Skip to main content

Documentation Index

Fetch the complete documentation index at: https://mintlify.com/vedderb/bldc/llms.txt

Use this file to discover all available pages before exploring further.

This page covers recent firmware releases. The current firmware version is 7.00 (development), as defined in conf_general.h: 
#define FW_VERSION_MAJOR    7
#define FW_VERSION_MINOR    00
#define FW_TEST_VERSION_NUMBER  1
The full changelog is available in CHANGELOG.md in the repository.
Current development branch. No release date set.Motor control
  • Configurable HFI reset ERPM.
  • Removed D-axis gain scaling parameters.
  • Sin/Cos encoder filter delay compensation.
  • Moved field weakening to fast loop for better stability.
  • New AB encoder sensor mode for encoders without an index pulse.
Patch release on top of 6.06.
  • Persistent CAN ID and CAN baud rate across firmware updates.
  • Better current controller circle limiting.
LispBM scripting
  • New core extensions, optimization, and much more unit testing.
  • Many bug fixes in the reader.
  • Moved const memory into its own flash sector.
  • Added const-heap-erase extension.
  • Added mutex support.
  • Added can-ping extension.
  • LBM Image support: super-fast boot, easier const blocks, automatic rebuild when needed.
  • Added conf-detect-lambda-enc.
  • Added many configuration parameters.
Motor control
  • New offset calibration modes and automatic offset calibration.
  • Added HFI ambiguity resolution modes using id injection.
  • Overmodulation support.
  • Added PWM and PWM+ABI encoder modes.
  • Detect encoder parameters during flux linkage detection.
Communication
  • Support for coordinated CAN baud rate update.
LispBM scripting
  • var support in progn; curly brackets as progn shorthand.
  • Added set, setq, defunret.
  • Support for detaching individual ADCs.
  • Added set-encoder, conf-restore-mc, conf-restore-app, conf-dc-cal.
  • Code and data can be moved to flash.
  • Incremental code upload.
  • Removed typed arrays (byte arrays only).
  • Added position extensions, phase-hall, loopwhile-thd, can-recv-sid, can-recv-eid.
  • Added foc-play-tone, foc-play-stop, foc-play-samples.
  • Added shutdown-hold, crc32, rand, app-adc-range-ok.
  • Built-in fast sort function.
  • Thread profiler support.
  • Flat value support.
  • recv-to with timeout argument.
  • Remote message extensions.
  • Massive performance boost for string functions and 64-bit operations.
  • Better error descriptions.
Hall sensors
  • Smooth transition to sensorless mode.
  • Bug fix in interpolation.
  • Less noisy speed estimator for interpolation.
  • Adjusted rate limit.
Motor control
  • Added soft regen cutoff.
  • MTPA and field weakening input current limiting attempt.
  • Removed built-in balance app (use the balance package instead).
  • Added option to select PID controller speed source.
  • Persistent odometer without dedicated shutdown switch.
  • Dual motor flux linkage measurement current spike bug fix.
  • Runaway fix after faults during open-loop measurements.
  • Additional current sampling modes.
  • FOC interpolation mode.
  • Passive flux linkage measurement.
  • Braking glitch fixes.
  • Configurable HFI error truncation for noise rejection.
  • Option to short low-side phases on zero duty.
  • Added MXV observer type.
  • Removed GPDrive.
LispBM scripting
  • Bug fixes.
  • Added floor, ceil, round.
  • Added resistance, inductance, and flux linkage estimator functions.
  • Added adc_ctrl_type setting.
  • Added app_is_disabled.
  • Added ICU driver.
  • Inductance measurement support.
  • Rewrote the event system.
  • Added canget-vin, hw-type sysinfo, crc16 extension.
Firmware
  • IMU filtering changes and new defaults.
  • Increased hall sensor switch hysteresis.
  • Added and updated hardware configs.
  • Fixed systime overflow.
  • Various CAN command fixes.
Major release introducing LispBM scripting and significant motor control improvements.Core
  • Added stack checks.
  • Release motor fix when cc_min_current is 0.
  • Added sandboxed Lisp scripting via LispBM.
  • Added support for dynamic loading of C libraries.
  • Flash writes now work on lower MCU voltages.
  • Added fwinfo terminal command.
  • CAN status messages now configured via bitfields; two configurable send rates.
Temperature sensors
  • Added NTC and PTC support with custom resistance and base temperature.
  • Added PT1000 temperature sensor support.
Motor control
  • New silent HFI mode with much better performance at high load.
  • Second silent HFI mode, less sensitive to inductance accuracy.
  • Added openloop current boost and max parameters.
  • Added more observers: mxlemming, Ortega with flux linkage tracking, mxlemming with flux linkage tracking.
Application
  • Added ADC min/max voltage limits for throttle fault detection.
  • APP ADC button bitfield and CC disable support.
  • Added BissC encoder support.
  • Added AS5x47 encoder support.
  • Added TLE5012 encoder support.
  • Disabled BMS limit options.
  • Better detection fault handling and reporting.
  • Encoder driver split and rewrite for easier multi-encoder support.
BMS
  • Disable BMS limit configuration options added.
IMU
  • No specific changes noted; general stability improvements.
Motor control
  • Fixed inductance measurement bug.
  • Speed tracker windup protection.
  • Phase filter support.
  • Phase voltage offset calibration.
  • Better current offset calibration.
  • Synchronize observer state when running in open loop.
  • Force observer state magnitude above 50% of flux linkage (prevents motor getting stuck).
  • Observer global convergence update (helps tracking through zero speed).
  • Added HFI start sensor mode.
  • Field weakening support (experimental).
  • Used filtered current for axis decoupling.
  • Better current controller windup protection.
  • Added MTPA mode based on measured current.
  • Faster overvoltage protection.
  • Compensate inductance for motor saliency in observer.
Applications and peripherals
  • Added power switch commands.
  • Added kill switch support.
  • Added servo_out_enable app config option.
  • Added process derivative term to position controller.
  • Added position PID angle offset.
  • Configurable PID controller rate.
  • Added several AUX port modes.
  • Added configurable safe start modes.
  • Added constant torque PAS mode.
  • Added fusion IMU filter.
  • Major UAVCAN update.
System
  • Added custom UI support (QML).
  • Odometer is now persistent after firmware updates.
  • Added hardware runtime counter.
  • Added statistics counters.
  • Correct scaling for resistance and inductance.
  • Low-pass filter on input voltage.
  • Dual hardware CAN scan fix.
  • Disable motor for 5 seconds after flash operations.
  • Added configurable observer offset.
  • Added p_pid_gain_dec_angle parameter.
  • TEMP_SENSOR_KTY84_130 support.
  • Added raw sampled data mode.

Build docs developers (and LLMs) love

Get started for freeTalk to us