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131 Commits

Author SHA1 Message Date
Benjamin Vedder f32ee99852 Allow passive flux linkage measurement 2023-10-08 10:07:11 +02:00
Benjamin Vedder 40e6f0b6e2
Merge pull request #635 from TechAUmNu/Calibrate-offsets-before-detection 
Perform FOC offsets calibration when running FOC detection
 2023-09-26 12:13:01 +02:00
Euan Mutch 6ae5b63f61
Don't calibrate undriven 2023-09-26 09:41:07 +01:00
Benjamin Vedder 6d7c81da26 Fix for changes introduced in previous commit 2023-08-22 20:54:11 +02:00
Benjamin Vedder 331741b302 Fix possible runaway after faults during openloop measurements 2023-08-22 20:49:13 +02:00
Benjamin Vedder d114862483 Dual motor flux linkage measurement bug fix 2023-08-22 20:10:09 +02:00
Euan 06d834d020 correct comment 2023-05-31 21:11:45 +01:00
Euan a4278d388d Perform full offset calibration when running FOC detection 
Undriven offsets are not measured on startup as the motor might be spinning (reboot from crash, etc) So the only time undriven was measured was manually in VESC Tool.
This runs the full offset calibration before detecting the motor to improve detection and make sure the undriven offsets are measured.
 2023-05-31 21:09:45 +01:00
Benjamin Vedder 1b3e01e276 Flux linkage measurement tweaks 2022-12-04 14:21:15 +01:00
Benjamin Vedder fbd39c020c abs_max fix for dual motors 2022-12-02 09:55:50 +01:00
Benjamin Vedder 00a4cd9c17
Merge pull request #490 from TechAUmNu/set-abs-max 
Set abs max to reasonable value during detection
 2022-12-02 09:16:40 +01:00
Benjamin Vedder 1e7da25160 Send foc can detect result back to sender even if some other interface communicates in-between 2022-11-22 18:18:38 +01:00
Benjamin Vedder 7cacf99e09 Some cleanup 2022-11-08 18:21:06 +01:00
Benjamin Vedder 226c40cdb0
Merge branch 'master' into Improvements 2022-11-08 17:37:21 +01:00
Euan Mutch d06fce3ee4 Interface commands for openloop 2022-11-08 11:46:08 +00:00
Euan Mutch 7bf78592f7 Correct spaces to tabs, remove fault checks from low level funcs. 2022-11-08 10:46:35 +00:00
Benjamin Vedder 2b7e323481 Wait a bit longer for can detection result 2022-11-06 15:21:09 +01:00
Euan Mutch f77409c57b correct description of conf_general_detect_apply_all_foc 
Fault code is returned as -100 + fault, to allow backwards compatibility. VESC Tool decodes the code and displays the text description during detection.

The terminal also does the same when manually running the command.
 2022-09-27 22:12:05 +01:00
Euan Mutch f7a2e4c621 Fault handling, Terminal improvements and better flux linkage. 
Add fault handling to all functions that touch the motor.
Improve terminal usability by echoing commands and giving feedback on faults and missing / invalid arguments.  Improve flux linkage measurement by increasing switching frequency and using the measured resistance and inductance to set the kp & ki.
 2022-09-27 21:54:50 +01:00
Benjamin Vedder ff9679d336 Lisp code streaming, more native functions and checks, custom config support, moved global send buffer to mempools 2022-09-18 22:47:50 +02:00
Andrej Vlašić 710a2e9a6d Send back app and mc config to requester port 2022-05-10 13:27:09 +02:00
Benjamin Vedder d87ada9b1a Added FOC detection command 2022-05-06 19:49:58 +02:00
Marcos Chaparro 46d132a2d7 Add hw specific backups 
Data stored in this memory will be persistent across firmware updates.

This uses the same method used in the VESC BMS firmware.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2022-05-05 16:28:58 -03:00
Euan e115c853ff Set abs max during detection 
ABS max is set to 1.5x motor current, truncated to hw limit.
 2022-05-05 12:49:58 +01:00
secupol 8475f3ef4d
Fixed typo 2022-05-05 07:13:28 +09:00
Euan 5e5c6f6d0e Stop on fault in flux linkage measurement 2022-05-04 20:17:38 +01:00
Euan 3db2860cf4 Improve fault handling during detection routines 
Added more checks for faults during detection routines.
Always return an error if a fault occured.
Handing for returned errors.
 2022-05-04 19:41:09 +01:00
Kenn Sebesta cf6f32332d [Utils] Update the header includes 2022-03-23 20:25:37 -04:00
Benjamin Vedder e9d6fd5842 Use bitfields for CAN-messages and support two different CAN status rates 2022-03-11 18:08:28 +01:00
Kenn Sebesta 3de18a249d [Math] Use a macro for the two-norm 
No code differences, just a little easier on the reader.
 2022-03-07 11:37:56 -05:00
Kenn Sebesta 5da38dfedf [Make] Capture git branch, commit, dirty state, and arm compiler 
This code pushes those strings into #defines which are available inside the
firmware.
 2022-03-06 19:07:15 -05:00
Jakub Tomczak da4b3e0edd Merge branch 'master' into dev_fw_5_03 2022-01-21 15:07:44 +01:00
Jakub Tomczak 2a120615be encoders to encoder refactor 2022-01-09 17:10:40 +01:00
Benjamin Vedder af55c79a2a Renamed foc_f_sw to foc_f_zv 2022-01-06 20:44:00 +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
Jakub Tomczak 4743194894 old encoder files deleted 2021-12-20 14:18:51 +01:00
Jakub Tomczak f26f3beb2d WIP: 3 encoders partially implemented, AS504x tested 
compiled on gcc-arm-none-eabi-7-2018-q2
 2021-12-14 16:40:40 +01:00
Benjamin Vedder 4fa7a922fe Fixed dual motor detect offset problem 2021-12-01 13:46:49 +01:00
Benjamin Vedder 36c333cc03 Apply ld_lq_diff in detection 2021-11-21 19:23:19 +01:00
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 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 d8a99fd0f1 Inductance and resistance measurement and scaling fixes, various other fixes 2021-10-15 22:25:07 +02:00
Kenn Sebesta bec06ac85a [Utils] Change convenience multiplication factors into convenience MACROs 2021-10-13 14:18:05 -04:00
Kenn Sebesta aeb5d74488 [Utils] Use convenience macros for deg/rad conversions 2021-10-13 11:52:04 -04:00
Benjamin Vedder 75b84f1f2d Added kill switch support 2021-06-13 13:46:27 +02:00
Benjamin Vedder 509713e21a Fixed timeout values 2021-05-13 10:59:33 +02:00
Benjamin Vedder 9e9e13ae14 Wait for motor release where needed 2021-05-13 10:42:40 +02:00
Benjamin Vedder 55dba9a79d Made odometer persist after firmware updates, added hw runtime counter 2021-04-11 19:36:11 +02:00