Release 5 03

.gitignore

@@ -5,3 +5,5 @@ build
 .project
 .cproject
 .settings/language.settings.xml
+.DS_Store
+workspace.code-workspace

CHANGELOG

@@ -1,3 +1,52 @@
+=== FW 5.03 ===
+* Fixed inductance measurement bug.
+* Speed tracker windup protection.
+* Phase filter support.
+* Phase voltage offset calibration.
+* Better current offset calibration.
+* Added power switch commands.
+* Synchronize observer state when running in open loop.
+* Force oberver state magnitude above 50% of flux linkage. This prevents the motor from getting stuck and 'screaming'.
+* Observer global convergence update. Helps tracking the motor through 0 speed.
+* Added HFI start sensor mode.
+* Added TEMP_SENSOR_KTY84_130.
+* Major UAVCAN update. See: https://github.com/vedderb/bldc/pull/269
+* Avoid numerical instability when mapping is done over a narrow range. See: https://github.com/vedderb/bldc/issues/262
+* App Balance updates.
+* Added servo_out_enable appconf option, so that the PPM port can be used to control servos with the default firmware.
+* Better current controller windup protection.
+* Field weakening support (experimental, be careful and use at your own risk).
+* Use filtered current for axis decoupling.
+* Odometer is now persistent after firmware updates.
+* Added hw runtime counter (see hw_status in terminal)
+* Added custom UI support.
+* Limit hall sensor angle rate of change based on ERPM.
+* Added p_pid_gain_dec_angle parameter.
+* Low pass filter input voltage.
+* Dual hardware CAN-scan fix.
+* Dynamic QML-script write support.
+* Use fast speed tracker for current controller.
+* Disable motor for 5 seconds after flash operations.
+* Added kill switch support.
+* Added process derivative term to position controller.
+* Added position PID-controller angle offset.
+* Configurable PID controller rate.
+* Added several AUX port modes.
+* Added configurable safe start modes.
+* Added fusion IMU filter.
+* Added constant torque PAS mode.
+* Correct scaling for resistance and inductance.
+* Fixed inductance measurement bug with f_sw > 30k.
+* Corrected inductance measurement algorithm.
+* Fixed max power loss calculation.
+* Better input current estimation.
+* Added raw sampled data mode.
+* Compensate inductance for motor saliency in observer.
+* Added MTPA mode based on measured current.
+* Faster overvoltage protection.
+* Added statistics counters.
+* Added configurable observer offset.
+
 === FW 5.02 ===
 * IMU calibration improvement.
 * Added COMM_GET_MCCONF_TEMP command.

CONTRIBUTING

@@ -85,16 +85,16 @@ When making updates it is easy to break things for different configurations. In
 
 === Other guidelines ===
 
-* Use single precition floating point operations, as the FPU in the STM32F4 is 32 bits only. Double precision operations can take up to 50 times (!) longer.
- - float instead if double
+* Use single precision floating point operations, as the FPU in the STM32F4 is 32 bits only. Double precision operations can take up to 50 times (!) longer.
+ - float instead of double
  - Use the math library functions ending with f (sinf, cosf, powf, fabsf etc.)
 
 * Make sure that the code compiles without warnings.
 
 * Avoid dynamic memory allocation if possible, so that the RAM usage is known at compile time.
 
 * If the code crashed randomly, use the ChibiOS state checker:
-http://www.chibios.org/dokuwiki/doku.php?id=chibios:articles:state_checker
+https://www.chibios.org/dokuwiki/doku.php?id=chibios:documentation:books:rt:kernel_debug#system_state_checks
 
 
 === Be patient, and don't take criticism personally ===

Makefile

@@ -3,6 +3,8 @@
 # NOTE: Can be overridden externally.
 #
 
+USE_LISPBM=0
+
 # Compiler options here.
 ifeq ($(USE_OPT),)
   USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99 -D_GNU_SOURCE
@@ -42,7 +44,7 @@ endif
 
 # Enable this if you want to see the full log while compiling.
 ifeq ($(USE_VERBOSE_COMPILE),)
-  USE_VERBOSE_COMPILE = yes
+  USE_VERBOSE_COMPILE = no
 endif
 
 # If enabled, this option makes the build process faster by not compiling
@@ -109,9 +111,15 @@ include applications/applications.mk
 include nrf/nrf.mk
 include libcanard/canard.mk
 include imu/imu.mk
-include compression/compression.mk
+include lora/lora.mk
+include lzo/lzo.mk
 include blackmagic/blackmagic.mk
 
+ifeq ($(USE_LISPBM),1)
+  include lispBM/lispbm.mk
+  USE_OPT += -DUSE_LISPBM
+endif
+
 # Define linker script file here
 LDSCRIPT= ld_eeprom_emu.ld
 
@@ -145,8 +153,6 @@ CSRC = $(STARTUPSRC) \
        commands.c \
        timeout.c \
        comm_can.c \
-       ws2811.c \
-       led_external.c \
        encoder.c \
        flash_helper.c \
        mc_interface.c \
@@ -161,13 +167,20 @@ CSRC = $(STARTUPSRC) \
        mempools.c \
        worker.c \
        bms.c \
+       events.c \
        $(HWSRC) \
        $(APPSRC) \
        $(NRFSRC) \
        $(CANARDSRC) \
        $(IMUSRC) \
-       $(COMPRESSIONSRC) \
-       $(BLACKMAGICSRC)
+       $(LORASRC) \
+       $(LZOSRC) \
+       $(BLACKMAGICSRC) \
+       qmlui/qmlui.c
+
+ifeq ($(USE_LISPBM),1)
+  CSRC += $(LISPBMSRC)
+endif
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -207,8 +220,20 @@ INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(NRFINC) \
          $(CANARDINC) \
          $(IMUINC) \
-         $(COMPRESSIONINC) \
-         $(BLACKMAGICINC)
+         $(LORAINC) \
+         $(LZOINC) \
+         $(BLACKMAGICINC) \
+         qmlui \
+         qmlui/hw \
+         qmlui/app
+
+ifeq ($(USE_LISPBM),1)
+  INCDIR += $(LISPBMINC)
+endif
+
+ifdef app_custom_mkfile
+include $(app_custom_mkfile)
+endif
 
 #
 # Project, sources and paths
@@ -312,3 +337,6 @@ upload-pi-remote: build/$(PROJECT).elf
 
 debug-start:
 	openocd -f stm32-bv_openocd.cfg
+
+size: build/$(PROJECT).elf
+	@$(SZ) $<

README.md

@@ -82,18 +82,29 @@ There are also many other options that can be changed in conf_general.h
 
 ### On Ubuntu
 
-Install the gcc-arm-embedded toolchain
-
-
+Install the gcc-arm-embedded toolchain. Recommended version ```gcc-arm-none-eabi-7-2018-q2```  
+
+**Method 1 - Through Official GNU Arm Embedded Toolchain Downloads**
+1. Go to [GNU Arm Embedded Toolchain Downloads](https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads)
+2. Locate and Download version **gcc-arm-none-eabi-7-2018-q2** for your machine  
+   ```GNU Arm Embedded Toolchain: 7-2018-q2-update     June 27, 2018```  
+   Linux 64-bit version can be downloaded from [here](https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2?revision=bc2c96c0-14b5-4bb4-9f18-bceb4050fee7?product=GNU%20Arm%20Embedded%20Toolchain,64-bit,,Linux,7-2018-q2-update)  
+3. Unpack the archive in the file manager by right-clicking on it and select "extract here"
+4. Change directory to the unpacked folder, unpack it in /usr/local by execute the following command
+   ```
+   cd gcc-arm-none-eabi-7-2018-q2-update-linux  
+   sudo cp -RT gcc-arm-none-eabi-7-2018-q2-update/ /usr/local  
+   ```
+
+**Method 2 - Through apt install**
 ```bash
 sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
 sudo apt update
 sudo apt install gcc-arm-embedded
 ```
 
-Add udev rules to use the stlink v2 programmer without being root
-
 
+**Optional - Add udev rules to use the stlink v2 programmer without being root**
 ```bash
 wget vedder.se/Temp/49-stlinkv2.rules
 sudo mv 49-stlinkv2.rules /etc/udev/rules.d/
@@ -120,9 +131,6 @@ brew install openocd
 ```
 
 ## Build
-
-Build and flash the [bootloader](https://github.com/vedderb/bldc-bootloader) first
-
 Clone and build the firmware
 
 ```bash
@@ -131,11 +139,46 @@ cd vesc_firmware
 make
 ```
 
-Flash it using an STLink SWD debugger
+
+## Upload to VESC
+### Method 1 - Flash it using an STLink SWD debugger
+
+Build and flash the [bootloader](https://github.com/vedderb/bldc-bootloader) first
 
 ```bash
 make upload
 ```
+### Method 2 - Upload Firmware via VESC tool through USB
+
+1. Clone and build the firmware in **.bin** format
+
+Reminder : Remember to select your board in [**conf_general.h**]
+
+```bash
+git clone https://github.com/vedderb/bldc.git vesc_firmware
+cd vesc_firmware
+#make build/your_firmware_name_here.bin
+make build/VESC_fw.bin 
+```
+In VESC tool
+
+2. Connect to the VESC
+3. Navigate to the Firmware tab on the left side menu 
+4. Click on Custom file tab
+5. Click on the folder icon to select the built firmware in .bin format (e.g. VESC_fw.bin)  
+
+##### [ Reminder : It is normal to see VESC disconnects during the firmware upload process ]  
+#####  **[ Warning : DO NOT DISCONNECT POWER/USB to VESC during the upload process, or you will risk bricking your VESC ]**  
+#####  **[ Warning : ONLY DISCONNECT your VESC 10s after the upload loading bar completed and "FW Upload DONE" ]**
+
+6. Press the upload firmware button (downward arrow) on the bottom right to start upload the selected firmware.
+7. Wait for **10s** after the loading bar completed (Warning: unplug sooner will risk bricking your VESC)
+8. The VESC will disconnect itself after new firmware is uploaded.
+
+## In case you bricked your VESC
+you will need to upload a new working firmware to the VESC.  
+However, to upload a firmware to a bricked VESC, you have to use a SWD Debugger.
+
 
 ## Contribute