First attempt at HFI

CHANGELOG

@@ -1,3 +1,7 @@
+=== FW 3.67 ===
+* Added support for HFI to track motor position at 0 speed without sensors.
+* Fixed CAN-bug in VESC Remote.
+
 === FW 3.66 ===
 * Added support for HW 100/250.
 * Added uptime terminal command.

applications/app_nunchuk.c

@@ -490,11 +490,13 @@ static THD_FUNCTION(output_thread, arg) {
 			mc_interface_set_brake_current(current);
 
 			// 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(msg->id, current);
+					if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
+						comm_can_set_current_brake(msg->id, current);
+					}
 				}
 			}
 		} else {

conf_general.h

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		66
+#define FW_VERSION_MINOR		67
 
 #include "datatypes.h"
 

confgenerator.c

@@ -99,6 +99,11 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->foc_current_filter_const, &ind);
 	buffer[ind++] = conf->foc_cc_decoupling;
 	buffer[ind++] = conf->foc_observer_type;
+	buffer_append_float32_auto(buffer, conf->foc_hfi_voltage_start, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_hfi_voltage_run, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_sl_erpm_hfi, &ind);
+	buffer_append_uint16(buffer, conf->foc_hfi_start_samples, &ind);
+	buffer_append_float32_auto(buffer, conf->foc_hfi_obs_ovr_sec, &ind);
 	buffer_append_int16(buffer, conf->gpd_buffer_notify_left, &ind);
 	buffer_append_int16(buffer, conf->gpd_buffer_interpol, &ind);
 	buffer_append_float32_auto(buffer, conf->gpd_current_filter_const, &ind);
@@ -367,6 +372,11 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_current_filter_const = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_cc_decoupling = buffer[ind++];
 	conf->foc_observer_type = buffer[ind++];
+	conf->foc_hfi_voltage_start = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_hfi_voltage_run = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_sl_erpm_hfi = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_hfi_start_samples = buffer_get_uint16(buffer, &ind);
+	conf->foc_hfi_obs_ovr_sec = buffer_get_float32_auto(buffer, &ind);
 	conf->gpd_buffer_notify_left = buffer_get_int16(buffer, &ind);
 	conf->gpd_buffer_interpol = buffer_get_int16(buffer, &ind);
 	conf->gpd_current_filter_const = buffer_get_float32_auto(buffer, &ind);
@@ -631,6 +641,11 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_current_filter_const = MCCONF_FOC_CURRENT_FILTER_CONST;
 	conf->foc_cc_decoupling = MCCONF_FOC_CC_DECOUPLING;
 	conf->foc_observer_type = MCCONF_FOC_OBSERVER_TYPE;
+	conf->foc_hfi_voltage_start = MCCONF_FOC_HFI_VOLTAGE_START;
+	conf->foc_hfi_voltage_run = MCCONF_FOC_HFI_VOLTAGE_RUN;
+	conf->foc_sl_erpm_hfi = MCCONF_FOC_SL_ERPM_HFI;
+	conf->foc_hfi_start_samples = MCCONF_FOC_HFI_START_SAMPLES;
+	conf->foc_hfi_obs_ovr_sec = MCCONF_FOC_HFI_OBS_OVR_SEC;
 	conf->gpd_buffer_notify_left = MCCONF_GPD_BUFFER_NOTIFY_LEFT;
 	conf->gpd_buffer_interpol = MCCONF_GPD_BUFFER_INTERPOL;
 	conf->gpd_current_filter_const = MCCONF_GPD_CURRENT_FILTER_CONST;

confgenerator.h

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		1671830952
+#define MCCONF_SIGNATURE		1722487670
 #define APPCONF_SIGNATURE		783041200
 
 // Functions

datatypes.h

@@ -52,7 +52,8 @@ typedef enum {
 typedef enum {
 	FOC_SENSOR_MODE_SENSORLESS = 0,
 	FOC_SENSOR_MODE_ENCODER,
-	FOC_SENSOR_MODE_HALL
+	FOC_SENSOR_MODE_HALL,
+	FOC_SENSOR_MODE_HFI
 } mc_foc_sensor_mode;
 
 // Auxiliary output mode
@@ -283,6 +284,11 @@ typedef struct {
 	float foc_current_filter_const;
 	mc_foc_cc_decoupling_mode foc_cc_decoupling;
 	mc_foc_observer_type foc_observer_type;
+	float foc_hfi_voltage_start;
+	float foc_hfi_voltage_run;
+	float foc_sl_erpm_hfi;
+	uint16_t foc_hfi_start_samples;
+	float foc_hfi_obs_ovr_sec;
 	// GPDrive
 	int gpd_buffer_notify_left;
 	int gpd_buffer_interpol;

mcconf/mcconf_default.h

@@ -335,6 +335,21 @@
 #ifndef MCCONF_FOC_OBSERVER_TYPE
 #define MCCONF_FOC_OBSERVER_TYPE		FOC_OBSERVER_ORTEGA_ORIGINAL // Position observer type for FOC
 #endif
+#ifndef MCCONF_FOC_HFI_VOLTAGE_START
+#define MCCONF_FOC_HFI_VOLTAGE_START	25 // HFI voltage at start when resolving ambiguity
+#endif
+#ifndef MCCONF_FOC_HFI_VOLTAGE_RUN
+#define MCCONF_FOC_HFI_VOLTAGE_RUN		5 // HFI voltage during tracking
+#endif
+#ifndef MCCONF_FOC_SL_ERPM_HFI
+#define MCCONF_FOC_SL_ERPM_HFI			700.0	// ERPM above which only the observer is used
+#endif
+#ifndef MCCONF_FOC_HFI_START_SAMPLES
+#define MCCONF_FOC_HFI_START_SAMPLES	50 // Sample this often at start to resolve ambiguity
+#endif
+#ifndef MCCONF_FOC_HFI_OBS_OVR_SEC
+#define MCCONF_FOC_HFI_OBS_OVR_SEC		0.05 // Continue using observer for this long when entering HFI speed
+#endif
 
 // GPD
 #ifndef MCCONF_GPD_BUFFER_NOTIFY_LEFT