Firmware update
The current version of the display and controller firmware is available at this link. Copy files to the root directory of the microSD card (Fat/Fat32), then insert it into the display (contacts on top), and run the update process. To check the current version, go to Controller > Device Information, the cursor indicates the current version.
2024
Experimental controller update
- Fixed FOC timing lag compensation to match PWM voltage
- Added calculation of phase at the point of current measurement to use at park transform
- Low ripple svm optimized
- The current measurement of P24F moved to the center so much as possible
- Added bike presets to Updates and Settings
- Added shutdown button
- Added shutdown on charge
- Added input filter
- Added file server disable
- Fix for lock at startup.
- Added disabling file servers in data sources
- Bug fixed
- Update the Bluetooth module first
Experimental controller update. Unzip before the update.
- Mainly for surfers and other sensorless motors.
- Many fixes in square wave.
- Added square startup for FOC.
- Improved hall filter.
- Update the Bluetooth module first
- Update the Bluetooth module first
- Bug fixed
Very important update! installation is required!
- Added disaster recovery capability.
- Added the ability to change Bluetooth password.
- Added the ability to enable a password request when logging in.
- Added the ability to switch modes from the application.
- Support for password requests,
- Files are read and saved to the download folder,
- Added input of parameter values from the keyboard
- Bug fixed
- Removed reverse when CAN buttons active.
- Added brake 'Brk' to button inputs for functions.
- LEVCAN updated.
- Added to functions 4 configurable signals with a button input.
- Added configurable logic: AND, NOT, OR, XOR, as another button type.
- Bug fixed
- Bug fixed
Experimental controller update. Unzip to update the controller.
- Field weakening fixes and speed reference increased
2023
Export config before update. Import after the update and run the new motor, angle, and LR detect!
- Experimental sensorless FOC.
- Now sensor types combined/sensorless work with FOC too.
Small update:
- Added brake button selection for only light indication without actual braking.
- Bug fixed
- Ta daa!
- Added reset handlers
- Added quick battery voltage setup
- Fixed dc-dc mode for P24F
- Added LR detect indication
- Throttle/brake error replaced with 'not connected'
- Added temperature sensor detect logic when sensor disabled
- Added access level selection
- Added boost mode duration
- Fixed active braking stutter
- Adjusted square control duty cycle
- Added access-level menu support
- Fixed some freezes
- Fixed displayed mode with multiple motors
- Added MPPT solar logic
- Added throttle lock when brake pressed
- Fixed FOC 'square' noise
- The added neutral mode by timer
- The button now turns off without the need to release it
- Active braking fix when not enabled (stutter fix too?)
- Added motor gear ratio
- Speed kp changed the default to 0.1
- Added separate throttle mode power+torque
- Fixed storage erase when both banks are full
- Increased ampere offset at startup for plate
- Added power indication in the Converter menu
- Small parameter text fixes
- Added continuous logging mode
- Temperature calculation moved to a separate file
- Current calibration now only saved when the test finished
- Added error when current calibration out of range
- Battery min charge current can be set to 0 now
- Added NTC10k3500
- Added file flush when log rate slow
- Added ADC sample timetable
- Logger settings offset calculated automatically
- FOC ADC current sample for P24F changed from ADC3 to ADC1+2
- Remove low speed for changing HZ mode
- Added cruise-ready flag
- Added throttle lock when brake pressed
- Added low ripple PWM mode (for FOC)
- DMA removed, because of triple buffering (noise fix)
- Added throttle-locked flag
- SVM sector selection moved to a separate function
- Added lock flags index by function name
- Increased default throttle response
- Advanced modes now have default throttle = torque
- Added export/import
- Added kty84 temp sensor
- Added hazard switch logic, works when everything is off
- Added brake strobe effect
- Added data that can be requested over LEVCAN
- Changed voltage drop saving.
- Fixes in LEVCAN.
- Fixes in flash saving.
- Fixed RPM in info lines.
- Data Storage is updated with the latest fixes.
- Added Adaptive throttle mode (by default with 6%).
- Added Power throttle mode.
- Added PAS scaling with buttons.
- Added Torque sensor minimal pressure for instant-start.
- Forwarded hall error to display flag.
- Changed hall error detection logic.
- DC-DC now shows current on each phase.
- Added TF21904M potential driver fix.
- PhaseResponse added phase selection.
- Updated flag names for sensor errors.
- Added phase currents and voltages for LR detect.
- Added PAS voltage filter.
- Added PAS voltage selection (throttle or vpas).
- Added new inputs (I1-I13).
- Inputs renamed.
- Added checks to HWPort HAL.
- Added t-sensor resistance compensation.
- Added DAC current protection temperature correction, needs optimization.
- Added 5V for FW.
- VBUS calculation moved to RAM.
- Added FreeRTOS-gcc workaround.
- R detection now uses 50% pwm as offset.
- New timer sync method for upcounter mode (R detect).
- Motor LR auto detect enabled.
- Added AN brake input 'switch' detect by dV.
- Added MTPA enable detect when inductance is 30% bigger.
- Added hall input filter.
- Added hall step forward filter with min step time.
- Added fallthrough directives.
- Added parameters size check as warning.
- Fixed inputs array position.
- Motor LR moved to last detection position.
- Added local port input filter.
- Added Enable Throttle function (opposite to Disable Throttle).
- Added Hall sensor with minimal step time.
- Added wait code for R detect.
- Fixed voltage error on R detect.
- Fixed negative flux linkage.
- Disabled MTPA, FW, and other options for hall calibration.
- Added Adaptive throttle to adv. modes.
- Control structure optimized.
- FOC FW improved, should not stuck.
- Vq limit removed, now it is by default.
- Added (by default) MTPA mode by real Q current.
- Small FOC optimizations.
- Added TIM1 as a variable to the linker script.
- Hall code moved to upcounter while FOC in downcounter (buzz fix #1).
- DMA now in circular mode, it needs less code with same effect.
- Added noise suppression in vq vd to decrease sector change (buzz fix #2).
- Storage updated, improved reliability and now with version system.
- Fixed invisible fault flag in logger
- Updated logger defaults.
- Small optimizations.
- Logger FOC parameters were replaced to filtered values in fast mode.
- The data Storage unit test updated.
- Fixed a few bugs in Data Storage.
- LEVCAN updated with recent bugfixes.
- Added additional tests for Data Storage.
- Startup junk removed.
- Logger fixed hang-on display disconnect.
- The logger cache moved to SRAM2.
- FOC pids rolled back to v0.8.9.
- Speed max increased to 200%
You will need to run new motor detection after the update! This update fixes issues with the reverse function of the previous release and also some problems with recently made controllers. There are known issues with starting under high currents that will be investigated later.
- Added interrupt setup logic
- Added High V ripple flag for plate controller
- Added middle DAC offset from raw ampere calibration
- Fixed EXTI-PR register reset in the main logger
- Fixed Neutral for the master controller
- DAC offset updated for the plate
- Fixed square wave plate reverse
- Fixed reverse sensorless startup logic
- Added hall idle parameter
- Hall angle fixed, now transition with offset, when not interpolated — no offset
- Added fix in HW config for TF21904 drivers (shipped after Dec 2022 till Feb 2023)
- Added fault flag to the logger
- FOC has removed the extra current at the start
- FOC angle now has no offsets
- FOC sectors moved to match the square wave
- FOC added an additional dead time gap
- Added load defaults by section
2022
the Export configuration before the update, update the Display, and then import your config! Added menu for forced device update.
- Added passwords for devices menu and main menu.
- Configurable max visible speed in statistics.
- Fixed some SD card issues, and added exFAT support (not for display update).
- Added phase current bar min/max setting.
- Added menu for forced device update.
- Fixed brake voltage inversion.
- Fixed Wh calculator for high power.
- Removed info line scroll in info line theme.
- Phase current now showed as Ap.
- Added motor angle to the logger
- Fixed errors in combined transition logic
- Fixed clutch negative current spike
- Added FOC vq limit parameter for QS165 motor
- Fixed reverse operation for vq limit
- Current calibration fix for shunt
- Levcan got an update on ParseParameterValue
- Fixed PWM minimum time for TF driver (FOC)
- DAC constant updated with a calibrated value
- Position sensor temporary fix for FOC when not interpolated
- Added remote throttle timeout (locked screen full throttle bug)
- Many small fixes for assembly testing
- Fixed sensor logic for square wave
- Fixed adc issues but still should be improved
- ADC logic changed to more future-proof
- Added configuration import with button
- Added import lock when motor spinning
- Moved PLLs to separate file
- Fixed current spike on brake press (filter abs duty)
- Removed 'hall invalid' logic from interpolation start
- Improved speed control for reverse from forward movement
- Position sensor logic separated
- USB code deleted
- Stop PWM on debug added to pwm hal
- SQ have sensorless interpolation
- Interpolation logic improved
- Deleted global PositionSensor variables
- Fixed speed reference NaN
- Added diagnostic mode to state machine switch
- Fixed few diagnostic issues
- Live hall angle update in menu
- Added NaN checks for hall
- Adjusted detected angle for first step
- BEMF now have one extra step to skip spike, in case if it falls slowly
- Detection sensor state fixed, caused motor to stall
- Added frequency startup logic for sensorless square wave (yay!)
- Frequency control used for sensorless startup now, default changed to 2
- Added encoder position sensor
- Pullup control removed
- Added encoder menu
- Added encoder detection
- Updated position sensor logic, detection routed through it
- Added hall detect quick fail
- Swapped hall inputs to match timer index
- Speed calculation changed
- Rads calculation moved to Position sensor file
- ERPS counter upgraded with direction filter
- Encoder angle calibration added
- RCPWM disable-exit added
- Added pwm port assignment to encoder
- Torq sensor exit added
- ADC ports reassigned
- Few parameters live update fixed
- Added encoder info to device info menu
- Added E suffix for Encoder
- OV and UV flags separated
- Test bench code moved to separate file
- Includes optimised everywhere
- Square wave current offset disabled on next step now
- FW added better enable logic, to help avoid extreme brake power on FW
- Added few FOC optimisations
- Added FOC vq limit before vd-vq vector limit, to let vd do field weakening more (unlimited vq caused worse FW perfomance and sometimes it was stuck)
- SQ added DC current dead time compensation
- Added out of control detection logic
- Added serial number
- Added calibration constants
- Added calibration logic when checking hardware
- Added FreeRTOS stack monitor
- Optimised testing procedure for faster test
- Updated critical task enter routines
- Fixed field weakening integral kick if foc is forced shutdown
- Changed PWM Freq to constant
- Position sensor menu updated
- Over-Field weakening flag logic fixed
- Fixed PAS menu parameter update
- Moved foc square-boost to sector switch logic
- Added PLL low speed smoother logic
- Fixed T1/T2 settings menu.
- Now possible to disable turn signal blinking by setting 0 sec.
- Field Weakening PID updated.
- Added FW limit based on motor temp limit.
- Decreased allowed FW vector size to 80%.
- Config defaults decreased.
- Added locks 10 seconds on temperature exceeding.
- Small menu changes and export fixes.
- Fixed P1 P2 PWM mode.
- Lifetime temperature now calculates only when motor powered.
- Added hall pullup disable option.
- Various save system fixes.
- Fixed NaN for resistance detect.
- Fixed import of 1st parameter in every section.
2021
- Hotfix for controllers 6F/12F and old 24F
Critical update for new controllers:
- Save system updated, added unit tests.
- Added clutch shutdown when brake pressed.
- Added option to enable MTPA.
- USB for computers disabled by default, will be removed in the future.
- Fixed some parameter editing.
- Updated import/export.
- Odometer now can be imported, value is not decimal now.
- Fixed button blinking while typing the password.
- Fixed charge screen, button blinking fixed.
- Fixed info-lines names.
- Fixed header for password message.
- Added log header option.
- Added translation for some messages (RU).
- Added error messages for throttle/brake detection.
- A new LEVCAN parameters protocol.
- Fixed PWM IO settings, now they do work.
- Added temperature sensor thresholds, they work as virtual buttons for functions.
- Added ability to send button inputs to the CAN-bus.
Main program source code published on GitHub:
GitHub.
Update last! First, need to update all devices but display. Because menu protocol is new and old devices will not be visible in the menu. After the update is finished hold the left button few seconds to exit the updated device menu. If the button does not work you may need to reset the power supply or replug the CAN cable in the display. After everything is updated - update the display. Make a controller reset (load defaults) after the update. We recommend running motor detect again on controllers. Detection of throttle/brake connected to display should be done in the display menu.
- Menu redesigned.
- All display settings moved to a separate menu.
- Added port input state in port settings.
- Added port functions: disable backlight, lock screen.
- Added separate hotkeys while charging.
- Added option to use hotkeys with a short click.
- Added throttle/brake settings which are connected to display.
- Added global odometer setting.
- Global stats reset will not reset the odometer now.
- Added parameters import/export.
- Added icons on the main screen (brake, brake limit, turtle mode, motor/controller fault, battery fault).
- With new controllers, update speed is 6 times faster now.
- Logger speed should work faster too.
- Added text scroll in the menu.
- Logo updated.
- Added more informative messages for resets with password requests.
- Added parameters that could be requested from display on the CAN-bus.
- Added glitchy USB to the controller (needs a USB cable connected to PWM port).
Completely new LEVCAN parameters protocol with more possibilities. - Added trip statistics menu to the controller:
- Wh regen/used/total.
- Ah regen/used/total.
- Estimated motor efficiency in real time and average.
- Calculated motor torque (on the shaft). - Temperature measurement now calculates t-sensor resistance.
- Improved kV detection.
- Fixed 'bug' with long brake response on slow current change speed for acceleration limit.
- Defaults for all ports are now OFF.
- Added brake button % (percentage of brake phase current for button-brake).
- Added brake on the released throttle (brake phase current).
- Motor inductance and resistance detection for MTPA.
- MTPA logic (works well only with IPM motors).
- Fixed FOC FW to be triggered at a stop when braking.
- Added more control CAN commands.
- Added more parameters that could be requested from the controller on the CAN-bus.
- Added more logger parameters.
- Added hall filter settings to debug stuttering.
- Added prefix selection for controller name.
Update first! First, need to update all devices but display. Because menu protocol is new and old devices will not be visible in the menu. After the update is finished hold the left button few seconds to exit the updated device menu. If the button does not work you may need to reset the power supply or replug the CAN cable in the display. After everything is updated - update the display. Make a controller reset (load defaults) after the update. We recommend running motor detect again on controllers. Detection of throttle/brake connected to display should be done in the display menu.
2020
- Fixed throttle drop.
- Small menu fixes.
- LEVCAN updated.
- Button setup simplified, by default all set to CAN mode.
- Added exFAT support (but display still can be updated only from FAT32).
- Added charge screen.
- Added fast statistics type selection.
- Added wider event window.
- Mph stats fixed.
Small update:
- Small menu fixes.
- CAN inputs increased to 16.
- Parameters export / import fixes.
- 12V shutdown fix.
Use configuration export before update, reset defaults after update and import configuration.
- Throttle / brake curves added (8 point configuration) with presets.
- PAS extra scale added for additional modes.
- Soft acceleration for cruise added, more shutdown triggers.
- Cruise logic updated — phase current limited by selected mode, not throttle position.
- Minimum cruise speed — limits cruise activation.
- Cruise increment/decrement — control cruise speed with buttons (port = CR+/CR-)
- Cruise restore — recovery last saved cruise speed with button, activated only above min cruise speed. (port = CRr)
- Power limit added to modes and battery configuration. 0 = power limit disabled.
Small update:
- Decreased DCi Ki default from 500 to 200, vibration complaints
- Slightly decreased FW start point.
- Added full debug info export.
- Added logger mode selection and tuned logger start.
- Removed first line from log for easy datazap upload.
- Fixed many charger glitches, however still have few.
- Added soft start to charger and more safe phase detect.
- Completely reworked field weakening, now should not have any hard braking after release.
- Added minimum speed reference for speed PID.
- Added RC PWM control on P1 port (throttle/brake).
- Added more logger parameters.
- Few important FOC control fixes, DC current should be calculated better under field weakening.
- Fixed one weird ultra-rare bug in square mode.
- LEVCAN operates on queues now, log time 2x faster when display updated
- Experimental logger added
- Save log once for every turn-on, reboot if you need to save multiple logs.
- Disable logger to use configuration import/export or software update
- In logger options there is a setting to make it log at every turn-on
- Hotfix for display speed sensor
- Hotfix quick statistics (text was overlapping)
- Fixed 0V throttle issue
- Fixed charge statistics reset
- Added km/h or mph switch
- Added more parameters to info. lines on main screen
- Added hotkey mode for compatibility with controller speed functions
- Fixed contrast setting
- Added driving range, calculated from WH usage
- A lot of tiny fixes
- Fixed N mode
- Fixed motor wiggle at charger mode
- Added more debug information
2019
- Torque PAS fixes
- Fixed configuration import for advanced modes
- Added configuration selector from 1 to 9
- Import will show first line of configuration, you can put a comment here
- Hotfix, fixed NaN error for analog inputs.
- Big menu update
- Control logic completely reworked for future compatibility with BMS
- New default values for PIDs
- DC-DC low voltage difference charge fixed
- Inverted brake input added
- Specific setup for 3 positional speed switch added (can work now as 1-2-3)
- Button/switch select for usual speed select input
- Save CRC calculation fixed
- New speed mode - neutral
- Speed increment and decrement added
- Added t-sensor NTC 10k B:3380
- Reboot command added
- Fixed field weakening over 126%
- Fixed VBUS measuring, now it is at PWM frequency, significantly improved overvoltage protection
- Added median VBUS filter
- Added averaging of N-X ADC samples filter for throttle and brake
- Fixed brake glitches
- Current measuring fixes for better measuring on 6F board
- When enable button configured controller will not turn-on anymore when power applied
- Autodetect improved, more informative, short-circuit detect added and timeout fixed
- Added lock-at-turn-on, will lock throttle untill password on-screen is entered
- Voltage on phases detect added, will lock controls
- UVLO added
- Added "Advanced modes" menu with more specific options per mode
- Personal throttle protection lock for CAN source or local
- Motor temperature limit for charger (DC-DC)
- CAN buttons setup
- Inverted inputs setup
- Statistics reworked
- Added filters for analog inputs
- Fix float point parameter export
- Added FOC pid parameters
- Added more protections against hanged code
- DC-DC charger now have current derating
- Added configuration export/import/backup
- New temperature gradients
- Default speed is 1 now
- New cruise types and modes of operation
- Acceleration/deceleration PI regulator added
- Throttle torque mode now also limits speed
- Speed limit have now reference to choose from
- Parameters now saving in groups, will not reset all configuration in future updates
- Code excution optimizations
- PWM output now have temperature range setup
- PT1000 t-sensor added
- Better temperature derating, based on absolute maximum current
2018
- Fixed LEVCAN FIFO error, that may cause update fail
- Some small bugfixes in controller
- Display now can make screenshot
- Download
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Our contacts
If you have questions, suggestions, or you need technical support, write to us.
Nucular Limited
BRN 73773696
Room 5003, 5/F Yau Lee Centre
45 Hoi Yuen Road Kwun Tong Hong Kong
Hong Kong, 999077
Why Nucular?
In English "Nucular" is a commonly used mispronunciation of the word "nuclear". We used this word to emphasize high power density of our controllers
BRN 73773696
Room 5003, 5/F Yau Lee Centre
45 Hoi Yuen Road Kwun Tong Hong Kong
Hong Kong, 999077
Why Nucular?
In English "Nucular" is a commonly used mispronunciation of the word "nuclear". We used this word to emphasize high power density of our controllers
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