user.h

#ifndef _USER_H_
#define _USER_H_
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//! \file   solutions/instaspin_foc/boards/boostxldrv8301_revB/f28x/f2802xF/src/user.h
//! \brief  Contains the public interface for user initialization data for the CTRL, HAL, and EST modules 
//!
//! (C) Copyright 2012, Texas Instruments, Inc.


// **************************************************************************
// the includes

// modules
#include "modules/types/types.h"
#include "modules/motor/motor.h"
#include "modules/est/est.h"
#include "modules/est/est_states.h"
#include "modules/est/est_Flux_states.h"
#include "modules/est/est_Ls_states.h"
#include "modules/est/est_Rs_states.h"
#include "modules/ctrl/ctrl_obj.h"


// platforms
#include "modules/fast/src/userParams.h"

//!
//!
//! \defgroup USER USER
//!
//@{


#ifdef __cplusplus
extern "C" {
#endif

// **************************************************************************
// the defines

//! \brief USER MOTOR & ID SETTINGS
// **************************************************************************

//! \brief Define each motor with a unique name and ID number
// BLDC & SMPM motors
#define propdrive_28_26_1100kv      119
#define propdrive_v2_2836_1200kv    120
#define multistar_4108_380kv_1      121
#define multistar_4108_380kv_2      122
#define multistar_4108_380kv_3      123
#define multistar_4108_380kv_4      124

//! \brief Uncomment the motor which should be included at compile
//! \brief These motor ID settings and motor parameters are then available to be used by the control system
//! \brief Once your ideal settings and parameters are identified update the motor section here so it is available in the binary code
//#define USER_MOTOR multistar_4108_380kv_1
//#define USER_MOTOR multistar_4108_380kv_2
//#define USER_MOTOR multistar_4108_380kv_3
#define USER_MOTOR multistar_4108_380kv_4
//#define USER_MOTOR propdrive_v2_2836_1200kv
//#define USER_MOTOR propdrive_28_26_1100kv

#if (USER_MOTOR >= multistar_4108_380kv_1 && USER_MOTOR <= multistar_4108_380kv_4)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (11)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (1.0)
#define USER_MOTOR_IND_EST_CURRENT      (-1.0)
#define USER_MOTOR_MAX_CURRENT          (10.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (200.0)
#define USER_MOTOR_FREQ_LOW             (1.0)
#define USER_MOTOR_FREQ_HIGH            (100.0)
#define USER_MOTOR_FREQ_MAX             (120.0)
#define USER_MOTOR_VOLT_MIN             (2.0)
#define USER_MOTOR_VOLT_MAX             (14.0)
#define USER_IQ_FULL_SCALE_FREQ_Hz      (800.0)
#endif

#if (USER_MOTOR == propdrive_28_26_1100kv)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (6)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.07626002)
#define USER_MOTOR_Ls_d                 (1.783349e-05)
#define USER_MOTOR_Ls_q                 (1.783349e-05)
#define USER_MOTOR_RATED_FLUX           (0.0055305)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (2.0)
#define USER_MOTOR_IND_EST_CURRENT      (-2.0)
#define USER_MOTOR_MAX_CURRENT          (10.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (200.0)
#define USER_IQ_FULL_SCALE_FREQ_Hz      (1300.0)
#define I_A_offset                      (0.8230784535)
#define I_B_offset                      (0.8298351765)
#define I_C_offset                      (0.8173143268)
#define V_A_offset                      (0.3292495012)
#define V_B_offset                      (0.3279079795)
#define V_C_offset                      (0.3281784654)

#elif (USER_MOTOR == propdrive_v2_2836_1200kv)
#define USER_MOTOR_TYPE                 MOTOR_Type_Pm
#define USER_MOTOR_NUM_POLE_PAIRS       (6)
#define USER_MOTOR_Rr                   (NULL)
#define USER_MOTOR_Rs                   (0.0508650653)
#define USER_MOTOR_Ls_d                 (6.8e-06)
#define USER_MOTOR_Ls_q                 (6.8e-06)
#define USER_MOTOR_RATED_FLUX           (0.00531511148)
#define USER_MOTOR_MAGNETIZING_CURRENT  (NULL)
#define USER_MOTOR_RES_EST_CURRENT      (4.0)
#define USER_MOTOR_IND_EST_CURRENT      (-4.0)
#define USER_MOTOR_MAX_CURRENT          (15.0)
#define USER_MOTOR_FLUX_EST_FREQ_Hz     (100.0)
#define USER_IQ_FULL_SCALE_FREQ_Hz      (1300.0)
#define USER_MOTOR_FREQ_LOW             (1.0)
#define USER_MOTOR_FREQ_HIGH            (100.0)
#define USER_MOTOR_FREQ_MAX             (120.0)
#define USER_MOTOR_VOLT_MIN             (1.5)
#define USER_MOTOR_VOLT_MAX             (10.0)
#define I_A_offset                      (0.8230784535)
#define I_B_offset                      (0.8298351765)
#define I_C_offset                      (0.8173143268)
#define V_A_offset                      (0.3292495012)
#define V_B_offset                      (0.3279079795)
#define V_C_offset                      (0.3281784654)

#elif (USER_MOTOR == multistar_4108_380kv_1)
#define USER_MOTOR_Rs                   (0.105510123)
#define USER_MOTOR_Ls_d                 (1.74194902e-05)
#define USER_MOTOR_Ls_q                 (1.74194902e-05)
#define USER_MOTOR_RATED_FLUX           (0.00825069752)
#define I_A_offset                      (0.8219599128)
#define I_B_offset                      (0.8243734837)
#define I_C_offset                      (0.8160143495)
#define V_A_offset                      (0.3498064876)
#define V_B_offset                      (0.34847188)
#define V_C_offset                      (0.3473933339)

#elif (USER_MOTOR == multistar_4108_380kv_2)
#define USER_MOTOR_Rs                   (0.101265132)
#define USER_MOTOR_Ls_d                 (1.82865988e-05)
#define USER_MOTOR_Ls_q                 (1.82865988e-05)
#define USER_MOTOR_RATED_FLUX           (0.00821611658)
#define I_A_offset                      (0.8217176199)
#define I_B_offset                      (0.8253801465)
#define I_C_offset                      (0.823841691)
#define V_A_offset                      (0.3371132612)
#define V_B_offset                      (0.336848259)
#define V_C_offset                      (0.3368051052)

#elif (USER_MOTOR == multistar_4108_380kv_3)
#define USER_MOTOR_Rs                   (0.0977851376)
#define USER_MOTOR_Ls_d                 (1.99607621e-05)
#define USER_MOTOR_Ls_q                 (1.99607621e-05)
#define USER_MOTOR_RATED_FLUX           (0.00826308597)
#define I_A_offset                      (0.826984942)
#define I_B_offset                      (0.8258990645)
#define I_C_offset                      (0.8216085434)
#define V_A_offset                      (0.3359186053)
#define V_B_offset                      (0.335687995)
#define V_C_offset                      (0.3360587358)

#elif (USER_MOTOR == multistar_4108_380kv_4)
#define USER_MOTOR_Rs                   (0.102870129)
#define USER_MOTOR_Ls_d                 (1.5542746e-05)
#define USER_MOTOR_Ls_q                 (1.5542746e-05)
#define USER_MOTOR_RATED_FLUX           (0.0082674399)
#define I_A_offset                      (0.8247756958)
#define I_B_offset                      (0.8279978037)
#define I_C_offset                      (0.8273307681)
#define V_A_offset                      (0.3360449076)
#define V_B_offset                      (0.3341980577)
#define V_C_offset                      (0.335716188)

#else
#error No motor type specified
#endif

#ifndef USER_MOTOR
#error Motor is not defined in user.h
#endif

#ifndef USER_MOTOR_TYPE
#error The motor type is not defined in user.h
#endif

#ifndef USER_MOTOR_NUM_POLE_PAIRS
#error Number of motor pole pairs is not defined in user.h
#endif

#ifndef USER_MOTOR_Rr
#error The rotor resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Rs
#error The stator resistance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_d
#error The direct stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_Ls_q
#error The quadrature stator inductance is not defined in user.h
#endif

#ifndef USER_MOTOR_RATED_FLUX
#error The rated flux of motor is not defined in user.h
#endif

#ifndef USER_MOTOR_MAGNETIZING_CURRENT
#error The magnetizing current is not defined in user.h
#endif

#ifndef USER_MOTOR_RES_EST_CURRENT
#error The resistance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_IND_EST_CURRENT
#error The inductance estimation current is not defined in user.h
#endif

#ifndef USER_MOTOR_MAX_CURRENT
#error The maximum current is not defined in user.h
#endif

#ifndef USER_MOTOR_FLUX_EST_FREQ_Hz
#error The flux estimation frequency is not defined in user.h
#endif



//! \brief CURRENTS AND VOLTAGES
// **************************************************************************
//! \brief Defines the full scale frequency for IQ variable, Hz
//! \brief All frequencies are converted into (pu) based on the ratio to this value
//! \brief this value MUST be larger than the maximum speed that you are expecting from the motor 
//#define USER_IQ_FULL_SCALE_FREQ_Hz        (1300.0)   // 800 Example with buffer for 8-pole 6 KRPM motor to be run to 10 KRPM with field weakening; Hz =(RPM * Poles) / 120

//! \brief Defines full scale value for the IQ30 variable of Voltage inside the system
//! \brief All voltages are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST meet the following condition: USER_IQ_FULL_SCALE_VOLTAGE_V > 0.5 * USER_MOTOR_MAX_CURRENT * USER_MOTOR_Ls_d * USER_VOLTAGE_FILTER_POLE_rps, 
//! \brief WARNING: otherwise the value can saturate and roll-over, causing an inaccurate value
//! \brief WARNING: this value is OFTEN greater than the maximum measured ADC value, especially with high Bemf motors operating at higher than rated speeds
//! \brief WARNING: if you know the value of your Bemf constant, and you know you are operating at a multiple speed due to field weakening, be sure to set this value higher than the expected Bemf voltage
//! \brief It is recommended to start with a value ~3x greater than the USER_ADC_FULL_SCALE_VOLTAGE_V and increase to 4-5x if scenarios where a Bemf calculation may exceed these limits
//! \brief This value is also used to calculate the minimum flux value: USER_IQ_FULL_SCALE_VOLTAGE_V/USER_EST_FREQ_Hz/0.7
#define USER_IQ_FULL_SCALE_VOLTAGE_V      (24.0)   // 24.0 Example for boostxldrv8301_revB typical usage and the Anaheim motor

//! \brief Defines the maximum voltage at the input to the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the voltage sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_VOLTAGE_V       (26.314)      // 26.314 boostxldrv8301_revB voltage scaling

//! \brief Defines the voltage scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_VOLTAGE_SF               ((float_t)((USER_ADC_FULL_SCALE_VOLTAGE_V)/(USER_IQ_FULL_SCALE_VOLTAGE_V)))

//! \brief Defines the full scale current for the IQ variables, A
//! \brief All currents are converted into (pu) based on the ratio to this value
//! \brief WARNING: this value MUST be larger than the maximum current readings that you are expecting from the motor or the reading will roll over to 0, creating a control issue 
#define USER_IQ_FULL_SCALE_CURRENT_A         (20.0) // 20.0 Example for boostxldrv8301_revB typical usage

//! \brief Defines the maximum current at the AD converter
//! \brief The value that will be represented by the maximum ADC input (3.3V) and conversion (0FFFh)
//! \brief Hardware dependent, this should be based on the current sensing and scaling to the ADC input
#define USER_ADC_FULL_SCALE_CURRENT_A        (33.0)  // 33.0 boostxldrv8301_revB current scaling

//! \brief Defines the current scale factor for the system
//! \brief Compile time calculation for scale factor (ratio) used throughout the system
#define USER_CURRENT_SF               ((float_t)((USER_ADC_FULL_SCALE_CURRENT_A)/(USER_IQ_FULL_SCALE_CURRENT_A)))

//! \brief Defines the number of current sensors used
//! \brief Defined by the hardware capability present
//! \brief May be (2) or (3)
#define USER_NUM_CURRENT_SENSORS            (3)   // 3 Preferred setting for best performance across full speed range, allows for 100% duty cycle

//! \brief Defines the number of voltage (phase) sensors
//! \brief Must be (3)
#define USER_NUM_VOLTAGE_SENSORS            (3) // 3 Required

//! \brief ADC current offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
//#define   I_A_offset    (0.8232280016)
//#define   I_B_offset    (0.8300049901)
//#define   I_C_offset    (0.8174985051)

//! \brief ADC voltage offsets for A, B, and C phases
//! \brief One-time hardware dependent, though the calibration can be done at run-time as well
//! \brief After initial board calibration these values should be updated for your specific hardware so they are available after compile in the binary to be loaded to the controller
//#define   V_A_offset    (0.3303614855)
//#define   V_B_offset    (0.3290277719)
//#define   V_C_offset    (0.3293210864)


//! \brief CLOCKS & TIMERS
// **************************************************************************
//! \brief Defines the system clock frequency, MHz
#define USER_SYSTEM_FREQ_MHz             (60.0)

//! \brief Defines the Pulse Width Modulation (PWM) frequency, kHz
//! \brief PWM frequency can be set directly here up to 30 KHz safely (60 KHz MAX in some cases)
//! \brief For higher PWM frequencies (60 KHz+ typical for low inductance, high current ripple motors) it is recommended to use the ePWM hardware
//! \brief and adjustable ADC SOC to decimate the ADC conversion done interrupt to the control system, or to use the software Que example.
//! \brief Otherwise you risk missing interrupts and disrupting the timing of the control state machine
#define USER_PWM_FREQ_kHz                (45.0) //30.0 Example, 8.0 - 30.0 KHz typical; 45-80 KHz may be required for very low inductance, high speed motors

//! \brief Defines the maximum Voltage vector (Vs) magnitude allowed.  This value sets the maximum magnitude for the output of the
//! \brief Id and Iq PI current controllers.  The Id and Iq current controller outputs are Vd and Vq.
//! \brief The relationship between Vs, Vd, and Vq is:  Vs = sqrt(Vd^2 + Vq^2).  In this FOC controller, the
//! \brief Vd value is set equal to USER_MAX_VS_MAG*USER_VD_MAG_FACTOR.  Vq = sqrt(USER_MAX_VS_MAG^2 - Vd^2).
//! \brief Set USER_MAX_VS_MAG = 1.0 for a pure sinewave with a peak at SQRT(3)/2 = 86.6% duty cycle.  No current reconstruction is needed for this scenario.
//! \brief Set USER_MAX_VS_MAG = 2/SQRT(3) = 1.1547 for a pure sinewave with a peak at 100% duty cycle.  Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief Set USER_MAX_VS_MAG = 4/3 = 1.3333 to create a trapezoidal voltage waveform.  Current reconstruction will be needed for this scenario (Lab10a-x).
//! \brief For space vector over-modulation, see lab 10 for details on system requirements that will allow the SVM generator to go all the way to trapezoidal.
#define USER_MAX_VS_MAG_PU        (1.0)    // Set to 1.0 if a current reconstruction technique is not used.  Look at the module svgen_current in lab10a-x for more info.


//! \brief Defines the Pulse Width Modulation (PWM) period, usec
//! \brief Compile time calculation
#define USER_PWM_PERIOD_usec       (1000.0/USER_PWM_FREQ_kHz)

//! \brief Defines the Interrupt Service Routine (ISR) frequency, Hz
//!
#define USER_ISR_FREQ_Hz           ((float_t)USER_PWM_FREQ_kHz * 1000.0 / (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK)

//! \brief Defines the Interrupt Service Routine (ISR) period, usec
//!
#define USER_ISR_PERIOD_usec       (USER_PWM_PERIOD_usec * (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK)


//! \brief DECIMATION
// **************************************************************************
//! \brief Defines the number of pwm clock ticks per isr clock tick
//!        Note: Valid values are 1, 2 or 3 only
#define USER_NUM_PWM_TICKS_PER_ISR_TICK        (3)

//! \brief Defines the number of isr ticks (hardware) per controller clock tick (software)
//! \brief Controller clock tick (CTRL) is the main clock used for all timing in the software
//! \brief Typically the PWM Frequency triggers (can be decimated by the ePWM hardware for less overhead) an ADC SOC
//! \brief ADC SOC triggers an ADC Conversion Done
//! \brief ADC Conversion Done triggers ISR
//! \brief This relates the hardware ISR rate to the software controller rate
//! \brief Typcially want to consider some form of decimation (ePWM hardware, CURRENT or EST) over 16KHz ISR to insure interrupt completes and leaves time for background tasks
#define USER_NUM_ISR_TICKS_PER_CTRL_TICK       (1)      // 2 Example, controller clock rate (CTRL) runs at PWM / 2; ex 30 KHz PWM, 15 KHz control

//! \brief Defines the number of controller clock ticks per current controller clock tick
//! \brief Relationship of controller clock rate to current controller (FOC) rate
#define USER_NUM_CTRL_TICKS_PER_CURRENT_TICK   (1)      // 1 Typical, Forward FOC current controller (Iq/Id/IPARK/SVPWM) runs at same rate as CTRL. 

//! \brief Defines the number of controller clock ticks per estimator clock tick
//! \brief Relationship of controller clock rate to estimator (FAST) rate
//! \brief Depends on needed dynamic performance, FAST provides very good results as low as 1 KHz while more dynamic or high speed applications may require up to 15 KHz
#define USER_NUM_CTRL_TICKS_PER_EST_TICK       (1)      // 1 Typical, FAST estimator runs at same rate as CTRL;

//! \brief Defines the number of controller clock ticks per speed controller clock tick
//! \brief Relationship of controller clock rate to speed loop rate
#define USER_NUM_CTRL_TICKS_PER_SPEED_TICK  (15)   // 15 Typical to match PWM, ex: 15KHz PWM, controller, and current loop, 1KHz speed loop

//! \brief Defines the number of controller clock ticks per trajectory clock tick
//! \brief Relationship of controller clock rate to trajectory loop rate
//! \brief Typically the same as the speed rate
#define USER_NUM_CTRL_TICKS_PER_TRAJ_TICK   (15)   // 15 Typical to match PWM, ex: 10KHz controller & current loop, 1KHz speed loop, 1 KHz Trajectory

//! \brief Defines the controller frequency, Hz
//! \brief Compile time calculation
#define USER_CTRL_FREQ_Hz          (uint_least32_t)(USER_ISR_FREQ_Hz/USER_NUM_ISR_TICKS_PER_CTRL_TICK)

//! \brief Defines the estimator frequency, Hz
//! \brief Compile time calculation
#define USER_EST_FREQ_Hz           (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_EST_TICK)

//! \brief Defines the trajectory frequency, Hz
//! \brief Compile time calculation
#define USER_TRAJ_FREQ_Hz          (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_TRAJ_TICK)

//! \brief Defines the controller execution period, usec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_usec      (USER_ISR_PERIOD_usec * USER_NUM_ISR_TICKS_PER_CTRL_TICK)

//! \brief Defines the controller execution period, sec
//! \brief Compile time calculation
#define USER_CTRL_PERIOD_sec       ((float_t)USER_CTRL_PERIOD_usec/(float_t)1000000.0)


//! \brief LIMITS
// **************************************************************************
//! \brief Defines the maximum negative current to be applied in Id reference
//! \brief Used in field weakening only, this is a safety setting (e.g. to protect against demagnetization)
//! \brief User must also be aware that overall current magnitude [sqrt(Id^2 + Iq^2)] should be kept below any machine design specifications
#define USER_MAX_NEGATIVE_ID_REF_CURRENT_A     (-0.5 * USER_MOTOR_MAX_CURRENT)   // -0.5 * USER_MOTOR_MAX_CURRENT Example, adjust to meet safety needs of your motor

//! \brief Defines the low speed limit for the flux integrator, pu 
//! \brief This is the speed range (CW/CCW) at which the ForceAngle object is active, but only if Enabled
//! \brief Outside of this speed - or if Disabled - the ForcAngle will NEVER be active and the angle is provided by FAST only
#define USER_ZEROSPEEDLIMIT   (0.5 / USER_IQ_FULL_SCALE_FREQ_Hz)     // 0.002 pu, 1-5 Hz typical; Hz = USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz

//! \brief Defines the force angle frequency, Hz
//! \brief Frequency of stator vector rotation used by the ForceAngle object
//! \brief Can be positive or negative
#define USER_FORCE_ANGLE_FREQ_Hz   (USER_ZEROSPEEDLIMIT * USER_IQ_FULL_SCALE_FREQ_Hz)      // 1.0 Typical force angle start-up speed

//! \brief Defines the maximum current slope for Id trajectory during PowerWarp
//! \brief For Induction motors only, controls how fast Id input can change under PowerWarp control
#define USER_MAX_CURRENT_SLOPE_POWERWARP   (0.3*USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz)  // 0.3*RES_EST_CURRENT / IQ_FULL_SCALE_CURRENT / TRAJ_FREQ Typical to produce 1-sec rampup/down

//! \brief Defines the starting maximum acceleration AND deceleration for the speed profiles, Hz/s
//! \brief Updated in run-time through user functions
//! \brief Inverter, motor, inertia, and load will limit actual acceleration capability
#define USER_MAX_ACCEL_Hzps                 (20.0)      // 20.0 Default

//! \brief Defines maximum acceleration for the estimation speed profiles, Hz/s
//! \brief Only used during Motor ID (commission)
#define USER_MAX_ACCEL_EST_Hzps           (5.0)         // 5.0 Default, don't change

//! \brief Defines the maximum current slope for Id trajectory during estimation
#define USER_MAX_CURRENT_SLOPE           (USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz)      // USER_MOTOR_RES_EST_CURRENT/USER_IQ_FULL_SCALE_CURRENT_A/USER_TRAJ_FREQ_Hz Default, don't change

//! \brief Defines the fraction of IdRated to use during rated flux estimation
//!
#define USER_IDRATED_FRACTION_FOR_RATED_FLUX (1.0)      // 1.0 Default, don't change

//! \brief Defines the fraction of IdRated to use during inductance estimation
//!
#define USER_IDRATED_FRACTION_FOR_L_IDENT    (1.0)      // 1.0 Default, don't change

//! \brief Defines the IdRated delta to use during estimation
//!
#define USER_IDRATED_DELTA                  (0.00002)

//! \brief Defines the fraction of SpeedMax to use during inductance estimation
//!
#define USER_SPEEDMAX_FRACTION_FOR_L_IDENT  (1.0)      // 1.0 Default, don't change

//! \brief Defines flux fraction to use during inductance identification
//!
#define USER_FLUX_FRACTION           (1.0)            // 1.0 Default, don't change

//! \brief Defines the PowerWarp gain for computing Id reference
//! \brief Induction motors only
#define USER_POWERWARP_GAIN                   (1.0)         // 1.0 Default, don't change

//! \brief Defines the R/L estimation frequency, Hz
//! \brief User higher values for low inductance motors and lower values for higher inductance
//! \brief motors.  The values can range from 100 to 300 Hz.
#define USER_R_OVER_L_EST_FREQ_Hz (300)               // 300 Default


//! \brief POLES
// **************************************************************************
//! \brief Defines the analog voltage filter pole location, Hz
//! \brief Must match the hardware filter for Vph
#define USER_VOLTAGE_FILTER_POLE_Hz  (364.682)   // 364.682, value for boostxldrv8301_revB hardware

//! \brief Defines the analog voltage filter pole location, rad/s
//! \brief Compile time calculation from Hz to rad/s
#define USER_VOLTAGE_FILTER_POLE_rps  (2.0 * MATH_PI * USER_VOLTAGE_FILTER_POLE_Hz)

//! \brief Defines the software pole location for the voltage and current offset estimation, rad/s
//! \brief Should not be changed from default of (20.0)
#define USER_OFFSET_POLE_rps            (20.0)   // 20.0 Default, do not change

//! \brief Defines the software pole location for the flux estimation, rad/s
//! \brief Should not be changed from default of (100.0)
#define USER_FLUX_POLE_rps              (100.0)   // 100.0 Default, do not change

//! \brief Defines the software pole location for the direction filter, rad/s
#define USER_DIRECTION_POLE_rps             (6.0)   // 6.0 Default, do not change

//! \brief Defines the software pole location for the speed control filter, rad/s
#define USER_SPEED_POLE_rps           (100.0)   // 100.0 Default, do not change

//! \brief Defines the software pole location for the DC bus filter, rad/s
#define USER_DCBUS_POLE_rps           (100.0)   // 100.0 Default, do not change

//! \brief Defines the convergence factor for the estimator
//! \brief Do not change from default for FAST
#define   USER_EST_KAPPAQ               (1.5)   // 1.5 Default, do not change

// **************************************************************************
// end the defines

// **************************************************************************
// the functions


//! \brief      Sets the user parameter values
//! \param[in]  pUserParams  The pointer to the user param structure
extern void USER_setParams(USER_Params *pUserParams);


//! \brief      Checks for errors in the user parameter values
//! \param[in]  pUserParams  The pointer to the user param structure
extern void USER_checkForErrors(USER_Params *pUserParams);


//! \brief      Gets the error code in the user parameters
//! \param[in]  pUserParams  The pointer to the user param structure
//! \return     The error code
extern USER_ErrorCode_e USER_getErrorCode(USER_Params *pUserParams);


//! \brief      Sets the error code in the user parameters
//! \param[in]  pUserParams  The pointer to the user param structure
//! \param[in]  errorCode    The error code
extern void USER_setErrorCode(USER_Params *pUserParams,const USER_ErrorCode_e errorCode);


//! \brief      Recalculates Inductances with the correct Q Format
//! \param[in]  handle       The controller (CTRL) handle
extern void USER_softwareUpdate1p6(CTRL_Handle handle);


//! \brief      Updates Id and Iq PI gains
//! \param[in]  handle       The controller (CTRL) handle
extern void USER_calcPIgains(CTRL_Handle handle);


//! \brief      Computes the scale factor needed to convert from torque created by Ld, Lq, Id and Iq, from per unit to Nm
//! \return     The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm, in IQ24 format
extern _iq USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf(void);


//! \brief      Computes the scale factor needed to convert from torque created by flux and Iq, from per unit to Nm
//! \return     The scale factor to convert torque from Flux * Iq from per unit to Nm, in IQ24 format
extern _iq USER_computeTorque_Flux_Iq_pu_to_Nm_sf(void);


//! \brief      Computes the scale factor needed to convert from per unit to Wb
//! \return     The scale factor to convert from flux per unit to flux in Wb, in IQ24 format
extern _iq USER_computeFlux_pu_to_Wb_sf(void);


//! \brief      Computes the scale factor needed to convert from per unit to V/Hz
//! \return     The scale factor to convert from flux per unit to flux in V/Hz, in IQ24 format
extern _iq USER_computeFlux_pu_to_VpHz_sf(void);


//! \brief      Computes Flux in Wb or V/Hz depending on the scale factor sent as parameter
//! \param[in]  handle       The controller (CTRL) handle
//! \param[in]  sf           The scale factor to convert flux from per unit to Wb or V/Hz
//! \return     The flux in Wb or V/Hz depending on the scale factor sent as parameter, in IQ24 format
extern _iq USER_computeFlux(CTRL_Handle handle, const _iq sf);


//! \brief      Computes Torque in Nm
//! \param[in]  handle          The controller (CTRL) handle
//! \param[in]  torque_Flux_sf  The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to Nm
//! \param[in]  torque_Ls_sf    The scale factor to convert torque from Flux * Iq from per unit to Nm
//! \return     The torque in Nm, in IQ24 format
extern _iq USER_computeTorque_Nm(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf);


//! \brief      Computes Torque in lbin
//! \param[in]  handle          The controller (CTRL) handle
//! \param[in]  torque_Flux_sf  The scale factor to convert torque from (Ld - Lq) * Id * Iq from per unit to lbin
//! \param[in]  torque_Ls_sf    The scale factor to convert torque from Flux * Iq from per unit to lbin
//! \return     The torque in lbin, in IQ24 format
extern _iq USER_computeTorque_lbin(CTRL_Handle handle, const _iq torque_Flux_sf, const _iq torque_Ls_sf);


#ifdef __cplusplus
}
#endif // extern "C"

//@} // ingroup
#endif // end of _USER_H_ definition