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242 Commits

Author SHA1 Message Date
Benjamin Vedder 324b3a90ba Added uavcan status current mode 2022-09-03 13:38:12 +02:00
Benjamin Vedder 352c6eb86f BMS support for more temp sensors 2022-09-03 09:30:28 +02:00
Zach O'Brien 9c7b0dae2c Adding support for the AS5x47U encoder. 2022-07-18 14:25:03 -06:00
Dado Mista 20796a66c1 Balance app: dual adc switch (single combined switch) support 
Support for combining both adc switches into a single one.

Signed-off-by: Dado Mista <dadomista@gmail.com>
 2022-07-16 13:54:47 -07:00
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 e025e177e0 Observers, observers, observers 2022-05-21 22:54:12 +02:00
Benjamin Vedder 4a8bb6a399 Added option to disable phase filter fault code 2022-05-19 03:12:07 +02:00
Mitch Lustig cd1e021c4d Merge branch 'master' into balanceapp_cascading_pid 2022-05-07 12:14:59 -07:00
Benjamin Vedder d5619f98f1 Added optional fault info string and implemented it for the phase filter fault 2022-05-06 00:49:35 +02:00
Marcos Chaparro 46d132a2d7 Add hw specific backups 
Data stored in this memory will be persistent across firmware updates.

This uses the same method used in the VESC BMS firmware.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2022-05-05 16:28:58 -03:00
Mitch Lustig af4bcf68b6 Add cascading PID to the balance app 2022-04-21 00:35:15 -07:00
Benjamin Vedder a8d1a5b1bd
Merge branch 'master' into add_basic_ppm_position_mode 2022-04-19 17:14:01 +02:00
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
Teslafly fa3eb7a084 have 180 and 360 degree based control mode for center or bottom safestart. 2022-04-11 00:12:00 -05:00
Teslafly cf928c28cb revert datatype reordering 2022-04-09 14:16:36 -05:00
Teslafly 690e7fd37a first try with simplified position setter. 2022-04-07 00:54:45 -05:00
Benjamin Vedder 756ccbc5ba Added fault code for invalid phase filter readings 2022-04-06 21:08:48 +02:00
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 1eb0c1e5ae Added HFI-method based on coupling between the axes 2022-04-06 00:35:11 +02:00
Benjamin Vedder 3a530ac3f7 App ADC abs min and max voltage limits 2022-04-01 18:43:03 +02:00
Benjamin Vedder d8e8be51de Fixed silent hfi current offset, added high performance hfi mode, changed vesc6 current sampling, only use HT interrupt if the currents are first in the ADC vector 2022-03-23 22:26:05 +01:00
Benjamin Vedder c348120325 High-performance and silent HFI 2022-03-23 15:04:30 +01:00
Benjamin Vedder 6ace516b3f Added CAN status message 6 with ADC and PPM values 2022-03-13 20:56:26 +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 7a962949c4 Added lisp repl 2022-03-01 12:07:27 +01:00
Benjamin Vedder 95183ce724 More refactoring, moved state out of AS504x so that multiple instances can be used 2022-02-19 23:28:58 +01:00
Benjamin Vedder 2156e67b8e Synced datatypes with the BMS firmware 2022-02-11 09:12:11 +01:00
rodale75 a30e259549 datatypes: Renamed CAN_PACKET_BMS_BOOT to CAN_PACKET_NOTIFY_BOOT. 
This to have a generic approach applicable for all HW.

Change-Id: I030be71ed500ea6042ea17889c7731791bd704cb
Reviewed-on: https://review.gerrithub.io/c/RadinnAB/vedder_vesc_fw/+/532596
Tested-by: Mr. Jenkins <jenkins@radinn.com>
Tested-by: aleksandar rodzevski <aleks@radinn.com>
Reviewed-by: aleksandar rodzevski <aleks@radinn.com>
Reviewed-by: Björn Mellström <bjorn.mellstrom@radinn.com>
Reviewed-by: Daniel Nordahl <daniel.nordahl@radinn.com>
 2022-02-10 14:23:36 +01:00
Benjamin Vedder 9527f94cf8 First lisp integration with vesc tool and enabled lisp by default 2022-01-29 03:36:34 +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
Marcos Chaparro 627c12b1ca bbshd: Ruggedize PAS against vibrations 
Also includes an update to set power limits from other threads (like a display) and
prepares support for PAS torque sensors.

Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
 2021-12-28 11:17:53 -03:00
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 3778dbe2e2 Added support for statistics 2021-11-11 01:08:21 +01:00
Benjamin Vedder c7a6a00f32 Update with new BMS commands 2021-11-09 13:33:28 +01:00
Benjamin Vedder 09bd14072c Added COMM_BALANCE_SELFTEST 2021-10-30 21:46:35 +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
Afzal b1ec844b2f PAS: add constant torque control type 
For gearless electric bicycles, riding up the slope and during start,
good torque support from the motor helps the rider ride with less
effort. Pedal assist based on cadence provides higher torque with higher
pedalling speed. In the situations mentioned above, where user naturally
pedals slow, aid from cadence based system is less. On a geared setup,
changing to low gear comes to the rider's help.

Here another control type is provided - Constant Torque, whenever the
rider pedals, motor would provide constant torque. The torque value can
be set using 'PAS max current' setting thus acting as fine PAS assist
level.

This type of control is similar to 'Basic PAS, constant throttle' of
'PAS Control Schemes' [1], with the difference that throttle setting
in that article corresponds to speed, while here torque.

Also riding experience on some of the popular (not high end) e-bicycles
having PAS indicates they might be having this kind of control
internally.

[1] https://ebikes.ca/learn/pedal-assist.html
 2021-10-05 13:05:31 +05:30
Johan Svard add855f6e6 blackmagic: Add cmd to write to target memory. 2021-10-01 16:29:57 +02:00
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
Mitch Lustig f91872bf40 Merge branch 'dev_fw_5_03' into tiltback_config 2021-08-19 13:27:31 -07:00
Benjamin Vedder 7c6f1dd612 Added fusion IMU filter 2021-08-19 18:48:23 +02:00