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 APPCONF_DEFAULT_H_
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#define APPCONF_DEFAULT_H_
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// Default app configuration
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#ifndef APPCONF_CONTROLLER_ID
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#define APPCONF_CONTROLLER_ID -1 // Controller id. -1 means it should be calculated from UUID.
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2015-09-17 14:24:55 -07:00
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#endif
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#ifndef APPCONF_TIMEOUT_MSEC
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#define APPCONF_TIMEOUT_MSEC 1000
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#endif
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#ifndef APPCONF_TIMEOUT_BRAKE_CURRENT
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#define APPCONF_TIMEOUT_BRAKE_CURRENT 0.0
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#endif
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#ifndef APPCONF_SEND_CAN_STATUS
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#define APPCONF_SEND_CAN_STATUS CAN_STATUS_DISABLED
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#endif
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2020-01-28 10:46:19 -08:00
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#ifndef APPCONF_CAN_MODE
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#define APPCONF_CAN_MODE CAN_MODE_VESC
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#endif
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#ifndef APPCONF_UAVCAN_ESC_INDEX
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#define APPCONF_UAVCAN_ESC_INDEX 0
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#endif
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2020-12-04 08:54:22 -08:00
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#ifndef APPCONF_UAVCAN_RAW_MODE
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#define APPCONF_UAVCAN_RAW_MODE UAVCAN_RAW_MODE_CURRENT
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#endif
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2021-11-24 05:15:30 -08:00
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#ifndef APPCONF_UAVCAN_RAW_RPM_MAX
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#define APPCONF_UAVCAN_RAW_RPM_MAX 50000.0
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#endif
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2021-03-31 07:28:46 -07:00
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#ifndef APPCONF_SERVO_OUT_ENABLE
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#define APPCONF_SERVO_OUT_ENABLE false
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#endif
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2021-06-13 04:46:27 -07:00
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#ifndef APPCONF_KILL_SW_MODE
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#define APPCONF_KILL_SW_MODE KILL_SW_MODE_DISABLED
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#endif
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2015-09-17 14:24:55 -07:00
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#ifndef APPCONF_SEND_CAN_STATUS_RATE_HZ
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#define APPCONF_SEND_CAN_STATUS_RATE_HZ 50
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#endif
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2017-11-08 05:07:35 -08:00
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#ifndef APPCONF_CAN_BAUD_RATE
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#define APPCONF_CAN_BAUD_RATE CAN_BAUD_500K
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#endif
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2019-02-18 10:30:19 -08:00
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#ifndef APPCONF_PAIRING_DONE
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#define APPCONF_PAIRING_DONE false
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#endif
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2019-03-10 06:57:42 -07:00
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#ifndef APPCONF_PERMANENT_UART_ENABLED
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#define APPCONF_PERMANENT_UART_ENABLED true
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_SHUTDOWN_MODE
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#define APPCONF_SHUTDOWN_MODE SHUTDOWN_MODE_OFF_AFTER_30M
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#endif
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2015-09-17 14:24:55 -07:00
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// The default app is UART in case the UART port is used for
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// firmware updates.
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#ifndef APPCONF_APP_TO_USE
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#define APPCONF_APP_TO_USE APP_UART
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#endif
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2017-09-04 12:12:43 -07:00
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// PPM app configureation
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#ifndef APPCONF_PPM_CTRL_TYPE
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#define APPCONF_PPM_CTRL_TYPE PPM_CTRL_TYPE_NONE
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#endif
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#ifndef APPCONF_PPM_PID_MAX_ERPM
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#define APPCONF_PPM_PID_MAX_ERPM 15000
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#endif
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#ifndef APPCONF_PPM_HYST
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#define APPCONF_PPM_HYST 0.15
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#endif
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#ifndef APPCONF_PPM_PULSE_START
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#define APPCONF_PPM_PULSE_START 1.0
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#endif
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#ifndef APPCONF_PPM_PULSE_END
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#define APPCONF_PPM_PULSE_END 2.0
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#endif
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#ifndef APPCONF_PPM_PULSE_CENTER
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#define APPCONF_PPM_PULSE_CENTER 1.5
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#endif
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#ifndef APPCONF_PPM_MEDIAN_FILTER
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#define APPCONF_PPM_MEDIAN_FILTER true
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#endif
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#ifndef APPCONF_PPM_SAFE_START
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#define APPCONF_PPM_SAFE_START true
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#endif
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#ifndef APPCONF_PPM_THROTTLE_EXP
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#define APPCONF_PPM_THROTTLE_EXP 0.0
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#endif
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2017-09-06 12:13:28 -07:00
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#ifndef APPCONF_PPM_THROTTLE_EXP_BRAKE
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#define APPCONF_PPM_THROTTLE_EXP_BRAKE 0.0
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#endif
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#ifndef APPCONF_PPM_THROTTLE_EXP_MODE
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#define APPCONF_PPM_THROTTLE_EXP_MODE THR_EXP_POLY
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#endif
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#ifndef APPCONF_PPM_RAMP_TIME_POS
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#define APPCONF_PPM_RAMP_TIME_POS 0.4
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#endif
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#ifndef APPCONF_PPM_RAMP_TIME_NEG
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#define APPCONF_PPM_RAMP_TIME_NEG 0.2
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#endif
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2015-09-17 14:24:55 -07:00
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#ifndef APPCONF_PPM_MULTI_ESC
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#define APPCONF_PPM_MULTI_ESC true
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#endif
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#ifndef APPCONF_PPM_TC
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#define APPCONF_PPM_TC false
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#endif
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#ifndef APPCONF_PPM_TC_MAX_DIFF
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#define APPCONF_PPM_TC_MAX_DIFF 3000.0
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#endif
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2019-06-19 19:00:46 -07:00
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#ifndef APPCONF_PPM_MAX_ERPM_FOR_DIR
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#define APPCONF_PPM_MAX_ERPM_FOR_DIR 4000.0
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#endif
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2019-09-09 10:34:26 -07:00
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#ifndef APPCONF_PPM_SMART_REV_MAX_DUTY
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#define APPCONF_PPM_SMART_REV_MAX_DUTY 0.07
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#endif
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#ifndef APPCONF_PPM_SMART_REV_RAMP_TIME
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#define APPCONF_PPM_SMART_REV_RAMP_TIME 3.0
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#endif
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2015-09-17 14:24:55 -07:00
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// ADC app configureation
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#ifndef APPCONF_ADC_CTRL_TYPE
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#define APPCONF_ADC_CTRL_TYPE ADC_CTRL_TYPE_NONE
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#endif
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#ifndef APPCONF_ADC_HYST
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#define APPCONF_ADC_HYST 0.15
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#endif
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#ifndef APPCONF_ADC_VOLTAGE_START
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#define APPCONF_ADC_VOLTAGE_START 0.9
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#endif
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#ifndef APPCONF_ADC_VOLTAGE_END
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#define APPCONF_ADC_VOLTAGE_END 3.0
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#endif
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#ifndef APPCONF_ADC_VOLTAGE_CENTER
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#define APPCONF_ADC_VOLTAGE_CENTER 2.0
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#endif
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#ifndef APPCONF_ADC_VOLTAGE2_START
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#define APPCONF_ADC_VOLTAGE2_START 0.9
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#endif
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#ifndef APPCONF_ADC_VOLTAGE2_END
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#define APPCONF_ADC_VOLTAGE2_END 3.0
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#endif
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2015-09-17 14:24:55 -07:00
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#ifndef APPCONF_ADC_USE_FILTER
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#define APPCONF_ADC_USE_FILTER true
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#endif
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#ifndef APPCONF_ADC_SAFE_START
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#define APPCONF_ADC_SAFE_START true
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#endif
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#ifndef APPCONF_ADC_CC_BUTTON_INVERTED
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#define APPCONF_ADC_CC_BUTTON_INVERTED false
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#endif
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#ifndef APPCONF_ADC_REV_BUTTON_INVERTED
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#define APPCONF_ADC_REV_BUTTON_INVERTED false
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#endif
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#ifndef APPCONF_ADC_VOLTAGE_INVERTED
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#define APPCONF_ADC_VOLTAGE_INVERTED false
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#endif
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2016-11-04 07:18:34 -07:00
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#ifndef APPCONF_ADC_VOLTAGE2_INVERTED
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#define APPCONF_ADC_VOLTAGE2_INVERTED false
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#endif
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2017-09-04 12:12:43 -07:00
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#ifndef APPCONF_ADC_THROTTLE_EXP
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#define APPCONF_ADC_THROTTLE_EXP 0.0
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#endif
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2017-09-06 12:13:28 -07:00
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#ifndef APPCONF_ADC_THROTTLE_EXP_BRAKE
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#define APPCONF_ADC_THROTTLE_EXP_BRAKE 0.0
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#endif
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2017-09-04 12:12:43 -07:00
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#ifndef APPCONF_ADC_THROTTLE_EXP_MODE
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#define APPCONF_ADC_THROTTLE_EXP_MODE THR_EXP_POLY
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#endif
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#ifndef APPCONF_ADC_RAMP_TIME_POS
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2017-10-27 12:29:12 -07:00
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#define APPCONF_ADC_RAMP_TIME_POS 0.3
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2017-09-04 12:12:43 -07:00
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#endif
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#ifndef APPCONF_ADC_RAMP_TIME_NEG
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2017-10-27 12:29:12 -07:00
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#define APPCONF_ADC_RAMP_TIME_NEG 0.1
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2017-09-04 12:12:43 -07:00
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#endif
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2015-09-17 14:24:55 -07:00
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#ifndef APPCONF_ADC_MULTI_ESC
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2019-02-18 10:30:19 -08:00
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#define APPCONF_ADC_MULTI_ESC true
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2015-09-17 14:24:55 -07:00
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#endif
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#ifndef APPCONF_ADC_TC
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#define APPCONF_ADC_TC false
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#endif
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#ifndef APPCONF_ADC_TC_MAX_DIFF
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#define APPCONF_ADC_TC_MAX_DIFF 3000.0
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#endif
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#ifndef APPCONF_ADC_UPDATE_RATE_HZ
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#define APPCONF_ADC_UPDATE_RATE_HZ 500
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#endif
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// UART app
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#ifndef APPCONF_UART_BAUDRATE
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#define APPCONF_UART_BAUDRATE 115200
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#endif
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// Nunchuk app
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#ifndef APPCONF_CHUK_CTRL_TYPE
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2021-06-15 03:58:10 -07:00
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#define APPCONF_CHUK_CTRL_TYPE CHUK_CTRL_TYPE_NONE
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2015-09-17 14:24:55 -07:00
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#endif
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#ifndef APPCONF_CHUK_HYST
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#define APPCONF_CHUK_HYST 0.15
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#endif
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#ifndef APPCONF_CHUK_RAMP_TIME_POS
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#define APPCONF_CHUK_RAMP_TIME_POS 0.4
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2015-09-17 14:24:55 -07:00
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#endif
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#ifndef APPCONF_CHUK_RAMP_TIME_NEG
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2019-09-03 11:39:05 -07:00
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#define APPCONF_CHUK_RAMP_TIME_NEG 0.2
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2015-09-17 14:24:55 -07:00
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#endif
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#ifndef APPCONF_STICK_ERPM_PER_S_IN_CC
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#define APPCONF_STICK_ERPM_PER_S_IN_CC 3000.0
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#endif
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2017-09-04 12:12:43 -07:00
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#ifndef APPCONF_CHUK_THROTTLE_EXP
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#define APPCONF_CHUK_THROTTLE_EXP 0.0
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#endif
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2017-09-06 12:13:28 -07:00
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#ifndef APPCONF_CHUK_THROTTLE_EXP_BRAKE
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#define APPCONF_CHUK_THROTTLE_EXP_BRAKE 0.0
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#endif
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2017-09-04 12:12:43 -07:00
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#ifndef APPCONF_CHUK_THROTTLE_EXP_MODE
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#define APPCONF_CHUK_THROTTLE_EXP_MODE THR_EXP_POLY
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#endif
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2015-09-17 14:24:55 -07:00
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#ifndef APPCONF_CHUK_MULTI_ESC
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2019-02-18 10:30:19 -08:00
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#define APPCONF_CHUK_MULTI_ESC true
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2015-09-17 14:24:55 -07:00
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#endif
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#ifndef APPCONF_CHUK_TC
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#define APPCONF_CHUK_TC false
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#endif
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#ifndef APPCONF_CHUK_TC_MAX_DIFF
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#define APPCONF_CHUK_TC_MAX_DIFF 3000.0
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#endif
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2019-09-08 09:25:38 -07:00
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#ifndef APPCONF_CHUK_USE_SMART_REV
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#define APPCONF_CHUK_USE_SMART_REV true
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#endif
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#ifndef APPCONF_CHUK_SMART_REV_MAX_DUTY
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#define APPCONF_CHUK_SMART_REV_MAX_DUTY 0.07
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#endif
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#ifndef APPCONF_CHUK_SMART_REV_RAMP_TIME
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#define APPCONF_CHUK_SMART_REV_RAMP_TIME 3.0
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#endif
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2015-09-17 14:24:55 -07:00
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2016-02-09 03:23:58 -08:00
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// NRF app
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#ifndef APPCONF_NRF_SPEED
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2019-03-20 14:46:36 -07:00
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#define APPCONF_NRF_SPEED NRF_SPEED_1M
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2016-02-09 03:23:58 -08:00
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#endif
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#ifndef APPCONF_NRF_POWER
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#define APPCONF_NRF_POWER NRF_POWER_0DBM
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#endif
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#ifndef APPCONF_NRF_CRC
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#define APPCONF_NRF_CRC NRF_CRC_1B
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#endif
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#ifndef APPCONF_NRF_RETR_DELAY
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#define APPCONF_NRF_RETR_DELAY NRF_RETR_DELAY_250US
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#endif
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#ifndef APPCONF_NRF_RETRIES
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#define APPCONF_NRF_RETRIES 3
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#endif
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#ifndef APPCONF_NRF_CHANNEL
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#define APPCONF_NRF_CHANNEL 76
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#endif
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#ifndef APPCONF_NRF_ADDR_B0
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#define APPCONF_NRF_ADDR_B0 0xC6
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#endif
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#ifndef APPCONF_NRF_ADDR_B1
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#define APPCONF_NRF_ADDR_B1 0xC7
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#endif
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#ifndef APPCONF_NRF_ADDR_B2
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#define APPCONF_NRF_ADDR_B2 0x0
|
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_NRF_SEND_CRC_ACK
|
|
|
|
#define APPCONF_NRF_SEND_CRC_ACK true
|
|
|
|
#endif
|
|
|
|
|
2019-07-27 21:25:56 -07:00
|
|
|
// Balance app
|
|
|
|
#ifndef APPCONF_BALANCE_KP
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_KP 0.0
|
2019-07-27 21:25:56 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_KI
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_KI 0.0
|
2019-07-27 21:25:56 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_KD
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_KD 0.0
|
2019-08-04 11:47:23 -07:00
|
|
|
#endif
|
2019-08-25 23:49:33 -07:00
|
|
|
#ifndef APPCONF_BALANCE_HERTZ
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_HERTZ 1000
|
2019-07-27 21:25:56 -07:00
|
|
|
#endif
|
2021-06-06 14:01:42 -07:00
|
|
|
#ifndef APPCONF_BALANCE_LOOP_TIME_FILTER
|
|
|
|
#define APPCONF_BALANCE_LOOP_TIME_FILTER 0
|
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_FAULT_PITCH
|
|
|
|
#define APPCONF_BALANCE_FAULT_PITCH 20
|
2019-07-27 21:25:56 -07:00
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_FAULT_ROLL
|
|
|
|
#define APPCONF_BALANCE_FAULT_ROLL 45
|
2019-09-10 01:07:05 -07:00
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_FAULT_DUTY
|
|
|
|
#define APPCONF_BALANCE_FAULT_DUTY 0.9
|
2020-02-23 13:34:51 -08:00
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_FAULT_ADC1
|
|
|
|
#define APPCONF_BALANCE_FAULT_ADC1 0.0
|
2019-07-30 00:27:23 -07:00
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_FAULT_ADC2
|
|
|
|
#define APPCONF_BALANCE_FAULT_ADC2 0.0
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#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
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
2021-08-18 00:45:51 -07:00
|
|
|
#ifndef APPCONF_BALANCE_TILTBACK_DUTY_ANGLE
|
|
|
|
#define APPCONF_BALANCE_TILTBACK_DUTY_ANGLE 10.0
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
2021-08-18 00:45:51 -07:00
|
|
|
#ifndef APPCONF_BALANCE_TILTBACK_DUTY_SPEED
|
2021-08-19 17:19:21 -07:00
|
|
|
#define APPCONF_BALANCE_TILTBACK_DUTY_SPEED 3.0
|
2020-07-03 20:33:15 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_TILTBACK_DUTY
|
|
|
|
#define APPCONF_BALANCE_TILTBACK_DUTY 0.75
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
2021-08-18 00:45:51 -07:00
|
|
|
#ifndef APPCONF_BALANCE_TILTBACK_HV_ANGLE
|
|
|
|
#define APPCONF_BALANCE_TILTBACK_HV_ANGLE 10.0
|
2019-09-12 00:07:26 -07:00
|
|
|
#endif
|
2021-08-18 00:45:51 -07:00
|
|
|
#ifndef APPCONF_BALANCE_TILTBACK_HV_SPEED
|
2021-08-19 17:19:21 -07:00
|
|
|
#define APPCONF_BALANCE_TILTBACK_HV_SPEED 3.0
|
2021-08-18 00:45:51 -07:00
|
|
|
#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
|
2021-08-19 17:19:21 -07:00
|
|
|
#define APPCONF_BALANCE_TILTBACK_LV_SPEED 3.0
|
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
|
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
|
2019-09-10 19:29:44 -07:00
|
|
|
#endif
|
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
|
2021-08-18 00:45:51 -07:00
|
|
|
#ifndef APPCONF_BALANCE_NOSEANGLING_SPEED
|
|
|
|
#define APPCONF_BALANCE_NOSEANGLING_SPEED 3.0
|
|
|
|
#endif
|
2019-09-21 01:07:31 -07:00
|
|
|
#ifndef APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE
|
|
|
|
#define APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE 20.0
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
2019-09-21 01:07:31 -07:00
|
|
|
#ifndef APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE 8.0
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_STARTUP_SPEED
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_STARTUP_SPEED 30.0
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_DEADZONE
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_DEADZONE 0.0
|
2019-08-07 00:22:51 -07:00
|
|
|
#endif
|
2020-02-23 00:22:21 -08:00
|
|
|
#ifndef APPCONF_BALANCE_MULTI_ESC
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_MULTI_ESC false
|
2020-02-23 00:22:21 -08:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_YAW_KP
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_YAW_KP 0.0
|
2020-02-23 00:22:21 -08:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_YAW_KI
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_YAW_KI 0.0
|
2020-02-23 00:22:21 -08:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_YAW_KD
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_YAW_KD 0.0
|
2020-02-23 00:22:21 -08:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_ROLL_STEER_KP
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_ROLL_STEER_KP 0.0
|
2020-02-23 00:22:21 -08:00
|
|
|
#endif
|
2020-03-15 23:18:34 -07:00
|
|
|
#ifndef APPCONF_BALANCE_ROLL_STEER_ERPM_KP
|
2020-07-03 20:33:15 -07:00
|
|
|
#define APPCONF_BALANCE_ROLL_STEER_ERPM_KP 0.0
|
2020-03-15 23:18:34 -07:00
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_BRAKE_CURRENT
|
|
|
|
#define APPCONF_BALANCE_BRAKE_CURRENT 0.0
|
2020-03-15 23:18:34 -07:00
|
|
|
#endif
|
2021-06-05 16:05:19 -07:00
|
|
|
#ifndef APPCONF_BALANCE_BRAKE_TIMEOUT
|
|
|
|
#define APPCONF_BALANCE_BRAKE_TIMEOUT 10
|
|
|
|
#endif
|
2020-07-03 20:33:15 -07:00
|
|
|
#ifndef APPCONF_BALANCE_YAW_CURRENT_CLAMP
|
|
|
|
#define APPCONF_BALANCE_YAW_CURRENT_CLAMP 0.0
|
2020-03-15 23:18:34 -07:00
|
|
|
#endif
|
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
|
2020-03-15 23:18:34 -07:00
|
|
|
#endif
|
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
|
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
|
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
|
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
|
2021-03-27 20:13:22 -07:00
|
|
|
#endif
|
2021-04-17 18:05:24 -07:00
|
|
|
#ifndef APPCONF_BALANCE_TORQUETILT_STRENGTH
|
|
|
|
#define APPCONF_BALANCE_TORQUETILT_STRENGTH 0.0
|
2021-03-27 20:13:22 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_TORQUETILT_FILTER
|
2021-06-01 03:20:00 -07:00
|
|
|
#define APPCONF_BALANCE_TORQUETILT_FILTER 2.0
|
2021-03-27 20:13:22 -07:00
|
|
|
#endif
|
2021-04-17 18:05:24 -07:00
|
|
|
#ifndef APPCONF_BALANCE_TURNTILT_STRENGTH
|
|
|
|
#define APPCONF_BALANCE_TURNTILT_STRENGTH 0
|
2021-04-06 02:18:32 -07:00
|
|
|
#endif
|
|
|
|
#ifndef APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT
|
2021-04-07 22:42:21 -07:00
|
|
|
#define APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT 5
|
2021-04-06 02:18:32 -07:00
|
|
|
#endif
|
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
|
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
|
2019-07-27 21:25:56 -07:00
|
|
|
|
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
|
|
|
|
|
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
|
|
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#ifndef APPCONF_IMU_MAHONY_KI
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#define APPCONF_IMU_MAHONY_KI 0.0
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#endif
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#ifndef APPCONF_IMU_MADGWICK_BETA
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#define APPCONF_IMU_MADGWICK_BETA 0.1
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#endif
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#ifndef APPCONF_IMU_ROT_ROLL
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#define APPCONF_IMU_ROT_ROLL 0.0
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#endif
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#ifndef APPCONF_IMU_ROT_PITCH
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#define APPCONF_IMU_ROT_PITCH 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_ROT_YAW
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#define APPCONF_IMU_ROT_YAW 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_A_OFFSET_0
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#define APPCONF_IMU_A_OFFSET_0 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_A_OFFSET_1
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#define APPCONF_IMU_A_OFFSET_1 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_A_OFFSET_2
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#define APPCONF_IMU_A_OFFSET_2 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_G_OFFSET_0
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#define APPCONF_IMU_G_OFFSET_0 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_G_OFFSET_1
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#define APPCONF_IMU_G_OFFSET_1 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2019-09-03 11:39:05 -07:00
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#ifndef APPCONF_IMU_G_OFFSET_2
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#define APPCONF_IMU_G_OFFSET_2 0.0
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2019-08-25 23:49:33 -07:00
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#endif
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2015-09-17 14:24:55 -07:00
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#endif /* APPCONF_DEFAULT_H_ */
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