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931 Commits

Author SHA1 Message Date
Mitch Lustig 8299445c66 Basic feature set complte 
Fix some bugs
Add D-Term PT1 Filter
Add all the fault delays
Setpoint clamp no longer breaks tiltback
Add configurable constant tiltback erpm
 2020-07-02 01:07:54 -07:00
Mitch Lustig 0b375e76a2 Merge remote-tracking branch 'vedderb/dev_fw_5_02' into balance_3 2020-07-02 00:06:40 -07:00
Peemouse 37e9c2143b CHANGED : Master keeps the slave(s) running even if a local fault occurs 
CHANGED : Master now sends relative value instead (%) instead of absolute value (A) (great for multiple VESC with different currents settings)
FIXED : Timeout current brake feature not working
FIXED : brake command sent over CANbus even if Multiple VESC over CAN disabled
FIXED : delay before switching slave off in case of RX timeout
ADDED : Traction control auto-disabling in case of fault on master, re-enable only if no effect on motors will happen (avoid weird behaviour exiting fault state on master).
 2020-07-01 14:39:31 +02:00
Benjamin Vedder 46e76ec975
Merge pull request #186 from powerdesigns/virtual-motor-update 
Update virtual motor code to work with latest Vesc v5.
 2020-06-30 20:18:51 +02:00
Benjamin Vedder 9fc17a01b5
Merge pull request #187 from powerdesigns/speed-ramp-bug-fix 
solved bug in speed command ramp.
 2020-06-30 20:09:10 +02:00
Esben Rasmussen f6621e810d Added BMI160 SPI support 2020-06-29 16:26:39 +02:00
Peemouse c37419a2e4
Sync with upstream 2020-06-25 15:42:21 +02:00
Maximiliano Cordoba 3a08b1e947 solved bug in speed_ramp. 
it was being overwritten by the rpm command.

Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
 2020-06-20 14:43:00 -03:00
Maximiliano Cordoba 4a9bf528a9 Fix virtual motor to work with latest Vesc v5. 
connect_virtual_motor_command only requires 3 arguments, load torque, load inertia and battery voltage.
The rest of the motor characteristics, are taken from already existant variables in VESC motor configuration.

Solved issue with encoder sensor configuration.

Solved fault gate driver undervoltage

Improved hardware dependency defines in virtual motor.c

Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
 2020-06-20 13:36:56 -03:00
Mitch Lustig b61a0ea7be Add additional timer for switch half state 2020-06-19 01:28:52 -07:00
Mitch Lustig cf4187e4e6 Merge remote-tracking branch 'vedderb/dev_fw_5_02' into balance_3 2020-06-19 01:01:00 -07:00
Mitch Lustig da7b3a0ffb Mix of stuff (Not a working state) 
Organize vars
Hack in dterm PT1
Improve faults
Remove dead state
 2020-06-19 01:00:37 -07:00
Benjamin Vedder 960cd3b992 Some updates to MTPA PR 2020-06-17 13:55:35 +02:00
Benjamin Vedder dea04a5e22
Merge pull request #179 from powerdesigns/MTPA 
MTPA support
 2020-06-17 12:27:20 +02:00
Jeffrey M. Friesen 6d2e0831ac switch led ordering on gpio 2020-06-08 16:02:44 -07:00
Marcos Chaparro 1876c52b02 Disable MTPA during encoder detection 
Avoids id current set by encoder detection to be overwritten by the
MTPA algorithm.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2020-06-06 22:14:06 -03:00
Maximiliano Cordoba 2c7ad3f797 add Id into the calculation of motor current 
Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
 2020-06-06 22:14:06 -03:00
Marcos Chaparro 2a3110cc53 Fix id and vd sign during inverted direction 
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2020-06-06 22:14:06 -03:00
Marcos Chaparro 42926d530e Add MTPA support 
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2020-06-06 22:14:06 -03:00
Jeffrey M. Friesen ca41e3f9a6 Merge remote-tracking branch 'upstream/dev_fw_5_02' into dev_fw_5_02 2020-06-06 17:38:56 -07:00
Jeffrey M. Friesen 6069b2f872 minor changes to fault reporting 2020-06-06 17:38:53 -07:00
Sam Shum 388482f3c2
Update README.md 2020-06-03 13:44:12 -04:00
Benjamin Vedder b1915b06a7 Some updates for PRs 2020-06-03 10:52:55 +02:00
Benjamin Vedder 1857600961
Merge pull request #175 from Mitchlol/LSM6DS3 
Add support for IMU LSM6DS3
 2020-06-03 10:24:09 +02:00
Benjamin Vedder bc6e937e22
Merge pull request #171 from powerdesigns/axiom_input_current_sensor 
Axiom: adds input current sensor capability.
 2020-06-03 10:23:31 +02:00
Mitch Lustig 3fef0d6454 Add Unity and 60D LSM6DS3 pin config 2020-06-01 20:17:48 -07:00
Mitch Lustig 2a1c8ddc67 LSM6DS3 Cleanup 2020-05-29 16:49:33 -07:00
Mitch Lustig b827ad855b Finish up lsm6ds3 2020-05-29 16:39:03 -07:00
Mitch Lustig 976413887b Working LSM6DS3 needs lil work but its 3 am and i need to save progress 2020-05-29 03:10:43 -07:00
Maximiliano Cordoba 390f1019ef Axiom: adds input current sensor capability. 
use HW_HAS_INPUT_CURRENT_SENSOR in hw_axiom.h to enable it, it is commented by default
Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
 2020-05-16 17:56:08 -03:00
Benjamin Vedder 9781fb9563 Manually merged #166 2020-05-12 15:53:32 +02:00
Benjamin Vedder b460fa0fa3
Merge pull request #168 from vedderb/revert-166-speed_command_ramp 
Revert "Add ramp input to the speed PID loop."
 2020-05-12 15:32:40 +02:00
Benjamin Vedder e58c87103c
Revert "Add ramp input to the speed PID loop." 2020-05-12 15:30:34 +02:00
Benjamin Vedder c9a89fb0df
Merge pull request #166 from powerdesigns/speed_command_ramp 
Add ramp input to the speed PID loop.
 2020-05-12 15:27:32 +02:00
Maximiliano Cordoba 0264242af2 Only use ERPM per Second varialble to control the input ramp to the speed PID loop. 
A negative value will disable the ramp, and fed the speed command directly to the PID as it used to do.

Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
 2020-05-11 17:00:27 -03:00
Benjamin Vedder 939634b9a2
Merge pull request #165 from jxltom/feature/fix-warnings 
Fix warnings in Travis tests
 2020-05-11 20:39:46 +02:00
Maximiliano Cordoba d89f652f7d Add ramp input to the speed PID loop. 
This works together with a new config file of Vesc Tool, that adds 2 variables to the Speed Pid page.

Signed-off-by: Maximiliano Cordoba <mcordoba@powerdesigns.ca>
 2020-05-10 20:00:49 -03:00
jxltom 52a1e1d446 Fix warning: missing initializer for field 'ah_charge_tot' of 'setup_values' 2020-05-09 12:00:02 +08:00
jxltom 7ab9a6e431 Fix warning: missing braces around initializer 2020-05-09 11:56:52 +08:00
jxltom b39e56586e Fix warning: "BIG_ENDIAN" is not defined 2020-05-09 11:56:07 +08:00
Benjamin Vedder 6196805d8c Added CHUK_CTRL_TYPE_CURRENT_BIDIRECTIONAL, some fixes on last PR 2020-05-03 22:35:37 +02:00
Benjamin Vedder 4d83998d9d
Merge pull request #163 from Peemouse/dev_fw_5_x 
Add COMM_GET_MCCONF_TEMP command
 2020-05-02 07:17:47 +02:00
Benjamin Vedder 9255b8fa73 Fixed median filter bug 2020-05-01 22:20:44 +02:00
Peemouse f6d7ed1fd2 Add COMM_GET_MCCONF_TEMP command 2020-05-01 15:22:09 +02:00
Peemouse 4be557c72b
Sync upstream dev branch 2020-05-01 12:19:19 +02:00
Benjamin Vedder 36c56b38fc Updated changelog and version + test version numbers 2020-05-01 09:45:32 +02:00
Benjamin Vedder b6c87bcda5
Merge pull request #161 from Mitchlol/imu_init_once 
Only init IMU once so an external unit doesn't override UART on reboot
 2020-05-01 09:43:26 +02:00
Benjamin Vedder 95504a553a
Merge pull request #162 from Mitchlol/fix_imu_calibration 
IMU Calibration Improvement
 2020-05-01 09:38:19 +02:00
Mitch Lustig d24822c5c4 IMU Calibration Improvement 
Increase settle time, and clear out AHRS values, to get a proper settle on at even the most extreme angles on units with poorly calibrated accelerometers.
 2020-04-28 22:43:44 -07:00
Mitch Lustig e08d0e8b8c Only init IMU once so it doesn't override UART on reboot 2020-04-28 20:49:09 -07:00