bobbycar-controller-firmware/config.h

#pragma once

#ifdef PETERS_PLATINE
#define PWM_FREQ            10000     // PWM frequency in Hz
#else
#define PWM_FREQ            16000     // PWM frequency in Hz
#endif
#define DEAD_TIME              48     // PWM deadtime
//#ifdef MOTOR_TEST
//  #define DELAY_IN_MAIN_LOOP    10
//#else
  #define DELAY_IN_MAIN_LOOP    5
//#endif
#define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
#define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc

// ADC conversion time definitions
#define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)
#define ADC_CONV_TIME_7C5       (20)  //Total ADC clock cycles / conversion = (  7.5+12.5)
#define ADC_CONV_TIME_13C5      (26)  //Total ADC clock cycles / conversion = ( 13.5+12.5)
#define ADC_CONV_TIME_28C5      (41)  //Total ADC clock cycles / conversion = ( 28.5+12.5)
#define ADC_CONV_TIME_41C5      (54)  //Total ADC clock cycles / conversion = ( 41.5+12.5)
#define ADC_CONV_TIME_55C5      (68)  //Total ADC clock cycles / conversion = ( 55.5+12.5)
#define ADC_CONV_TIME_71C5      (84)  //Total ADC clock cycles / conversion = ( 71.5+12.5)
#define ADC_CONV_TIME_239C5     (252) //Total ADC clock cycles / conversion = (239.5+12.5)

// This settings influences the actual sample-time. Only use definitions above
// This parameter needs to be the same as the ADC conversion for Current Phase of the FIRST Motor in setup.c
#define ADC_CONV_CLOCK_CYCLES   (ADC_CONV_TIME_7C5)

// Set the configured ADC divider. This parameter needs to be the same ADC divider as PeriphClkInit.AdcClockSelection (see main.c)
#define ADC_CLOCK_DIV           (4)

// ADC Total conversion time: this will be used to offset TIM8 in advance of TIM1 to align the Phase current ADC measurement
// This parameter is used in setup.c
#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

// ############################### GENERAL ###############################

/* How to calibrate: connect GND and RX of a 3.3v uart-usb adapter to the right sensor board cable
 * Be careful not to use the red wire of the cable. 15v will destroye verything.).
 * If you are using nunchuck, disable it temporarily. enable DEBUG_SERIAL_USART3 and DEBUG_SERIAL_ASCII use asearial terminal.
 */

/* Battery voltage calibration: connect power source. see <How to calibrate>.
 * Write value nr 5 to BAT_CALIB_ADC. make and flash firmware.
 * Then you can verify voltage on value 6 (to get calibrated voltage multiplied by 100).
 */
#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
#define BAT_CALIB_REAL_VOLTAGE  3970      // input voltage measured by multimeter (multiplied by 100). For example 43.00 V * 100 = 4300
#define BAT_CALIB_ADC           1492      // adc-value measured by mainboard (value nr 5 on UART debug output)

#define BAT_CELLS               10        // battery number of cells. Normal Hoverboard battery: 10s
#define BAT_LOW_LVL1_ENABLE     0         // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL2_ENABLE     1         // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1            (360 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // gently beeps at this voltage level. [V*100/cell]. In this case 3.60 V/cell
#define BAT_LOW_LVL2            (350 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // your battery is almost empty. Charge now! [V*100/cell]. In this case 3.50 V/cell
#define BAT_LOW_DEAD            (337 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE    // undervoltage poweroff. (while not driving) [V*100/cell]. In this case 3.37 V/cell


/* Board overheat detection: the sensor is inside the STM/GD chip.
 * It is very inaccurate without calibration (up to 45°C). So only enable this funcion after calibration!
 * Let your board cool down. see <How to calibrate>.
 * Get the real temp of the chip by thermo cam or another temp-sensor taped on top of the chip and write it to TEMP_CAL_LOW_DEG_C.
 * Write debug value 8 to TEMP_CAL_LOW_ADC. drive around to warm up the board. it should be at least 20°C warmer. repeat it for the HIGH-values.
 * Enable warning and/or poweroff and make and flash firmware.
 */
#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
#define TEMP_CAL_LOW_ADC        1655      // temperature 1: ADC value
#define TEMP_CAL_LOW_DEG_C      358       // temperature 1: measured temperature [°C * 10]. Here 35.8 °C
#define TEMP_CAL_HIGH_ADC       1588      // temperature 2: ADC value
#define TEMP_CAL_HIGH_DEG_C     489       // temperature 2: measured temperature [°C * 10]. Here 48.9 °C
#define TEMP_WARNING_ENABLE     0         // to beep or not to beep, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_WARNING            600       // annoying fast beeps [°C * 10].  Here 60.0 °C
#define TEMP_POWEROFF_ENABLE    0         // to poweroff or not to poweroff, 1 or 0, DO NOT ACTIVITE WITHOUT CALIBRATION!
#define TEMP_POWEROFF           650       // overheat poweroff. (while not driving) [°C * 10]. Here 65.0 °C

#define INACTIVITY_TIMEOUT      8         // minutes of not driving until poweroff. it is not very precise.



// ############################### INPUT ###############################

#define USART2_BAUD             38400                   // UART2 baud rate (long wired cable)
#define USART2_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B
#define USART3_BAUD             38400                   // UART3 baud rate (short wired cable)
#define USART3_WORDLENGTH       UART_WORDLENGTH_8B      // UART_WORDLENGTH_8B or UART_WORDLENGTH_9B

#define DIAG_ENA        1                       // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)

#define FIELD_WEAK_ENA  1                       // [-] Field Weakening / Phase Advance enable flag: 0 = Disabled (default), 1 = Enabled
#define FIELD_WEAK_HI   1500                    // [-] Input target High threshold for reaching maximum Field Weakening / Phase Advance. Do NOT set this higher than 1500.
#define FIELD_WEAK_LO   1000                    // [-] Input target Low threshold for starting Field Weakening / Phase Advance. Do NOT set this higher than 1000.    

/* GENERAL NOTES:
 * 1. The above parameters are over-writing the default motor parameters. For all the available parameters check BLDC_controller_data.c
 * 2. The parameters are represented in fixed point data type for a more efficient code execution
 * 3. For calibrating the fixed-point parameters use the Fixed-Point Viewer tool (see <https://github.com/EmanuelFeru/FixedPointViewer>)
 * 4. For more details regarding the parameters and the working principle of the controller please consult the Simulink model
 * 5. A webview was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code. The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge
 *
 * NOTES Field Weakening / Phase Advance:
 * 1. The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
 * 2. The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
 * 3. If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
 */