Tags: DevPQ/bldc-1

LittleFOCer v3.1 support

Signed-off-by: Dado Mista <dadomista@gmail.com>

Balance: Remove multi-ESC / dual-motor support

Signed-off-by: Dado Mista <dadomista@gmail.com>

Integral limiting fix

When ki is 0 then don't do any of the integral logic
Avoids division by zero if integral limit > 0 and I==0

Signed-off-by: Dado Mista <dadomista@gmail.com>

Integral limiting using deadzone value

If deadzone is > 0, the integral component will be limited to that value.

Signed-off-by: Dado Mista <dadomista@gmail.com>

Added dual-switch option when halfstop erpm is 0

Signed-off-by: Dado Mista <dadomista@gmail.com>

Support for Spintend ubox single

Boot time reduction mcpwm_foc

1000ms delay after drv_fault is cleared is obviously excessive.
Using 10ms now, no issues on BalancePro or LittleFOCer.

Signed-off-by: Dado Mista <dadomista@gmail.com>

Improved quick-start behavior

Smoother yet more aggressive in hills

Signed-off-by: Dado Mista <dadomista@gmail.com>

ATR: Improved integral shedding

Finally had the courage to test/tune integral shedding in more extreme conditions
After braking there's no more erpm limit for shedding, you can bomb down a hill
that sharply transitions to a level surface and the nose will NOT be down!

After accelerating I still only shed when the speed is very low to allow slowly
climbing small steps.

Signed-off-by: Dado Mista <dadomista@gmail.com>

ERPM-Based variable tiltback as alternative to constant tiltback

Constant Tiltback ERPM ending in "1" (e.g. 201) will switch to erpm based
tiltback.

The total constant tiltback number will apply @ 10,000erpm linearly scaled.
Not limited.

Signed-off-by: Dado Mista <dadomista@gmail.com>