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Merge branch 'master' into Unit_testing
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@dzid26
dzid26 authored Aug 16, 2024
2 parents 1fd3e71 + 49fc785 commit cdc0a0d
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Showing 3 changed files with 41 additions and 72 deletions.
96 changes: 33 additions & 63 deletions src/ebike_app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -107,9 +107,9 @@ static uint16_t ui16_duty_cycle_percent = 0;
volatile uint8_t ui8_adc_motor_phase_current_max = ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
static uint8_t ui8_error_battery_overcurrent = 0;
static uint8_t ui8_adc_battery_overcurrent = (uint8_t)(ADC_10_BIT_BATTERY_CURRENT_MAX + ADC_10_BIT_BATTERY_EXTRACURRENT);
static uint8_t ui8_adc_battery_current_max_array[2];
static uint8_t ui8_adc_motor_phase_current_max_array[2];
static uint8_t ui8_adc_battery_overcurrent_array[2];
static uint8_t ui8_adc_battery_current_max_temp_1 = 0;
static uint8_t ui8_adc_battery_current_max_temp_2 = 0;
static uint32_t ui32_adc_battery_power_max_x1000_array[2];

// Motor ERPS
static uint16_t ui16_motor_speed_erps = 0;
Expand Down Expand Up @@ -303,13 +303,12 @@ void ebike_app_init(void)
(uint8_t) SMOOTH_START_RAMP_MIN);

// set pedal torque per 10_bit DC_step x100 advanced (calibrated) or default(not calibrated)
ui8_pedal_torque_per_10_bit_ADC_step_x100_array[TORQUE_STEP_DEFAULT] = PEDAL_TORQUE_PER_10_BIT_ADC_STEP_X100;
if (ui8_torque_sensor_calibrated) {
ui8_pedal_torque_per_10_bit_ADC_step_x100_array[TORQUE_STEP_DEFAULT] = PEDAL_TORQUE_PER_10_BIT_ADC_STEP_X100;
ui8_pedal_torque_per_10_bit_ADC_step_x100_array[TORQUE_STEP_ADVANCED] = PEDAL_TORQUE_PER_10_BIT_ADC_STEP_ADV_X100;
}
else {
ui8_pedal_torque_per_10_bit_ADC_step_x100_array[TORQUE_STEP_DEFAULT] = PEDAL_TORQUE_PER_10_BIT_ADC_STEP_X100;
ui8_pedal_torque_per_10_bit_ADC_step_x100_array[TORQUE_STEP_DEFAULT] = PEDAL_TORQUE_PER_10_BIT_ADC_STEP_X100;
ui8_pedal_torque_per_10_bit_ADC_step_x100_array[TORQUE_STEP_ADVANCED] = PEDAL_TORQUE_PER_10_BIT_ADC_STEP_X100;
}

// parameters status on startup
Expand Down Expand Up @@ -357,54 +356,26 @@ void ebike_app_init(void)
#if DATA_DISPLAY_ON_STARTUP
ui8_display_data_enabled = 1;
#endif

// calculate current limit in offroad and street mode
uint8_t ui8_adc_battery_current_max_temp_1;
uint8_t ui8_adc_battery_current_max_temp_2;
uint32_t ui32_battery_current_max_x100;
uint16_t ui16_temp;

// calculate max battery current in ADC steps from the received battery current limit
ui8_adc_battery_current_max_temp_1 = (uint16_t)(m_configuration_variables.ui8_battery_current_max * (uint8_t)100)
/ (uint16_t)BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100;

// calculate max adc battery current from the received power limit in offroad mode
ui32_battery_current_max_x100 = (TARGET_MAX_BATTERY_POWER_DIV25 * 2500000)
/ ui16_battery_voltage_filtered_x1000;
ui8_adc_battery_current_max_temp_2 = ui32_battery_current_max_x100 / BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100;

// set max battery current in offroad mode
ui8_adc_battery_current_max_array[OFFROAD_MODE] = ui8_min(ui8_adc_battery_current_max_temp_1, ui8_adc_battery_current_max_temp_2);

// calculate max adc battery current from the received power limit in street mode
ui32_battery_current_max_x100 = (STREET_MODE_POWER_LIMIT_DIV25 * 2500000)
/ ui16_battery_voltage_filtered_x1000;
ui8_adc_battery_current_max_temp_2 = ui32_battery_current_max_x100 / BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100;

// set max battery current in street mode
ui8_adc_battery_current_max_array[STREET_MODE] = ui8_min(ui8_adc_battery_current_max_temp_1, ui8_adc_battery_current_max_temp_2);
// calculate max adc battery current from the received battery current limit
ui8_adc_battery_current_max_temp_1 = (uint8_t)((uint16_t)(m_configuration_variables.ui8_battery_current_max * 100U)
/ BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100);

// set max motor phase current in offroad mode
ui16_temp = ui8_adc_battery_current_max_array[OFFROAD_MODE] * ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
ui8_adc_motor_phase_current_max_array[OFFROAD_MODE] = (uint8_t)(ui16_temp / ADC_10_BIT_BATTERY_CURRENT_MAX);
// limit max motor phase current if higher than configured hardware limit (safety)
if (ui8_adc_motor_phase_current_max_array[OFFROAD_MODE] > ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX) {
ui8_adc_motor_phase_current_max_array[OFFROAD_MODE] = ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
}

// set max motor phase current in street mode
ui16_temp = ui8_adc_battery_current_max_array[STREET_MODE] * ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
ui8_adc_motor_phase_current_max_array[STREET_MODE] = (uint8_t)(ui16_temp / ADC_10_BIT_BATTERY_CURRENT_MAX);
// calculate the max adc battery power from the power limit received in offroad mode
ui32_adc_battery_power_max_x1000_array[OFFROAD_MODE] = (uint32_t)((uint32_t)TARGET_MAX_BATTERY_POWER * 100U * 1000U)
/ BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100;

// calculate the max adc battery power from the received power limit in street mode
ui32_adc_battery_power_max_x1000_array[STREET_MODE] = (uint32_t)((uint32_t)STREET_MODE_POWER_LIMIT * 100U * 1000U)
/ BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100;
// set max motor phase current
uint16_t ui16_temp = ui8_adc_battery_current_max_temp_1 * ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
ui8_adc_motor_phase_current_max = (uint8_t)(ui16_temp / ADC_10_BIT_BATTERY_CURRENT_MAX);
// limit max motor phase current if higher than configured hardware limit (safety)
if (ui8_adc_motor_phase_current_max_array[STREET_MODE] > ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX) {
ui8_adc_motor_phase_current_max_array[STREET_MODE] = ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
if (ui8_adc_motor_phase_current_max > ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX) {
ui8_adc_motor_phase_current_max = ADC_10_BIT_MOTOR_PHASE_CURRENT_MAX;
}

// set battery overcurrent limit in offroad mode
ui8_adc_battery_overcurrent_array[OFFROAD_MODE] = ui8_adc_battery_current_max_array[OFFROAD_MODE] + ADC_10_BIT_BATTERY_EXTRACURRENT;

// set battery overcurrent limit in street mode
ui8_adc_battery_overcurrent_array[STREET_MODE] = ui8_adc_battery_current_max_array[STREET_MODE] + ADC_10_BIT_BATTERY_EXTRACURRENT;
}


Expand Down Expand Up @@ -554,17 +525,15 @@ static void ebike_control_motor(void)
if (ui8_adc_battery_current_max > ADC_10_BIT_BATTERY_CURRENT_MAX) {
ui8_adc_battery_current_max = ADC_10_BIT_BATTERY_CURRENT_MAX;
}


// set limit battery overcurrent
ui8_adc_battery_overcurrent = ui8_adc_battery_current_max + ADC_10_BIT_BATTERY_EXTRACURRENT;

// limit target current if higher than max value (safety)
if (ui8_adc_battery_current_target > ui8_adc_battery_current_max) {
ui8_adc_battery_current_target = ui8_adc_battery_current_max;
}

// limit target duty cycle if higher than max value
if (ui8_duty_cycle_target > PWM_DUTY_CYCLE_MAX) {
ui8_duty_cycle_target = PWM_DUTY_CYCLE_MAX;
}

// limit target duty cycle ramp up inverse step if lower than min value (safety)
if (ui8_duty_cycle_ramp_up_inverse_step < PWM_DUTY_CYCLE_RAMP_UP_INVERSE_STEP_MIN) {
ui8_duty_cycle_ramp_up_inverse_step = PWM_DUTY_CYCLE_RAMP_UP_INVERSE_STEP_MIN;
Expand Down Expand Up @@ -1444,8 +1413,9 @@ static void apply_temperature_limiting(void)
}


static void apply_speed_limit(void) {
if (m_configuration_variables.ui8_wheel_speed_max > 0U) {
static void apply_speed_limit(void)
{
if (m_configuration_variables.ui8_wheel_speed_max > 0U) {
uint16_t speed_limit_low = (uint16_t)((uint8_t)(m_configuration_variables.ui8_wheel_speed_max - 2U) * (uint8_t)10U); // casting literal to uint8_t ensures usage of MUL X,A
uint16_t speed_limit_high = (uint16_t)((uint8_t)(m_configuration_variables.ui8_wheel_speed_max + 2U) * (uint8_t)10U);

Expand Down Expand Up @@ -2817,12 +2787,12 @@ static void uart_receive_package(void)
m_configuration_variables.ui8_wheel_speed_max = ui8_wheel_speed_max_array[m_configuration_variables.ui8_street_mode_enabled];
}

// current limit with power limit
ui8_adc_battery_current_max_temp_2 = (uint8_t)((uint32_t)(ui32_adc_battery_power_max_x1000_array[m_configuration_variables.ui8_street_mode_enabled]
/ ui16_battery_voltage_filtered_x1000));

// set max battery current
ui8_adc_battery_current_max = ui8_adc_battery_current_max_array[m_configuration_variables.ui8_street_mode_enabled];
// set max motor phase current
ui8_adc_motor_phase_current_max = ui8_adc_motor_phase_current_max_array[m_configuration_variables.ui8_street_mode_enabled];
// set limit battery overcurrent
ui8_adc_battery_overcurrent = ui8_adc_battery_overcurrent_array[m_configuration_variables.ui8_street_mode_enabled];
ui8_adc_battery_current_max = ui8_min(ui8_adc_battery_current_max_temp_1, ui8_adc_battery_current_max_temp_2);

// set pedal torque per 10_bit DC_step x100 advanced
ui8_pedal_torque_per_10_bit_ADC_step_x100 = ui8_pedal_torque_per_10_bit_ADC_step_x100_array[m_configuration_variables.ui8_torque_sensor_adv_enabled];
Expand Down
11 changes: 5 additions & 6 deletions src/main.h
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,8 @@
#define WHEEL_SPEED_SENSOR_TICKS_COUNTER_MAX (uint16_t)((uint32_t)PWM_CYCLES_SECOND*10U/1157U) // (135 at 15,625KHz) something like 200 m/h with a 6'' wheel
#define WHEEL_SPEED_SENSOR_TICKS_COUNTER_MIN (uint16_t)((uint32_t)PWM_CYCLES_SECOND*1000U/477U) // 32767@15625KHz could be a bigger number but will make for a slow detection of stopped wheel speed

#define PWM_DUTY_CYCLE_MAX 254
// duty cycle
#define PWM_DUTY_CYCLE_MAX 255
#define PWM_DUTY_CYCLE_STARTUP 30 // Initial PWM Duty Cycle at motor startup

// ----------------------------------------------------------------------------------------------------------------
Expand Down Expand Up @@ -372,12 +373,10 @@ HALL_COUNTER_OFFSET_UP: 29 -> 44
// battery voltage to be subtracted from the cut-off 8bit
#define DIFFERENCE_CUT_OFF_SHUTDOWN_8_BIT 26
// battery voltage for saving battery capacity at shutdown

#define BATTERY_VOLTAGE_SHUTDOWN_8_BIT (uint8_t) ((uint16_t)((BATTERY_LOW_VOLTAGE_CUT_OFF * 250 / BATTERY_VOLTAGE_PER_10_BIT_ADC_STEP_X1000)) - ((uint16_t) DIFFERENCE_CUT_OFF_SHUTDOWN_8_BIT))
#define BATTERY_VOLTAGE_SHUTDOWN_10_BIT (uint16_t) (BATTERY_VOLTAGE_SHUTDOWN_8_BIT << 2)
// max battery power div25
#define TARGET_MAX_BATTERY_POWER_DIV25 (uint8_t)(TARGET_MAX_BATTERY_POWER / 25)
// power street limit value div25
#define STREET_MODE_POWER_LIMIT_DIV25 (uint8_t)(STREET_MODE_POWER_LIMIT / 25)
#define BATTERY_VOLTAGE_SHUTDOWN_10_BIT (uint16_t) (BATTERY_VOLTAGE_SHUTDOWN_8_BIT << 2)

// battery voltage reset SOC percentage
#define BATTERY_VOLTAGE_RESET_SOC_PERCENT_X10 (uint16_t)((float)LI_ION_CELL_RESET_SOC_PERCENT * (float)(BATTERY_CELLS_NUMBER * 10))
// battery SOC eeprom value saved (8 bit)
Expand Down
6 changes: 3 additions & 3 deletions src/motor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -795,9 +795,9 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
// - ramp up/down PWM duty_cycle and/or field weakening angle value

// check if to decrease, increase or maintain duty cycle
if ( (ui8_controller_duty_cycle_target < ui8_g_duty_cycle)
if ((ui8_controller_duty_cycle_target < ui8_g_duty_cycle)
|| (ui8_controller_adc_battery_current_target < ui8_adc_battery_current_filtered)
|| (ui8_adc_motor_phase_current > ui8_adc_motor_phase_current_max)
|| (ui8_adc_motor_phase_current > ui8_adc_motor_phase_current_max)
|| (ui16_hall_counter_total < (HALL_COUNTER_FREQ / MOTOR_OVER_SPEED_ERPS))
|| (ui16_adc_voltage < ui16_adc_voltage_cut_off)
|| (ui8_brake_state)) {
Expand All @@ -819,7 +819,7 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
}
else if ((ui8_controller_duty_cycle_target > ui8_g_duty_cycle)
&& (ui8_controller_adc_battery_current_target > ui8_adc_battery_current_filtered)) {
// reset duty cycle ramp down counter (filter)
// reset duty cycle ramp down counter (filter)
ui8_counter_duty_cycle_ramp_down = 0;

// ramp up duty cycle
Expand Down

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