Dynamic Braking System

Processes analog brake input through ASC block (converts mV to 0-1 range) and CSC block (applies filtering and deadzones). Configuration blocks located in /brake/asc and /brake/csc folders.

Setup Process

Input Configuration

Select brake input pin by setting /io/IN_dbrake to appropriate GPIO ID.

Common GPIO assignments:

GPIO ID	Input
8 (default)	GPIO0
9	GPIO1
10	GPIO2
11	GPIO3
12	GPIO4

See Input mapping for details.

warning

Configure GPIO as floating input: set /common/ioconfX to 0. GPIO details

Brake Force Configuration

Brake signal controls driver command level, with /driver/irefr setting phase current reference. Details on brake current

Signal Range Setup

tip

Similar to accelerator configuration: Getting Started Guide

Key ASC parameters (/brake/asc):

• min: Minimum signal level
• max: Maximum signal level

CSC parameters (/brake/csc):

• ldz: Lower deadzone (default 10%)
• hdz: Upper deadzone (default 10%)

tip

Monitor dynamic brake level via /brake/sig_dbrake

Aaccelerator Integration

info

Control accelerator-brake interaction via drvopts. Parameter details

Operating Modes

1. Standard Mode (drvopts = 0)

   • Brake overrides accelerator
   • Immediate accelerator disable on brake activation

2. Reverse Enable (drvopts = 5)

   • Combines brake and accelerator signals
   • Negative values enable reverse
   • Equal inputs cancel (motor freewheels)

3. Fusion Mode (drvopts = 13)

   • Combines brake and accelerator signals
   • Negative values trigger braking
   • Equal inputs cancel (motor freewheels)