Bayley Wang
/
foc-ed_in_the_bot_compact
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Defaults/derived.h
- Committer:
- bwang
- Date:
- 2018-02-09
- Revision:
- 185:5c102874b490
File content as of revision 185:5c102874b490:
/*
*derived macros for the controller
*don't change these unless you know what you're doing!
*/
#ifndef __DERIVED_H
#define __DERIVED_H
#include "defaults.h"
/*max modulation depth at which inveter is still linear*/
#define LINEAR_MODULATION_MAX (2.f * LINEAR_DTC_MAX - 1.f)
/*internally computed loop parameters*/
#define KP_D (K_LOOP_D / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
#define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
#define KP_Q (K_LOOP_Q / BUS_VOLTAGE / LINEAR_MODULATION_MAX)
#define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX)
#define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP))
#endif