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1153 Commits

Author SHA1 Message Date
ElwinBoots fefa32e7bf Fix the clunk at the end of the open loop flux linkage measurement. 
Old code tried to remove all current instantly. New code disabled the pwm first.
 2021-12-27 16:55:33 -05:00
Benjamin Vedder 5a2382adc8
Merge pull request #388 from secupol/dev_fw_5_03 
Fix fault parameter in mcpwm_foc_measure_inductance function.
 2021-12-21 09:48:27 +01:00
secupol 480ffbbeb0
Fix fault parameter in mcpwm_foc_measure_inductance function. 2021-12-21 16:35:25 +09:00
Benjamin Vedder 4eec52d5c0 Fix NaN-problem after lost tracking on some motors 2021-12-19 23:55:03 +01:00
Benjamin Vedder a8f989eb64 er updates 2021-12-08 12:04:19 +01:00
Benjamin Vedder b302c1a614 er update 2021-12-08 10:12:23 +01:00
Benjamin Vedder 4da6b603d4 er updates 2021-12-06 16:55:58 +01:00
Benjamin Vedder 4fa7a922fe Fixed dual motor detect offset problem 2021-12-01 13:46:49 +01:00
Benjamin Vedder d30fb57a90 Fixed stat reset, removed stat terminal command 2021-12-01 13:45:48 +01:00
Benjamin Vedder 6b076f07f1 updated signature 2021-11-28 10:48:04 +01:00
Benjamin Vedder 2a281e36ae Initialize integrator in dutycycle downramp controller 2021-11-27 23:32:08 +01:00
Benjamin Vedder 40c2842aa8 Sign macro fix 2021-11-27 23:30:10 +01:00
Benjamin Vedder c5c309e227 More braking improvements 2021-11-27 18:51:02 +01:00
Benjamin Vedder e6c44bb133 build using 12 cores 2021-11-27 18:50:34 +01:00
Benjamin Vedder afe85a2937 Handle different max and min currents in braking mode 2021-11-27 16:38:32 +01:00
Benjamin Vedder b524773c0d Another attempt at braking 2021-11-27 10:58:52 +01:00
Benjamin Vedder a4201139f2 Minor cleanup 2021-11-26 18:06:07 +01:00
Benjamin Vedder 76b4f58e4e Another attempt at braking smoothly to 0 2021-11-26 00:43:41 +01:00
Benjamin Vedder 824e74b3c9
Merge pull request #382 from avlasic/temp_comp_fix_5_03 
Use the same minimal temp value for Temperature compensation
 2021-11-25 09:50:52 +01:00
Benjamin Vedder 61356d6ae9 Added APPCONF_UAVCAN_RAW_RPM_MAX default value 2021-11-24 14:15:30 +01:00
Andrej Vlašić 132c603699 Use the same minimal temp value for Temperature compensation 2021-11-24 12:18:29 +01:00
Benjamin Vedder e1b150b6d1
Merge pull request #381 from Jfriesen222/dev_fw_5_03 
fixed GPIO mapping for phase filters on SC
 2021-11-24 10:58:34 +01:00
Benjamin Vedder 5d385c046b Added UAVCAN raw RPM command 2021-11-24 10:56:45 +01:00
Jeffrey M. Friesen 78b3cd00c3 fixed GPIO mapping for phase filters on SC 2021-11-23 09:37:53 -08:00
Benjamin Vedder 36c333cc03 Apply ld_lq_diff in detection 2021-11-21 19:23:19 +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 fd48dc2644 Make PID position control direction consistent with other control modes when encoder is inverted 2021-11-15 21:30:24 +01:00
Benjamin Vedder fff18eb76b Reset PID controller filters when not running to avoid start glitch 2021-11-15 21:29:05 +01:00
Benjamin Vedder 76adfc1601
Merge pull request #377 from RadinnAB/hw_rd2_adj 
Minor adjustments for HW_RD2 & the build tool-chain
 2021-11-13 23:10:53 +01:00
Benjamin Vedder 19dc884ed6
Merge pull request #378 from ElwinBoots/svm_correct 
SVM sign fix
 2021-11-13 23:10:08 +01:00
ElwinBoots 78065cf74d SVM sign fix 
The original SVM code output was 1-dutycycle instead of dutycycle.
To make the math correct this was "corrected" by having the mod_alpha and mod_beta inputs negative.
This code now instead really fixes the output to dutycycle. Now the input should not be taken negative anymore.
 2021-11-13 21:51:20 +01:00
Benjamin Vedder 8457331640 Fix vesc remote cruise control under erpm limit 2021-11-13 00:56:01 +01:00
rodale75 80d504edaf hw_rd2: Adjustments of guard- & get-temperature function-naming. 
And also, some minor adjustments of the configuration parameters.

Change-Id: Ic56430dcf13cc47e6d6df1fcc19e09941b2e6d91
 2021-11-12 11:16:00 +01:00
Björn Mellström 18398553d6 make: Added size-rule. 
Change-Id: I78fe451e994832850c138b757bc5911c9f53b7ee
 2021-11-12 11:10:15 +01:00
Björn Mellström 5b73873b74 make: Default to non-verbose compilation output. 
Change-Id: Ic08eef4ba9771789e31cb24f87c6143ea6d1cf05
 2021-11-12 11:10:06 +01:00
Benjamin Vedder 3778dbe2e2 Added support for statistics 2021-11-11 01:08:21 +01:00
Benjamin Vedder f9170e93d0 Added uptime to setupvalues 2021-11-10 15:45:28 +01:00
Benjamin Vedder f0b291d4eb Improved overvoltage protection 2021-11-10 14:19:48 +01:00
Benjamin Vedder e89e00b694 Added 100/500 to build script 2021-11-10 14:18:34 +01:00
Benjamin Vedder c3f3c9512e Parameter update 2021-11-10 13:56:59 +01:00
Benjamin Vedder c7a6a00f32 Update with new BMS commands 2021-11-09 13:33:28 +01:00
Benjamin Vedder cb84c94788 Disable HFI start in braking mode 2021-11-08 22:48:15 +01:00
Benjamin Vedder d62f0b3617
Merge pull request #375 from kubark42/svm_function_comments 
`svm()` function comments
 2021-11-08 09:15:10 +01:00
Kenn Sebesta 67738328cb [SVM] Comment the function API 2021-11-07 18:21:23 -05:00
Benjamin Vedder bc63a3127a Added q-axis modulation filter and use it for input current limits 2021-11-07 23:00:48 +01:00
Benjamin Vedder 3b3c423916
Merge pull request #372 from kubark42/simplify_foc_fpu_math 
Simplify foc fpu math
 2021-11-07 21:27:03 +01:00
Kenn Sebesta 80adea0336 [MCPWM_FOC] Condense math in order to save on FPU operations 2021-11-07 09:01:54 -05:00
Kenn Sebesta 6dbea7ed86 [MCPWM_FOC] Eliminate repeated divisions 
`/((2.0/3.0) * v_bus)` is the same as `* 1.5/V_bus`. Abstracting this out
saves at least one division per loop, and in some cases as many as three.

Each STM32F4 FPU division takes 14 cycles.
 2021-11-07 07:35:08 -05:00
Benjamin Vedder 258ad28566
Merge pull request #373 from ElwinBoots/Commenting 
Add comments to the current loop
 2021-11-06 13:22:55 +01:00
ElwinBoots bbb8a3d6a8 Added comments to the current loop 2021-11-05 07:32:08 +01:00