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1157 Commits

Author SHA1 Message Date
Benjamin Vedder 1ab9584b5c
Merge pull request #393 from kubark42/rotor_lock_d_axis 
[MCPWM_FOC] Make rotor lock feature use D axis
 2021-12-29 12:07:14 +01:00
ElwinBoots e4f4bb1d3f [MCPWM_FOC] Make rotor lock feature use D axis 
Changes rotor lock feature from Q axis to D axis. This has two advantages:
1. Now the angle you put in is the angle you really get in the alpha beta frame (no 90 degree offset).
2. Now when the rotor is being locked, the D axis is really the D axis and Q is really the Q axis. This helps for FRF measurements.
 2021-12-28 19:43:51 -05:00
Benjamin Vedder 3ed8c90a1d
Merge pull request #390 from kubark42/fluxlinkage_clunkfix 
Flux linkage clunk fix
 2021-12-28 11:17:56 +01:00
Kenn Sebesta 2978e9b8e3 [conf_general] Brief code cleanup 
1) Use `false` instead of `0`. This communicates that it is a bool which is being sent, and not a decimal
number.

2) Add some code comments
 2021-12-27 16:55:33 -05:00
ElwinBoots fefa32e7bf Fix the clunk at the end of the open loop flux linkage measurement. 
Old code tried to remove all current instantly. New code disabled the pwm first.
 2021-12-27 16:55:33 -05:00
Benjamin Vedder 5a2382adc8
Merge pull request #388 from secupol/dev_fw_5_03 
Fix fault parameter in mcpwm_foc_measure_inductance function.
 2021-12-21 09:48:27 +01:00
secupol 480ffbbeb0
Fix fault parameter in mcpwm_foc_measure_inductance function. 2021-12-21 16:35:25 +09:00
Benjamin Vedder 4eec52d5c0 Fix NaN-problem after lost tracking on some motors 2021-12-19 23:55:03 +01:00
Benjamin Vedder a8f989eb64 er updates 2021-12-08 12:04:19 +01:00
Benjamin Vedder b302c1a614 er update 2021-12-08 10:12:23 +01:00
Benjamin Vedder 4da6b603d4 er updates 2021-12-06 16:55:58 +01:00
Benjamin Vedder 4fa7a922fe Fixed dual motor detect offset problem 2021-12-01 13:46:49 +01:00
Benjamin Vedder d30fb57a90 Fixed stat reset, removed stat terminal command 2021-12-01 13:45:48 +01:00
Benjamin Vedder 6b076f07f1 updated signature 2021-11-28 10:48:04 +01:00
Benjamin Vedder 2a281e36ae Initialize integrator in dutycycle downramp controller 2021-11-27 23:32:08 +01:00
Benjamin Vedder 40c2842aa8 Sign macro fix 2021-11-27 23:30:10 +01:00
Benjamin Vedder c5c309e227 More braking improvements 2021-11-27 18:51:02 +01:00
Benjamin Vedder e6c44bb133 build using 12 cores 2021-11-27 18:50:34 +01:00
Benjamin Vedder afe85a2937 Handle different max and min currents in braking mode 2021-11-27 16:38:32 +01:00
Benjamin Vedder b524773c0d Another attempt at braking 2021-11-27 10:58:52 +01:00
Benjamin Vedder a4201139f2 Minor cleanup 2021-11-26 18:06:07 +01:00
Benjamin Vedder 76b4f58e4e Another attempt at braking smoothly to 0 2021-11-26 00:43:41 +01:00
Benjamin Vedder 824e74b3c9
Merge pull request #382 from avlasic/temp_comp_fix_5_03 
Use the same minimal temp value for Temperature compensation
 2021-11-25 09:50:52 +01:00
Benjamin Vedder 61356d6ae9 Added APPCONF_UAVCAN_RAW_RPM_MAX default value 2021-11-24 14:15:30 +01:00
Andrej Vlašić 132c603699 Use the same minimal temp value for Temperature compensation 2021-11-24 12:18:29 +01:00
Benjamin Vedder e1b150b6d1
Merge pull request #381 from Jfriesen222/dev_fw_5_03 
fixed GPIO mapping for phase filters on SC
 2021-11-24 10:58:34 +01:00
Benjamin Vedder 5d385c046b Added UAVCAN raw RPM command 2021-11-24 10:56:45 +01:00
Jeffrey M. Friesen 78b3cd00c3 fixed GPIO mapping for phase filters on SC 2021-11-23 09:37:53 -08:00
Benjamin Vedder 36c333cc03 Apply ld_lq_diff in detection 2021-11-21 19:23:19 +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 fd48dc2644 Make PID position control direction consistent with other control modes when encoder is inverted 2021-11-15 21:30:24 +01:00
Benjamin Vedder fff18eb76b Reset PID controller filters when not running to avoid start glitch 2021-11-15 21:29:05 +01:00
Benjamin Vedder 76adfc1601
Merge pull request #377 from RadinnAB/hw_rd2_adj 
Minor adjustments for HW_RD2 & the build tool-chain
 2021-11-13 23:10:53 +01:00
Benjamin Vedder 19dc884ed6
Merge pull request #378 from ElwinBoots/svm_correct 
SVM sign fix
 2021-11-13 23:10:08 +01:00
ElwinBoots 78065cf74d SVM sign fix 
The original SVM code output was 1-dutycycle instead of dutycycle.
To make the math correct this was "corrected" by having the mod_alpha and mod_beta inputs negative.
This code now instead really fixes the output to dutycycle. Now the input should not be taken negative anymore.
 2021-11-13 21:51:20 +01:00
Benjamin Vedder 8457331640 Fix vesc remote cruise control under erpm limit 2021-11-13 00:56:01 +01:00
rodale75 80d504edaf hw_rd2: Adjustments of guard- & get-temperature function-naming. 
And also, some minor adjustments of the configuration parameters.

Change-Id: Ic56430dcf13cc47e6d6df1fcc19e09941b2e6d91
 2021-11-12 11:16:00 +01:00
Björn Mellström 18398553d6 make: Added size-rule. 
Change-Id: I78fe451e994832850c138b757bc5911c9f53b7ee
 2021-11-12 11:10:15 +01:00
Björn Mellström 5b73873b74 make: Default to non-verbose compilation output. 
Change-Id: Ic08eef4ba9771789e31cb24f87c6143ea6d1cf05
 2021-11-12 11:10:06 +01:00
Benjamin Vedder 3778dbe2e2 Added support for statistics 2021-11-11 01:08:21 +01:00
Benjamin Vedder f9170e93d0 Added uptime to setupvalues 2021-11-10 15:45:28 +01:00
Benjamin Vedder f0b291d4eb Improved overvoltage protection 2021-11-10 14:19:48 +01:00
Benjamin Vedder e89e00b694 Added 100/500 to build script 2021-11-10 14:18:34 +01:00
Benjamin Vedder c3f3c9512e Parameter update 2021-11-10 13:56:59 +01:00
Benjamin Vedder c7a6a00f32 Update with new BMS commands 2021-11-09 13:33:28 +01:00
Benjamin Vedder cb84c94788 Disable HFI start in braking mode 2021-11-08 22:48:15 +01:00
Benjamin Vedder d62f0b3617
Merge pull request #375 from kubark42/svm_function_comments 
`svm()` function comments
 2021-11-08 09:15:10 +01:00
Kenn Sebesta 67738328cb [SVM] Comment the function API 2021-11-07 18:21:23 -05:00
Benjamin Vedder bc63a3127a Added q-axis modulation filter and use it for input current limits 2021-11-07 23:00:48 +01:00
Benjamin Vedder 3b3c423916
Merge pull request #372 from kubark42/simplify_foc_fpu_math 
Simplify foc fpu math
 2021-11-07 21:27:03 +01:00