- added possbility to switch the Control mode while motor is spinning. NOT yet checked how motors behaves when swiching is triggered!
- added Cruise Control functionality: activated by button1 to GND (Blue Left or Right cable depending on selection). Functionality NOT yet tested in practice!
- extended Phase current measurements z_selPhaCurMeasABC : {iA,iB} = 0; {iB,iC} = 1; {iA,iC} = 2
- added interface for external motor angle measurement from as sensor, e.g., encoder. The selection can be done via b_angleMeasEna: 0 = Estimated (default), 1 = Measured.
- update the Field weakening Lo and Hi to fully blended.
- minor improvements:
- Buttons initialization
- lowered ADC margins in auto-calibration
- commented out ADC_SAMPLETIME_239CYCLES_5, reported to give some issues when Hall sensor ADC input is used
- For TORQUE mode, by enabling `ELECTRIC_BRAKE_ENABLE` in `config.h`, the freewheeling amount can be adjusted using the `ELECTRIC_BRAKE_MAX` parameter.
- For VOLTAGE and TORQUE mode, the standstill hold functionality can be forced by enabling `STANDSTILL_HOLD_ENABLE` in `config.h`.
Known (minor) issue: There is a small "tick" noise when Stanstill is engaged/disengaged, due to the switching to SPEED mode. To be solved by an improved mode switching strategy in the future.
- fixed the general timeout handling: there is no need to disable the MOSFETs timer because it will confuse the BLDC_controller, making him consider the timeout as a false MOSFET defective error.
- renamed `timeout` to `timeoutCnt` for consistency and to ease the search
#61
- created possiblity to use PWM, PPM input also on both LEFT and RIGHT cable (RIGHT cable is 5V tolerant)
- updated UART: disabled the Rx errors to avoid DMA stop and additional need to manage the UART error handler
- added Button support LEFT/RIGHT
- the UART communication is improved based on UART Idle line detection interrupt
- an Rx ring buffer is used to manage the UART incoming data
- both Tx and Rx are efficiently handled using DMA
#45#64#65
Other:
- minor visual improvements
- PWM Variant should now support that the PWM for the 2 channels (steering, throttle) can happen:
• in the same time (ussually the case if Servo library from Arduino is used)
•or offseted (ussually if commercial RC PWM received is used)
- made the PWM timeout for the 2 channels independent to be able to use only one channel if desired.
- removed the `PWM_signal_Correct(..)` function, because it is already existing here 34c6e4d610/Src/util.c (L844-L862)
- added (void) to the functions
- limited `pwm_timeout` to 500 instead of 0, ottherwise the timeout won't work properly, because it will will reset every time.
Apparently, the UART data Rx/Tx is quite unreliable (especially under motor load) leading to very often out-of-sync issues. This change allows to reset the DMA more often, leading to a faster re-sync of the UART transmission and thus avoiding UART timeout.
- updated ReadMe: added higher resolution mainboard picture, added links with projects, online compiler, Telegram link
- setup.c : fixed the Charger GPIO pin to PULLUP, otherwise the Charger won't be recognized when connected
- config.h : increased the default ADC protection Timeout from 30 to 100 for more robustness.
► the mainboard can now send and receive Serial data from the sideboards
► heavy refactored the `main.c`. It was becoming too large to manage... Therefore, `util.c` and `util.h` was created
► added new functionality for `VARIANT_HOVERCAR` and variants with `CONTROL_ADC` in general:
- ADC limits auto-calibration mode (long press of the power button) - calibration will not be lost at power-off
- Max Current and Max Speed adjustment mode (long press followed by a short press of the power button) - calibration will not be lost at power-off
- added one sideboard functionality:
- LEDs are used to display battery level, Motor Enable, Errors, Reverse driving, Braking.
- Photo sensors are used as push buttons: One for changing Control Mode, One for Activating/Deactivating the Field Weakening on the fly
- fixed all warnings for VARIANT_NUNCHUCK and VARIANT_PPM
- changed the variant order: the basic Variants on top, more application specific in the bottom
- added condition in config.h to either take setting from platform.ini or config.h
- homogenized default_envs naming; all variants now have VARIANT_ as prefix
- added nunchuck variant in platform.ini and config.h
- added PPM variant in platform.ini and config.h
- README: added jan's nunchuck breakout board repo
Major:
- created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2)
- implemented "Double tapping" on Brake pedal to engage Reverse driving
- implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving
- implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA
- updated error handling: in case of major error the motors will be disabled for improved safety
Minor:
- fixed bug on low-pass filter for not reaching exact "0" value
- calibrated the ADC Battery voltage reading
- other minor visual updates
- reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new)
- updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range
- major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted.
Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
The firmware allows now to set higher currents than 15 A/motor.
NOTE: You can change this limit at your own risk. I do not take any responsability if your boards gets damaged.
Major:
• all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations
Minor:
• fixed the ADC calibration for potetiometer input when ADCx_MIN > 0
• fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
Major:
- Issue #3: added raw ADC1, ADC2 values to the setScopeChannel
- Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled)
- Issue #6: implemented that board does not power-off after a software reset due to flashing
- added Rate constraints for Input target for smoother response
Minor:
- added 2 beep sound when motors get enabled
- minor bugfixes
The follwing were converted to fixed-point
- battery voltage
- board temperature
- filters for steer and speed
- mixer calculation
Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
EmanuelFeru