T-DC-FU6572/User/include/Customer.h

#ifndef __CUSTOMER_H_
#define __CUSTOMER_H_

#define PWM_FREQUENCY                   	(16.0)
#define PWM_DEADTIME                    	(1.0)
#define MIN_WIND_TIME                   	(PWM_DEADTIME + 0.9)
#define DLL_TIME                        	(PWM_DEADTIME + 0.3)

#define PWM_LEVEL_MODE                  	(HIGH_LEVEL)

#define Pole_Pairs                      	(4.0)
#define RS                              	(0.135)
#define LD                              	(0.00004)
#define LQ                             	 	(0.00008)
#define MOTOR_SPEED_BASE                	(9000.0)
#define Ke                              	(1.8)

#define IR_MODE                         	(CW)

#define HW_AMP_MODE                     	(AMP_PGA_DUAL)     

#define HW_RSHUNT                       	(0.01) 
#define HW_AMPGAIN                      	(AMP4x)                    
#define HW_ADC_VREF                    		(VREF5_0)

#define Shunt_Resistor_Mode            		(Single_Resistor)

#define VREF_OUT_EN                     	(1)
#define VHALF_EN                        	(1)


#define RV1                             	(20.0)
#define RV2                             	(3.0)

#define CHARGE_EN                      		(0)
#define CHARGE_DUTY                    		(0.1)
#define CHARGE_TIME                    		(30)


#define ALIGN_MOME                     		(ALIGN_NOMAL)


#define AlignRamp_Time                  	(800)
#define Align_Time1                     	(200)
#define Align_Time2                     	(1000)
#define Align_Time3                     	(200)
#define AlignAll_Time                  		(AlignRamp_Time+Align_Time1+Align_Time2+Align_Time3)
#define Align_Angle1                   		_Q15(90.0/180.0)                       // 第一次预定位角度
#define Align_Angle2                   		_Q15(90.0/180.0)                        // 第二次预定位角度
#define Angle_ADD                      		(int32)6*_Q15((float)-180.0/180.0)       //旋转角度
#define Angle_AngleK                    	(float)Angle_ADD/Align_Time2            //旋转系数

#define DQKP_Alignment                 		_Q12(2.0)
#define DQKI_Alignment                 		_Q15(0.01)
#define ID_Align_CURRENT               		I_Value(0.0)
#define IQ_Align_CURRENT               		I_Value(2.0)

#define Open_Start_Mode                		(Omega_Start)
#define ID_Start_CURRENT               		I_Value(0.0)
#define IQ_Start_CURRENT               		I_Value(5.0)


#define ATO_BW_START                   		(0.0)
#define ATO_BW_RUN1                    		(150.0)
#define ATO_BW_RUN2                    		(150.0)
#define ATO_BW_RUN3                    		(150.0)
#define ATO_BW_RUN4                    		(150.0)

#define ATO_START_HOLDTIME             		(10)             ///< (ms)观测器带宽的滤波值,启动第一拍ATO持续时间
#define ATO_RAMP_PERIOD                		(20)             ///< (ms)观测器带宽的滤波值,ATO爬坡递增 间隔时间

#define MOTOR_OMEGA_RAMP_ACC           		(50)               ///< omega启动的增量（每个载波递增值） 
#define MOTOR_OMEGA_RAMP_MIN          		S_Value(200.0)     ///< (RPM) omega启动的最小切换转速
#define MOTOR_OMEGA_RAMP_END           		S_Value(300.0)     ///< (RPM) omega启动的限制转速
#define MOTOR_SPEED_SMOMIN_RPM         		(600.0)            ///< (RPM) SMO运行最小转速影响启动

#define SPD_BW                         		(20.0)            ///< 速度带宽的滤波值，经典值为5.0-40.0
#define MOTOR_LOOP_RPM                 		S_Value(400.0)    ///< (RPM) 启动后电流环切入外部环路转速阈值


#define MOTOR_SPEED_MIN_RPM            		S_Value(1800.0)
#define MOTOR_SPEED_MAX_RPM            		S_Value(3500.0)
#define MOTOR_SPEED_STOP_RPM           		S_Value(200.0)


#define DKPStart                      		_Q12(4.5)
#define DKIStart                      		_Q15(0.03)
#define QKPStart							DKPStart
#define QKIStart							DKIStart

#define DKP                            		_Q12(3.5)
#define DKI                            		_Q15(0.005)
#define QKP                            		DKP
#define QKI                            		DKI

// DQ轴输出限幅
#define DOUTMAX                        		_Q15(0.99)
#define DOUTMIN                        		_Q15(-0.99)
#define QOUTMAX                        		_Q15(0.99)
#define QOUTMIN                        		_Q15(-0.99)


#define LOOP_TIME                       	(1)

#define SKP                            		_Q12(2.5)
#define SKI                            		_Q15(0.01)
#define SOUTMAX                       	 	I_Value(10.0)
#define SOUTMIN                        		I_Value(0.01)

#define SPEEDRAMPINC                    	(S_Value(250.0))/(1000/LOOP_TIME)
#define SPEEDRAMPDEC                    	(S_Value(250.0))/(1000/LOOP_TIME)

#define SPEEDRAMPSTARTINC               	(S_Value(1000.0))/(1000/LOOP_TIME)
#define SPEEDRAMPSTARTDEC               	(S_Value(500.0))/(1000/LOOP_TIME)

#define SPEED_MODE                     		(NONEMODE)

#define EstimateAlgorithm              		(AO)
#define OverModulation                 		(0)

#endif