Other Parts Discussed in Thread: DRV8323
Dear team,
目前遇到電機加載時DRV8343S產生的電流回授訊號SOA、SOB、SOC會有異常的突起，想詢問此現象是如何發生的?該如何解決?謝謝~
驅動板電路
測試波形
Original question:
Dear team,
目前遇到電機加載時DRV8343S產生的電流回授訊號SOA、SOB、SOC會有異常的突起，想詢問此現象是如何發生的?該如何解決?謝謝~
驅動板電路
測試波形
Dear Cherry,
SOA上的尖峰確實與UL PWM對應，UL PWM處於High的狀態下時產生尖峰，且PWM High的時間越長則尖鋒時間越長。若此尖峰為預期的實際波形，那是否能表示上述圖中所造成的驅動異常並非此尖峰問題影響，而是SOA、B、C的整體波形變形為非弦波狀態造成?
想請問改如何改善加載後的SOA、B、C波形異常的問題?目前使目標整低通濾波器的方式進行，固定電阻為1KΩ、調整電容由1nF~15nF，最終測試出當前的6.8nF(Low Pass 23.4KHz)為最佳配比，但仍無法達到目標，請問有什麼改善建議嗎?謝謝
另外擷取了一段目前最大負載下的波形，DC電流趨近100A，漣波跳動很劇烈，SOA、SOB、SOC波形嚴重失真，相電流也有出現異常狀況
以上，再麻煩協助，謝謝~
Dear Cherry,
感謝您的意見，上述文件對於Layout設計很有幫助，但Layout需要一段時間設計及洗板才能知道成果如何。
若以目前來說程式可以進行什麼樣的調整?
程式目前使用"universal_motorcontrol_lab_f28002x"的Sample Code，只在Sample Code的基礎上將DRV8323的SPI協議更改為DRV8343，並對"user_mtr1.h"進行user的參數配置而已，至於換向算法設定如下圖所示，再麻煩協助謝謝~
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//! \file /solutions/universal_motorcontrol_lab/common/include/user_mtr1.h
//! \brief Contains the user related definitions
//! This file is used for each device includes F28002x, F28003x, F280013x,
//! F280015x, and the other newer C2000 MCUs.
//!
#ifndef USER_MTR1_H
#define USER_MTR1_H
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
//*****************************************************************************
//
//! \defgroup USER USER_MTR1
//! @{
//
//*****************************************************************************
//
// the includes
// platforms
#include "hal.h"
// modules
#include "userParams.h"
#include "user_common.h"
// *****************************************************************************
// the defines
//------------------------------------------------------------------------------
#if defined(HVMTRPFC_REV1P1)
// Bypass the 820k resistor for low voltage motor on this kit
//#define LV_JUMPER_EN // Bypass the 820k resistor
#ifndef LV_JUMPER_EN
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (220.0f)
//! \brief Defines the maximum voltage at the AD converter
// Full scale voltage of AD converter, not the current voltage
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (409.90f)
//! \brief Defines the analog voltage filter pole location, Hz
//!
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (375.55f)
#else // Populate jumpers on J1/J2/J3/J4 for short R20/R23/R26/R37 for low voltage motor
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (24.0f)
//! \brief Defines the maximum voltage at the AD converter
// Full scale voltage of AD converter, not the current voltage
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (112.21f)
//! \brief Defines the analog voltage filter pole location, Hz
//!
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (381.15f)
#endif
// High Voltage motor control kit
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the maximum current at the AD converter
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (19.995f)
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (-1.0f)
//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_A (9.997f)
//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_AD (2048.0f)
#define USER_M1_IDC_OFFSET_AD_MAX (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN (USER_M1_IDC_OFFSET_AD - 100.0f)
#else // !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)
//! \brief Defines the maximum current at the AD converter
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (19.995f)
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (1.0f)
#endif // !(MOTOR1_ISBLDC || MOTOR1_DCLINKSS)
//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD (2049.367f)
#define USER_M1_IB_OFFSET_AD (2042.771f)
#define USER_M1_IC_OFFSET_AD (2054.451f)
//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)
//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF (0.503290117f)
#define USER_M1_VB_OFFSET_SF (0.500881076f)
#define USER_M1_VC_OFFSET_SF (0.497107089f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (380.0f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (350.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (12.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (15.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.2f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (250.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (500.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of HVMTRPFC_REV1P1
//------------------------------------------------------------------------------
#elif defined(DRV8329AEVM_REVA) // LaunchPad-F280025
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (48.0f)
//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (76.04549098f) // 110k/4.99k
//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (326.6255675f) // 110k/4.99k/100nF
//! \brief Defines the maximum current at the AD converter
//! Set the gain of the CSA, the value should be set accordingly.
//! CSAGAIN=5V/V(J2=GND), CSAGAIN=10V/V(J2=50K), CSAGAIN=20V/V(J2=200K), CSAGAIN=40V/V(J2=DNP)
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (82.5f) // Rs=0.001/gain=40/J2=DNP
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (66.0f) // Rs=0.0025/gain=20/J2=200K
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (33.0f) // Rs=0.0025/gain=40/J2=DNP
// Single shunt
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin (+) of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin (-) of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (1.0f)
//! \brief ADC current offsets for dc-link
// the dc-link offset current for DRV8329AEVM_REVA
#define USER_M1_IDC_OFFSET_A (USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)
//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_AD (516.717f) //~=4096.0/8.0
//! \brief ADC current offset for CMPSS
#define USER_M1_IDC_OFFSET_CMPSS (uint16_t)(USER_M1_IDC_OFFSET_AD)
#define USER_M1_IDC_OFFSET_AD_MAX (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN (USER_M1_IDC_OFFSET_AD - 100.0f)
#else //!MOTOR1_DCLINKSS | !MOTOR1_ISBLDC
#error This inverter board only supports single shunt!
#endif // !MOTOR1_DCLINKSS | !MOTOR1_ISBLDC
//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF (0.507042527f)
#define USER_M1_VB_OFFSET_SF (0.505379438f)
#define USER_M1_VC_OFFSET_SF (0.50771445f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (54.5f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (52.5f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (8.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (10.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.01f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (90.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (1800.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of DRV8329AEVM_REVA
//------------------------------------------------------------------------------
#elif defined(BSXL8323RS_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (12.0f)
//! \brief Defines the maximum voltage at the AD converter
//#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (60.87f) // 4.7/(4.7+82)
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (42.62f) // 4.7/(4.7+56)
//#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (64.87f) // 4.99/(4.99+93.1), DRV8343S-EVM
//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (781.0f) // caps=47nF
//! \brief Defines the maximum current at the AD converter
//Rshunt=7momh
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (94.28571429f) // CSA_GAIN=5VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (47.14285714f) // CSA_GAIN=10VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (23.57142857f) // CSA_GAIN=20VpV
//Rshunt=2momh
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (330.0f) // CSA_GAIN=5VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (165.0f) // CSA_GAIN=10VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (82.5f) // CSA_GAIN=20VpV
//Rshunt=1momh
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (660.0f) // CSA_GAIN=5VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (330.0f) // CSA_GAIN=10VpV
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (165.0f) // CSA_GAIN=20VpV
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (-1.0f)
//! \brief ADC current offsets for dc-link
// the dc-link offset current for BSXL8323RS_REVA
#define USER_M1_IDC_OFFSET_A (USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)
//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IDC_OFFSET_AD (2048.0f)
#define USER_M1_IDC_OFFSET_AD_MAX (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN (USER_M1_IDC_OFFSET_AD - 100.0f)
#else //!MOTOR1_DCLINKSS
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (1.0f)
//! \brief ADC current offsets for A, B, and C phases
// the ADC current offsets for A/B/C phases, one-time hardware dependent
//#define USER_M1_IA_OFFSET_AD (2030.99646f)
//#define USER_M1_IB_OFFSET_AD (2016.76001f)
//#define USER_M1_IC_OFFSET_AD (2007.99329f)
#define USER_M1_IA_OFFSET_AD (2048.0f)
#define USER_M1_IB_OFFSET_AD (2048.0f)
#define USER_M1_IC_OFFSET_AD (2048.0f)
//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)
//! \brief ADC voltage offsets for A, B, and C phases
// the ADC voltage offsets for A/B/C phases, one-time hardware dependent
#define USER_M1_VA_OFFSET_SF (0.498977453f)
#define USER_M1_VB_OFFSET_SF (0.497419506f)
#define USER_M1_VC_OFFSET_SF (0.500700474f)
#endif // !MOTOR1_DCLINKSS
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (54.5f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (52.5f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (8.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (10.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.2f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (1500.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (1500.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//! unit: N.m
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of BSXL8323RS_REVA
//------------------------------------------------------------------------------
#elif defined(BSXL8323RH_REVB) // LaunchPad-F280025
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (48.0f)
//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (57.52845691f)
//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (680.4839141f) // 47nF
//! \brief Defines the maximum current at the AD converter
//! Place a 47k(ohm) resistor (R22) pull-down on MODE pin
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (47.14285714f) // gain=10
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (-1.0f)
//! \brief ADC current offsets for dc-link
// the dc-link offset current for BSXL8323RH_REVB
#define USER_M1_IDC_OFFSET_A (USER_M1_ADC_FULL_SCALE_CURRENT_A / 2.0f)
//! \brief ADC current offsets for dc-link
#define USER_M1_IDC_OFFSET_AD (2048.0f)
#define USER_M1_IDC_OFFSET_AD_MAX (USER_M1_IDC_OFFSET_AD + 100.0f)
#define USER_M1_IDC_OFFSET_AD_MIN (USER_M1_IDC_OFFSET_AD - 100.0f)
#else //!MOTOR1_DCLINKSS
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (1.0f)
//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD (2045.40015f)
#define USER_M1_IB_OFFSET_AD (2012.86694f)
#define USER_M1_IC_OFFSET_AD (2031.59741f)
//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)
//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF (0.507042527f)
#define USER_M1_VB_OFFSET_SF (0.505379438f)
#define USER_M1_VC_OFFSET_SF (0.50771445f)
#endif // !MOTOR1_DCLINKSS
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (54.5f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (52.5f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (8.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (10.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.01f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (90.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (1800.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of BSXL8323RH_REVB
//------------------------------------------------------------------------------
#elif defined(BSXL8353RS_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (48.0f)
//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (132.7979508f)
//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (338.1100618f) // 9.76k/47nF
//! \brief Defines the maximum current at the AD converter
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (94.28571429f) // gain=5
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (47.14285714f) // gain=10
#if defined(MOTOR1_DCLINKSS) || defined(MOTOR1_ISBLDC)
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (-1.0f)
#error "Single shunt is not supported on this kit"
#else //!MOTOR1_DCLINKSS
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (1.0f)
//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD (2048.0f)
#define USER_M1_IB_OFFSET_AD (2048.0f)
#define USER_M1_IC_OFFSET_AD (2048.0f)
//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)
//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF (0.500514159f)
#define USER_M1_VB_OFFSET_SF (0.506255884f)
#define USER_M1_VC_OFFSET_SF (0.503381569f)
#endif // !MOTOR1_DCLINKSS
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (40.0f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (36.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (10.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (12.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.2f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (50.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (500.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of BSXL8353RS_REVA
//------------------------------------------------------------------------------
#elif defined(BSXL3PHGAN_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (48.0f)
//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (81.49905213f)
//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (1103.026917f) // 33nF
//! \brief Defines the maximum current at the AD converter
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (33.0f) // gain=20
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the inline shunt resistor is connected to the
//! output of the three-phase power inverter and is also connected to
//! the inverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is positive that
//! means the same pin of the inline shunt resistor is connected to the
//! output of the three-phase power inverter and is also connected to
//! the non-inverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (-1.0f)
//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD (2048.0f)
#define USER_M1_IB_OFFSET_AD (2048.0f)
#define USER_M1_IC_OFFSET_AD (2048.0f)
//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)
//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF (0.500514159f)
#define USER_M1_VB_OFFSET_SF (0.506255884f)
#define USER_M1_VC_OFFSET_SF (0.503381569f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (40.0f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (36.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (10.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (12.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.2f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (50.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (500.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of BSXL3PHGAN_REVA
//------------------------------------------------------------------------------
#elif defined(BSXL8316RT_REVA)
//! \brief Defines the nominal DC bus voltage, V
//!
#define USER_M1_NOMINAL_DC_BUS_VOLTAGE_V (48.0f)
//! \brief Defines the maximum voltage at the AD converter
#define USER_M1_ADC_FULL_SCALE_VOLTAGE_V (44.28f)
//! \brief Defines the analog voltage filter pole location, Hz
#define USER_M1_VOLTAGE_FILTER_POLE_Hz (284.722f) // 100nF
//! \brief Defines the maximum current at the AD converter
//! DRV8316 = VREF = 3V, GAIN = 0.15V/A || 3.3V / 0.15V/A = 22.0A
//! GAIN = 0.30V/A || 3.3V / 0.30V/A = 11.0A
//! GAIN = 0.60V/A || 3.3V / 0.60V/A = 5.50A
//! GAIN = 1.20V/A || 3.3V / 1.20V/A = 2.75A
//! Change this ADC scale current value that must match the CSA gain in hal.c
#define USER_M1_ADC_FULL_SCALE_CURRENT_A (22.0f) // GAIN = 0.15V/A
//#define USER_M1_ADC_FULL_SCALE_CURRENT_A (11.0f) // GAIN = 0.30V/A
//! \brief Defines the sign of the current_sf based on
//! the polarity of the current feedback circuit
//!
//! the "sign" = -1.0f if the current feedback polarity is positive that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the inverting pin of the operational amplifier
//!
//! the "sign" = 1.0f if the current feedback polarity is negative that
//! means the same pin of the shunt resistor is connected to ground and
//! is also connected to the noninverting pin of the operational amplifier
#define USER_M1_SIGN_CURRENT_SF (1.0f)
//! \brief ADC current offsets for A, B, and C phases
#define USER_M1_IA_OFFSET_AD (1869.6f)
#define USER_M1_IB_OFFSET_AD (1877.3f)
#define USER_M1_IC_OFFSET_AD (1876.9f)
//! \brief ADC current offset for CMPSS
#define USER_M1_IS_OFFSET_CMPSS (uint16_t)((USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD) / 3.0f)
//! \brief ADC voltage offsets for A, B, and C phases
#define USER_M1_VA_OFFSET_SF (0.477463514f)
#define USER_M1_VB_OFFSET_SF (0.479326069f)
#define USER_M1_VC_OFFSET_SF (0.477675498f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_FAULT_V (40.0f)
//! \brief DC bus over voltage threshold
#define USER_M1_OVER_VOLTAGE_NORM_V (36.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_FAULT_V (10.0f)
//! \brief DC bus under voltage threshold
#define USER_M1_UNDER_VOLTAGE_NORM_V (12.0f)
//! \brief motor lost phase current threshold
#define USER_M1_LOST_PHASE_CURRENT_A (0.2f)
//! \brief motor unbalance ratio percent threshold
#define USER_M1_UNBALANCE_RATIO (0.2f)
//! \brief motor over load power threshold
#define USER_M1_OVER_LOAD_POWER_W (50.0f)
//! \brief motor stall current threshold
#define USER_M1_STALL_CURRENT_A (10.0f)
//! \brief motor fault check current threshold
#define USER_M1_FAULT_CHECK_CURRENT_A (0.2f)
//! \brief motor failed maximum speed threshold
#define USER_M1_FAIL_SPEED_MAX_HZ (500.0f)
//! \brief motor failed minimum speed threshold
#define USER_M1_FAIL_SPEED_MIN_HZ (5.0f)
//! \brief Defines the number of failed torque
//!
#define USER_M1_TORQUE_FAILED_SET (0.000001f)
// end of BSXL8316RT_REVA
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
//------------------------------------------------------------------------------
#else // No Board Selection
#error The board parameters are not defined in user_mtr1.h
#endif // No Board Selection
//------------------------------------------------------------------------------
//! \brief ADC current offsets checking value for A, B, and C phases
// the error threshold to check if the ADC offset of the phase current sensing circuit is correct.
#define USER_M1_IS_OFFSET_AD_DELTA (150.0f) // The value is 0.0f~1024.0f
// the high threshold of the ADC offsets checking value for A/B/C phase current
#define USER_M1_IA_OFFSET_AD_MAX (USER_M1_IA_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IB_OFFSET_AD_MAX (USER_M1_IB_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IC_OFFSET_AD_MAX (USER_M1_IC_OFFSET_AD + USER_M1_IS_OFFSET_AD_DELTA)
// the low threshold of the ADC offsets checking value for A phase current
#define USER_M1_IA_OFFSET_AD_MIN (USER_M1_IA_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IB_OFFSET_AD_MIN (USER_M1_IB_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IC_OFFSET_AD_MIN (USER_M1_IC_OFFSET_AD - USER_M1_IS_OFFSET_AD_DELTA)
#define USER_M1_IS_OFFSET_AD_MAX (USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD + (USER_M1_IS_OFFSET_AD_DELTA * 3.0f))
#define USER_M1_IS_OFFSET_AD_MIN (USER_M1_IA_OFFSET_AD + USER_M1_IB_OFFSET_AD + USER_M1_IC_OFFSET_AD - (USER_M1_IS_OFFSET_AD_DELTA * 3.0f))
//! \brief ADC voltage offsets for A, B, and C phases
// the error threshold to check if the ADC offset of the phase voltage sensing circuit is correct
#define USER_M1_VA_OFFSET_SF_DELTA (0.05f) // The value is 0.0f ~ 0.5f
// the high threshold of the ADC offsets checking value for A/B/C phase voltage
#define USER_M1_VA_OFFSET_SF_MAX (USER_M1_VA_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VB_OFFSET_SF_MAX (USER_M1_VB_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VC_OFFSET_SF_MAX (USER_M1_VC_OFFSET_SF + USER_M1_VA_OFFSET_SF_DELTA)
// the low threshold of the ADC offsets checking value for A/B/C phase voltage
#define USER_M1_VA_OFFSET_SF_MIN (USER_M1_VA_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VB_OFFSET_SF_MIN (USER_M1_VB_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VC_OFFSET_SF_MIN (USER_M1_VC_OFFSET_SF - USER_M1_VA_OFFSET_SF_DELTA)
#define USER_M1_VS_OFFSET_SF_MAX (USER_M1_VA_OFFSET_SF + USER_M1_VB_OFFSET_SF + USER_M1_VC_OFFSET_SF + (USER_M1_VA_OFFSET_SF_DELTA * 3.0f))
#define USER_M1_VS_OFFSET_SF_MIN (USER_M1_VA_OFFSET_SF + USER_M1_VB_OFFSET_SF + USER_M1_VC_OFFSET_SF - (USER_M1_VA_OFFSET_SF_DELTA * 3.0f))
//******************************************************************************
//! \brief Defines the number of pwm clock ticks per isr clock tick
//! Note: Valid values are 1, 2 or 3 only
#define USER_M1_NUM_PWM_TICKS_PER_ISR_TICK (2)
//! \brief Defines the number of ISR clock ticks per current controller clock tick
//!
#define USER_M1_NUM_ISR_TICKS_PER_CURRENT_TICK (1)
//! \brief Defines the number of ISR clock ticks per speed controller clock tick
//!
#define USER_M1_NUM_ISR_TICKS_PER_SPEED_TICK (10)
//! \brief Defines the number of current sensors
//!
#define USER_M1_NUM_CURRENT_SENSORS (3)
//! \brief Defines the number of voltage sensors
//!
#define USER_M1_NUM_VOLTAGE_SENSORS (3)
//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz
//!
#define USER_M1_PWM_FREQ_kHz (40.0f)
#define USER_M1_PWM_TBPRD_NUM (uint16_t)(USER_SYSTEM_FREQ_MHz * 1000.0f / USER_M1_PWM_FREQ_kHz / 2.0f)
//! \brief Defines the Pulse Width Modulation (PWM) period, usec
//!
#define USER_M1_PWM_PERIOD_usec (1000.0f / USER_M1_PWM_FREQ_kHz)
//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz
//!
#define USER_M1_ISR_FREQ_Hz (USER_M1_PWM_FREQ_kHz * 1000.0f / (float32_t)USER_M1_NUM_PWM_TICKS_PER_ISR_TICK)
//! \brief Defines the Interrupt Service Routine (ISR) period, usec
//!
#define USER_M1_ISR_PERIOD_usec (USER_M1_PWM_PERIOD_usec * (float32_t)USER_M1_NUM_PWM_TICKS_PER_ISR_TICK)
//! \brief Defines the direct voltage (Vd) scale factor
//!
#define USER_M1_VD_SF (0.95f)
//! \brief Defines the voltage scale factor for the system
//!
#define USER_M1_VOLTAGE_SF (USER_M1_ADC_FULL_SCALE_VOLTAGE_V / 4096.0f)
//! \brief Defines the current scale factor for the system
//!
#define USER_M1_CURRENT_SF (USER_M1_ADC_FULL_SCALE_CURRENT_A / 4096.0f)
//! \brief Defines the current scale invert factor for the system
//!
#define USER_M1_CURRENT_INV_SF (4096.0f / USER_M1_ADC_FULL_SCALE_CURRENT_A)
//! \brief Defines the analog voltage filter pole location, rad/s
//!
#define USER_M1_VOLTAGE_FILTER_POLE_rps (MATH_TWO_PI * USER_M1_VOLTAGE_FILTER_POLE_Hz)
//! \brief Defines the maximum Vs magnitude in per units allowed
//! \brief This value sets the maximum magnitude for the output of the Id and
//! \brief Iq PI current controllers. The Id and Iq current controller outputs
//! \brief are Vd and Vq. The relationship between Vs, Vd, and Vq is:
//! \brief Vs = sqrt(Vd^2 + Vq^2). In this FOC controller, the Vd value is set
//! \brief equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR.
//! \brief so the Vq value is set equal to sqrt(USER_MAX_VS_MAG^2 - Vd^2).
//!
//! \brief Set USER_MAX_VS_MAG = 0.5 for a pure sinewave with a peak at
//! \brief SQRT(3)/2 = 86.6% duty cycle. No current reconstruction
//! \brief is needed for this scenario.
//!
//! \brief Set USER_MAX_VS_MAG = 1/SQRT(3) = 0.5774 for a pure sinewave
//! \brief with a peak at 100% duty cycle. Current reconstruction
//! \brief will be needed for this scenario (Lab08).
//!
//! \brief Set USER_MAX_VS_MAG = 2/3 = 0.6666 to create a trapezoidal
//! \brief voltage waveform. Current reconstruction will be needed
//! \brief for this scenario (Lab08).
//!
//! \brief For space vector over-modulation, see lab08 for details on
//! \brief system requirements that will allow the SVM generator to
//! \brief go all the way to trapezoidal.
//!
//#define USER_M1_MAX_VS_MAG_PU (0.66f)
//#define USER_M1_MAX_VS_MAG_PU (0.65f)
#define USER_M1_MAX_VS_MAG_PU (0.576f)
//#define USER_M1_MAX_VS_MAG_PU (0.565f)
//#define USER_M1_MAX_VS_MAG_PU (0.5f)
//! \brief Defines the reference Vs magnitude in per units allowed
//! \ Set the value equal from 0.5 to 0.95 of the maximum Vs magnitude
#define USER_M1_VS_REF_MAG_PU (0.8f * USER_MAX_VS_MAG_PU)
//! \brief Defines the R/L excitation frequency, Hz
//!
#define USER_M1_R_OVER_L_EXC_FREQ_Hz (300.0f)
//! \brief Defines the R/L Kp scale factor, pu
//! \brief Kp used during R/L is USER_M1_R_OVER_L_KP_SF * USER_M1_NOMINAL_DC_BUS_VOLTAGE_V / USER_MOTOR1_MAX_CURRENT_A;
//!
#define USER_M1_R_OVER_L_KP_SF (0.02f)
//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/sec
//!
#define USER_M1_MAX_ACCEL_Hzps (2.0f)
//! \brief Defines the controller execution period, usec
//!
#define USER_M1_CTRL_PERIOD_usec ((float32_t)USER_M1_ISR_PERIOD_usec)
//! \brief Defines the controller execution period, sec
//!
#define USER_M1_CTRL_PERIOD_sec ((float32_t)USER_M1_CTRL_PERIOD_usec / 1000000.0f)
//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_M1_IDRATED_DELTA_A (0.0001f)
#if defined(_FULL_FAST_LIB)
//! \brief Defines the forced angle frequency, Hz
#define USER_M1_FORCE_ANGLE_FREQ_Hz (1.0f)
//! \brief Defines the forced angle acceleration, Hz
#define USER_M1_FORCE_ANGLE_ACCEL_Hzps (10.0f)
#else // !_FULL_FAST_LIB
//! \brief Defines the forced angle frequency, Hz
#define USER_M1_FORCE_ANGLE_FREQ_Hz (1.0f)
#endif // !_FULL_FAST_LIB
//! \brief Defines the near zero speed limit for electrical frequency estimation, Hz
//! The flux integrator uses this limit to regulate flux integration
#define USER_M1_FREQ_NEARZEROSPEEDLIMIT_Hz (0.0f)
//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_M1_IDRATED_FRACTION_FOR_L_IDENT (0.5f)
//! \brief Defines the fraction of SpeedMax to use during inductance estimation
//!
#define USER_M1_SPEEDMAX_FRACTION_FOR_L_IDENT (1.0f)
//! \brief Defines the Power Warp gain for computing Id reference
//!
#define USER_M1_PW_GAIN (1.0f)
//! \brief Defines the pole location for the DC bus filter, rad/sec
//!
#define USER_M1_DCBUS_POLE_rps (100.0f)
//! \brief Defines the pole location for the voltage and current offset estimation, rad/s
//!
#define USER_M1_OFFSET_POLE_rps (20.0f)
//! \brief Defines the pole location for the speed control filter, rad/sec
//!
#define USER_M1_SPEED_POLE_rps (100.0f)
//! \brief Defines the pole location for the direction filter, rad/sec
//!
#define USER_M1_DIRECTION_POLE_rps (MATH_TWO_PI * 10.0f)
//! \brief Defines the pole location for the flux estimation, rad/sec
//!
#define USER_M1_FLUX_POLE_rps (10.0f)
//! \brief Defines the pole location for the R/L estimation, rad/sec
//!
#define USER_M1_R_OVER_L_POLE_rps (MATH_TWO_PI * 3.2f)
//! \brief Defines the convergence factor for the estimator
//!
#define USER_M1_EST_KAPPAQ (1.5f)
//! \brief Defines the scale factor for the flux estimation
//! the default value is 1.0f, change the value between 0.1f and 1.25f
//!
//#define USER_M1_EST_FLUX_HF_SF (0.120f)
#define USER_M1_EST_FLUX_HF_SF (0.250f)
//#define USER_M1_EST_FLUX_HF_SF (1.00f)
//! \brief Defines the scale factor for the frequency estimation
//! the default value is 1.0f, change the value between 0.5f and 1.5f
//!
#define USER_M1_EST_FREQ_HF_SF (1.00f)
//! \brief Defines the scale factor for the bemf estimation
//! the default value is 1.0f, change the value between 0.50f and 1.25f
//!
#define USER_M1_EST_BEMF_HF_SF (1.00f)
//------------------------------------------------------------------------------
//! brief Define the Kp gain for Field Weakening Control
#define USER_M1_FWC_KP 0.0525f
//! brief Define the Ki gain for Field Weakening Control
#define USER_M1_FWC_KI 0.00325f
//! brief Define the maximum current vector angle for Field Weakening Control
#define USER_M1_FWC_MAX_ANGLE -15.0f // degree
#define USER_M1_FWC_MAX_ANGLE_RAD USER_M1_FWC_MAX_ANGLE /180.0f * MATH_PI // rad
//! brief Define the minimum current vector angle for Field Weakening Control
#define USER_M1_FWC_MIN_ANGLE 0.0f // degree
#define USER_M1_FWC_MIN_ANGLE_RAD USER_M1_FWC_MIN_ANGLE /180.0f * MATH_PI // rad
//! \brief Defines the number of DC bus over/under voltage setting time
//! timer base = 5ms
#define USER_M1_VOLTAGE_FAULT_TIME_SET (500U) // in 5ms
//! \brief Defines the number of motor over load setting time
//! timer base = 5ms, 1s
#define USER_M1_OVER_LOAD_TIME_SET (200U)
//! \brief Defines the number of motor stall setting time
//! timer base = 5ms, 1s
#define USER_M1_STALL_TIME_SET (200U)
//! \brief Defines the number of phase unbalanced setting time
//! timer base = 5ms, 5s
#define USER_M1_UNBALANCE_TIME_SET (1000U)
//! \brief Defines the number of lost phase setting time
//! timer base = 5ms, 10s
#define USER_M1_LOST_PHASE_TIME_SET (2000U)
//! \brief Defines the number of over speed setting time
//! timer base = 5ms
#define USER_M1_OVER_SPEED_TIME_SET (600U)
//! \brief Defines the number of startup failed setting time
//! timer base = 5ms, 10s
#define USER_M1_STARTUP_FAIL_TIME_SET (2000U)
//! \brief Defines the number of over load setting times
//!
#define USER_M1_OVER_CURRENT_TIMES_SET (5U)
//! \brief Defines the number of stop wait time
//! timer base = 5ms, 10s
#define USER_M1_STOP_WAIT_TIME_SET (2000U)
//! \brief Defines the number of restart wait time
//! timer base = 5ms, 10s
#define USER_M1_RESTART_WAIT_TIME_SET (2000U)
//! \brief Defines the number of restart times when has a fault
//!
#define USER_M1_START_TIMES_SET (3U)
//! \brief Defines the alignment time
//! timer base = 5ms, 10s
#define USER_M1_ALIGN_TIME_SET (2000U)
//! \brief Defines the QEP unit ticks
#define USER_M1_QEP_UNIT_TIMER_TICKS (uint32_t)(USER_SYSTEM_FREQ_MHz/(2.0f * USER_M1_ISR_FREQ_Hz) * 1000000.0f)
//! \brief Defines the current filter pole location, Hz
#define USER_M1_IS_FILTER_POLE_Hz (7500.0f) // 7.5kHz
//! \brief Defines the current filter pole location, rad/s
//!
#define USER_M1_IS_FILTER_POLE_rps (MATH_TWO_PI * USER_M1_IS_FILTER_POLE_Hz)
//! \brief Defines the voltage filter pole location, Hz
#define USER_M1_VS_FILTER_POLE_Hz (30000.0f) // 30.0kHz
//! \brief Defines the voltage filter pole location, rad/s
//!
#define USER_M1_VS_FILTER_POLE_rps (MATH_TWO_PI * USER_M1_VS_FILTER_POLE_Hz)
//==============================================================================
// Only a few listed motor below are tested with the related algorithm as the comments
// Motor defines
// High voltage PMSM Motors
//#define USER_MOTOR1 Estun_EMJ_04APB22 //* Tested, FAST/eSMO/ENC
//#define USER_MOTOR1 Anaheim_BLWS235D //* Tested, FAST
//#define USER_MOTOR1 CHMotor_WM_Test
//#define USER_MOTOR1 Anaheim_BLZ362S
//#define USER_MOTOR1 ziehlab_Fan160hv //* Tested, FAST/eSMO
//#define USER_MOTOR1 embpast_Fan160hv //* Tested, FAST/eSMO
//#define USER_MOTOR1 GMCC_KSK89D53U //* Tested, FAST/eSMO
//#define USER_MOTOR1 QXA_A091ZE190A //* Tested, FAST/eSMO
//#define USER_MOTOR1 Baldor_BSM90N175 //* Tested, FAST/eSMO
//#define USER_MOTOR1 Marathon_N56PNRA10102 //* Tested, FAST
// Low Voltage PMSM Motors
//#define USER_MOTOR1 Anaheim_BLY172S_24V //* Tested, FAST/eSMO/HALL/ENC(MD)
//#define USER_MOTOR1 Teknic_M2310PLN04K //* Tested, FAST/eSMO/ENC/HALL
//#define USER_MOTOR1 Nedic_EPSMS037_D12V
//#define USER_MOTOR1 Anaheim_BLY341S_48V
//#define USER_MOTOR1 Anaheim_BLY341S_Y24V
//#define USER_MOTOR1 Anaheim_BLY341S_D24V
//#define USER_MOTOR1 Drone_DJI920KV //* Tested, FAST
//#define USER_MOTOR1 Drone_BLK2BLADE //* Tested, FAST
//#define USER_MOTOR1 Drone_SENSEFLY //* Tested, FAST
//#define USER_MOTOR1 Drone_SF_Black //* Tested, FAST
//#define USER_MOTOR1 Drone9616_110KV_48V //* Tested, FAST
//#define USER_MOTOR1 Tamagawa_TS4606N8302 //* Tested, FAST/Resolver
//#define USER_MOTOR1 AKM21G_CK9NGE00 //* Tested, FAST/sin&cos encoder
//#define USER_MOTOR1 AirFan_MFA0500_24V //* Tested, FAST
//#define USER_MOTOR1 Tool_Makita_GFD01 //* Tested, FAST
// ACI Motor
//#define USER_MOTOR1 Marathon_5K33GN2A
//#define USER_MOTOR1 Marathon_56H17T2011A
//#define USER_MOTOR1 Dayton_3N352C
//#define USER_MOTOR1 EMSYNERGY_LVACI
#define USER_MOTOR1 my_pm_motor_1
//#define USER_MOTOR1 my_aci_motor_2
//------------------------------------------------------------------------------
#if (USER_MOTOR1 == Teknic_M2310PLN04K)
// the motor type
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
// the number of pole pairs of the motor
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
// the rotor resistance value of the motor, in Ohm
#define USER_MOTOR1_Rr_Ohm (NULL)
// the stator resistance value of the motor, in Ohm
#define USER_MOTOR1_Rs_Ohm (0.393955578f)
// the stator inductance value of the motor in the direct direction, in H
#define USER_MOTOR1_Ls_d_H (0.000190442806f)
// the stator inductance value of the motor in the quadrature direction, in H
#define USER_MOTOR1_Ls_q_H (0.000190442806f)
// the rated flux value of the motor, in V/Hz
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0399353318f)
// the Id rated current value of the motor, in A. Induction motors only
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
// the maximum current value for stator resistance (R_s) identification, in A
#define USER_MOTOR1_RES_EST_CURRENT_A (1.5f)
// the maximum current value to use for stator inductance identification, in A
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0f)
// the maximum current value of the motor, in A
#define USER_MOTOR1_MAX_CURRENT_A (6.6f)
// the R/L excitation frequency for motor parameters identification, in Hz
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (60.0f)
// the inertia that describes the amount of mass, in Kg.m2
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-06)
// the rated voltage of the motor, V
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0f) // V
// the minimum rotation frequency if the motor (Hz)
#define USER_MOTOR1_FREQ_MIN_Hz (9.0f) // Hz
// the maximum/base rotation frequency of the motor (Hz)
#define USER_MOTOR1_FREQ_MAX_Hz (600.0f) // Hz
// V/f Profile Parameters for open-loop in build level 2
// the low frequency f_low of V/f profile, in Hz,
// set to 10% of rated motor frequency
#define USER_MOTOR1_FREQ_LOW_Hz (5.0f) // Hz
// the high frequency f_high of V/f profile, in Hz,
// set to 100% of rated motor frequency
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0f) // Hz
// the minimum voltage V_min of V/f profile,
// the value is suggested to set to 15% of rated motor voltage, in Volt.
#define USER_MOTOR1_VOLT_MIN_V (1.0f) // Volt
// the maximum voltage, V_max of V/f profile,
// the value is suggested to set to 100% of rated motor voltage, in Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0f) // Volt
// the current increasing delta value for running the motor with force open-loop , in A
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
// the current increasing delta value for motor rotor alignment, in A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
// the current for running the motor with force open-loop, in A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
// the current for motor rotor alignment, in A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.5f) // A
// the current for start to run motor with closed-loop when the speed is
// lower than the startup setting speed, in A
#define USER_MOTOR1_STARTUP_CURRENT_A (3.5f) // A
// the current for running the motor with torque control mode when start the motor, in A.
#define USER_MOTOR1_TORQUE_CURRENT_A (3.0f) // A
// the over-current threshold for the motor, in A.
// The value can be set to 50%~300% of the rated current of the motor
#define USER_MOTOR1_OVER_CURRENT_A (7.5f) // A
// the speed threshold for start the motor, in Hz
#define USER_MOTOR1_SPEED_START_Hz (35.0f) // Hz
// the speed threshold for running the motor with force open-loop, in Hz
#define USER_MOTOR1_SPEED_FORCE_Hz (30.0f) // Hz
// the acceleration for start the motor, in Hz/s.
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
// the maximum acceleration for running the motor, in Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
// the speed threshold for running the motor with flying start mode, in Hz
#define USER_MOTOR1_SPEED_FS_Hz (3.0f) // Hz
// the current for motor brake, in A.
#define USER_MOTOR1_BRAKE_CURRENT_A (1.0f) // A
// the duration time for motor brake, in 5ms time base
#define USER_MOTOR1_BRAKE_TIME_DELAY (12000U) // 60s/5ms
#if defined(MOTOR1_FAST)
// the slope coefficient for Ld compensation, (0.0f~0.5f)
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
// the slope coefficient for Lq compensation, (0.0f~0.5f)
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
// the minimum inductance coefficient for inductance compensation, (0.0f~0.5f)
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
// the near zero speed limit for electrical frequency estimation, Hz.
// The flux integrator uses this limit to regulate flux integration
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
// the waiting time without enabling the Rs online clibrartion, in 5ms
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
// the the duration time with enabling the Rs online clibrartion, in 5ms
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
#endif // MOTOR1_FAST
#if defined(MOTOR1_ESMO)
// Only for eSMO
// PLL (phase-locked loop)
// PID proportional, integral, derivative
// the sliding mode control maximum gain that equals to Ke*fmax/vscale/sqrt(2)*factor(max),
// tune the factor(0.1~10) based the test status
#define USER_MOTOR1_KSLIDE_MAX (0.50f)
// the sliding mode control minimum gain that equals to Ke*fmin/vscale/sqrt(2)*factor(min),
// tune the factor(0.1~10) based the test status
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
// the PLL control maximum gain that equals to 2*(Damping factor)*(Natural frequency)*factor(max),
// tune the factor(0.1~10) based the test status
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
// the PLL control minimum gain that equals to 2*(Damping factor)*(Natural frequency)*factor(min),
// tune the factor(0.1~5) based the test status
#define USER_MOTOR1_PLL_KP_MIN (1.50f)
// the PLL control gain adjusting coefficient that
// equals to (Kpll_max-Kpll_min)/fscale/fmax
#define USER_MOTOR1_PLL_KP_SF (5.0f)
// the phase-locked loop control integration gain that
// equals to (Natural frequency)*(Natural frequency)*Ts
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
// the threshold of the estimated current error for sliding mode control that
// equals to (motor maximum BEMF voltage / rated voltage), (0.3~0.5 )
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
// the parameters of the low-pass filter for the estimated back EMF,
// Kslf equal to (fc*2*PI()*Ts), (0.5~2.5)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f)
// the offset coefficient to compensate the error by using
// the low-pass filter that equals to 1.0, or [0.5~1.5]
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
// the cut-off frequency of the low-pass filter to calculate the estimated speed, (100~400)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
#endif // MOTOR1_ESMO
#if defined(MOTOR1_ENC)
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (1000) // lines
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668) // lines
#endif // MOTOR1_ENC
#if defined(MOTOR1_HALL)
// Only for hall sensor
#define USER_MOTOR1_HALL_DELTA_rad (MATH_TWO_PI / 36.0f) // rad
#endif // MOTOR1_HALL
#if defined(MOTOR1_ISBLDC)
// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (3.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (5)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
#endif // MOTOR1_ISBLDC
// Current and Speed PI Regulators Tuning Coefficient
// the low speed threshold for adjusting the Kp and Ki of the speed PI regulator
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f) // 10%~50% of the rated speed
// the high speed threshold for adjusting the Kp and Ki of the speed PI regulator
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f) // 50%~100% of the rated speed
// the gain coefficient to adjust the Kp of the speed PI regulator for startup
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
// the gain coefficient to adjust the Ki of the speed PI regulator for startup
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
// the low gain coefficient to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
// the low gain coefficient to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
// the high gain coefficient to adjust the Kp of the speed PI regulator
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
// the high gain coefficient to adjust the Ki of the speed PI regulator
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
// the low current threshold to adjust the Kp and Ki of the q-axis current PI regulator
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f) // 10%~50% of the rated current
// the high current threshold to adjust the Kp and Ki of the q-axis current PI regulator
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f) // 50%~100% of the rated current
// the gain coefficient to adjust the Kp of the q-axis current PI regulator for startup
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
// the gain coefficient to adjust the Ki of the q-axis current PI regulator for startup
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
// the low gain coefficient to adjust the Kp of the q-axis current PI regulator
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
// the low gain coefficient to adjust the Ki of the q-axis current PI regulator
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
// the high gain coefficient to adjust the Kp of the d-axis current PI regulator
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
// the high gain coefficient to adjust the Ki of the d-axis current PI regulator
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
// the gain coefficient to adjust the Kp of the q-axis current PI regulator
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
// the gain coefficient to adjust the Ki of the q-axis current PI regulator
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//-----------------------------------------------------------------------------
#elif (USER_MOTOR1 == Estun_EMJ_04APB22)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (0.0f)
#define USER_MOTOR1_Rs_Ohm (2.62655902f)
#define USER_MOTOR1_Ls_d_H (0.00860825367f)
#define USER_MOTOR1_Ls_q_H (0.00860825367f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.377903223f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500)
#define USER_MOTOR1_INERTIA_Kgm2 (3.100017e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (1.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (4.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Tool_Makita_GFD01)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (NULL)
// 15kHz
//#define USER_MOTOR1_Rs_Ohm (0.0253030714f)
//#define USER_MOTOR1_Ls_d_H (2.89102645e-05f)
//#define USER_MOTOR1_Ls_q_H (2.89102645e-05f)
//#define USER_MOTOR1_RATED_FLUX_VpHz (0.0242515542f)
//// 25kHz
//#define USER_MOTOR1_Rs_Ohm (0.0250713862f)
//#define USER_MOTOR1_Ls_d_H (2.84397684e-05f)
//#define USER_MOTOR1_Ls_q_H (2.84397684e-05f)
//#define USER_MOTOR1_RATED_FLUX_VpHz (0.0242347941f)
// 20kHz
#define USER_MOTOR1_Rs_Ohm (0.0379858911f)
#define USER_MOTOR1_Ls_d_H (0.000106012929f)
#define USER_MOTOR1_Ls_q_H (0.000106012929f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0138726495f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (5.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.5f)
#define USER_MOTOR1_MAX_CURRENT_A (25.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (100.0f)
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-06)
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (36.0f) // V
#define USER_MOTOR1_FREQ_MIN_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (1500.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (1500.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (3.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (36.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (8.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (5.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (26.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (35.0f) // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz (30.0f) // Hz
#define USER_MOTOR1_ACCEL_START_Hzps (50.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (200.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f) // Hz
#define USER_MOTOR1_BRAKE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_BRAKE_TIME_DELAY (12000U) // 60s/5ms
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (1000) // lines
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668) // lines
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.50f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (1.50f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (3.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (5)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Controller Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//-----------------------------------------------------------------------------------------
#elif (USER_MOTOR1 == CHMotor_WM_Test)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (8)
#define USER_MOTOR1_Rr_Ohm (0.0f)
#define USER_MOTOR1_Rs_Ohm (3.56442809f)
#define USER_MOTOR1_Ls_d_H (0.0478876233f)
#define USER_MOTOR1_Ls_q_H (0.0478876233f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.377903223f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500)
#define USER_MOTOR1_INERTIA_Kgm2 (3.100017e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (2.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (4.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Marathon_N56PNRA10102)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (3)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (2.21783066f)
#define USER_MOTOR1_Ls_d_H (0.0271135084f)
#define USER_MOTOR1_Ls_q_H (0.0271135084f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.575999975f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500)
#define USER_MOTOR1_INERTIA_Kgm2 (6.300017e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f) // V
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (2.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (4.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (30.0f) // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f) // Hz
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 1.5f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 2.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 1.0f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 200.0f
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (12000U) // 1min/60s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (12000U) //1min/60s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Tamagawa_TS4606N8302)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.214345068f)
#define USER_MOTOR1_Ls_d_H (0.000486983976f)
#define USER_MOTOR1_Ls_q_H (0.000486983976f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0441591553f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (2.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A (8.5f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (60.0f)
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-06)
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (3.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0f) // Volt
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0f) // V
#define USER_MOTOR1_FREQ_MIN_Hz (9.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (600.0f) // Hz
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.5f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (3.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (3.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (7.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (5.0f) // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz (5.0f) // Hz
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f) // Hz
#define USER_MOTOR1_BRAKE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_BRAKE_TIME_DELAY (12000U) // 60s/5ms
// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (1000) // lines
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668) // lines
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.50f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (1.50f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (3.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (5)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// Resolver related parameters defines
#define USER_M1_PEXC_OFFSET_SET (1574.6f)
#define USER_M1_PEXC_SCALE_SF_SET (0.5f / 2048.0f)
#define USER_M1_PSIN_OFFSET_SET (1849.927f)
#define USER_M1_PCOS_OFFSET_SET (1849.2431f)
#define USER_M1_PSIN_SCALE_SF_SET (0.0015059217f)
#define USER_M1_PCOS_SCALE_SF_SET (0.0015136319f)
// Decouple the main PWM frequency and resolver frequency
// Note that the ratio between PWM frequency resolver sampling frequency
// have to be integer value
#define USER_MOTOR1_RESOLVER_EXCITE_FREQUENCY (10.0f) // 10.0kHz
#define USER_MOTOR1_RESOLVER_SAMPLE_FREQUENCY (20.0f)
#define USER_MOTOR1_RESOLVER_EXC_PWM_FREQUENCY \
(USER_MOTOR1_RESOLVER_EXCITE_FREQUENCY * 20.0) // 200kHz
// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1
#define USER_MOTOR1_RESOLVER_ADC_PWM_TICKS \
((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_RESOLVER_SAMPLE_FREQUENCY) * \
500.0f - 1.0f)
#define USER_MOTOR1_RESOLVER_DAC_PWM_TICKS \
((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_RESOLVER_EXC_PWM_FREQUENCY) * \
1000.0f - 1.0f)
#define USER_MOTOR1_RESOLVER_PLL_OMEGA (200.0f * MATH_TWO_PI)
#define USER_MOTOR1_RESOLVER_PLL_ZETA (0.7f)
#define USER_MOTOR1_RESOLVER_PLL_COMP_GAIN (-4.6585E-5f)
#define USER_MOTOR1_RESOLVER_PLL_LPF_BW (100.0f) // Unit: Hz
// Bias between Resolver zero and Id
#define USER_MOTOR1_RESOLVER_POS_BIAS (-1.05097198f) // Unit: rad
#define USER_MOTOR1_RESOLVER_THETA_BIAS_RAD (-1.05097198f) // Unit: rad
#define USER_MOTOR1_RESOLVER_LPF_FC_HZ (100.0f) // Unit: Hz
#define USER_MOTOR1_RESOLVER_SCOS_LPF_HZ (5000.0f) // Unit: Hz
#define USER_MOTOR1_RESOLVER_CALIB_LPF_HZ (200.0f) // unit: Hz
// sin/cos encoder related parameters defines
#define USER_M1_PSINAB_OFFSET_SET (1928.65234f)
#define USER_M1_PCOSAB_OFFSET_SET (1866.88171f)
#define USER_M1_PSINAB_SCALE_SF_SET (0.5f / 2048.0f)
#define USER_M1_PCOSAB_SCALE_SF_SET (0.5f / 2048.0f)
#define USER_M1_PSINCD_OFFSET_SET (1928.65234f)
#define USER_M1_PCOSCD_OFFSET_SET (1866.88171f)
#define USER_M1_PSINCD_SCALE_SF_SET (0.5f / 2048.0f)
#define USER_M1_PCOSCD_SCALE_SF_SET (0.5f / 2048.0f)
#define USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY (20.0f)
#define USER_MOTOR1_PSINCOS_PULSE_LINES (2048.0f)
// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1
#define USER_MOTOR1_PSINCOS_ADC_PWM_TICKS \
((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY) * \
500.0f - 1.0f)
#define USER_MOTOR1_PSINCOS_PLL_OMEGA (200.0f * MATH_TWO_PI)
#define USER_MOTOR1_PSINCOS_PLL_ZETA (0.7f)
#define USER_MOTOR1_PSINCOS_PLL_COMP_GAIN (-4.6585E-5f)
#define USER_MOTOR1_PSINCOS_PLL_LPF_BW (100.0f) // Unit: Hz
// Bias between Resolver zero and Id
#define USER_MOTOR1_PSINCOSAB_POS_BIAS (-1.05097198f) // Unit: rad
#define USER_MOTOR1_PSINCOSCD_POS_BIAS (-1.05097198f) // Unit: rad
#define USER_MOTOR1_PSINCOS_THETA_BIAS_RAD (2.33111715f) // Unit: rad
#define USER_MOTOR1_PSINCOS_LPF_FC_HZ (100.0f) // Unit: Hz
#define USER_MOTOR1_PSINCOS_SCOS_LPF_HZ (1000.0f) // unit: Hz
#define USER_MOTOR1_PSINCOS_CALIB_LPF_HZ (200.0f) // unit: Hz
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == AKM21G_CK9NGE00)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (3)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.724585772f)
#define USER_MOTOR1_Ls_d_H (0.00115217688f)
#define USER_MOTOR1_Ls_q_H (0.00115217688f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.105363153f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (2.0f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0f)
#define USER_MOTOR1_MAX_CURRENT_A (8.5f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (60.0f)
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-06)
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (3.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0f) // Volt
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0f) // V
#define USER_MOTOR1_FREQ_MIN_Hz (9.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (600.0f) // Hz
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.5f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (3.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (3.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (7.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (5.0f) // Hz
#define USER_MOTOR1_SPEED_FORCE_Hz (5.0f) // Hz
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f) // Hz
#define USER_MOTOR1_BRAKE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_BRAKE_TIME_DELAY (12000U) // 60s/5ms
// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (1000) // lines
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668) // lines
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.50f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (1.50f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// Only for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (3.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (5)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// sin/cos encoder related parameters defines
#define USER_M1_PSINAB_OFFSET_SET (1928.65234f)
#define USER_M1_PCOSAB_OFFSET_SET (1866.88171f)
#define USER_M1_PSINAB_SCALE_SF_SET (0.25f / 2048.0f)
#define USER_M1_PCOSAB_SCALE_SF_SET (0.25f / 2048.0f)
#define USER_M1_PSINCD_OFFSET_SET (1928.65234f)
#define USER_M1_PCOSCD_OFFSET_SET (1866.88171f)
#define USER_M1_PSINCD_SCALE_SF_SET (0.25f / 2048.0f)
#define USER_M1_PCOSCD_SCALE_SF_SET (0.25f / 2048.0f)
#define USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY (20.0f)
#define USER_MOTOR1_PSINCOS_PULSE_LINES (2048.0f)
#define USER_MOTOR1_PSINCOS_LINES_MAX (USER_MOTOR1_PSINCOS_PULSE_LINES * 4.0f - 1.0f)
// Change to SYSTEM_FREQUENCY / 1 after changing EPWM Clock Divide Select to /1
#define USER_MOTOR1_PSINCOS_ADC_PWM_TICKS \
((USER_SYSTEM_FREQ_MHz / USER_MOTOR1_PSINCOS_SAMPLE_FREQUENCY) * \
500.0f - 1.0f)
#define USER_MOTOR1_PSINCOS_PLL_OMEGA (200.0f * MATH_TWO_PI)
#define USER_MOTOR1_PSINCOS_PLL_ZETA (0.7f)
#define USER_MOTOR1_PSINCOS_PLL_COMP_GAIN (-4.6585E-5f)
#define USER_MOTOR1_PSINCOS_PLL_LPF_BW (100.0f) // Unit: Hz
// Bias between Resolver zero and Id
#define USER_MOTOR1_PSINCOSAB_POS_BIAS (-1.05097198f) // Unit: rad
#define USER_MOTOR1_PSINCOSCD_POS_BIAS (-1.05097198f) // Unit: rad
#define USER_MOTOR1_PSINCOS_THETA_BIAS_RAD (2.33111715f) // Unit: rad
#define USER_MOTOR1_PSINCOS_LPF_FC_HZ (100.0f) // Unit: Hz
#define USER_MOTOR1_PSINCOS_SCOS_LPF_HZ (5000.0f) // unit: Hz
#define USER_MOTOR1_PSINCOS_CALIB_LPF_HZ (200.0f) // unit: Hz
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Anaheim_BLY172S_24V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.399648607f)
#define USER_MOTOR1_Ls_d_H (0.000585399743f)
#define USER_MOTOR1_Ls_q_H (0.000585399743f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0343291275f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.5f)
#define USER_MOTOR1_MAX_CURRENT_A (7.5f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS (2000)
#define USER_MOTOR1_INERTIA_Kgm2 (4.80185e-06)
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (9.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (600.0f) // Hz
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (2.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (3.5f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (5.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (4.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (9.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (15.0f)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f)
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.55f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.75f)
#define USER_MOTOR1_PLL_KP_SF (20.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (3.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (5)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration with FAST
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Baldor_BSM90N175)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (0.636681914f)
#define USER_MOTOR1_Ls_d_H (0.00240929401f)
#define USER_MOTOR1_Ls_q_H (0.00240929401f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.635046303f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.5f) // A - 10~30% of rated current of the motor
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.5f) // A - 10~30% of rated current of the motor, just enough to enable rotation
#define USER_MOTOR1_MAX_CURRENT_A (9.5f) // A - 30~150% of rated current of the motor
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0f) // Hz - 10~30% of rated frequency of the motor
#define USER_MOTOR1_NUM_ENC_SLOTS (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2 (6.327e-4)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (10.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (3.0f) //
#define USER_MOTOR1_STARTUP_CURRENT_A (5.0f) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (9.5f) //
#define USER_MOTOR1_SPEED_START_Hz (10.0f) //
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f) //
#define USER_MOTOR1_ACCEL_START_Hzps (5.0f) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (10.0f) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == QXA_A091ZE190A)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (3)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (0.771440625f)
#define USER_MOTOR1_Ls_d_H (0.0132690407f)
#define USER_MOTOR1_Ls_q_H (0.0132690407f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.50693661f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (2.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A (-2.0f)
#define USER_MOTOR1_MAX_CURRENT_A (8.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0f)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500.0f)
#define USER_MOTOR1_INERTIA_Kgm2 (3.100017e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (10.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (3.0f) //
#define USER_MOTOR1_STARTUP_CURRENT_A (5.0f) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (9.5f) //
#define USER_MOTOR1_SPEED_START_Hz (10.0f) //
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f) //
#define USER_MOTOR1_ACCEL_START_Hzps (5.0f) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (10.0f) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == GMCC_KSK89D53U)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (3)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (1.175)
#define USER_MOTOR1_Ls_d_H (0.0076)
#define USER_MOTOR1_Ls_q_H (0.0109)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.5415546)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (3.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A (8.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2 (0.00018)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (10.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (3.0f) //
#define USER_MOTOR1_STARTUP_CURRENT_A (5.0f) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (9.5f) //
#define USER_MOTOR1_SPEED_START_Hz (10.0f) //
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f) //
#define USER_MOTOR1_ACCEL_START_Hzps (5.0f) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (10.0f) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
//------------------------------------------------------------------------------
#elif (USER_MOTOR1 == Drone_BLK2BLADE)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (6)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.0614009798f)
#define USER_MOTOR1_Ls_d_H (1.29998243e-05f)
#define USER_MOTOR1_Ls_q_H (1.29998243e-05f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.00359785813f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (4.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.0)
//! \brief Defines the maximum current at the AD converter
// Gain = 12, Rin=2.49k, Rdac=27.4k
#define USER_MOTOR1_MAX_CURRENT_A (20.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (120.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (1000)
#define USER_MOTOR1_INERTIA_Kgm2 (3.06154e-04)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (2000.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (2.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (2.0) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (3.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (2.0) // A
//! \brief Defines the maximum current at the AD converter
// Gain = 12, Rin=2.49k, Rdac=27.4k
#define USER_MOTOR1_OVER_CURRENT_A (22.25) //
#define USER_MOTOR1_SPEED_START_Hz (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f)
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.55f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.75f)
#define USER_MOTOR1_PLL_KP_SF (20.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Drone_DJI920KV)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (7)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.115332372f)
#define USER_MOTOR1_Ls_d_H (1.76480826e-05f)
#define USER_MOTOR1_Ls_q_H (1.76480826e-05f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.00605002558f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (3.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (-2.5)
#define USER_MOTOR1_MAX_CURRENT_A (20.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (120.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (1000) // N/A
#define USER_MOTOR1_INERTIA_Kgm2 (5.06154e-06)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (12.0)
#define USER_MOTOR1_FREQ_MIN_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (2000.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (1200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (3.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (12.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (3.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (2.0) // A
#define USER_MOTOR1_OVER_CURRENT_A (16.5) //
#define USER_MOTOR1_SPEED_START_Hz (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps (100.0f)
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder, no available on this motor
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.55f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.75f)
#define USER_MOTOR1_PLL_KP_SF (20.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Drone_SF_Black)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (7)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.0276225284)
#define USER_MOTOR1_Ls_d_H (1.25800107e-05)
#define USER_MOTOR1_Ls_q_H (1.25800107e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.02469966)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (6.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A (25.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (80.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (1000)
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-05)
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (2000.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (2.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0) // Volt
#define USER_MOTOR1_STARTUP_CURRENT_A (3.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (2.0) // A
#define USER_MOTOR1_OVER_CURRENT_A (25.0) //
#define USER_MOTOR1_SPEED_START_Hz (20.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps (100.0f)
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == AirFan_MFA0500_24V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.150690928)
#define USER_MOTOR1_Ls_d_H (2.34591134e-05)
#define USER_MOTOR1_Ls_q_H (2.34591134e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.00798716862f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (4.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A (16.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (200.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (1000)
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-05)
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz (9.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (1500.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (1000.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (2.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (14.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (2.5) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (4.5) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (2.0) // A
#define USER_MOTOR1_OVER_CURRENT_A (16.5) // A
#define USER_MOTOR1_SPEED_START_Hz (120.0)
#define USER_MOTOR1_SPEED_FORCE_Hz (100.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0)
#define USER_MOTOR1_SPEED_FS_Hz (3.0)
// only for encoder, N/A
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.25f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.75f)
#define USER_MOTOR1_PLL_KP_SF (5.00f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.25f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-NBLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0)
#define USER_MOTOR1_RAMP_END_Hz (30.0)
#define USER_MOTOR1_RAMP_DELAY (1)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Nedic_EPSMS037_D12V)
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (0.0412785485)
#define USER_MOTOR1_Ls_d_H (0.000121561985)
#define USER_MOTOR1_Ls_q_H (0.000121561985)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0572981499)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (5.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (-4.0)
#define USER_MOTOR1_MAX_CURRENT_A (12.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (1000.0)
#define USER_MOTOR1_INERTIA_Kgm2 (0.015)
#define USER_MOTOR1_RATED_VOLTAGE_V (12.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (1500.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (1000.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (2.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (12.0) // Volt
#define USER_MOTOR1_STARTUP_CURRENT_A (2.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.5) // A
#define USER_MOTOR1_OVER_CURRENT_A (12.5) //
#define USER_MOTOR1_SPEED_START_Hz (10.0) //
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (100.0) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == ziehlab_Fan160hv)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (24.0002041)
#define USER_MOTOR1_Ls_d_H (0.125637174)
#define USER_MOTOR1_Ls_q_H (0.125637174)
#define USER_MOTOR1_RATED_FLUX_VpHz (1.42636561)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.25)
#define USER_MOTOR1_IND_EST_CURRENT_A (-0.5)
#define USER_MOTOR1_MAX_CURRENT_A (3.75)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (15.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2 (27.5e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.0) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (0.0) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (2.0) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.5) // A
#define USER_MOTOR1_OVER_CURRENT_A (3.0) // A
#define USER_MOTOR1_SPEED_START_Hz (20.0) //
#define USER_MOTOR1_SPEED_FORCE_Hz (30.0) //
#define USER_MOTOR1_ACCEL_START_Hzps (10.0) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (10.0) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.55f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.75f)
#define USER_MOTOR1_PLL_KP_SF (20.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == embpast_Fan160hv)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (8.76899433)
#define USER_MOTOR1_Ls_d_H (0.0284830406)
#define USER_MOTOR1_Ls_q_H (0.0284830406)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.280854076)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.25)
#define USER_MOTOR1_IND_EST_CURRENT_A (-0.30)
#define USER_MOTOR1_MAX_CURRENT_A (3.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (2500.0)
#define USER_MOTOR1_INERTIA_Kgm2 (27.5e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.0) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (0.0) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (2.0) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0) // A
#define USER_MOTOR1_OVER_CURRENT_A (6.25) // A
#define USER_MOTOR1_SPEED_START_Hz (20.0) //
#define USER_MOTOR1_SPEED_FORCE_Hz (30.0) //
#define USER_MOTOR1_ACCEL_START_Hzps (10.0) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.55f)
#define USER_MOTOR1_KSLIDE_MIN (0.10f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.75f)
#define USER_MOTOR1_PLL_KP_SF (20.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Anaheim_BLWS235D)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (5.44400978)
#define USER_MOTOR1_Ls_d_H (0.0224932302)
#define USER_MOTOR1_Ls_q_H (0.0224932302)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.560590863)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0)
#define USER_MOTOR1_MAX_CURRENT_A (2.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0)
#define USER_MOTOR1_INERTIA_Kgm2 (0.0000230206204) // 0.003261 oz-in-sec2
#define USER_MOTOR1_RATED_VOLTAGE_V (160.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (200.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (160.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (1.5) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0) // A
#define USER_MOTOR1_OVER_CURRENT_A (2.0) //
#define USER_MOTOR1_SPEED_START_Hz (30.0)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (100.0) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
#if defined(MOTOR1_FAST)
// Only for FAST
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
#endif // MOTOR1_FAST
#if defined(MOTOR1_ESMO)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
#endif // MOTOR1_ESMO
#if defined(MOTOR1_ENC)
// Only for encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668) // lines
#endif // MOTOR1_ENC
#if defined(MOTOR1_HALL)
// Only for hall sensor
#define USER_MOTOR1_HALL_DELTA_rad (MATH_TWO_PI / 36.0f) // rad
#endif // MOTOR1_HALL
#if defined(MOTOR1_ISBLDC)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
#endif // MOTOR1_ISBLDC
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Anaheim_BLZ362S)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.562865257f)
#define USER_MOTOR1_Ls_d_H (0.00117779721f)
#define USER_MOTOR1_Ls_q_H (0.00117779721f)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.276417136f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (2.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.5)
#define USER_MOTOR1_MAX_CURRENT_A (7.5)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_INERTIA_Kgm2 (0.0000230206204) // 0.003261 oz-in-sec2
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (160.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (200.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (160.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (2.0) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (4.5) //
#define USER_MOTOR1_TORQUE_CURRENT_A (0.5) // A
#define USER_MOTOR1_OVER_CURRENT_A (6.5) //
#define USER_MOTOR1_SPEED_START_Hz (30.0)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0) //
#define USER_MOTOR1_ACCEL_MAX_Hzps (100.0) //
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.50f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_MAX (10.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Regal_Beloit_5SME39DL0756)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (3)
#define USER_MOTOR1_Rr_Ohm (0.0)
#define USER_MOTOR1_Rs_Ohm (4.581007)
#define USER_MOTOR1_Ls_d_H (0.03727356)
#define USER_MOTOR1_Ls_q_H (0.03727356)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.6589699)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (-1.0)
#define USER_MOTOR1_MAX_CURRENT_A (2.6)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Drone9616_110KV_48V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (7)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.0282184016)
#define USER_MOTOR1_Ls_d_H (1.39398744e-05)
#define USER_MOTOR1_Ls_q_H (1.39398744e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0159354247)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (3.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.0)
#define USER_MOTOR1_MAX_CURRENT_A (50.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (60.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_INERTIA_Kgm2 (4.80185e-06)
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (48.0)
#define USER_MOTOR1_FREQ_MIN_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (1200.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (2.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (48.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.5) //
#define USER_MOTOR1_STARTUP_CURRENT_A (5.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (2.0) // A
#define USER_MOTOR1_OVER_CURRENT_A (75.0) //
#define USER_MOTOR1_SPEED_START_Hz (75.0)
#define USER_MOTOR1_SPEED_FORCE_Hz (60.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps (50.0)
#define USER_MOTOR1_SPEED_FS_Hz (3.0)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (1.00f) // 2.0f
#define USER_MOTOR1_KSLIDE_MIN (0.05f)
#define USER_MOTOR1_PLL_KP_MAX (15.0f)
#define USER_MOTOR1_PLL_KP_MIN (2.0f)
#define USER_MOTOR1_PLL_KP_SF (20.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.05f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f) // 1.0f
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f) // 2.5f
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f) // 100.0f
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Anaheim_BLY341S_48V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.463800967)
#define USER_MOTOR1_Ls_d_H (0.00114538975)
#define USER_MOTOR1_Ls_q_H (0.00114538975)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0978558362)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (2.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-2.0)
#define USER_MOTOR1_MAX_CURRENT_A (20.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (300.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (4.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0) // Volt
#elif (USER_MOTOR1 == Anaheim_BLY341S_Y24V)
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.133211181)
#define USER_MOTOR1_Ls_d_H (0.000275031634)
#define USER_MOTOR1_Ls_q_H (0.000275031634)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0514687076)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (4.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (-4.0)
#define USER_MOTOR1_MAX_CURRENT_A (12.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (20.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_INERTIA_Kgm2 (3.99683e-05) // 0.00566 oz-in-sec2
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (300.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (4.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0) // Volt
#define USER_MOTOR1_STARTUP_CURRENT_A (3.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.5) // A
#define USER_MOTOR1_OVER_CURRENT_A (6.0) //
#define USER_MOTOR1_SPEED_START_Hz (10.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0)
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == Anaheim_BLY341S_D24V)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (4)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.0544644073)
#define USER_MOTOR1_Ls_d_H (9.58044038e-05)
#define USER_MOTOR1_Ls_q_H (9.58044038e-05)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0544644073)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (4.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (-3.5)
#define USER_MOTOR1_MAX_CURRENT_A (8.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_INERTIA_Kgm2 (3.99683e-05) // 0.00566 oz-in-sec2
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (300.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (4.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0) // Volt
#define USER_MOTOR1_STARTUP_CURRENT_A (3.0) //
#define USER_MOTOR1_TORQUE_CURRENT_A (1.5) // A
#define USER_MOTOR1_OVER_CURRENT_A (8.5) //
#define USER_MOTOR1_SPEED_START_Hz (10.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0)
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == EMSYNERGY_LVACI)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (1.05)
#define USER_MOTOR1_Rs_Ohm (1.79)
#define USER_MOTOR1_Ls_d_H (0.00681)
#define USER_MOTOR1_Ls_q_H (0.00681)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.8165f*14.7f*1.4142f/50.0f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (0.91f*1.4142f)
#define USER_MOTOR1_RES_EST_CURRENT_A (0.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A (NULL)
#define USER_MOTOR1_MAX_CURRENT_A (2.50)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (10.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_INERTIA_Kgm2 (7.06154e-06)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (24.0)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.5f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (1.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (5.0) // A
#define USER_MOTOR1_SPEED_START_Hz (30.0)
#define USER_MOTOR1_SPEED_FORCE_Hz (25.0)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0)
#define USER_MOTOR1_SPEED_FS_Hz (3.0)
// only for encoder, N/A
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO, N/A
#define USER_MOTOR1_KSLIDE_MAX (1.50f)
#define USER_MOTOR1_KSLIDE_MIN (0.15f)
#define USER_MOTOR1_PLL_KP_MAX (7.25f)
#define USER_MOTOR1_PLL_KP_MIN (1.25f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (2.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC, N/A
#define USER_MOTOR1_RAMP_START_Hz (5.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (1)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
#elif (USER_MOTOR1 == Marathon_5K33GN2A)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (5.508003)
#define USER_MOTOR1_Rs_Ohm (10.71121)
#define USER_MOTOR1_Ls_d_H (0.05296588)
#define USER_MOTOR1_Ls_q_H (0.05296588)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.8165*220.0/60.0)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (1.378)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (NULL)
#define USER_MOTOR1_MAX_CURRENT_A (3.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (5.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0) // Volt
#elif (USER_MOTOR1 == Marathon_56H17T2011A)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (5.159403)
#define USER_MOTOR1_Rs_Ohm (7.924815)
#define USER_MOTOR1_Ls_d_H (0.03904648)
#define USER_MOTOR1_Ls_q_H (0.03904648)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.8*0.8165*230.0/60.0)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (0.9941965)
#define USER_MOTOR1_RES_EST_CURRENT_A (0.5)
#define USER_MOTOR1_IND_EST_CURRENT_A (NULL)
#define USER_MOTOR1_MAX_CURRENT_A (2.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (5.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
#define USER_MOTOR1_INERTIA_Kgm2 (6.300017e-5)
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (200.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0f) // Hz
#define USER_MOTOR1_FREQ_MIN_Hz (5.0) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (400.0) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (200.0) // Hz
#define USER_MOTOR1_VOLT_MIN_V (20.0) // Volt
#define USER_MOTOR1_VOLT_MAX_V (200.0) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.0f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (2.5f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (4.5f) // A
#define USER_MOTOR1_SPEED_START_Hz (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (20.0f)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f) // Hz/s
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f) // Hz/s
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
#elif (USER_MOTOR1 == Dayton_3N352C)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (2.428799)
#define USER_MOTOR1_Rs_Ohm (2.863202)
#define USER_MOTOR1_Ls_d_H (0.02391323)
#define USER_MOTOR1_Ls_q_H (0.02391323)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.8165*230.0/60.0)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (1.0)
#define USER_MOTOR1_IND_EST_CURRENT_A (NULL)
#define USER_MOTOR1_MAX_CURRENT_A (3.0)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (5.0)
#define USER_MOTOR1_NUM_ENC_SLOTS (NULL)
//------------------------------------------------------------------
#elif (USER_MOTOR1 == my_pm_motor_1)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_PM
#define USER_MOTOR1_NUM_POLE_PAIRS (3)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (0.007)
#define USER_MOTOR1_Ls_d_H (0.000021)
#define USER_MOTOR1_Ls_q_H (0.000021)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.0270898938)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (10.0f) //電機額定電流的10%~30%(A)
#define USER_MOTOR1_IND_EST_CURRENT_A (-10.0f) //電機額定電流的10%~30%, 剛好能驅動(A)
#define USER_MOTOR1_MAX_CURRENT_A (150.0f) //電機最大電流, 額定電流的50%~150%(A)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (40.0f) //電機額定轉速的10%~30%(Hz)
#define DC_LINK_LIMIT (150.0f) //總電流限制
// Number of lines on the motor's quadrature encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (1000)
#define USER_MOTOR1_INERTIA_Kgm2 (0.00014) //轉子轉動慣量, 1.4Kgcm2=0.00014Kgm2
// Ls compensation coefficient
#define USER_MOTOR1_Ls_d_COMP_COEF (0.15f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_q_COMP_COEF (0.35f) // 0.0f~0.5f
#define USER_MOTOR1_Ls_MIN_NUM_COEF (0.55f) // 0.5f~1.0f
#define USER_MOTOR1_FREQ_NEARZEROLIMIT_Hz (5.0f) // Hz
#define USER_MOTOR1_RATED_VOLTAGE_V (12.0f)
#define USER_MOTOR1_FREQ_MIN_Hz (9.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (250.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (1.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0f) // Volt
#define USER_MOTOR1_FORCE_DELTA_A (0.05f) // A
#define USER_MOTOR1_ALIGN_DELTA_A (0.01f) // A
#define USER_MOTOR1_FLUX_CURRENT_A (0.5f) // A
#define USER_MOTOR1_ALIGN_CURRENT_A (1.5f) // A
#define USER_MOTOR1_STARTUP_CURRENT_A (10.0f) // A
#define USER_MOTOR1_TORQUE_CURRENT_A (2.0f) // A
#define USER_MOTOR1_OVER_CURRENT_A (180.0f) // A
#define USER_MOTOR1_BRAKE_CURRENT_A (1.0f) // A
#define USER_MOTOR1_BRAKE_TIME_DELAY (12000U) // 60s/5ms
#define USER_MOTOR1_SPEED_START_Hz (30.0f)
#define USER_MOTOR1_SPEED_FORCE_Hz (25.0f)
#define USER_MOTOR1_ACCEL_START_Hzps (10.0f)
#define USER_MOTOR1_ACCEL_MAX_Hzps (20.0f)
#define USER_MOTOR1_SPEED_FS_Hz (3.0f)
// only for encoder
#define USER_MOTOR1_ENC_POS_MAX (USER_MOTOR1_NUM_ENC_SLOTS * 4 - 1)
#define USER_MOTOR1_ENC_POS_OFFSET (668)
// Only for eSMO
#define USER_MOTOR1_KSLIDE_MAX (0.75f) //
#define USER_MOTOR1_KSLIDE_MIN (0.15f)
#define USER_MOTOR1_PLL_KP_MAX (6.75f) //
#define USER_MOTOR1_PLL_KP_MIN (0.75f)
#define USER_MOTOR1_PLL_KP_SF (5.0f)
#define USER_MOTOR1_PLL_KI (2.8125E-06f) // Not used, reserve
#define USER_MOTOR1_BEMF_THRESHOLD (0.5f)
#define USER_MOTOR1_BEMF_KSLF_FC_Hz (1.0f)
#define USER_MOTOR1_THETA_OFFSET_SF (1.0f)
#define USER_MOTOR1_SPEED_LPF_FC_Hz (200.0f)
// for IS-BLDC
#define USER_MOTOR1_RAMP_START_Hz (3.0f)
#define USER_MOTOR1_RAMP_END_Hz (30.0f)
#define USER_MOTOR1_RAMP_DELAY (5)
#define USER_MOTOR1_ISBLDC_INT_MAX (0.015f)
#define USER_MOTOR1_ISBLDC_INT_MIN (0.010f)
// for Rs online calibration
#define USER_MOTOR1_RSONLINE_WAIT_TIME (60000U) // 5min/300s at 5ms base
#define USER_MOTOR1_RSONLINE_WORK_TIME (24000U) //2min/120s at 5ms base
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#elif (USER_MOTOR1 == my_aci_motor_2)
// Refer to the description of the following parameters for Teknic_M2310PLN04K
#define USER_MOTOR1_TYPE MOTOR_TYPE_INDUCTION
#define USER_MOTOR1_NUM_POLE_PAIRS (2)
#define USER_MOTOR1_Rr_Ohm (NULL)
#define USER_MOTOR1_Rs_Ohm (NULL)
#define USER_MOTOR1_Ls_d_H (NULL)
#define USER_MOTOR1_Ls_q_H (NULL)
#define USER_MOTOR1_RATED_FLUX_VpHz (0.8165f * 230.0f / 60.0f)
#define USER_MOTOR1_MAGNETIZING_CURRENT_A (NULL)
#define USER_MOTOR1_RES_EST_CURRENT_A (0.5f)
#define USER_MOTOR1_IND_EST_CURRENT_A (NULL)
#define USER_MOTOR1_MAX_CURRENT_A (5.0f)
#define USER_MOTOR1_FLUX_EXC_FREQ_Hz (5.0f)
// Number of lines on the motor's quadrature encoder
#define USER_MOTOR1_NUM_ENC_SLOTS (1000)
#define USER_MOTOR1_FREQ_MIN_Hz (5.0f) // Hz
#define USER_MOTOR1_FREQ_MAX_Hz (300.0f) // Hz
#define USER_MOTOR1_FREQ_LOW_Hz (10.0f) // Hz
#define USER_MOTOR1_FREQ_HIGH_Hz (400.0f) // Hz
#define USER_MOTOR1_VOLT_MIN_V (4.0f) // Volt
#define USER_MOTOR1_VOLT_MAX_V (24.0f) // Volt
// Current and Speed PI Regulators Tuning Coefficient
#define USER_MOTOR1_GAIN_SPEED_LOW_Hz (60.0f)
#define USER_MOTOR1_GAIN_SPEED_HIGH_Hz (150.0f)
#define USER_MOTOR1_KP_SPD_START_SF (1.5f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_LOW_SF (2.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_SPD_HIGH_SF (1.0f) // 0.1~100.0
#define USER_MOTOR1_KI_SPD_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_GAIN_IQ_LOW_A (2.0f)
#define USER_MOTOR1_GAIN_IQ_HIGH_A (6.0f)
#define USER_MOTOR1_KP_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_START_SF (1.5f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_LOW_SF (2.0f) // 0.1~10.0
#define USER_MOTOR1_KP_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_IQ_HIGH_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KP_ID_SF (1.0f) // 0.1~10.0
#define USER_MOTOR1_KI_ID_SF (1.0f) // 0.1~10.0
#else
#error No motor type specified
#endif
//! \brief Defines the maximum current slope for Id trajectory
//!
#define USER_M1_MAX_CURRENT_DELTA_A (USER_MOTOR1_RES_EST_CURRENT_A / USER_M1_ISR_FREQ_Hz)
//! \brief Defines the maximum current slope for Id trajectory during power warp mode
//!
#define USER_M1_MAX_CURRENT_DELTA_PW_A (0.3 * USER_MOTOR1_RES_EST_CURRENT_A / USER_M1_ISR_FREQ_Hz)
#ifndef USER_MOTOR1
#error Motor type is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_TYPE
#error The motor type is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_NUM_POLE_PAIRS
#error Number of motor pole pairs is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_Rr_Ohm
#error The rotor resistance is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_Rs_Ohm
#error The stator resistance is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_Ls_d_H
#error The direct stator inductance is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_Ls_q_H
#error The quadrature stator inductance is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_RATED_FLUX_VpHz
#error The rated flux of motor is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_MAGNETIZING_CURRENT_A
#error The magnetizing current is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_RES_EST_CURRENT_A
#error The resistance estimation current is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_IND_EST_CURRENT_A
#error The inductance estimation current is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_MAX_CURRENT_A
#error The maximum current is not defined in user_mtr1.h
#endif
#ifndef USER_MOTOR1_FLUX_EXC_FREQ_Hz
#error The flux excitation frequency is not defined in user_mtr1.h
#endif
#if ((USER_M1_NUM_CURRENT_SENSORS < 2) || (USER_M1_NUM_CURRENT_SENSORS > 3))
#error The number of current sensors must be 2 or 3
#endif
#if (USER_M1_NUM_VOLTAGE_SENSORS != 3)
#error The number of voltage sensors must be 3
#endif
// **************************************************************************
// the Defines
//! \brief Defines the minimum ADC value for pot
#define USER_M1_POT_ADC_MIN (200U) // 0 < the value < 4096
//! \brief Defines the maximum ADC value for pot
#define USER_M1_POT_ADC_MAX (4096U - 200U) // 0 < the value < 4096
//! \brief Defines the speed conversion coefficient for pot
#define USER_M1_POT_SPEED_SF USER_MOTOR1_FREQ_MAX_Hz / ((float32_t)(USER_M1_POT_ADC_MAX - USER_M1_POT_ADC_MIN))
//! \brief Defines the minimum frequency for pot
#define USER_M1_POT_SPEED_MIN_Hz (USER_MOTOR1_FREQ_MAX_Hz * 0.1f)
//! \brief Defines the maximum frequency for pot
#define USER_M1_POT_SPEED_MAX_Hz (USER_MOTOR1_FREQ_MAX_Hz * 0.5f)
//! \brief Defines the pot signal wait delay time
#define USER_M1_WAIT_TIME_SET (500U) // 0.5s/1ms
//! \brief Defines the minimum frequency for pulse input
#define USER_M1_SPEED_CAP_MIN_Hz (15.0f)
//! \brief Defines the maximum frequency for pulse input
#define USER_M1_SPEED_CAP_MAX_Hz (600.0f)
//! \brief Defines the pulse capture wait delay time
#define USER_M1_CAP_WAIT_TIME_SET (200U) // 0.2s/1ms
//! \brief Defines the switch signal wait delay time
#define USER_M1_SWITCH_WAIT_TIME_SET (50U) // 0.05s/1ms
// **************************************************************************
// the typedefs
// **************************************************************************
// the globals
extern USER_Params userParams_M1;
#if defined(BSXL8323RS_REVA) || defined(BSXL8353RS_REVA) || \
defined(BSXL8316RT_REVA)
// Watch window interface to the drv8323/drv8353/DRV8316 SPI
extern DRVIC_VARS_t drvicVars_M1;
#endif // BSXL8323RS_REVA | BSXL8353RS_REVA | BSXL8316RT_REVA
// **************************************************************************
// the functions
//! \param[in] pUserParams The pointer to the user param structure
extern void USER_setMotor1Params(userParams_Handle handle);
//*****************************************************************************
//
// Close the Doxygen group.
//! @}
//
//*****************************************************************************
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
#endif // end of USER_MTR1_H definition