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1129 Commits

Author SHA1 Message Date
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
Kenn Sebesta 80adea0336 [MCPWM_FOC] Condense math in order to save on FPU operations 2021-11-07 09:01:54 -05:00
Kenn Sebesta 6dbea7ed86 [MCPWM_FOC] Eliminate repeated divisions 
`/((2.0/3.0) * v_bus)` is the same as `* 1.5/V_bus`. Abstracting this out
saves at least one division per loop, and in some cases as many as three.

Each STM32F4 FPU division takes 14 cycles.
 2021-11-07 07:35:08 -05:00
Benjamin Vedder 258ad28566
Merge pull request #373 from ElwinBoots/Commenting 
Add comments to the current loop
 2021-11-06 13:22:55 +01:00
ElwinBoots bbb8a3d6a8 Added comments to the current loop 2021-11-05 07:32:08 +01:00
Benjamin Vedder e31cb50973 Moved LED control to its own thread 2021-11-01 08:52:18 +01:00
Benjamin Vedder d79d12a489 Fixed braking mode 2021-10-31 21:51:40 +01:00
Benjamin Vedder cd7a2d8ca1 Fixed build script 2021-10-31 18:03:43 +01:00
Benjamin Vedder 78e750a338 Scale down measured inductance. Read the comment for details. 2021-10-31 17:47:09 +01:00
Benjamin Vedder e9cf6eb4e8 Added fast moving average filter approximation, updated ADC app to use it 2021-10-31 13:40:43 +01:00
Benjamin Vedder 5304872a92 Added missing bracket from PR 2021-10-31 09:35:52 +01:00
Benjamin Vedder 09bd14072c Added COMM_BALANCE_SELFTEST 2021-10-30 21:46:35 +02:00
Benjamin Vedder 2018e92541
Merge pull request #369 from kubark42/convenience_laggards 
[Convenience math] Catch a few laggards
 2021-10-30 11:13:33 +02:00
Kenn Sebesta d97793bf7b
Update mcpwm_foc.c 
Co-authored-by: kalvdans <github@kalvdans.no-ip.org>
 2021-10-27 14:14:27 -04:00
Kenn Sebesta 0e58e29072 [MCPWM_FOC] Fix mislabeled variable 
It's not estimated RPM, it's estimated rad/sec.
 2021-10-27 14:09:10 -04:00
Kenn Sebesta 8de85899b7 [Convenience math] Capture a last couple laggards which were missed earlier 2021-10-27 14:08:35 -04:00
Benjamin Vedder 78887f35cf Added link to forum post as comment to explain factor 4 2021-10-25 12:39:54 +02:00
Benjamin Vedder 9046e4644b
Merge pull request #363 from TechAUmNu/dev_fw_5_03 
Add A50S 6S and 12S hardware
 2021-10-24 18:14:17 +02:00
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
Euan 49cfd795a3 Add A50S 6S and 12S hardware 
Adds A50S.h/c and build script.
 2021-10-20 10:57:11 +01:00
Benjamin Vedder 8f8d913419 Added raw sample mode 2021-10-18 21:45:47 +02:00
Benjamin Vedder d041761f0e Updated mcconf signature 2021-10-16 13:01:48 +02:00
Benjamin Vedder 7265f790c6 Updated changelog 2021-10-16 12:54:57 +02:00
Benjamin Vedder 8cf082e0e0 Better bus current estimation, HFI max voltage and duty scaling fix 2021-10-16 12:54:33 +02:00
Benjamin Vedder 1763fd59d3 Fixed loss calculation 2021-10-16 12:53:49 +02:00
Benjamin Vedder b1f564c3bb
Merge pull request #352 from kubark42/convenience_math 
Use convenience macros for deg/rad conversions
 2021-10-15 22:35:47 +02:00
Benjamin Vedder e8ae30c9d9 Merge branch 'dev_fw_5_03' of github.com:vedderb/bldc into dev_fw_5_03 2021-10-15 22:25:25 +02:00
Benjamin Vedder d8a99fd0f1 Inductance and resistance measurement and scaling fixes, various other fixes 2021-10-15 22:25:07 +02:00