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1,898 Commits 2 Branches 0 Tags 84 MiB
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90 Commits

Author SHA1 Message Date
Benjamin Vedder e2b2f91f25 Added saturation compensation modes 2022-05-23 14:42:42 +02:00
Benjamin Vedder 09266def29 Added start_curr_dec parameter and decreased mcconf serialization size 2022-05-22 10:33:33 +02:00
Benjamin Vedder 4a8bb6a399 Added option to disable phase filter fault code 2022-05-19 03:12:07 +02:00
Mitch Lustig af4bcf68b6 Add cascading PID to the balance app 2022-04-21 00:35:15 -07:00
Benjamin Vedder 615dc52007
Merge branch 'master' into configurable_gyro_and_accel_filters 2022-04-19 16:05:27 +02:00
Mitch Lustig 430ec56965 Make magnetometer user configurable 2022-04-17 13:19:35 -07:00
Mitch Lustig a041a3b952 Add support for configuring IMU onboard filters 2022-04-15 21:31:03 -07:00
Benjamin Vedder 60bd5aa1dc Added openloop max current parameter 2022-04-06 12:14:19 +02:00
Benjamin Vedder e5ed5ee914 Added openloop current boost parameter 2022-04-06 11:30:02 +02:00
Benjamin Vedder 3a530ac3f7 App ADC abs min and max voltage limits 2022-04-01 18:43:03 +02:00
Benjamin Vedder c348120325 High-performance and silent HFI 2022-03-23 15:04:30 +01:00
Benjamin Vedder e9d6fd5842 Use bitfields for CAN-messages and support two different CAN status rates 2022-03-11 18:08:28 +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 16385f1706 Renamed compression to lzo, added observer offset parameter 2022-01-12 12:27:45 +01:00
Benjamin Vedder af55c79a2a Renamed foc_f_sw to foc_f_zv 2022-01-06 20:44:00 +01:00
Benjamin Vedder 5d385c046b Added UAVCAN raw RPM command 2021-11-24 10:56:45 +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 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
Benjamin Vedder 91a19fa8b3 IMU improvements 2021-08-22 11:51:03 +02:00
Mitch Lustig 80de95c372 Update confgenerator 2021-08-19 13:39:54 -07:00
Benjamin Vedder debd1ed4aa Configuration updates 2021-08-16 15:02:20 +02:00
Dado Mista 3f1c7872f4 confgenerator for Balance: configurable speed/angle for each tiltback type 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-08-15 16:30:11 -07:00
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
Dado Mista 813d5b15fa Balance App: introduce new speed based variable tiltback 
Nose angle adjustment, similar in purpose as constant tiltback
but it is proportional to erpm aka speed.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-06-25 21:42:37 -07:00
Benjamin Vedder 75b84f1f2d Added kill switch support 2021-06-13 13:46:27 +02:00
Mitch Lustig d561c2669b Add balance loop time correction 2021-06-06 14:01:42 -07:00
Mitch Lustig de9400e461 Add brake timeout 2021-06-05 16:05:19 -07:00
Mitch Lustig d68fc0ff4f Balance: Updates 
-Fix D term to use angle rather than error (which includes tilt steps)
-Switch TT to Biquad (Clear z1 z2)
-Split TT Relax speed
-Add Biquad to D term
-Add console command to graph specific variables
-Add console command to dump realtime data from specific variables
 2021-06-01 03:20:00 -07:00
Mitch Lustig b237cf4b9f Add High Pass FIlter, implement current off delay, refactor constanttilt 2021-05-16 14:53:03 -07:00
Benjamin Vedder f25144cc30 Removed iterative observer, added p_pid_gain_dec_angle 2021-04-26 23:14:05 +02:00
Mitch Lustig 187621d530 Add confgenerator 2021-04-17 18:20:51 -07:00
Benjamin Vedder 14b25e9aa4 Added foc_fw_q_current_factor 2021-04-15 10:04:28 +02:00
Benjamin Vedder feb1be5fbd First attempt at field weakening and current controller windup protection improvement 2021-04-10 11:37:35 +02:00
Mitch Lustig 08f27f433c Add turn tilt 2021-04-06 02:18:32 -07:00
Benjamin Vedder fcb7e12158 Made servo output a config option 2021-03-31 16:28:46 +02:00
Mitch Lustig decdc7e7d6 Add torquetilt 2021-03-27 20:13:22 -07:00
Mitch Lustig 3b9fe6ec67 Add Booster 2021-03-27 14:00:55 -07:00
Mitch Lustig 49e624ba3b Remove boring features 2021-03-27 12:17:10 -07:00
Benjamin Vedder 3b4e601f61 Offset calibration update 2021-03-22 12:13:19 +01:00
Benjamin Vedder c82346b42e Added HFI start sensor mode 2021-03-13 11:42:23 +01:00
Benjamin Vedder 8900c41c34 First phase filter and offset calibration attempt 2021-02-28 20:36:02 +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
Marcos Chaparro 33b5d5c1ba Pedal assist support (PAS) 
This commit enables cadence-based pedal assist for ebikes using
quadrature-style pedal speed sensors.

There are 2 operation modes:
* PAS only: Motor current is based only on pedal feedback
* ADC + PAS: The code will use both ADC and pedal feedback and use
the strongest command to provide seamless overlap when the user is
pedalling and requests extra torque with the throttle.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2020-12-07 17:06:36 -03:00
Benjamin Vedder 66b4d8f56d Added FOC D axis controller gain scaling at max modulation 2020-12-06 21:33:08 +01:00
Benjamin Vedder 55096f93cc Added UAVCAN raw throttle modes 2020-12-04 17:54:22 +01:00
Benjamin Vedder 6509065ca2 Added BMS module 2020-10-22 08:32:51 +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 0f5c6f5379 Add confgen and running states 2020-07-04 00:11:20 -07:00