Mitch Lustig
fafe047730
Tiltback updates
2021-08-18 00:45:51 -07:00
Benjamin Vedder
fc6825a1ae
Added safe start modes
2021-08-16 17:48:06 +02:00
Benjamin Vedder
df56397473
Merge pull request #327 from surfdado/tiltback_config
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Balance: configurable speed/angle for each tiltback type
2021-08-16 14:32:32 +02:00
Dado Mista
848cb3165d
Balance: configurable speed/angle for each tiltback type
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Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-08-15 16:30:11 -07:00
Mitch Lustig
cd0d31fa03
Merge branch 'dev_fw_5_03' into tiltback_config
2021-08-08 20:06:51 -07:00
Benjamin Vedder
11e2062312
Pull request cleanup
2021-07-30 20:53:22 +02:00
Jakub Tomczak
3ed1a8f632
new faults
2021-07-30 15:36:21 +02:00
Dado Mista
f46880d037
Balance: configurable speed/angle for each tiltback type
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Signed-off-by: Dado Mista <dadomista@gmail.com>
2021-07-29 17:16:32 -07:00
Jakub Tomczak
e951e3a374
Added AS504x Diagnostics
2021-07-28 17:14:10 +02:00
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
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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
029bd88981
Make CAN-enum 32 bits
2021-06-19 19:40:07 +02:00
Benjamin Vedder
32af87b08a
Added aux out modes
2021-06-19 17:50:44 +02:00
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
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-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
77af43935a
Removed outdated LED-support
2021-05-11 09:57:27 +02:00
Benjamin Vedder
dfe17ac334
Dynamic QML-script write support
2021-05-01 13:28:46 +02:00
Benjamin Vedder
f25144cc30
Removed iterative observer, added p_pid_gain_dec_angle
2021-04-26 23:14:05 +02:00
Benjamin Vedder
5767b703b7
Custom UI support
2021-04-24 22:36:00 +02:00
rodale75
b01930d586
commands: Added COMM_BM_HALT_REQ
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Command added for being able to halt the CPU while connected via
blackmagic probe.
2021-04-23 15:58:24 +02:00
Mitch Lustig
c9ed013f13
Fix low speed Full switch faults, Fix Booster, Improve turn/torque tilts
2021-04-17 18:05:24 -07:00
Benjamin Vedder
14b25e9aa4
Added foc_fw_q_current_factor
2021-04-15 10:04:28 +02:00
Benjamin Vedder
3a9d3bfe10
Remove old define
2021-04-11 19:44:31 +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
9dff7b42c4
Resolved conflict
2021-04-11 09:38:33 +02:00
Benjamin Vedder
feb1be5fbd
First attempt at field weakening and current controller windup protection improvement
2021-04-10 11:37:35 +02:00
dnordahl83
33da036106
commands: Added COMM_GET_BATTERY_CUT.
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This command returns a buffer with the following parameters:
[type, scale, size]
* cut off start [float, 1e3, 4b]
* cut off end [float, 1e3, 4b]
2021-04-09 14:31:23 +02:00
Benjamin Vedder
101f293389
Added new BMS counters
2021-04-08 22:34:01 +02:00
Benjamin Vedder
2848ec1b54
Merge branch 'dev_fw_5_03' of https://github.com/vedderb/bldc into dev_fw_5_03
2021-04-08 18:09:56 +02:00
Benjamin Vedder
1aef262cf1
Added more BMS datatypes
2021-04-08 18:09:53 +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
bdb7b0bf7b
Added KTY84 temp sensor support
2021-03-17 11:54:42 +01:00
Benjamin Vedder
9c0eb285bb
Added BMS FWD CAN mode
2021-03-13 11:36:47 +01:00
Benjamin Vedder
69c6939b15
Added power switch can commands
2021-02-28 20:29:51 +01:00
Dado Mista
e567c460f1
NTC 100K@25C Temperature Sensor support added
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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
Benjamin Vedder
cd513297d8
Added 100K CAN-baudrate
2020-12-15 00:27:58 +01:00
Marcos Chaparro
33b5d5c1ba
Pedal assist support (PAS)
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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
Marcos Chaparro
50bc55e487
MT6816 SPI encoder support
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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
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).
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* 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.
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* 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
Mitch Lustig
7db04df582
Add all the variables
2020-07-03 20:33:15 -07:00
Mitch Lustig
8299445c66
Basic feature set complte
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Fix some bugs
Add D-Term PT1 Filter
Add all the fault delays
Setpoint clamp no longer breaks tiltback
Add configurable constant tiltback erpm
2020-07-02 01:07:54 -07:00
Marcos Chaparro
42926d530e
Add MTPA support
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Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
2020-06-06 22:14:06 -03:00
Mitch Lustig
976413887b
Working LSM6DS3 needs lil work but its 3 am and i need to save progress
2020-05-29 03:10:43 -07:00
Benjamin Vedder
9781fb9563
Manually merged #166
2020-05-12 15:53:32 +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
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
Mitch Lustig
7869b34cf1
Good start on IMU Wizard
2020-04-18 11:51:50 -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
Jeffrey M. Friesen
f7964e20c2
Few small changes and fixed bug with duals
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Added ramping to current measurement to avoid steps during current calibration with an un-tuned current controller.
Added terminal command for mapping to internal nrf pins, useful when you want to erase_mass a locked nrf chip and dont want to cycle between a bunch of windows to scan connect etc.
Made fault led on duals blink if motor 2 is faulting.
Added break on inductance measurement if motor faults.
Added placeholder commands for changing name and pin of BLE module.
2020-04-01 17:58:37 -07:00
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
Benjamin Vedder
84ce74c325
Merge pull request #141 from Mitchlol/Balance_app_sprint_3
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Balance sprint 3
2020-03-16 20:35:26 +01:00
Benjamin Vedder
52e17059e5
Major restructuring for dual motor support, and added unity hw files
2020-03-16 18:32:39 +01:00
Mitch Lustig
24afd4e6f3
Balance sprint 3
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-Can steering based on speed
-Can steering current clamp
-Min rpm for half switch state fault
-Soft mode tuning (pitch angle affinity, setpoint affinity, setpoint limit)
-Reset I value on faults issue #117
-fix startup tiltback
2020-03-15 23:18:34 -07:00
Mitch Lustig
6d29b6741f
Use ADC for switches
2020-02-23 13:34:51 -08:00
Mitch Lustig
d4f6036de7
Implement nose angle adjustment
2020-02-23 10:23:19 -08:00
Mitch Lustig
2c07512091
Add can bus, 2 wheel steering & stabilization, brake, dead & fault dealy
2020-02-23 00:22:21 -08:00
Benjamin Vedder
97ef43cff8
Leave debug mode on NRF5x after SWD upload, more TS5700N8501 encoder features, more CAN baud rates
2020-02-01 00:37:25 +01:00
Benjamin Vedder
b6949d60dc
FW4.00: HFI and many updates, see changelog
2020-01-28 19:46:19 +01:00
Benjamin Vedder
287cabe76f
Common motor temperature validity check
2020-01-21 09:13:18 +01:00
Benjamin Vedder
ae5ea13998
Merge pull request #124 from powerdesigns/Axiom-resolver
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Axiom full resolver support
2020-01-21 08:35:36 +01:00
Benjamin Vedder
2a910e17d6
Merge pull request #120 from ddosoff/master
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KTY83/122 and priority to custom commands
2020-01-21 08:34:58 +01:00
Marcos Chaparro
9965bb52d5
Axiom: Full resolver support
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Fixes a low level SPI timing bug.
Provide Loss of Signal, Degradation Of Signal and Loss Of Tracking
fault sources, and stats to the 'encoder' terminal command.
Signed-off-by: Marcos Chaparro <mchaparro@powerdesigns.ca>
2020-01-20 11:06:02 -03:00
Benjamin Vedder
9b98afb5a3
Merge branch 'master' of https://github.com/vedderb/bldc
2020-01-20 09:39:38 +01:00
Benjamin Vedder
ffbc6eb89b
First attempt at HFI
2020-01-20 09:39:33 +01:00
Marcos Chaparro
356f3db20e
Add Break function for instant PWM disable
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When enabled, the Break (or BRK) is a mechanism that upon a active
level in the TIMx_BRK pin disables asynchronously the PWM output pins,
achieving fast reaction times when an external fault even happens.
See AN4277.
Signed-off-by: Marcos Chaparro <mchaparro@paltatech.com>
2020-01-19 15:36:40 -03:00
Kirill Kostiuchenko
2fa512b5ed
merge
2020-01-14 22:04:02 +05:00
Benjamin Vedder
b002e5d78e
FW 3.66: Many changes, see changelog
2020-01-12 21:25:21 +01:00
Kirill Kostiuchenko
b1a52d3ac0
KTY83/122 motor temp sensor added
2020-01-05 18:24:12 +05:00
Benjamin Vedder
210ec40d74
PTC motor thermistor support, APP_PPM sleep fix
2019-12-22 21:22:07 +01:00
Benjamin Vedder
ceb8b7bf7d
HW60_MK3 support, shutdown fix, added COMM_SET_CURRENT_REL, ramp fix, PPM timeout fix, IRQ prio fix
2019-12-19 16:55:38 +01:00
Benjamin Vedder
23e61925b6
FW upload compression support, TS5700N8501 support
2019-12-05 19:50:17 +01:00
Benjamin Vedder
ce31092c1d
Merge branch 'master' of https://github.com/vedderb/bldc
2019-09-21 12:50:41 +02:00
Benjamin Vedder
f34d0159bf
Fixed nunchuk bug and added COMM_BM_MEM_READ command
2019-09-21 12:50:39 +02:00
Mitch Lustig
343dba369a
Remove axis config
2019-09-21 01:07:31 -07:00
Benjamin Vedder
6117c2ba20
Fixed merge conflict
2019-09-17 19:43:28 +02:00
Benjamin Vedder
db6ba047d9
Added COMM_BM_READ_MEM command
2019-09-17 19:39:11 +02:00
Mitch Lustig
d160f74651
Merge branch 'master' into balance
2019-09-12 22:50:12 -07:00
Mitch Lustig
3c31d264fd
Add high voltage tiltback
2019-09-12 00:07:26 -07:00
Mitch Lustig
9f263b8c1a
Reorder app_use enum
2019-09-11 23:18:12 -07:00
Mitch Lustig
518776d04e
Add basic low voltage tiltback
2019-09-10 19:29:44 -07:00
Mitch Lustig
67a4653bd8
Add support for dual fault switches
2019-09-10 01:07:05 -07:00
Benjamin Vedder
eb6f5945ce
FW 3.61: Added smart reverse mode to PPM app, and some fixes
2019-09-09 19:34:26 +02:00