Hall mode update - Githubissues

tinymovr / Tinymovr

Compact brushless motor controller with FOC, integrated absolute encoder and CAN Bus.

https://tinymovr.com

GNU General Public License v3.0

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Hall mode update #205

Closed eufrizz closed 2 years ago

eufrizz commented 2 years ago

A new hall sensor calibration, which increments the motor angle and discovers each sector. Works more reliably than the previous method in my experience.
Some extra functions for reading/writing to an maXXX encoder to write/read registers.
Tweaks to the CAN endpoints.
- I've decided to just replace the last hall sector mapping with the current hall angle, which is more useful for debugging. We can't have both because each CAN packet is 8 bytes as far as I can see. The hall sensor UVW is never 000 or 111 so the first and last sectors are never used anyway. Alternatively, instead of sending a byte for each sector, we could send 4 bits (3 bits for the hall sector and 1 buffer bit to make it fit nicely into a byte) and update the unpacking on the Python side. I decided not to do this as I noticed you were rewriting the comms layer anyway.

CLAassistant commented 2 years ago

All committers have signed the CLA.

yconst commented 2 years ago

Thanks for this! Will review in the weekend.

yconst commented 2 years ago

I did some minor changes, all looks good, but I'll test this in the coming days since atm I don't have access to a hall sensored motor.

eufrizz commented 2 years ago

Looks good, thanks for reviewing! It works fine on my hardware.

yconst commented 2 years ago

Merging this as it works fine on my hw as well!