mspider motor enhancements #2
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- Added FW revision info to the 7 MSB bits of brake state (ui8_tx_buffer[6]) - Removed Human Power (ui8_tx_buffer[23-24]: could be calculated from torque and cadence fields)
… less power losses. - 40KHz TIM1 Interrupt rate -> max HAL sensor detection offset 25us - Rotor speed calculated two times each Electrical Revolution
- TIM1 PWM Freq to 19KHz - Better rotor interpolation: + Double TIM1 IRQ rate + Hal sensor detection running at 38KHz - Updated motor svm_table according to TIM1 PWM freqency and to upper bound of TIM1 counter - Motor ref speed calculated two times every electr. revol. - Battery current sampled in the middle of PWM duty cycle (counter = 0) - Max Field Weakening angle calculated based on motor speed - Higher Power Assist multiplier resolution (2% insted of 10%) - ADC Freq. = CPU Freq/3
…KHz) - OK - ADC conversion started by HW TRGO signal (TIM1 OC4 Compare) - OK - Hall sensor position calibration - WIP
- Hall angles Calibration - Updated message from ESP32
- New Motor control algorithm: - IRQ based Hall detection - Hall counter @ 250KHz - Hall Calibration (Angular and Time correction) - Hall counter correction based on Hall state - Phase adjust step by step - HW tirggered ADC conversion (OC4Ref) - Added calibration mode to riding modes
- Use different Hall counter offset for every Hall state - Updated low pass filter() function
- Solved Power delay issue on restart.
- ADC values Right aligned. - To avoid overrun errors, ADC buffered values no more readed in ebike_app but in pwm-up interrupt (end of conversion) - Fixed minor bug in main loop timings - PWM freq decreased to 18KHz (all values parametrized in main.h) - Power glitch bug fix (race condition between PWM interrupt and Hall GPIO interrupt) - FOC angle asin_table optimization (thanks to beemac) - PWM Dead Time increased from 1us to 1.5us (OEM firmware uses a value of 3us!)
- motor_controller() loop removed - FOC Angle calculation algorithm changed - Field Weakening Enable/Disable
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- Battery overcurrent check in main loop - FOC angle calculation code optimization - Slightly increased FOC angle multiplicator default values (36v/48v) - OTA FW update using Watchdog reset instead of Power OFF/ON - Motor blocked counter fix
- New Torque Smooth function
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