MC105默认使用ZD100的电机

Signed-off-by: kevin <huhui@sharkgulf.com>

Applications/foc/mc_config.h

@@ -4,6 +4,8 @@
 #include "os/os_types.h"
 #ifdef CONFIG_Motor_R1_Encoder
 #include "configs/autogen_config_R1_enc.h"
+#elif defined CONFIG_Motor_Z100_Encoder
+#include "configs/autogen_config_z100_enc.h"
 #else
 #include "autogen_config.h"
 #endif

Project/MC105_V3.uvoptx

@@ -406,18 +406,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\Applications\foc\core\F_Calc.c</PathWithFileName>
-      <FilenameWithoutPath>F_Calc.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>2</GroupNumber>
-      <FileNumber>15</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>..\Applications\foc\core\etcs.c</PathWithFileName>
       <FilenameWithoutPath>etcs.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -425,7 +413,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>16</FileNumber>
+      <FileNumber>15</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -437,7 +425,7 @@
     </File>
     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>17</FileNumber>
+      <FileNumber>16</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -457,7 +445,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>18</FileNumber>
+      <FileNumber>17</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -469,7 +457,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>19</FileNumber>
+      <FileNumber>18</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -481,7 +469,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>20</FileNumber>
+      <FileNumber>19</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -493,7 +481,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>21</FileNumber>
+      <FileNumber>20</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -505,7 +493,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>22</FileNumber>
+      <FileNumber>21</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -517,7 +505,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>23</FileNumber>
+      <FileNumber>22</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -529,7 +517,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>24</FileNumber>
+      <FileNumber>23</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -541,7 +529,7 @@
     </File>
     <File>
       <GroupNumber>3</GroupNumber>
-      <FileNumber>25</FileNumber>
+      <FileNumber>24</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -561,7 +549,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>26</FileNumber>
+      <FileNumber>25</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -573,7 +561,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>27</FileNumber>
+      <FileNumber>26</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -585,7 +573,7 @@
     </File>
     <File>
       <GroupNumber>4</GroupNumber>
-      <FileNumber>28</FileNumber>
+      <FileNumber>27</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -605,7 +593,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>29</FileNumber>
+      <FileNumber>28</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -617,7 +605,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>30</FileNumber>
+      <FileNumber>29</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -629,7 +617,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>31</FileNumber>
+      <FileNumber>30</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -641,7 +629,7 @@
     </File>
     <File>
       <GroupNumber>5</GroupNumber>
-      <FileNumber>32</FileNumber>
+      <FileNumber>31</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -661,7 +649,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>33</FileNumber>
+      <FileNumber>32</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -673,7 +661,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>34</FileNumber>
+      <FileNumber>33</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -685,7 +673,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>35</FileNumber>
+      <FileNumber>34</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -697,7 +685,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>36</FileNumber>
+      <FileNumber>35</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -709,7 +697,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>37</FileNumber>
+      <FileNumber>36</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -721,7 +709,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>38</FileNumber>
+      <FileNumber>37</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -733,7 +721,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>39</FileNumber>
+      <FileNumber>38</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -745,7 +733,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>40</FileNumber>
+      <FileNumber>39</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -757,7 +745,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>41</FileNumber>
+      <FileNumber>40</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -769,7 +757,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>42</FileNumber>
+      <FileNumber>41</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -781,7 +769,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>43</FileNumber>
+      <FileNumber>42</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -793,7 +781,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>44</FileNumber>
+      <FileNumber>43</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -805,7 +793,7 @@
     </File>
     <File>
       <GroupNumber>6</GroupNumber>
-      <FileNumber>45</FileNumber>
+      <FileNumber>44</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -825,7 +813,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>46</FileNumber>
+      <FileNumber>45</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -837,7 +825,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>47</FileNumber>
+      <FileNumber>46</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -849,7 +837,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>48</FileNumber>
+      <FileNumber>47</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -861,7 +849,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>49</FileNumber>
+      <FileNumber>48</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -873,7 +861,7 @@
     </File>
     <File>
       <GroupNumber>7</GroupNumber>
-      <FileNumber>50</FileNumber>
+      <FileNumber>49</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -893,7 +881,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>51</FileNumber>
+      <FileNumber>50</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -905,7 +893,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>52</FileNumber>
+      <FileNumber>51</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -917,7 +905,7 @@
     </File>
     <File>
       <GroupNumber>8</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>52</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -937,7 +925,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>53</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -949,7 +937,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>54</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -961,7 +949,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>55</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -973,7 +961,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>56</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -985,7 +973,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>57</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -997,7 +985,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>58</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1009,7 +997,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>59</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1021,7 +1009,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>61</FileNumber>
+      <FileNumber>60</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1033,7 +1021,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>62</FileNumber>
+      <FileNumber>61</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1045,7 +1033,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>63</FileNumber>
+      <FileNumber>62</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1057,7 +1045,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>64</FileNumber>
+      <FileNumber>63</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1069,7 +1057,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>65</FileNumber>
+      <FileNumber>64</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1081,7 +1069,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>66</FileNumber>
+      <FileNumber>65</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1093,7 +1081,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>67</FileNumber>
+      <FileNumber>66</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1105,7 +1093,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>68</FileNumber>
+      <FileNumber>67</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1117,7 +1105,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>69</FileNumber>
+      <FileNumber>68</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1137,7 +1125,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>70</FileNumber>
+      <FileNumber>69</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1149,7 +1137,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>71</FileNumber>
+      <FileNumber>70</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1161,7 +1149,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>72</FileNumber>
+      <FileNumber>71</FileNumber>
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>

Project/MC105_V3.uvprojx

@@ -337,9 +337,9 @@
             <v6Rtti>0</v6Rtti>
             <VariousControls>
               <MiscControls>--gnu</MiscControls>
-              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,CONFIG_MC105_HW_V3,CONFIG_CAN_IAP</Define>
+              <Define>USE_STDPERIPH_DRIVER,GD32F30X_CL,CONFIG_MC105_HW_V3,CONFIG_CAN_IAP,CONFIG_Motor_Z100_Encoder</Define>
               <Undefine></Undefine>
-              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\Simulink\PMSM_Controller_ert_rtw</IncludePath>
+              <IncludePath>..\Librarys\CMSIS\Include,..\Librarys\CMSIS\GD\GD32F30x\Include,..\Librarys\GD32F30x_Drivers\include,..\Applications;..\</IncludePath>
             </VariousControls>
           </Cads>
           <Aads>
@@ -453,11 +453,6 @@
               <FileType>1</FileType>
               <FilePath>..\Applications\foc\core\ladrc_observer.c</FilePath>
             </File>
-            <File>
-              <FileName>F_Calc.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\Applications\foc\core\F_Calc.c</FilePath>
-            </File>
             <File>
               <FileName>etcs.c</FileName>
               <FileType>1</FileType>

configs/autogen_config_z100_enc.h

@@ -0,0 +1,220 @@
+/* auto gen 2024/2/19 11:07:04*/
+#ifndef _AUTOGEN_CONFIG_H__
+#define _AUTOGEN_CONFIG_H__
+
+#define CONFIG_Version 1
+#define CONFIG_Motor_Poles  5
+#define CONFIG_Motor_Ld  4.5E-05f
+#define CONFIG_Motor_Lq  9.6E-05f
+#define CONFIG_Motor_Rs  0.008f
+#define CONFIG_Motor_Flux  0.019f
+#define CONFIG_Motor_PLLBand  200
+#define CONFIG_Motor_EpmPLL  400
+#define CONFIG_Motor_PosPLL  500
+#define CONFIG_Motor_FwEnable  1
+#define CONFIG_Motor_FwDutyStart  90
+#define CONFIG_Motor_MaxFwDCurr  100
+#define CONFIG_Motor_MaxTorque  200
+#define CONFIG_Motor_EncOffset  0
+#define CONFIG_Foc_MaxDCVol  110
+#define CONFIG_Foc_MinDCVol  70
+#define CONFIG_Foc_MaxPhaseCurr  300
+#define CONFIG_Foc_MaxRPM  9000
+#define CONFIG_Foc_MaxEPMRPM  300
+#define CONFIG_Foc_MaxEPMTorque  100
+#define CONFIG_Foc_MaxEPMRPMBk  170
+#define CONFIG_Foc_MaxEPMTorqueBk  80
+#define CONFIG_Foc_MaxTorque  300
+#define CONFIG_Foc_MaxEbrkTorque  40
+#define CONFIG_Foc_MaxIDC  100
+#define CONFIG_Foc_MaxAutoHoldTorque  100
+#define CONFIG_Foc_ThroStartVol  0.85f
+#define CONFIG_Foc_ThroEndVol  4.15f
+#define CONFIG_Foc_ThroMinVol  0.4f
+#define CONFIG_Foc_ThroMaxVol  4.6f
+#define CONFIG_Foc_CurrCtrlBandWith  200
+#define CONFIG_Foc_ThroDecTime  10
+#define CONFIG_Foc_PID_VelLim_Kp 0.5f
+#define CONFIG_Foc_PID_VelLim_Ki 2.5f
+#define CONFIG_Foc_PID_VelLim_Kd 0
+#define CONFIG_Foc_PID_VelCtrl_Kp 0.1f
+#define CONFIG_Foc_PID_VelCtrl_Ki 3.5f
+#define CONFIG_Foc_PID_VelCtrl_Kd 0
+#define CONFIG_Foc_PID_Autohold_Kp 0.01f
+#define CONFIG_Foc_PID_Autohold_Ki 0.2f
+#define CONFIG_Foc_PID_Autohold_Kd 0
+#define CONFIG_Foc_PID_IDCLim_Kp 5
+#define CONFIG_Foc_PID_IDCLim_Ki 15
+#define CONFIG_Foc_PID_IDCLim_Kd 0
+#define CONFIG_Foc_PID_EPM_Kp 0.2f
+#define CONFIG_Foc_PID_EPM_Ki 7.5f
+#define CONFIG_Foc_PID_EPM_Kd 0
+#define CONFIG_Settings_AutoHold  1
+#define CONFIG_Settings_BrkShutPower  1
+#define CONFIG_Settings_TcsEnable  0
+#define CONFIG_Gear0_MaxSpeed 1000
+#define CONFIG_Gear0_MaxTorque 100
+#define CONFIG_Gear0_MaxIdc 30
+#define CONFIG_Gear0_ZeroAccl 500
+#define CONFIG_Gear0_NormalAccl 100
+#define CONFIG_Gear0_Torque0 100
+#define CONFIG_Gear0_Torque1 100
+#define CONFIG_Gear0_Torque2 100
+#define CONFIG_Gear0_Torque3 100
+#define CONFIG_Gear0_Torque4 100
+#define CONFIG_Gear0_Torque5 100
+#define CONFIG_Gear0_Torque6 100
+#define CONFIG_Gear0_Torque7 100
+#define CONFIG_Gear0_Torque8 0
+#define CONFIG_Gear0_Torque9 0
+#define CONFIG_Gear1_MaxSpeed 1000
+#define CONFIG_Gear1_MaxTorque 100
+#define CONFIG_Gear1_MaxIdc 30
+#define CONFIG_Gear1_ZeroAccl 500
+#define CONFIG_Gear1_NormalAccl 100
+#define CONFIG_Gear1_Torque0 100
+#define CONFIG_Gear1_Torque1 100
+#define CONFIG_Gear1_Torque2 100
+#define CONFIG_Gear1_Torque3 100
+#define CONFIG_Gear1_Torque4 100
+#define CONFIG_Gear1_Torque5 100
+#define CONFIG_Gear1_Torque6 100
+#define CONFIG_Gear1_Torque7 100
+#define CONFIG_Gear1_Torque8 0
+#define CONFIG_Gear1_Torque9 0
+#define CONFIG_Gear2_MaxSpeed 1000
+#define CONFIG_Gear2_MaxTorque 100
+#define CONFIG_Gear2_MaxIdc 30
+#define CONFIG_Gear2_ZeroAccl 500
+#define CONFIG_Gear2_NormalAccl 100
+#define CONFIG_Gear2_Torque0 100
+#define CONFIG_Gear2_Torque1 100
+#define CONFIG_Gear2_Torque2 100
+#define CONFIG_Gear2_Torque3 100
+#define CONFIG_Gear2_Torque4 100
+#define CONFIG_Gear2_Torque5 100
+#define CONFIG_Gear2_Torque6 100
+#define CONFIG_Gear2_Torque7 100
+#define CONFIG_Gear2_Torque8 0
+#define CONFIG_Gear2_Torque9 0
+#define CONFIG_Gear3_MaxSpeed 1000
+#define CONFIG_Gear3_MaxTorque 100
+#define CONFIG_Gear3_MaxIdc 30
+#define CONFIG_Gear3_ZeroAccl 500
+#define CONFIG_Gear3_NormalAccl 100
+#define CONFIG_Gear3_Torque0 100
+#define CONFIG_Gear3_Torque1 100
+#define CONFIG_Gear3_Torque2 100
+#define CONFIG_Gear3_Torque3 100
+#define CONFIG_Gear3_Torque4 100
+#define CONFIG_Gear3_Torque5 100
+#define CONFIG_Gear3_Torque6 100
+#define CONFIG_Gear3_Torque7 100
+#define CONFIG_Gear3_Torque8 0
+#define CONFIG_Gear3_Torque9 0
+#define CONFIG_GearLow0_MaxSpeed 1000
+#define CONFIG_GearLow0_MaxTorque 100
+#define CONFIG_GearLow0_MaxIdc 30
+#define CONFIG_GearLow0_ZeroAccl 500
+#define CONFIG_GearLow0_NormalAccl 100
+#define CONFIG_GearLow0_Torque0 100
+#define CONFIG_GearLow0_Torque1 100
+#define CONFIG_GearLow0_Torque2 100
+#define CONFIG_GearLow0_Torque3 100
+#define CONFIG_GearLow0_Torque4 100
+#define CONFIG_GearLow0_Torque5 100
+#define CONFIG_GearLow0_Torque6 100
+#define CONFIG_GearLow0_Torque7 100
+#define CONFIG_GearLow0_Torque8 0
+#define CONFIG_GearLow0_Torque9 0
+#define CONFIG_GearLow1_MaxSpeed 1000
+#define CONFIG_GearLow1_MaxTorque 100
+#define CONFIG_GearLow1_MaxIdc 30
+#define CONFIG_GearLow1_ZeroAccl 500
+#define CONFIG_GearLow1_NormalAccl 100
+#define CONFIG_GearLow1_Torque0 100
+#define CONFIG_GearLow1_Torque1 100
+#define CONFIG_GearLow1_Torque2 100
+#define CONFIG_GearLow1_Torque3 100
+#define CONFIG_GearLow1_Torque4 100
+#define CONFIG_GearLow1_Torque5 100
+#define CONFIG_GearLow1_Torque6 100
+#define CONFIG_GearLow1_Torque7 100
+#define CONFIG_GearLow1_Torque8 0
+#define CONFIG_GearLow1_Torque9 0
+#define CONFIG_GearLow2_MaxSpeed 1000
+#define CONFIG_GearLow2_MaxTorque 100
+#define CONFIG_GearLow2_MaxIdc 30
+#define CONFIG_GearLow2_ZeroAccl 500
+#define CONFIG_GearLow2_NormalAccl 100
+#define CONFIG_GearLow2_Torque0 100
+#define CONFIG_GearLow2_Torque1 100
+#define CONFIG_GearLow2_Torque2 100
+#define CONFIG_GearLow2_Torque3 100
+#define CONFIG_GearLow2_Torque4 100
+#define CONFIG_GearLow2_Torque5 100
+#define CONFIG_GearLow2_Torque6 100
+#define CONFIG_GearLow2_Torque7 100
+#define CONFIG_GearLow2_Torque8 0
+#define CONFIG_GearLow2_Torque9 0
+#define CONFIG_GearLow3_MaxSpeed 1000
+#define CONFIG_GearLow3_MaxTorque 100
+#define CONFIG_GearLow3_MaxIdc 30
+#define CONFIG_GearLow3_ZeroAccl 500
+#define CONFIG_GearLow3_NormalAccl 100
+#define CONFIG_GearLow3_Torque0 100
+#define CONFIG_GearLow3_Torque1 100
+#define CONFIG_GearLow3_Torque2 100
+#define CONFIG_GearLow3_Torque3 100
+#define CONFIG_GearLow3_Torque4 100
+#define CONFIG_GearLow3_Torque5 100
+#define CONFIG_GearLow3_Torque6 100
+#define CONFIG_GearLow3_Torque7 100
+#define CONFIG_GearLow3_Torque8 0
+#define CONFIG_GearLow3_Torque9 0
+#define CONFIG_Protect_Motor_Level0_Entry 130
+#define CONFIG_Protect_Motor_Level0_Exit 120
+#define CONFIG_Protect_Motor_Level0_Value 0
+#define CONFIG_Protect_Motor_Level1_Entry 120
+#define CONFIG_Protect_Motor_Level1_Exit 110
+#define CONFIG_Protect_Motor_Level1_Value 34
+#define CONFIG_Protect_Motor_Level2_Entry 110
+#define CONFIG_Protect_Motor_Level2_Exit 100
+#define CONFIG_Protect_Motor_Level2_Value 66
+#define CONFIG_Protect_MosFet_Level0_Entry 100
+#define CONFIG_Protect_MosFet_Level0_Exit 95
+#define CONFIG_Protect_MosFet_Level0_Value 0
+#define CONFIG_Protect_MosFet_Level1_Entry 95
+#define CONFIG_Protect_MosFet_Level1_Exit 90
+#define CONFIG_Protect_MosFet_Level1_Value 34
+#define CONFIG_Protect_MosFet_Level2_Entry 90
+#define CONFIG_Protect_MosFet_Level2_Exit 80
+#define CONFIG_Protect_MosFet_Level2_Value 66
+#define CONFIG_Protect_Voltage_Level0_Entry 60
+#define CONFIG_Protect_Voltage_Level0_Exit 70
+#define CONFIG_Protect_Voltage_Level0_Value 0
+#define CONFIG_EnergyRecovery_Level0_Torque 0
+#define CONFIG_EnergyRecovery_Level0_Time 1000
+#define CONFIG_EnergyRecovery_Level1_Torque 10
+#define CONFIG_EnergyRecovery_Level1_Time 500
+#define CONFIG_EnergyRecovery_Level2_Torque 15
+#define CONFIG_EnergyRecovery_Level2_Time 400
+#define CONFIG_EnergyRecovery_Level3_Torque 20
+#define CONFIG_EnergyRecovery_Level3_Time 300
+#define CONFIG_EnergyRecovery_Level4_Torque 35
+#define CONFIG_EnergyRecovery_Level4_Time 200
+#define CONFIG_EnergyRecovery_Level5_Torque 40
+#define CONFIG_EnergyRecovery_Level5_Time 200
+#define CONFIG_EnergyRecovery_Level6_Torque 45
+#define CONFIG_EnergyRecovery_Level6_Time 200
+#define CONFIG_EnergyRecovery_Level7_Torque 50
+#define CONFIG_EnergyRecovery_Level7_Time 200
+#define CONFIG_EnergyRecovery_Level8_Torque 55
+#define CONFIG_EnergyRecovery_Level8_Time 200
+#define CONFIG_EnergyRecovery_Level9_Torque 60
+#define CONFIG_EnergyRecovery_Level9_Time 200
+#define CONFIG_CrossZero_Low  1
+#define CONFIG_CrossZero_High  7
+#define CONFIG_CrossZero_MinStep  0.03f
+#define CONFIG_CrossZero_NorStep  5
+#endif /* _AUTOGEN_CONFIG_H__ */