Commit Graph

158 Commits

Author SHA1 Message Date
EmanuelFeru 8369e4d47d Increased delay for CC
In Cruise Control (CC), the button can bounce. The beep delay is increased from 100ms to 200ms to prevent button bouncing and continuous activation/deactivation of CC.
2020-10-13 10:38:43 +02:00
EmanuelFeru 66857b5680 Fixed symbol 2020-10-13 08:58:42 +02:00
EmanuelFeru b76e8ee466 Update BLDC controller
- 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
2020-10-12 22:55:39 +02:00
EmanuelFeru 2890745fbb Moved Matlab files to a new repo
Moved all the Matlab related files for the FOC motor control to a new repository:
bldc-motor-control-FOC
2020-09-01 18:10:02 +02:00
EmanuelFeru b1f7c4c296
Merge pull request #84 from EmanuelFeru/variant-skateboard-PWM
Variant skateboard pwm
2020-07-22 21:14:46 +02:00
EmanuelFeru 4d5c98d00a Update README.md 2020-07-22 15:57:34 +02:00
EmanuelFeru 5a9b3cfbbc Update README.md 2020-07-22 15:56:14 +02:00
EmanuelFeru 290ed30765 Fixes Skateboard Variant
- fixed to RIGHT cable
- fixed braking relative to the direction of motion
- adjusted the braking amount to -400
2020-07-20 21:06:39 +02:00
EmanuelFeru 733fd80362 created SKATEBOARD variant 2020-07-20 20:33:42 +02:00
EmanuelFeru 32974749e2 Fixed PPM build 2020-07-20 20:30:46 +02:00
EmanuelFeru dcdac4f6db Updated PWM variant
- fixed the setScopeChannel for PWM, to calibrate properly the limits
- improved the scaling
2020-07-20 19:36:24 +02:00
EmanuelFeru f2d86f3b30 Added functionality: Electric Brake, Standstill hold
- 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.
2020-07-19 11:24:37 +02:00
EmanuelFeru 22984a7fd6 Fixed PPM, PWM timeout
- 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
2020-07-01 19:50:32 +02:00
EmanuelFeru 68776699e1 Updated Mid resting poti scaling
Issue #74
2020-06-30 18:09:37 +02:00
EmanuelFeru d8b529e063 Added default Debug selection for PPM, PWM 2020-06-26 11:23:48 +02:00
EmanuelFeru 17e127a8b7 PWM/PPM Left/Right, UART update
- 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
2020-06-25 20:17:55 +02:00
EmanuelFeru 526cee4c0f Lowered pwm_margin by 10
- to avoid virbation at maximum PWM = 1000, due to reduced Phase current accuracy, the pwm margin is lowered by 10.
Fixed #69
2020-06-23 20:13:05 +02:00
EmanuelFeru 5f2eb196af Improved UART error recovery
- In case of an Rx error instead of stopping the complete UART, only the Rx DMA is aborted and restarted.
2020-06-23 19:58:36 +02:00
EmanuelFeru ac90ed1b6b Fixed initial condition bug
- the initial condition for the Battery and Board temperature was wrongly set
- the filter is fixdt(1,32,16), so the shift should be by 16 bits.
2020-06-22 20:21:18 +02:00
EmanuelFeru b8d9c8c8bc Re-arranged variables
- no functionality change
2020-06-22 09:17:42 +02:00
EmanuelFeru ada07cd5fb
Fixed links 2020-06-21 23:59:44 +02:00
EmanuelFeru e46dff590f Major UART communication improvement
- 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
2020-06-21 23:14:46 +02:00
EmanuelFeru 85552b3e41
Merge pull request #50 from juodumas/update-torque-mode-readme
Update torque mode description in readme
2020-06-13 11:06:54 +02:00
EmanuelFeru 205c054235 PWM Variant update
- made the 2 channels to operate independently #61
- added defines to enable/disable motors, if one motor is not needed #63
2020-06-13 10:57:54 +02:00
EmanuelFeru 8ddfc82882 Updated PWM Variant
- 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.
2020-06-13 00:08:34 +02:00
EmanuelFeru 558759b2c5
Merge pull request #57 from benjaf/master
PWM Steering fixed
2020-06-02 14:46:07 +02:00
EmanuelFeru 22411e1851 update PWM timeout
- updated the `pwm_timeout` and uncommented `pwm_captured_ch1_value` as discussed with @benjaf
2020-06-02 14:42:14 +02:00
EmanuelFeru b95307f260 Update control.c
- 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.
2020-06-02 13:04:10 +02:00
Benjamin 21a8f757d0 PWM Steering fixed 2020-06-02 11:53:59 +02:00
EmanuelFeru 34c6e4d610 Improved UART Timeout
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.
2020-06-01 20:08:47 +02:00
EmanuelFeru 32f4a2c03e Fixed missing define for Serial feedback 2020-05-26 23:39:56 +02:00
EmanuelFeru 083088724e Updated mainboard picture 2020-05-26 22:49:12 +02:00
EmanuelFeru 736f2b9419 Minor updates
- 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.
2020-05-26 22:17:40 +02:00
juodumas 001071a55d Update torque mode description in readme 2020-05-03 22:42:46 +03:00
EmanuelFeru ea8507fc67
Merge pull request #48 from juodumas/update-config-h-comments
Update config.h current limiting comments
2020-05-03 19:10:53 +02:00
EmanuelFeru f3f03df83a
Merge pull request #47 from juodumas/add-build-dir-to-gitignore
Add build/ dir to .gitignore
2020-05-03 18:50:17 +02:00
juodumas 0125bf0dc0 Update config.h current limiting comments 2020-05-03 16:29:40 +03:00
juodumas 166e0ae05b Add build/ dir to .gitignore 2020-05-03 16:20:12 +03:00
EmanuelFeru 95c10c9ba7 Update util.c 2020-03-24 21:31:30 +01:00
EmanuelFeru e1950f2a91
Merge pull request #31 from EmanuelFeru/variant_pwm
Added VARIANT_PWM
2020-03-24 20:46:01 +01:00
EmanuelFeru 38574153f0 Added deadband for PPM signal
Issue #29
2020-03-24 20:36:19 +01:00
EmanuelFeru 39e4fdc869 Variant_PWM implemented 2020-03-24 19:57:08 +01:00
EmanuelFeru d6d22351e3 Updated webview 2020-03-24 19:56:01 +01:00
EmanuelFeru c099bec824 RC pwm signal read fixes
Re-work on the RC pwm input signal timeout
2020-03-23 21:09:17 +01:00
EmanuelFeru 7d80e564f0 First commit pwm
- buttons not yet support
2020-03-21 19:24:29 +01:00
EmanuelFeru 9d6cec8889 Hovercar minor update
- put by default TORQUE mode. Hovercar works best in Torque mode
- made the brake pedal more aggressive. Gives a better braking feel.
2020-03-17 15:38:35 +01:00
EmanuelFeru 3fd6c057ea
Merge pull request #27 from pinguinpfleger/master
Added Flashing Method 4: MacOS
2020-03-04 20:41:41 +01:00
Kai Hauser 1090c2fb99
Merge branch 'master' into master 2020-03-01 10:23:02 +01:00
EmanuelFeru 72e6b30033 UART with sideboards works + major refactoring
► 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
2020-03-01 10:00:26 +01:00
Kai Hauser e70b3aa38c
more CLI 2020-02-27 12:07:49 +01:00