### Hardware
- **Motor + Inverter:** OEM Leaf ZE1 e+ integrated unit, motor housing marked EM57, inverter part `291A0-5SN1A` (160 kW Gen 3, 2018+, Dala part list confirmed)
- **Charger:** OEM stack still bolted on (charger → inverter)
- **VCU:** ZombieVerter (Damien Maguire / EVBMW design)
- **Current sensor:** Isabellenhütte IVT-S on CAN2 (working — `idc` reads after I set ShuntType=ISA)
- **HV pack (bench only):** 4× 51.2V LiFePO4 in series = ~211 V, mismatched capacities (240/100/100/150 Ah) — strictly no-load testing
- **HV contactors:** P195CDA precharge + 2× GV200FCB-1 main, all closing cleanly at rated coil voltage
- **Throttle:** generic 10 kΩ pot wired to ZV pins 45/47/48 (calibrated, working)
### What works
-
HV path: udc = 211 V (IVT-S), INVudc = 212 V (inverter), match-
ZV opmode = Run, status = None, lasterr = NONE-
T15 wake on F13 pin 18 (LG) = +12 V verified-
Resolver coils tested at the resolver itself — DC resistance in spec on all three windings (sin/cos/excite)-
Resolver excite measured at green↔red ≈ 1 V AC on a non-TrueRMS DMM at 10 kHz (consistent with ~4-6 V real signal — meter bandwidth limit)-
tmpm = 20 °C, tmpaux = 33 °C (sensors reading)-
Throttle calibrated, potnom goes positive on press, torque scales with potnom (e.g. potnom = 10% → torque ≈ 200 dig)-
dir = Drive, din_forward = On, din_brake = Off-
InvStat = On, T15Stat = On-
Latest stable firmware: V2.30A flashed today### What doesn't work
When I press the throttle, **the inverter completely ignores the torque command**:
- `speed` stays at **16383** before, during, and after the press
- `idc` stays at **0** (occasional 0.03 A flickers, just IVT-S noise — never sustained current)
- `INVudc` doesn't sag during press
- No motor sound, no twitch, no vibration, no click
- No fault posted to lasterr; status stays None
`speed = 16383` (0x7FFF on the bus) suggests the inverter is reporting "no valid resolver" / "not in active drive state." The CAN heartbeat counter is incrementing (canctr ticks up), so the bus is alive.
### Current key parameters (V2.30A)
```
Inverter = Leaf_Gen1 (1)
Vehicle = None (3)
ShuntType = ISA (1)
BMS_Mode = Off (0)
InverterCan = CAN1
ShuntCan = CAN2
potmode = SingleChannel
dirmode = Switch (1) — Forward wire jumpered to +12V
potmin / potmax = 199 / 3119
udcmin = 150
udclim = 400
udcsw = 180
revlim = 20000 (bench override — set high to bypass speed-ghost SpeedLimitCommand cap)
regenmax = 0 (bench override — disables Damien firmware's regen-on-pedal-rest)
IsaInit = On
HVReqFunc = HVRequest
Out2Func = NegContactor
```
### What I've already tried / verified
- Updated firmware V2.17A → V2.30A (got past a scare with UART Update routing the file to ESP, recovered)
- ShuntType from None → ISA (this restored idc reading on CAN2 from IVT-S)
- Vehicle from Classic → None
- udcsw from 0 → 180
- Direction confirmed: dir = Drive, din_forward = On
- Throttle confirmed: pressing past pot=500 → torque value rises proportionally
- F13 pin 18 (LG, Power ON) confirmed at +12 V with multimeter
- F13 22-pin connector reseated multiple times
- CAN bus disconnected during firmware flash (per the docs)
### What I haven't verified yet
- HV interlock loop continuity on the orange HV connectors going into the integrated assembly (I don't know which pins on which connector to check — any pointers welcome)
- Resolver mechanical state (rotor element seated, alignment) — only DC continuity tested
- Whether there's a specific Gen 3-required CAN message subset that "Leaf_Gen1" mode in stm32-vcu doesn't send (Damien's 2021 "Leaf Gen 3 ZombieVerter" video shows it CAN work with stock firmware, so this might not be an issue, but I haven't ruled it out)
### Questions
1. Is `speed = 16383` always the OEM inverter signaling "I'm in safe state, refusing to drive"? Or does it just mean "no resolver right now"?
2. For Gen 3 ZE1 with ZombieVerter as the only VCM (no OEM VCM), is there a specific HV interlock jumper or pin that needs to be closed externally? On Dala's bridge use case the HVIL passes through the OEM harness — in a clean ZV-only build, do I need to short something?
3. Anyone seen this specific pattern (inverter awake, takes torque commands but doesn't fire IGBTs) and have a known cause?
4. Damien's "Leaf Gen 3 ZombieVerter" video (2021) shows it working with stock firmware — what was different about that bench rig? Any spec/wiring tips?
Happy to share more spot values, photos, or run any specific test you suggest. Thanks in advance for any pointers.
