MELODY #

# ## Overview
#
# Template for the `melody` component: tunes, a ready chime and `identify`
# played as a tone on the motor's d-axis current.
#
# ## How It Works
#
# `melody0` sits between the field current and hv: `melody0.in` takes
# `pmsm_ttc0.id` (what `pmsm` links to `hv0.d_cmd`: the phasing current plus
# the MTPA d current) and `hv0.d_cmd` takes `melody0.out`, which is `in` plus
# the tone. rt_prio 9.5 runs it after pmsm_ttc (9) and before hv (10). The
# tone makes the stator hum without torque (with the commutation offset
# right).
#
# `melody0.en = fault0.en_pid`: nothing plays unless the drive is enabled and
# past phasing, so the tone never switches the bridge on.
#
# - Ready chime: C4 E G C5 on the first enable after power-up.
# - `identify` (or a rising edge on `melody0.ident`): 3 x 3 beeps.
# - `tune <notes>`, `tune +<notes>`, `tune ode`, `tunex`: see the `melody`
#   component.
#
# ## Key Parameters
#
# - `melody0.amp` -- tone peak current command (A), default 6; with
#   `conf0.cur_bw` 3000 the current loop passes about 2/3 (C5) to 9/10 (C4)
#   of it, and about 3-4 A at the motor is audible
# - `melody0.wave` -- 1 = square (default, louder), 0 = sine
# - `melody0.chime` -- 0 = no ready chime
#
# ## Usage
#
# `link melody` AFTER `link pmsm` (it replaces pmsm's `hv0.d_cmd` link).
#
# ## Prerequisites
#
# `fb_switch0` and `fault0` (the `pmsm` and `pid` templates). Not for
# configs that drive `hv0.d_cmd` from anything else (acim, dc).
#
load melody
melody0.rt_prio = 9.5
melody0.in = pmsm_ttc0.id
melody0.en = fault0.en_pid
hv0.d_cmd = melody0.out