/* * File: config.h * Author: hamilton * * Created on January 15, 2014, 4:29 PM */ #ifndef CONFIG_H #define CONFIG_H #define DEBUG //Define this to enable RS-232 outputs and Operating modes other than Battery Charging Mode. #ifdef DEBUG //Tuning Options: Options are: WINDING_QUADRATURE, WINDING_FLUX, SHUNT_REGULATOR, BATT_CHARGE_CURRENT, BATT_DRAW_CURRENT, VQVD_DISTANCE,VELOCITY //#define TUNE_WINDING_QUADRATURE //#define TUNE_WINDING_FLUX //#define TUNE_SHUNT_REGULATOR //#define TUNE_BATT_CHARGE_CURRENT //#define TUNE_BATT_DRAW_CURRENT //#define TUNE_VQVD_DISTANCE #endif #define PRELIMITER_TARGETCIRCLERADIUS 31000 #define NUMBER_OF_CMDS_TO_INTERPRET 12 #define ALLOW_RESET_BY_CAN #define CAN_PACKET_RATE 10 // Must be 10, 25, or 50 #define TORQUE_CONSTANT 0.62 //N-m/A #define CURRENT_CMD_RATELIMIT 100 //A/second. Set to zero to disable feature. //*Interrupt timing: #define WINDING_CONTROL_PERIOD 2 //The DAC/SPI/WindingControl will occur every WINDING_CONTROL_PERIOD iterations of the PWM interrupt #define RPM_COMPUTATION_PERIOD 10 //RPM Computation will be performed every RPM_COMPUTATION_PERIOD iterations of DAC/SPI/WindingCurrentControl. #define BATT_WINDING_CONTROL_PERIOD 5 //The BATT current control loops will be performed every RPM_COMPUTATION_PERIOD iterations of DAC/SPI/WindingCurrentControl. #define ISR_UPDATE_RATE 1092 //Used to convert timeouts to seconds. Approx: = Fcy/(PreScaler*PR5) = 39.61375/(8*4952) #define PWM_FREQ 20000 //PWM Rate, approx is OK, used for Disable time. /******** Enable possible modes here and select which is active on power-up *********/ #define PREINDEXPULSE_MODE 0 //Slow rotation mode until index pulse is seen. #define GENERATOR_MODE 1 // Torque is selected to follow prescribed Speed-Power relation. #define TORQUE_MODE 2 // User Specifieds Motor Torque #define VELOCITY_MODE 3 // #define POWERUP_MODE PREINDEXPULSE_MODE #define NO_ENCODER_SYNC_HAS_OCCURED 2 #define ONLY_HALL_TRANSITION_HAS_OCCURED 1 #define INDEX_PULSE_SEEN 0 #define CMD_TIMEOUT 30 //Command Timeut, in seconds. Power-up setting. Can't be larger than 65535/ISR_UPDATE_RATE (i.e. 60 seconds) //Set to zero to disable timeout. #define DEFAULT_SCALE_FACTOR 0.7 //-RPM on Kollemogen is +RPM here and extension #define MAX_SCALE_FACTOR 1.4 #define MIN_SCALE_FACTOR 0.5 #define DEFAULT_RETRACT_FACTOR 1.0 #define MAX_RETRACT_FACTOR 1.0 #define MIN_RETRACT_FACTOR 0.5 #define DEFAULT_TARGETVOLTAGE 300 //Volts, power-up setting #define MAX_TARGETVOLTAGE 335 // Volts, limit on user setting. #define MIN_TARGETVOLTAGE 50 // Volts, limit on user setting and also minimum allowable after modifications for charge current, etc. #define ABSOLUTEMAX_TARGETVOLTAGE 350 // Volts, this is the peak voltage the system can raise the bus voltage too to keep VqVd inside the target circle. #define DEFAULT_BATTDRAWCURRENTLIMIT 5.0 // Sets limit in Amps on current flowing from batteries (specified in magnitude here, measured value < 0), power-up setting. #define MAX_BATTDRAWCURRENTLIMIT 10.0 // Limit on user setting #define DEFAULT_BATTCHARGECURRENTLIMIT 10.0 //Sets limit in Amps on current flowing to the batteries., power up setting. #define MAX_BATTCHARGECURRENTLIMIT 20.0 //Limit on User Setting. Max allowable depends upon IBatt Calibration constants #define DEFAULT_SCALE_INTEGRATION_GAIN 0 // //Gain Schedule Mode Configuration. 0 is off, set to default if enabled at powerup is desired. #define MAX_SCALE_INTEGRATION_GAIN 100 // Needs to be set #define GAIN_SCHEDULE_INTEGRATION_TIME 600 //Seconds #define DEFAULT_RPM_STD_DEV_TARGET 500 // Needs to be set #define MIN_RPM_STD_DEV_TARGET 0 //In RPM #define MAX_RPM_STD_DEV_TARGET 2000 //In RPM #define DEFAULT_BIASCURRENT 0.0 //Start with zero bias current #define MAX_BIASCURRENT 15.0 //Maximum allowable winding bias current magnitude that can bre applied. #define MAX_WINDCURRENTLIMIT 35 //Winding Current Limit, Amps. Limit on internal target #define DEFAULT_USERCOMMANDEDCURRENT 0 #define MAX_USERCOMMANDEDCURRENT 30 #define DEFAULT_RPM 0 //Power-up target RPM #define MAX_RPM 6000 //RPM User Request Limit #define VOLTAGE_HYSTERESIS 10 //Voltage Modification equivalent must drop this far under the target circle before the batteries are turned back on. #define SLOWROTATECURRENT 4.0 //Current applied to slowly rotate rotor at powerup until Index Pulse is found. Mostly for Lab testing as this may be too low to overcome forces in the application. #define DISABLECURRENT 40.0 //Current limit to cause total shutdown #define DISABLETIME .001 //time that wining current must exceed DISABLECURRENT for shutdown to occur. #define LOADDUMP_RESISTANCE 7.0 //Ohms #define BRIDGE_ENABLE _LATB1 #define BATT_SWITCH _LATD2 #define AUXIO_PIN2 _LATD1 //#define AUXIO_PIN3 _LATD2 //Currently being used to drive load switch, so don't use! #define AUXIO_PIN4 _LATD8 #define AUXIO_PIN5 _LATD9 #define EEPROM_WP _LATD10 #define CAN_SILENT _LATA6 #define CAN_ENABLE _LATA7 /******** Configure CAN Bus identifier and speed *********/ // CAN ID field width definitions, from least sig to most sig. #define SEQ_WIDTH 9 #define ID_WIDTH 5 #define SRC_WIDTH 4 #define CAN_SRCID 2 //Specific ID identifying messages that originate from this hardware. #define BATTERYCONTROLLER_CAN_SRCID 0 //ID of battery controller, this is used in /* number of ECAN message buffers in DMA memory (must be greater or equal to the number of buffers used. */ #define ECAN1_MSG_BUF_LENGTH 16 /* 8 transmit buffers 8 recieve buffers */ #define ECAN1_NUM_TX_BUFFERS 8 /******** Configure Analog IO here *********/ //These defines relate the analog channel numbers to the analog signals, they can be rearranged here without trouble later. #define NUMAIO 4 #define INNERFILTERSAMPLES 1 //Must be 1,2,4,8,16,32,64,128 This is the number of ADC samples that are filtered to create every PWM period #define OUTERFILTERSAMPLES 8 //Must match number of taps in OuterFilter.s This is the number of samples that are filtered at the slower update rate, 8 is the closest power of two for a for a 10kHz ADC Sample rate and 1000Hz outer loop update rate. #define REPORTINGFILTERSAMPLES 48 //Must match number of taps in ReportingFilter.s This is the number of samples that are filtered at the CAN update rate, #define AIOMASK_H 0xfffc //Select AN16-AN17 to be sampled and scanned #define AIOMASK_L 0xf3ff //Select AN10,AN11 to be sampled and scanned, total must match NUMAIO #define M_PI 3.14159265359 #define DEFAULT_ANGLEOFFSET 5461 //Motor Specific. Equivalent to 30 degrees //Command and Reporting Scale Factors (cnts/engineering unit) #define CRSF_RPM 2 //cnts per RPM #define CRSF_VOLTAGE 100 //cnts per Volt #define CRSF_CURRENT 500 //cnts per Amp #define CRSF_TIME 1000 //cnts per Second #define CRSF_POWER 1 //cnts per Watt #define CRSF_PERCENTAGES 100 //cnts per 100 percent #define CRSF_PRESSURE 1000 //cnts per psi #define CRSF_TORQUE 500 //cnts per N-m #endif /* CONFIG_H */