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124 Commits

Author SHA1 Message Date
Benjamin Vedder 9ed0456031 Added support for CAN2 and hardware with dual CAN. Added sensor port voltage change macro. This has no effect on hardware without these things. 2022-01-13 01:00:40 +01:00
Benjamin Vedder af55c79a2a Renamed foc_f_sw to foc_f_zv 2022-01-06 20:44:00 +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 8f8d913419 Added raw sample mode 2021-10-18 21:45:47 +02:00
Benjamin Vedder d02d74ceee Corrent interrupt flag in encoder fault generation 2021-07-31 11:18:35 +02:00
Benjamin Vedder 99058d6fb1 Added AS504x faults 2021-07-31 11:01:57 +02:00
Benjamin Vedder 7418102412 Renamed encoder functions, moved fault generation 2021-07-31 10:53:15 +02:00
Benjamin Vedder 11e2062312 Pull request cleanup 2021-07-30 20:53:22 +02:00
Benjamin Vedder 5ad0c88944
Merge pull request #317 from seems-reasonable/mt6816-init 
Fix switching to the MT6816 encoder before reboot
 2021-07-18 12:11:07 +02:00
Benjamin Vedder f8b89acab1
Merge pull request #320 from Teslafly/dev_fw_5_03-use_absolute_current_unbalance 
Handle negative values in current unbalance detection.
 2021-07-18 12:06:52 +02:00
teslafly 334be27e12 use absolute magnitudes of current unbalance 2021-07-18 01:28:18 -05:00
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
Brian Silverman daa51c63e1 Fix switching to the MT6816 encoder before reboot 
encoder_init_mt6816_spi only made it into the switch statement at
startup, so after changing the mc_conf it required a reboot of the VESC
before it worked.
 2021-07-09 23:49:11 -07:00
Benjamin Vedder 32af87b08a Added aux out modes 2021-06-19 17:50:44 +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 fdad367c8d limit mc_interface_set_current_off_delay time to 5s 2021-05-20 00:57:26 +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 b3ed7a67d7 Fixed DRV fault reset 2021-05-14 13:52:41 +02:00
Benjamin Vedder 2c2238f76a Unified DRV fault reset interface, reset DRV faults after fault stop time ends 2021-05-14 11:24:01 +02:00
Benjamin Vedder 9e9e13ae14 Wait for motor release where needed 2021-05-13 10:42:40 +02:00
Benjamin Vedder be5ce41c17 Disable motor for 5 seconds after flash operations 2021-05-11 19:25:03 +02:00
Benjamin Vedder 77af43935a Removed outdated LED-support 2021-05-11 09:57:27 +02:00
Benjamin Vedder 7a0e560e8b Lowpass filter input voltage and battery level 2021-04-27 17:48:15 +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 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 e7921ff5bd Merge branch 'dev_fw_5_03' of https://github.com/vedderb/bldc into dev_fw_5_03 2021-03-17 11:55:11 +01:00
Benjamin Vedder bdb7b0bf7b Added KTY84 temp sensor support 2021-03-17 11:54:42 +01:00
Benjamin Vedder b162692081
Merge pull request #263 from powerdesigns/external_speed_sensor_support 
Allow using external speed sensors on custom hardwares
 2021-03-15 20:12:09 +01:00
Benjamin Vedder c82346b42e Added HFI start sensor mode 2021-03-13 11:42:23 +01:00
Benjamin Vedder 86445edf1a Fixed speed limit regression 2021-03-04 14:26:48 +01:00
Marcos Chaparro fba22914bd Allow using external speed sensors on custom hardwares 
When the vehicle has a gearbox or clutch, the motor speed is not
correlated to actual vehicle speed, which makes the data logs,
stats and display data somewhat confusing.

This just introduces the speed sensor polling and query when
HW_HAS_WHEEL_SPEED_SENSOR has been defined in hw_*.c

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2021-03-02 10:39:59 -03:00
Benjamin Vedder 8900c41c34 First phase filter and offset calibration attempt 2021-02-28 20:36:02 +01:00
Dado Mista e567c460f1 NTC 100K@25C Temperature Sensor support added 
Some PHUB188 hubs have a 100k instead of 10k temperature sensors, including the first
few batches of Fungineers hubs for balance vehicles.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2020-12-18 09:09:38 -08:00
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
Benjamin Vedder 6509065ca2 Added BMS module 2020-10-22 08:32:51 +02:00
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 5d26063152 Store odometer in emulated EEPROM (update at shutdown). 
* New "dist" terminal command shows odometer and trip distances.
* Odometer value is sent to UI via COMM_GET_VALUES_SETUP.
* UI can set the odometer via COMM_SET_ODOMETER.
* Unfortunately, the bootloader clears the odometer to 0 when FW is reprogrammed.
 2020-10-04 00:33:06 -04:00
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
Jeffrey M. Friesen 216a009d10 remove comment on motor temp 2020-07-28 13:04:39 -07:00
Jeffrey M. Friesen 75f9b1cdd0 removed motor temp offset and fixed bug in 60D header 2020-07-27 10:56:01 -07:00
Jeffrey M. Friesen f41a54c23d Merge branch 'dev_fw_5_02' of https://github.com/vedderb/bldc into dev_fw_5_02 2020-07-21 08:27:33 -07:00
Marcos Chaparro 2a3110cc53 Fix id and vd sign during inverted direction 
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2020-06-06 22:14:06 -03:00
Jeffrey M. Friesen 6069b2f872 minor changes to fault reporting 2020-06-06 17:38:53 -07:00
jxltom 52a1e1d446 Fix warning: missing initializer for field 'ah_charge_tot' of 'setup_values' 2020-05-09 12:00:02 +08:00