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111 Commits

Author SHA1 Message Date
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
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
Benjamin Vedder 8900c41c34 First phase filter and offset calibration attempt 2021-02-28 20:36:02 +01:00
Benjamin Vedder cabd83a8a6 Fixed merge conflict 2020-10-09 21:19:16 +02:00
Benjamin Vedder c77f92470b IO board support, initial bms support, more openloop parameters, removed D current injection, added new HWs 2020-10-09 21:08:48 +02:00
Till Rosenband 82e5bcd845 Verify FLASH integrity of MC and APP config with CRC. 
* Currently the FW code has CRC checks, but configs are also important!
* This helps maintain FLASH integrity when the config pages are occasionally
  re-written due to odometer updates (later commit).
* If the config CRC checks fail, store the fault and fall back to default config.
* New 'crc' terminal command displays CRC values.
 2020-10-04 00:31:31 -04:00
Benjamin Vedder 6f7c40b4e1 Improved flux linkage measurement 2020-04-16 09:12:08 +02:00
Benjamin Vedder 88d74ae0b6 Added mutex to DRV SPI driver, moved fault stop to thread, smooth current ramping for sensor and flux linkage detection 2020-04-03 20:12:12 +02:00
Benjamin Vedder c0f75f14ac Current ramping during resistance measurement 2020-04-02 20:43:11 +02:00
Benjamin Vedder a61e74db82 Fixed memory leak 2020-03-20 20:40:41 +01:00
Benjamin Vedder 51f0fcea09 gpdrive fix, observer gain calc updates, added COMM_SET_BATTERY_CUT, added CAN_PACKET_SHUTDOWN, detect all fix 2020-03-20 17:35:25 +01:00
Benjamin Vedder a06f09e7f2 Observer gain scaling update, print correct motor on faults, updated timer terminal command 2020-03-17 09:38:09 +01:00
Benjamin Vedder 8739b22f3e Stop both motors when saving configurations 2020-03-16 20:22:01 +01:00
Benjamin Vedder 52e17059e5 Major restructuring for dual motor support, and added unity hw files 2020-03-16 18:32:39 +01:00
Benjamin Vedder 5df92463f3 Pos PID fix, AS5047 fix, changed FOC time constant, updated conf generator 2020-02-27 17:49:35 +01:00
Benjamin Vedder b6949d60dc FW4.00: HFI and many updates, see changelog 2020-01-28 19:46:19 +01:00
Benjamin Vedder 23e61925b6 FW upload compression support, TS5700N8501 support 2019-12-05 19:50:17 +01:00
Benjamin Vedder 602db7435b FW3.59. Many updates, see changelog for details 2019-09-03 20:39:05 +02:00
Benjamin Vedder 30aabb77d7 Detect FOC fix, adc brake multi fix, make ppm pulses invalid above 150 percent 2019-07-01 17:17:49 +02:00
Benjamin Vedder a141e750bb Added CAN status msg 5, fixed issue 94, use defaul HW parameters after autodetect 2019-05-16 23:30:40 +02:00
Benjamin Vedder 404bbcf64b Fixed current offset fault bug, added support for multiple IMUs and ICM-20948 2019-05-03 19:55:36 +02:00
Benjamin Vedder 4a9fe93f41 Added support for storing hw-specific and custom variables in EEPROM 2019-04-19 10:42:43 +02:00