2015-09-17 14:24:55 -07:00
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/*
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2016-11-04 07:18:34 -07:00
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
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2015-09-17 14:24:55 -07:00
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2016-11-04 07:18:34 -07:00
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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2015-09-17 14:24:55 -07:00
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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2016-11-04 07:18:34 -07:00
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The VESC firmware is distributed in the hope that it will be useful,
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2015-09-17 14:24:55 -07:00
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MCCONF_DEFAULT_H_
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#define MCCONF_DEFAULT_H_
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// Default settings
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#ifndef MCCONF_DEFAULT_MOTOR_TYPE
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#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_BLDC
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#endif
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#ifndef MCCONF_PWM_MODE
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#define MCCONF_PWM_MODE PWM_MODE_SYNCHRONOUS // Default PWM mode
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#endif
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#ifndef MCCONF_SENSOR_MODE
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#define MCCONF_SENSOR_MODE SENSOR_MODE_SENSORLESS // Sensor mode
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#endif
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#ifndef MCCONF_COMM_MODE
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#define MCCONF_COMM_MODE COMM_MODE_INTEGRATE // The commutation mode to use
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#endif
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// Limits
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#ifndef MCCONF_L_CURRENT_MAX
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#define MCCONF_L_CURRENT_MAX 60.0 // Current limit in Amperes (Upper)
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#endif
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#ifndef MCCONF_L_CURRENT_MIN
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#define MCCONF_L_CURRENT_MIN -60.0 // Current limit in Amperes (Lower)
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#endif
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#ifndef MCCONF_L_IN_CURRENT_MAX
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#define MCCONF_L_IN_CURRENT_MAX 60.0 // Input current limit in Amperes (Upper)
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#endif
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#ifndef MCCONF_L_IN_CURRENT_MIN
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#define MCCONF_L_IN_CURRENT_MIN -40.0 // Input current limit in Amperes (Lower)
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#endif
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#ifndef MCCONF_L_MAX_ABS_CURRENT
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#define MCCONF_L_MAX_ABS_CURRENT 130.0 // The maximum absolute current above which a fault is generated
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#endif
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#ifndef MCCONF_L_MIN_VOLTAGE
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#define MCCONF_L_MIN_VOLTAGE 8.0 // Minimum input voltage
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#endif
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#ifndef MCCONF_L_MAX_VOLTAGE
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#define MCCONF_L_MAX_VOLTAGE 57.0 // Maximum input voltage
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#endif
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#ifndef MCCONF_L_BATTERY_CUT_START
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#define MCCONF_L_BATTERY_CUT_START 10.0 // Start limiting the positive current at this voltage
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#endif
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#ifndef MCCONF_L_BATTERY_CUT_END
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#define MCCONF_L_BATTERY_CUT_END 8.0 // Limit the positive current completely at this voltage
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#endif
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#ifndef MCCONF_L_RPM_MAX
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#define MCCONF_L_RPM_MAX 100000.0 // The motor speed limit (Upper)
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#endif
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#ifndef MCCONF_L_RPM_MIN
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#define MCCONF_L_RPM_MIN -100000.0 // The motor speed limit (Lower)
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#endif
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#ifndef MCCONF_L_RPM_START
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#define MCCONF_L_RPM_START 0.8 // Fraction of full speed where RPM current limiting starts
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#endif
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#ifndef MCCONF_L_SLOW_ABS_OVERCURRENT
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#define MCCONF_L_SLOW_ABS_OVERCURRENT true // Use the filtered (and hence slower) current for the overcurrent fault detection
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#endif
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#ifndef MCCONF_L_MIN_DUTY
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#define MCCONF_L_MIN_DUTY 0.005 // Minimum duty cycle
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#endif
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#ifndef MCCONF_L_MAX_DUTY
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#define MCCONF_L_MAX_DUTY 0.95 // Maximum duty cycle
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#endif
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#ifndef MCCONF_L_CURR_MAX_RPM_FBRAKE
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#define MCCONF_L_CURR_MAX_RPM_FBRAKE 300 // Maximum electrical RPM to use full brake at
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#endif
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#ifndef MCCONF_L_CURR_MAX_RPM_FBRAKE_CC
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#define MCCONF_L_CURR_MAX_RPM_FBRAKE_CC 1500 // Maximum electrical RPM to use full brake at with current control
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#endif
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#ifndef MCCONF_L_LIM_TEMP_FET_START
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#define MCCONF_L_LIM_TEMP_FET_START 80.0 // MOSFET temperature where current limiting should begin
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#endif
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#ifndef MCCONF_L_LIM_TEMP_FET_END
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#define MCCONF_L_LIM_TEMP_FET_END 100.0 // MOSFET temperature where everything should be shut off
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#endif
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#ifndef MCCONF_L_LIM_TEMP_MOTOR_START
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#define MCCONF_L_LIM_TEMP_MOTOR_START 80.0 // MOTOR temperature where current limiting should begin
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#endif
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#ifndef MCCONF_L_LIM_TEMP_MOTOR_END
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#define MCCONF_L_LIM_TEMP_MOTOR_END 100.0 // MOTOR temperature where everything should be shut off
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#endif
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#ifndef MCCONF_L_WATT_MAX
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#define MCCONF_L_WATT_MAX 15000.0 // Maximum wattage output
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#endif
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#ifndef MCCONF_L_WATT_MIN
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#define MCCONF_L_WATT_MIN -15000.0 // Minimum wattage output (braking)
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#endif
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// Speed PID parameters
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#ifndef MCCONF_S_PID_KP
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#define MCCONF_S_PID_KP 0.004 // Proportional gain
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#endif
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#ifndef MCCONF_S_PID_KI
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#define MCCONF_S_PID_KI 0.004 // Integral gain
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#endif
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#ifndef MCCONF_S_PID_KD
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#define MCCONF_S_PID_KD 0.0001 // Derivative gain
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#endif
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#ifndef MCCONF_S_PID_MIN_RPM
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#define MCCONF_S_PID_MIN_RPM 900.0 // Minimum allowed RPM
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#endif
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#ifndef MCCONF_S_PID_ALLOW_BRAKING
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#define MCCONF_S_PID_ALLOW_BRAKING true // Allow braking in speed control mode
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#endif
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// Position PID parameters
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#ifndef MCCONF_P_PID_KP
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#define MCCONF_P_PID_KP 0.03 // Proportional gain
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#endif
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#ifndef MCCONF_P_PID_KI
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#define MCCONF_P_PID_KI 0.0 // Integral gain
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#endif
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#ifndef MCCONF_P_PID_KD
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#define MCCONF_P_PID_KD 0.0004 // Derivative gain
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#endif
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#ifndef MCCONF_P_PID_ANG_DIV
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#define MCCONF_P_PID_ANG_DIV 1.0 // Divide angle by this value
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#endif
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// Current control parameters
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#ifndef MCCONF_CC_GAIN
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#define MCCONF_CC_GAIN 0.0046 // Current controller error gain
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#endif
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#ifndef MCCONF_CC_MIN_CURRENT
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#define MCCONF_CC_MIN_CURRENT 0.1 // Minimum allowed current
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#endif
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#ifndef MCCONF_CC_STARTUP_BOOST_DUTY
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#define MCCONF_CC_STARTUP_BOOST_DUTY 0.01 // The lowest duty cycle to use in current control mode (has to be > MCPWM_MIN_DUTY_CYCLE)
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#endif
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#ifndef MCCONF_CC_RAMP_STEP
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#define MCCONF_CC_RAMP_STEP 0.04 // Maximum duty cycle ramping step in CC mode
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#endif
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2015-12-08 12:01:23 -08:00
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// BLDC
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#ifndef MCCONF_SL_MIN_RPM
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#define MCCONF_SL_MIN_RPM 150 // Auto-commutate below this RPM
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#endif
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#ifndef MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT
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#define MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT 1100.0 // Minimum RPM to calculate the BEMF coupling from
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#endif
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#ifndef MCCONF_SL_CYCLE_INT_LIMIT
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#define MCCONF_SL_CYCLE_INT_LIMIT 62.0 // Flux integrator limit 0 ERPM
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#endif
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#ifndef MCCONF_SL_BEMF_COUPLING_K
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#define MCCONF_SL_BEMF_COUPLING_K 600.0 // Input voltage to bemf coupling constant
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#endif
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#ifndef MCCONF_SL_PHASE_ADVANCE_AT_BR
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#define MCCONF_SL_PHASE_ADVANCE_AT_BR 0.8 // Flux integrator limit percentage at MCPWM_CYCLE_INT_START_RPM_BR ERPM
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#endif
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#ifndef MCCONF_SL_CYCLE_INT_BR
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#define MCCONF_SL_CYCLE_INT_BR 80000.0 // RPM border between the START and LOW interval
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#endif
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#ifndef MCCONF_SL_MAX_FB_CURR_DIR_CHANGE
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#define MCCONF_SL_MAX_FB_CURR_DIR_CHANGE 10.0 // Maximum current during full brake during which a direction change is allowed
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#endif
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2016-01-27 14:57:23 -08:00
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// BLDC hall sensor table
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#ifndef MCCONF_HALL_TAB_0
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#define MCCONF_HALL_TAB_0 -1
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#endif
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#ifndef MCCONF_HALL_TAB_1
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#define MCCONF_HALL_TAB_1 1
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#endif
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#ifndef MCCONF_HALL_TAB_2
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#define MCCONF_HALL_TAB_2 3
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#endif
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#ifndef MCCONF_HALL_TAB_3
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#define MCCONF_HALL_TAB_3 2
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#endif
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#ifndef MCCONF_HALL_TAB_4
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#define MCCONF_HALL_TAB_4 5
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#endif
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#ifndef MCCONF_HALL_TAB_5
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#define MCCONF_HALL_TAB_5 6
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#endif
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#ifndef MCCONF_HALL_TAB_6
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#define MCCONF_HALL_TAB_6 4
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#endif
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#ifndef MCCONF_HALL_TAB_7
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#define MCCONF_HALL_TAB_7 -1
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#endif
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#ifndef MCCONF_HALL_ERPM
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#define MCCONF_HALL_ERPM 2000.0 // ERPM above which sensorless commutation is used in hybrid mode
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#endif
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2015-12-08 12:01:23 -08:00
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// FOC
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#ifndef MCCONF_FOC_CURRENT_KP
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#define MCCONF_FOC_CURRENT_KP 0.03
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#endif
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#ifndef MCCONF_FOC_CURRENT_KI
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#define MCCONF_FOC_CURRENT_KI 50.0
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#endif
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#ifndef MCCONF_FOC_F_SW
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#define MCCONF_FOC_F_SW 20000.0
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#endif
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#ifndef MCCONF_FOC_DT_US
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#define MCCONF_FOC_DT_US 0.08 // Microseconds for dead time compensation
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#endif
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#ifndef MCCONF_FOC_ENCODER_INVERTED
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#define MCCONF_FOC_ENCODER_INVERTED false
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#endif
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#ifndef MCCONF_FOC_ENCODER_OFFSET
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#define MCCONF_FOC_ENCODER_OFFSET 180.0
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#endif
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#ifndef MCCONF_FOC_ENCODER_RATIO
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#define MCCONF_FOC_ENCODER_RATIO 7.0
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#endif
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#ifndef MCCONF_FOC_SENSOR_MODE
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#define MCCONF_FOC_SENSOR_MODE FOC_SENSOR_MODE_SENSORLESS
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#endif
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#ifndef MCCONF_FOC_PLL_KP
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#define MCCONF_FOC_PLL_KP 2000.0
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#endif
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#ifndef MCCONF_FOC_PLL_KI
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#define MCCONF_FOC_PLL_KI 40000.0
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#endif
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#ifndef MCCONF_FOC_MOTOR_L
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#define MCCONF_FOC_MOTOR_L 0.000007
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#endif
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#ifndef MCCONF_FOC_MOTOR_R
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#define MCCONF_FOC_MOTOR_R 0.015
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#endif
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#ifndef MCCONF_FOC_MOTOR_FLUX_LINKAGE
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#define MCCONF_FOC_MOTOR_FLUX_LINKAGE 0.00245
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#endif
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#ifndef MCCONF_FOC_OBSERVER_GAIN
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#define MCCONF_FOC_OBSERVER_GAIN 9e7 // Can be something like 600 / L
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#endif
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#ifndef MCCONF_FOC_OBSERVER_GAIN_SLOW
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#define MCCONF_FOC_OBSERVER_GAIN_SLOW 0.3 // Observer gain scale at minimum duty cycle
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#endif
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2015-12-08 12:01:23 -08:00
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#ifndef MCCONF_FOC_DUTY_DOWNRAMP_KP
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#define MCCONF_FOC_DUTY_DOWNRAMP_KP 10.0 // PI controller for duty control when decreasing the duty
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#endif
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#ifndef MCCONF_FOC_DUTY_DOWNRAMP_KI
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#define MCCONF_FOC_DUTY_DOWNRAMP_KI 200.0 // PI controller for duty control when decreasing the duty
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#endif
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#ifndef MCCONF_FOC_OPENLOOP_RPM
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2017-09-04 12:12:43 -07:00
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#define MCCONF_FOC_OPENLOOP_RPM 400.0 // Openloop RPM (sensorless low speed or when finding index pulse)
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2015-12-08 12:01:23 -08:00
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#endif
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#ifndef MCCONF_FOC_SL_OPENLOOP_HYST
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#define MCCONF_FOC_SL_OPENLOOP_HYST 0.1 // Time below min RPM to activate openloop (s)
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#endif
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#ifndef MCCONF_FOC_SL_OPENLOOP_TIME
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#define MCCONF_FOC_SL_OPENLOOP_TIME 0.1 // Time to remain in openloop (s)
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#endif
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#ifndef MCCONF_FOC_SL_D_CURRENT_DUTY
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#define MCCONF_FOC_SL_D_CURRENT_DUTY 0.0 // Inject d-axis current below this duty cycle in sensorless more
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#endif
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#ifndef MCCONF_FOC_SL_D_CURRENT_FACTOR
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#define MCCONF_FOC_SL_D_CURRENT_FACTOR 0.0 // Maximum q-axis current factor
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_0
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#define MCCONF_FOC_HALL_TAB_0 255
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#endif
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#ifndef MCCONF_FOC_HALL_TAB_1
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#define MCCONF_FOC_HALL_TAB_1 255
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_2
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#define MCCONF_FOC_HALL_TAB_2 255
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_3
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#define MCCONF_FOC_HALL_TAB_3 255
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_4
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#define MCCONF_FOC_HALL_TAB_4 255
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_5
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#define MCCONF_FOC_HALL_TAB_5 255
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_6
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#define MCCONF_FOC_HALL_TAB_6 255
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2015-09-17 14:24:55 -07:00
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#endif
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2016-01-27 14:57:23 -08:00
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#ifndef MCCONF_FOC_HALL_TAB_7
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#define MCCONF_FOC_HALL_TAB_7 255
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2015-09-17 14:24:55 -07:00
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#endif
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2016-04-27 06:32:32 -07:00
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#ifndef MCCONF_FOC_SL_ERPM
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#define MCCONF_FOC_SL_ERPM 2500.0 // ERPM above which only the observer is used
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2015-09-17 14:24:55 -07:00
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#endif
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2017-09-04 12:12:43 -07:00
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#ifndef MCCONF_FOC_SAMPLE_V0_V7
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#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
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#endif
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#ifndef MCCONF_FOC_SAMPLE_HIGH_CURRENT
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#define MCCONF_FOC_SAMPLE_HIGH_CURRENT false // High current sampling mode (requires three shunts)
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#endif
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#ifndef MCCONF_FOC_SAT_COMP
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#define MCCONF_FOC_SAT_COMP 0.0 // Stator saturation compensation
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#endif
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#ifndef MCCONF_FOC_TEMP_COMP
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#define MCCONF_FOC_TEMP_COMP false // Motor temperature compensation
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#endif
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#ifndef MCCONF_FOC_TEMP_COMP_BASE_TEMP
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#define MCCONF_FOC_TEMP_COMP_BASE_TEMP 25.0 // Motor temperature compensation base temperature
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#endif
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2015-09-17 14:24:55 -07:00
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// Misc
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#ifndef MCCONF_M_FAULT_STOP_TIME
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#define MCCONF_M_FAULT_STOP_TIME 1000 // Ignore commands for this duration in msec when faults occur
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#endif
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#ifndef MCCONF_M_RAMP_STEP
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#define MCCONF_M_RAMP_STEP 0.02 // Duty cycle ramping step (1000 times/sec) at maximum duty cycle
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#endif
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#ifndef MCCONF_M_CURRENT_BACKOFF_GAIN
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#define MCCONF_M_CURRENT_BACKOFF_GAIN 0.5 // The error gain of the current limiting algorithm
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#endif
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2015-12-08 12:01:23 -08:00
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#ifndef MCCONF_M_ENCODER_COUNTS
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#define MCCONF_M_ENCODER_COUNTS 8192 // The number of encoder counts
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#endif
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2016-04-27 06:32:32 -07:00
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#ifndef MCCONF_M_SENSOR_PORT_MODE
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#define MCCONF_M_SENSOR_PORT_MODE SENSOR_PORT_MODE_HALL // The mode of the hall_encoder port
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#endif
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2016-11-06 09:14:06 -08:00
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#ifndef MCCONF_M_INVERT_DIRECTION
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#define MCCONF_M_INVERT_DIRECTION false // Invert the motor direction
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#endif
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2017-09-04 12:12:43 -07:00
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#ifndef MCCONF_M_DRV8301_OC_MODE
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#define MCCONF_M_DRV8301_OC_MODE DRV8301_OC_LIMIT // DRV8301 over current protection mode
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#endif
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#ifndef MCCONF_M_DRV8301_OC_ADJ
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#define MCCONF_M_DRV8301_OC_ADJ 16 // DRV8301 over current protection threshold
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#endif
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#ifndef MCCONF_M_BLDC_F_SW_MIN
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#define MCCONF_M_BLDC_F_SW_MIN 3000 // Minimum switching frequency in bldc mode
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#endif
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#ifndef MCCONF_M_BLDC_F_SW_MAX
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#define MCCONF_M_BLDC_F_SW_MAX 40000 // Maximum switching frequency in bldc mode
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#endif
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#ifndef MCCONF_M_DC_F_SW
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#define MCCONF_M_DC_F_SW 35000 // Switching frequency in dc mode
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#endif
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2015-09-17 14:24:55 -07:00
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#endif /* MCCONF_DEFAULT_H_ */
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