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 50   // 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    1000 // Data loop period [us] (max 2^16-1) (default value at reset).

// Current loop parameters
#define KP_CURRENT_DEFAULT_VAL 200.0f       
#define KI_CURRENT_DEFAULT_VAL 500000.0f
#define KD_CURRENT_DEFAULT_VAL 0.0f
#define FF_CURRENT_DEFAULT_VAL MOTOR_RESISTANCE
#define CURRENT_INTEGRATOR_SAT_DEFAULT_VAL 10.0f
#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 0.01f
#define KI_POSITION_DEFAULT_VAL 0.0f
#define KD_POSITION_DEFAULT_VAL 0.0f
#define POSITION_INTEGRATOR_SAT_DEFAULT_VAL 0.01f

// 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

void ctrl_Init(void);
void ctrl_StartCurrentLoop(void);

#endif