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Driver 5.0 testing release

Jaromír Dvořák
Jaromír Dvořák
FW Developer

We are excited to announce an update to the ESCx driver module for testing! This time, we focused on the improvements towards low inductance, high speed and high voltage motors.

info

Please contact our support for releasing your application with this update.

What's new?

[5.0.0]

DRIVER:

  • Major rework of ESCx driver/VECTOR to extend speed range to 150k ERPM, voltage to 120V and low inductances
  • Redesign of the peripheral interconnect to achieve hardware blanking (overall eficiency, less burden)
  • Silencing the ZC-related swithing noise by disabling DTCOMP feature (low inductance silence, vcf 64)
  • Overcurrent and over/under voltage protection acts within cycle with hardware trigger (MV / low inductance safety)
  • Sensorless observer uses esk, eak for high speed operation (solve sudden noise/harsh from certain speed)
  • Enable current loop PI coefficients automatic identification during identlin, non-linear mod is now default
  • Sync spin-up detects motor out-of-sync and proceeds to identification, default acceleration to 200 rad/s/s
  • Beep synth volume and limitation corresponds to the identified dynamics
  • Experimental 'LFI' feature for better sensorless startup (on request)
  • Sensored observer advancing correction, negative 'edc' parameter may not be needed (safety for IPM motors)
  • Init diagnostics better averaging for better reliability (solve ocassional diag false negatives)
  • Redo fet equalization control to quieten and consider overtemperature, speed, etc.
  • Add 'dcr' parameter to filter possible PID to DC coupling, current command decoupled from DC voltage fluctuation
  • Add negative 'esk' constant possibility for direct mapping of MxPx rference (faster response)
  • Better analog signal exposing in esc5: averaged gpios, correct temp, avcc and vcc measurement
  • Set default ipeak value to the current range
  • Fix reinit mctim dependency glitch
  • Short-circuit mode uses 'irefr' as a limiting reference for both axes
  • States for position control stream now synchronized in platformAPI
  • stop command now also disables beeping, run will re-enable it (use run 0 0 to stop motor but keep beeping)

CMIO:

  • Refactor and optimize
  • SL fix contactor overcurrent report
  • better consistency in expander error reporting
  • PWM inputs (chX) are distributed alongside the pulse counter together (through CMIO API)
  • fix existing PWM inputs (init when timer not used by driver MSENS), extend PWM input channel count up to 6
  • add new isolated PWM capture on gpio4 - ch5 (needs custom HW variant for threshold at 5V)