Benjamin Vedder
4e06fca417
Resolved conflict
2022-04-19 17:29:34 +02:00
Benjamin Vedder
de09850ec0
Congfigurable i2c_bb bitrate
2022-04-19 17:21:19 +02:00
Mitch Lustig
a041a3b952
Add support for configuring IMU onboard filters
2022-04-15 21:31:03 -07:00
Teslafly
a22efa6c90
fix offset on start for 180 mode
2022-04-11 01:02:37 -05:00
Teslafly
0af253693c
update conf and single turn by default
2022-04-09 15:15:24 -05:00
Benjamin Vedder
60bd5aa1dc
Added openloop max current parameter
2022-04-06 12:14:19 +02:00
Benjamin Vedder
e5ed5ee914
Added openloop current boost parameter
2022-04-06 11:30:02 +02:00
Benjamin Vedder
1eb0c1e5ae
Added HFI-method based on coupling between the axes
2022-04-06 00:35:11 +02:00
Benjamin Vedder
3a530ac3f7
App ADC abs min and max voltage limits
2022-04-01 18:43:03 +02:00
Benjamin Vedder
d8e8be51de
Fixed silent hfi current offset, added high performance hfi mode, changed vesc6 current sampling, only use HT interrupt if the currents are first in the ADC vector
2022-03-23 22:26:05 +01:00
Benjamin Vedder
c348120325
High-performance and silent HFI
2022-03-23 15:04:30 +01:00
Benjamin Vedder
6ace516b3f
Added CAN status message 6 with ADC and PPM values
2022-03-13 20:56:26 +01:00
Benjamin Vedder
e9d6fd5842
Use bitfields for CAN-messages and support two different CAN status rates
2022-03-11 18:08:28 +01:00
Benjamin Vedder
4958a91670
Added support for custom NTC and PTC motor temperature sensors
2022-01-24 00:36:53 +01:00
Benjamin Vedder
16385f1706
Renamed compression to lzo, added observer offset parameter
2022-01-12 12:27:45 +01:00
Benjamin Vedder
af55c79a2a
Renamed foc_f_sw to foc_f_zv
2022-01-06 20:44:00 +01:00
Benjamin Vedder
6b076f07f1
updated signature
2021-11-28 10:48:04 +01:00
Benjamin Vedder
5d385c046b
Added UAVCAN raw RPM command
2021-11-24 10:56:45 +01:00
Benjamin Vedder
f6e78a09b6
Fixed measured MTPA mode, send ld_lq_diff detection result
2021-11-21 18:17:40 +01:00
Benjamin Vedder
f1c4e713d7
Added MTPA modes
2021-10-24 18:10:00 +02:00
Benjamin Vedder
98587c961b
Updated inductance calculation, include motor saliency in observer, separate setting for MTPA
2021-10-24 13:25:12 +02:00
Benjamin Vedder
d041761f0e
Updated mcconf signature
2021-10-16 13:01:48 +02:00
Benjamin Vedder
d8a99fd0f1
Inductance and resistance measurement and scaling fixes, various other fixes
2021-10-15 22:25:07 +02:00
Afzal
b1ec844b2f
PAS: add constant torque control type
...
For gearless electric bicycles, riding up the slope and during start,
good torque support from the motor helps the rider ride with less
effort. Pedal assist based on cadence provides higher torque with higher
pedalling speed. In the situations mentioned above, where user naturally
pedals slow, aid from cadence based system is less. On a geared setup,
changing to low gear comes to the rider's help.
Here another control type is provided - Constant Torque, whenever the
rider pedals, motor would provide constant torque. The torque value can
be set using 'PAS max current' setting thus acting as fine PAS assist
level.
This type of control is similar to 'Basic PAS, constant throttle' of
'PAS Control Schemes' [1], with the difference that throttle setting
in that article corresponds to speed, while here torque.
Also riding experience on some of the popular (not high end) e-bicycles
having PAS indicates they might be having this kind of control
internally.
[1] https://ebikes.ca/learn/pedal-assist.html
2021-10-05 13:05:31 +05:30
Benjamin Vedder
91a19fa8b3
IMU improvements
2021-08-22 11:51:03 +02:00
Mitch Lustig
80de95c372
Update confgenerator
2021-08-19 13:39:54 -07:00
Benjamin Vedder
7c6f1dd612
Added fusion IMU filter
2021-08-19 18:48:23 +02:00
Benjamin Vedder
fc6825a1ae
Added safe start modes
2021-08-16 17:48:06 +02:00
Benjamin Vedder
debd1ed4aa
Configuration updates
2021-08-16 15:02:20 +02:00
Dado Mista
3f1c7872f4
confgenerator for Balance: configurable speed/angle for each tiltback type
...
Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-08-15 16:30:11 -07:00
Benjamin Vedder
3c88ecb7aa
Added configurable PID loop rate and more AUX port modes
2021-07-12 14:31:01 +02:00
Benjamin Vedder
1ab25a47db
Added position PID offset support and KD_PROC term
2021-07-11 20:19:26 +02:00
Dado Mista
813d5b15fa
Balance App: introduce new speed based variable tiltback
...
Nose angle adjustment, similar in purpose as constant tiltback
but it is proportional to erpm aka speed.
Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-06-25 21:42:37 -07:00
Benjamin Vedder
32af87b08a
Added aux out modes
2021-06-19 17:50:44 +02:00
Benjamin Vedder
75b84f1f2d
Added kill switch support
2021-06-13 13:46:27 +02:00
Mitch Lustig
d561c2669b
Add balance loop time correction
2021-06-06 14:01:42 -07:00
Mitch Lustig
de9400e461
Add brake timeout
2021-06-05 16:05:19 -07:00
Mitch Lustig
d68fc0ff4f
Balance: Updates
...
-Fix D term to use angle rather than error (which includes tilt steps)
-Switch TT to Biquad (Clear z1 z2)
-Split TT Relax speed
-Add Biquad to D term
-Add console command to graph specific variables
-Add console command to dump realtime data from specific variables
2021-06-01 03:20:00 -07:00
Mitch Lustig
b237cf4b9f
Add High Pass FIlter, implement current off delay, refactor constanttilt
2021-05-16 14:53:03 -07:00
Benjamin Vedder
f25144cc30
Removed iterative observer, added p_pid_gain_dec_angle
2021-04-26 23:14:05 +02:00
Mitch Lustig
187621d530
Add confgenerator
2021-04-17 18:20:51 -07:00
Benjamin Vedder
14b25e9aa4
Added foc_fw_q_current_factor
2021-04-15 10:04:28 +02:00
Benjamin Vedder
feb1be5fbd
First attempt at field weakening and current controller windup protection improvement
2021-04-10 11:37:35 +02:00
Mitch Lustig
08f27f433c
Add turn tilt
2021-04-06 02:18:32 -07:00
Benjamin Vedder
fcb7e12158
Made servo output a config option
2021-03-31 16:28:46 +02:00
Mitch Lustig
decdc7e7d6
Add torquetilt
2021-03-27 20:13:22 -07:00
Mitch Lustig
3b9fe6ec67
Add Booster
2021-03-27 14:00:55 -07:00
Mitch Lustig
49e624ba3b
Remove boring features
2021-03-27 12:17:10 -07:00
Benjamin Vedder
3b4e601f61
Offset calibration update
2021-03-22 12:13:19 +01:00
Benjamin Vedder
bdb7b0bf7b
Added KTY84 temp sensor support
2021-03-17 11:54:42 +01:00