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R2671/Firmware/src/controller.h
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controller.h
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#ifndef __CONTROLLER_H
#define __CONTROLLER_H
#include "main.h"
// Type of regulation.
// Comment out to get the "wall" non-symetric behavior.
#define REGULATION_TYPE_SYMMETRIC
// Loops periode values
#define TE_LOOP_MIN_VALUE 50 // Minimum period for any loop [us].
#define TE_LOOP_MAX_VALUE 65534 // Maximum period for any loop [us].
#define TE_CURRENT_LOOP_DEFAULT_VAL 60 // Current control loop period [us] (max 2^16-1) (default value at reset).
#define TE_CONTROL_LOOP_DEFAULT_VAL 350 // Main control loop period [us] (max 2^16-1) (default value at reset).
#define TE_DATA_LOOP_DEFAULT_VAL 8000 // Data loop period [us] (max 2^16-1) (default value at reset).
// Current loop parameters
#define KP_CURRENT_DEFAULT_VAL 0.0011f
#define KI_CURRENT_DEFAULT_VAL (0.0000002*TE_CURRENT_LOOP_DEFAULT_VAL)
#define CURRENT_INTEGRATOR_SAT 0.7f
#define CURRENT_LOOP_PWM_MAX_DUTY_CYCLE 0.98f // Max PWM value (normalized) duty cycle (less than 1 to ensure bootstrap capacitor charging)
// Main control loop parameters
#define KP_POSITION_DEFAULT_VAL 4.0f
#define KD_POSITION_DEFAULT_VAL 0.00075f
#define KI_POSITION_DEFAULT_VAL 0.0000049f
#define POSITION_INTEGRATOR_SAT_DEFAULT_VAL 50.0f
// Increment encoder filter default coef.
#define ENCODER_FILT_TAU_DEFAULT_VAL 0.999f
// Filter types
#define FILTER_TYPE_NONE 0
#define FILTER_TYPE_FIRST_ORDER 1
#define FILTER_TYPE_RUNNING_MEAN 2
#define TORQUE_CONST 0.0538f // Nm/A =~ (mNm/mA)
/** @defgroup Controller Main / Controllers
* @brief Control the paddle
*
* This module is the high-level controller of the board. It runs two "loops"
* (in fact, functions called periodically by the interrupt of a timer), one to
* regulate the motor current (ctrl_RegulateCurrent(), high frequency) and
* another to control the rest (ctrl_RegulatePosition(), lower frequency).
* The content of ctrl_RegulatePosition() is typically what the user of the
* board will modify, depending on the selected sensors and control algorithms.
*
* Call ctrl_Init() to setup this module. Its interrupt functions will be called
* automatically periodically.
*
* @addtogroup Controller
* @{
*/
void ctrl_Init(void);
/**
* @}
*/
#endif
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