Bayley Wang
/
foc-ed_in_the_bot_compact
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BREMS/derived.h@188:43f50a4cc040, 2018-02-10 (annotated)
- Committer:
- bwang
- Date:
- Sat Feb 10 00:13:04 2018 +0000
- Revision:
- 188:43f50a4cc040
- Parent:
- Defaults/derived.h@185:5c102874b490
- Child:
- 189:760cd81a7633
02/09/2018 19:12 - changed object initialization order in BREMSConfig.cpp to read values back from flash first
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| bwang | 185:5c102874b490 | 1 | /* |
| bwang | 185:5c102874b490 | 2 | *derived macros for the controller |
| bwang | 185:5c102874b490 | 3 | *don't change these unless you know what you're doing! |
| bwang | 185:5c102874b490 | 4 | */ |
| bwang | 185:5c102874b490 | 5 | |
| bwang | 185:5c102874b490 | 6 | #ifndef __DERIVED_H |
| bwang | 185:5c102874b490 | 7 | #define __DERIVED_H |
| bwang | 185:5c102874b490 | 8 | |
| bwang | 185:5c102874b490 | 9 | #include "defaults.h" |
| bwang | 185:5c102874b490 | 10 | |
| bwang | 185:5c102874b490 | 11 | /*max modulation depth at which inveter is still linear*/ |
| bwang | 185:5c102874b490 | 12 | #define LINEAR_MODULATION_MAX (2.f * LINEAR_DTC_MAX - 1.f) |
| bwang | 185:5c102874b490 | 13 | |
| bwang | 185:5c102874b490 | 14 | /*internally computed loop parameters*/ |
| bwang | 185:5c102874b490 | 15 | #define KP_D (K_LOOP_D / BUS_VOLTAGE / LINEAR_MODULATION_MAX) |
| bwang | 185:5c102874b490 | 16 | #define KI_D (KI_BASE_D * K_LOOP_D / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX) |
| bwang | 185:5c102874b490 | 17 | |
| bwang | 185:5c102874b490 | 18 | #define KP_Q (K_LOOP_Q / BUS_VOLTAGE / LINEAR_MODULATION_MAX) |
| bwang | 185:5c102874b490 | 19 | #define KI_Q (KI_BASE_Q * K_LOOP_Q / BUS_VOLTAGE * 5000.0f / F_SW / LINEAR_MODULATION_MAX) |
| bwang | 185:5c102874b490 | 20 | |
| bwang | 185:5c102874b490 | 21 | #define SLOW_LOOP_COUNTER ((int) (F_SW / F_SLOW_LOOP)) |
| bwang | 185:5c102874b490 | 22 | |
| bwang | 185:5c102874b490 | 23 | #endif |