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1076 Commits

Author SHA1 Message Date
Benjamin Vedder d8a99fd0f1 Inductance and resistance measurement and scaling fixes, various other fixes 2021-10-15 22:25:07 +02:00
Benjamin Vedder b6eb5852aa
Merge pull request #346 from afzalmam/dev_fw_5_03 
PAS: add constant torque control type
 2021-10-11 10:08:24 +02:00
Benjamin Vedder 583f712424
Merge pull request #350 from dimpolo/mpu_status_fix 
Fix wrong status in mpu_status terminal command
 2021-10-10 18:04:37 +02:00
dimpolo 27782f23c3
Fix wrong status in mpu_status terminal command 2021-10-07 22:55:00 +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
Benjamin Vedder c0fa922251
Merge pull request #344 from RadinnAB/bm_mem_write 
blackmagic: Add cmd to write to target memory.
 2021-10-02 09:30:33 +02:00
Johan Svard add855f6e6 blackmagic: Add cmd to write to target memory. 2021-10-01 16:29:57 +02:00
Benjamin Vedder 78e10ccb7b
Merge pull request #342 from tharon-rivera/dev_fw_5_03 
Support for Spintend ubox single
 2021-10-01 09:50:47 +02:00
Benjamin Vedder 6f1b674e22
Merge pull request #340 from mark99i/dev_fw_5_03 
Fixes in traction control for scooters
 2021-10-01 09:49:08 +02:00
Tharon Rivera 11ad3f862f Support for Spintend ubox single 2021-09-24 20:58:55 -04:00
Benjamin Vedder e7d22911f8 More stormcore power switch fixes 2021-09-15 18:46:08 +02:00
Benjamin Vedder 40ccb48beb Added another nrf revision to bm 2021-09-15 17:49:58 +02:00
Benjamin Vedder bec2534559 Fixed stormcore CAN shutdown 2021-09-15 17:49:09 +02:00
Benjamin Vedder d898d3bf9a Lowered default switching frequency 2021-09-15 17:48:44 +02:00
Mark 2f26f3af37 fixes in traction control for scooters 2021-09-09 01:16:58 +03:00
Benjamin Vedder 0109693e37 Changed CAN_PACKET_POLL_ROTOR_POS to respond with the controller id 2021-08-30 10:36:08 +02:00
Benjamin Vedder c3f397ae4c Added comments about the CAN packet types 2021-08-30 10:29:41 +02:00
Benjamin Vedder a970269a28 Moved CAN_PACKET_POLL_ROTOR_POS to addressed packets 2021-08-30 10:26:10 +02:00
Benjamin Vedder 0bc935b27f Added break to new can command 2021-08-30 10:21:39 +02:00
Benjamin Vedder dbeb8f08e2
Merge pull request #336 from manoukianv/PollEncoderOverCan 
add CAN command CAN_PACKET_POLL_ROTOR_POS
 2021-08-30 10:18:26 +02:00
Vincent Manoukian f887c30e86 Add a poll CAN message. 2021-08-30 09:39:21 +02:00
Benjamin Vedder 31d524f7fa Made local functions static 2021-08-22 12:05:08 +02:00
Benjamin Vedder 91a19fa8b3 IMU improvements 2021-08-22 11:51:03 +02:00
Benjamin Vedder 86cbc92b8d Fixed regression in sensorless braking 2021-08-20 21:36:44 +02:00
Benjamin Vedder 44053fb244
Merge pull request #333 from Mitchlol/tiltback_config 
Tiltback config cleanup
 2021-08-20 19:08:30 +02:00
Benjamin Vedder 91e299a593
Merge pull request #334 from surfdado/zescboards 
ZESC HW Support: Raiden7 and Warrior6
 2021-08-20 19:08:14 +02:00
Benjamin Vedder b7b44cf2b6 Fixed can init check when can is disabled 2021-08-20 15:13:07 +02:00
Benjamin Vedder 36c9db6718 Dual motor shutdown fix 2021-08-20 14:59:36 +02:00
Mitch Lustig 64ed53f473 Fix balance tiltback default speeds 2021-08-19 17:19:21 -07:00
Dado Mista 5a56e8bd57 ZESC Raiden7 Support 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-08-19 15:57:15 -07:00
Dado Mista cd1e37dfe8 ZESC Warrior6 Support 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-08-19 15:57:15 -07:00
Mitch Lustig 80de95c372 Update confgenerator 2021-08-19 13:39:54 -07:00
Mitch Lustig f91872bf40 Merge branch 'dev_fw_5_03' into tiltback_config 2021-08-19 13:27:31 -07:00
Benjamin Vedder c34856b4a2 DRV8323S oc latch shutdown by default 2021-08-19 18:57:04 +02:00
Benjamin Vedder 7c6f1dd612 Added fusion IMU filter 2021-08-19 18:48:23 +02:00
Mitch Lustig bec22c9f0f Merge remote-tracking branch 'surfdado/tiltback_config' into tiltback_config 2021-08-18 00:49:39 -07:00
Mitch Lustig fafe047730 Tiltback updates 2021-08-18 00:45:51 -07:00
Benjamin Vedder 4603ff5d4e Change filtered duty cycle to absolute value 2021-08-16 20:33:26 +02:00
Benjamin Vedder fc6825a1ae Added safe start modes 2021-08-16 17:48:06 +02:00
Benjamin Vedder debd1ed4aa Configuration updates 2021-08-16 15:02:20 +02:00
Benjamin Vedder df56397473
Merge pull request #327 from surfdado/tiltback_config 
Balance: configurable speed/angle for each tiltback type
 2021-08-16 14:32:32 +02:00
Benjamin Vedder 733c551865
Merge pull request #332 from Jfriesen222/dev_fw_5_03 
Patched some small bugs in SC/unity
 2021-08-16 14:30:10 +02:00
Dado Mista 3f1c7872f4 confgenerator for Balance: configurable speed/angle for each tiltback type 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-08-15 16:30:11 -07:00
Dado Mista 848cb3165d Balance: configurable speed/angle for each tiltback type 
Signed-off-by: Dado Mista <dadomista@gmail.com>
 2021-08-15 16:30:11 -07:00
Jeffrey M. Friesen 49c94ef90a Fixed bug where unity/stormcore could be powered off too soon and freeze 2021-08-12 19:21:23 -07:00
Jeffrey M. Friesen 817936f5c9 Updates to stormcore configs 2021-08-11 10:58:48 -07:00
Mitch Lustig cd0d31fa03 Merge branch 'dev_fw_5_03' into tiltback_config 2021-08-08 20:06:51 -07:00
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