Diff: Defaults/config_loop.h

Revision:

1:df6bbacb7bb9

Parent:

0:941e150e78b6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Defaults/config_loop.h	Thu Mar 02 07:04:47 2017 +0000
@@ -0,0 +1,32 @@
+#ifndef __CONFIG_LOOP_H
+#define __CONFIG_LOOP_H
+
+#include "config_inverter.h"
+
+#define K_LOOP_D 2.5f
+#define KI_BASE_D 0.025f
+
+#define K_LOOP_Q 6.0f
+#define KI_BASE_Q 0.01f
+
+#define F_SLOW_LOOP 100.0f
+
+#define INTEGRAL_MAX 1.0f
+
+/*filter strengths, 0-1.0
+  higher = stronger filtering*/
+#define W_FILTER_STRENGTH 0.99f
+#define DQ_FILTER_STRENGTH 0.95f
+#define THROTTLE_FILTER_STRENGTH 0.0f
+
+
+/*internally computed*/
+#define KP_D (K_LOOP_D / BUS_VOLTAGE)
+#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW)
+
+#define KP_Q (K_LOOP_Q / BUS_VOLTAGE)
+#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW)
+
+#define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
+
+#endif
\ No newline at end of file