Motor calibration fails

[mikk-kruusalu]

I have a Tinymovr R5.3 board set up to a gimbal motor with integrated hall sensors. I am using Arduino for CAN messages. I am using the following code snippet for calibration, the motor resistance and inductance values are taken from manufacturer datasheet.

void loop()
{
    ...
    else if (receivedChar == 'Q')
    {
        tinymovr.motor.set_type(MOTOR_TYPE_GIMBAL);
        tinymovr.motor.set_R(1.3);
        tinymovr.motor.set_L(960e-6);
        tinymovr.motor.set_I_cal(1.5);
        tinymovr.sensors.select.position_sensor.set_connection(SENSORS_SELECT_POSITION_SENSOR_CONNECTION_HALL);
        tinymovr.sensors.select.commutation_sensor.set_connection(SENSORS_SELECT_COMMUTATION_SENSOR_CONNECTION_HALL);
        tinymovr.sensors.select.position_sensor.set_bandwidth(20.0);
        tinymovr.sensors.select.commutation_sensor.set_bandwidth(200.0);
        tinymovr.motor.set_pole_pairs(21);
        Serial.println("Received Calibration command");
        tinymovr.controller.set_state(1);
    }
}

The motor does move forwards and backwards during calibration and when checking position estimate, the value is changing when manually rotating the motor. But when checking the tinymovr status with

void loop()
{
    ...
    if (receivedChar == 'V')
        {
            Serial.print("HW: ");
            Serial.println(tinymovr.get_hw_revision());
            char fw[20] = "0";
            tinymovr.get_fw_version(fw);
            Serial.print("FW: ");
            Serial.println(fw);
            Serial.print("UID: ");
            Serial.println(tinymovr.get_uid());
            Serial.print("Vbus: ");
            Serial.println(tinymovr.get_Vbus());
            Serial.print("Ibus: ");
            Serial.println(tinymovr.get_Ibus());
            Serial.print("Hash: ");
            Serial.println(tinymovr.get_protocol_hash());
            Serial.print("Errors: ");
            Serial.println(tinymovr.get_errors(), BIN);
            Serial.print("Warnings: ");
            Serial.println(tinymovr.get_warnings(), BIN);
            Serial.print("Sensor errors: ");
            Serial.println(tinymovr.sensors.setup.hall.get_errors(), BIN);
            Serial.print("Motor errors: ");
            Serial.println(tinymovr.motor.get_errors(), BIN);
            Serial.print("Motor R: ");
            Serial.println(tinymovr.motor.get_R());
            Serial.print("Motor L: ");
            Serial.println(tinymovr.motor.get_L(), 6);
            Serial.print("Controller errors: ");
            Serial.println(tinymovr.controller.get_errors(), BIN);
            Serial.print("Motor calibrated: ");
            Serial.println(tinymovr.motor.get_calibrated());
            Serial.print("Sensors calibrated: ");
            Serial.println(tinymovr.sensors.setup.hall.get_calibrated());
            Serial.print("Iq limit: ");
            Serial.println(tinymovr.controller.current.get_Iq_limit());
            Serial.println("---");
        }
}

I receive

HW: 13
FW: 2.3.2-di
UID: 298129459
Vbus: 24.67
Ibus: 0.00
Hash: 641680925
Errors: 0
Warnings: 0
Sensor errors: 0
Motor errors: 0
Motor R: 1.30
Motor L: 0.000960
Controller errors: 0
Motor calibrated: 0
Sensors calibrated: 1
Iq limit: 10.00
---

As I understand the motor has not succeeded the calibration as the flag is 0 but it also does not report any error messages. So when trying to set the controller into velocity mode for example then nothing happens and tinymovr stays in idle.

What could be the problem with my setup?

[mikk-kruusalu]

I discovered that sending the letter 'Q' twice in the terminal makes the calibration succeed. I might be misusing the API but it feels like a bug in tinymovr firmware.