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187 Commits

Author SHA1 Message Date
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
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 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
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
Jeffrey M. Friesen 30f3d8e455 Merge remote-tracking branch 'upstream/dev_fw_5_00' into dev_fw_5_00 2020-04-05 12:04:15 -07:00
Jeffrey M. Friesen 0bb5b2d99c Cleaned up detect_apply_all terminal command for dual hardware 2020-04-05 12:04:04 -07:00
Benjamin Vedder 2f19819d27 Fixed conflicts with master merge 2020-04-04 22:35:29 +02:00
Benjamin Vedder 76fd7a3917 Added COMM_SET_CAN_MODE and added support for HW75_300_R3 2020-04-04 22:28:41 +02:00
Benjamin Vedder c0f75f14ac Current ramping during resistance measurement 2020-04-02 20:43:11 +02:00
Jeffrey M. Friesen 1d5ce285f6 Fixed build error 2020-04-01 18:24:25 -07:00
Benjamin Vedder dd16ce862d Added HW_DUAL_CONFIG_PARALLEL option 2020-03-29 17:07:31 +02:00
Jeffrey M. Friesen b4bf8408b4 fix USB freezing on windows bug 
Intermittent freezing on windows connecting to vesc_tool. This seems to fix it, more testing needed since it is so intermittent.
 2020-03-22 09:36:14 -07:00
Benjamin Vedder 10b700b74c Updated observer gain scaling, and implemented CAN shutdown on unity hw config 2020-03-21 01:05:42 +01:00
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