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Implements Voltage control scheme #27

Merged
merged 75 commits into from
Nov 21, 2024
Merged

Implements Voltage control scheme #27

merged 75 commits into from
Nov 21, 2024

Commits on Nov 2, 2023

  1. Voltage control using resistance + bemf const

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    dzid26 committed Nov 2, 2023
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Commits on Nov 9, 2023

  1. Reference measured voltage in calculations

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    dzid26 committed Nov 9, 2023
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Commits on Nov 10, 2023

  1. Generalize current driver function name

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    dzid26 committed Nov 10, 2023
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Commits on Dec 1, 2023

  1. Fixes stm assert

    @dzid26
    dzid26 committed Dec 1, 2023
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  2. Fixed default gear ratio value precision

    @dzid26
    dzid26 committed Dec 1, 2023
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  3. mOhms and uHenries

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Commits on Dec 2, 2023

  1. Renamed duty to pwm_count

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    dzid26 committed Dec 2, 2023
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  2. Renamed i_q, u_q, v_q, etc

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    dzid26 committed Dec 2, 2023
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Commits on Dec 3, 2023

  1. rename - sine works on electric angle

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    dzid26 committed Dec 3, 2023
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Commits on Jan 27, 2024

  1. Use max current to measure motor type

    @dzid26
    dzid26 committed Jan 27, 2024
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  2. Fixed bug causing position control oscillation 

    Do not use errMovingAverage on multiple signals
    @dzid26
    dzid26 committed Jan 27, 2024
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  3. java 17 for sonacloud. sonarscanner 5.0.1. bumped packages to fix Nod… 

    …e.js 16 actions are deprecated
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    dzid26 committed Jan 27, 2024
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Commits on Apr 22, 2024

  1. Fixed bemf overflow in Uq calculation

    @dzid26
    dzid26 committed Apr 22, 2024
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Commits on May 6, 2024

  1. Removed mks include

    @dzid26
    dzid26 committed May 6, 2024
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  2. Removed sPID to freeup existing eepromspace. Cleanup.

    @dzid26
    dzid26 committed May 6, 2024
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  3. Simplified defaults loading on first boot

    @dzid26
    dzid26 committed May 6, 2024
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  4. Better nvm parameters names

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    dzid26 committed May 6, 2024
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  5. provision handling loading new parameters during runtime

    @dzid26
    dzid26 committed May 6, 2024
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  6. nvmMirror - better name

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    dzid26 committed May 6, 2024
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  7. always only access nvm mirror

    @dzid26
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  8. wear leveling rename/cleanup

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    dzid26 committed May 6, 2024
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  9. Always write from nvmMirror

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  10. swaped order of struct defintions

    @dzid26
    dzid26 committed May 6, 2024
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  11. minimized use of packing and padding in nvm struct

    @dzid26
    dzid26 committed May 6, 2024
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  12. cleaned up dependencies

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    dzid26 committed May 6, 2024
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  13. fullsteps #defines

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    dzid26 committed May 6, 2024
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Commits on May 9, 2024

  1. Use CALIBRATION_STEPPING_CURRENT constant

    @dzid26
    dzid26 committed May 9, 2024
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  2. moved eeprom invalid define

    @dzid26
    dzid26 committed May 9, 2024
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  3. automatic compile_commands.json generation for linters

    @dzid26
    dzid26 committed May 9, 2024
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  4. versioning and upgrading

    @dzid26
    dzid26 committed May 9, 2024
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  5. K_torque calculated from K_bemf. 

    Tuned sensor delay to match motor base speed for a given supply voltage.
    @dzid26
    dzid26 committed May 9, 2024
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  6. Prepare for v3 - flash this commit to downgrade

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    dzid26 committed May 9, 2024
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  7. v3 Follow Parke transformatior convention signs. 

    One-time calibration update routine!!
Volt and current control modes are consistent with FOC scheeme.
Load angle removed from Voltage control
Optimized casting.
    @dzid26
    dzid26 committed May 9, 2024
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  8. Added DC voltage limiting.

    @dzid26
    dzid26 committed May 9, 2024
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  9. Reporting backcalculated actual torque. 

    Fixed rounding errors in reported torque.
    @dzid26
    dzid26 committed May 9, 2024
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  10. Voltage control - added Vd 

    (influence of the inductance)
    @dzid26
    dzid26 committed May 9, 2024
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  11. Functions reorg

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    dzid26 committed May 9, 2024
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Commits on May 18, 2024

  1. refactor: upgrade version and linter suppressions

    @dzid26
    dzid26 committed May 18, 2024
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  2. fix: default position PID parameters

    @dzid26
    dzid26 committed May 18, 2024
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  3. refactor: moved motion_task initialization to main

    @dzid26
    dzid26 committed May 18, 2024
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  4. chore: todo cleanup

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    dzid26 committed May 18, 2024
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  5. perf: unsigned fastAbs

    @dzid26
    dzid26 committed May 18, 2024
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Commits on May 19, 2024

  1. fix: nvic priorities start at 0

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    dzid26 committed May 19, 2024
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Commits on May 29, 2024

  1. fix potential overflow at high supply voltages 

    (cherry picked from commit e5f2c61)
    @dzid26
    dzid26 committed May 29, 2024
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  2. fix: resolution of U_d

    @dzid26
    dzid26 committed May 29, 2024
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  3. Feat: Added F2 button 

    Perf: Buttons use an interrupt
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    dzid26 committed May 29, 2024
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Commits on Jun 3, 2024

  1. <stdio.h>

    @dzid26
    dzid26 committed Jun 3, 2024
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  2. Extend range of speed filter time constant

    @dzid26
    dzid26 committed Jun 3, 2024
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Commits on Aug 4, 2024

  1. Fixed semihost testing 

    Seems like platformio change GetBuildType string to "debug, test"
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  2. rs pin comment

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    dzid26 committed Aug 4, 2024
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  3. Added erase flash to Platformio projecs tasks to restore motor to unc… 

    …alibrated state
    @dzid26
    dzid26 committed Aug 4, 2024
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  4. Add STMViewer default configuration for plotting signals

    @dzid26
    dzid26 committed Aug 4, 2024
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Commits on Sep 24, 2024

  1. remove serial

    @dzid26
    dzid26 committed Sep 24, 2024
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  2. fixed mcu viewer example config

    @dzid26
    dzid26 committed Sep 24, 2024
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  3. Sensored operation flag

    @dzid26
    dzid26 committed Sep 24, 2024
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  4. avoid compute before clock initialization

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    dzid26 committed Sep 24, 2024
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Commits on Sep 25, 2024

  1. break comment

    @dzid26
    dzid26 committed Sep 25, 2024
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  2. +10 typo

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    dzid26 committed Sep 25, 2024
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Commits on Sep 26, 2024

  1. compatibility with latest panda library

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    dzid26 committed Sep 26, 2024
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Commits on Sep 27, 2024

  1. Fix PWM_TIM initialization. 

    All structure members need to be initialized otherwise they contain garbage
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    dzid26 committed Sep 27, 2024
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  2. clean

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    dzid26 committed Sep 27, 2024
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Commits on Oct 13, 2024

  1. better control access management

    @dzid26
    dzid26 committed Oct 13, 2024
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  2. min supply voltage constant

    @dzid26
    dzid26 committed Oct 13, 2024
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  3. add current setters

    @dzid26
    dzid26 committed Oct 13, 2024
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  4. simple K_bemf estimation

    @dzid26
    dzid26 committed Oct 13, 2024
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  5. clean

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    dzid26 committed Oct 13, 2024
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  6. unnecessary function

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    dzid26 committed Oct 13, 2024
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Commits on Nov 4, 2024

  1. refactor/fix loop

    @dzid26
    dzid26 committed Nov 4, 2024
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  2. filter max speed for kbemf estimation

    @dzid26
    dzid26 committed Nov 4, 2024
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  3. delay function cleanup

    @dzid26
    dzid26 committed Nov 4, 2024
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Commits on Nov 19, 2024

  1. ability to use simple, added comments for the user

    @dzid26
    dzid26 committed Nov 19, 2024
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  2. realistic rated torque for the default BYG geared motor

    @dzid26
    dzid26 committed Nov 19, 2024
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Commits on Nov 21, 2024

  1. comment

    @dzid26
    dzid26 committed Nov 21, 2024
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  2. Lower speed filter to prevent voltage control high hight torque high … 

    …acceleration oscillations
    @dzid26
    dzid26 committed Nov 21, 2024
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  3. Merge commit '4902751c64365315c9c06a902f5e515eac9e1cbc' into voltage-… 

    …control
    @dzid26
    dzid26 committed Nov 21, 2024
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