supercap_def.h

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#ifndef STM_UTILS_INC_SUPERCAP_DEF_H_
#define STM_UTILS_INC_SUPERCAP_DEF_H_
 
// ───── Board & Mode Configuration ───────────────────────────────

#ifndef BOARD_ID
#error "BOARD_ID VARIABLE MUST BE DEFINED."
#endif

#ifndef CALIBRATION_MODE
#error "CALIBRATION MODE VARIABLE MUST BE DEFINED."
#endif
 
// ───── PID Parameters: Power Loop ───────────────────────────────
 
#define P_BATTERY_KP 3.85f   
#define P_BATTERY_KI 0.048f  
#define P_BATTERY_KD 0.001f  
#define P_BATTERY_MIN_OUTPUT -400.0f  
 
#define P_CHASSIS_MAX_OUTPUT 2.0f     
#define P_CHASSIS_MIN_OUTPUT -2.0f    
 
// ───── PID Parameters: Current Loop (Supercap) ──────────────────
 
#define I_SUPERCAP_KP 0.0207f
#define I_SUPERCAP_KI 0.00022f
#define I_SUPERCAP_KD 0.0f
 
#define I_SUPERCAP_INTEG_MAX 1.621f
#define I_SUPERCAP_INTEG_MIN 0.127f
#define I_SUPERCAP_MAX_OUTPUT 1.621f
#define I_SUPERCAP_MIN_OUTPUT 0.127f
 
#define I_SUPERCAP_INIT_VAL 0.14f  
 
// ───── PID Parameters: Voltage Control (Supercap Max) ───────────
 
#define V_SUPERCAPMAX_KP 0.001f
#define V_SUPERCAPMAX_KI 0.0025f
#define V_SUPERCAPMAX_KD 0.001f
 
#define V_SUPERCAPMAX_INTEG_MAX 1.6f
#define V_SUPERCAPMAX_INTEG_MIN 1.005f
#define V_SUPERCAPMAX_MAX_OUTPUT 1.6f
#define V_SUPERCAPMAX_MIN_OUTPUT 1.005f
 
#define V_SUPERCAPMAX_REF 26.0f
#define V_SUPERCAPMAX_INIT_VAL 1.4f
 
// ───── PID Parameters: Voltage Control (Supercap Min) ───────────
 
#define V_SUPERCAPMIN_KP 0.001f
#define V_SUPERCAPMIN_KI 0.0025f
#define V_SUPERCAPMIN_KD 0.0f
 
#define V_SUPERCAPMIN_INTEG_MAX 0.179f
#define V_SUPERCAPMIN_INTEG_MIN 0.127f
#define V_SUPERCAPMIN_MAX_OUTPUT 0.179f
#define V_SUPERCAPMIN_MIN_OUTPUT 0.127f
 
#define V_SUPERCAPMIN_REF 2.7f
#define V_SUPERCAPMIN_INIT_VAL 0.1f
 
// ───── Safety Thresholds ────────────────────────────────────────
 
#define SUPERCAP_CURRENT_MAX 18.0f   
#define SUPERCAP_CURRENT_MIN -18.0f
#define SUPERCAP_CURRENT_SAFETY_MAX 20.5f 
 
#define ESR_VALUE 0.17f 
 
#define SUPERCAP_MAX_VOLTAGE 25.5f
#define SUPERCAP_MIN_VOLTAGE 3.00f
 
#define MIN_PMM_VOLTAGE 18.0f  
#define MAX_PMM_VOLTAGE 28.0f  
 
#define MAX_CAP_CURRENT 18.0f  
 
// ───── Temperature Sensor Parameters (NTC) ──────────────────────
 
#define TEMP_PARAM_B 3380.0f
#define TEMP_FIX_RES 10000.0f  
#define TEMP_NTC_RES 10000.0f  
#define TEMP_CELSIUS_CONST 273.15f
#define TEMP_AMBIANT 298.15f
 
#define MIN_BAT_VOLTAGE 20.97f  
 
#endif /* STM_UTILS_INC_SUPERCAP_DEF_H_ */