config_motor.h

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/*_____ I N C L U D E S ____________________________________________________*/
#include "compiler.h"
#include "mcu.h"
#include "inavr.h"

#ifndef _CONFIG_MOTOR_H_
#define _CONFIG_MOTOR_H_

#ifdef USE_INTERNAL_COMPARATORS
  /* enum with the bemf signals from comparator outputs */
//  enum {HS_001=3,HS_010=6,HS_011=2,HS_100=5,HS_101=1,HS_110=4};
  enum {HS_011=2,HS_001=3,HS_101=1,HS_100=5,HS_110=4,HS_010=6};
#else
  /* enum with the bemf signals from port inputs */
  enum {HS_001=1,HS_010=2,HS_011=3,HS_100=4,HS_101=5,HS_110=6};
#endif

  enum {RUN = TRUE, STOP = FALSE};

  enum {CCW = TRUE, CW = FALSE};

#define HIGH_AND_LOW_PWM

#define DUTY_RAMP_UP 140

  enum {OPEN_LOOP = 0, SPEED_LOOP = 1, CURRENT_LOOP = 2, POSITION_LOOP = 3};

// Here you have to define your control coefficients
// Kp for the proportionnal coef
// Ki for the integral coef
// Kd for the derivative coef

// Speed regulation coefficients
//#define Kp_speed 16//1 MMT motor//8 MAXON moto
#define Kp_speed 6
#define Ki_speed 2
#define Kd_speed 0
#define Klin_speed 185 /* to linearize the duty cycle responds */

// Current regulation coefficients
#define Kp_cur 1
#define Ki_cur 3
#define Kd_cur 0

// Position regulation coefficients
#define Kp_pos 9 //8
#define Ki_pos 3 //1
#define Kd_pos 20 //5

// All PID coef are multiplied by 2^Kmul
// For exemple : kp = 1 => Kp = 1 * 2^K_scal = 1 * 2^4 = 16
// To get the right result you have to divide the number by 2^K_scal
// So execute a K_scal right shift
#define K_speed_scal 5
#define K_cur_scal 4
#define K_pos_scal 5

// Speed measurement
// K_SPEED = (60 * 255)/(p * t_timer0 * speed_max(rpm))
// with p : number of pairs of poles.
// and t_timer0 : 8us @ 8MHz / 4us @ 16MHz
//#define K_SPEED 77116 /* 6200 rpm/ 4 pairs/ @8MHz */
#define K_SPEED 136607 /* 7000 rpm/ 4 pairs/ @16MHz */
/* speed(rpm) = measured_speed * 60 / (K_SPEED * 4E-6 * p) */
/* the result must be multiplied by 27.45 to get a value in rpm */

#endif

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