Benjamin Vedder
1b3e01e276
Flux linkage measurement tweaks
2022-12-04 14:21:15 +01:00
Benjamin Vedder
fbd39c020c
abs_max fix for dual motors
2022-12-02 09:55:50 +01:00
Benjamin Vedder
00a4cd9c17
Merge pull request #490 from TechAUmNu/set-abs-max
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Set abs max to reasonable value during detection
2022-12-02 09:16:40 +01:00
Benjamin Vedder
1e7da25160
Send foc can detect result back to sender even if some other interface communicates in-between
2022-11-22 18:18:38 +01:00
Benjamin Vedder
7cacf99e09
Some cleanup
2022-11-08 18:21:06 +01:00
Benjamin Vedder
226c40cdb0
Merge branch 'master' into Improvements
2022-11-08 17:37:21 +01:00
Euan Mutch
d06fce3ee4
Interface commands for openloop
2022-11-08 11:46:08 +00:00
Euan Mutch
7bf78592f7
Correct spaces to tabs, remove fault checks from low level funcs.
2022-11-08 10:46:35 +00:00
Benjamin Vedder
2b7e323481
Wait a bit longer for can detection result
2022-11-06 15:21:09 +01:00
Euan Mutch
f77409c57b
correct description of conf_general_detect_apply_all_foc
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Fault code is returned as -100 + fault, to allow backwards compatibility. VESC Tool decodes the code and displays the text description during detection.
The terminal also does the same when manually running the command.
2022-09-27 22:12:05 +01:00
Euan Mutch
f7a2e4c621
Fault handling, Terminal improvements and better flux linkage.
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Add fault handling to all functions that touch the motor.
Improve terminal usability by echoing commands and giving feedback on faults and missing / invalid arguments. Improve flux linkage measurement by increasing switching frequency and using the measured resistance and inductance to set the kp & ki.
2022-09-27 21:54:50 +01:00
Benjamin Vedder
ff9679d336
Lisp code streaming, more native functions and checks, custom config support, moved global send buffer to mempools
2022-09-18 22:47:50 +02:00
Andrej Vlašić
710a2e9a6d
Send back app and mc config to requester port
2022-05-10 13:27:09 +02:00
Benjamin Vedder
d87ada9b1a
Added FOC detection command
2022-05-06 19:49:58 +02:00
Marcos Chaparro
46d132a2d7
Add hw specific backups
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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
Euan
e115c853ff
Set abs max during detection
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ABS max is set to 1.5x motor current, truncated to hw limit.
2022-05-05 12:49:58 +01:00
secupol
8475f3ef4d
Fixed typo
2022-05-05 07:13:28 +09:00
Euan
5e5c6f6d0e
Stop on fault in flux linkage measurement
2022-05-04 20:17:38 +01:00
Euan
3db2860cf4
Improve fault handling during detection routines
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Added more checks for faults during detection routines.
Always return an error if a fault occured.
Handing for returned errors.
2022-05-04 19:41:09 +01:00
Kenn Sebesta
cf6f32332d
[Utils] Update the header includes
2022-03-23 20:25:37 -04:00
Benjamin Vedder
e9d6fd5842
Use bitfields for CAN-messages and support two different CAN status rates
2022-03-11 18:08:28 +01:00
Kenn Sebesta
3de18a249d
[Math] Use a macro for the two-norm
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No code differences, just a little easier on the reader.
2022-03-07 11:37:56 -05:00
Kenn Sebesta
5da38dfedf
[Make] Capture git branch, commit, dirty state, and arm compiler
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This code pushes those strings into #defines which are available inside the
firmware.
2022-03-06 19:07:15 -05:00
Jakub Tomczak
da4b3e0edd
Merge branch 'master' into dev_fw_5_03
2022-01-21 15:07:44 +01:00
Jakub Tomczak
2a120615be
encoders to encoder refactor
2022-01-09 17:10:40 +01:00
Benjamin Vedder
af55c79a2a
Renamed foc_f_sw to foc_f_zv
2022-01-06 20:44:00 +01:00
Kenn Sebesta
2978e9b8e3
[conf_general] Brief code cleanup
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1) Use `false` instead of `0`. This communicates that it is a bool which is being sent, and not a decimal
number.
2) Add some code comments
2021-12-27 16:55:33 -05:00
ElwinBoots
fefa32e7bf
Fix the clunk at the end of the open loop flux linkage measurement.
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Old code tried to remove all current instantly. New code disabled the pwm first.
2021-12-27 16:55:33 -05:00
Jakub Tomczak
4743194894
old encoder files deleted
2021-12-20 14:18:51 +01:00
Jakub Tomczak
f26f3beb2d
WIP: 3 encoders partially implemented, AS504x tested
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compiled on gcc-arm-none-eabi-7-2018-q2
2021-12-14 16:40:40 +01:00
Benjamin Vedder
4fa7a922fe
Fixed dual motor detect offset problem
2021-12-01 13:46:49 +01:00
Benjamin Vedder
36c333cc03
Apply ld_lq_diff in detection
2021-11-21 19:23:19 +01:00
Benjamin Vedder
98587c961b
Updated inductance calculation, include motor saliency in observer, separate setting for MTPA
2021-10-24 13:25:12 +02:00
Benjamin Vedder
1763fd59d3
Fixed loss calculation
2021-10-16 12:53:49 +02:00
Benjamin Vedder
b1f564c3bb
Merge pull request #352 from kubark42/convenience_math
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Use convenience macros for deg/rad conversions
2021-10-15 22:35:47 +02:00
Benjamin Vedder
d8a99fd0f1
Inductance and resistance measurement and scaling fixes, various other fixes
2021-10-15 22:25:07 +02:00
Kenn Sebesta
bec06ac85a
[Utils] Change convenience multiplication factors into convenience MACROs
2021-10-13 14:18:05 -04:00
Kenn Sebesta
aeb5d74488
[Utils] Use convenience macros for deg/rad conversions
2021-10-13 11:52:04 -04:00
Benjamin Vedder
75b84f1f2d
Added kill switch support
2021-06-13 13:46:27 +02:00
Benjamin Vedder
509713e21a
Fixed timeout values
2021-05-13 10:59:33 +02:00
Benjamin Vedder
9e9e13ae14
Wait for motor release where needed
2021-05-13 10:42:40 +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
8900c41c34
First phase filter and offset calibration attempt
2021-02-28 20:36:02 +01:00
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
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
Benjamin Vedder
6f7c40b4e1
Improved flux linkage measurement
2020-04-16 09:12:08 +02:00
Benjamin Vedder
88d74ae0b6
Added mutex to DRV SPI driver, moved fault stop to thread, smooth current ramping for sensor and flux linkage detection
2020-04-03 20:12:12 +02:00
Benjamin Vedder
c0f75f14ac
Current ramping during resistance measurement
2020-04-02 20:43:11 +02:00
Benjamin Vedder
a61e74db82
Fixed memory leak
2020-03-20 20:40:41 +01:00