Commit Graph

114 Commits

Author SHA1 Message Date
EmanuelFeru 6c8b7f001d Added Sinusoidal Control Type
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.
2019-11-30 11:30:12 +01:00
EmanuelFeru 5d195696a2 Implemented reliable Serial Rx/Tx
► Reliable Serial Communication implemented featuring:
- start frame
- checksum
- out-of-sync handling
- timeout and disconnected line detection
► Arduino example code added
► Fixed ConsoleLog Item #5
2019-11-29 17:31:53 +01:00
Julian Metzler f98f531f3e Implemented TranspOtter modifications 2019-11-26 23:58:20 +01:00
EmanuelFeru 9a9eed7d10 Updated current limit
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.
2019-11-03 12:45:13 +01:00
EmanuelFeru 01a08d5f6d Fixed ADC calculation
Fix done as suggested in Issue #8 .
2019-11-03 09:54:37 +01:00
EmanuelFeru 62873aad57 PI controller update and fixes
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
2019-10-31 22:07:52 +01:00
EmanuelFeru 1376793710 Improvements and Issues implementation
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
2019-10-27 18:21:04 +01:00
EmanuelFeru 1cc8b3475f Visual updates 2019-10-22 21:45:47 +02:00
EmanuelFeru af14b3c4b1 Improved Field Weakening
The performance of the Field Weakening is improved by reducing noise at higher speeds.
2019-10-21 17:51:09 +02:00
EmanuelFeru f991751f68 Added overflow protection
- added aditional protection for fixed-point overflow
- no other functional change
2019-10-20 19:59:16 +02:00
EmanuelFeru 8771742558 Floating-point converted to fixed-point
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.
2019-10-20 13:31:47 +02:00
EmanuelFeru f6fc825e5f DC Link converted to fixed-point 2019-10-12 19:51:31 +02:00
EmanuelFeru 0527bd770c Added fixed-point low pass filter functions
Preparation of the low pass filter functions. They will be used to replace floating point filters.
2019-10-06 22:43:08 +02:00
EmanuelFeru 5b0b6fecf2 Initial commit 2019-10-06 15:09:15 +02:00