Multi-modulator architecture: modulator slot, N-pulse patterns, live handoff, tracking observer - #28

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datacrystals wants to merge 21 commits into

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Commits on Aug 1, 2026

Add multi-modulator/SHEPWM implementation plan with H723 feasibility findings
datacrystals
committed
60d3915
Modulator slot: wrap SVPWM/SPWM behind Modulator interface, retire foc_active
datacrystals
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bc10184
SHEPWM engine: TIM5 pattern timebase driving TIM1 forced-output modes
datacrystals
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5b4fe57
Gate FDCAN error-fault arming on KV bus enables
datacrystals
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9ead5d8
Add runtime N-pulse mode to the pattern modulator
datacrystals
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b5d8c49
Live ramp<->pattern handoff at speed (step 4)
datacrystals
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0dd5382
Node-based modulation auto-switch (ramp <-> N-pulse)
datacrystals
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bbe5532
FOC <-> N-pulse live handoff; freq-based supervisor covers FOC
datacrystals
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958404a
Lower ModAuto thresholds to 4/3 Hz for the bench motor
datacrystals
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a833084
Graph-FOC modulation handoff + 101-pulse default
datacrystals
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e11291a
Stall recovery via encoder fe; async carrier scheduling (CarrierAuto)
datacrystals
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7185387
Piecewise carrier schedule; shelve sync handoff
datacrystals
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d11361d
Replace windowed-RPM EMA with a tracking observer (2nd-order PLL)
datacrystals
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dd9acdb
Fix observer dt bug; PI nodes use live control dt
datacrystals
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473e0ee
Carrier schedule floor to 2 kHz (34 V bus envelope)
datacrystals
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e95c48d

Commits on Aug 2, 2026