Benjamin Vedder
c0a928e040
NRF name and pin set support
2022-02-05 01:04:12 +01:00
Benjamin Vedder
20952b7e87
Removed rest of submodule
2022-01-29 17:26:24 +01:00
Benjamin Vedder
015a657cc9
Sensor port init in only one place, better encoder debug info
2022-01-25 13:57:25 +01:00
Benjamin Vedder
4958a91670
Added support for custom NTC and PTC motor temperature sensors
2022-01-24 00:36:53 +01:00
Benjamin Vedder
f6baa653ea
Updated linker script and flash helpers to get 128k extra code space. Note that this requires the updated bootloader with compression support.
2022-01-18 20:31:24 +01:00
Benjamin Vedder
9c484d01e4
Decreased stack sizes to save ram
2022-01-16 21:57:12 +01:00
Benjamin Vedder
92efab4896
Changed to release settings
2022-01-16 17:19:03 +01:00
Benjamin Vedder
38566313e7
Added hw_60v2alva
2022-01-13 01:12:52 +01:00
Benjamin Vedder
16385f1706
Renamed compression to lzo, added observer offset parameter
2022-01-12 12:27:45 +01:00
Jeffrey M. Friesen
53f618674a
Added build script entries for new stormcore hardware
2022-01-11 12:48:19 -08:00
Benjamin Vedder
af55c79a2a
Renamed foc_f_sw to foc_f_zv
2022-01-06 20:44:00 +01:00
Benjamin Vedder
ab0aa126d6
Collected luna-files in one place, removed some old files
2021-12-31 12:27:36 +01:00
Benjamin Vedder
95c67175ab
First attempt at a resistance and temperature observer
2021-12-29 18:21:42 +01:00
Benjamin Vedder
4fa7a922fe
Fixed dual motor detect offset problem
2021-12-01 13:46:49 +01:00
Benjamin Vedder
2a281e36ae
Initialize integrator in dutycycle downramp controller
2021-11-27 23:32:08 +01:00
Benjamin Vedder
b524773c0d
Another attempt at braking
2021-11-27 10:58:52 +01:00
Benjamin Vedder
76b4f58e4e
Another attempt at braking smoothly to 0
2021-11-26 00:43:41 +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
3778dbe2e2
Added support for statistics
2021-11-11 01:08:21 +01:00
Benjamin Vedder
f0b291d4eb
Improved overvoltage protection
2021-11-10 14:19:48 +01:00
Benjamin Vedder
cb84c94788
Disable HFI start in braking mode
2021-11-08 22:48:15 +01:00
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
d79d12a489
Fixed braking mode
2021-10-31 21:51:40 +01:00
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
1763fd59d3
Fixed loss calculation
2021-10-16 12:53:49 +02:00
Benjamin Vedder
d8a99fd0f1
Inductance and resistance measurement and scaling fixes, various other fixes
2021-10-15 22:25:07 +02:00
Tharon Rivera
11ad3f862f
Support for Spintend ubox single
2021-09-24 20:58:55 -04:00
Vincent Manoukian
f887c30e86
Add a poll CAN message.
2021-08-30 09:39:21 +02:00
Benjamin Vedder
91a19fa8b3
IMU improvements
2021-08-22 11:51:03 +02:00
Benjamin Vedder
86cbc92b8d
Fixed regression in sensorless braking
2021-08-20 21:36:44 +02:00
Benjamin Vedder
91e299a593
Merge pull request #334 from surfdado/zescboards
...
ZESC HW Support: Raiden7 and Warrior6
2021-08-20 19:08:14 +02:00
Benjamin Vedder
36c9db6718
Dual motor shutdown fix
2021-08-20 14:59:36 +02:00
Dado Mista
5a56e8bd57
ZESC Raiden7 Support
...
Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-08-19 15:57:15 -07:00
Dado Mista
cd1e37dfe8
ZESC Warrior6 Support
...
Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-08-19 15:57:15 -07:00
Benjamin Vedder
fc6825a1ae
Added safe start modes
2021-08-16 17:48:06 +02:00
Benjamin Vedder
11e2062312
Pull request cleanup
2021-07-30 20:53:22 +02:00
Jakub Tomczak
e951e3a374
Added AS504x Diagnostics
2021-07-28 17:14:10 +02:00
Benjamin Vedder
3c88ecb7aa
Added configurable PID loop rate and more AUX port modes
2021-07-12 14:31:01 +02:00
Benjamin Vedder
1ab25a47db
Added position PID offset support and KD_PROC term
2021-07-11 20:19:26 +02:00
Benjamin Vedder
b7a5ff5a1b
Check external NRF crc
2021-06-27 13:02:24 +02:00
Benjamin Vedder
0a5fe738cd
Ignore commands when kill switch is active
2021-06-20 16:46:56 +02:00
Benjamin Vedder
f81093922a
Added event logging
2021-06-15 12:56:38 +02:00
Benjamin Vedder
75b84f1f2d
Added kill switch support
2021-06-13 13:46:27 +02:00
Benjamin Vedder
93fa35953c
Added mkdir command to all firmwares in rebuild_all
2021-06-07 20:56:19 +02:00
Benjamin Vedder
5cdebf6358
Added app_custom_mkfile to makefile, removed outdated hardware
2021-06-06 14:00:51 +02:00
Benjamin Vedder
1f935c6ca7
Merge branch 'master' into dev_fw_5_03
2021-05-29 14:24:15 +02:00
Jeffrey M. Friesen
422e348c1a
Added things for 100D_V2 hardware variant
2021-05-29 12:41:59 +02:00
Benjamin Vedder
759ae52058
Increased FW version number
2021-05-21 00:01:06 +02:00
Benjamin Vedder
934d7b9751
Locking around stop code, added mc_interface_set_current_off_delay
2021-05-15 15:24:39 +02:00
Benjamin Vedder
c30a93119a
Wait for input voltage to rise and settle before attempting offset calibration at boot
2021-05-13 11:45:30 +02:00
Benjamin Vedder
be5ce41c17
Disable motor for 5 seconds after flash operations
2021-05-11 19:25:03 +02:00
Benjamin Vedder
e66552c83f
Added io-board commands
2021-05-11 14:03:22 +02:00
Benjamin Vedder
77af43935a
Removed outdated LED-support
2021-05-11 09:57:27 +02:00
Benjamin Vedder
24b8a6f100
Change default DRV OC mode for HD60 and HD75
2021-05-07 09:49:01 +02:00
Benjamin Vedder
dfe17ac334
Dynamic QML-script write support
2021-05-01 13:28:46 +02:00
Benjamin Vedder
7a0e560e8b
Lowpass filter input voltage and battery level
2021-04-27 17:48:15 +02:00
Benjamin Vedder
fa3610c8b1
Fixed CAN ping for dual motor hardware
2021-04-27 10:17:41 +02:00
Benjamin Vedder
f25144cc30
Removed iterative observer, added p_pid_gain_dec_angle
2021-04-26 23:14:05 +02:00
Benjamin Vedder
5767b703b7
Custom UI support
2021-04-24 22:36:00 +02:00
Benjamin Vedder
14b25e9aa4
Added foc_fw_q_current_factor
2021-04-15 10:04:28 +02:00
Benjamin Vedder
ac360ae7f6
Give D-axis current priority when limiting current, added mcpwm_foc_set_current_off_delay
2021-04-14 22:29:50 +02:00
Benjamin Vedder
998bc17ba7
Cleanup
2021-04-12 09:48:29 +02:00
Benjamin Vedder
ca8e7b4f05
Merge pull request #271 from CTSchorsch/dev_05_03
...
- Add driver for SX1278 LoRa boards, eg. HopeRF RFM95W (driver by Woj…
2021-04-12 09:35:38 +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
b49606be4c
Updated changelog and beta number
2021-04-10 16:41:20 +02:00
Benjamin Vedder
feb1be5fbd
First attempt at field weakening and current controller windup protection improvement
2021-04-10 11:37:35 +02:00
Benjamin Vedder
101f293389
Added new BMS counters
2021-04-08 22:34:01 +02:00
Benjamin Vedder
a9c2a4fcc9
Added ER application
2021-04-06 14:12:57 +02:00
Benjamin Vedder
fcb7e12158
Made servo output a config option
2021-03-31 16:28:46 +02:00
CTSchorsch
755ff98ec9
fix spaces, delete lines and default config
2021-03-31 14:10:27 +02:00
CTSchorsch
331494291d
- move lora files from hwconf/ to lora/
...
- modify Makefile and add lora/lora.mk
- hopefully have all idents fixed
- restore commands.c and add new function again
- fix memory leak bug in gesc.c
- rfm95w.c add delay in while loop
- add gesc to build_all / rebuild all works
2021-03-27 21:13:24 +01:00
CTSchorsch
cdb8e82c32
- Add driver for SX1278 LoRa boards, eg. HopeRF RFM95W (driver by Wojciech Domski, https://github.com/wdomski/SX1278 )
...
- Add a simple bool isInitialized() to commands.c, to check if commands are initialzied
- Add hwconf for GESC, hobby open source ESC (https://github.com/CTSchorsch/gesc ) including a simple double pulse test function
- Add app_dpv.c to read out a simple I2C magnetic field sensor and two hall sensors to control a underwater scooter
2021-03-27 14:15:22 +01:00
Benjamin Vedder
2133d21fbc
Avoid numerical instability when utils_map is used over a range that approaches 0
2021-03-27 11:18:47 +01:00
Benjamin Vedder
9ad604247d
Updated changelog and minor fixes
2021-03-26 17:58:21 +01:00
Benjamin Vedder
8b9e3bf93f
Offset calibration improvements
2021-03-24 13:09:05 +01:00
Benjamin Vedder
3b4e601f61
Offset calibration update
2021-03-22 12:13:19 +01:00
Benjamin Vedder
bdb7b0bf7b
Added KTY84 temp sensor support
2021-03-17 11:54:42 +01:00
Benjamin Vedder
89c4d712e8
HFI-Start fixes
2021-03-13 15:41:57 +01:00
Benjamin Vedder
c82346b42e
Added HFI start sensor mode
2021-03-13 11:42:23 +01:00
Benjamin Vedder
e877c43158
Added CAN ID to BMS packet
2021-03-04 10:34:39 +01:00
Benjamin Vedder
8900c41c34
First phase filter and offset calibration attempt
2021-02-28 20:36:02 +01:00
Benjamin Vedder
ecb43e70bb
Cleanup
2021-01-13 21:51:55 +01:00
Jeffrey M. Friesen
57a13ec2da
cleanup merge
2021-01-13 09:05:16 -08:00
Jeffrey M. Friesen
8f703dace0
merge
2021-01-13 08:57:36 -08:00
Jeffrey M. Friesen
d75069615c
Merge remote-tracking branch 'upstream/master' into dev_fw_5_03
2021-01-11 13:51:52 -08:00
Jeffrey M. Friesen
bddbbadc98
Added HWE Conf for 60D+
2021-01-11 12:26:47 -08:00
Benjamin Vedder
3f670137e2
Rebuild firmwares and disabled test version flag
2021-01-11 12:19:10 +01:00
Jeffrey M. Friesen
1b67f3efaf
Added build script for 60D+
2021-01-05 12:36:52 -08:00
Jeffrey M. Friesen
6a3dfb8526
Patched bug with gpio AF in uart
2021-01-05 12:30:41 -08:00
Jeffrey M. Friesen
e862f29298
Re-wrote uart driver a bit
2021-01-05 09:39:45 -08:00
Jeffrey M. Friesen
f549090a03
Merge remote-tracking branch 'upstream/dev_fw_5_02' into dev_fw_5_02
2020-12-27 13:56:12 -08:00
Jeffrey M. Friesen
38fd15482e
started adding 60D plus changes
2020-12-27 13:56:07 -08:00
Mitch Lustig
24e190c66c
Merge branch 'dev_fw_5_02' into little_focer
2020-12-25 03:51:01 -08:00
Benjamin Vedder
64ed0df71a
Only set one hw active and increase beta version number
2020-12-24 14:11:54 +01:00
Benjamin Vedder
4d73ba9bc6
Merge pull request #245 from Mitchlol/cfoc2_1.0
...
Add Cheap Focer 2 Hardware
2020-12-24 13:42:20 +01:00
Frank Severinsen
5eb935f3ce
WIP, Current status DAC output
2020-12-22 00:24:19 +01:00
Mitch Lustig
7e72bda93c
Merge branch 'dev_fw_5_02' into cfoc2_1.0
2020-12-16 02:34:13 -08:00
Mitch Lustig
5b36bc9538
Little bit of cleanup
2020-12-15 22:53:48 -08:00
Mitch Lustig
7458fdae10
Merge branch 'dev_fw_5_02' into little_focer
2020-12-14 23:41:24 -08:00
Mitch Lustig
7b81cfbf5b
Add little focer
2020-12-14 23:40:58 -08:00
Benjamin Vedder
cd513297d8
Added 100K CAN-baudrate
2020-12-15 00:27:58 +01:00
Benjamin Vedder
fefb2b7d10
Set PAS pins to UART RX and TX if they are undefined, made PAS config serialization more compact, added PAS to changelog
2020-12-09 19:37:16 +01:00
Mitch Lustig
21f61c84ed
Merge branch 'dev_fw_5_02' into cfoc2
2020-12-08 15:02:49 -08:00
Benjamin Vedder
66b4d8f56d
Added FOC D axis controller gain scaling at max modulation
2020-12-06 21:33:08 +01:00
Mitch Lustig
8570b5fa14
Merge branch 'dev_fw_5_02' into cfoc2
2020-12-05 00:22:28 -08:00
Benjamin Vedder
55096f93cc
Added UAVCAN raw throttle modes
2020-12-04 17:54:22 +01:00
Marcos Chaparro
50bc55e487
MT6816 SPI encoder support
...
This encoder needs x2 16bit SPI transfers so the hardware SPI peripheral
was used to run SCLK at 10MHz and reduce the ISR duration.
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
2020-11-30 19:12:58 -03:00
Benjamin Vedder
b7b0182856
CAN fixes, renamed HD to HD60, fixed multiturn position control
2020-11-18 14:26:55 +01:00
Mitch Lustig
e8d3e1c819
Merge branch 'dev_fw_5_02' into cfoc2
2020-11-06 09:39:53 -08:00
Benjamin Vedder
af7cd36cb8
Added hall sensor interpolation ERPM config option
2020-10-22 08:37:32 +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
Mitch Lustig
268251fa69
Merge branch 'dev_fw_5_02' into cfoc2
2020-09-18 21:49:33 -07:00
Mitch Lustig
fbe78dfe93
Add CFOC2
2020-09-18 21:47:00 -07:00
Benjamin Vedder
f560f27871
Merge branch 'master' into dev_fw_5_02
2020-08-13 13:54:16 +02:00
Benjamin Vedder
2078dc1c43
added 140/300 hw and comm_can fix
2020-08-13 13:53:29 +02:00
Jeffrey M. Friesen
27ec82d785
set default build back to vesc 6
2020-08-10 09:29:32 -07:00
Frank Severinsen
5a52405a78
include default HW
2020-07-21 10:55:31 +02:00
Frank Severinsen
3acbfffa26
added custom HW file, support for ID pins, and fixed circular include
2020-07-21 10:54:04 +02:00
Benjamin Vedder
0b6ccb17f9
some cleanup
2020-07-21 08:50:09 +02:00
Benjamin Vedder
22b7eb8ce5
More blackmagic support and rebuilt firmwares
2020-07-06 17:20:45 +02:00
Benjamin Vedder
561e29cd36
fixed conf_general again
2020-07-02 12:42:49 +02:00
Benjamin Vedder
4adc989da7
Fixed blackmagic UICR bug, updated changelog and rebuild script
2020-07-02 12:39:54 +02:00
Benjamin Vedder
960cd3b992
Some updates to MTPA PR
2020-06-17 13:55:35 +02:00
Jeffrey M. Friesen
6d2e0831ac
switch led ordering on gpio
2020-06-08 16:02:44 -07:00
Benjamin Vedder
b1915b06a7
Some updates for PRs
2020-06-03 10:52:55 +02:00
Benjamin Vedder
6196805d8c
Added CHUK_CTRL_TYPE_CURRENT_BIDIRECTIONAL, some fixes on last PR
2020-05-03 22:35:37 +02:00
Peemouse
f6d7ed1fd2
Add COMM_GET_MCCONF_TEMP command
2020-05-01 15:22:09 +02:00
Benjamin Vedder
36c56b38fc
Updated changelog and version + test version numbers
2020-05-01 09:45:32 +02:00
Benjamin Vedder
80fffdea73
Fixed PPM bug in previous release
2020-04-27 14:23:49 +02:00
Benjamin Vedder
b2bab06172
Turned off test build flag
2020-04-27 10:04:44 +02:00
Benjamin Vedder
ef4ebfde93
Allow throttle in opposite direction even after passing speed limit for PPM and VESC Remote apps
2020-04-26 11:48:55 +02:00
Benjamin Vedder
ee76eb4f09
Ignore FW update commands forwarded to the second motor on dual hardware
2020-04-25 17:54:12 +02:00
Benjamin Vedder
8b6f0680e4
Added HW60_MK4 support and added 60_MK4 and 75_300_R3 to build script
2020-04-24 20:48:21 +02:00
Benjamin Vedder
57c5d04214
Added l_duty_start and set correct motor in mcinterface_timer
2020-04-21 19:58:12 +02:00
Benjamin Vedder
d9fc2fc34c
Moved IMU calibration to blocking thread
2020-04-19 10:20:48 +02:00
Benjamin Vedder
d3c8d0a533
Add 1 to UUID for motor2 on dual motor HWs.
2020-04-17 20:07:03 +02:00
Benjamin Vedder
c64e7987bc
Use fast speed estimator for hall sensors and encoder
2020-04-16 12:16:02 +02:00
Benjamin Vedder
4dab6ed9e7
Fixed merge, renamed utils_batt_norm_v_to_capacity, scale battery ah with 0.85 since the battery is not fully depleted at 3.2V per cell
2020-04-16 09:39:47 +02:00
Benjamin Vedder
393363169a
Merge branch 'dev_fw_5_00' of https://github.com/vedderb/bldc into dev_fw_5_00
2020-04-16 09:13:39 +02:00
Benjamin Vedder
6f7c40b4e1
Improved flux linkage measurement
2020-04-16 09:12:08 +02:00
Jeffrey M. Friesen
acfc93e693
Patched some weird behavior with motor temp on stormcore and added #define for filter constant
...
Was seeing a lot of coupled noise on stormcore with phase currents so I turned up the LPF on the motor temp sensor. I think it might be a good idea to turn up that LPF generally since motor temp is generally slow to change anyways.
Also found a problem in the #define for motor temp 2 in my header file. Fixed it.
2020-04-14 14:05:47 -07:00
Jeffrey M. Friesen
6e83fd3408
Added gentle li-ion curve mapping
...
Should provide a slightly more accurate estimate of the remaining battery, I fit a fifth order polynomial to a discharge graph of a samsung 30q cell.
Technically the watt hours left should be integrated across this curve instead of using the average remaining voltage but maybe the combination of both provides a good midway estimate between the actual curve and a line since all cells are slightly different.
2020-04-14 09:12:57 -07:00
Benjamin Vedder
3ab8002fa4
Motor temperature filtering bug fix
2020-04-09 22:33:20 +02:00
Benjamin Vedder
0e6f8dd567
Change back motor thread after foc_sensors_detect_apply terminal command
2020-04-09 09:27:43 +02:00
Jeffrey M. Friesen
2b13131a44
Correctly log motor fault data and iterate beta version number
2020-04-06 13:52:04 -07:00
Jeffrey M. Friesen
1b67dc2666
Refactored name of is_test_build, also added dual stuff to foc_detect_apply_all_can
2020-04-05 12:28:08 -07:00