search

vedderb / bldc

The VESC motor control firmware
2.16k stars 1.35k forks source link

CAN_PACKET_PING not working correctly on 4WD setups with two dual ESCs #296

Closed janpom closed 3 years ago

janpom commented 3 years ago

When doing a CAN ping on a 4WD setup with two dual ESCs (Stormcore/Unity), only three CAN IDs are returned. The ID of the secondary motor on the slave ESC is missing. This is reproducible on FW 5.2, but not on 5.1.

I suppose this is the change that caused the issue: 242a1924e1c5f97661579c7a43a2171671ecaf0f.

vedderb commented 3 years ago

I think I found the problem: https://github.com/vedderb/bldc/commit/fa3610c8b165fb6206659f2902ef903c5ff9cbbb It is that the ping command since a few versions verifies that the reply comes from the ID that the ping was sent to, and the dual hardware would always reply with the first ID. The test build is now updated: https://vesc-project.com/node/2859 Please give it a try and let me know if it works.

janpom commented 3 years ago

I'm unable to test. I'm on a mac, so can't use the pre-compiled VESC Tool. I built the firmware using the dev_fw_5_03 branch but when I installed it on my Xenith, it bricked it. If you can provide the Unity .bin file, I'm happy to test it.

vedderb commented 3 years ago

VESC_default_unity_2021-04-28.zip This one is for the unity. Configuration will only work with the latest beta build of vesc tool, but you should be able to test the can scan.

janpom commented 3 years ago

Thanks for the file. This seems to be working correctly. I tested both with the VESC Tool and with my DAVEGA. Both looks good. 👍

vedderb commented 3 years ago

Perfect! I'm closing this then.