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770 Commits

Author SHA1 Message Date
Benjamin Vedder a17c2f5453
Merge pull request #243 from powerdesigns/pedal_assist 
Pedal assist support (PAS)
 2020-12-09 19:07:29 +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 9c96de54a9
Merge pull request #242 from Jfriesen222/dev_fw_5_02 
Changed stormcore config to use cleaner turn on routine
 2020-12-06 21:57:08 +01:00
Jeffrey M. Friesen ba097e171e Merge branch 'dev_fw_4_02' of https://github.com/vedderb/bldc into dev_fw_5_02 2020-12-06 21:52:04 +01:00
Benjamin Vedder 7207fcec98
Merge pull request #239 from b264/00typos 
Fix typos
 2020-12-06 21:48:47 +01:00
Jeffrey M. Friesen 4f7be2f569 fixed conflicts 2020-12-06 21:46:47 +01:00
Benjamin Vedder 66b4d8f56d Added FOC D axis controller gain scaling at max modulation 2020-12-06 21:33:08 +01:00
bmg bafb89fbba update spelling 2020-12-05 03:56:57 -06:00
Benjamin Vedder 55096f93cc Added UAVCAN raw throttle modes 2020-12-04 17:54:22 +01:00
Benjamin Vedder d0e66ea0c1
Merge pull request #238 from powerdesigns/MT6816_encoder_support 
MT6816 SPI encoder support
 2020-12-03 13:01:19 +01:00
Benjamin Vedder 242a1924e1 Fixed dual motor CAN regression 2020-12-02 20:56:00 +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 e5c5b3e655 Fixed CAN reply mapping problem 2020-11-29 23:26:49 +01:00
Benjamin Vedder 3322c29c19 Added IMU support to 100_250 hw file 2020-11-29 20:25:18 +01:00
Benjamin Vedder 4055449e87 Fixed HW60 DRV pin mapping. See https://github.com/vedderb/bldc/pull/237 2020-11-29 20:05:54 +01:00
Jeffrey M. Friesen 6982b0e472 Update conf_general.h 2020-11-27 21:57:51 -08:00
Benjamin Vedder b7b0182856 CAN fixes, renamed HD to HD60, fixed multiturn position control 2020-11-18 14:26:55 +01:00
Benjamin Vedder 6f3186ddb4 CAN: Reject ping responses from other IDs 2020-11-12 23:09:03 +01:00
Benjamin Vedder 6876ee3243 Fixed second motor ID on setup values too 2020-11-11 11:23:11 +01:00
Benjamin Vedder b5bc9e06b0 Indentation fix 2020-11-11 11:16:34 +01:00
Benjamin Vedder b1117ab3e3
Merge pull request #232 from wunderk1nd-e/comm-get-values-unity-ctrl-id-fix 
[COMM_GET_VALUES] Unity should return second motor controller ID if that is the selected thread
 2020-11-11 11:13:32 +01:00
Elias Court 338030557d
the unity should return the second motor controller ID if that is the selected thread 2020-11-11 09:57:13 +00:00
Benjamin Vedder d71433d22c
Merge pull request #229 from trosenband/refactor_DUAL_MOTORS 
Refactor some HAS_DUAL_MOTORS
 2020-10-28 14:52:45 +01:00
Till Rosenband 64d9132389 Remove some #ifdef HAS_DUAL_MOTORS. 2020-10-28 08:31:47 -04:00
Till Rosenband 09a6c7a058 Remove build date to allow easy comparison of compiled binaries. 2020-10-28 08:31:37 -04:00
Benjamin Vedder c69032e882 BMS balance state parse fix 2020-10-22 09:26:02 +02:00
Benjamin Vedder af7cd36cb8 Added hall sensor interpolation ERPM config option 2020-10-22 08:37:32 +02:00
Benjamin Vedder 1989a27994 Added hw6 mk5 to build script 2020-10-22 08:36:04 +02:00
Benjamin Vedder 9845bb2b52 Increased default f_sw for 75_300 and 100_250 2020-10-22 08:34:29 +02:00
Benjamin Vedder 6509065ca2 Added BMS module 2020-10-22 08:32:51 +02:00
Jeffrey M. Friesen 1a77393ddc Add proper bootup lockout to stormcore and add dual parallel config option for unity. 2020-10-15 10:01:27 -07:00
Benjamin Vedder b5eb228a04 PR fix 2020-10-09 22:01:17 +02:00
Benjamin Vedder cabd83a8a6 Fixed merge conflict 2020-10-09 21:19:16 +02:00
Benjamin Vedder ce3bed1268
Merge pull request #218 from trosenband/odometer-pr2 
Firmware odometer & verify MC/APP config via CRC (again)
 2020-10-09 21:09:41 +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
Benjamin Vedder fbc8cf6cc1 Merge branch 'dev_fw_5_02' of https://github.com/vedderb/bldc into dev_fw_5_02 2020-08-26 14:47:18 +02:00
Benjamin Vedder ed788fbec5 Fix conflict 2020-08-26 14:47:14 +02:00
Benjamin Vedder 9459083b3a
Merge pull request #206 from Mitchlol/BMI160_lil_fixy_fix 
Increase BMI160 output data rate
 2020-08-26 14:36:38 +02:00
Mitch Lustig 1edad098a3 Match ODR to imu hz 2020-08-25 18:02:19 -07:00
Mitch Lustig 0073c57d59 Increase BMI160 output data rate 
VESC tool allows users to set IMU update frequency up to 1khz, but if the BMI160 output data rate is only 200hz, then this option is useless (and performance at 1khz is much better than 200hz).
 2020-08-23 21:34:20 -07:00
Benjamin Vedder 7f4c6f41f0 Rebuilt stormcore and unity FWs with the hwconf fixes 2020-08-18 12:20:09 +02:00
Benjamin Vedder 91bde64e71
Merge pull request #202 from Mitchlol/LSM6DS3_Fix 
LSM6DS3 Fix
 2020-08-15 09:45:01 +02:00
Mitch Lustig 349361ba36 Fix noisy IMU signal 
LSM6DS3 was writing to the output registers at the same time as reads were happening, causing scrambled data.
 2020-08-14 20:13:32 -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
Benjamin Vedder 4320e4744b
Merge pull request #200 from Jfriesen222/master 
Patch some bugs with stormcore stuff
 2020-08-13 13:00:22 +02:00
Jeffrey M. Friesen 27ec82d785 set default build back to vesc 6 2020-08-10 09:29:32 -07:00
Jeffrey M. Friesen 74bd23dedc Prevent power switch from working when stormcore gets too hot. Fix bug in median filter. 2020-08-10 09:28:07 -07:00