Lebowski's motor controller IC, schematic & setup, new v2.A1

[Jeremy Harris]

.... I'd be afraid to blow the FET drivers though. A simple controller
probably only PWM's the high side, not the low side. I PWM both, I don't know if the standard china FET drivers
for the low side can take this as they;re not build for it. Also, at high signal levels (high speed) the on-time
becomes very short, if this gets shorter than the switch on/off time of the gate drivers, I don't know what
will happen then but it ain't going to be pretty I think.

I can confirm that this is probably the case for both the Xiachang (e-crazyman, Lyen, cell_man, some Crystalyte) and Wuxi (Greentime, KU series, Hua Tong etc) controllers. Both of these use near-identical gate drive circuits and only PWM one side. The drivers most probably aren't OK if PWM's on both sides, looking at the circuits.

 

[circuit]

They are very spectacular if PWM'ed at low duty with load (stalled/accelerating from stop). By 'spectacular' I mean they blow up nicely. The reason I believe is their terribly slow switching, which produces too high losses at low duties. I was tired of replacing blown fets, so simply ditched original drivers and installed proper ones.

 

[Burtie]

just succesfully had the controller IC measure a motor inductance (result: 6.5 uH, my 5 wind RC motor)

Thats pretty neat man !

What will you use the inductance information for in your controller, -is it to help with the sensorless position estimation ?

 

[Lebowski]

just succesfully had the controller IC measure a motor inductance (result: 6.5 uH, my 5 wind RC motor)

Thats pretty neat man !

What will you use the inductance information for in your controller, -is it to help with the sensorless position estimation ?

something like that

 

[circuit]

just succesfully had the controller IC measure a motor inductance (result: 6.5 uH, my 5 wind RC motor)

Measurement sounds pretty close (Y?). Please keep us informed how you will succeed with this motor.

 

[Arlo1]

I have a problem or two. After fixing everything I tried to get it all up and running and found once I get drive 1 I twist the throttle and it goes back to drive 0 instanly then back to drive one when I let go of the throttle.
I measured the voltage from the regulator and and bumped it from 5 to 5.4v to get everything else working but I test the controller side of the 10ohm resistor pin and its at 4.46v while the other side of the resistor is 5.4v so I'm getting .96v drop across a 10ohm resistor...... Is it possible the chip is shorted inside? I have 2 chips both doing the same thing and one of them lost all its settings while I was working on this.
Here is my halls I just replaced them and realized maybe one should be in 180deg???
I also tried sensorless self start and sensorless push start and they both just stay in drive 0 and some times the drive 0 led just flashes.
Can this run?

-0.5	-0.52	-0.54
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[Lebowski]

sounds like something has blown up again somewhere. The
hall pattern should work fine, it's not sensitive to that once
calibrated. Make sure there's no little blobs of solder somewhere.
To check if the ADC's are working, try the testfunction in the
throttle menu.
Not coming out of drive 0 means the voltage from the motor
(via resistors/diodes) where it goes into the chip is not close
to 2.5V. If drive 0 flashes on/off, but not because its going to drive1
but just on/off, then the chip keeps resetting itself (probably due
to a dip in the 5V supply)

 

[Arlo1]

Got it running again. It was the 10ohm resistor for the brain power decided to become a 7,000 ohm resistor lol. Lebowski have you ever scoped your current sensors??

 

[Lebowski]

The manual in the first post has been updated to version 1.1 and explains the additional menu for FOC (and some other small changes)

 

[Arlo1]

The manual in the first post has been updated to version 1.1 and explains the additional menu for FOC (and some other small changes)

Cool so what does this meen for how it will run a motor?

 

[Lebowski]

The manual in the first post has been updated to version 1.1 and explains the additional menu for FOC (and some other small changes)

Cool so what does this meen for how it will run a motor?

In practise I don't think it will be noticably different but it'd be cool to see two different dyno runs...

 

[Arlo1]

The manual in the first post has been updated to version 1.1 and explains the additional menu for FOC (and some other small changes)

Cool so what does this meen for how it will run a motor?

In practise I don't think it will be noticably different but it'd be cool to see two different dyno runs...

Ill see what I can do.....

 

[Arlo1]

Just about done after rebuilding everthing.
Whats the thing about Option C "c] use only fundamental sine waves"
IN the coil posistion menu?

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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> l 


  default values restored


a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> e 

a) loop sample frequency: 38.01 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 -> 32.326135 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
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 -> .106480 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 100 %
z) return to main menu

------> d 
new value -> 1.33589 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 1.3357
e) maximum amplitude: 100 %
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
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): 1.0000, 0.0000, 0.0000
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

------> a 

 close or hold slight open throttle 1 for offset measurement
 press any key to begin measurement
 measured voltage: 1134 mV

 fully open throttle 1
 press any key to begin measurement
 measured voltage: 4366 mV

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
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

------> h 
2                   1 F -                   0                   X
2                   | F -                   X                   +
2                   | F -                   X                   +
2                   | F -                   0X                  +
21                  | F -                   0X                  +
2 1                 | F -                   0 X                 +
2 1                 | F -                   0  X                +
2  1                | F -                   0  X                +
2   1               | F -                   0   X               +
2     1             | F -                   0     X             +
2      1            | F -                   0      X            +
2      1            | F -                   0      X            +
2       1           | F -                   0       X           +
2        1          | F -                   0        X          +
2        1          | F -                   0        X          +
2         1         | F -                   0         X         +
2          1        | F -                   0          X        +
2          1        | F -                   0          X        +
2           1       | F -                   0           X       +
2            1      | F -                   0           X       +
2            1      | F -                   0            X      +
2             1     | F -                   0             X     +
2             1     | F -                   0             X     +
2              1    | F -                   0              X    +
2               1   | F -                   0              X    +
2               1   | F -                   0               X   +
2                1  | F -                   0                X  +
2                 1 | F -                   0                 X +
2                   1 F -                   0                  X+
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                 1 | F -                   0                X  +
2                1  | F -                   0                X  +
2               1   | F -                   0               X   +
2              1    | F -                   0              X    +
2              1    | F -                   0              X    +
2             1     | F -                   0             X     +
2             1     | F -                   0             X     +
2             1     | F -                   0            X      +
2            1      | F -                   0            X      +
2          1        | F -                   0          X        +
2          1        | F -                   0          X        +
2         1         | F -                   0         X         +
2        1          | F -                   0        X          +
2       1           | F -                   0       X           +
2      1            | F -                   0      X            +
2     1             | F -                   0     X             +
2    1              | F -                   0    X              +
2    1              | F -                   0    X              +
2   1               | F -                   0   X               +
2 1                 | F -                   0  X                +
21                  | F -                   0 X                 +
2                   | F -                   0X                  +
2                   | F -                   X                   +

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
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 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> b 

a] number of back-emf samples: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> e 

data A, data B, data C
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9899	.9884	.9824
.9899	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9884	.9839	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9809
.9899	.9869	.9824
.9899	.9869	.9809
.9914	.9854	.9809
.9899	.9869	.9809
.9899	.9854	.9794
.9869	.9869	.9809
.9884	.9869	.9809
.9914	.9884	.9824
.9884	.9869	.9809
.9899	.9869	.9809
.9899	.9869	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9869	.9854	.9809
.9899	.9869	.9809
.9869	.9869	.9809
.9869	.9869	.9809
.9899	.9869	.9809
.9884	.9869	.9809
.9899	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9809
.9869	.9854	.9794
.9899	.9869	.9824
.9869	.9824	.9794
.9869	.9854	.9809
.4949	.4919	.4904
.4949	.4919	.4904
.9884	.9884	.9824
.9914	.9884	.9824
.9869	.9839	.9779
.9899	.9854	.9794
.9914	.9869	.9809
.9884	.9854	.9809
.9869	.9869	.9809
.9914	.9854	.9809
.9899	.9869	.9809
.9899	.9884	.9824
.9899	.9869	.9809
.9884	.9854	.9794
.9899	.9869	.9809
.9869	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9899	.9869	.9809
.9884	.9854	.9794
.9869	.9869	.9809
.9869	.9869	.9809
.9899	.9854	.9809
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9869	.9869	.9809
.9929	.9869	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9914	.9869	.9809
.9899	.9869	.9809
.9884	.9839	.9809
.9899	.9869	.9809
.9914	.9854	.9809
.9884	.9854	.9809
.9899	.9854	.9809
.9914	.9869	.9809
.9884	.9839	.9809
.9884	.9854	.9794
.9884	.9869	.9809
.9884	.9854	.9809
.9914	.9869	.9809
.9884	.9854	.9809
.9869	.9824	.9794
.9899	.9869	.9809
.9884	.9869	.9809
.9869	.9839	.9794
.9899	.9869	.9809
.9899	.9869	.9824
.9869	.9869	.9809
.9869	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9794
.9884	.9869	.9824
.9869	.9839	.9794
.9899	.9869	.9809
.9884	.9869	.9809
.9884	.9839	.9809
.9884	.9869	.9809
.9899	.9854	.9794
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9914	.9869	.9809
.9899	.9869	.9809
.9899	.9869	.9809
.9899	.9839	.9794
.9899	.9854	.9809
.9899	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9899	.9854	.9794
.9884	.9869	.9809
.9899	.9854	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.7402	.7387	.7357

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

------> a 
new value -> 1000 

a] number of back-emf samples: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> a 
new value -> ]50 

a] number of back-emf samples: 4550
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> e 

data A, data B, data C
.3530	.8656	.9235
.3530	.8791	.9093
.3530	.8926	.8958
.3522	.9029	.8815
.3522	.9156	.8656
.3530	.9251	.8513
.3522	.9323	.8299
.3522	.9362	.8037
.3530	.9394	.7760
.3530	.9426	.7466
.3530	.9473	.7172
.3522	.9529	.6903
.3507	.9569	.6617
.3515	.9584	.6339
.3499	.9561	.6038
.3507	.9521	.5728
.3522	.9513	.5419
.3499	.9489	.5117
.3491	.9465	.4840
.3499	.9442	.4602
.3491	.9410	.4371
.3507	.9362	.4181
.3507	.9267	.3943
.3586	.9156	.3665
.3760	.9196	.3554
.4006	.9275	.3522
.4292	.9402	.3515
.4562	.9481	.3522
.4848	.9521	.3522
.5181	.9537	.3522
.5514	.9561	.3522
.5879	.9600	.3522
.6212	.9640	.3530
.6546	.9656	.3522
.6847	.9648	.3522
.7141	.9608	.3515
.7434	.9577	.3522
.7728	.9553	.3530
.8005	.9537	.3522
.8251	.9521	.3522
.8466	.9489	.3530
.8640	.9434	.3530
.8759	.9307	.3515
.8878	.9164	.3515
.9013	.9021	.3522
.9124	.8886	.3530
.9227	.8735	.3522
.9299	.8537	.3507
.9386	.8307	.3530
.9402	.8029	.3515
.2412	.2023	.0872
.9418	.7744	.3515
.9450	.7474	.3522
.9489	.7180	.3522
.9521	.6879	.3515
.9553	.6585	.3507
.9577	.6323	.3515
.9553	.6006	.3499
.9537	.5697	.3491
.9513	.5395	.3499
.9513	.5117	.3507
.9481	.4840	.3491
.9442	.4594	.3499
.6990	.3332	.2618
.9299	.4173	.3499
.9180	.3935	.3499
.9069	.3689	.3546
.9085	.3570	.3681
.9212	.3554	.3943
.9307	.3554	.4189
.9378	.3546	.4459
.9410	.3530	.4736
.9434	.3530	.5046
.9481	.3546	.5395
.9537	.3546	.5736
.9577	.3530	.6046
.9624	.3538	.6371
.9616	.3538	.6665
.9608	.3538	.6958
.9584	.3538	.7244
.9584	.3554	.7553
.9577	.3538	.7831
.9569	.3538	.8109
.9561	.3538	.8331
.7077	.2650	.6307
.9505	.3538	.8720
.9410	.3530	.8862
.9283	.3522	.9013
.9172	.3538	.9156
.9021	.3530	.9291
.8854	.3530	.9410
.8664	.3530	.9497
.8426	.3546	.9561
.8085	.3530	.9584
.7783	.3522	.9600
.7442	.3530	.9648
.7109	.3515	.9703
.6768	.3499	.9727
.6466	.3522	.9751
.6125	.3515	.9711
.5792	.3507	.9680
.5458	.3499	.9680
.5165	.3522	.9664
.4871	.3499	.9616
.4602	.3507	.9577
.4340	.3507	.9481
.4070	.3499	.9346
.3816	.3522	.9227
.3641	.3618	.9172
.3554	.3816	.9219
.3530	.4094	.9307
.3530	.4364	.9378
.3530	.4689	.9450
.2650	.3665	.7077
.3530	.5125	.9481
.3522	.5284	.9458
.3522	.5689	.9505
.3522	.6038	.9545
.3522	.6347	.9569
.3522	.6641	.9577
.3530	.6942	.9577
.3507	.7228	.9545
.3522	.7521	.9537
.3515	.7815	.9521
.3530	.8101	.9505
.3522	.8323	.9481
.3522	.8545	.9418
.3522	.8696	.9346

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

------> d 

 data arrays now contain reconstructed back-emf waveforms

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

------> e 

data A, data B, data C
-.5577	.5234	.6500
-.5475	.5606	.6349
-.5453	.5879	.6117
-.5514	.6055	.5793
-.5643	.6154	.5376
-.5820	.6197	.4870
-.6014	.6213	.4288
-.6196	.6223	.3647
-.6340	.6250	.2971
-.6428	.6303	.2282
-.6455	.6383	.1598
-.6426	.6484	.0933
-.6356	.6592	.0296
-.6265	.6689	-.0309
-.6177	.6761	-.0890
-.6108	.6794	-.1450
-.6071	.6784	-.1997
-.6065	.6734	-.2538
-.6084	.6655	-.3074
-.6107	.6560	-.3604
-.6113	.6469	-.4120
-.6075	.6397	-.4610
-.5970	.6357	-.5065
-.5782	.6353	-.5469
-.5504	.6386	-.5812
-.5135	.6445	-.6090
-.4685	.6521	-.6302
-.4169	.6595	-.6452
-.3603	.6657	-.6550
-.3004	.6697	-.6607
-.2384	.6713	-.6639
-.1751	.6708	-.6656
-.1106	.6693	-.6667
-.0447	.6677	-.6677
.0226	.6676	-.6686
.0918	.6693	-.6691
.1622	.6735	-.6687
.2328	.6792	-.6669
.3017	.6851	-.6631
.3665	.6889	-.6574
.4244	.6883	-.6502
.4731	.6805	-.6420
.5104	.6637	-.6340
.5354	.6364	-.6274
.5483	.5986	-.6231
.5507	.5511	-.6219
.5453	.4956	-.6242
.5357	.4350	-.6298
.5258	.3720	-.6379
.5192	.3092	-.6476
.5186	.2490	-.6575
.5256	.1925	-.6663
.5402	.1400	-.6731
.5609	.0905	-.6772
.5851	.0425	-.6786
.6093	-.0057	-.6776
.6300	-.0565	-.6750
.6443	-.1108	-.6718
.6499	-.1693	-.6689
.6463	-.2315	-.6669
.6344	-.2958	-.6657
.6163	-.3600	-.6648
.5950	-.4211	-.6632
.5744	-.4763	-.6589
.5576	-.5234	-.6501
.5474	-.5608	-.6350
.5452	-.5879	-.6118
.5512	-.6056	-.5795
.5642	-.6155	-.5378
.5818	-.6198	-.4872
.6012	-.6213	-.4289
.6194	-.6224	-.3649
.6338	-.6250	-.2973
.6426	-.6304	-.2283
.6453	-.6384	-.1600
.6424	-.6485	-.0935
.6354	-.6593	-.0298
.6264	-.6690	.0308
.6175	-.6762	.0888
.6106	-.6795	.1449
.6069	-.6785	.1996
.6064	-.6735	.2537
.6082	-.6656	.3073
.6106	-.6561	.3603
.6111	-.6470	.4118
.6073	-.6398	.4609
.5969	-.6358	.5063
.5781	-.6355	.5467
.5502	-.6387	.5811
.5133	-.6447	.6089
.4683	-.6522	.6301
.4167	-.6597	.6451
.3601	-.6658	.6549
.3003	-.6699	.6606
.2383	-.6715	.6638
.1750	-.6710	.6655
.1105	-.6694	.6666
.0447	-.6679	.6676
-.0227	-.6677	.6685
-.0919	-.6695	.6691
-.1624	-.6736	.6687
-.2330	-.6793	.6668
-.3018	-.6852	.6630
-.3666	-.6891	.6573
-.4246	-.6884	.6501
-.4732	-.6807	.6419
-.5105	-.6638	.6339
-.5355	-.6366	.6273
-.5484	-.5988	.6229
-.5508	-.5512	.6218
-.5455	-.4958	.6241
-.5358	-.4352	.6296
-.5259	-.3721	.6377
-.5193	-.3094	.6474
-.5187	-.2492	.6573
-.5257	-.1927	.6661
-.5403	-.1401	.6729
-.5610	-.0906	.6770
-.5852	-.0426	.6784
-.6094	.0057	.6774
-.6301	.0564	.6748
-.6444	.1107	.6717
-.6500	.1692	.6687
-.6464	.2314	.6667
-.6344	.2958	.6655
-.6163	.3599	.6646
-.5951	.4210	.6630
-.5744	.4762	.6587

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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> za 

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

------> za 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> i 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 37.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 81 V
   measured inductance (star configuration): 130.1 uH

z) return to main menu

------> a 

a) use Field Oriented Control: NO
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> za 

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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 5 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 1
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> i 
new value -> 3 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 1
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 7 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 2 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> b\ 

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

------>  

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

------>  b 

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

------>  

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

------> e 

data A, data B, data C
-.9634	-.5961	-.5559
-.9594	-.5807	-.5606
-.9553	-.5666	-.5632
-.9547	-.5572	-.5720
-.9594	-.5518	-.5854
-.9634	-.5485	-.6002
-.9688	-.5465	-.6183
-.9708	-.5451	-.6371
-.9708	-.5431	-.6566
-.9728	-.5424	-.6801
-.9755	-.5411	-.7029
-.9775	-.5397	-.7257
-.9795	-.5377	-.7445
-.9822	-.5404	-.7687
-.9822	-.5404	-.7888
-.9815	-.5411	-.8090
-.9782	-.5397	-.8278
-.9788	-.5418	-.8499
-.9782	-.5418	-.8687
-.9782	-.5424	-.8862
-.9761	-.5424	-.9023
-.9735	-.5444	-.9171
-.9627	-.5451	-.9359
-.9500	-.5465	-.9520
-.9365	-.5451	-.9607
-.9224	-.5418	-.9661
-.9070	-.5404	-.9708
-.8895	-.5397	-.9735
-.8694	-.5384	-.9748
-.8459	-.5391	-.9755
-.8211	-.5371	-.9761
-.7976	-.5371	-.9768
-.7754	-.5364	-.9768
-.7546	-.5377	-.9768
-.7324	-.5364	-.9755
-.7096	-.5377	-.9735
-.6875	-.5371	-.9688
-.6680	-.5391	-.9688
-.6478	-.5384	-.9654
-.6311	-.5404	-.9667
-.6123	-.5397	-.9614
-.5988	-.5431	-.9580
-.5827	-.5438	-.9520
-.5679	-.5471	-.9439
-.5579	-.5559	-.9419
-.5498	-.5659	-.9426
-.5491	-.5820	-.9466
-.5478	-.5995	-.9513
-.5471	-.6170	-.9526
-.2732	-.3101	-.4766
-.5465	-.6465	-.9540
-.5465	-.6579	-.9553
-.5465	-.6801	-.9553
-.5465	-.7136	-.9600
-.5458	-.7331	-.9614
-.5458	-.7539	-.9620
-.5471	-.7734	-.9634
-.5458	-.7915	-.9614
-.5485	-.8130	-.9620
-.5471	-.8305	-.9614
-.5485	-.8499	-.9620
-.5478	-.8667	-.9614
-.5485	-.8822	-.9594
-.5485	-.8936	-.9553
-.5498	-.9036	-.9540
-.5512	-.9164	-.9459
-.5518	-.9298	-.9352
-.5505	-.9379	-.9271
-.5518	-.9486	-.9197
-.5491	-.9547	-.9063
-.5512	-.9614	-.8949
-.5518	-.9654	-.8781
-.5498	-.9667	-.8580
-.5505	-.9688	-.8372
-.5485	-.9701	-.8150
-.5478	-.9741	-.7949
-.5458	-.9741	-.7727
-.5471	-.9761	-.7546
-.5465	-.9755	-.7331
-.5485	-.9755	-.7130
-.5471	-.9741	-.6901
-.5471	-.9741	-.6687
-.5471	-.9755	-.6492
-.5478	-.9761	-.6324
-.5478	-.9748	-.6143
-.5491	-.9728	-.6015
-.5538	-.9674	-.5800
-.5592	-.9654	-.5673
-.5693	-.9647	-.5559
-.5854	-.9688	-.5532
-.6035	-.9735	-.5498
-.6237	-.9782	-.5491
-.6445	-.9788	-.5478
-.6693	-.9802	-.5491
-.6935	-.9808	-.5478
-.7197	-.9822	-.5471
-.7438	-.9835	-.5465
-.7660	-.9849	-.5465
-.7895	-.9849	-.5471
-.8110	-.9835	-.5491
-.8318	-.9802	-.5498
-.8533	-.9802	-.5525
-.8707	-.9782	-.5525
-.8895	-.9761	-.5532
-.9043	-.9741	-.5559
-.9164	-.9681	-.5565
-.9258	-.9600	-.5572
-.9372	-.9526	-.5592
-.9426	-.9399	-.5572
-.9506	-.9291	-.5579
-.9573	-.9164	-.5579
-.9620	-.9016	-.5565
-.9620	-.8815	-.5545
-.4793	-.4431	-.2792
-.9661	-.8600	-.5545
-.9661	-.8459	-.5552
-.9667	-.8190	-.5552
-.9674	-.7882	-.5532
-.9681	-.7694	-.5525
-.9694	-.7519	-.5525
-.9681	-.7331	-.5545
-.9667	-.7136	-.5538
-.9661	-.6928	-.5545
-.9654	-.6727	-.5545
-.9654	-.6532	-.5538
-.9654	-.6371	-.5545
-.9641	-.6196	-.5545
-.9614	-.6062	-.5565

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

------> d 

 data arrays now contain reconstructed back-emf waveforms

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

------> e 

data A, data B, data C
-.6072	.5156	.6045
-.6032	.5530	.5899
-.6025	.5845	.5697
-.6050	.6102	.5427
-.6101	.6307	.5083
-.6169	.6464	.4661
-.6243	.6585	.4165
-.6310	.6677	.3604
-.6362	.6749	.2989
-.6394	.6806	.2336
-.6408	.6854	.1660
-.6407	.6893	.0975
-.6398	.6923	.0292
-.6391	.6942	-.0380
-.6390	.6949	-.1041
-.6401	.6943	-.1688
-.6421	.6924	-.2321
-.6442	.6895	-.2940
-.6451	.6858	-.3542
-.6434	.6821	-.4123
-.6369	.6790	-.4674
-.6242	.6769	-.5184
-.6039	.6762	-.5641
-.5750	.6773	-.6033
-.5373	.6800	-.6352
-.4913	.6842	-.6592
-.4379	.6894	-.6755
-.3784	.6950	-.6847
-.3142	.7004	-.6880
-.2470	.7052	-.6871
-.1780	.7091	-.6836
-.1082	.7118	-.6792
-.0385	.7135	-.6752
.0307	.7143	-.6723
.0992	.7143	-.6707
.1664	.7136	-.6700
.2319	.7122	-.6695
.2948	.7096	-.6681
.3542	.7054	-.6647
.4087	.6986	-.6585
.4573	.6885	-.6492
.4985	.6738	-.6369
.5317	.6538	-.6224
.5566	.6276	-.6071
.5735	.5952	-.5923
.5834	.5562	-.5796
.5879	.5112	-.5702
.5887	.4610	-.5653
.5881	.4065	-.5650
.5877	.3487	-.5693
.5893	.2889	-.5773
.5935	.2279	-.5876
.6006	.1663	-.5991
.6099	.1047	-.6102
.6205	.0433	-.6199
.6307	-.0178	-.6274
.6394	-.0788	-.6323
.6451	-.1396	-.6348
.6470	-.1999	-.6351
.6451	-.2592	-.6336
.6396	-.3170	-.6310
.6316	-.3726	-.6273
.6226	-.4248	-.6221
.6139	-.4728	-.6149
.6071	-.5158	-.6046
.6030	-.5531	-.5900
.6023	-.5846	-.5699
.6048	-.6103	-.5429
.6100	-.6307	-.5085
.6167	-.6466	-.4664
.6241	-.6586	-.4167
.6308	-.6678	-.3605
.6360	-.6749	-.2990
.6392	-.6807	-.2337
.6406	-.6855	-.1661
.6405	-.6893	-.0977
.6397	-.6924	-.0293
.6389	-.6943	.0379
.6389	-.6950	.1040
.6400	-.6944	.1687
.6419	-.6925	.2320
.6440	-.6895	.2939
.6450	-.6859	.3541
.6432	-.6822	.4122
.6368	-.6790	.4673
.6240	-.6770	.5183
.6037	-.6763	.5640
.5748	-.6775	.6033
.5372	-.6802	.6351
.4912	-.6845	.6591
.4377	-.6896	.6754
.3782	-.6952	.6846
.3140	-.7006	.6879
.2468	-.7054	.6870
.1779	-.7092	.6835
.1081	-.7120	.6791
.0384	-.7137	.6751
-.0309	-.7144	.6722
-.0993	-.7145	.6706
-.1665	-.7138	.6700
-.2321	-.7124	.6694
-.2950	-.7098	.6680
-.3544	-.7055	.6646
-.4089	-.6988	.6584
-.4573	-.6886	.6491
-.4986	-.6740	.6368
-.5318	-.6539	.6224
-.5567	-.6278	.6070
-.5736	-.5953	.5921
-.5835	-.5563	.5794
-.5880	-.5113	.5700
-.5888	-.4612	.5651
-.5881	-.4067	.5648
-.5878	-.3489	.5691
-.5894	-.2890	.5771
-.5936	-.2280	.5874
-.6006	-.1665	.5989
-.6100	-.1048	.6101
-.6205	-.0434	.6198
-.6308	.0178	.6273
-.6395	.0787	.6322
-.6452	.1394	.6346
-.6471	.1997	.6349
-.6452	.2591	.6335
-.6397	.3170	.6309
-.6318	.3725	.6272
-.6227	.4247	.6220
-.6141	.4727	.6148

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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> l 


  default values restored


a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> a 
new value -> 3 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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: 1984
d} e-rpm reached before transition: 85 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> c 
new value -> 200 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 980 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> d 
new value -> 87 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 80 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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

 

[Arlo1]

The inductance measurement is pretty cool. I set it up with this and tried the FOC using hall sensors and its pretty dam cool the motor is quieter during sensored start up and that means its likely more efficient.
It would not accept 81.5v so I ended up putting 81v as the number I used to mesure with.
9.7uH mesured compared to the 8.8 mesured with my cheep metter is close enough for me to think it works! Very cool lebowski.

a) use Field Oriented Control: NO
z) return to main menu

------> a 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 37.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 81 V
   measured inductance (star configuration): 130.1 uH

z) return to main menu

------> e 
new value -> 81.5 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 37.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 10645 V
   measured inductance (star configuration): 20.6 uH

z) return to main menu

------> c 
new value -> 100 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 99.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 10645 V
   measured inductance (star configuration): 20.6 uH

z) return to main menu

------> e 
new value -> 81.5 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 99.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 10645 V
   measured inductance (star configuration): 20.6 uH

z) return to main menu

------> e 
new value -> 90 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 99.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 90 V
   measured inductance (star configuration): 144.5 uH

z) return to main menu

------> e 
new value -> 81 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 99.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 81 V
   measured inductance (star configuration): 130.1 uH

z) return to main menu

------> d 

 Measuring... 


a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 99.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 81 V
   measured inductance (star configuration): 9.7 uH

z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> e 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 1.3357
e) maximum amplitude: 100 %
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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: 174
d} e-rpm reached before transition: 80 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> g 
new value -> 4000 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 80 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 4001
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

------> [00][00]à[00][00][00][00]






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> k 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: NO
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

------> [00]

 

[Lebowski]

Just about done after rebuilding everthing.
Whats the thing about Option C "c] use only fundamental sine waves"
IN the coil posistion menu?

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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> l 


  default values restored


a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> e 

a) loop sample frequency: 38.01 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 -> 32.326135 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
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 -> .106480 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 100 %
z) return to main menu

------> d 
new value -> 1.33589 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 1.3357
e) maximum amplitude: 100 %
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
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): 1.0000, 0.0000, 0.0000
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

------> a 

 close or hold slight open throttle 1 for offset measurement
 press any key to begin measurement
 measured voltage: 1134 mV

 fully open throttle 1
 press any key to begin measurement
 measured voltage: 4366 mV

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
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

------> h 
2                   1 F -                   0                   X
2                   | F -                   X                   +
2                   | F -                   X                   +
2                   | F -                   0X                  +
21                  | F -                   0X                  +
2 1                 | F -                   0 X                 +
2 1                 | F -                   0  X                +
2  1                | F -                   0  X                +
2   1               | F -                   0   X               +
2     1             | F -                   0     X             +
2      1            | F -                   0      X            +
2      1            | F -                   0      X            +
2       1           | F -                   0       X           +
2        1          | F -                   0        X          +
2        1          | F -                   0        X          +
2         1         | F -                   0         X         +
2          1        | F -                   0          X        +
2          1        | F -                   0          X        +
2           1       | F -                   0           X       +
2            1      | F -                   0           X       +
2            1      | F -                   0            X      +
2             1     | F -                   0             X     +
2             1     | F -                   0             X     +
2              1    | F -                   0              X    +
2               1   | F -                   0              X    +
2               1   | F -                   0               X   +
2                1  | F -                   0                X  +
2                 1 | F -                   0                 X +
2                   1 F -                   0                  X+
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                 1 | F -                   0                X  +
2                1  | F -                   0                X  +
2               1   | F -                   0               X   +
2              1    | F -                   0              X    +
2              1    | F -                   0              X    +
2             1     | F -                   0             X     +
2             1     | F -                   0             X     +
2             1     | F -                   0            X      +
2            1      | F -                   0            X      +
2          1        | F -                   0          X        +
2          1        | F -                   0          X        +
2         1         | F -                   0         X         +
2        1          | F -                   0        X          +
2       1           | F -                   0       X           +
2      1            | F -                   0      X            +
2     1             | F -                   0     X             +
2    1              | F -                   0    X              +
2    1              | F -                   0    X              +
2   1               | F -                   0   X               +
2 1                 | F -                   0  X                +
21                  | F -                   0 X                 +
2                   | F -                   0X                  +
2                   | F -                   X                   +

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
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 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> b 

a] number of back-emf samples: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> e 

data A, data B, data C
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9899	.9884	.9824
.9899	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9884	.9839	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9809
.9899	.9869	.9824
.9899	.9869	.9809
.9914	.9854	.9809
.9899	.9869	.9809
.9899	.9854	.9794
.9869	.9869	.9809
.9884	.9869	.9809
.9914	.9884	.9824
.9884	.9869	.9809
.9899	.9869	.9809
.9899	.9869	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9869	.9854	.9809
.9899	.9869	.9809
.9869	.9869	.9809
.9869	.9869	.9809
.9899	.9869	.9809
.9884	.9869	.9809
.9899	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9809
.9869	.9854	.9794
.9899	.9869	.9824
.9869	.9824	.9794
.9869	.9854	.9809
.4949	.4919	.4904
.4949	.4919	.4904
.9884	.9884	.9824
.9914	.9884	.9824
.9869	.9839	.9779
.9899	.9854	.9794
.9914	.9869	.9809
.9884	.9854	.9809
.9869	.9869	.9809
.9914	.9854	.9809
.9899	.9869	.9809
.9899	.9884	.9824
.9899	.9869	.9809
.9884	.9854	.9794
.9899	.9869	.9809
.9869	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9899	.9869	.9809
.9884	.9854	.9794
.9869	.9869	.9809
.9869	.9869	.9809
.9899	.9854	.9809
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9869	.9869	.9809
.9929	.9869	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9914	.9869	.9809
.9899	.9869	.9809
.9884	.9839	.9809
.9899	.9869	.9809
.9914	.9854	.9809
.9884	.9854	.9809
.9899	.9854	.9809
.9914	.9869	.9809
.9884	.9839	.9809
.9884	.9854	.9794
.9884	.9869	.9809
.9884	.9854	.9809
.9914	.9869	.9809
.9884	.9854	.9809
.9869	.9824	.9794
.9899	.9869	.9809
.9884	.9869	.9809
.9869	.9839	.9794
.9899	.9869	.9809
.9899	.9869	.9824
.9869	.9869	.9809
.9869	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9794
.9884	.9869	.9824
.9869	.9839	.9794
.9899	.9869	.9809
.9884	.9869	.9809
.9884	.9839	.9809
.9884	.9869	.9809
.9899	.9854	.9794
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9914	.9869	.9809
.9899	.9869	.9809
.9899	.9869	.9809
.9899	.9839	.9794
.9899	.9854	.9809
.9899	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9899	.9854	.9794
.9884	.9869	.9809
.9899	.9854	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.7402	.7387	.7357

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

------> a 
new value -> 1000 

a] number of back-emf samples: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> a 
new value -> ]50 

a] number of back-emf samples: 4550
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> e 

data A, data B, data C
.3530	.8656	.9235
.3530	.8791	.9093
.3530	.8926	.8958
.3522	.9029	.8815
.3522	.9156	.8656
.3530	.9251	.8513
.3522	.9323	.8299
.3522	.9362	.8037
.3530	.9394	.7760
.3530	.9426	.7466
.3530	.9473	.7172
.3522	.9529	.6903
.3507	.9569	.6617
.3515	.9584	.6339
.3499	.9561	.6038
.3507	.9521	.5728
.3522	.9513	.5419
.3499	.9489	.5117
.3491	.9465	.4840
.3499	.9442	.4602
.3491	.9410	.4371
.3507	.9362	.4181
.3507	.9267	.3943
.3586	.9156	.3665
.3760	.9196	.3554
.4006	.9275	.3522
.4292	.9402	.3515
.4562	.9481	.3522
.4848	.9521	.3522
.5181	.9537	.3522
.5514	.9561	.3522
.5879	.9600	.3522
.6212	.9640	.3530
.6546	.9656	.3522
.6847	.9648	.3522
.7141	.9608	.3515
.7434	.9577	.3522
.7728	.9553	.3530
.8005	.9537	.3522
.8251	.9521	.3522
.8466	.9489	.3530
.8640	.9434	.3530
.8759	.9307	.3515
.8878	.9164	.3515
.9013	.9021	.3522
.9124	.8886	.3530
.9227	.8735	.3522
.9299	.8537	.3507
.9386	.8307	.3530
.9402	.8029	.3515
.2412	.2023	.0872
.9418	.7744	.3515
.9450	.7474	.3522
.9489	.7180	.3522
.9521	.6879	.3515
.9553	.6585	.3507
.9577	.6323	.3515
.9553	.6006	.3499
.9537	.5697	.3491
.9513	.5395	.3499
.9513	.5117	.3507
.9481	.4840	.3491
.9442	.4594	.3499
.6990	.3332	.2618
.9299	.4173	.3499
.9180	.3935	.3499
.9069	.3689	.3546
.9085	.3570	.3681
.9212	.3554	.3943
.9307	.3554	.4189
.9378	.3546	.4459
.9410	.3530	.4736
.9434	.3530	.5046
.9481	.3546	.5395
.9537	.3546	.5736
.9577	.3530	.6046
.9624	.3538	.6371
.9616	.3538	.6665
.9608	.3538	.6958
.9584	.3538	.7244
.9584	.3554	.7553
.9577	.3538	.7831
.9569	.3538	.8109
.9561	.3538	.8331
.7077	.2650	.6307
.9505	.3538	.8720
.9410	.3530	.8862
.9283	.3522	.9013
.9172	.3538	.9156
.9021	.3530	.9291
.8854	.3530	.9410
.8664	.3530	.9497
.8426	.3546	.9561
.8085	.3530	.9584
.7783	.3522	.9600
.7442	.3530	.9648
.7109	.3515	.9703
.6768	.3499	.9727
.6466	.3522	.9751
.6125	.3515	.9711
.5792	.3507	.9680
.5458	.3499	.9680
.5165	.3522	.9664
.4871	.3499	.9616
.4602	.3507	.9577
.4340	.3507	.9481
.4070	.3499	.9346
.3816	.3522	.9227
.3641	.3618	.9172
.3554	.3816	.9219
.3530	.4094	.9307
.3530	.4364	.9378
.3530	.4689	.9450
.2650	.3665	.7077
.3530	.5125	.9481
.3522	.5284	.9458
.3522	.5689	.9505
.3522	.6038	.9545
.3522	.6347	.9569
.3522	.6641	.9577
.3530	.6942	.9577
.3507	.7228	.9545
.3522	.7521	.9537
.3515	.7815	.9521
.3530	.8101	.9505
.3522	.8323	.9481
.3522	.8545	.9418
.3522	.8696	.9346

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

------> d 

 data arrays now contain reconstructed back-emf waveforms

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

------> e 

data A, data B, data C
-.5577	.5234	.6500
-.5475	.5606	.6349
-.5453	.5879	.6117
-.5514	.6055	.5793
-.5643	.6154	.5376
-.5820	.6197	.4870
-.6014	.6213	.4288
-.6196	.6223	.3647
-.6340	.6250	.2971
-.6428	.6303	.2282
-.6455	.6383	.1598
-.6426	.6484	.0933
-.6356	.6592	.0296
-.6265	.6689	-.0309
-.6177	.6761	-.0890
-.6108	.6794	-.1450
-.6071	.6784	-.1997
-.6065	.6734	-.2538
-.6084	.6655	-.3074
-.6107	.6560	-.3604
-.6113	.6469	-.4120
-.6075	.6397	-.4610
-.5970	.6357	-.5065
-.5782	.6353	-.5469
-.5504	.6386	-.5812
-.5135	.6445	-.6090
-.4685	.6521	-.6302
-.4169	.6595	-.6452
-.3603	.6657	-.6550
-.3004	.6697	-.6607
-.2384	.6713	-.6639
-.1751	.6708	-.6656
-.1106	.6693	-.6667
-.0447	.6677	-.6677
.0226	.6676	-.6686
.0918	.6693	-.6691
.1622	.6735	-.6687
.2328	.6792	-.6669
.3017	.6851	-.6631
.3665	.6889	-.6574
.4244	.6883	-.6502
.4731	.6805	-.6420
.5104	.6637	-.6340
.5354	.6364	-.6274
.5483	.5986	-.6231
.5507	.5511	-.6219
.5453	.4956	-.6242
.5357	.4350	-.6298
.5258	.3720	-.6379
.5192	.3092	-.6476
.5186	.2490	-.6575
.5256	.1925	-.6663
.5402	.1400	-.6731
.5609	.0905	-.6772
.5851	.0425	-.6786
.6093	-.0057	-.6776
.6300	-.0565	-.6750
.6443	-.1108	-.6718
.6499	-.1693	-.6689
.6463	-.2315	-.6669
.6344	-.2958	-.6657
.6163	-.3600	-.6648
.5950	-.4211	-.6632
.5744	-.4763	-.6589
.5576	-.5234	-.6501
.5474	-.5608	-.6350
.5452	-.5879	-.6118
.5512	-.6056	-.5795
.5642	-.6155	-.5378
.5818	-.6198	-.4872
.6012	-.6213	-.4289
.6194	-.6224	-.3649
.6338	-.6250	-.2973
.6426	-.6304	-.2283
.6453	-.6384	-.1600
.6424	-.6485	-.0935
.6354	-.6593	-.0298
.6264	-.6690	.0308
.6175	-.6762	.0888
.6106	-.6795	.1449
.6069	-.6785	.1996
.6064	-.6735	.2537
.6082	-.6656	.3073
.6106	-.6561	.3603
.6111	-.6470	.4118
.6073	-.6398	.4609
.5969	-.6358	.5063
.5781	-.6355	.5467
.5502	-.6387	.5811
.5133	-.6447	.6089
.4683	-.6522	.6301
.4167	-.6597	.6451
.3601	-.6658	.6549
.3003	-.6699	.6606
.2383	-.6715	.6638
.1750	-.6710	.6655
.1105	-.6694	.6666
.0447	-.6679	.6676
-.0227	-.6677	.6685
-.0919	-.6695	.6691
-.1624	-.6736	.6687
-.2330	-.6793	.6668
-.3018	-.6852	.6630
-.3666	-.6891	.6573
-.4246	-.6884	.6501
-.4732	-.6807	.6419
-.5105	-.6638	.6339
-.5355	-.6366	.6273
-.5484	-.5988	.6229
-.5508	-.5512	.6218
-.5455	-.4958	.6241
-.5358	-.4352	.6296
-.5259	-.3721	.6377
-.5193	-.3094	.6474
-.5187	-.2492	.6573
-.5257	-.1927	.6661
-.5403	-.1401	.6729
-.5610	-.0906	.6770
-.5852	-.0426	.6784
-.6094	.0057	.6774
-.6301	.0564	.6748
-.6444	.1107	.6717
-.6500	.1692	.6687
-.6464	.2314	.6667
-.6344	.2958	.6655
-.6163	.3599	.6646
-.5951	.4210	.6630
-.5744	.4762	.6587

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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> za 

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

------> za 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> i 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 37.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 81 V
   measured inductance (star configuration): 130.1 uH

z) return to main menu

------> a 

a) use Field Oriented Control: NO
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> za 

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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 5 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 1
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> i 
new value -> 3 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 1
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 7 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 2 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> b\ 

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

------>  

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

------>  b 

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

------>  

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

------> e 

data A, data B, data C
-.9634	-.5961	-.5559
-.9594	-.5807	-.5606
-.9553	-.5666	-.5632
-.9547	-.5572	-.5720
-.9594	-.5518	-.5854
-.9634	-.5485	-.6002
-.9688	-.5465	-.6183
-.9708	-.5451	-.6371
-.9708	-.5431	-.6566
-.9728	-.5424	-.6801
-.9755	-.5411	-.7029
-.9775	-.5397	-.7257
-.9795	-.5377	-.7445
-.9822	-.5404	-.7687
-.9822	-.5404	-.7888
-.9815	-.5411	-.8090
-.9782	-.5397	-.8278
-.9788	-.5418	-.8499
-.9782	-.5418	-.8687
-.9782	-.5424	-.8862
-.9761	-.5424	-.9023
-.9735	-.5444	-.9171
-.9627	-.5451	-.9359
-.9500	-.5465	-.9520
-.9365	-.5451	-.9607
-.9224	-.5418	-.9661
-.9070	-.5404	-.9708
-.8895	-.5397	-.9735
-.8694	-.5384	-.9748
-.8459	-.5391	-.9755
-.8211	-.5371	-.9761
-.7976	-.5371	-.9768
-.7754	-.5364	-.9768
-.7546	-.5377	-.9768
-.7324	-.5364	-.9755
-.7096	-.5377	-.9735
-.6875	-.5371	-.9688
-.6680	-.5391	-.9688
-.6478	-.5384	-.9654
-.6311	-.5404	-.9667
-.6123	-.5397	-.9614
-.5988	-.5431	-.9580
-.5827	-.5438	-.9520
-.5679	-.5471	-.9439
-.5579	-.5559	-.9419
-.5498	-.5659	-.9426
-.5491	-.5820	-.9466
-.5478	-.5995	-.9513
-.5471	-.6170	-.9526
-.2732	-.3101	-.4766
-.5465	-.6465	-.9540
-.5465	-.6579	-.9553
-.5465	-.6801	-.9553
-.5465	-.7136	-.9600
-.5458	-.7331	-.9614
-.5458	-.7539	-.9620
-.5471	-.7734	-.9634
-.5458	-.7915	-.9614
-.5485	-.8130	-.9620
-.5471	-.8305	-.9614
-.5485	-.8499	-.9620
-.5478	-.8667	-.9614
-.5485	-.8822	-.9594
-.5485	-.8936	-.9553
-.5498	-.9036	-.9540
-.5512	-.9164	-.9459
-.5518	-.9298	-.9352
-.5505	-.9379	-.9271
-.5518	-.9486	-.9197
-.5491	-.9547	-.9063
-.5512	-.9614	-.8949
-.5518	-.9654	-.8781
-.5498	-.9667	-.8580
-.5505	-.9688	-.8372
-.5485	-.9701	-.8150
-.5478	-.9741	-.7949
-.5458	-.9741	-.7727
-.5471	-.9761	-.7546
-.5465	-.9755	-.7331
-.5485	-.9755	-.7130
-.5471	-.9741	-.6901
-.5471	-.9741	-.6687
-.5471	-.9755	-.6492
-.5478	-.9761	-.6324
-.5478	-.9748	-.6143
-.5491	-.9728	-.6015
-.5538	-.9674	-.5800
-.5592	-.9654	-.5673
-.5693	-.9647	-.5559
-.5854	-.9688	-.5532
-.6035	-.9735	-.5498
-.6237	-.9782	-.5491
-.6445	-.9788	-.5478
-.6693	-.9802	-.5491
-.6935	-.9808	-.5478
-.7197	-.9822	-.5471
-.7438	-.9835	-.5465
-.7660	-.9849	-.5465
-.7895	-.9849	-.5471
-.8110	-.9835	-.5491
-.8318	-.9802	-.5498
-.8533	-.9802	-.5525
-.8707	-.9782	-.5525
-.8895	-.9761	-.5532
-.9043	-.9741	-.5559
-.9164	-.9681	-.5565
-.9258	-.9600	-.5572
-.9372	-.9526	-.5592
-.9426	-.9399	-.5572
-.9506	-.9291	-.5579
-.9573	-.9164	-.5579
-.9620	-.9016	-.5565
-.9620	-.8815	-.5545
-.4793	-.4431	-.2792
-.9661	-.8600	-.5545
-.9661	-.8459	-.5552
-.9667	-.8190	-.5552
-.9674	-.7882	-.5532
-.9681	-.7694	-.5525
-.9694	-.7519	-.5525
-.9681	-.7331	-.5545
-.9667	-.7136	-.5538
-.9661	-.6928	-.5545
-.9654	-.6727	-.5545
-.9654	-.6532	-.5538
-.9654	-.6371	-.5545
-.9641	-.6196	-.5545
-.9614	-.6062	-.5565

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

------> d 

 data arrays now contain reconstructed back-emf waveforms

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

------> e 

data A, data B, data C
-.6072	.5156	.6045
-.6032	.5530	.5899
-.6025	.5845	.5697
-.6050	.6102	.5427
-.6101	.6307	.5083
-.6169	.6464	.4661
-.6243	.6585	.4165
-.6310	.6677	.3604
-.6362	.6749	.2989
-.6394	.6806	.2336
-.6408	.6854	.1660
-.6407	.6893	.0975
-.6398	.6923	.0292
-.6391	.6942	-.0380
-.6390	.6949	-.1041
-.6401	.6943	-.1688
-.6421	.6924	-.2321
-.6442	.6895	-.2940
-.6451	.6858	-.3542
-.6434	.6821	-.4123
-.6369	.6790	-.4674
-.6242	.6769	-.5184
-.6039	.6762	-.5641
-.5750	.6773	-.6033
-.5373	.6800	-.6352
-.4913	.6842	-.6592
-.4379	.6894	-.6755
-.3784	.6950	-.6847
-.3142	.7004	-.6880
-.2470	.7052	-.6871
-.1780	.7091	-.6836
-.1082	.7118	-.6792
-.0385	.7135	-.6752
.0307	.7143	-.6723
.0992	.7143	-.6707
.1664	.7136	-.6700
.2319	.7122	-.6695
.2948	.7096	-.6681
.3542	.7054	-.6647
.4087	.6986	-.6585
.4573	.6885	-.6492
.4985	.6738	-.6369
.5317	.6538	-.6224
.5566	.6276	-.6071
.5735	.5952	-.5923
.5834	.5562	-.5796
.5879	.5112	-.5702
.5887	.4610	-.5653
.5881	.4065	-.5650
.5877	.3487	-.5693
.5893	.2889	-.5773
.5935	.2279	-.5876
.6006	.1663	-.5991
.6099	.1047	-.6102
.6205	.0433	-.6199
.6307	-.0178	-.6274
.6394	-.0788	-.6323
.6451	-.1396	-.6348
.6470	-.1999	-.6351
.6451	-.2592	-.6336
.6396	-.3170	-.6310
.6316	-.3726	-.6273
.6226	-.4248	-.6221
.6139	-.4728	-.6149
.6071	-.5158	-.6046
.6030	-.5531	-.5900
.6023	-.5846	-.5699
.6048	-.6103	-.5429
.6100	-.6307	-.5085
.6167	-.6466	-.4664
.6241	-.6586	-.4167
.6308	-.6678	-.3605
.6360	-.6749	-.2990
.6392	-.6807	-.2337
.6406	-.6855	-.1661
.6405	-.6893	-.0977
.6397	-.6924	-.0293
.6389	-.6943	.0379
.6389	-.6950	.1040
.6400	-.6944	.1687
.6419	-.6925	.2320
.6440	-.6895	.2939
.6450	-.6859	.3541
.6432	-.6822	.4122
.6368	-.6790	.4673
.6240	-.6770	.5183
.6037	-.6763	.5640
.5748	-.6775	.6033
.5372	-.6802	.6351
.4912	-.6845	.6591
.4377	-.6896	.6754
.3782	-.6952	.6846
.3140	-.7006	.6879
.2468	-.7054	.6870
.1779	-.7092	.6835
.1081	-.7120	.6791
.0384	-.7137	.6751
-.0309	-.7144	.6722
-.0993	-.7145	.6706
-.1665	-.7138	.6700
-.2321	-.7124	.6694
-.2950	-.7098	.6680
-.3544	-.7055	.6646
-.4089	-.6988	.6584
-.4573	-.6886	.6491
-.4986	-.6740	.6368
-.5318	-.6539	.6224
-.5567	-.6278	.6070
-.5736	-.5953	.5921
-.5835	-.5563	.5794
-.5880	-.5113	.5700
-.5888	-.4612	.5651
-.5881	-.4067	.5648
-.5878	-.3489	.5691
-.5894	-.2890	.5771
-.5936	-.2280	.5874
-.6006	-.1665	.5989
-.6100	-.1048	.6101
-.6205	-.0434	.6198
-.6308	.0178	.6273
-.6395	.0787	.6322
-.6452	.1394	.6346
-.6471	.1997	.6349
-.6452	.2591	.6335
-.6397	.3170	.6309
-.6318	.3725	.6272
-.6227	.4247	.6220
-.6141	.4727	.6148

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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> l 


  default values restored


a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> a 
new value -> 3 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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: 1984
d} e-rpm reached before transition: 85 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> c 
new value -> 200 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 980 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> d 
new value -> 87 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 80 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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

Well, looking at your backemf, it's pretty messed up so it's good I put this option in Option

c] use only fundamental sine waves

cleans up the back-emf and turns it into pure sine waves. I would use it !

 

[Lebowski]

The inductance measurement is pretty cool. I set it up with this and tried the FOC using hall sensors and its pretty dam cool the motor is quieter during sensored start up and that means its likely more efficient.
It would not accept 81.5v so I ended up putting 81v as the number I used to mesure with.
9.7uH mesured compared to the 8.8 mesured with my cheep metter is close enough for me to think it works! Very cool lebowski.

It only takes integers for this voltage so 81.5 doesn't work...
The way it works, when you measure the inductance the chip determines a 16 bit internal
variable which it uses in the algorithm. Now, to turn this 16 bit number into something understandable
(an inductor value) it needs to know the supply voltage. The algorithm itself does not need to know
the supply voltage, so a high accuracy for the voltage is not necessary... What is however important
is that the motor impedance measurement is done at the final (vehicle) supply voltage !

 

[Arlo1]

Just about done after rebuilding everthing.
Whats the thing about Option C "c] use only fundamental sine waves"
IN the coil position menu?

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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> l 


  default values restored


a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> e 

a) loop sample frequency: 38.01 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 -> 32.326135 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
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 -> .106480 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 65535.9999
e) maximum amplitude: 100 %
z) return to main menu

------> d 
new value -> 1.33589 

a) loop sample frequency: 38.01 kHz
b) 1st order phase loop integrator coefficient: 32.3260
c) 2nd order phase loop integrator coefficient: 0.1063
d) amplitude loop integrator coefficient: 1.3357
e) maximum amplitude: 100 %
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
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): 1.0000, 0.0000, 0.0000
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

------> a 

 close or hold slight open throttle 1 for offset measurement
 press any key to begin measurement
 measured voltage: 1134 mV

 fully open throttle 1
 press any key to begin measurement
 measured voltage: 4366 mV

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
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

------> h 
2                   1 F -                   0                   X
2                   | F -                   X                   +
2                   | F -                   X                   +
2                   | F -                   0X                  +
21                  | F -                   0X                  +
2 1                 | F -                   0 X                 +
2 1                 | F -                   0  X                +
2  1                | F -                   0  X                +
2   1               | F -                   0   X               +
2     1             | F -                   0     X             +
2      1            | F -                   0      X            +
2      1            | F -                   0      X            +
2       1           | F -                   0       X           +
2        1          | F -                   0        X          +
2        1          | F -                   0        X          +
2         1         | F -                   0         X         +
2          1        | F -                   0          X        +
2          1        | F -                   0          X        +
2           1       | F -                   0           X       +
2            1      | F -                   0           X       +
2            1      | F -                   0            X      +
2             1     | F -                   0             X     +
2             1     | F -                   0             X     +
2              1    | F -                   0              X    +
2               1   | F -                   0              X    +
2               1   | F -                   0               X   +
2                1  | F -                   0                X  +
2                 1 | F -                   0                 X +
2                   1 F -                   0                  X+
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                   1 F -                   0                   X
2                 1 | F -                   0                X  +
2                1  | F -                   0                X  +
2               1   | F -                   0               X   +
2              1    | F -                   0              X    +
2              1    | F -                   0              X    +
2             1     | F -                   0             X     +
2             1     | F -                   0             X     +
2             1     | F -                   0            X      +
2            1      | F -                   0            X      +
2          1        | F -                   0          X        +
2          1        | F -                   0          X        +
2         1         | F -                   0         X         +
2        1          | F -                   0        X          +
2       1           | F -                   0       X           +
2      1            | F -                   0      X            +
2     1             | F -                   0     X             +
2    1              | F -                   0    X              +
2    1              | F -                   0    X              +
2   1               | F -                   0   X               +
2 1                 | F -                   0  X                +
21                  | F -                   0 X                 +
2                   | F -                   0X                  +
2                   | F -                   X                   +

a) calibrate throttle 1
b) calibrate throttle 2
c) polynomial coefficients throttle 1 (x, x^2, x^3): 1.0000, 0.0000, 0.0000
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 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> b 

a] number of back-emf samples: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> e 

data A, data B, data C
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9899	.9884	.9824
.9899	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9884	.9839	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9809
.9899	.9869	.9824
.9899	.9869	.9809
.9914	.9854	.9809
.9899	.9869	.9809
.9899	.9854	.9794
.9869	.9869	.9809
.9884	.9869	.9809
.9914	.9884	.9824
.9884	.9869	.9809
.9899	.9869	.9809
.9899	.9869	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9869	.9854	.9809
.9899	.9869	.9809
.9869	.9869	.9809
.9869	.9869	.9809
.9899	.9869	.9809
.9884	.9869	.9809
.9899	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9809
.9869	.9854	.9794
.9899	.9869	.9824
.9869	.9824	.9794
.9869	.9854	.9809
.4949	.4919	.4904
.4949	.4919	.4904
.9884	.9884	.9824
.9914	.9884	.9824
.9869	.9839	.9779
.9899	.9854	.9794
.9914	.9869	.9809
.9884	.9854	.9809
.9869	.9869	.9809
.9914	.9854	.9809
.9899	.9869	.9809
.9899	.9884	.9824
.9899	.9869	.9809
.9884	.9854	.9794
.9899	.9869	.9809
.9869	.9869	.9809
.9884	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9899	.9869	.9809
.9884	.9854	.9794
.9869	.9869	.9809
.9869	.9869	.9809
.9899	.9854	.9809
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9869	.9869	.9809
.9929	.9869	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.9914	.9869	.9809
.9899	.9869	.9809
.9884	.9839	.9809
.9899	.9869	.9809
.9914	.9854	.9809
.9884	.9854	.9809
.9899	.9854	.9809
.9914	.9869	.9809
.9884	.9839	.9809
.9884	.9854	.9794
.9884	.9869	.9809
.9884	.9854	.9809
.9914	.9869	.9809
.9884	.9854	.9809
.9869	.9824	.9794
.9899	.9869	.9809
.9884	.9869	.9809
.9869	.9839	.9794
.9899	.9869	.9809
.9899	.9869	.9824
.9869	.9869	.9809
.9869	.9854	.9809
.9884	.9854	.9809
.9869	.9854	.9794
.9884	.9869	.9824
.9869	.9839	.9794
.9899	.9869	.9809
.9884	.9869	.9809
.9884	.9839	.9809
.9884	.9869	.9809
.9899	.9854	.9794
.9869	.9869	.9809
.9884	.9854	.9809
.9884	.9869	.9809
.9914	.9869	.9809
.9899	.9869	.9809
.9899	.9869	.9809
.9899	.9839	.9794
.9899	.9854	.9809
.9899	.9869	.9809
.9884	.9854	.9809
.9884	.9854	.9809
.9899	.9854	.9794
.9884	.9869	.9809
.9899	.9854	.9809
.9884	.9869	.9809
.9899	.9854	.9809
.7402	.7387	.7357

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

------> a 
new value -> 1000 

a] number of back-emf samples: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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: 1000
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> a 
new value -> ]50 

a] number of back-emf samples: 4550
b] calibrate coil positions
c] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] 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] use only fundamental sine waves
d] reconstruct waveforms based on extracted parameters
e] table out data arrays
z] return to main menu

------> e 

data A, data B, data C
.3530	.8656	.9235
.3530	.8791	.9093
.3530	.8926	.8958
.3522	.9029	.8815
.3522	.9156	.8656
.3530	.9251	.8513
.3522	.9323	.8299
.3522	.9362	.8037
.3530	.9394	.7760
.3530	.9426	.7466
.3530	.9473	.7172
.3522	.9529	.6903
.3507	.9569	.6617
.3515	.9584	.6339
.3499	.9561	.6038
.3507	.9521	.5728
.3522	.9513	.5419
.3499	.9489	.5117
.3491	.9465	.4840
.3499	.9442	.4602
.3491	.9410	.4371
.3507	.9362	.4181
.3507	.9267	.3943
.3586	.9156	.3665
.3760	.9196	.3554
.4006	.9275	.3522
.4292	.9402	.3515
.4562	.9481	.3522
.4848	.9521	.3522
.5181	.9537	.3522
.5514	.9561	.3522
.5879	.9600	.3522
.6212	.9640	.3530
.6546	.9656	.3522
.6847	.9648	.3522
.7141	.9608	.3515
.7434	.9577	.3522
.7728	.9553	.3530
.8005	.9537	.3522
.8251	.9521	.3522
.8466	.9489	.3530
.8640	.9434	.3530
.8759	.9307	.3515
.8878	.9164	.3515
.9013	.9021	.3522
.9124	.8886	.3530
.9227	.8735	.3522
.9299	.8537	.3507
.9386	.8307	.3530
.9402	.8029	.3515
.2412	.2023	.0872
.9418	.7744	.3515
.9450	.7474	.3522
.9489	.7180	.3522
.9521	.6879	.3515
.9553	.6585	.3507
.9577	.6323	.3515
.9553	.6006	.3499
.9537	.5697	.3491
.9513	.5395	.3499
.9513	.5117	.3507
.9481	.4840	.3491
.9442	.4594	.3499
.6990	.3332	.2618
.9299	.4173	.3499
.9180	.3935	.3499
.9069	.3689	.3546
.9085	.3570	.3681
.9212	.3554	.3943
.9307	.3554	.4189
.9378	.3546	.4459
.9410	.3530	.4736
.9434	.3530	.5046
.9481	.3546	.5395
.9537	.3546	.5736
.9577	.3530	.6046
.9624	.3538	.6371
.9616	.3538	.6665
.9608	.3538	.6958
.9584	.3538	.7244
.9584	.3554	.7553
.9577	.3538	.7831
.9569	.3538	.8109
.9561	.3538	.8331
.7077	.2650	.6307
.9505	.3538	.8720
.9410	.3530	.8862
.9283	.3522	.9013
.9172	.3538	.9156
.9021	.3530	.9291
.8854	.3530	.9410
.8664	.3530	.9497
.8426	.3546	.9561
.8085	.3530	.9584
.7783	.3522	.9600
.7442	.3530	.9648
.7109	.3515	.9703
.6768	.3499	.9727
.6466	.3522	.9751
.6125	.3515	.9711
.5792	.3507	.9680
.5458	.3499	.9680
.5165	.3522	.9664
.4871	.3499	.9616
.4602	.3507	.9577
.4340	.3507	.9481
.4070	.3499	.9346
.3816	.3522	.9227
.3641	.3618	.9172
.3554	.3816	.9219
.3530	.4094	.9307
.3530	.4364	.9378
.3530	.4689	.9450
.2650	.3665	.7077
.3530	.5125	.9481
.3522	.5284	.9458
.3522	.5689	.9505
.3522	.6038	.9545
.3522	.6347	.9569
.3522	.6641	.9577
.3530	.6942	.9577
.3507	.7228	.9545
.3522	.7521	.9537
.3515	.7815	.9521
.3530	.8101	.9505
.3522	.8323	.9481
.3522	.8545	.9418
.3522	.8696	.9346

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

------> d 

 data arrays now contain reconstructed back-emf waveforms

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

------> e 

data A, data B, data C
-.5577	.5234	.6500
-.5475	.5606	.6349
-.5453	.5879	.6117
-.5514	.6055	.5793
-.5643	.6154	.5376
-.5820	.6197	.4870
-.6014	.6213	.4288
-.6196	.6223	.3647
-.6340	.6250	.2971
-.6428	.6303	.2282
-.6455	.6383	.1598
-.6426	.6484	.0933
-.6356	.6592	.0296
-.6265	.6689	-.0309
-.6177	.6761	-.0890
-.6108	.6794	-.1450
-.6071	.6784	-.1997
-.6065	.6734	-.2538
-.6084	.6655	-.3074
-.6107	.6560	-.3604
-.6113	.6469	-.4120
-.6075	.6397	-.4610
-.5970	.6357	-.5065
-.5782	.6353	-.5469
-.5504	.6386	-.5812
-.5135	.6445	-.6090
-.4685	.6521	-.6302
-.4169	.6595	-.6452
-.3603	.6657	-.6550
-.3004	.6697	-.6607
-.2384	.6713	-.6639
-.1751	.6708	-.6656
-.1106	.6693	-.6667
-.0447	.6677	-.6677
.0226	.6676	-.6686
.0918	.6693	-.6691
.1622	.6735	-.6687
.2328	.6792	-.6669
.3017	.6851	-.6631
.3665	.6889	-.6574
.4244	.6883	-.6502
.4731	.6805	-.6420
.5104	.6637	-.6340
.5354	.6364	-.6274
.5483	.5986	-.6231
.5507	.5511	-.6219
.5453	.4956	-.6242
.5357	.4350	-.6298
.5258	.3720	-.6379
.5192	.3092	-.6476
.5186	.2490	-.6575
.5256	.1925	-.6663
.5402	.1400	-.6731
.5609	.0905	-.6772
.5851	.0425	-.6786
.6093	-.0057	-.6776
.6300	-.0565	-.6750
.6443	-.1108	-.6718
.6499	-.1693	-.6689
.6463	-.2315	-.6669
.6344	-.2958	-.6657
.6163	-.3600	-.6648
.5950	-.4211	-.6632
.5744	-.4763	-.6589
.5576	-.5234	-.6501
.5474	-.5608	-.6350
.5452	-.5879	-.6118
.5512	-.6056	-.5795
.5642	-.6155	-.5378
.5818	-.6198	-.4872
.6012	-.6213	-.4289
.6194	-.6224	-.3649
.6338	-.6250	-.2973
.6426	-.6304	-.2283
.6453	-.6384	-.1600
.6424	-.6485	-.0935
.6354	-.6593	-.0298
.6264	-.6690	.0308
.6175	-.6762	.0888
.6106	-.6795	.1449
.6069	-.6785	.1996
.6064	-.6735	.2537
.6082	-.6656	.3073
.6106	-.6561	.3603
.6111	-.6470	.4118
.6073	-.6398	.4609
.5969	-.6358	.5063
.5781	-.6355	.5467
.5502	-.6387	.5811
.5133	-.6447	.6089
.4683	-.6522	.6301
.4167	-.6597	.6451
.3601	-.6658	.6549
.3003	-.6699	.6606
.2383	-.6715	.6638
.1750	-.6710	.6655
.1105	-.6694	.6666
.0447	-.6679	.6676
-.0227	-.6677	.6685
-.0919	-.6695	.6691
-.1624	-.6736	.6687
-.2330	-.6793	.6668
-.3018	-.6852	.6630
-.3666	-.6891	.6573
-.4246	-.6884	.6501
-.4732	-.6807	.6419
-.5105	-.6638	.6339
-.5355	-.6366	.6273
-.5484	-.5988	.6229
-.5508	-.5512	.6218
-.5455	-.4958	.6241
-.5358	-.4352	.6296
-.5259	-.3721	.6377
-.5193	-.3094	.6474
-.5187	-.2492	.6573
-.5257	-.1927	.6661
-.5403	-.1401	.6729
-.5610	-.0906	.6770
-.5852	-.0426	.6784
-.6094	.0057	.6774
-.6301	.0564	.6748
-.6444	.1107	.6717
-.6500	.1692	.6687
-.6464	.2314	.6667
-.6344	.2958	.6655
-.6163	.3599	.6646
-.5951	.4210	.6630
-.5744	.4762	.6587

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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> za 

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

------> za 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> i 

a) use Field Oriented Control: YES

 Before automatic measurement of the motor parameters
 the controller must be supplied with the same voltage
 as in the vehicle. PWM frequency and deadtime must be
 initialised. ADC's must be properly set up and calibrated
 or calibration must have been restored to default.
 The following parameters must be set at their final value:

 loop sample frequency: 38.01 kHz
 current sensor transimpedance: 10.00 mV/A

b) amplitude measurement current: 29.9 A
c) impedance measurement frequency: 37.97 k-erpm
d) determine motor impedance

e) battery voltage (for inductance display only): 81 V
   measured inductance (star configuration): 130.1 uH

z) return to main menu

------> a 

a) use Field Oriented Control: NO
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> za 

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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 5 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 1
i) IIR filter coefficient, error current: 10
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> i 
new value -> 3 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 1
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 7 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 3
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> h 
new value -> 2 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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






























########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> b\ 

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

------>  

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

------>  b 

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

------>  

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

------> e 

data A, data B, data C
-.9634	-.5961	-.5559
-.9594	-.5807	-.5606
-.9553	-.5666	-.5632
-.9547	-.5572	-.5720
-.9594	-.5518	-.5854
-.9634	-.5485	-.6002
-.9688	-.5465	-.6183
-.9708	-.5451	-.6371
-.9708	-.5431	-.6566
-.9728	-.5424	-.6801
-.9755	-.5411	-.7029
-.9775	-.5397	-.7257
-.9795	-.5377	-.7445
-.9822	-.5404	-.7687
-.9822	-.5404	-.7888
-.9815	-.5411	-.8090
-.9782	-.5397	-.8278
-.9788	-.5418	-.8499
-.9782	-.5418	-.8687
-.9782	-.5424	-.8862
-.9761	-.5424	-.9023
-.9735	-.5444	-.9171
-.9627	-.5451	-.9359
-.9500	-.5465	-.9520
-.9365	-.5451	-.9607
-.9224	-.5418	-.9661
-.9070	-.5404	-.9708
-.8895	-.5397	-.9735
-.8694	-.5384	-.9748
-.8459	-.5391	-.9755
-.8211	-.5371	-.9761
-.7976	-.5371	-.9768
-.7754	-.5364	-.9768
-.7546	-.5377	-.9768
-.7324	-.5364	-.9755
-.7096	-.5377	-.9735
-.6875	-.5371	-.9688
-.6680	-.5391	-.9688
-.6478	-.5384	-.9654
-.6311	-.5404	-.9667
-.6123	-.5397	-.9614
-.5988	-.5431	-.9580
-.5827	-.5438	-.9520
-.5679	-.5471	-.9439
-.5579	-.5559	-.9419
-.5498	-.5659	-.9426
-.5491	-.5820	-.9466
-.5478	-.5995	-.9513
-.5471	-.6170	-.9526
-.2732	-.3101	-.4766
-.5465	-.6465	-.9540
-.5465	-.6579	-.9553
-.5465	-.6801	-.9553
-.5465	-.7136	-.9600
-.5458	-.7331	-.9614
-.5458	-.7539	-.9620
-.5471	-.7734	-.9634
-.5458	-.7915	-.9614
-.5485	-.8130	-.9620
-.5471	-.8305	-.9614
-.5485	-.8499	-.9620
-.5478	-.8667	-.9614
-.5485	-.8822	-.9594
-.5485	-.8936	-.9553
-.5498	-.9036	-.9540
-.5512	-.9164	-.9459
-.5518	-.9298	-.9352
-.5505	-.9379	-.9271
-.5518	-.9486	-.9197
-.5491	-.9547	-.9063
-.5512	-.9614	-.8949
-.5518	-.9654	-.8781
-.5498	-.9667	-.8580
-.5505	-.9688	-.8372
-.5485	-.9701	-.8150
-.5478	-.9741	-.7949
-.5458	-.9741	-.7727
-.5471	-.9761	-.7546
-.5465	-.9755	-.7331
-.5485	-.9755	-.7130
-.5471	-.9741	-.6901
-.5471	-.9741	-.6687
-.5471	-.9755	-.6492
-.5478	-.9761	-.6324
-.5478	-.9748	-.6143
-.5491	-.9728	-.6015
-.5538	-.9674	-.5800
-.5592	-.9654	-.5673
-.5693	-.9647	-.5559
-.5854	-.9688	-.5532
-.6035	-.9735	-.5498
-.6237	-.9782	-.5491
-.6445	-.9788	-.5478
-.6693	-.9802	-.5491
-.6935	-.9808	-.5478
-.7197	-.9822	-.5471
-.7438	-.9835	-.5465
-.7660	-.9849	-.5465
-.7895	-.9849	-.5471
-.8110	-.9835	-.5491
-.8318	-.9802	-.5498
-.8533	-.9802	-.5525
-.8707	-.9782	-.5525
-.8895	-.9761	-.5532
-.9043	-.9741	-.5559
-.9164	-.9681	-.5565
-.9258	-.9600	-.5572
-.9372	-.9526	-.5592
-.9426	-.9399	-.5572
-.9506	-.9291	-.5579
-.9573	-.9164	-.5579
-.9620	-.9016	-.5565
-.9620	-.8815	-.5545
-.4793	-.4431	-.2792
-.9661	-.8600	-.5545
-.9661	-.8459	-.5552
-.9667	-.8190	-.5552
-.9674	-.7882	-.5532
-.9681	-.7694	-.5525
-.9694	-.7519	-.5525
-.9681	-.7331	-.5545
-.9667	-.7136	-.5538
-.9661	-.6928	-.5545
-.9654	-.6727	-.5545
-.9654	-.6532	-.5538
-.9654	-.6371	-.5545
-.9641	-.6196	-.5545
-.9614	-.6062	-.5565

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

------> d 

 data arrays now contain reconstructed back-emf waveforms

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

------> e 

data A, data B, data C
-.6072	.5156	.6045
-.6032	.5530	.5899
-.6025	.5845	.5697
-.6050	.6102	.5427
-.6101	.6307	.5083
-.6169	.6464	.4661
-.6243	.6585	.4165
-.6310	.6677	.3604
-.6362	.6749	.2989
-.6394	.6806	.2336
-.6408	.6854	.1660
-.6407	.6893	.0975
-.6398	.6923	.0292
-.6391	.6942	-.0380
-.6390	.6949	-.1041
-.6401	.6943	-.1688
-.6421	.6924	-.2321
-.6442	.6895	-.2940
-.6451	.6858	-.3542
-.6434	.6821	-.4123
-.6369	.6790	-.4674
-.6242	.6769	-.5184
-.6039	.6762	-.5641
-.5750	.6773	-.6033
-.5373	.6800	-.6352
-.4913	.6842	-.6592
-.4379	.6894	-.6755
-.3784	.6950	-.6847
-.3142	.7004	-.6880
-.2470	.7052	-.6871
-.1780	.7091	-.6836
-.1082	.7118	-.6792
-.0385	.7135	-.6752
.0307	.7143	-.6723
.0992	.7143	-.6707
.1664	.7136	-.6700
.2319	.7122	-.6695
.2948	.7096	-.6681
.3542	.7054	-.6647
.4087	.6986	-.6585
.4573	.6885	-.6492
.4985	.6738	-.6369
.5317	.6538	-.6224
.5566	.6276	-.6071
.5735	.5952	-.5923
.5834	.5562	-.5796
.5879	.5112	-.5702
.5887	.4610	-.5653
.5881	.4065	-.5650
.5877	.3487	-.5693
.5893	.2889	-.5773
.5935	.2279	-.5876
.6006	.1663	-.5991
.6099	.1047	-.6102
.6205	.0433	-.6199
.6307	-.0178	-.6274
.6394	-.0788	-.6323
.6451	-.1396	-.6348
.6470	-.1999	-.6351
.6451	-.2592	-.6336
.6396	-.3170	-.6310
.6316	-.3726	-.6273
.6226	-.4248	-.6221
.6139	-.4728	-.6149
.6071	-.5158	-.6046
.6030	-.5531	-.5900
.6023	-.5846	-.5699
.6048	-.6103	-.5429
.6100	-.6307	-.5085
.6167	-.6466	-.4664
.6241	-.6586	-.4167
.6308	-.6678	-.3605
.6360	-.6749	-.2990
.6392	-.6807	-.2337
.6406	-.6855	-.1661
.6405	-.6893	-.0977
.6397	-.6924	-.0293
.6389	-.6943	.0379
.6389	-.6950	.1040
.6400	-.6944	.1687
.6419	-.6925	.2320
.6440	-.6895	.2939
.6450	-.6859	.3541
.6432	-.6822	.4122
.6368	-.6790	.4673
.6240	-.6770	.5183
.6037	-.6763	.5640
.5748	-.6775	.6033
.5372	-.6802	.6351
.4912	-.6845	.6591
.4377	-.6896	.6754
.3782	-.6952	.6846
.3140	-.7006	.6879
.2468	-.7054	.6870
.1779	-.7092	.6835
.1081	-.7120	.6791
.0384	-.7137	.6751
-.0309	-.7144	.6722
-.0993	-.7145	.6706
-.1665	-.7138	.6700
-.2321	-.7124	.6694
-.2950	-.7098	.6680
-.3544	-.7055	.6646
-.4089	-.6988	.6584
-.4573	-.6886	.6491
-.4986	-.6740	.6368
-.5318	-.6539	.6224
-.5567	-.6278	.6070
-.5736	-.5953	.5921
-.5835	-.5563	.5794
-.5880	-.5113	.5700
-.5888	-.4612	.5651
-.5881	-.4067	.5648
-.5878	-.3489	.5691
-.5894	-.2890	.5771
-.5936	-.2280	.5874
-.6006	-.1665	.5989
-.6100	-.1048	.6101
-.6205	-.0434	.6198
-.6308	.0178	.6273
-.6395	.0787	.6322
-.6452	.1394	.6346
-.6471	.1997	.6349
-.6452	.2591	.6335
-.6397	.3170	.6309
-.6318	.3725	.6272
-.6227	.4247	.6220
-.6141	.4727	.6148

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

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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 1.1                         #
#  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
i) Field Oriented Control
z) store parameters in EEPROM for motor use

------> d 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> l 


  default values restored


a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> a 
new value -> 3 

a) number of current sensors: 3
b) current sensor transimpedance: 10.00 mV/A
c) maximum motor phase current: 59.9 A
d) maximum battery current, motor use: 59.9 A
e) maximum battery current, regen: 29.9 A
f) maximum shutdown error current, fixed: 14.9 A
g) maximum shutdown error current, proportional: 14.9 A
h) IIR filter coefficient, throttle current: 2
i) IIR filter coefficient, error current: 3
j) use additional comb filter: YES
k) use offset calibration: YES
l) restore default calibration
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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: 1984
d} e-rpm reached before transition: 85 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> c 
new value -> 200 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 980 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> d 
new value -> 87 

a) sensored or sensorless: SENSORED
b} sensorless startup: SELF START
c} e-rpm limit sensorless self start: 174
d} e-rpm reached before transition: 80 %
e} minimum current push start: 4.9 A
f} push start current, error allowed: 5 %
g] erpm sensored to sensorless transition: 3000
h] transition time sensored to sensorless: 299 milli-sec 
i) return to motor start below 2500 erpm
j) controlled slowdown for direction change: YES
k) phase current for controlled slowdown: 29.9 A 
l) motor maximum, forward: 99.97 k-erpm 
m) motor maximum, reverse: 99.97 k-erpm 
n) motor standstill voltage threshold: 0.39 V
o) enable low side pulsing in drive 0: YES
p) low side pulsing rate: 20 Hz
q) low side pulsing width: 20 usec
z) return to main menu

------> z 

########################################
#   (c)opyright 2012, B.M. Putter      #
#   Adliswil, Switzerland              #
#   bmp72@hotmail.com                  #
#                                      #
#  version 1.1                         #
#  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
i) Field Oriented Control
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

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

Well, looking at your backemf, it's pretty messed up so it's good I put this option in Option

c] use only fundamental sine waves

cleans up the back-emf and turns it into pure sine waves. I would use it !

So is this the last step after mesureing the coils then reconstructing them?

 

[Lebowski]

First step is to measure the hall positions.
After that you measure the coil positions.
Reconstruction is only necessary if you want to plot the graphs, it is not necessary for running the motor (as it does this automatically).
After measuring the coil position you need to decide whether you want to use the back-emf waveforms to run the motor
(no action necessary, exit this submenu and save) or whether you want to use pure sine waves (select option c, exit this submenu
and save).

I think using option c) and turning the back-emf into pure sines is the best course of action....

Note that the controller automatically uses sine waves when you don't have hall sensors and use a sensorless start option.

 

[Lebowski]

I had a question about how to implement a small and fixed amount of regen to implement engine braking, like an ICE has

First regen must be allowed by allowing a certain amount of regen battery current (menu d, 'maximum battery current, regen')

The throttle channels, after calibration, generate a signal between 0 and 1. Then with the throttle curve coefficients one of the
channels can be set to generate negative values (see manual page 21). With one of the channels generating a fixed negative
value there'll be a fixed amount of regen or braking 'torque'.

I think there are 2 methods to implement this.

- connect a small PCB type potentiometer to the channel you want to use for regen. One leg connects to the 5V supply, the other
to ground and the potentiometers slider connects to the controller IC throttle input. Calibrate this channel as you would with the throttle,
rotate the potentiometer to give 0V for throttle closed and rotate to 5V for full throttle. After calibration set the channels first coefficients to
a small negative number , the two others can be 0. If you for instance have 150A phase, setting the first coefficient to -0.1 allows you to dial
in (with the potentiometer) from 0 to -15A phase current. The main throttle channel can be set to give a maximum output of 1.1 (by for
instance setting the first coefficient to 1.1) to fully compensate the regen at full throttle and produce 150A phase current. If not set to 1.1
max throttle would be 150-15 = 135 A phase current... The 'test throttle' option is very usefull to see whats going on. Don't forget to
turn on the second throttle channel (set 'use throttle channel 2' to yes)!

- The second method just hardwires the throttle channel to 5V and you set the regen with the first throttle coefficient. Calibrate the throttle
channel you want to use for regen by connecting to ground for throttle closed and 5V for throttle open. Now keep the connection to 5V.
This sets the channel to always produce a '1'. Then by setting the first coefficient of this channel to a small negative number you can dial
in the fixed amount of regen. Again,using the previous example, setting to -0.1 will give -15A phase current. If you want to chance the
regen torque, instead of conveniently rotating the potentiometer from the first example, you'll have to go back to setup mode and change
the coefficient (to -0.08 for instance if you want slightly less braking torque). Again, don't forget to compensate by giving the throttle channel
an output higher than 1.

since the second method is a bit more cumbersome, I'd use the potentiometer method...

 

[Arlo1]

Thanks Lebowski.

Ok so lets clear this up.

What I am lookign at is using the same throttle for driveing the motor and regen.
I do plan to add a second pot hooked to the rear brake for full regen in the future but I think a little throttle regen could be cool.
If I wasn 10% regen at closed throttle and full power at full throttle what do I put for numbers?? 1.1,0,-.1????

 

[Lebowski]

ok, channel 1 being the throttle and using the second method:

-calibrate throttle on channel 1 as you would normally do
-use coefficients 1.1 , 0 , 0

-calibrate channel 2, connect to 0 for throttle closed and 5V for full throttle
-use coefficients -0.1, 0, 0
- connect channel 2 permanently to 5V


now if you want less braking:
-change coefficients for channel 1 to 1.05, 0, 0
-for channel 2 to -0.05, 0, 0

or for more braking
-channel 1 to 1.15, 0, 0
channel 2 to -0.15, 0, 0


when you set it up like this, throttle closed will give -0.1 * max phase amps as regen phase amps / engine braking force.
When you give some throttle it will compensate the regen for the first bit of throttle and then deliver power for the rest of the throttle.

 

[Arlo1]

ok, channel 1 being the throttle and using the second method:

-calibrate throttle on channel 1 as you would normally do
-use coefficients 1.1 , 0 , 0

-calibrate channel 2, connect to 0 for throttle closed and 5V for full throttle
-use coefficients -0.1, 0, 0
- connect channel 2 permanently to 5V


now if you want less braking:
-change coefficients for channel 1 to 1.05, 0, 0
-for channel 2 to -0.05, 0, 0

or for more braking
-channel 1 to 1.15, 0, 0
channel 2 to -0.15, 0, 0


when you set it up like this, throttle closed will give -0.1 * max phase amps as regen phase amps. When you give some
throttle it will compensate the regn for the first bit of throttle and then deliver power for the rest of the throttle.

Ok thanks lebowski. That makes more sense. This will help slow the dyno down and charge the batteries back up

 

[hydro-one]

this is awesome to see, i feel like im eavesdropping on a meetin at area 51 or lockheed . Lebowski your brain has been enhanced by the aliens, and Im going to use your controller on my 20kw DH bighit bikes (and i love your axial flux motor and want to build one ); Arlo i will be watching your project closely and mabye the collosus will be my next motor after johns 6 phase beast. are u distributiong it in canada? :wink:

Awesome work DuDE I love this controller.

 

[Arlo1]

Lebowski. I was just re testing everything after fixing a bad hall wire in the motor and I could not get full throttle tradition to sensorless. I am not using and filters on the current input to the IC. But I tried upping the erpm a few times from where it worked at 150 amps which was 3000 in steps to 6000 Erpm and tired the settings in cutting settings for current filtering from 4-7. I also tried rpm % reached at 85 89% nothing worked then I tried 4000ms transition time and it stayed in drive 2 for about 10 seconds while I played at part throttle. So then I tried full throttle from a stop and it blew the hi side on one phase. I'll post my settings later.

 

[Lebowski]

I think something was broken before the output stage blew, maybe while you were fixing the halls...

hall startup is actually pretty crude. In drive 1 and 2 there's no detection on error current. Drive 1 will
actually turn the motor when one of the output stage is broken or not connected. Meaning it will function
in drive 1 even when an output stage or a current sensor is not working, but at the price of big stress
on the output stage. So assuming this is what was happening...

If so it will enter drive_2 and try to make the transition to sensorless. Now when a current sensor
or an output stage is broken it will have trouble maintaining motor speed. The 4000 msec transition
time is counted off as long as all is OK and the motor stays above drive 1 to drive 2 transition speed.
If for any reason the motor slows down the 4000 msec counter is reset. This seems to happen
several times as it takes 10 seconds to make the transition.

the rpm% setting is only for sensorless startup and has no effect in sensored.

4000 msec transition time is really really long, it should be like 100 to 300 msec. The transition rpm
of 3000 to 6000 is also really high, I would go something like 500, and then 300 for from jumping out of drive 3 to drive 1