param_g474_example.c

#include "param.h"
#include "math.h"

// Can be written by external methods, e.g. bootloader
const volatile Param __attribute__ ((section ("flash_param"))) initial_param = {
    .fast_loop_param.pwm_frequency = 50000,
    .fast_loop_param.foc_param.pi_d.kp=3,
    .fast_loop_param.foc_param.pi_d.ki=.1,
    .fast_loop_param.foc_param.pi_d.ki_limit=2.5,
    .fast_loop_param.foc_param.pi_d.command_max=3,
    .fast_loop_param.foc_param.pi_q.kp=3,
    .fast_loop_param.foc_param.pi_q.ki=.1,
    .fast_loop_param.foc_param.pi_q.ki_limit=2.5,
    .fast_loop_param.foc_param.pi_q.command_max=3,
    .fast_loop_param.foc_param.current_filter_frequency_hz=10000,
    .fast_loop_param.foc_param.num_poles = 20,
    .fast_loop_param.cogging.gain = 1,
    .main_loop_param.gear_ratio = 50,
    .main_loop_param.kt = .012*sqrt(.5),
    .startup_param.startup_mode = CURRENT,
    .main_loop_param.update_frequency = 10000,
    .fast_loop_param.adc1_offset = 1980,
    .fast_loop_param.adc2_offset = 1980,
    .fast_loop_param.adc3_offset = 1980,
    .fast_loop_param.adc1_gain = -3.26/4096/(.007*40),  // V/count * A/Vr / Vo/Vr (3.3/4096 / R / Gain)
    .fast_loop_param.adc2_gain = -3.26/4096/(.007*40),
    .fast_loop_param.adc3_gain = -3.26/4096/(.007*40), 
    .fast_loop_param.motor_encoder.dir = -1,
    .fast_loop_param.phase_mode = 0,
    .fast_loop_param.motor_encoder.cpr = 20000,
    .fast_loop_param.motor_encoder.use_index_electrical_offset_pos = 1,
    .main_loop_param.torque_bias = 0.025,
    .main_loop_param.torque_gain = -25,
    .fast_loop_param.vbus_gain = 3.26/4096*(82.+4.99)/4.99,
    .main_loop_param.controller_param.kp = 100,
    .main_loop_param.controller_param.kd = .5,
    .main_loop_param.controller_param.velocity_filter_frequency_hz = 100,
    .main_loop_param.controller_param.command_max = 5,
    .fast_loop_param.cogging.table = {
#include "cogprocessed.csv"
    },
    .startup_param.do_phase_lock = 0,
    .startup_param.phase_lock_current = 4,
    .startup_param.phase_lock_duration = 2,
    .name = "J1",
};