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## General Notes
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- The C code for the controller was auto-code generated using [Matlab/Simulink](https://nl.mathworks.com/solutions/embedded-code-generation.html) from a model which I developed from scratch specifically for hoverboard control. For more details regarding the working principle of the controller please consult the [Matlab/Simulink model](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab).
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- A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/webview) was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code
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- A [webview](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/tree/master/01_Matlab/BLDC_controller_ert_rtw/html/webview) was created, so Matlab/Simulink installation is not needed, unless you want to regenerate the code. The webview is an html page that can be opened with browsers like: Microsoft Internet Explorer or Microsoft Edge.
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### Field weakening
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### Field Weakening / Phase Advance
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- By default the Field weakening is disabled. You can enable it in config.h file by setting the FIELD_WEAK_ENA = 1
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- In BLDC_controller_data.c you can find the field weakening Map as a function of Input target: MAP = id_fieldWeak_M1, XAXIS = r_fieldWeak_XA
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- The default calibration was experimentally calibrated to my particular needs
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- If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
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- During the recalibration make sure the values in XAXIS are equally spaced for a correct Map interpolation.
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- The Field Weakening is a linear interpolation from 0 to FIELD_WEAK_MAX or PHASE_ADV_MAX (depeding if FOC or SIN is selected, respectively)
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- The Field Weakening starts engaging at FIELD_WEAK_LO and reaches the maximum value at FIELD_WEAK_HI
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- The figure below shows different possible calibrations for Field Weakening / Phase Advance
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![Field Weakening](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/master/docs/pictures/FieldWeakening.png)
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- If you re-calibrate the Field Weakening please take all the safety measures! The motors can spin very fast!
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### Parameters
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