIN)
+#define USE_THETA_ADV false
+#define MAX_AMPS 20.0f
+#define DT 0.00005f
+#define F_SW 20000
+
+
+#define DTC_MAX 0.93f          // Max phase duty cycle
+#define DTC_MIN 0.07f          // Min phase duty cycle
+
+
+#define FL_OBS_LOWSPEED_MULT 0.995 //0.9992^2500 = 0.13 so lowpass will go to 0.18 every 8hz
+#define FL_OBS_HIGHSPEED_MULT 0.95 //a lot faster
+
+
+
+
+
+
+#endif
+