Puck Firmware

Download Puck4—mk1-v4.3.2.ebin

Change Log:

• Automated EDS Generation: Developed a Python script to convert the source code object dictionary into a valid, CiA-conforming EDS file (validated via CANchkeds).

• Startup Bug Fix: Initialized the overtemperature threshold variable, resolving a bug where the device erroneously emitted an EMCY fault message immediately upon startup.

• User Manual: Updated documentation to reflect all current firmware features.

• Voltage Monitoring: Added dedicated timers for Over-voltage and Under-voltage detection to protect hardware during regenerative braking or brownouts.

• Timing Correction: Fixed fault timer units so thresholds are consistently measured in milliseconds (resolving "fast-triggering" sync faults).

• Dynamic Tuning: Added callback handlers for velocity gains, allowing the Puck Tuning app to stream and apply gains in real-time without requiring a reboot.

• Mode Re-entry Fix: Resolved a DS402 state machine issue where the drive failed to initialize if the host re-enabled the same control mode after a disable cycle.

• Adaptive Filtering: Replaced fixed-coefficient current filters with Biquad lowpass filters that automatically calculate cutoff frequencies based on the motor's specific winding time constant (L/R).

• MKI Sync Fix: Synchronized the ADC trigger (PDB) with the PWM timer (FTM) on MKI hardware to ensure current samples are always taken relative to the active duty cycle.

• Voltage Clipping: Added circular clamping to the alpha-beta voltage vector to prevent duty cycles from exceeding safe sampling widths.

• CAN Reliability: Implemented a software Tx ring buffer to prevent CAN writes from blocking the motion control loop.

  • Enabled auto-retransmission and optimized the Sync Jump Width (SJW) to prevent message loss on noisy buses.

• PWM Dithering: Added hardware dithering to eliminate audible noise and torque ripple caused by quantization at low torque commands.

• Safe Reset: Configured MKII pins to drive HIGH before reset to prevent gate-driver "shoot-through" (short circuits) during firmware reboots.

• Runtime Scaling: Moved bus-voltage and thermistor scaling from hardcoded constants to shared objects initialized via the CANopen dictionary.

• Dual-Platform HAL: Established a single, chip-agnostic codebase supporting both MKII and MKI targets.

• Modern Toolchain: Upgraded to ARM GCC 14.3.1 with full C23 support for compile-time optimizations.

• Memory Efficiency: Designed a flash-resident Object Dictionary with a RAM-based hashmap index to accommodate the MKII's limited (32 kB) RAM.

• Atomic PWM Updates: Fixed phase asymmetry and noise on the MKII by enabling register preloading and atomic register writes for gate-driver signals.

• Split Sampling: Decoupled current sensing from auxiliary samples (voltage/temp) into separate PWM patterns to maximize sampling bandwidth.

Notes:

• Firmware v4.3.2 is only compatible with the following software versions -

  • Puck Utility App >= v1.2.0

  • Puck Tuner App >= v1.2.0

• For compatibility with the P4-16 Dev Kit, please use the updated configuration file - P4-16-DevKit-24V-v2.3.2.csv