Scooter hacking utility инструкция по применению на русском

M365 Pro 2 cooking guide

Detailed parameter description for M365 Pro 2 firmware generator

Картинка с сайта: wiki.scooterhacking.org

Download Scooter Hacking utility

Presets

Картинка с сайта: wiki.scooterhacking.org

This category contains suggested presets, set up by community. You can base your template on any of them, however it’s suggested to start from vanilla configuration.

You can also save presets in your browser or import/export them into a file

Basics

Картинка с сайта: wiki.scooterhacking.org

Base firmware version

Use DRV223 if you don’t know what you’re doing.

Remove 30km/h speed check

This will patch out new limitation imposed in 223/224 DRV that beeps when the target speed reaches 30km/h or more.

Remove charging mode

If you intend on using external battery through the charging on, turn this on. For all other uses, keep it off.

Version spoofing

Artificially inflates the firmware version number in order to prevent any official apps from unsolicited upgrading. No side effects are to be expected with sideloading different firmwares. Recommended

Power and Speed

Картинка с сайта: wiki.scooterhacking.org

Estimated draw

Current in the following rows should be thought as torque. More amperage means more torque, but also more stress on the components and motor, usually less range on single charge. It is suggested to start from factory values and proceed up only if necessary. 25A on Sport mode is already high enough that the motor cannot exert this level of torque for long without overheating. Bear in mind that the motor case temperature are only a fraction of the heat generated by coils, which are usually 50-60C hotter than the case.

Estimated draw is the ‘older’ setting for current. In practical sense, this would be the target current you’ll reach during operation, with small fluctuations based on the current elevation or speed.

Current limit was previously known as phase current limit . This is the peak envelope power on the ABC phases, measured by the ESC itself. __Treat this as hard limit, and the estimated draw as soft limit.u When unsure, you can set this to 2-3 times of the estimated draw.

Recommended values (if you don’t know what to do)

• Sport — Estimated 25A, Limit 65A

• Drive — Estimated 17A, Limit 65A

• Eco — Estimated 10A

Картинка с сайта: wiki.scooterhacking.org

Max speed

Max speed is rather self explanatory, in speed mode, your max speed will be limited by this setting. The scooter never actually reaches this, due to various factors. Generally, 1km/h should be added here to reach the target speed, e.g. for 25km/h, set 26.

Картинка с сайта: wiki.scooterhacking.org

Direct power control

Current raising coefficient

Motor start speed

Motor will not exert any torque unless this speed is reached. Please note that even when this is set to 0, the scooter won’t accelerate from dead stop. Minimum speed here is >0.01kmh represented by the value “0” on the slider.

Braking & Energy Recovery

Картинка с сайта: wiki.scooterhacking.org

Brake lever parameters

Minimum and Maximum phase current

Sets the strength of how your brake will be pulling. It is advisable not to go over 30A, as there are reports of broken controller boards due to regenerative braking. Furthermore, there is a limit to how much braking can be achieved per system voltage. Going over this limit means the scooter will try to brake by applying current instead of regeneration. This can stress the components excessively, and shouldn’t be used in other cases except emergencies. More braking power can be unlocked by raising system voltage to 48V or beyond.

Картинка с сайта: wiki.scooterhacking.org

No KERS

Disables automatic braking when no acceleration is applied. Recommended, as the default automatic braking has no significant advantages, and only results in applying throttle more than necessary. Furthermore, small current is applied when the scooter is moving even without any throttle set. This can help with coasting, as the static magnetic forces of the motor are overcome, which would normally cause drag.

Current raising coefficient

Again, same as with adding torque, this controls the relation of the braking current applied to the speed you’re moving. Lower setting might help with finding balance between good downhill speed and regeneration, while higher values will pull more current faster, leading to quicker stop.

Brake light mode

Brake light flash frequency

Sets the flashing frequency for rear light in flashes per minute.

No brake light flash on throttle release

By default, the rear red light will blink when the brake lever is pressed. Check this to keep that from happening.

Cruise control

Картинка с сайта: wiki.scooterhacking.org

Cruise control delay

Sets the time until cruise control is applied, when the throttle is kept at the same position. After the beep, your speed or power will be kept constant, until you touch the throttle again, or apply brakes.

Advanced

Картинка с сайта: wiki.scooterhacking.org

Error raising level

Stay on when scooter is locked

With this enabled, the scooter will be always on in lock mode, with blocked motor to prevent theft.

Change ESC-BMS baud rate to 76800

Enable this only if you used open source BMS, as detailed on BoToX github.

Wheel size diameter

Battery voltage limit

Time to cook

SHFW is a custom firmware available for flashing via the Scooterhacking Utility app. Configuring it might be challenging for new users. This guide aims to provide a quick and easy way to apply the important basics. The understanding aspect of all this can be overwhelming, but it will come as a side effect of your own testing and thinking as we can’t do that for you.

Join the discussions on Telegram and Discord.

Installation

To install SHFW, follow these steps:

1. Download our official app Utility, alternatively for wide range device support, including iOS, check out Luna.

2. Supported Scooter Models:

   • Ninebot G30, G30L: You can flash this firmware if the DRV version is at 1.7.3 or below. If your DRV is 1.7.3, you need to select “Attempt Downgrade” before SHFW. For DRV versions above 1.7.3, you’ll need an ST-Link. Refer to this for more information.

   • Ninebot G2, F2, F2 Plus, F2 Pro: Every regional model is compatible, needs to be unlocked via ST-Link.

   • Ninebot ESx: Every version is supported.

   • Exx Series: [Not E2, E2 Plus, E2 Pro. Only the older E22, E45, etc] You can flash SHFW if the DRV version is below 2.7.0. Else you will need to use a ST-Link.

   • Ninebot F-Series: [Older SHFW 0.3.6] You can flash this firmware if the DRV version is below 5.7.0. Else you will need to use a ST-Link. There are online guides available for this process. The app will prompt for updates even if there’s none, be aware. Needs to flash with up to date Utility, then configured with Utility 2.5. Do not enable brake boost.

   • Ninebot D-Series: [Currently not working] There is an experimental support for D-Series using the F-Series firmware. It’s not known at which DRV version you will need a ST-Link. The guides should be identical to the F-Series.

   • Xiaomi Scooters: If the BLE version is at 1.5.5 or above, then you’ll need to ST-Link downgrade the dashboard. ST-Link Downgrade Guide. Flashing on M365 with a 4-dot dashboard requires extra steps detailed in the 4th section of installation. Attempt DRV downgrade via our app if flashing SHFW fails with a supported BLE version.

   Reflasher, Webflasher and ScooterFlasher are programs used for ST-Linking, choose either one if it’s needed.

   Model	Compatible BLE	Compatible DRV
   	ST-Link if incompatible	ST-Link if incompatible
   Ninebot G30	All	Up to 1.7.3
   Ninebot G2	All	ST-Link
   Ninebot F2, F2 Plus, F2 Pro	All	ST-Link
   Xiaomi Essential, 1s, Pro 2, 3	Below 1.5.5	All
   Ninebot EsX	All	All
   Ex Series	All	Below 2.7.0
   Ninebot E2, E2D, E2 Pro	N/A	N/A
   Ninebot F-Series	All	Below 5.7.0
   Ninebot D-Series	All	Experimental (F-Series firmware, unknown)

3. Flash Procedure:

   • Open the utility app, connect to the scooter.
   • Press “Install/update SHFW” and select the version of the highest number, if there are multiple choices. Then, press flash. If it fails, and the above grid claims a supported version, try the “attempt drv downgrade” flash before SHFW.
     • If you have the newer Gen 3 G30 motor then select the new motor option under the motor config tab. This is automatic with original serial. If you don’t know which one you have, compare the motor serial to this:

     Motor Serial Number (SN)	Generation	Models
     Starts with 6	First Generation	Most older models
     Starts with 9	Second Generation	G30Ps, some G30Lx models
     Includes PCAH	Third Generation	G30P
     Includes PAAH	Third Generation	G30E
     Includes PADH/PADJ	Third Generation	G30D

Usage

Please be aware that the information provided below is intended for practical use, but it should be used with caution. Remember, field weakening, by its nature, will not be efficient.

Peak Current Draw Calculator Features

• Torque Amps Calculation: Users can input their torque amps (Iq) to calculate the torque component accurately.
• Field Weakening Calculation: By entering the initial flux in A, variable flux in mAh, current max speed in km/h, and start speed in km/h, the calculator determines the flux component (Id), incorporating field weakening effects.
• Peak Current Draw: With the input parameters, the calculator computes the peak current draw (I_total), providing essential insights into the system’s maximum electrical demand.

To customize these phase limits, check out the Iq and Id sliders under “Field Weakening”.

Try the Peak Current Draw Calculator — A user-friendly tool designed for clarity and efficiency in calculating electrical parameters. Keep in mind, this is peak, not showing actual real life battery draw, but it helps visualize it. Sport, drive and eco curves in Utility, show target battery current, but it is not a limiter, and for low speed compensation, higher current can be temporarily drawn.

Ninebot G30

To achieve the top speed for Ninebot G30, follow these configurations:

• Enable “expert view” on the top right.

1. Set sport DPC auto curve to 25A, 0.5 quadratic
   • Configure the other modes as desired, lower current than sport for less acceleration.
   • Keep the speed limit to off / 0.
   • Acceleration boost, 50%.
   • Brake boost, 0-50%, try it out.
   • Overmodulation on for sport/drive, efficient speed increase by 10%.

You can set eco and drive to lower values, e.g. 10A eco, 25A drive. Drive will use less current since we won’t enable field weakening.

1. Go to the field weakening tab and enable field weakening for sport mode:

   Normal use:

   • Configure as follows:
     • Speed: 20 km/h
     • Initial: 0A
     • Variable: 1200

   Higher efficiency, less field weakening:

   • Configure as follows:
     • Speed: 20 km/h
     • Initial: 0A
     • Variable: 600

2. Default tire size for Max models are 10”, but set 9.4” on G30 to get the dash speed to match GPS speed.

3. Under Motor Settings, select 20 or 24khz.

Ninebot G2, F2

To achieve the top speed for G2 and F2, follow these configurations:

• Enable “expert view” on the top right.

1. Set sport DPC auto curve to 25A, 0.5 quadratic
   • Configure the other modes as desired, lower current than sport for less acceleration.
   • Keep the speed limit to off / 0.
   • Acceleration boost, 100%. However if it turns off, decrease this percentage.
   • Brake overshoot to 45A, reduces risk of overcurrent from brake activation.

You can set eco and drive to lower values, e.g. 10A eco, 25A drive. Drive will use less current since we won’t enable field weakening.

1. Go to the field weakening tab and enable field weakening for sport mode:

   Normal use:

   • Configure as follows:
     • Speed: 20 km/h
     • Initial: 0A
     • Variable: 1200

   Higher efficiency, less field weakening:

   • Configure as follows:
     • Speed: 20 km/h
     • Initial: 0A
     • Variable: 600

Xiaomi Pro 2

Configuration for this model depends on the battery serial number and firmware version:

Enable “expert view” on the top right.

Battery serial number starting with 4XFG AND BMS firmware version with 3 numbers (e.g. 1.4.1) instead of 4 numbers:

1. Sport mode, DPC, auto curve 30A, half quadratic (0.5):
   • Acceleration boost set to 100%.
   • Brake boost set to 100%.
   • Overmodulation on for sport/drive.

Battery serial number starting with BFFG OR BMS firmware version with 4 numbers (e.g. 1.1.0.2) instead of 3 numbers:

1. Sport mode, DPC, auto curve 20A, half quadratic (0.5):
   • Acceleration boost set to 80%.
   • Brake boost set to 100%.
   • Overmodulation on for sport/drive.

You can set eco and drive to lower values, e.g. 10A eco, 20A drive. Drive will use less current since we won’t enable field weakening.

1. Go to the field weakening tab and:
   • Enable field weakening for sport mode.
   • Configure as follows: 20 km/h, 0A, 1500.
2. Under Motor Settings, select 20khz.

Xiaomi Mi 3

For this model, use the following configurations:
Enable “expert view” on the top right.

1. Sport mode, DPC, auto curve 20A, half quadratic (0.5):
   • Acceleration boost set to 90%. If the vehicle turns off, decrease this.
   • Brake boost set to 100%.
   • Overmodulation on for sport/drive

You can set eco and drive to lower values, e.g. 10A eco, 20A drive. Drive will use less current since we won’t enable field weakening.

1. Go to the field weakening tab and:
   • Enable field weakening for sport mode.
   • Configure as follows: 20 km/h, 0A, 1500.
2. Under Motor Settings, select 20khz.

Xiaomi Essential, Lite, 1S

For Xiaomi Essential & 1S, use these configurations:

• Enable “expert view” on the top right.

1. Sport mode, DPC, 18A, fully quadratic (1.0).
   • Acceleration boost set to 50%.
   • Brake set to 30A, flat (0.0), if your brake feels weak, slowly increase the brake boost setting.
   • Overmodulation on for sport/drive.

You can set eco and drive to lower values, e.g. 10A eco, 18A drive. Drive will use less current since we won’t enable field weakening.

1. Go to the field weakening tab and:

   • Enable field weakening for sport mode.
   • Configure as follows: 15 km/h, 0A, 1500.

2. Under Motor Settings, select 20.

Ninebot EsX, Ex

For Ninebot EsX, Ex, use these configurations:

• Enable “expert view” on the top right.

1. Sport mode, DPC, 18A, fully quadratic (1.0).
   • Acceleration boost, 50%.
   • Brake, 55A flat (0.0)
   • Overmodulation on for sport/drive

You can set eco and drive to lower values, e.g. 10A eco, 18A drive. Drive will use less current since we won’t enable field weakening.

1. Go to the field weakening tab and:
   • Enable field weakening for sport mode.
   • Configure as follows: 15 km/h, 0A, 1500.
2. Under Motor Settings, select 20khz.

Explanation of PI Control and Acceleration Boost

PI Control for Voltage Time Conversion

The PI control system converts amperes into voltage time. This process scales the voltage time from 0 to 31128, where 31128 represents 100%. This scaling is done for both current components. If the total time exceeds 31128, the values are adjusted down to a new value accordingly.

Voltage Measurement and Compensation

The system measures only the voltage time, using a 100% duty cycle at maximum potential speed. This method allows the system to perform consistently at different voltages without requiring firmware adjustments. The PWM (Pulse Width Modulation) cycle is kept high continuously, operating similarly to a DC engine.

Implementation Specifics

• 16-bit Counters: The system uses 16-bit counters to implement PWM. The counters stop 4 loops before the end of the frequency.
• Duty Cycle Limit: The duty cycle is limited to 95%, as achieving 100% is theoretically possible but impractical.
• Voltage Relevance: Voltage is not directly relevant for control. Instead, the control manages the phase duration. For example:
  • Phase A might be high for 10 ms
  • Phase B might be high for 5 ms
  • Phase C might be high for a shorter duration

However, it is important to note that the actual phase times are much shorter than these examples.

Acceleration Boost

The Acceleration Boost feature allows for enhanced motor response by temporarily increasing the target current during acceleration. This is controlled via a 0-100% slider, which adjusts the boost intensity.

When the slider is set, the system requests a higher current for a short duration, effectively doubling the target current when the slider is at 100%. For instance, setting the slider to 50% increases the requested current to 150% of the original target. This temporary boost enables the motor to achieve quicker acceleration without permanently raising the current limit.

However, this technique results in increased electricity consumption as the system draws additional power during the acceleration phase. The necessary energy for this boost is sourced from the battery, leading to a higher overall power usage.

Field Weakening Calculations and Logic

What is Field Weakening?

Field weakening is a technique commonly used with 3-phase electric motors to achieve higher speeds in electric vehicles like scooters. It allows the motor to operate beyond its rated voltage and rpm, which can result in increased top speed. However, implementing field weakening comes with trade-offs, including increased battery usage, higher motor temperatures, and potential additional expenses.

Field Weakening Flux Calculation

The calculation for field weakening flux is as follows:

field weakening flux = initial + (“current speed” — “field weakening start speed”) * (variable / 1000)

• initial: The initial value of the field weakening flux.
• "current speed": The current speed of the scooter.
• "field weakening start speed": The speed at which field weakening should start.
• variable: A parameter that influences the rate of flux increase.

Here’s a graph of the flux current applied at various speeds comparing the following 2 setups:

• 7A initial current, 24km/h start speed, 1500mA/km/h variable current
• 0A initial current, 24km/h start speed, 1500mA/km/h variable current

So as to summarize the graph, initial adds field weakening at field weakening speed, with additional current per km/h as per set variable current. Initial current can be used to get over the needed threshhold to reach higher field weakening current by variable. Too much field weakening will just cause heating and potential harm, while too little will limit your speed. It is however optimal for motor and battery performance to not use field weakening at all.

Custom batteries and BMS emulation

After installing a custom battery in specific scooter models, you might notice that the display no longer shows the battery charge percentage. This occurs because the scooter’s original Battery Management System (BMS) uses a communication cable to provide this information, among other functions. As a workaround, BMS emulation can be employed. This method calculates the battery’s charge level based purely on the system’s voltage, a viable approach due to the linear relationship between voltage and charge state.

For configuration, access the Utility app and navigate to the ‘Config’ tab. Here, you will find the BMS emulation option towards the bottom. In this section, enter the details of your battery, including the number of series groups and the total capacity. It’s crucial to ensure the minimum and maximum cell group voltages are set correctly, ideally matching or being more conservative than those specified by your BMS. The voltage range for a Li-Ion cell typically spans from 3 to 4.2V, but your BMS may have specific cutoff limits for charging and discharging. Adjust these settings according to your BMS’s limits or opt for the default if uncertain.

Note, BMS emulation is necessary only if you’ve completely replaced the original battery. If you’ve added an additional pack in series with matching or higher capacity, or if you have another battery in parallel, BMS emulation is not required. In cases of parallel battery configurations, the primary adjustment needed is to disable the charging mode, which can be found in the system settings. This guide aims to facilitate a seamless transition to custom battery usage, ensuring optimal performance and compatibility.

Given:

• V_min = Minimum voltage of the battery pack when fully discharged.
• V_max = Maximum voltage of the battery pack when fully charged.
• V_current = Current voltage of the battery pack.

The formula to calculate the battery percentage (Battery_%) is:

Battery_% = ((V_current — V_min) / (V_max — V_min)) * 100

Where:

• Battery_% is the state of charge of the battery pack as a percentage.
• V_min is the total voltage of the pack when all cells are at their minimum voltage.
• V_max is the total voltage of the pack when all cells are at their maximum voltage.
• V_current is the current total voltage of the battery pack.

Example of what I_total of 42A actually looks on a flat road while requesting 30A torque, 30A flux.

ADC modding info (G30 & ESx)

Special thanks to BXLR for providing valuable information on the R_adc logic.

Open Calculator

Note1: Make sure to adjust R_adc, as it plays a significant role in ADC modding.
Note2: You can also measure your battery voltage and then increase the divider voltage until the system voltage reading matches your previous meassuring.
Note3: You only need to touch this setting once you changed the resistors on the esc.

License

This project is licensed under the MIT License.

Please review the LICENSE file for detailed terms and conditions.

Note: The MIT License is applied to this project. While it allows for wide use and modification, it comes with no warranties or guarantees. The project contributors and maintainers are not responsible for any issues, damages, or liabilities that may arise from the use of this software.

This guide has been written by lekrsu, who can be reached on Discord with the tag lekrsu and on Telegram with the username lekrsu. You’re welcome to send a pull request if you feel like the information needs correction.

This guide can be viewed in a prettier form here.