Lebowski's motor controller IC, schematic and setup manual

[Lebowski]

man you got some weirs stuff going on. Your comment about having individual supplies for high and low side
output driver makes me wonder, can you post a schematic of what you're using ? Somehow your driver circuit
is totally messing up the back-emf, this is what your data looks like when you graph it:

signals.jpg (114.37 KiB) Viewed 410 times

The hall signals look beautiful but the back-emf should be three 120 degrees spaced sine-waves, not some
4-time higher frequency...

[Arlo1]

Lol thats awesome. Man thats some cool shit I love diagnosing things so. Here is a link to my powerstage. I can try to re sample the phase voltages in the morning. I did get a new set of wire connectors for this project and they have been giving me grief as well I need to dip the next board I build in liquid tin or just design a board for pcb express. viewtopic.php?f=30&t=35387

[Lebowski]

I looked at the schematic in the thread you mentioned. I assume the driver IC's are IR2110 's ?
Your schematic matches the one in the datasheet of this IC. The funny thing though is that a connection
is missing, also in the datasheet. You should connect the 'vss' on the left side of your schematic
to the battery-ground on the right side of the schematic. I can imagine it's not absolutely necessary
as far as the driver IC goes, but for everything else (controller IC !) this connection is vital !

If you look at the datasheet of the IR2110, all schematics except the one on the first page show
this connection (figure 2 and 3, they all have a connection between pins 2 and 13).

http://www.irf.com/product-info/datashe ... ir2110.pdf

[Arlo1]

I looked at the schematic in the thread you mentioned. I assume the driver IC's are IR2110 's ?
Your schematic matches the one in the datasheet of this IC. The funny thing though is that a connection
is missing, also in the datasheet. You should connect the 'vss' on the left side of your schematic
to the battery-ground on the right side of the schematic. I can imagine it's not absolutely necessary
as far as the driver IC goes, but for everything else (controller IC !) this connection is vital !

If you look at the datasheet of the IR2110, all schematics except the one on the first page show
this connection (figure 2 and 3, they all have a connection between pins 2 and 13).

http://www.irf.com/product-info/datashe ... ir2110.pdf

Sorry lebowski I need to change that scematic I thought I did. Yes VSS is hooked to ground and vdd is 5v not 12 as well.

[Arlo1]

I have a felling my problem is the wire connectors or the fact I still only sampled 90 samples I tried 900 but I could not spin it consistant enough. I will try with a drill and see if I can get a higher sample number.

[Arlo1]

Ok here is another try I found spinging colossus 18tooth 20mag motor with my fingures the most samples I could get was 400 here is all the data. This is with all the wires to the powerstage unhooked.

Code: Select all

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a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> 

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> b

a] number of back-emf samples: 200
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 200
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.1994   -.1994   -.0530
-.4986   -.4986   -.1032
-.3989   -.3739   -.0631
-.4737   -.4737   -.2710
-.5734   -.5734   -.3370
-.6981   -.6981   -.5249
-.8227   -.8227   -.7573
-.6731   -.6482   -.4288
-.9225   -.8726   -.6052
-.5983   -.5983   -.4417
-.5983   -.5983   -.3399
-.6981   -.6981   -.4790
-.5485   -.5485   -.2725
-.6731   -.6731   -.3184
-.6482   -.6233   -.4991
-.6233   -.5734   -.2008
-.4487   -.4238   -.0372
-.3241   -.2991   -.0229
-.3241   -.3241   .0100
-.1246   -.1246   .1090
-.1495   -.1246   .2108
-.0997   -.0747   .3829
.1745   .1994   .4675
.2991   .3241   .6311
.1495   .1495   .5866
.2742   .2991   .4977
.2243   .2243   .5536
.0000   .0000   .4833
.0747   .1246   .4302
.1246   .1495   .4733
.0997   .0997   .4001
-.0249   .0000   .2983
-.1495   -.1495   .2022
-.2493   -.2493   .0143
-.5485   -.5485   -.2710
-.3989   -.3989   -.1764
-.5485   -.5235   -.3212
-.6233   -.6233   -.4346
-.7230   -.6981   -.4862
-.8227   -.8227   -.6440
-.7729   -.7479   -.6325
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-.9723   -.9474   -.7157
-.9723   -.9723   -.6483
-.6981   -.6981   -.4346
-.8227   -.8227   -.5737
-.8975   -.8975   -.5780
-.7230   -.7230   -.5220
-.6233   -.6233   -.3485
-.4238   -.4238   -.1592
-.4238   -.4238   .0086
-.4487   -.4238   .0014
-.0747   -.0498   .2366
-.0498   -.0498   .2897
-.0249   -.0249   .4001
.0498   .0747   .4460
.0997   .1246   .4804
.4238   .4238   .7343
.2493   .2493   .6784
.2742   .2991   .6554
.1495   .1994   .5335
.2243   .2742   .5593
.1246   .1495   .5694
.0997   .0997   .5450
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-.1495   -.1495   .0616
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-.3739   -.3739   -.0659
-.2991   -.2742   .0000
-.1994   -.1994   .1405
-.0747   -.0747   .3112
.0997   .0997   .4130
.1994   .1994   .5321
.0997   .1246   .5120
.0997   .0997   .4718
.1495   .1495   .6913
.2493   .2742   .7817
.4737   .4737   .8161
.2742   .2991   .6597
.2243   .2243   .6052
-.0747   -.0249   .3743
-.1994   -.1745   .3227
-.2243   -.2243   .2323
-.2991   -.2991   .0114
-.2991   -.2991   -.0889
-.4487   -.4487   -.2524
-.6233   -.5734   -.3385
-.6482   -.6482   -.4116
-.6482   -.6482   -.4891
-.4487   -.4487   -.2753
-.7230   -.7230   -.5177
-.8227   -.8227   -.5852
-.9973   -.9723   -.9237
-.8477   -.8477   -.7630
-.8975   -.8975   -.9480
-.6482   -.6233   -.6296
-.9474   -.9474   -.6511
-.7230   -.7230   -.4288
-.7230   -.6981   -.4532
-.4986   -.4986   -.1419
-.4238   -.4238   -.0616
-.1994   -.1994   .0530
-.1994   -.1745   .1821
-.0249   -.0249   .2854
-.0249   .0000   .4460
.0498   .0747   .4489
.1495   .1495   .5020
.1246   .1745   .5393
.2742   .2742   .5651
.2243   .2243   .6411
.1495   .1495   .5981
.5235   .5485   .7444

a] number of back-emf samples: 200
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> c

 data arrays now contain reconstructed back-emf waveforms

a] number of back-emf samples: 200
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 300

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.8726   -.8726   -.8178
-.6731   -.6482   -.3782
-.7729   -.7729   -.4109
-.6233   -.5983   -.3230
-.6233   -.6233   -.3026
-.5734   -.5235   -.0940
-.3241   -.3241   -.1492
-.5734   -.5485   -.1533
-.5235   -.4986   .0572
-.2493   -.1994   .2780
-.0498   .0000   .5275
-.0498   -.0498   .5500
-.1495   -.1495   .5561
.0747   .0747   .7299
-.0747   -.0747   .5806
.0747   .0747   .8219
.0997   .0997   .9834
.1246   .1246   .8424
-.0498   -.0498   .6481
-.1246   -.1246   .4293
-.1745   -.1745   .3353
-.2991   -.2991   .3537
-.4737   -.4487   -.1513
-.3490   -.3490   -.0736
-.4986   -.4986   -.1472
-.6731   -.6482   -.3312
-.7729   -.7729   -.3148
-.8477   -.8477   -.4089
-.6233   -.6233   -.4130
-.7479   -.7230   -.4048
-.7479   -.7230   -.4457
-.7729   -.7729   -.7851
-.8975   -.8726   -.3762
-.7729   -.7729   -.3353
-.7978   -.7978   -.4886
-.6482   -.6233   -.5520
-.4986   -.4737   -.1860
-.6731   -.6731   -.2249
-.4487   -.4487   -.0347
-.4487   -.4238   .0511
-.3739   -.3739   .1431
-.4487   -.4238   .1513
-.3739   -.3241   .2719
-.1745   -.1495   .5091
-.1994   -.1745   .5806
-.4238   -.3739   .0674
-.3490   -.3241   .0940
-.2243   -.1994   .0449
-.2243   -.1994   .4620
-.3739   -.3739   .1942
-.2742   -.2742   .3291
-.4487   -.4487   .2412
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-.5734   -.5485   .1145
-.3739   -.3241   -.0040
-.4737   -.4737   .0061
-.4737   -.4487   -.1594
-.6731   -.6731   -.2412
-.7729   -.7479   -.3578
-.7729   -.7479   -.2821
-.8975   -.8975   -.7135
-.9474   -.9474   -.6502
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-.7479   -.7230   -.1983
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-.2243   -.2243   .3394
-.5485   -.4986   .0122
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-.3241   -.3241   .1410
-.3241   -.3241   .2494
-.3241   -.3241   .2985
-.1745   -.1246   .4191
-.2243   -.1994   .3169
-.2243   -.1495   .5500
-.1246   -.1246   .5929
-.1495   -.1246   .5479
-.1246   -.0997   .6583
-.3989   -.3739   .1145
-.2493   -.2493   .2126
-.3241   -.3241   .1369
-.2493   -.2493   .3373
-.3989   -.3989   .2760
-.2742   -.2493   -.2290
-.4238   -.4238   -.0163
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-.8227   -.7978   -.5254
-.7978   -.7978   -.4886
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-.7479   -.7479   -.5091
-.6482   -.6482   -.6624
-.8975   -.8726   -.6604
-.8975   -.8227   -.3843
-.7230   -.6981   -.7013
-.6233   -.5734   -.3639
-.6731   -.6731   -.6011
-.6731   -.6731   -.2228
-.3989   -.3989   .2290
-.4986   -.4986   .3312
-.3490   -.3241   .4436
-.4986   -.4737   .2330
-.1246   -.0997   .5479
-.1745   -.1745   .6379
-.0747   -.0498   .6256
-.1495   -.0997   .5029
-.0747   -.0498   .6195
-.1994   -.1994   .7626
.0000   .0249   .6440
-.2991   -.2493   .4068
-.2742   -.2493   .3741
-.2243   -.2243   .3455
-.3241   -.2991   .3210
-.2991   -.2742   .2433
-.4986   -.4737   .0756
-.4238   -.3989   -.4130
-.9225   -.8726   -.5500
-.8726   -.8726   -.5806
-.8227   -.7978   -.5213
-.7230   -.7230   -.6379
-.7479   -.7479   -.6583
-.9225   -.8975   -.7667
-.9973   -.9973   -.7381
-.8975   -.8726   -.6583
-.9225   -.9225   -.9221

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> c

 data arrays now contain reconstructed back-emf waveforms

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.0546   -.0777   -.3058
-.0388   -.0575   -.3074
-.0411   -.0531   -.3248
-.0526   -.0557   -.3460
-.0618   -.0546   -.3572
-.0567   -.0387   -.3450
-.0270   .0006   -.2996
.0335   .0681   -.2162
.1260   .1635   -.0970
.2455   .2807   .0493
.3817   .4095   .2089
.5205   .5359   .3642
.6457   .6454   .4973
.7419   .7246   .5928
.7968   .7633   .6401
.8028   .7565   .6354
.7589   .7048   .5820
.6700   .6145   .4902
.5467   .4963   .3752
.4033   .3634   .2545
.2560   .2304   .1455
.1199   .1100   .0621
.0076   .0123   .0137
-.0725   -.0569   .0029
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-.1299   -.1098   .0736
-.1155   -.1025   .1334
-.0835   -.0826   .1912
-.0441   -.0582   .2343
-.0069   -.0364   .2531
.0206   -.0221   .2424
.0338   -.0181   .2016
.0307   -.0246   .1350
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-.0184   -.0637   -.0458
-.0586   -.0922   -.1430
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-.1535   -.1613   -.3177
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-.4126   -.4220   -.5856
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.3907   .4077   .5876
.4451   .4671   .6509
.4597   .4845   .6685
.4364   .4627   .6449
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.2279   .2548   .4397
.1525   .1791   .3733
.0927   .1182   .3271
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-.6458   -.6455   -.4974
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-.7969   -.7634   -.6402
-.8030   -.7567   -.6355
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-.4035   -.3636   -.2546
-.2561   -.2305   -.1455
-.1200   -.1101   -.0623
-.0078   -.0125   -.0139
.0723   .0567   -.0031
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-.0125   .0404   -.0497
.0184   .0636   .0457
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.1044   .1246   .2350
.1534   .1612   .3176
.2041   .2023   .3891
.2558   .2491   .4502
.3083   .3020   .5023
.3612   .3605   .5473
.4125   .4219   .5854
.4593   .4812   .6148
.4967   .5315   .6316
.5189   .5648   .6299
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.4928   .5495   .5459
.4358   .4905   .4547
.3482   .3963   .3303
.2337   .2715   .1778
.1000   .1254   .0066
-.0420   -.0295   -.1701
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-.2997   -.3092   -.4806
-.3908   -.4078   -.5877
-.4452   -.4673   -.6510
-.4598   -.4846   -.6686
-.4365   -.4627   -.6450
-.3826   -.4093   -.5898
-.3089   -.3358   -.5165
-.2280   -.2549   -.4399
-.1527   -.1793   -.3735
-.0928   -.1184   -.3273

a] number of back-emf samples: 300
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 400

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.8761   -.8903   -.7419
-.8157   -.8135   -.7720
-.8459   -.8289   -.6643
-.8308   -.8135   -.6293
-.7704   -.7521   -.6080
-.6344   -.6293   -.3616
-.6646   -.6600   -.3603
-.5589   -.5526   -.2477
-.2265   -.2302   .2302
-.1963   -.1842   .3328
-.0755   -.0767   .5217
.0302   .0614   .6368
-.1510   -.1381   .6005
.1057   .1228   .6531
.1057   .1228   .7269
.1208   .1381   .7382
.0302   .0614   .6906
.0906   .1228   .5955
-.1057   -.0921   .6256
-.0755   -.0614   .5743
.0453   .0614   .6043
-.2568   -.2302   .5004
-.2719   -.2609   .2302
-.1812   -.1842   .1063
-.4531   -.4605   -.1764
-.4229   -.4144   -.2064
-.5136   -.5219   -.2927
-.6797   -.6907   -.5693
-.6797   -.6907   -.5054
-.7250   -.7368   -.5592
-.7250   -.7214   -.6068
-.7553   -.7675   -.7569
-.6193   -.6140   -.5993
-.9970   -.9977   -.9847
-.8157   -.8135   -.6318
-.5891   -.5986   -.5467
-.6344   -.6447   -.4817
-.4833   -.4605   -.2952
-.5136   -.4912   -.1626
-.3776   -.3837   -.0212
-.3172   -.3070   -.0162
-.3172   -.3070   .2014
-.2870   -.2916   .1976
.1208   .1535   .4516
-.1057   -.0921   .4929
-.0906   -.0767   .4804
-.1208   -.0921   .4429
-.1057   -.1074   .4279
-.0604   -.0153   .5743
-.0755   -.0614   .6331
.1208   .1228   .8946
-.1208   -.0921   .6306
-.0151   .0153   .3641
-.0453   -.0460   .2627
-.3474   -.3223   .3378
-.3776   -.3837   .1226
-.3474   -.3377   -.0187
-.4380   -.4451   -.1051
-.1963   -.1995   -.1276
-.5136   -.5065   -.3115
-.6042   -.6140   -.4003
-.5287   -.5219   -.3753
-.6042   -.5833   -.4604
-.6495   -.5986   -.4391
-.6495   -.6447   -.5705
-.5891   -.5679   -.6005
-.8157   -.8135   -.7106
-.6646   -.6447   -.7194
-.4682   -.4451   -.3140
-.5891   -.5833   -.3253
-.5136   -.5219   -.3728
-.5589   -.5526   -.0300
-.4078   -.4144   -.0638
-.2568   -.2609   .0275
-.3625   -.3530   .0325
-.3323   -.3377   .1163
-.3021   -.2763   .1989
-.2719   -.2609   .2877
-.1359   -.1228   .4416
-.0302   .0000   .5542
-.1661   -.1535   .4742
-.1812   -.1842   .2064
-.3474   -.3070   .2164
-.2719   -.2609   .3303
-.1963   -.1842   .2777
-.1057   -.1074   .4491
-.1812   -.1688   .4704
-.2568   -.2302   .1789
-.1057   -.0767   .1701
-.4380   -.4144   -.0788
-.4078   -.3837   -.1488
-.5438   -.5219   -.1964
-.4985   -.5065   -.4091
-.7099   -.7214   -.5467
-.6948   -.6907   -.4879
-.6193   -.6140   -.4967
-.6495   -.6600   -.3540
-.6193   -.5833   -.3353
-.4985   -.4912   -.3353
-.4531   -.4451   -.3103
-.7099   -.7214   -.5480
-.5438   -.5219   -.4929
-.5740   -.5526   -.3240
-.5589   -.5679   -.2965
-.5438   -.5219   -.1726
-.2719   -.2763   -.0237
-.3927   -.3837   -.1739
-.4380   -.4144   -.0412
-.3776   -.3684   .2314
-.2719   -.2763   .3453
-.2114   -.1995   .1201
-.1661   -.1381   .3290
-.1510   -.1381   .4554
-.1812   -.1842   .3265
-.2870   -.2609   .4254
-.2114   -.1995   .3565
-.0151   .0000   .5655
.0000   .0460   .5180
.0302   .0614   .6030
-.1359   -.1228   .4141
-.1208   -.0921   .3678
-.0755   -.0460   .4454
-.2416   -.2149   .0162
-.3323   -.3223   -.0538
-.4833   -.4758   -.1926
-.3172   -.3070   -.0600
-.4229   -.4298   -.1776
-.5891   -.5986   -.3503

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 500

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Waiting for motor to slow down
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> 

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 400

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> 

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.2215   -.1846   .4992
-.2215   -.1661   .6505
-.1846   -.1661   .5775
.0184   .0553   .8123
-.0184   .0184   .8106
-.1477   -.1107   .6679
-.2400   -.2215   .6175
-.1292   -.1292   .5079
-.0184   -.0184   .6418
-.0923   -.0923   .4366
-.3323   -.3323   .1913
-.2954   -.2954   .1565
-.4800   -.4431   -.0747
-.4246   -.4061   -.1113
-.5723   -.5723   -.3513
-.5723   -.5723   -.4557
-.6462   -.6277   -.4940
-.7385   -.7015   -.5827
-.8123   -.7939   -.7532
-.8862   -.8308   -.8001
-.9970   -.9970   -.9932
-.8123   -.7939   -.8367
-.7200   -.7015   -.5375
-.8862   -.8493   -.5427
-.7939   -.7939   -.9654
-.7015   -.6831   -.3270
-.7015   -.6646   -.5253
-.5354   -.5538   -.1443
-.4985   -.4615   -.1200
-.4615   -.4615   -.0278
-.4431   -.4431   .1235
-.3323   -.3323   .3183
-.1292   -.1292   .5618
-.2215   -.2030   .6331
-.0553   -.0553   .8019
-.1846   -.1477   .3235
-.2215   -.2030   .5096
-.2769   -.2584   .4974
-.1661   -.1477   .7601
-.2769   -.2584   .5531
-.1292   -.1107   .7584
-.0184   -.0184   .3826
-.3323   -.2954   .3722
-.2954   -.2954   .4053
-.3138   -.3138   .0295
-.3692   -.3323   .0539
-.4246   -.4061   .0313
-.8677   -.8493   -.2122
-.6462   -.6277   -.5148
-.8677   -.8677   -.7340
-.8123   -.7939   -.5862
-.7200   -.6831   -.4888
-.4800   -.4800   -.3131
-.6462   -.6462   -.4470
-.6831   -.6462   -.3496
-.3507   -.3323   -.3165
-.6831   -.6462   -.2713
-.8493   -.7939   -.4487
-.7015   -.6646   -.4140
-.7754   -.7385   -.3026
-.6646   -.6462   -.2748
-.4800   -.4615   -.0417
-.4985   -.4800   -.0834
-.3877   -.3877   .2800
-.3877   -.3692   .3844
-.3507   -.3507   .3131
-.2400   -.2215   .1182
-.2584   -.2215   .3096
-.4431   -.4246   .1426
-.4431   -.4431   .0608
-.3323   -.2769   .2504
-.2584   -.2584   .5809
-.1477   -.1477   .3739
-.2215   -.1846   .2574
-.4615   -.4431   .1774
-.2769   -.2400   .5079
-.6277   -.5908   -.1200
-.4985   -.4615   -.1374
-.4985   -.4985   -.2035
-.5723   -.5538   -.2991
-.4246   -.4061   -.3531
-.3877   -.3877   -.0295
-.5723   -.5723   -.1774
-.4985   -.4985   -.0017
-.6277   -.5908   -.2957
-.6277   -.6277   -.5270
-.5169   -.5169   -.1269
-.7200   -.7015   -.7862
-.7385   -.7015   -.4714
-.7200   -.7200   -.3809
-.3692   -.3507   .1095
-.4061   -.3877   .2243
-.6462   -.6277   -.0313
-.4985   -.4800   .2174
-.4246   -.3877   .0591
-.4246   -.3692   .1356
-.4061   -.3692   .2035
-.3692   -.3507   .1304
-.4061   -.4061   .0121
-.5723   -.5538   -.1148
-.5169   -.4800   -.0747
-.4615   -.4431   .1182
-.2584   -.2215   .5027
-.3507   -.3507   .4087
-.3877   -.3692   -.1200
-.4246   -.4246   -.5096
-.6092   -.5723   -.2104
-.5538   -.5169   -.0330
-.6462   -.6277   -.1322
-.3507   -.3323   .0469
-.6277   -.6092   .1200
-.3507   -.3138   .0904
-.4431   -.4061   .0191
-.4985   -.4800   -.1235
-.5354   -.5169   -.0921
-.4431   -.4246   .0295
-.3877   -.3877   .0956
-.2954   -.2954   .0330
-.4246   -.4061   -.2104
-.7200   -.7015   -.2783
-.5908   -.5908   -.1826
-.5354   -.5169   -.1322
-.6277   -.6277   -.1861
-.5538   -.5354   -.2035
-.7385   -.7385   -.1652
-.3323   -.3138   -.0921
-.4800   -.4431   -.1408
-.3138   -.3138   .0956

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> c

 data arrays now contain reconstructed back-emf waveforms

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
.3089   .3504   .2548
.3568   .4077   .3403
.3916   .4450   .4099
.4112   .4607   .4552
.4162   .4557   .4716
.4083   .4331   .4577
.3895   .3973   .4155
.3616   .3521   .3497
.3249   .3008   .2666
.2791   .2445   .1732
.2227   .1836   .0757
.1540   .1166   -.0200
.0720   .0421   -.1103
-.0228   -.0404   -.1928
-.1279   -.1305   -.2660
-.2383   -.2252   -.3298
-.3468   -.3193   -.3842
-.4447   -.4063   -.4292
-.5232   -.4786   -.4643
-.5744   -.5291   -.4886
-.5928   -.5521   -.5008
-.5758   -.5446   -.4996
-.5250   -.5069   -.4839
-.4455   -.4426   -.4531
-.3453   -.3580   -.4075
-.2341   -.2614   -.3480
-.1216   -.1613   -.2767
-.0166   -.0654   -.1958
.0751   .0206   -.1080
.1506   .0942   -.0156
.2110   .1558   .0789
.2593   .2083   .1739
.3009   .2564   .2677
.3412   .3048   .3589
.3845   .3569   .4453
.4323   .4139   .5242
.4830   .4735   .5920
.5318   .5302   .6440
.5709   .5758   .6750
.5914   .6011   .6797
.5846   .5967   .6536
.5437   .5559   .5936
.4656   .4757   .4997
.3519   .3578   .3744
.2089   .2095   .2242
.0478   .0425   .0585
-.1176   -.1282   -.1106
-.2722   -.2865   -.2700
-.4017   -.4170   -.4064
-.4947   -.5075   -.5086
-.5442   -.5511   -.5685
-.5491   -.5466   -.5825
-.5135   -.4989   -.5521
-.4465   -.4187   -.4837
-.3606   -.3200   -.3878
-.2697   -.2185   -.2781
-.1870   -.1291   -.1690
-.1235   -.0642   -.0750
-.0862   -.0314   -.0072
-.0778   -.0333   .0266
-.0966   -.0673   .0237
-.1372   -.1263   -.0139
-.1918   -.2004   -.0798
-.2518   -.2786   -.1640
-.3090   -.3505   -.2549
-.3570   -.4078   -.3405
-.3917   -.4453   -.4100
-.4113   -.4609   -.4554
-.4164   -.4558   -.4717
-.4085   -.4333   -.4578
-.3896   -.3974   -.4156
-.3616   -.3522   -.3498
-.3250   -.3009   -.2668
-.2792   -.2447   -.1733
-.2229   -.1838   -.0759
-.1542   -.1167   .0198
-.0721   -.0422   .1102
.0227   .0404   .1926
.1278   .1304   .2659
.2381   .2250   .3297
.3466   .3192   .3841
.4446   .4062   .4291
.5231   .4785   .4642
.5743   .5290   .4884
.5926   .5519   .5007
.5757   .5445   .4995
.5249   .5068   .4837
.4454   .4425   .4529
.3452   .3579   .4073
.2339   .2612   .3479
.1215   .1611   .2765
.0164   .0653   .1956
-.0752   -.0207   .1078
-.1508   -.0943   .0155
-.2111   -.1559   -.0789
-.2594   -.2084   -.1740
-.3010   -.2565   -.2679
-.3413   -.3049   -.3590
-.3846   -.3570   -.4454
-.4324   -.4140   -.5243
-.4832   -.4736   -.5921
-.5319   -.5303   -.6441
-.5711   -.5760   -.6752
-.5916   -.6012   -.6799
-.5848   -.5969   -.6537
-.5438   -.5560   -.5938
-.4657   -.4758   -.4999
-.3520   -.3580   -.3746
-.2091   -.2096   -.2243
-.0480   -.0426   -.0586
.1175   .1282   .1105
.2721   .2864   .2698
.4016   .4169   .4063
.4945   .5075   .5085
.5441   .5510   .5683
.5490   .5464   .5824
.5133   .4988   .5520
.4465   .4186   .4835
.3605   .3198   .3877
.2695   .2184   .2779
.1869   .1290   .1690
.1233   .0641   .0749
.0861   .0314   .0071
.0777   .0332   -.0267
.0965   .0671   -.0238
.1370   .1262   .0137
.1917   .2002   .0796
.2517   .2784   .1638

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------>

[Arlo1]

OK so Im going to paste this here so I dont lose it when I acidently shut termite again.

Code: Select all

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a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00]À[00][00][00] Ç[10][02]Á‚[00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]À[00]Àˆ[00]ã [11][00][11][00][10][04][11]ÿ[00][12][02]€<ü[10][14]pì>™ÿþ[00][00][00][00][00][00][00][00][00]08ÿ[00][00][00][00][00][00][00][00][00][00][00][00][00][00]ÿ[00][00][00][00][00]€[00]ÿ[00][00][00][00][00][00][00][00][00][00][00][00]øþâþ[00][00][00][00][00][00][00][00][00][00][00]@[00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]@[00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]à[00][00][00][00][00][00][00]ÿ[00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]ð[00][00][00][00][00][07]à[00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00]€[00][00][00][00][00][00][00][00][00][00][00][00]€[00]ÿ






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00]ðà[00][00][00][00][00][00][00][00][00][00][00][00][00][00]ÿ[00][00][00][00][00][00]€[00][00][00][00][00][00][00][00][00][00][00][00][00][00]€[00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00][00]€[00][00]@à[00][00][00][00][00]Àøø[00][00][00][00][00][00][00][00][00][00][00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> a

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> alkjdlkjld[08]d[08]
new value -> 20

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> b

Spin the motor then press any key to start measurement
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> b

Spin the motor then press any key to start measurement
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> c

hall 1, hall 2, hall 3
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400


a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> alkjdlkjld[08]d[08]

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> b

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 1500

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 400

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> [00][00][00][00][00][00][00][0C][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> a

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> b]

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
.8309   -.6951   -.2002
.8096   -.7294   -.1442
.7925   -.7615   -.0892
.7701   -.7958   -.0373
.7487   -.8217   .0155
.7209   -.8477   .0674
.6921   -.8695   .1193
.6665   -.8944   .1701
.6440   -.9172   .2199
.6205   -.9400   .2645
.5992   -.9577   .3019
.5746   -.9691   .3351
.5479   -.9722   .3673
.5158   -.9743   .3984
.4817   -.9732   .4274
.4486   -.9701   .4606
.4154   -.9691   .4928
.3823   -.9660   .5229
.3417   -.9608   .5551
.2990   -.9483   .5841
.2478   -.9286   .6132
.1879   -.9037   .6433
.1367   -.8798   .6713
.0769   -.8549   .7055
.0074   -.8228   .7481
-.0448   -.7989   .7771
-.0993   -.7709   .8010
-.1538   -.7408   .8248
-.2082   -.7076   .8508
-.2616   -.6817   .8788
-.3108   -.6588   .9016
-.3535   -.6350   .9213
-.3887   -.6111   .9338
-.4251   -.5852   .9390
-.4571   -.5561   .9369
-.4881   -.5239   .9348
-.5212   -.4876   .9307
-.5554   -.4523   .9234
-.5863   -.4171   .9172
-.6130   -.3797   .9006
-.6408   -.3309   .8778
-.6686   -.2780   .8487
-.7124   -.2023   .8165
-.7679   -.1079   .7864
-.7989   -.0539   .7647
-.8320   -.0031   .7418
-.8587   .0487   .7128
-.8833   .0996   .6837
-.9068   .1514   .6567
-.9324   .2012   .6308
-.9527   .2500   .6090
-.9730   .2884   .5841
-.9837   .3206   .5613
-.9922   .3496   .5343
-.9944   .3818   .5042
-.9933   .4119   .4721
-.9922   .4430   .4357
-.9912   .4731   .4025
-.9848   .5042   .3683
-.9773   .5302   .3289
-.9634   .5551   .2863
-.9431   .5810   .2376
-.4592   .2915   .1058
-.9046   .6225   .1629
-.8982   .6329   .1431
-.8769   .6651   .0881
-.8534   .7014   .0352
-.8331   .7335   -.0176
-.8074   .7595   -.0674
-.7829   .7823   -.1172
-.7508   .8051   -.1670
-.7231   .8290   -.2158
-.6974   .8560   -.2625
-.6739   .8798   -.3081
-.6515   .8995   -.3475
-.6291   .9110   -.3839
-.6034   .9172   -.4160
-.5725   .9172   -.4472
-.5404   .9161   -.4772
-.5073   .9151   -.5104
-.4721   .9151   -.5385
-.4389   .9151   -.5706
-.4005   .9078   -.5986
-.3610   .8944   -.6277
-.3118   .8736   -.6567
-.2563   .8508   -.6848
-.1976   .8259   -.7169
-.1335   .7989   -.7512
-.0480   .7678   -.7989
.0074   .7408   -.8280
.0608   .7128   -.8518
.1153   .6848   -.8757
.1708   .6588   -.8995
.2200   .6329   -.9244
.2713   .6101   -.9431
.3108   .5852   -.9608
.3482   .5613   -.9732
.3802   .5312   -.9774
.4112   .4980   -.9763
.4421   .4638   -.9763
.4763   .4295   -.9711
.5052   .3942   -.9691
.5372   .3569   -.9618
.5639   .3143   -.9483
.5895   .2666   -.9286
.6098   .2241   -.9130
.6430   .1670   -.8850
.6867   .0913   -.8529
.7231   .0383   -.8300
.7572   -.0145   -.8072
.7839   -.0684   -.7823
.8096   -.1213   -.7543
.8352   -.1753   -.7221
.8587   -.2282   -.6951
.8854   -.2739   -.6682
.9078   -.3164   -.6464
.9228   -.3527   -.6256
.9313   -.3890   -.6038
.9356   -.4181   -.5769
.9367   -.4492   -.5488
.9356   -.4793   -.5208
.9346   -.5084   -.4855
.9271   -.5385   -.4513
.9217   -.5665   -.4171
.9089   -.5935   -.3787
.8886   -.6194   -.3361
.8630   -.6464   -.2843
.6280   -.4938   -.1795

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 1500

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
.7789   -.6624   -.2021
.7529   -.7060   -.1311
.7368   -.7357   -.0794
.7163   -.7664   -.0318
.6958   -.7899   .0190
.6712   -.8122   .0662
.6430   -.8353   .1142
.6196   -.8569   .1614
.5972   -.8789   .2091
.5764   -.8997   .2501
.5544   -.9155   .2867
.5310   -.9268   .3197
.5046   -.9309   .3489
.4746   -.9331   .3775
.4423   -.9301   .4090
.4112   -.9294   .4401
.3790   -.9272   .4720
.3442   -.9250   .5006
.3083   -.9184   .5291
.2669   -.9071   .5573
.2186   -.8858   .5855
.1483   -.7210   .5046
.1325   -.8477   .6339
.0875   -.8316   .6588
.0238   -.8041   .7005
-.0263   -.7818   .7280
-.0747   -.7551   .7536
-.1263   -.7276   .7749
-.1772   -.6983   .7998
-.2277   -.6716   .8254
-.2761   -.6470   .8496
-.3186   -.6251   .8701
-.3555   -.6031   .8851
-.3907   -.5797   .8928
-.4226   -.5500   .8939
-.4530   -.5185   .8928
-.4830   -.4855   .8895
-.5134   -.4530   .8858
-.5419   -.4174   .8825
-.5698   -.3812   .8704
-.5958   -.3383   .8540
-.6203   -.2940   .8323
-.6485   -.2376   .8063
-.6906   -.1658   .7767
-.7390   -.0842   .7474
-.7705   -.0351   .7261
-.7954   .0164   .7031
-.8184   .0673   .6752
-.8404   .1190   .6496
-.8646   .1695   .6225
-.8873   .2160   .5980
-.9052   .2581   .5767
-.9173   .2933   .5540
-.9283   .3226   .5295
-.9312   .3515   .5009
-.9327   .3801   .4698
-.9309   .4108   .4383
-.9287   .4412   .4061
-.9250   .4698   .3724
-.9191   .4976   .3391
-.9085   .5225   .3010
-.8920   .5467   .2567
-.8704   .5720   .2080
-.8499   .5972   .1604
-.8356   .6163   .1292
-.8137   .6525   .0703
-.7924   .6848   .0194
-.7734   .7141   -.0296
-.7481   .7386   -.0776
-.7218   .7598   -.1263
-.6947   .7803   -.1739
-.6712   .8038   -.2211
-.6481   .8302   -.2655
-.6280   .8492   -.3076
-.6071   .8671   -.3438
-.5852   .8759   -.3793
-.5606   .8807   -.4101
-.5302   .8811   -.4423
-.4995   .8785   -.4735
-.4680   .8770   -.5035
-.4339   .8770   -.5328
-.4013   .8712   -.5632
-.3632   .8620   -.5906
-.3222   .8466   -.6192
-.2731   .8261   -.6470
-.1757   .5994   -.4954
-.1838   .7869   -.6958
-.1292   .7646   -.7280
-.0684   .7415   -.7635
-.0183   .7177   -.7935
.0329   .6932   -.8173
.0838   .6676   -.8408
.1354   .6397   -.8646
.1853   .6156   -.8876
.2325   .5914   -.9085
.2764   .5698   -.9265
.3101   .5441   -.9389
.3409   .5156   -.9462
.3728   .4866   -.9477
.4017   .4530   -.9462
.4321   .4218   -.9429
.4625   .3867   -.9400
.4910   .3511   -.9323
.5174   .3105   -.9243
.3980   .2193   -.6877
.5603   .2380   -.8950
.5855   .1896   -.8730
.6251   .1241   -.8433
.6690   .0545   -.8148
.7005   .0029   -.7950
.7291   -.0468   -.7701
.7518   -.0981   -.7434
.7752   -.1483   -.7133
.7990   -.1992   -.6859
.8236   -.2460   -.6602
.8455   -.2896   -.6390
.8624   -.3273   -.6166
.8741   -.3603   -.5947
.8789   -.3918   -.5712
.8814   -.4215   -.5441
.8800   -.4519   -.5130
.8767   -.4822   -.4826
.8745   -.5115   -.4486
.8682   -.5405   -.4160
.8591   -.5690   -.3808
.8433   -.5914   -.3383
.8206   -.6166   -.2922
.7331   -.5932   -.2211

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> c

 data arrays now contain reconstructed back-emf waveforms

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
.8575   -.6857   -.1474
.8342   -.7144   -.0932
.8105   -.7428   -.0389
.7867   -.7710   .0150
.7632   -.7988   .0680
.7402   -.8262   .1198
.7177   -.8528   .1699
.6953   -.8782   .2181
.6726   -.9017   .2642
.6492   -.9227   .3078
.6247   -.9403   .3490
.5984   -.9537   .3875
.5701   -.9624   .4232
.5396   -.9661   .4560
.5067   -.9647   .4862
.4715   -.9585   .5141
.4340   -.9480   .5403
.3944   -.9339   .5653
.3525   -.9172   .5902
.3084   -.8988   .6156
.2621   -.8793   .6424
.2136   -.8594   .6710
.1629   -.8393   .7018
.1101   -.8193   .7346
.0555   -.7992   .7690
-.0002   -.7786   .8041
-.0565   -.7575   .8391
-.1125   -.7353   .8724
-.1669   -.7119   .9029
-.2190   -.6873   .9296
-.2677   -.6615   .9515
-.3124   -.6344   .9679
-.3528   -.6063   .9788
-.3890   -.5771   .9841
-.4213   -.5467   .9844
-.4508   -.5148   .9802
-.4782   -.4811   .9722
-.5051   -.4450   .9611
-.5323   -.4057   .9475
-.5609   -.3630   .9318
-.5915   -.3163   .9144
-.6242   -.2656   .8955
-.6591   -.2111   .8750
-.6955   -.1533   .8529
-.7326   -.0934   .8294
-.7694   -.0323   .8045
-.8048   .0283   .7785
-.8378   .0873   .7517
-.8675   .1435   .7244
-.8937   .1959   .6970
-.9157   .2440   .6696
-.9335   .2876   .6425
-.9473   .3269   .6156
-.9573   .3625   .5884
-.9637   .3951   .5607
-.9667   .4256   .5317
-.9665   .4548   .5008
-.9631   .4834   .4674
-.9566   .5118   .4311
-.9469   .5405   .3913
-.9342   .5694   .3481
-.9185   .5985   .3016
-.9002   .6276   .2522
-.8798   .6567   .2006
-.8576   .6856   .1473
-.8344   .7143   .0931
-.8106   .7427   .0387
-.7869   .7709   -.0151
-.7634   .7987   -.0682
-.7404   .8261   -.1199
-.7178   .8527   -.1700
-.6954   .8781   -.2182
-.6728   .9017   -.2643
-.6494   .9227   -.3080
-.6248   .9402   -.3491
-.5986   .9536   -.3876
-.5703   .9623   -.4233
-.5398   .9660   -.4561
-.5069   .9645   -.4863
-.4717   .9583   -.5143
-.4342   .9478   -.5404
-.3946   .9337   -.5654
-.3527   .9171   -.5903
-.3086   .8986   -.6157
-.2623   .8791   -.6424
-.2138   .8592   -.6711
-.1630   .8392   -.7018
-.1102   .8191   -.7347
-.0556   .7990   -.7691
.0001   .7785   -.8042
.0564   .7573   -.8391
.1123   .7351   -.8724
.1668   .7118   -.9030
.2189   .6871   -.9297
.2676   .6613   -.9515
.3123   .6343   -.9680
.3526   .6061   -.9789
.3889   .5769   -.9843
.4212   .5465   -.9845
.4506   .5147   -.9803
.4781   .4809   -.9724
.5050   .4448   -.9613
.5322   .4056   -.9476
.5608   .3628   -.9320
.5914   .3161   -.9146
.6241   .2655   -.8956
.6591   .2109   -.8751
.6954   .1531   -.8530
.7325   .0932   -.8295
.7693   .0322   -.8047
.8047   -.0284   -.7787
.8377   -.0874   -.7519
.8675   -.1436   -.7246
.8936   -.1960   -.6972
.9156   -.2441   -.6697
.9335   -.2877   -.6427
.9472   -.3270   -.6157
.9572   -.3626   -.5885
.9636   -.3952   -.5608
.9666   -.4258   -.5319
.9664   -.4549   -.5010
.9630   -.4835   -.4676
.9565   -.5120   -.4312
.9467   -.5406   -.3915
.9340   -.5695   -.3482
.9183   -.5986   -.3018
.9001   -.6277   -.2524
.8796   -.6568   -.2007

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------>

[Arlo1]

OK So I found my big problem when lebowski pointed out something 50-60 hz was interfearing with my sample I tried hooking up to a 12v battery for power and when I still saw the .04v wave on my pins 5,7,8 I started tuning lights off in my workshop. I found the 3$ 12v adapter I use to run my bench leds is giving off enough rfi that it was screwing up my coil posistion samples.
So then I wraped a belt around colossus and my drill and spun it to get a cleaner sample with the lights off lol and got it to accept 1500 points of data. Here is a raw data ploted with the halls and one with reconstructed. You can definatly see one hall it quite off!

[Lebowski]

Ok now you got good usable stuff Finish entering the rest of the data in the menus, calibrate the throttle
and you're set to go I know you're using a very limited version at the moment, don't let it spin the motor
too fast as the performance of your limited version is, well, crap, and nowhere near what the controller IC will do.
The limited version is purely for you to be able to burn your own chips to debug the setup, so you don't accidently
blow up one of the proper controller IC's.

In the first plot you can see that the chip occasionally misses a sample (because of the high erpm you're using) but
that this has no effect on the reconstructed data. There's some fancy signal processing going on in the IC that
extracts the fundamental and some overtones from the sampled data (it kind of makes an mp3 as it where, in
order to have less data to store in the EEPROM). I saw you saved the data in EEPROM, so if you power down
completely you dont have to do all this calibrating again. The waveform should be there when you ask for them
again (dont forget to use reconstruct in the backemf menu else the data arrays are empty)

[Arlo1]

Ok now you got good usable stuff Finish entering the rest of the data in the menus, calibrate the throttle
and you're set to go I know you're using a very limited version at the moment, don't let it spin the motor
too fast as the performance of your limited version is, well, crap, and nowhere near what the controller IC will do.
The limited version is purely for you to be able to burn your own chips to debug the setup, so you don't accidently
blow up one of the proper controller IC's.

In the first plot you can see that the chip occasionally misses a sample (because of the high erpm you're using) but
that this has no effect on the reconstructed data. There's some fancy signal processing going on in the IC that
extracts the fundamental and some overtones from the sampled data (it kind of makes an mp3 as it where, in
order to have less data to store in the EEPROM). I saw you saved the data in EEPROM, so if you power down
completely you dont have to do all this calibrating again. The waveform should be there when you ask for them
again (dont forget to use reconstruct in the backemf menu else the data arrays are empty)

OK I will try again this weekend... I have to replace all my DC/DC supplies I poped them when I hooked the power up backwards. I was/am realy tired this is my buisy season but Im so so SO excited to be working on this so well... Lesson learned... lol.
BTW I thought I did reconstruct in the backemf menu??

[Lebowski]

BTW I thought I did reconstruct in the backemf menu??

Yep, you did it OK. It's just, if you turn it off and back on, go to the backemf
menu and ask for the tables, they will show empty data. This is not an
error, you first have to select reconstruct. I just wanted to warn you of this
so you wouldn't worry and start thinking it didn't save correctly...

[gensem]

Arlo can we already confirm that 2012 is the year of Colossus?

[Arlo1]

Arlo can we already confirm that 2012 is the year of Colossus?

Yup. It will be for me . I have 6 months left thing is may is peak season for my work/buisness and im working 60-80 hours a week right now on top of other things! Fall it dies down but i plan to be running on the bench in days and have a new powerstage built in a week or two.

[Arlo1]

OK lebowski does this all look right? I tried to set the standby voltage threshhold but it would not let me change it.
I Can't seem to get the motor to run. I am getting the pulse on the low side but nothing on the hi side and the drive 0 led is light up. I am trying with the lights shut off so it will not interfear.

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a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

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a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00][00]






























a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> a

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> b

Spin the motor then press any key to start measurement
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20

a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> c

hall 1, hall 2, hall 3
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400


a] number of e-rotations: 20
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> b

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Waiting for motor to slow down
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 400

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.6650   -.3462   .2960
-.5819   -.4134   .3570
-.5541   -.4928   .4280
-.5541   -.5411   .4714
-.5541   -.5874   .5180
-.5541   -.6366   .5630
-.5541   -.6877   .6065
-.5541   -.7369   .6484
-.5541   -.7795   .6858
-.5264   -.8183   .7141
-.4987   -.8495   .7362
-.5541   -.8722   .7553
-.4987   -.8892   .7736
-.5264   -.9091   .7919
-.5541   -.9299   .8094
-.5264   -.9498   .8270
-.5264   -.9659   .8422
-.5541   -.9801   .8552
-.5541   -.9857   .8659
-.5264   -.9857   .8720
-.4987   -.9810   .8789
-.3602   -.7322   .6645
-.4433   -.9715   .8941
-.4433   -.9715   .9010
-.4433   -.9687   .9078
-.4433   -.9696   .9078
-.4433   -.9611   .9063
-.4433   -.9555   .9063
-.3602   -.9469   .9094
-.4156   -.9469   .9124
-.4433   -.9469   .9101
-.4156   -.9460   .9048
-.4433   -.9450   .8926
-.4433   -.9384   .8750
-.4433   -.9252   .8544
-.4710   -.9072   .8316
-.4433   -.8854   .8094
-.5264   -.8637   .7843
-.5264   -.8372   .7629
-.5541   -.8060   .7270
-.4987   -.7625   .6889
-.5541   -.7104   .6484
-.5264   -.6470   .5996
-.4987   -.5770   .5561
-.4433   -.4616   .4913
-.4433   -.4067   .4501
-.4433   -.3547   .4058
-.4433   -.2942   .3631
-.4156   -.2336   .3242
-.4156   -.1816   .2845
-.3879   -.1267   .2571
-.3602   -.0652   .2403
-.3048   -.0094   .2265
-.2770   .0435   .2044
-.2216   .0860   .1770
-.2216   .1286   .1403
-.2216   .1693   .1022
-.2216   .2081   .0633
-.2216   .2440   .0221
-.2770   .2639   -.0320
-.3602   .2781   -.0968
-.4433   .2923   -.1701
-.5264   .3112   -.2441
-.1385   .0832   -.0740
-.5819   .3424   -.3013
-.6927   .3831   -.3662
-.7481   .4257   -.4234
-.7758   .4682   -.4753
-.8035   .5089   -.5271
-.8590   .5439   -.5760
-.8867   .5865   -.6233
-.8867   .6357   -.6675
-.8867   .6887   -.7057
-.8867   .7360   -.7377
-.8867   .7757   -.7652
-.8867   .8031   -.7904
-.8867   .8268   -.8110
-.8867   .8429   -.8316
-.8867   .8580   -.8506
-.8867   .8741   -.8705
-.8867   .8940   -.8842
-.8867   .9063   -.9002
-.8867   .9157   -.9132
-.8867   .9129   -.9246
-.9144   .9072   -.9346
-.9698   .8996   -.9445
-.9698   .8959   -.9536
-.9975   .8996   -.9605
-.9698   .9091   -.9651
-.9975   .9082   -.9635
-.9975   .9072   -.9590
-.9975   .9082   -.9552
-.9975   .9110   -.9490
-.9698   .9157   -.9437
-.9421   .9186   -.9376
-.9144   .9214   -.9216
-.8867   .9091   -.9078
-.8867   .8921   -.8880
-.8867   .8722   -.8666
-.8867   .8504   -.8445
-.8867   .8325   -.8209
-.8590   .8050   -.7987
-.8867   .7710   -.7705
-.8867   .7312   -.7362
-.8590   .6811   -.6980
-.8867   .6310   -.6614
-.8867   .5903   -.6340
-.8867   .5278   -.5836
-.8312   .4777   -.5424
-.8590   .4266   -.4997
-.8867   .3774   -.4501
-.8867   .3226   -.4043
-.8590   .2715   -.3517
-.8867   .2213   -.3089
-.8590   .1750   -.2677
-.8590   .1371   -.2281
-.8312   .1040   -.1922
-.7758   .0747   -.1548
-.7758   .0454   -.1182
-.7758   .0104   -.0801
-.7481   -.0245   -.0411
-.7481   -.0633   -.0007
-.7481   -.1012   .0381
-.7204   -.1371   .0755
-.7204   -.1759   .1136
-.6650   -.2138   .1586
-.6373   -.2544   .2105
-.6650   -.3093   .2624

a] number of back-emf samples: 400
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 1500

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Waiting for motor to slow down
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> 

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 500

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> 

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.8254   -.3050   .2388
-.8254   -.3603   .2965
-.7910   -.4934   .4120
-.7910   -.5428   .4527
-.7566   -.5816   .5012
-.8254   -.6310   .5406
-.8254   -.6714   .5852
-.7910   -.7207   .6233
-.7910   -.7641   .6613
-.7910   -.8059   .6968
-.8254   -.8388   .7243
-.8254   -.8658   .7492
-.7910   -.8837   .7702
-.7910   -.9017   .7886
-.8254   -.9226   .8017
-.7566   -.9360   .8280
-.7910   -.9570   .8450
-.7566   -.9734   .8647
-.7566   -.9839   .8778
-.7910   -.9899   .8870
-.7222   -.9869   .8962
-.5846   -.7416   .6744
-.7222   -.9854   .9054
-.7910   -.9884   .9107
-.7222   -.9914   .9185
-.7566   -.9929   .9264
-.6878   -.9959   .9264
-.6878   -.9959   .9238
-.7222   -.9944   .9212
-.7222   -.9869   .9238
-.6878   -.9809   .9264
-.7222   -.9854   .9198
-.6878   -.9869   .9172
-.7910   -.9899   .9041
-.7910   -.9794   .8910
-.8254   -.9660   .8726
-.7222   -.9420   .8516
-.7910   -.9226   .8293
-.7910   -.9031   .8044
-.8254   -.8777   .7821
-.7566   -.8478   .7545
-.8254   -.8179   .7164
-.7566   -.7701   .6810
-.7910   -.7013   .6193
-.8254   -.5742   .5170
-.8254   -.5203   .4763
-.7910   -.4725   .4304
-.7910   -.4246   .3818
-.7910   -.3723   .3359
-.7910   -.3259   .2926
-.7910   -.2766   .2493
-.8254   -.2317   .2112
-.7910   -.1988   .1692
-.7910   -.1644   .1351
-.7910   -.1330   .0957
-.8254   -.1031   .0564
-.8254   -.0702   .0157
-.8254   -.0299   -.0275
-.8254   .0044   -.0695
-.8254   .0463   -.1076
-.8254   .0822   -.1469
-.8942   .1181   -.1915
-.9286   .1570   -.2401
-.9286   .2003   -.2926
-.9630   .2422   -.3359
-.9630   .3140   -.3963
-.9630   .3828   -.4606
-.9630   .4336   -.5052
-.9286   .4844   -.5445
-.9286   .5248   -.5878
-.9286   .5712   -.6325
-.9630   .6190   -.6705
-.9630   .6654   -.7099
-.9630   .7102   -.7427
-.9286   .7476   -.7742
-.8942   .7790   -.7965
-.9630   .7970   -.8227
-.8942   .8179   -.8424
-.9630   .8329   -.8621
-.9630   .8448   -.8818
-.9630   .8658   -.8962
-.9630   .8792   -.9172
-.9630   .8957   -.9303
-.9630   .9002   -.9421
-.9630   .8942   -.9566
-.9630   .8942   -.9618
-.9630   .8912   -.9697
-.9630   .8942   -.9736
-.9630   .9046   -.9776
-.9630   .9136   -.9841
-.9630   .9151   -.9855
-.9630   .9166   -.9855
-.9630   .9151   -.9815
-.9974   .9091   -.9802
-.9630   .9121   -.9750
-.9974   .9136   -.9710
-.9630   .9151   -.9631
-.9630   .9106   -.9487
-.9630   .8972   -.9317
-.9630   .8792   -.9120
-.9630   .8583   -.8923
-.9630   .8344   -.8726
-.9630   .8119   -.8477
-.9630   .7850   -.8254
-.9630   .7551   -.7965
-.9630   .7162   -.7597
-.9630   .6654   -.7204
-.9630   .5891   -.6535
-.9630   .5173   -.5905
-.9630   .4710   -.5485
-.9630   .4276   -.5065
-.9286   .3798   -.4592
-.9286   .3334   -.4094
-.9630   .2826   -.3634
-.8598   .2347   -.3188
-.9630   .1869   -.2808
-.9630   .1525   -.2401
-.9286   .1211   -.2047
-.8942   .0867   -.1679
-.9630   .0538   -.1351
-.8598   .0194   -.0971
-.8598   -.0164   -.0577
-.8598   -.0568   -.0183
-.8254   -.0942   .0209
-.8598   -.1315   .0577
-.8254   -.1719   .0971
-.8254   -.2093   .1390
-.8254   -.2497   .1889

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 1500

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 600

a] number of back-emf samples: 600
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 600
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 600
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 600
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 600
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 500

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> 

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Back-EMF too small, spin motor faster and try again

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.8254   -.2691   .2033
-.8254   -.3394   .2703
-.8254   -.4187   .3438
-.8254   -.4964   .4133
-.8254   -.5428   .4540
-.8254   -.5876   .4973
-.8254   -.6280   .5393
-.8254   -.6729   .5800
-.7910   -.7147   .6193
-.8254   -.7611   .6561
-.8254   -.7985   .6876
-.8254   -.8314   .7178
-.8254   -.8583   .7401
-.8254   -.8792   .7584
-.8254   -.8912   .7794
-.8254   -.9121   .7952
-.8254   -.9271   .8149
-.8254   -.9495   .8293
-.8254   -.9600   .8477
-.7910   -.9704   .8647
-.7222   -.9749   .8752
-.8254   -.9809   .8831
-.7566   -.9794   .8923
-.7910   -.9839   .8975
-.7222   -.9824   .9133
-.6878   -.9929   .9185
-.7222   -.9884   .9172
-.7566   -.9854   .9120
-.7222   -.9749   .9133
-.7222   -.9749   .9120
-.6878   -.9734   .9120
-.7222   -.9734   .9080
-.7222   -.9749   .9015
-.7910   -.9719   .8870
-.7910   -.9615   .8660
-.7910   -.9405   .8450
-.7566   -.9181   .8227
-.8254   -.8987   .7991
-.7910   -.8747   .7794
-.8254   -.8463   .7571
-.7222   -.8134   .7243
-.7910   -.7745   .6797
-.8254   -.7312   .6403
-.7910   -.6459   .5773
-.7910   -.5996   .5354
-.7566   -.5487   .4999
-.7222   -.5054   .4566
-.8254   -.4575   .4120
-.8254   -.4082   .3674
-.7566   -.3529   .3241
-.7566   -.3035   .2755
-.7566   -.2586   .2335
-.8254   -.2168   .1955
-.8254   -.1854   .1574
-.7910   -.1555   .1233
-.7910   -.1241   .0866
-.8254   -.0957   .0433
-.8254   -.0657   .0026
-.8598   -.0284   -.0380
-.8598   .0089   -.0761
-.8254   .0523   -.1102
-.8254   .0822   -.1509
-.8598   .1211   -.1929
-.9630   .1525   -.2440
-.9630   .1973   -.2939
-.9630   .2706   -.3648
-.9630   .3529   -.4343
-.9630   .4067   -.4750
-.9286   .4530   -.5196
-.9630   .4934   -.5616
-.9286   .5383   -.6010
-.9630   .5831   -.6390
-.9286   .6295   -.6784
-.9630   .6759   -.7138
-.9630   .7207   -.7453
-.9630   .7506   -.7742
-.9630   .7745   -.7965
-.9630   .7925   -.8214
-.9286   .8089   -.8398
-.9630   .8284   -.8569
-.9630   .8448   -.8752
-.9630   .8583   -.8988
-.9630   .8732   -.9146
-.9630   .8897   -.9264
-.9630   .8897   -.9343
-.9630   .8852   -.9448
-.9630   .8867   -.9526
-.9974   .8897   -.9618
-.9630   .9002   -.9710
-.9630   .9091   -.9776
-.9974   .9076   -.9776
-.9630   .9061   -.9750
-.9630   .9046   -.9723
-.9630   .9091   -.9671
-.9630   .9106   -.9618
-.9630   .9091   -.9579
-.9630   .9061   -.9448
-.9630   .8912   -.9317
-.9630   .8747   -.9093
-.9630   .8523   -.8897
-.9630   .8329   -.8621
-.9630   .8089   -.8450
-.9630   .7820   -.8227
-.9630   .7506   -.7926
-.9630   .7102   -.7584
-.9630   .6848   -.7309
-.9630   .6654   -.7151
-.9630   .5996   -.6626
-.8942   .5562   -.6180
-.9630   .5039   -.5787
-.9630   .4575   -.5354
-.9630   .4157   -.4947
-.9630   .3678   -.4487
-.9286   .3200   -.3963
-.9630   .2676   -.3516
-.9630   .2183   -.3110
-.9286   .1824   -.2677
-.9286   .1450   -.2309
-.9630   .1121   -.1942
-.8942   .0777   -.1627
-.8598   .0478   -.1233
-.8254   .0149   -.0852
-.8598   -.0254   -.0485
-.8942   -.0672   -.0131
-.8598   -.1046   .0275
-.8598   -.1420   .0669
-.8254   -.1749   .1089
-.8942   -.2198   .1469

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> c

 data arrays now contain reconstructed back-emf waveforms

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
.3297   -.2593   .2456
.3783   -.3126   .3008
.4179   -.3675   .3563
.4483   -.4226   .4108
.4692   -.4767   .4632
.4812   -.5285   .5125
.4853   -.5772   .5580
.4827   -.6220   .5996
.4751   -.6625   .6369
.4645   -.6988   .6704
.4525   -.7309   .7005
.4416   -.7593   .7277
.4335   -.7843   .7525
.4302   -.8063   .7755
.4333   -.8258   .7969
.4440   -.8428   .8170
.4628   -.8574   .8359
.4901   -.8699   .8535
.5252   -.8802   .8697
.5670   -.8883   .8845
.6137   -.8944   .8977
.6629   -.8985   .9092
.7117   -.9011   .9190
.7574   -.9024   .9273
.7969   -.9030   .9339
.8276   -.9029   .9389
.8476   -.9026   .9423
.8556   -.9021   .9441
.8511   -.9014   .9440
.8347   -.9001   .9419
.8080   -.8980   .9375
.7734   -.8945   .9307
.7336   -.8889   .9212
.6919   -.8807   .9090
.6513   -.8694   .8940
.6147   -.8544   .8761
.5842   -.8354   .8555
.5615   -.8124   .8322
.5470   -.7852   .8063
.5405   -.7540   .7779
.5409   -.7189   .7468
.5467   -.6803   .7134
.5558   -.6386   .6773
.5661   -.5941   .6389
.5753   -.5473   .5981
.5815   -.4991   .5553
.5829   -.4498   .5108
.5783   -.4003   .4653
.5670   -.3514   .4194
.5484   -.3040   .3739
.5222   -.2587   .3295
.4886   -.2160   .2868
.4476   -.1765   .2461
.3998   -.1401   .2077
.3455   -.1068   .1713
.2853   -.0757   .1363
.2201   -.0461   .1021
.1508   -.0170   .0676
.0785   .0129   .0317
.0046   .0449   -.0064
-.0692   .0800   -.0475
-.1412   .1187   -.0922
-.2098   .1616   -.1404
-.2732   .2086   -.1918
-.3298   .2592   -.2457
-.3784   .3125   -.3009
-.4181   .3674   -.3565
-.4484   .4225   -.4110
-.4693   .4766   -.4634
-.4814   .5284   -.5126
-.4855   .5771   -.5581
-.4829   .6219   -.5997
-.4753   .6625   -.6370
-.4646   .6987   -.6705
-.4527   .7308   -.7005
-.4417   .7592   -.7277
-.4336   .7843   -.7525
-.4303   .8063   -.7755
-.4334   .8257   -.7970
-.4440   .8427   -.8171
-.4629   .8574   -.8360
-.4902   .8698   -.8536
-.5253   .8801   -.8698
-.5671   .8882   -.8846
-.6138   .8943   -.8977
-.6629   .8984   -.9092
-.7118   .9010   -.9191
-.7575   .9024   -.9273
-.7970   .9029   -.9340
-.8278   .9028   -.9390
-.8478   .9024   -.9425
-.8557   .9019   -.9443
-.8512   .9012   -.9442
-.8349   .8999   -.9421
-.8082   .8978   -.9377
-.7736   .8943   -.9309
-.7337   .8888   -.9214
-.6920   .8805   -.9092
-.6514   .8692   -.8942
-.6148   .8542   -.8763
-.5844   .8353   -.8557
-.5617   .8122   -.8324
-.5472   .7850   -.8065
-.5407   .7538   -.7781
-.5411   .7188   -.7470
-.5469   .6802   -.7135
-.5560   .6384   -.6775
-.5663   .5939   -.6390
-.5755   .5472   -.5982
-.5816   .4989   -.5554
-.5830   .4496   -.5109
-.5785   .4002   -.4655
-.5671   .3513   -.4196
-.5485   .3038   -.3740
-.5224   .2585   -.3297
-.4887   .2159   -.2869
-.4478   .1763   -.2463
-.4000   .1400   -.2079
-.3456   .1066   -.1714
-.2855   .0756   -.1365
-.2203   .0460   -.1022
-.1509   .0169   -.0677
-.0786   -.0130   -.0318
-.0047   -.0450   .0062
.0690   -.0801   .0474
.1411   -.1188   .0921
.2097   -.1617   .1403
.2731   -.2088   .1917

a] number of back-emf samples: 500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> c

a) PWM frequency: 30kHz
b) deadtime: 966ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu

------> a

new value -> 20

a) PWM frequency: 20kHz
b) deadtime: 966ns
c) dutycycle testsignal: 33%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> f

a) calibrate throttle 1
z) return to main menu

------> a

 close or hold slight open throttle 1 for offset measurement
 press any key to begin measurement
 measured voltage: 824 mV

 fully open throttle 1
 press any key to begin measurement
 measured voltage: 4266 mV

a) calibrate throttle 1
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> g
n) motor standstill voltage threshold: 319.99 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 10 Hz
q) low side pulsing width: 2184 usec
z) return to main menu

------> n
new value -> 5
n) motor standstill voltage threshold: 319.99 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 10 Hz
q) low side pulsing width: 2184 usec
z) return to main menu

------> n
new value -> 100
n) motor standstill voltage threshold: 319.99 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 10 Hz
q) low side pulsing width: 2184 usec
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
z) return to main menu

------> z

a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
f) throttle setup
g) running modes
z) store parameters in EEPROM for motor use

------> [00]

[Lebowski]

the standby voltage threshold is kind of a safety. As long as the motor is spinning so fast
that the back-emf is above the threshold, it will stick in drive_0. Same with the throttle, as
long as the throttle is not closed in will stay in drive_0.

I saw you entered 500 and 100 for the standby voltage. Have a look at the manual, it explains
the variable and its function. Long strory short, the controller expects a value of something like
0.5 or 1 , not all the way in the 100 to 500 range... I always use 0.5

The pulses you're seeing is the 'low side pulsing' option of menu g, which you have turned on.
This is correct, it must be turned on for your type of gate drivers. I would reduce the pulse
time (option q) to 20 usec though.

Watch out, the dressed down version you're using has a speed throttle and runs like cr@p, it's
nowhere near the real thing.

[Arlo1]

Also tried one of the good chips. With no luck on push start or sensored start. Not sure what Im missing. This power stage did drive my motor this winter...

Code: Select all































########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> a

a] number of e-rotations: 65535
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> a
new value -> 26

a] number of e-rotations: 26
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26

a] number of e-rotations: 26
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> c

hall 1, hall 2, hall 3
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   .5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
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-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
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-.5000   -.5200   -.5400
-.5000   -.5200   -.5400
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-.5000   -.5200   -.5400
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-.5000   -.5200   .5400
-.5000   -.5200   .5400
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-.5000   -.5200   .5400
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-.5000   -.5200   .5400
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-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
-.5000   -.5200   .5400
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.5000   -.5200   .5400
.5000   -.5200   .5400
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.5000   -.5200   .5400
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.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   -.5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   .5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400
.5000   .5200   -.5400


a] number of e-rotations: 26
b] calibrate hall positions
c] table out hall signals
z] return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> c

a) PWM frequency: 0kHz
b) deadtime: 8499ns
c) dutycycle testsignal: 50%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu

------> a

new value -> 20

a) PWM frequency: 20kHz
b) deadtime: 8499ns
c) dutycycle testsignal: 4369%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu

------> b]

new value -> 1500

a) PWM frequency: 20kHz
b) deadtime: 1499ns
c) dutycycle testsignal: 4369%
d) toggle high side polarity, now active HIGH
e) toggle low side polarity, now active HIGH
f) test PWM signals
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> b]

a] number of back-emf samples: 65535
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> a
new value -> 1500

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement

 Waiting for motor to slow down
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture failed

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> b]

Spin the motor then press any key to start measurement
 Sampling...

 coil position capture successfull
 data arrays now contain sampled back-emf waveforms

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
-.7888   -.2654   .2332
-.7778   -.3241   .2944
-.7778   -.3848   .3522
-.7559   -.5086   .4731
-.7559   -.5526   .5192
-.7230   -.5950   .5646
-.7011   -.6375   .6086
-.7121   -.6811   .6507
-.7121   -.7244   .6892
-.7340   -.7625   .7232
-.7230   -.7958   .7540
-.7340   -.8220   .7774
-.7121   -.8422   .7979
-.7340   -.8609   .8162
-.7121   -.8775   .8338
-.7340   -.8926   .8540
-.7121   -.9085   .8719
-.7011   -.9255   .8880
-.6792   -.9354   .9012
-.7011   -.9418   .9107
-.6902   -.9426   .9210
-.5587   -.7744   .7602
-.6683   -.9390   .9353
-.6463   -.9374   .9444
-.6354   -.9394   .9539
-.6244   -.9422   .9583
-.6244   -.9382   .9576
-.6244   -.9338   .9550
-.6135   -.9287   .9547
-.6135   -.9239   .9558
-.6244   -.9239   .9558
-.6135   -.9259   .9495
-.6573   -.9267   .9400
-.6683   -.9204   .9243
-.6683   -.9093   .9045
-.6792   -.8914   .8807
-.6792   -.8735   .8587
-.6792   -.8513   .8349
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-.6683   -.2769   .3160
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-.9202   .7629   -.8298
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-.9202   .7938   -.8726
-.9312   .8081   -.8917
-.9202   .8224   -.9085
-.9312   .8390   -.9250
-.9421   .8497   -.9396
-.9531   .8565   -.9517
-.9750   .8577   -.9631
-.9750   .8529   -.9711
-.9860   .8486   -.9803
-.9969   .8505   -.9876
-.9969   .8561   -.9938
-.9969   .8668   -.9975
-.9860   .8676   -.9949
-.9969   .8652   -.9924
-.9860   .8644   -.9891
-.9750   .8660   -.9854
-.9860   .8680   -.9792
-.9750   .8688   -.9704
-.9860   .8660   -.9576
-.9750   .8557   -.9411
-.9421   .8394   -.9210
-.9531   .8208   -.8994
-.9312   .8009   -.8785
-.9202   .7795   -.8565
-.9312   .7569   -.8345
-.9202   .7299   -.8060
-.9202   .6934   -.7734
-.9312   .6597   -.7437
-.8983   .6192   -.7089
-.9312   .5558   -.6540
-.9202   .4967   -.5972
-.9312   .4502   -.5566
-.9312   .4074   -.5130
-.9312   .3630   -.4676
-.8874   .3201   -.4182
-.9202   .2733   -.3713
-.8983   .2273   -.3273
-.8983   .1860   -.2860
-.8874   .1511   -.2471
-.8983   .1194   -.2113
-.8545   .0896   -.1746
-.8107   .0614   -.1395
-.8107   .0325   -.1021
-.8216   -.0027   -.0666
-.7888   -.0372   -.0285
-.7888   -.0722   .0098
-.7888   -.1047   .0490
-.7888   -.1404   .0853
-.7888   -.1745   .1256
-.7888   -.2134   .1695

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> c

 data arrays now contain reconstructed back-emf waveforms

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> d

data A, data B, data C
.2320   -.2458   .2880
.2859   -.2989   .3434
.3399   -.3541   .3992
.3913   -.4102   .4539
.4365   -.4660   .5067
.4726   -.5203   .5564
.4970   -.5720   .6023
.5086   -.6202   .6440
.5077   -.6639   .6811
.4965   -.7028   .7135
.4788   -.7368   .7417
.4591   -.7656   .7659
.4426   -.7897   .7867
.4341   -.8094   .8046
.4374   -.8253   .8204
.4546   -.8378   .8344
.4860   -.8476   .8471
.5301   -.8554   .8590
.5836   -.8614   .8703
.6422   -.8663   .8810
.7011   -.8703   .8911
.7557   -.8738   .9006
.8023   -.8769   .9094
.8380   -.8797   .9172
.8618   -.8823   .9237
.8736   -.8847   .9286
.8748   -.8870   .9318
.8670   -.8889   .9331
.8524   -.8905   .9322
.8329   -.8912   .9289
.8100   -.8910   .9234
.7846   -.8894   .9152
.7571   -.8858   .9045
.7276   -.8797   .8911
.6963   -.8706   .8751
.6636   -.8578   .8563
.6302   -.8407   .8346
.5977   -.8189   .8099
.5680   -.7921   .7822
.5431   -.7601   .7513
.5249   -.7230   .7174
.5149   -.6813   .6803
.5134   -.6354   .6404
.5197   -.5861   .5979
.5317   -.5345   .5533
.5462   -.4817   .5073
.5594   -.4288   .4605
.5673   -.3770   .4137
.5661   -.3273   .3676
.5532   -.2807   .3230
.5270   -.2376   .2804
.4877   -.1984   .2400
.4370   -.1631   .2019
.3774   -.1313   .1659
.3125   -.1024   .1315
.2462   -.0754   .0979
.1812   -.0493   .0644
.1201   -.0229   .0299
.0638   .0050   -.0063
.0120   .0354   -.0453
-.0363   .0693   -.0875
-.0832   .1072   -.1331
-.1307   .1493   -.1820
-.1801   .1956   -.2340
-.2321   .2457   -.2881
-.2860   .2988   -.3435
-.3401   .3540   -.3993
-.3914   .4101   -.4540
-.4367   .4660   -.5068
-.4727   .5202   -.5565
-.4971   .5719   -.6024
-.5087   .6200   -.6441
-.5078   .6638   -.6812
-.4967   .7027   -.7136
-.4789   .7367   -.7418
-.4592   .7655   -.7660
-.4427   .7897   -.7868
-.4342   .8093   -.8047
-.4375   .8252   -.8204
-.4547   .8377   -.8345
-.4861   .8475   -.8472
-.5302   .8552   -.8591
-.5837   .8613   -.8703
-.6423   .8662   -.8810
-.7012   .8703   -.8912
-.7559   .8737   -.9007
-.8023   .8768   -.9095
-.8381   .8796   -.9172
-.8619   .8822   -.9237
-.8737   .8846   -.9288
-.8749   .8869   -.9320
-.8671   .8887   -.9332
-.8526   .8903   -.9324
-.8331   .8910   -.9291
-.8102   .8908   -.9235
-.7848   .8892   -.9154
-.7572   .8856   -.9046
-.7278   .8795   -.8913
-.6965   .8704   -.8753
-.6637   .8576   -.8565
-.6304   .8405   -.8348
-.5979   .8187   -.8101
-.5681   .7919   -.7824
-.5432   .7599   -.7515
-.5251   .7229   -.7175
-.5151   .6811   -.6805
-.5136   .6352   -.6405
-.5198   .5860   -.5980
-.5318   .5343   -.5534
-.5463   .4815   -.5074
-.5595   .4286   -.4606
-.5674   .3768   -.4138
-.5663   .3272   -.3678
-.5533   .2805   -.3232
-.5271   .2374   -.2806
-.4879   .1982   -.2402
-.4371   .1629   -.2020
-.3776   .1311   -.1660
-.3127   .1022   -.1316
-.2463   .0753   -.0981
-.1813   .0491   -.0645
-.1202   .0227   -.0300
-.0639   -.0051   .0062
-.0121   -.0355   .0452
.0362   -.0694   .0874
.0831   -.1073   .1330
.1306   -.1494   .1819
.1800   -.1957   .2338

a] number of back-emf samples: 1500
b] calibrate coil positions
c] reconstruct waveforms based on extracted parameters
d] table out data arrays
z] return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> d

a) number of current sensors: 3
b) current sensor transimpedance: 255.99 mV/A
c) maximum motor phase current: 52.0 A
d) maximum battery current, motor use: 52.0 A
e) maximum battery current, regen: 52.0 A
f) maximum shutdown error current, fixed: 52.0 A
g) maximum shutdown error current, proportional: 52.0 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> d
new value -> 20

a) number of current sensors: 3
b) current sensor transimpedance: 255.99 mV/A
c) maximum motor phase current: 52.0 A
d) maximum battery current, motor use: 19.9 A
e) maximum battery current, regen: 52.0 A
f) maximum shutdown error current, fixed: 52.0 A
g) maximum shutdown error current, proportional: 52.0 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> er
new value -> 20

a) number of current sensors: 3
b) current sensor transimpedance: 255.99 mV/A
c) maximum motor phase current: 52.0 A
d) maximum battery current, motor use: 19.9 A
e) maximum battery current, regen: 19.9 A
f) maximum shutdown error current, fixed: 52.0 A
g) maximum shutdown error current, proportional: 52.0 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> b
new value -> 12.5

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 1066.8 A
d) maximum battery current, motor use: 409.5 A
e) maximum battery current, regen: 409.5 A
f) maximum shutdown error current, fixed: 1066.8 A
g) maximum shutdown error current, proportional: 1066.8 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> c
new value -> 90

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 409.5 A
e) maximum battery current, regen: 409.5 A
f) maximum shutdown error current, fixed: 1066.8 A
g) maximum shutdown error current, proportional: 1066.8 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> d
new value -> 30

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 29.9 A
e) maximum battery current, regen: 409.5 A
f) maximum shutdown error current, fixed: 1066.8 A
g) maximum shutdown error current, proportional: 1066.8 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> e
new value -> 30

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 29.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 1066.8 A
g) maximum shutdown error current, proportional: 1066.8 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> f
new value -> 30

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 29.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 29.9 A
g) maximum shutdown error current, proportional: 1066.8 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> f
new value -> 3

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 29.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 2.9 A
g) maximum shutdown error current, proportional: 1066.8 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> g
new value -> 3

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 29.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 2.9 A
g) maximum shutdown error current, proportional: 2.9 A
h) IIR filter coefficient: 65535
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> hu
new value -> 5

a) number of current sensors: 3
b) current sensor transimpedance: 12.50 mV/A
c) maximum motor phase current: 89.9 A
d) maximum battery current, motor use: 29.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 2.9 A
g) maximum shutdown error current, proportional: 2.9 A
h) IIR filter coefficient: 5
i) use additional comb filter: YES
j) use offset calibration: YES
k) restore default calibration
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> e

a) loop sample frequency: 0.45 kHz
b) 1st order phase loop integrator coefficient: 65535.9999
c) 2nd order phase loop integrator coefficient: 65535.9999
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 200 %
z) return to main menu

------> a
new value -> 45

a) loop sample frequency: 45.04 kHz
b) 1st order phase loop integrator coefficient: 65535.9999
c) 2nd order phase loop integrator coefficient: 65535.9999
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 200 %
z) return to main menu

------> e
new value -> 100

a) loop sample frequency: 45.04 kHz
b) 1st order phase loop integrator coefficient: 65535.9999
c) 2nd order phase loop integrator coefficient: 65535.9999
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 100 %
z) return to main menu

------> b
new value -> 12.8

a) loop sample frequency: 45.04 kHz
b) 1st order phase loop integrator coefficient: 12.7999
c) 2nd order phase loop integrator coefficient: 65535.9999
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 100 %
z) return to main menu

------> c
new value -> .0709

a) loop sample frequency: 45.04 kHz
b) 1st order phase loop integrator coefficient: 12.7999
c) 2nd order phase loop integrator coefficient: 0.0708
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 100 %
z) return to main menu

------> d
new value -> 3

a) loop sample frequency: 45.04 kHz
b) 1st order phase loop integrator coefficient: 12.7999
c) 2nd order phase loop integrator coefficient: 0.0708
d) amplitude loop integrator coefficient: 3.0000
e) maximum amplitude: 100 %
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> f

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: YES
   receive throttle over CAN: NO
g) TX throttle over CAN: YES
h) test throttle
z) return to main menu

------> a

 close or hold slight open throttle 1 for offset measurement
 press any key to begin measurement
 measured voltage: 833 mV

 fully open throttle 1
 press any key to begin measurement
 measured voltage: 4267 mV

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: YES
   receive throttle over CAN: NO
g) TX throttle over CAN: YES
h) test throttle
z) return to main menu

------> hu
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
|   1               2 F -                   X                   +
|       1           2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|         1         2 F -                   X                   +
|                 1 2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                   2 F -                   X                   +
|                  12 F -                   X                   +
|                1  2 F -                   X                   +
|                1  2 F -                   X                   +
|                1  2 F -                   X                   +
|                1  2 F -                   X                   +
|                1  2 F -                   X                   +
|                1  2 F -                   X                   +
|           1       2 F -                   X                   +
|           1       2 F -                   X                   +
|           1       2 F -                   X                   +
|           1       2 F -                   X                   +
|           1       2 F -                   X                   +
|           1       2 F -                   X                   +
|           1       2 F -                   X                   +
|          1        2 F -                   X                   +
|     1             2 F -                   X                   +
|     1             2 F -                   X                   +
|     1             2 F -                   X                   +
|     1             2 F -                   X                   +
|     1             2 F -                   X                   +
|     1             2 F -                   X                   +
|    1              2 F -                   X                   +
|1                  2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +
1                   2 F -                   X                   +

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: YES
   receive throttle over CAN: NO
g) TX throttle over CAN: YES
h) test throttle
z) return to main menu

------> f

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
   receive throttle over CAN: NO
g) TX throttle over CAN: YES
h) test throttle
z) return to main menu

------> g

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
d) polynomial coefficients throttle 2 (x, x^2, x^3): -0.0002, -0.0002, -0.0002
e) use analog throttle 1: YES
f) use analog throttle 2: NO
   receive throttle over CAN: NO
g) TX throttle over CAN: NO
h) test throttle
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> g

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 38461
d} e-rpm reached before transition: 100 %
e} minimum current push start: 0.0 A
f} push start current, error allowed: 0 %
g] erpm sensored to sensorless transition: 107
h] transition time sensored to sensorless: 55705 milli-sec
i) return to motor start below 107 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 0.0 A
l) motor maximum, forward: 230.87 k-erpm
m) motor maximum, reverse: 230.87 k-erpm
n) motor standstill voltage threshold: 319.99 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 0 Hz
q) low side pulsing width: 2184 usec
z) return to main menu

------> kg
new value -> 60

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 38461
d} e-rpm reached before transition: 100 %
e} minimum current push start: 0.0 A
f} push start current, error allowed: 0 %
g] erpm sensored to sensorless transition: 107
h] transition time sensored to sensorless: 55705 milli-sec
i) return to motor start below 107 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 59.9 A
l) motor maximum, forward: 230.87 k-erpm
m) motor maximum, reverse: 230.87 k-erpm
n) motor standstill voltage threshold: 319.99 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 0 Hz
q) low side pulsing width: 2184 usec
z) return to main menu

------> p
new value -> 20

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 38461
d} e-rpm reached before transition: 100 %
e} minimum current push start: 0.0 A
f} push start current, error allowed: 0 %
g] erpm sensored to sensorless transition: 107
h] transition time sensored to sensorless: 55705 milli-sec
i) return to motor start below 107 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 59.9 A
l) motor maximum, forward: 230.87 k-erpm
m) motor maximum, reverse: 230.87 k-erpm
n) motor standstill voltage threshold: 319.99 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 2184 usec
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> z

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> a

 Data stored in EEPROM for motor use

a) write variables to EEPROM
b] reverse direction and write variables to EEPROM
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> hu

a) CAN 'address': 16383
b) CAN CFG1 as per Microchip 30F manual: 65535
c) CAN CFG2 as per Microchip 30F manual: 65535
   RS232 output rate: 3753 Hz
z) return to main menu

------> z

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.01                        #
#  experimental, use at your own risk  #
########################################


a] calibrate hall sensors
b] determine coil positions
c) PWM parameters
d) current settings
e) control loop parameters
f) throttle setup
g) running modes
h) CAN bus setup
z) store parameters in EEPROM for motor use

------> [00]

[Arlo1]

the standby voltage threshold is kind of a safety. As long as the motor is spinning so fast
that the back-emf is above the threshold, it will stick in drive_0. Same with the throttle, as
long as the throttle is not closed in will stay in drive_0.

I saw you entered 500 and 100 for the standby voltage. Have a look at the manual, it explains
the variable and its function. Long strory short, the controller expects a value of something like
0.5 or 1 , not all the way in the 100 to 500 range... I always use 0.5

The pulses you're seeing is the 'low side pulsing' option of menu g, which you have turned on.
This is correct, it must be turned on for your type of gate drivers. I would reduce the pulse
time (option q) to 20 usec though.

Watch out, the dressed down version you're using has a speed throttle and runs like cr@p, it's
nowhere near the real thing.

OK thanks I will try again after lunch I left the throttle closed so that will possibly be part of it. Next time I will calibrate it with the throttle slightly open. I will try to change the standby voltage too. Thanks man.

[Lebowski]

OK thanks I will try again after lunch I left the throttle closed so that will possibly be part of it. Next time I will calibrate it with the throttle slightly open. I will try to change the standby voltage too. Thanks man.

No, you can leave the throttle in any position during calibration of halls and backemf. When you
use the chip in motor mode though the throttle must be closed or it will stay in drive_0, for safety reasons

[Arlo1]

I meen i calibrated the throttle with it fully closed and fully open so if i calibrate it slightly open and fullly open it will be under the voltage when fully closed.

[Lebowski]

I meen i calibrated the throttle with it fully closed and fully open so if i calibrate it slightly open and fullly open it will be under the voltage when fully closed.

yep, correct

[Arlo1]

OK so I had it spin the motor kinda.... Now the chip is getting stuck in motor mode or program mode.... As of right now its stuck in program mode with nothing touching the program or reset jumpers....

Ok edit. I found what seems to be if the coils are not calibrated it will not go to run mode. I recalibrated them and set all the other perameters and got it to turn colossus. Its very rough and misses so now I have some reading to understand what I need to adjust.
On of my problems is I tried everything under the sun to get it into program mode and all that seems to work is pushing the program and reset buttongs at the same time and pushing the enter button on the computer then after about 10-20 tries it will pop into program mode. But the problem with this is it scrambles the settings I have entered and I need to reprogram it from scratch incl the halls and coils some times.... SO here is the settings im at and how it looks on video. Its a great Canada day I got it turn colossus and now Im going to celibrate our usless queen who wastes tax payers money for no reason (she realy does nothign for our country) and I will celibrate all the crap I dont belive in lol. But I am realy happy for my electric future with all of you
Thanks for all your help so far lebowski. Im almost there. I can tell you 2 things that need to be worked on for the end user and 1 is getting the chip to enter programing mode. 2 is getting it to read motor coild posistions its realy not easy to do either for me.

[Lebowski]

I see you're now using the proper controller IC ? Since your video shows a blinking LED I'm assuming this
is the drive_1 LED, there's no drive_0 LED ? Can you post all the settings of all the menus ? Are you using v1.00
or v1.01 ?

The best sequence for going into program mode is to press and hold reset, press and hold setup, release
reset, release setup. (if you press setup while its in motor mode it will flash all LED's and store the current
sensor calibration data, but only for the v1.01 chips). I'm still wondering whether the problem lies with your
computer (or better said: windows). What we can try here is to use Ubuntu Linux. If you want I can make
a bootable memory stick for you and mail it (will cost a small amount of $ to buy a 4 GB stick, or you can
mail me one). Then you would need to go into the bios of your computer and make it such that it will boot
from USB before booting from harddisk. The computer will then run Ubuntu of the stick without touching
your hard drive. I could then also put the program on which captures the real-time data of the controller
while it is running, to get data like in this post

viewtopic.php?f=30&t=36602&start=90#p546422

That it forgets or scrambles all the settings, this should definately not happen. Can you check the 5V power
supply? I've noticed that if it's too low you can get this sort of thing, I use slightly higher than 5 (I use 5.2V).
Also, after you calibrate halls and backemf, and save it to EEPROM, you don't have to calibrate these again.
The chip will remember the settings when you write them to EEPROM. It does not wipe out the settings when
you enter / leave programming mode several times. You can also just change a single setting, the old calibration
data will be remembered. It basically reads the EEPROM on every startup, whether its motor or setup mode.

If you're using v1.01, it's very important you select option k of menu d, and save to EEPROM afterwards. Without
this it's not going to work (but this is mentioned in the manual)

[Miles]

Lebowski,

What is the maximum commutation frequency your controller IC can handle, in unsensored mode?

[Lebowski]

Lebowski,

What is the maximum commutation frequency your controller IC can handle, in unsensored mode?

The only answer I can give is: I don't know but very high.

At the moment the chip can take measurements, calculate everything and update the PWM dutycycle
a 100k times / sec . To properly output this you need 50kHz PWM (with 100k updates it will then individually
place every rising and falling edge of the PWM signal). And you need gate drivers etc that can handle 50k PWM.

How many samples in a sine-wave do you think a motor needs to run good ? A typical hall sensored uses only
6 point per e-rotation but I think something like 30 or higher is more realistic for the calculation. This would
give 60 * 100k / 30 = 200k e-rpm. I have never run at these speeds though, the max I did was 80 k-erpm but
with only 40k updates/sec (21 kHz PWM) (so also using 30 points per sinewave)

By the way, even if you use hall sensors, the chip switches automatically into sensorless when it gets over
a few 100 e-rpm.

[Miles]

Great! 1300Hz (78,000 erpm) is the maximum that I need.