mirror of https://github.com/commaai/body.git
80 lines
5.8 KiB
C
80 lines
5.8 KiB
C
// Define to prevent recursive inclusion
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#ifndef CONFIG_H
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#define CONFIG_H
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#include "stm32f4xx_hal.h"
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#define CORE_FREQ 96000000U // MCU frequency in hertz
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#define I2C_CLOCKSPEED 100 // I2C clock in kHz
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#define PWM_FREQ 16000 // PWM frequency in Hz / is also used for buzzer
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#define DEAD_TIME 48 // PWM deadtime
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#define DELAY_IN_MAIN_LOOP 5 // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
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#define A2BIT_CONV 50 // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
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#define IGNITION_OFF_DELAY 5 // Stop sending CAN messages after 5 seconds
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#define ADC_CONV_CLOCK_CYCLES (ADC_SAMPLETIME_15CYCLES)
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#define ADC_CLOCK_DIV (4)
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#define ADC_TOTAL_CONV_TIME (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV
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#define KNEE_ADDR_OFFSET 0x100U
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#define ANGLE_TO_DEGREES 0.021972656 // Convert 14 bit angle sensor output to degrees
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#define GEARBOX_RATIO_LEFT 19
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#define GEARBOX_RATIO_RIGHT 19
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#define TRQ_LIMIT_LEFT 400 // Torque limit for knee gearbox(left)
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#define TRQ_LIMIT_RIGHT 200 // Torque limit for hip gearbox(right)
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#define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
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#define BAT_CALIB_REAL_VOLTAGE 3192 // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
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#define BAT_CALIB_ADC 1275 // adc-value measured by mainboard (value nr 5 on UART debug output)
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#define BAT_CELLS 7 // battery number of cells. Normal Hoverboard battery: 10s
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#define VOLTS_PER_PERCENT 0.00814 // Volts per percent, for conversion of volts to percentage
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#define BAT_LVL2 (358 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 24%
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#define BAT_LVL1 (351 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 15%
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#define BAT_DEAD (339 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE // 0%
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#define TEMP_FILT_COEF 655 // temperature filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
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#define TEMP_CAL_LOW_ADC 945 // temperature 1: ADC value
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#define TEMP_CAL_LOW_DEG_C 250 // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
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#define TEMP_CAL_HIGH_ADC 949 // temperature 2: ADC value
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#define TEMP_CAL_HIGH_DEG_C 251 // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
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#define TEMP_WARNING_ENABLE 0 // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_WARNING 600 // annoying fast beeps [°C * 10]. Here 60.0 °C
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#define TEMP_POWEROFF_ENABLE 0 // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
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#define TEMP_POWEROFF 650 // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C
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#define COM_CTRL 0 // [-] Commutation Control Type
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#define SIN_CTRL 1 // [-] Sinusoidal Control Type
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#define FOC_CTRL 2 // [-] Field Oriented Control (FOC) Type
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#define OPEN_MODE 0 // [-] OPEN mode
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#define VLT_MODE 1 // [-] VOLTAGE mode
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#define SPD_MODE 2 // [-] SPEED mode
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#define TRQ_MODE 3 // [-] TORQUE mode
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// Enable/Disable Motor
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#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
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#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
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// Control selections
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#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
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#define CTRL_MOD_REQ TRQ_MODE // [-] Control mode request: OPEN_MODE, VLT_MODE (default), SPD_MODE, TRQ_MODE. Note: SPD_MODE and TRQ_MODE are only available for CTRL_FOC!
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#define DIAG_ENA 1 // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
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// Limitation settings
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#define I_MOT_MAX 15 // [A] Maximum single motor current limit
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#define I_DC_MAX 17 // [A] Maximum stage2 DC Link current limit for Commutation and Sinusoidal types (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A)
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#define N_MOT_MAX 100 // [rpm] Maximum motor speed limit // 100 ~= 52m/m
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#define TORQUE_BASE_MAX 1000
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// Field Weakening / Phase Advance
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#define FIELD_WEAK_ENA 0 // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
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#define FIELD_WEAK_MAX 5 // [A] Maximum Field Weakening D axis current (only for FOC). Higher current results in higher maximum speed. Up to 10A has been tested using 10" wheels.
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#define PHASE_ADV_MAX 25 // [deg] Maximum Phase Advance angle (only for SIN). Higher angle results in higher maximum speed.
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#define FIELD_WEAK_HI 1000 // (1000, 1500] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
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#define FIELD_WEAK_LO 750 // ( 500, 1000] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.
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#define SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#endif
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