defaults.h

00001 #ifndef __DEFAULTS_H
00002 #define __DEFAULTS_H
00003 
00004 /*---driving (mostly unimplemented)---*/
00005 
00006 /*legacy code, indicating there should be no throttle map*/
00007 #define TORQUE_MODE true
00008 
00009 /*forward torque scaling*/
00010 #define MAX_TQPCT_PLUS 1.0f
00011 
00012 /*reverse/regen torque scaling*/
00013 #define MAX_TQPCT_MINUS 0.3f
00014 
00015 /*maximum torque for approximate methods*/
00016 #define TORQUE_MAX 75.0f
00017 
00018 /*max speed, including any field weakening, rad/s*/
00019 #define W_MAX 1000.0f
00020 
00021 /*---inverter---*/
00022 
00023 /*DC link voltage, volts*/
00024 #define BUS_VOLTAGE 160.0f
00025 
00026 /*switching frequency, hertz*/
00027 #define F_SW 5000.0f
00028 
00029 /*propagation delay swizzle factor (+w_m / V_PHASE_SWIZZLE)*/
00030 #define V_PHASE_SWIZZLE 1048.0f
00031 
00032 /*---logging---*/
00033 
00034 #define ENABLE_LOGGING true
00035 
00036 #define LOG_PAGE_SIZE 4096
00037 #define LOG_HEADER_SIZE 10
00038 #define LOG_PACKET_SIZE 8
00039 #define LOG_BAUD_RATE 921600
00040 
00041 /*---loop---*/
00042 #define K_LOOP_D 0.75f
00043 #define KI_BASE_D 0.025f
00044 
00045 #define K_LOOP_Q 1.75f
00046 #define KI_BASE_Q 0.01f
00047 
00048 #define F_SLOW_LOOP 50.0f
00049 
00050 #define INTEGRAL_MAX 1.5f
00051 #define OVERMODULATION_FACTOR 0.5f
00052 
00053 /*filter strengths, 0-1.0
00054   higher = stronger filtering*/
00055 #define DQ_FILTER_STRENGTH 0.80f
00056 
00057 /*windows for median filtering*/
00058 #define THROTTLE_FILTER_WINDOW 7
00059 #define W_FILTER_WINDOW 3
00060 
00061 /*---motor---*/
00062 
00063 /*# of pole pairs*/
00064 #define POLE_PAIRS 3.0f
00065 
00066 /*electrical position offset,
00067   measured as +a, -b, -c (radians)*/
00068 #define POS_OFFSET 5.7614f
00069 
00070 /*# of resolver lobes*/
00071 #define RESOLVER_LOBES 3.0f
00072 
00073 /*CPR of encoder or encoder emulator*/
00074 #define CPR 4096
00075 
00076 /*d and q axis inductances, henries*/
00077 #define Ld 0.000605f
00078 #define Lq 0.001536f
00079 
00080 /*PM flux linkage, volt-seconds*/
00081 #define FLUX_LINKAGE 0.0529f
00082 
00083 /*single phase resistance, ohms*/
00084 #define Rs 0.05f
00085 
00086 /*torque/phase amp for approximate models*/
00087 #define KT 0.3f
00088 
00089 /*a safe speed below which you 
00090   never need to field weaken*/
00091 #define W_SAFE 100.0f
00092 
00093 /*maximum sane mechanical speed,
00094   used to filter velocity (rad/s)*/
00095 #define W_CRAZY 2000.0f
00096 
00097 /*---rc throttle---*/
00098 
00099 #define TH_PIN PB_8
00100 #define TH_LIMIT_LOW 1520//1050 //1520 //uS
00101 #define TH_LIMIT_HIGH 1720//1950 //1720
00102 
00103 /*---table---*/
00104 
00105 #define W_STEP 150.f
00106 
00107 /*---speed mode---*/
00108 
00109 #define K_LOOP_W 0.0f
00110 #define KI_BASE_W 0.0f
00111 #define W_SETPOINT_MAX 1500.0f
00112 #define W_LOOP_MAX_TQ 1.0f
00113 
00114 #endif