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bug fixes, clean up, small improvements
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@leon927
leon927 committed May 28, 2019
1 parent fa6b381 commit 285002f
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Showing 5 changed files with 302 additions and 135 deletions.
92 changes: 39 additions & 53 deletions src/controller/ebike_app.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,20 @@
uint8_t ui8_adc_battery_max_current = ADC_BATTERY_CURRENT_MAX;
uint8_t ui8_target_battery_max_power_x10 = ADC_BATTERY_CURRENT_MAX;

volatile struct_configuration_variables m_configuration_variables;

// variables for various system functions
volatile uint8_t ui8_system_state = NO_ERROR;
volatile uint16_t ui16_pas_pwm_cycles_ticks = (uint16_t) PAS_ABSOLUTE_MIN_CADENCE_PWM_CYCLE_TICKS;
volatile uint8_t ui8_g_pedaling_direction = 0;
uint8_t ui8_pas_cadence_rpm = 0;
uint16_t ui16_pedal_torque_x10;
uint16_t ui16_pedal_power_x10;
uint8_t ui8_pedal_human_power = 0;
uint16_t ui16_adc_motor_temperatured_accumulated = 0;
uint8_t ui8_m_adc_battery_target_current;
static uint8_t ui8_m_motor_enabled = 1;
static uint8_t ui8_m_brake_is_set = 0;
volatile uint8_t ui8_throttle = 0;
volatile uint8_t ui8_torque_sensor = 0;
volatile uint8_t ui8_torque_sensor_raw = 0;
Expand All @@ -45,35 +58,19 @@ volatile uint8_t ui8_adc_battery_current_offset;
volatile uint8_t ui8_ebike_app_state = EBIKE_APP_STATE_MOTOR_STOP;
volatile uint8_t ui8_adc_target_battery_max_current;
uint8_t ui8_adc_battery_current_max;

volatile uint16_t ui16_current_ramp_up_inverse_step;


// variables for walk assist
uint8_t ui8_m_walk_assist_target_duty_cycle = 0;


// variables for cruise function
static uint8_t ui8_cruise_target_PWM = 0;
static uint8_t ui8_initialize_cruise_PID = 1;
static uint16_t ui16_received_target_wheel_speed_x10 = 0;
static uint16_t ui16_target_wheel_speed_x10 = 0;

// variables for various system functions
volatile uint8_t ui8_system_state = NO_ERROR;
volatile uint16_t ui16_pas_pwm_cycles_ticks = (uint16_t) PAS_ABSOLUTE_MIN_CADENCE_PWM_CYCLE_TICKS;
volatile uint8_t ui8_g_pedaling_direction = 0;
uint8_t ui8_pas_cadence_rpm = 0;
uint16_t ui16_pedal_torque_x10;
uint16_t ui16_pedal_power_x10;
uint8_t ui8_pedal_human_power = 0;
uint8_t ui8_startup_boost_enable = 0;
uint8_t ui8_startup_boost_fade_enable = 0;
uint8_t ui8_m_startup_boost_state_machine = 0;
uint8_t ui8_startup_boost_no_torque = 0;
uint8_t ui8_startup_boost_timer = 0;
uint8_t ui8_startup_boost_fade_steps = 0;
uint16_t ui16_startup_boost_fade_variable_x256;
uint16_t ui16_startup_boost_fade_variable_step_amount_x256;


// variables for wheel speed
volatile uint16_t ui16_wheel_speed_sensor_pwm_cycles_ticks = (uint16_t) WHEEL_SPEED_SENSOR_MAX_PWM_CYCLE_TICKS;
Expand All @@ -83,8 +80,6 @@ static uint16_t ui16_wheel_speed_x10;
volatile uint32_t ui32_wheel_speed_sensor_tick_counter = 0;


volatile struct_configuration_variables m_configuration_variables;

// UART
#define UART_NUMBER_DATA_BYTES_TO_RECEIVE 6 // change this value depending on how many data bytes there is to receive ( Package = one start byte + data bytes + two bytes 16 bit CRC )
#define UART_NUMBER_DATA_BYTES_TO_SEND 25 // change this value depending on how many data bytes there is to send ( Package = one start byte + data bytes + two bytes 16 bit CRC )
Expand All @@ -104,23 +99,12 @@ static void communications_controller (void);
static void uart_receive_package (void);
static void uart_send_package (void);


uint8_t ui8_tstr_state_machine = STATE_NO_PEDALLING;

uint16_t ui16_adc_motor_temperatured_accumulated = 0;

uint8_t ui8_m_adc_battery_target_current;


static uint8_t ui8_m_motor_enabled = 1;

static uint8_t ui8_m_brake_is_set = 0;

// system functions
static void ebike_control_motor (void);
static void ebike_app_set_battery_max_current (uint8_t ui8_value);
static void ebike_app_set_target_adc_battery_max_current (uint8_t ui8_value);


static void check_system(void);
static void throttle_read (void);
static void read_pas_cadence (void);
static void torque_sensor_read (void);
Expand All @@ -135,14 +119,22 @@ static void apply_walk_assist(uint8_t *ui8_p_adc_target_current);
static void apply_cruise (uint8_t *ui8_target_current);
static void apply_throttle(uint8_t ui8_throttle_value, uint8_t *ui8_target_current);

static void check_system(void);

// variables for BOOST function
// BOOST
uint8_t ui8_startup_boost_enable = 0;
uint8_t ui8_startup_boost_fade_enable = 0;
uint8_t ui8_m_startup_boost_state_machine = 0;
uint8_t ui8_startup_boost_no_torque = 0;
uint8_t ui8_startup_boost_timer = 0;
uint8_t ui8_startup_boost_fade_steps = 0;
uint16_t ui16_startup_boost_fade_variable_x256;
uint16_t ui16_startup_boost_fade_variable_step_amount_x256;
static void boost_run_statemachine (void);
static uint8_t apply_boost (uint8_t ui8_pas_cadence, uint8_t ui8_max_current_boost_state, uint8_t *ui8_target_current);
static void apply_boost_fade_out (uint8_t *ui8_target_current);



void ebike_app_init (void)
{
// init variables with the stored value on EEPROM
Expand Down Expand Up @@ -272,7 +264,7 @@ static void ebike_control_motor (void)
}


// apply throttle if enabled
// throttle
apply_throttle(ui8_throttle, &ui8_m_adc_battery_target_current);


Expand Down Expand Up @@ -301,7 +293,7 @@ static void ebike_control_motor (void)
apply_speed_limit(ui16_wheel_speed_x10, m_configuration_variables.ui8_wheel_max_speed, &ui8_m_adc_battery_target_current);


/* User configured max power on display */
// max power
if(m_configuration_variables.ui8_target_battery_max_power_div25 > 0) //TODO: add real feature toggle for max power feature
{
// limit the current to max value defined by user on LCD max power, if:
Expand All @@ -315,15 +307,12 @@ static void ebike_control_motor (void)
}


// limit current if motor temperature is too high and this feature is enabled by the user
// motor over temperature protection
apply_temperature_limiting(&ui8_m_adc_battery_target_current);


// let's force our target current to 0 if brake is set or if there are errors
if(ui8_m_brake_is_set || ui8_system_state != NO_ERROR)
{
ui8_m_adc_battery_target_current = 0;
}
if(ui8_m_brake_is_set || ui8_system_state != NO_ERROR) { ui8_m_adc_battery_target_current = 0; }

// check to see if we should enable the motor
if(ui8_m_motor_enabled == 0 &&
Expand Down Expand Up @@ -357,7 +346,7 @@ static void ebike_control_motor (void)
ui8_g_duty_cycle = 0;
}

// set target motor PWM
// set motor PWM target
if(m_configuration_variables.ui8_walk_assist && ui8_m_brake_is_set == 0 && ui8_m_motor_enabled)
{
if(ui16_wheel_speed_x10 < WALK_ASSIST_CRUISE_THRESHOLD_SPEED_X10)
Expand Down Expand Up @@ -657,8 +646,7 @@ static void uart_send_package(void)
static void ebike_app_set_target_adc_battery_max_current (uint8_t ui8_value)
{
// limit max number of amps
if (ui8_value > ui8_adc_battery_current_max)
ui8_value = ui8_adc_battery_current_max;
if (ui8_value > ui8_adc_battery_current_max) { ui8_value = ui8_adc_battery_current_max; }

ui8_adc_target_battery_max_current = ui8_adc_battery_current_offset + ui8_value;
}
Expand All @@ -670,8 +658,7 @@ static void ebike_app_set_battery_max_current(uint8_t ui8_value)
// each 1 unit = 0.625 amps (0.625 * 256 = 160)
ui8_adc_battery_current_max = ((((uint16_t) ui8_value) << 8) / 160);

if (ui8_adc_battery_current_max > ADC_BATTERY_CURRENT_MAX)
ui8_adc_battery_current_max = ADC_BATTERY_CURRENT_MAX;
if (ui8_adc_battery_current_max > ADC_BATTERY_CURRENT_MAX) { ui8_adc_battery_current_max = ADC_BATTERY_CURRENT_MAX; }
}


Expand Down Expand Up @@ -1055,6 +1042,8 @@ static void read_pas_cadence(void)

static void torque_sensor_read(void)
{
static uint8_t ui8_tstr_state_machine = STATE_NO_PEDALLING;

// map value from 0 up to 255
// map value from 0 up to 255
ui8_torque_sensor_raw = (uint8_t) (map ( UI8_ADC_TORQUE_SENSOR,
Expand All @@ -1069,17 +1058,15 @@ static void torque_sensor_read(void)
{
// ebike is stopped
case STATE_NO_PEDALLING:
if(ui8_torque_sensor_raw > 0 &&
ui16_wheel_speed_x10)
if(ui8_torque_sensor_raw > 0 && ui16_wheel_speed_x10)
{
ui8_tstr_state_machine = STATE_PEDALLING;
}
break;

// wait on this state and reset when ebike stops
case STATE_PEDALLING:
if(ui16_wheel_speed_x10 == 0 &&
ui8_torque_sensor_raw == 0)
if(ui16_wheel_speed_x10 == 0 && ui8_torque_sensor_raw == 0)
{
ui8_tstr_state_machine = STATE_NO_PEDALLING;
}
Expand All @@ -1090,8 +1077,7 @@ static void torque_sensor_read(void)
}

// bike is moving but user doesn't pedal, disable torque sensor signal because user can be resting the feet on the pedals
if(ui8_tstr_state_machine == STATE_PEDALLING &&
ui8_pas_cadence_rpm == 0)
if(ui8_tstr_state_machine == STATE_PEDALLING && ui8_pas_cadence_rpm == 0)
{
ui8_torque_sensor = 0;
}
Expand Down
10 changes: 6 additions & 4 deletions src/display/KT-LCD3/buttons.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@ uint8_t ui8_down_button_state_counter = 0;
uint8_t ui8_up_button_state = 0;
uint8_t ui8_up_button_state_counter = 0;

#define BUTTON_LONG_CLICK_THRESHOLD 120 // 120 -> 1.2 seconds

buttons_events_t buttons_events = 0;

uint8_t buttons_get_up_state (void)
Expand Down Expand Up @@ -158,7 +160,7 @@ void buttons_clear_all_events (void)
void buttons_clock (void)
{
// needed if the event is not cleared anywhere else
//buttons_clear_onoff_click_long_click_event();
buttons_clear_onoff_click_long_click_event();

switch (ui8_onoff_button_state)
{
Expand All @@ -177,7 +179,7 @@ void buttons_clock (void)
ui8_onoff_button_state_counter++;

// event long click
if (ui8_onoff_button_state_counter > 120) // 1.2 seconds
if (ui8_onoff_button_state_counter > BUTTON_LONG_CLICK_THRESHOLD)
{
buttons_set_events(ONOFF_LONG_CLICK);
ui8_onoff_button_state = 2;
Expand Down Expand Up @@ -276,7 +278,7 @@ void buttons_clock (void)
ui8_up_button_state_counter++;

// event long click
if (ui8_up_button_state_counter++ > 200) // 2 seconds
if (ui8_up_button_state_counter++ > BUTTON_LONG_CLICK_THRESHOLD)
{
// up and down button click
if (ui8_down_button_state == 1)
Expand Down Expand Up @@ -386,7 +388,7 @@ void buttons_clock (void)
ui8_down_button_state_counter++;

// event long click
if (ui8_down_button_state_counter++ > 200) // 2 seconds
if (ui8_down_button_state_counter++ > BUTTON_LONG_CLICK_THRESHOLD)
{
// up and down button click
if (ui8_up_button_state == 1)
Expand Down
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