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Clean up and prepared for pull request
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@leon927
leon927 committed May 25, 2019
1 parent 68e635b commit f0e87b1
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Showing 3 changed files with 19 additions and 135 deletions.
1 change: 1 addition & 0 deletions src/common/common.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,5 +14,6 @@
#define ERROR_TORQUE_APPLIED_DURING_POWER_ON 2
#define ERROR_BRAKE_APPLIED_DURING_POWER_ON 3
#define ERROR_THROTTLE_APPLIED_DURING_POWER_ON 4
#define ERROR_NO_SPEED_SENSOR_DETECTED 5

#endif /* COMMON_COMMON_H_ */
149 changes: 16 additions & 133 deletions src/controller/ebike_app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -138,13 +138,13 @@ 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
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);

static void check_system(void);

void ebike_app_init (void)
{
Expand Down Expand Up @@ -1248,13 +1248,13 @@ struct_configuration_variables* get_configuration_variables (void)

void check_system()
{
#define MOTOR_BLOCKED_COUNTER_THRESHOLD 50 // 50 => 5 seconds
#define MOTOR_BLOCKED_BATTERY_CURRENT_THRESHOLD 1 // 1 => 1 * 0.826 ampere
#define MOTOR_BLOCKED_ERPS_THRESHOLD 20 // 20 ERPS
#define MOTOR_BLOCKED_RESET_COUNTER_THRESHOLD 100 // 100 => 10 seconds
#define MOTOR_BLOCKED_COUNTER_THRESHOLD 50 // 50 => 5 seconds
#define MOTOR_BLOCKED_BATTERY_CURRENT_THRESHOLD_X5 8 // 8 => (8 * 0.826) / 5 = 1.3216 ampere => (X) units = ((X * 0.826) / 5) ampere
#define MOTOR_BLOCKED_ERPS_THRESHOLD 10 // 10 ERPS
#define MOTOR_BLOCKED_RESET_COUNTER_THRESHOLD 100 // 100 => 10 seconds

static uint8_t ui8_motor_blocked_counter;
static uint8_t ui8_motor_blocked_reset_counter = 20;
static uint8_t ui8_motor_blocked_reset_counter;

// if the motor blocked error is enabled start resetting it
if (ui8_system_state == ERROR_MOTOR_BLOCKED)
Expand All @@ -1266,25 +1266,28 @@ void check_system()
if (ui8_motor_blocked_reset_counter > MOTOR_BLOCKED_RESET_COUNTER_THRESHOLD)
{
// reset motor blocked error code
ui8_system_state == NO_ERROR;
ui8_system_state = NO_ERROR;

// reset the counter that clears the motor blocked error
ui8_motor_blocked_reset_counter = 0;
}
}
else
{
// if battery current is over the current threshold and the motor ERPS is below threshold start setting motor blocked error code
if ((motor_get_adc_battery_current_filtered_10b() > MOTOR_BLOCKED_BATTERY_CURRENT_THRESHOLD) && (ui16_motor_get_motor_speed_erps() < MOTOR_BLOCKED_ERPS_THRESHOLD))
// if battery current (x5) is over the current threshold (x5) and the motor ERPS is below threshold start setting motor blocked error code
if ((motor_get_adc_battery_current_filtered_10b() > MOTOR_BLOCKED_BATTERY_CURRENT_THRESHOLD_X5) && (ui16_motor_get_motor_speed_erps() < MOTOR_BLOCKED_ERPS_THRESHOLD))
{
// increment motor blocked counter with 100 milliseconds
ui8_motor_blocked_counter++;

// check if motor is blocked more than some safe time threshold
// check if motor is blocked for more than some safe threshold
if (ui8_motor_blocked_counter > MOTOR_BLOCKED_COUNTER_THRESHOLD)
{
// set motor blocked error code
ui8_system_state = ERROR_MOTOR_BLOCKED;

// reset the counter that clears the motor blocked error
ui8_motor_blocked_reset_counter = 0;
// reset motor blocked counter as the error code is set
ui8_motor_blocked_counter = 0;
}
}
else
Expand All @@ -1293,124 +1296,4 @@ void check_system()
ui8_motor_blocked_counter = 0;
}
}
}

/*
static void safe_tests(void)
{
#define SAFE_TEST_THROTTLE_THRESHOLD 0
#define SAFE_TEST_TORQUE_SENSOR_THRESHOLD 12
static uint8_t safe_tests_state_machine = 0; // added
static uint8_t safe_tests_state_machine_counter = 0; // added
// enable only next state machine if user has startup without pedal rotation
if(m_configuration_variables.ui8_motor_assistance_startup_without_pedal_rotation ||
(ui8_m_brake_is_set == 0) ||
m_configuration_variables.ui8_assist_level_factor_x10 ||
!m_configuration_variables.ui8_walk_assist)
{
switch(safe_tests_state_machine)
{
case 0:
// start when torque sensor or throttle is above threshold
if(ui8_torque_sensor > SAFE_TEST_TORQUE_SENSOR_THRESHOLD || ui8_throttle > SAFE_TEST_THROTTLE_THRESHOLD)
{
// reset counter and go to next state
safe_tests_state_machine_counter = 0;
safe_tests_state_machine = 1;
break;
}
break;
case 1:
// increment state machine timer with 100 milliseconds
safe_tests_state_machine_counter++;
// if some time has passed without any wheel rotation return an error state
if(safe_tests_state_machine_counter > 100) // hopefully, 10 seconds is safe enough value, mosfets may not burn in 10 seconds if ebike wheel is blocked
{
// set error code
m_configuration_variables.ui8_system_state = ERROR_STATE_EBIKE_WHEEL_BLOCKED;
// reset counter and go to next state
safe_tests_state_machine_counter = 0;
safe_tests_state_machine = 2;
break;
}
// if wheel speed is over some value everything is safe
if(ui16_wheel_speed_x10 > 40) // seems that 4 km/h may be the minimum value possible to measure for the bicycle wheel speed
{
// reset counter and go to next state
safe_tests_state_machine_counter = 0;
safe_tests_state_machine = 3;
break;
}
// if torque sensor or throttle is below threshold reset state machine
if(ui8_torque_sensor <= SAFE_TEST_TORQUE_SENSOR_THRESHOLD && ui8_throttle <= SAFE_TEST_THROTTLE_THRESHOLD)
{
safe_tests_state_machine = 0;
}
break;
case 2:
// wait 3 consecutive seconds for torque sensor and throttle and walk assist / cruise == 0, then restart
if(ui8_torque_sensor <= SAFE_TEST_TORQUE_SENSOR_THRESHOLD && ui8_throttle <= SAFE_TEST_THROTTLE_THRESHOLD)
{
safe_tests_state_machine_counter++;
if(safe_tests_state_machine_counter > 30)
{
// reset error code and go to next state
m_configuration_variables.ui8_system_state = ERROR_STATE_NO_ERRORS;
safe_tests_state_machine = 0;
break;
}
}
// keep reseting the counter so we keep on this state
else
{
safe_tests_state_machine_counter = 0;
}
break;
case 3:
// if bicycle wheel has stopped restart state machine
if(ui16_wheel_speed_x10 == 0)
{
safe_tests_state_machine = 0;
break;
}
break;
default:
safe_tests_state_machine = 0;
break;
}
}
else
{
// keep reseting state machine and reset all error codes
safe_tests_state_machine = 0;
m_configuration_variables.ui8_system_state = ERROR_STATE_NO_ERRORS;
}
}
*/
}
4 changes: 2 additions & 2 deletions src/controller/main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -53,8 +53,8 @@

// walk assist and cruise
#define WALK_ASSIST_CRUISE_THRESHOLD_SPEED_X10 80 // 8.0 km/h
#define CRUISE_PID_KP 12
#define CRUISE_PID_KI 0.8 // 48 volt motor: 1, 36 volt motor: 0.9
#define CRUISE_PID_KP 14 // 48 volt motor: 12, 36 volt motor: 14
#define CRUISE_PID_KI 0.7 // 48 volt motor: 1, 36 volt motor: 0.7
#define CRUISE_PID_INTEGRAL_LIMIT 1000
#define CRUISE_PID_KD 0

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