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Firmware 5.4.x {stable}

IV. Map Configuration

LYNX enables dynamic adjustment of torque, power, and speed limits through power maps.

Map Switch Setup​

Default configuration has no map switch assignment. To assign GPIO1 as the map switch button:

  • Set /io/IN_mapswitch to 17 (refer to the Common IO manual)
  • Enable GPIO1 pull-up resistor: set /common/ioconf to 1 (refer to the Common IO manual)
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Motor sound feedback indicates map changes - beep count matches map number.

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VDS-display users can utilize the display's map switch through LYNX-front application. Ensure proper CAN bus communication.

Vehicle Speed Configuration​

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Detailed speed calculation guide

Speed calculation requires:

  1. Motor pole pair count (from previous setup)
  2. /gearthr parameter: motor-to-wheel revolution ratio (how many motor shaft revolutions per single wheel revolution)
  3. /odothr parameter: wheel revolutions per kilometer

Correct configuration enables speed limiting in km/h.

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Monitor speed in /speed state variable.

Speed Limiter Tuning​

Within limiter setting, you can find critical parameters to prevent oscillation or slow response. Recommended starting values:

"/driver/limiter/rdec" : "100.0" # '[RPM] speed limiter decrement rate'
"/driver/limiter/rgain" : "50.0" # 'speed limiter gain'

speed limiter

Map speed limit (kph) determines rpos threshold. In LYNX application, this parameter is marked as volatile.

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Units:

  • rpos, rdec: motor [RPM]
  • Map kph: vehicle [km/h]

Number of maps​

Default: three maps. Adjust via /map/mapcnt parameter.

Tune the maps​

For each map, you can set several parameters. For now, let's focus only on the following:

  • trqlvl - maximum torque in range [0-1]. It multiplies reference current iref. i.e. value 0.8 means, that the maximum available current is 80% of the iref.
  • kph - maximum speed in [km/h]. This is the speed of the vehicle. It is calculated from the motor speed. If it's set to 0, there is no speed limitation.
  • pwr - maximum power in [W]. This is the maximum power of the motor. It is calculated from the motor power. If it's set to 0, there is no power limitation.
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Parameters located in /maps/mapX (X = map number) Default settings are conservative - adjustment typically needed for higher performance.

map