KmdFoc用户参数

参数设置

用户可以通过 hal_kmd_user_config_set_hook(HAL_KMD_SET_CONFIG) 设置参数和通过 hal_kmd_user_config_set_hook(HAL_KMD_GET_CONFIG)请求获取相关参数

以下参数设置或获取的命令ID，需要注意并不是所有的需要保存的参数都可以设置，具体看下文说明，或从上位机可以比较直观的看出。

typedef enum eHalUsrConfigsCmd
{
    HAL_USER_CONFIG_NULL = 0,
    //Motor
    HAL_USER_CONFIG_MOTOR_POLE_PAIRS,
    HAL_USER_CONFIG_MOTOR_PHASE_RESISTANCE,
    HAL_USER_CONFIG_MOTOR_PHASE_INDUCTANCE,
    HAL_USER_CONFIG_INERTIA,
    //Encoder
    HAL_USER_CONFIG_ENCODER_TYPE,
    HAL_USER_CONFIG_ENCODER_PLL_BW,
    HAL_USER_CONFIG_ENCODER_CPR,

    //Calib
    HAL_USER_CONFIG_CALIB_VALID,
    HAL_USER_CONFIG_CALIB_CURRENT,
    HAL_USER_CONFIG_CALIB_MAX_VOLTAGE,
    //Control
    HAL_USER_CONFIG_CONTROL_MODE,
    HAL_USER_CONFIG_CURRENT_RAMP_RATE,
    HAL_USER_CONFIG_VEL_RAMP_RATE,
    HAL_USER_CONFIG_TRAJ_VEL,
    HAL_USER_CONFIG_TRAJ_ACCEL,
    HAL_USER_CONFIG_TRAJ_DECEL,
    HAL_USER_CONFIG_POS_GAIN,
    HAL_USER_CONFIG_VEL_GAIN,
    HAL_USER_CONFIG_VEL_INTEGRATOR_GAIN,
    HAL_USER_CONFIG_VEL_LIMIT,
    HAL_USER_CONFIG_CURRENT_LIMIT,
    HAL_USER_CONFIG_CURRENT_CTRL_P_GAIN,
    HAL_USER_CONFIG_CURRENT_CTRL_I_GAIN,
    HAL_USER_CONFIG_CURRENT_CTRL_BW,
    //Protect
    HAL_USER_CONFIG_PROTECT_UNDER_VOLTAGE,
    HAL_USER_CONFIG_PROTECT_OVER_VOLTAGE,
	HAL_USER_CONFIG_PROTECT_OVER_CURRENT,
    HAL_USER_CONFIG_PROTECT_OVER_SPEED,
    //CAN
    HAL_USER_CONFIG_CAN_ID,
    HAL_USER_CONFIG_CAN_TIMEOUT_MS,
    HAL_USER_CONFIG_CAN_HEARTBEAT_MS,
	HAL_USER_CONFIG_CAN_HEARTBEAT_CH,

    HAL_USER_CONFIG_UART_DEBUG_MS,
    HAL_USER_CONFIG_NUM
} tHalUsrConfigsCmd;