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bldc/appconf/appconf_default.h

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FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
2015-09-17 14:24:55 -07:00
/*
FW 3.7
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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FW 3.7
2016-11-04 07:18:34 -07:00
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
FW 3.7
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The VESC firmware is distributed in the hope that it will be useful,
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef APPCONF_DEFAULT_H_
#define APPCONF_DEFAULT_H_
// Default app configuration
#ifndef APPCONF_CONTROLLER_ID
Major 2019 update
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#define APPCONF_CONTROLLER_ID -1 // Controller id. -1 means it should be calculated from UUID.
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_TIMEOUT_MSEC
#define APPCONF_TIMEOUT_MSEC 1000
#endif
#ifndef APPCONF_TIMEOUT_BRAKE_CURRENT
#define APPCONF_TIMEOUT_BRAKE_CURRENT 0.0
#endif
FW4.00: HFI and many updates, see changelog
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#ifndef APPCONF_CAN_MODE
#define APPCONF_CAN_MODE CAN_MODE_VESC
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#endif
#ifndef APPCONF_UAVCAN_ESC_INDEX
#define APPCONF_UAVCAN_ESC_INDEX 0
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
Added UAVCAN raw throttle modes
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#ifndef APPCONF_UAVCAN_RAW_MODE
#define APPCONF_UAVCAN_RAW_MODE UAVCAN_RAW_MODE_CURRENT
#endif
Added APPCONF_UAVCAN_RAW_RPM_MAX default value
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#ifndef APPCONF_UAVCAN_RAW_RPM_MAX
#define APPCONF_UAVCAN_RAW_RPM_MAX 50000.0
#endif
Made servo output a config option
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#ifndef APPCONF_SERVO_OUT_ENABLE
#define APPCONF_SERVO_OUT_ENABLE false
#endif
Added kill switch support
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#ifndef APPCONF_KILL_SW_MODE
#define APPCONF_KILL_SW_MODE KILL_SW_MODE_DISABLED
#endif
FW 3.32: Configurable CAN baud rate
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#ifndef APPCONF_CAN_BAUD_RATE
#define APPCONF_CAN_BAUD_RATE CAN_BAUD_500K
#endif
Major 2019 update
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#ifndef APPCONF_PAIRING_DONE
#define APPCONF_PAIRING_DONE false
#endif
75/300 R2 support, terminal sync cmd, IMU support, option to disable permanent UART, collected timer functions in one place
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#ifndef APPCONF_PERMANENT_UART_ENABLED
#define APPCONF_PERMANENT_UART_ENABLED true
#endif
FW3.59. Many updates, see changelog for details
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#ifndef APPCONF_SHUTDOWN_MODE
#define APPCONF_SHUTDOWN_MODE SHUTDOWN_MODE_OFF_AFTER_30M
#endif
Use bitfields for CAN-messages and support two different CAN status rates
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#ifndef APPCONF_CAN_STATUS_RATE_1
#define APPCONF_CAN_STATUS_RATE_1 50
#endif
#ifndef APPCONF_CAN_STATUS_RATE_2
#define APPCONF_CAN_STATUS_RATE_2 5
#endif
#ifndef APPCONF_CAN_STATUS_MSGS_R1
#define APPCONF_CAN_STATUS_MSGS_R1 0
#endif
#ifndef APPCONF_CAN_STATUS_MSGS_R2
#define APPCONF_CAN_STATUS_MSGS_R2 0
#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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// The default app is UART in case the UART port is used for
// firmware updates.
#ifndef APPCONF_APP_TO_USE
#define APPCONF_APP_TO_USE APP_UART
#endif
First official commit after the VESC Project release
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// PPM app configureation
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#ifndef APPCONF_PPM_CTRL_TYPE
#define APPCONF_PPM_CTRL_TYPE PPM_CTRL_TYPE_NONE
#endif
#ifndef APPCONF_PPM_PID_MAX_ERPM
#define APPCONF_PPM_PID_MAX_ERPM 15000
#endif
#ifndef APPCONF_PPM_HYST
#define APPCONF_PPM_HYST 0.15
#endif
#ifndef APPCONF_PPM_PULSE_START
#define APPCONF_PPM_PULSE_START 1.0
#endif
#ifndef APPCONF_PPM_PULSE_END
#define APPCONF_PPM_PULSE_END 2.0
#endif
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#ifndef APPCONF_PPM_PULSE_CENTER
#define APPCONF_PPM_PULSE_CENTER 1.5
#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#ifndef APPCONF_PPM_MEDIAN_FILTER
#define APPCONF_PPM_MEDIAN_FILTER true
#endif
#ifndef APPCONF_PPM_SAFE_START
#define APPCONF_PPM_SAFE_START true
#endif
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#ifndef APPCONF_PPM_THROTTLE_EXP
#define APPCONF_PPM_THROTTLE_EXP 0.0
#endif
FW3.28: dual throttle curves, ntc beta factor config, board file added
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#ifndef APPCONF_PPM_THROTTLE_EXP_BRAKE
#define APPCONF_PPM_THROTTLE_EXP_BRAKE 0.0
#endif
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#ifndef APPCONF_PPM_THROTTLE_EXP_MODE
#define APPCONF_PPM_THROTTLE_EXP_MODE THR_EXP_POLY
#endif
#ifndef APPCONF_PPM_RAMP_TIME_POS
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#define APPCONF_PPM_RAMP_TIME_POS 0.4
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#endif
#ifndef APPCONF_PPM_RAMP_TIME_NEG
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#define APPCONF_PPM_RAMP_TIME_NEG 0.2
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#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#ifndef APPCONF_PPM_MULTI_ESC
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#define APPCONF_PPM_MULTI_ESC true
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_PPM_TC
#define APPCONF_PPM_TC false
#endif
#ifndef APPCONF_PPM_TC_MAX_DIFF
#define APPCONF_PPM_TC_MAX_DIFF 3000.0
#endif
Port Ackmaniac smart reverse
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#ifndef APPCONF_PPM_MAX_ERPM_FOR_DIR
#define APPCONF_PPM_MAX_ERPM_FOR_DIR 4000.0
#endif
FW 3.61: Added smart reverse mode to PPM app, and some fixes
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#ifndef APPCONF_PPM_SMART_REV_MAX_DUTY
#define APPCONF_PPM_SMART_REV_MAX_DUTY 0.07
#endif
#ifndef APPCONF_PPM_SMART_REV_RAMP_TIME
#define APPCONF_PPM_SMART_REV_RAMP_TIME 3.0
#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
2015-09-17 14:24:55 -07:00
// ADC app configureation
#ifndef APPCONF_ADC_CTRL_TYPE
#define APPCONF_ADC_CTRL_TYPE ADC_CTRL_TYPE_NONE
#endif
#ifndef APPCONF_ADC_HYST
#define APPCONF_ADC_HYST 0.15
#endif
#ifndef APPCONF_ADC_VOLTAGE_START
#define APPCONF_ADC_VOLTAGE_START 0.9
#endif
#ifndef APPCONF_ADC_VOLTAGE_END
#define APPCONF_ADC_VOLTAGE_END 3.0
#endif
First official commit after the VESC Project release
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#ifndef APPCONF_ADC_VOLTAGE_CENTER
#define APPCONF_ADC_VOLTAGE_CENTER 2.0
#endif
FW 3.7
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#ifndef APPCONF_ADC_VOLTAGE2_START
#define APPCONF_ADC_VOLTAGE2_START 0.9
#endif
#ifndef APPCONF_ADC_VOLTAGE2_END
Major 2019 update
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#define APPCONF_ADC_VOLTAGE2_END 3.0
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#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#ifndef APPCONF_ADC_USE_FILTER
#define APPCONF_ADC_USE_FILTER true
#endif
#ifndef APPCONF_ADC_SAFE_START
#define APPCONF_ADC_SAFE_START true
#endif
#ifndef APPCONF_ADC_CC_BUTTON_INVERTED
#define APPCONF_ADC_CC_BUTTON_INVERTED false
#endif
#ifndef APPCONF_ADC_REV_BUTTON_INVERTED
#define APPCONF_ADC_REV_BUTTON_INVERTED false
#endif
#ifndef APPCONF_ADC_VOLTAGE_INVERTED
#define APPCONF_ADC_VOLTAGE_INVERTED false
#endif
FW 3.7
2016-11-04 07:18:34 -07:00
#ifndef APPCONF_ADC_VOLTAGE2_INVERTED
#define APPCONF_ADC_VOLTAGE2_INVERTED false
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
First official commit after the VESC Project release
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#ifndef APPCONF_ADC_THROTTLE_EXP
#define APPCONF_ADC_THROTTLE_EXP 0.0
#endif
FW3.28: dual throttle curves, ntc beta factor config, board file added
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#ifndef APPCONF_ADC_THROTTLE_EXP_BRAKE
#define APPCONF_ADC_THROTTLE_EXP_BRAKE 0.0
#endif
First official commit after the VESC Project release
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#ifndef APPCONF_ADC_THROTTLE_EXP_MODE
#define APPCONF_ADC_THROTTLE_EXP_MODE THR_EXP_POLY
#endif
#ifndef APPCONF_ADC_RAMP_TIME_POS
FW 3.31: Acc temp dec option, PID for APP_ADC
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#define APPCONF_ADC_RAMP_TIME_POS 0.3
First official commit after the VESC Project release
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#endif
#ifndef APPCONF_ADC_RAMP_TIME_NEG
FW 3.31: Acc temp dec option, PID for APP_ADC
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#define APPCONF_ADC_RAMP_TIME_NEG 0.1
First official commit after the VESC Project release
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#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#ifndef APPCONF_ADC_MULTI_ESC
Major 2019 update
2019-02-18 10:30:19 -08:00
#define APPCONF_ADC_MULTI_ESC true
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_ADC_TC
#define APPCONF_ADC_TC false
#endif
#ifndef APPCONF_ADC_TC_MAX_DIFF
#define APPCONF_ADC_TC_MAX_DIFF 3000.0
#endif
#ifndef APPCONF_ADC_UPDATE_RATE_HZ
#define APPCONF_ADC_UPDATE_RATE_HZ 500
#endif
// UART app
#ifndef APPCONF_UART_BAUDRATE
#define APPCONF_UART_BAUDRATE 115200
#endif
// Nunchuk app
#ifndef APPCONF_CHUK_CTRL_TYPE
Disable vesc remote control by default and enable it after pairing
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#define APPCONF_CHUK_CTRL_TYPE CHUK_CTRL_TYPE_NONE
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_CHUK_HYST
#define APPCONF_CHUK_HYST 0.15
#endif
#ifndef APPCONF_CHUK_RAMP_TIME_POS
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#define APPCONF_CHUK_RAMP_TIME_POS 0.4
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_CHUK_RAMP_TIME_NEG
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#define APPCONF_CHUK_RAMP_TIME_NEG 0.2
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_STICK_ERPM_PER_S_IN_CC
#define APPCONF_STICK_ERPM_PER_S_IN_CC 3000.0
#endif
First official commit after the VESC Project release
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#ifndef APPCONF_CHUK_THROTTLE_EXP
#define APPCONF_CHUK_THROTTLE_EXP 0.0
#endif
FW3.28: dual throttle curves, ntc beta factor config, board file added
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#ifndef APPCONF_CHUK_THROTTLE_EXP_BRAKE
#define APPCONF_CHUK_THROTTLE_EXP_BRAKE 0.0
#endif
First official commit after the VESC Project release
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#ifndef APPCONF_CHUK_THROTTLE_EXP_MODE
#define APPCONF_CHUK_THROTTLE_EXP_MODE THR_EXP_POLY
#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#ifndef APPCONF_CHUK_MULTI_ESC
Major 2019 update
2019-02-18 10:30:19 -08:00
#define APPCONF_CHUK_MULTI_ESC true
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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#endif
#ifndef APPCONF_CHUK_TC
#define APPCONF_CHUK_TC false
#endif
#ifndef APPCONF_CHUK_TC_MAX_DIFF
#define APPCONF_CHUK_TC_MAX_DIFF 3000.0
#endif
MPU9x50 fix, experiment plots, DQ voltage RT data, smart reverse for nunchuk app
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#ifndef APPCONF_CHUK_USE_SMART_REV
#define APPCONF_CHUK_USE_SMART_REV true
#endif
#ifndef APPCONF_CHUK_SMART_REV_MAX_DUTY
#define APPCONF_CHUK_SMART_REV_MAX_DUTY 0.07
#endif
#ifndef APPCONF_CHUK_SMART_REV_RAMP_TIME
#define APPCONF_CHUK_SMART_REV_RAMP_TIME 3.0
#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
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FW 2.15: NRF configuration, PPM and ADC app duty mode scaling to max duty
2016-02-09 03:23:58 -08:00
// NRF app
#ifndef APPCONF_NRF_SPEED
FW 3.53: Limit foc_current_filter_const range, 1Mbit/de NRF speed, lower detect f_sw for resistance, no temp_comp by default
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#define APPCONF_NRF_SPEED NRF_SPEED_1M
FW 2.15: NRF configuration, PPM and ADC app duty mode scaling to max duty
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#endif
#ifndef APPCONF_NRF_POWER
#define APPCONF_NRF_POWER NRF_POWER_0DBM
#endif
#ifndef APPCONF_NRF_CRC
#define APPCONF_NRF_CRC NRF_CRC_1B
#endif
#ifndef APPCONF_NRF_RETR_DELAY
#define APPCONF_NRF_RETR_DELAY NRF_RETR_DELAY_250US
#endif
#ifndef APPCONF_NRF_RETRIES
#define APPCONF_NRF_RETRIES 3
#endif
#ifndef APPCONF_NRF_CHANNEL
#define APPCONF_NRF_CHANNEL 76
#endif
#ifndef APPCONF_NRF_ADDR_B0
#define APPCONF_NRF_ADDR_B0 0xC6
#endif
#ifndef APPCONF_NRF_ADDR_B1
#define APPCONF_NRF_ADDR_B1 0xC7
#endif
#ifndef APPCONF_NRF_ADDR_B2
#define APPCONF_NRF_ADDR_B2 0x0
#endif
#ifndef APPCONF_NRF_SEND_CRC_ACK
#define APPCONF_NRF_SEND_CRC_ACK true
#endif
start in balanace app
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// Balance app
#ifndef APPCONF_BALANCE_KP
Add all the variables
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#define APPCONF_BALANCE_KP 0.0
start in balanace app
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#endif
#ifndef APPCONF_BALANCE_KI
Add all the variables
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#define APPCONF_BALANCE_KI 0.0
start in balanace app
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#endif
#ifndef APPCONF_BALANCE_KD
Add all the variables
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#define APPCONF_BALANCE_KD 0.0
Add gyro tuning functionality & state machine logic
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#endif
Start on better gyro config
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#ifndef APPCONF_BALANCE_HERTZ
Add all the variables
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#define APPCONF_BALANCE_HERTZ 1000
start in balanace app
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#endif
Add balance loop time correction
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#ifndef APPCONF_BALANCE_LOOP_TIME_FILTER
#define APPCONF_BALANCE_LOOP_TIME_FILTER 0
#endif
Add all the variables
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#ifndef APPCONF_BALANCE_FAULT_PITCH
#define APPCONF_BALANCE_FAULT_PITCH 20
start in balanace app
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#endif
Add all the variables
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#ifndef APPCONF_BALANCE_FAULT_ROLL
#define APPCONF_BALANCE_FAULT_ROLL 45
Add support for dual fault switches
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#endif
Add all the variables
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#ifndef APPCONF_BALANCE_FAULT_DUTY
#define APPCONF_BALANCE_FAULT_DUTY 0.9
Use ADC for switches
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#endif
Add all the variables
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#ifndef APPCONF_BALANCE_FAULT_ADC1
#define APPCONF_BALANCE_FAULT_ADC1 0.0
Implement more data to help debug
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#endif
Add all the variables
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#ifndef APPCONF_BALANCE_FAULT_ADC2
#define APPCONF_BALANCE_FAULT_ADC2 0.0
Make all features configurable
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#endif
Add all the variables
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#ifndef APPCONF_BALANCE_FAULT_DELAY_PITCH
#define APPCONF_BALANCE_FAULT_DELAY_PITCH 0
#endif
#ifndef APPCONF_BALANCE_FAULT_DELAY_ROLL
#define APPCONF_BALANCE_FAULT_DELAY_ROLL 0
#endif
#ifndef APPCONF_BALANCE_FAULT_DELAY_DUTY
#define APPCONF_BALANCE_FAULT_DELAY_DUTY 0
#endif
#ifndef APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF
#define APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF 0
#endif
#ifndef APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL
#define APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL 0
#endif
#ifndef APPCONF_BALANCE_FAULT_ADC_HALF_ERPM
#define APPCONF_BALANCE_FAULT_ADC_HALF_ERPM 1000
Make all features configurable
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#endif
Tiltback updates
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#ifndef APPCONF_BALANCE_TILTBACK_DUTY_ANGLE
#define APPCONF_BALANCE_TILTBACK_DUTY_ANGLE 10.0
Make all features configurable
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#endif
Tiltback updates
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#ifndef APPCONF_BALANCE_TILTBACK_DUTY_SPEED
Fix balance tiltback default speeds
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#define APPCONF_BALANCE_TILTBACK_DUTY_SPEED 3.0
Add all the variables
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#endif
#ifndef APPCONF_BALANCE_TILTBACK_DUTY
#define APPCONF_BALANCE_TILTBACK_DUTY 0.75
Make all features configurable
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#endif
Tiltback updates
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#ifndef APPCONF_BALANCE_TILTBACK_HV_ANGLE
#define APPCONF_BALANCE_TILTBACK_HV_ANGLE 10.0
Add high voltage tiltback
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#endif
Tiltback updates
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#ifndef APPCONF_BALANCE_TILTBACK_HV_SPEED
Fix balance tiltback default speeds
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#define APPCONF_BALANCE_TILTBACK_HV_SPEED 3.0
Tiltback updates
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#endif
#ifndef APPCONF_BALANCE_TILTBACK_HV
#define APPCONF_BALANCE_TILTBACK_HV 200.0
#endif
#ifndef APPCONF_BALANCE_TILTBACK_LV_ANGLE
#define APPCONF_BALANCE_TILTBACK_LV_ANGLE 10.0
#endif
#ifndef APPCONF_BALANCE_TILTBACK_LV_SPEED
Fix balance tiltback default speeds
2021-08-19 17:19:21 -07:00
#define APPCONF_BALANCE_TILTBACK_LV_SPEED 3.0
Tiltback updates
2021-08-18 00:45:51 -07:00
#endif
#ifndef APPCONF_BALANCE_TILTBACK_LV
#define APPCONF_BALANCE_TILTBACK_LV 0.0
#endif
#ifndef APPCONF_BALANCE_TILTBACK_RETURN_SPEED
#define APPCONF_BALANCE_TILTBACK_RETURN_SPEED 2.0
Add all the variables
2020-07-03 20:33:15 -07:00
#endif
#ifndef APPCONF_BALANCE_TILTBACK_CONSTANT
#define APPCONF_BALANCE_TILTBACK_CONSTANT 0.0
#endif
#ifndef APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM
#define APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM 500
Add basic low voltage tiltback
2019-09-10 19:29:44 -07:00
#endif
Balance App: introduce new speed based variable tiltback Nose angle adjustment, similar in purpose as constant tiltback but it is proportional to erpm aka speed. Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-06-25 21:41:41 -07:00
#ifndef APPCONF_BALANCE_TILTBACK_VARIABLE
#define APPCONF_BALANCE_TILTBACK_VARIABLE 0.0
#endif
#ifndef APPCONF_BALANCE_TILTBACK_VARIABLE_MAX
#define APPCONF_BALANCE_TILTBACK_VARIABLE_MAX 0.0
#endif
Tiltback updates
2021-08-18 00:45:51 -07:00
#ifndef APPCONF_BALANCE_NOSEANGLING_SPEED
#define APPCONF_BALANCE_NOSEANGLING_SPEED 3.0
#endif
Remove axis config
2019-09-21 01:07:31 -07:00
#ifndef APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE
#define APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE 20.0
Make all features configurable
2019-08-07 00:22:51 -07:00
#endif
Remove axis config
2019-09-21 01:07:31 -07:00
#ifndef APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE 8.0
Make all features configurable
2019-08-07 00:22:51 -07:00
#endif
#ifndef APPCONF_BALANCE_STARTUP_SPEED
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_STARTUP_SPEED 30.0
Make all features configurable
2019-08-07 00:22:51 -07:00
#endif
#ifndef APPCONF_BALANCE_DEADZONE
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_DEADZONE 0.0
Make all features configurable
2019-08-07 00:22:51 -07:00
#endif
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
#ifndef APPCONF_BALANCE_MULTI_ESC
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_MULTI_ESC false
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
#endif
#ifndef APPCONF_BALANCE_YAW_KP
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_YAW_KP 0.0
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
#endif
#ifndef APPCONF_BALANCE_YAW_KI
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_YAW_KI 0.0
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
#endif
#ifndef APPCONF_BALANCE_YAW_KD
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_YAW_KD 0.0
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
#endif
#ifndef APPCONF_BALANCE_ROLL_STEER_KP
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_ROLL_STEER_KP 0.0
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
#endif
Balance sprint 3 -Can steering based on speed -Can steering current clamp -Min rpm for half switch state fault -Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit) -Reset I value on faults issue #117 -fix startup tiltback
2020-03-15 23:18:34 -07:00
#ifndef APPCONF_BALANCE_ROLL_STEER_ERPM_KP
Add all the variables
2020-07-03 20:33:15 -07:00
#define APPCONF_BALANCE_ROLL_STEER_ERPM_KP 0.0
Balance sprint 3 -Can steering based on speed -Can steering current clamp -Min rpm for half switch state fault -Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit) -Reset I value on faults issue #117 -fix startup tiltback
2020-03-15 23:18:34 -07:00
#endif
Add all the variables
2020-07-03 20:33:15 -07:00
#ifndef APPCONF_BALANCE_BRAKE_CURRENT
#define APPCONF_BALANCE_BRAKE_CURRENT 0.0
Balance sprint 3 -Can steering based on speed -Can steering current clamp -Min rpm for half switch state fault -Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit) -Reset I value on faults issue #117 -fix startup tiltback
2020-03-15 23:18:34 -07:00
#endif
Add brake timeout
2021-06-05 16:05:19 -07:00
#ifndef APPCONF_BALANCE_BRAKE_TIMEOUT
#define APPCONF_BALANCE_BRAKE_TIMEOUT 10
#endif
Add all the variables
2020-07-03 20:33:15 -07:00
#ifndef APPCONF_BALANCE_YAW_CURRENT_CLAMP
#define APPCONF_BALANCE_YAW_CURRENT_CLAMP 0.0
Balance sprint 3 -Can steering based on speed -Can steering current clamp -Min rpm for half switch state fault -Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit) -Reset I value on faults issue #117 -fix startup tiltback
2020-03-15 23:18:34 -07:00
#endif
Add High Pass FIlter, implement current off delay, refactor constanttilt
2021-05-16 14:53:03 -07:00
#ifndef APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY
#define APPCONF_BALANCE_KD_PT1_LOWPASS_FREQUENCY 0
#endif
#ifndef APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY
#define APPCONF_BALANCE_KD_PT1_HIGHPASS_FREQUENCY 0
Balance sprint 3 -Can steering based on speed -Can steering current clamp -Min rpm for half switch state fault -Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit) -Reset I value on faults issue #117 -fix startup tiltback
2020-03-15 23:18:34 -07:00
#endif
Balance: Updates -Fix D term to use angle rather than error (which includes tilt steps) -Switch TT to Biquad (Clear z1 z2) -Split TT Relax speed -Add Biquad to D term -Add console command to graph specific variables -Add console command to dump realtime data from specific variables
2021-06-01 03:20:00 -07:00
#ifndef APPCONF_BALANCE_KD_BIQUAD_LOWPASS
#define APPCONF_BALANCE_KD_BIQUAD_LOWPASS 0
#endif
#ifndef APPCONF_BALANCE_KD_BIQUAD_HIGHPASS
#define APPCONF_BALANCE_KD_BIQUAD_HIGHPASS 0
#endif
Add Booster
2021-03-27 14:00:55 -07:00
#ifndef APPCONF_BALANCE_BOOSTER_ANGLE
#define APPCONF_BALANCE_BOOSTER_ANGLE 8
#endif
#ifndef APPCONF_BALANCE_BOOSTER_RAMP
#define APPCONF_BALANCE_BOOSTER_RAMP 1
#endif
#ifndef APPCONF_BALANCE_BOOSTER_CURRENT
#define APPCONF_BALANCE_BOOSTER_CURRENT 0
#endif
Add torquetilt
2021-03-27 20:13:22 -07:00
#ifndef APPCONF_BALANCE_TORQUETILT_START_CURRENT
#define APPCONF_BALANCE_TORQUETILT_START_CURRENT 10
#endif
#ifndef APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT
#define APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT 5
#endif
Balance: Updates -Fix D term to use angle rather than error (which includes tilt steps) -Switch TT to Biquad (Clear z1 z2) -Split TT Relax speed -Add Biquad to D term -Add console command to graph specific variables -Add console command to dump realtime data from specific variables
2021-06-01 03:20:00 -07:00
#ifndef APPCONF_BALANCE_TORQUETILT_ON_SPEED
#define APPCONF_BALANCE_TORQUETILT_ON_SPEED 5
#endif
#ifndef APPCONF_BALANCE_TORQUETILT_OFF_SPEED
#define APPCONF_BALANCE_TORQUETILT_OFF_SPEED 3
Add torquetilt
2021-03-27 20:13:22 -07:00
#endif
Fix low speed Full switch faults, Fix Booster, Improve turn/torque tilts
2021-04-17 18:05:24 -07:00
#ifndef APPCONF_BALANCE_TORQUETILT_STRENGTH
#define APPCONF_BALANCE_TORQUETILT_STRENGTH 0.0
Add torquetilt
2021-03-27 20:13:22 -07:00
#endif
#ifndef APPCONF_BALANCE_TORQUETILT_FILTER
Balance: Updates -Fix D term to use angle rather than error (which includes tilt steps) -Switch TT to Biquad (Clear z1 z2) -Split TT Relax speed -Add Biquad to D term -Add console command to graph specific variables -Add console command to dump realtime data from specific variables
2021-06-01 03:20:00 -07:00
#define APPCONF_BALANCE_TORQUETILT_FILTER 2.0
Add torquetilt
2021-03-27 20:13:22 -07:00
#endif
Fix low speed Full switch faults, Fix Booster, Improve turn/torque tilts
2021-04-17 18:05:24 -07:00
#ifndef APPCONF_BALANCE_TURNTILT_STRENGTH
#define APPCONF_BALANCE_TURNTILT_STRENGTH 0
Add turn tilt
2021-04-06 02:18:32 -07:00
#endif
#ifndef APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT
Code Cleanup
2021-04-07 22:42:21 -07:00
#define APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT 5
Add turn tilt
2021-04-06 02:18:32 -07:00
#endif
Fix low speed Full switch faults, Fix Booster, Improve turn/torque tilts
2021-04-17 18:05:24 -07:00
#ifndef APPCONF_BALANCE_TURNTILT_START_ANGLE
#define APPCONF_BALANCE_TURNTILT_START_ANGLE 1
#endif
#ifndef APPCONF_BALANCE_TURNTILT_START_ERPM
#define APPCONF_BALANCE_TURNTILT_START_ERPM 100
Add turn tilt
2021-04-06 02:18:32 -07:00
#endif
#ifndef APPCONF_BALANCE_TURNTILT_SPEED
#define APPCONF_BALANCE_TURNTILT_SPEED 5
#endif
#ifndef APPCONF_BALANCE_TURNTILT_ERPM_BOOST
#define APPCONF_BALANCE_TURNTILT_ERPM_BOOST 20
#endif
#ifndef APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END
#define APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END 20000
#endif
start in balanace app
2019-07-27 21:25:56 -07:00
Pedal assist support (PAS) This commit enables cadence-based pedal assist for ebikes using quadrature-style pedal speed sensors. There are 2 operation modes: * PAS only: Motor current is based only on pedal feedback * ADC + PAS: The code will use both ADC and pedal feedback and use the strongest command to provide seamless overlap when the user is pedalling and requests extra torque with the throttle. Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
2020-12-07 11:00:25 -08:00
// PAS app
#ifndef APPCONF_PAS_CTRL_TYPE
#define APPCONF_PAS_CTRL_TYPE PAS_CTRL_TYPE_NONE
#endif
#ifndef APPCONF_PAS_SENSOR_TYPE
#define APPCONF_PAS_SENSOR_TYPE PAS_SENSOR_TYPE_QUADRATURE
#endif
#ifndef APPCONF_PAS_PEDAL_RPM_START
#define APPCONF_PAS_PEDAL_RPM_START 10.0
#endif
#ifndef APPCONF_PAS_PEDAL_RPM_END
#define APPCONF_PAS_PEDAL_RPM_END 180.0
#endif
#ifndef APPCONF_PAS_INVERT_PEDAL_DIRECTION
#define APPCONF_PAS_INVERT_PEDAL_DIRECTION false
#endif
#ifndef APPCONF_PAS_MAGNETS
#define APPCONF_PAS_MAGNETS 24
#endif
#ifndef APPCONF_PAS_USE_FILTER
#define APPCONF_PAS_USE_FILTER true
#endif
#ifndef APPCONF_PAS_SAFE_START
#define APPCONF_PAS_SAFE_START true
#endif
#ifndef APPCONF_PAS_CURRENT_SCALING
#define APPCONF_PAS_CURRENT_SCALING 0.1
#endif
#ifndef APPCONF_PAS_RAMP_TIME_POS
#define APPCONF_PAS_RAMP_TIME_POS 0.6
#endif
#ifndef APPCONF_PAS_RAMP_TIME_NEG
#define APPCONF_PAS_RAMP_TIME_NEG 0.3
#endif
#ifndef APPCONF_PAS_UPDATE_RATE_HZ
#define APPCONF_PAS_UPDATE_RATE_HZ 500
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
// IMU
#ifndef APPCONF_IMU_TYPE
#define APPCONF_IMU_TYPE IMU_TYPE_INTERNAL
#endif
#ifndef APPCONF_IMU_AHRS_MODE
#define APPCONF_IMU_AHRS_MODE AHRS_MODE_MADGWICK
#endif
#ifndef APPCONF_IMU_SAMPLE_RATE_HZ
#define APPCONF_IMU_SAMPLE_RATE_HZ 200
#endif
#ifndef APPCONF_IMU_ACCEL_CONFIDENCE_DECAY
#define APPCONF_IMU_ACCEL_CONFIDENCE_DECAY 1.0
#endif
#ifndef APPCONF_IMU_MAHONY_KP
#define APPCONF_IMU_MAHONY_KP 0.3
#endif
#ifndef APPCONF_IMU_MAHONY_KI
#define APPCONF_IMU_MAHONY_KI 0.0
#endif
#ifndef APPCONF_IMU_MADGWICK_BETA
#define APPCONF_IMU_MADGWICK_BETA 0.1
#endif
#ifndef APPCONF_IMU_ROT_ROLL
#define APPCONF_IMU_ROT_ROLL 0.0
#endif
#ifndef APPCONF_IMU_ROT_PITCH
#define APPCONF_IMU_ROT_PITCH 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_ROT_YAW
#define APPCONF_IMU_ROT_YAW 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_A_OFFSET_0
#define APPCONF_IMU_A_OFFSET_0 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_A_OFFSET_1
#define APPCONF_IMU_A_OFFSET_1 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_A_OFFSET_2
#define APPCONF_IMU_A_OFFSET_2 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_G_OFFSET_0
#define APPCONF_IMU_G_OFFSET_0 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_G_OFFSET_1
#define APPCONF_IMU_G_OFFSET_1 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW3.59. Many updates, see changelog for details
2019-09-03 11:39:05 -07:00
#ifndef APPCONF_IMU_G_OFFSET_2
#define APPCONF_IMU_G_OFFSET_2 0.0
Start on better gyro config
2019-08-25 23:49:33 -07:00
#endif
FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactoring, custom app and hw config support
2015-09-17 14:24:55 -07:00
#endif /* APPCONF_DEFAULT_H_ */