Diff: defaults.h

Revision:

187:523cf8c962e4

Parent:

185:5c102874b490

Child:

189:760cd81a7633

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/defaults.h	Fri Feb 09 23:24:25 2018 +0000
@@ -0,0 +1,115 @@
+#ifndef __DEFAULTS_H
+#define __DEFAULTS_H
+
+/*---driving (mostly unimplemented)---*/
+
+/*legacy code, indicating there should be no throttle map*/
+#define TORQUE_MODE true
+
+/*forward torque scaling*/
+#define MAX_TQPCT_PLUS 1.0f
+
+/*reverse/regen torque scaling*/
+#define MAX_TQPCT_MINUS 0.3f
+
+/*maximum torque for approximate methods*/
+#define TORQUE_MAX 75.0f
+
+/*max speed, including any field weakening, rad/s*/
+#define W_MAX 1000.0f
+
+/*---inverter---*/
+
+/*DC link voltage, volts*/
+#define BUS_VOLTAGE 160.0f
+
+/*switching frequency, hertz*/
+#define F_SW 5000.0f
+
+/*max duty cycle*/
+#define LINEAR_DTC_MAX 0.945f
+
+/*propagation delay swizzle factor (+w_m / V_PHASE_SWIZZLE)*/
+#define V_PHASE_SWIZZLE 1048.0f
+
+/*---logging---*/
+
+#define ENABLE_LOGGING true
+
+#define LOG_PAGE_SIZE 4096
+#define LOG_HEADER_SIZE 10
+#define LOG_PACKET_SIZE 8
+#define LOG_BAUD_RATE 921600
+
+/*---loop---*/
+#define K_LOOP_D 0.75f
+#define KI_BASE_D 0.025f
+
+#define K_LOOP_Q 1.75f
+#define KI_BASE_Q 0.01f
+
+#define F_SLOW_LOOP 50.0f
+
+#define INTEGRAL_MAX 1.5f
+#define OVERMODULATION_FACTOR 0.5f
+
+/*filter strengths, 0-1.0
+  higher = stronger filtering*/
+#define DQ_FILTER_STRENGTH 0.80f
+
+/*windows for median filtering*/
+#define THROTTLE_FILTER_WINDOW 7
+#define W_FILTER_WINDOW 3
+
+/*---motor---*/
+
+/*# of pole pairs*/
+#define POLE_PAIRS 3.0f
+
+/*electrical position offset,
+  measured as +a, -b, -c (radians)*/
+#define POS_OFFSET 5.7614f
+
+/*# of resolver lobes*/
+#define RESOLVER_LOBES 3.0f
+
+/*CPR of encoder or encoder emulator*/
+#define CPR 4096
+
+/*d and q axis inductances, henries*/
+#define Ld 0.000605f
+#define Lq 0.001536f
+
+/*PM flux linkage, volt-seconds*/
+#define FLUX_LINKAGE 0.0529f
+
+/*single phase resistance, ohms*/
+#define Rs 0.05f
+
+/*torque/phase amp for approximate models*/
+#define KT 0.3f
+
+/*a safe speed below which you 
+  never need to field weaken*/
+#define W_SAFE 100.0f
+
+/*maximum sane mechanical speed,
+  used to filter velocity (rad/s)*/
+#define W_CRAZY 2000.0f
+
+#define PI 3.141593f
+
+/*---rc throttle---*/
+
+#define TH_PIN PB_8
+#define TH_LIMIT_LOW 1520//1050 //1520 //uS
+#define TH_LIMIT_HIGH 1720//1950 //1720
+
+/*---table---*/
+
+#define ROWS 21
+#define COLUMNS 20
+
+#define W_STEP 150.f
+
+#endif
\ No newline at end of file