Detect FOC fix, adc brake multi fix, make ppm pulses invalid above 150 percent

Author: vedderb

CHANGELOG

@@ -1,3 +1,8 @@
+=== FW 3.58 ===
+* Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
+* APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.
+* APP_PPM: Make pulses invalid if they are above 150 % instead of 120 %.
+
 === FW 3.57 ===
 * Added CAN status message 5 with input voltage and tachometer data.
 * Fix github issue #94.

applications/app_adc.c

@@ -499,11 +499,13 @@ static THD_FUNCTION(adc_thread, arg) {
 				mc_interface_set_brake_current_rel(current_rel);
 
 				// Send brake command to all ESCs seen recently on the CAN bus
-				for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
-					can_status_msg *msg = comm_can_get_status_msg_index(i);
+				if (config.multi_esc) {
+					for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
+						can_status_msg *msg = comm_can_get_status_msg_index(i);
 
-					if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
-						comm_can_set_current_brake_rel(msg->id, current_rel);
+						if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
+							comm_can_set_current_brake_rel(msg->id, current_rel);
+						}
 					}
 				}
 			} else {

conf_general.c

@@ -1115,6 +1115,7 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 	float lambda = 0.0;
 	int res = conf_general_measure_flux_linkage_openloop(i_max / 2.5, 0.3, 1800, r, &lambda);
 
+	mc_motor_type old_type = mcconf_old.motor_type;
 	float old_r = mcconf_old.foc_motor_r;
 	float old_l = mcconf_old.foc_motor_l;
 	float old_flux_linkage = mcconf_old.foc_motor_flux_linkage;
@@ -1134,6 +1135,7 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		float ki = r * bw;
 		float gain = 0.001 / (lambda * lambda);
 
+		mcconf_old.motor_type = MOTOR_TYPE_FOC;
 		mcconf_old.foc_motor_r = r;
 		mcconf_old.foc_motor_l = l;
 		mcconf_old.foc_motor_flux_linkage = lambda;
@@ -1175,6 +1177,7 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		result = conf_general_autodetect_apply_sensors_foc(i_max / 3.0,
 				store_mcconf_on_success, send_mcconf_on_success);
 	} else {
+		mcconf_old.motor_type = old_type;
 		mcconf_old.foc_motor_r = old_r;
 		mcconf_old.foc_motor_l = old_l;
 		mcconf_old.foc_motor_flux_linkage = old_flux_linkage;

conf_general.h

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		57
+#define FW_VERSION_MINOR		58
 
 #include "datatypes.h"
 
@@ -67,8 +67,8 @@
 // Benjamins first HW60 PCB with PB5 and PB6 swapped
 //#define HW60_VEDDER_FIRST_PCB
 
-#define HW_SOURCE "hw_60.c"
-#define HW_HEADER "hw_60.h"
+//#define HW_SOURCE "hw_60.c"
+//#define HW_HEADER "hw_60.h"
 
 //#define HW_SOURCE "hw_r2.c"
 //#define HW_HEADER "hw_r2.h"
@@ -92,10 +92,10 @@
 //#define HW75_300_VEDDER_FIRST_PCB
 
 // Second revision with separate UART for NRF51
-//#define HW75_300_REV_2
+#define HW75_300_REV_2
 
-//#define HW_SOURCE "hw_75_300.c"
-//#define HW_HEADER "hw_75_300.h"
+#define HW_SOURCE "hw_75_300.c"
+#define HW_HEADER "hw_75_300.h"
 
 //#define HW_SOURCE "hw_mini4.c"
 //#define HW_HEADER "hw_mini4.h"

servo_dec.c

@@ -1,5 +1,5 @@
 /*
-	Copyright 2016 Benjamin Vedder	[email protected]
+	Copyright 2016 - 2019 Benjamin Vedder	[email protected]
 
 	This file is part of the VESC firmware.
 
@@ -48,7 +48,7 @@ static void icuwidthcb(ICUDriver *icup) {
 	const float len_set = (pulse_end - pulse_start);
 
 	if (len > len_set) {
-		if (len < (len_set * 1.2)) {
+		if (len < (len_set * 1.5)) {
 			len = len_set;
 		} else {
 			// Too long pulse. Most likely something is wrong.