Merge branch 'master' into optimizations

.vscode/launch.json

@@ -5,7 +5,7 @@
 	"version": "0.2.0",
 	"configurations": [
 		{
-			"preLaunchTask": "STM8 Build & Flash",
+			"preLaunchTask": "Build & Flash",
 			"postDebugTask": "OpenOCD reset target",
 			"name": "STM8-gdb",
 			"request": "launch",

compile_and_flash_20.bat

@@ -20,7 +20,9 @@ COPY ..\bin\main.hex "%backup_folder%\TSDZ2-%settings_date%.hex" >NUL 2>NUL
 echo Press any key to flash... (Ctl+C to stop)
 pause > nul
 CALL flash.bat
-echo press any key to close...
+@ECHO OFF
+echo.
+echo Press any key to close...
 pause > nul
 
 :EXIT

src/ebike_app.c

@@ -1434,15 +1434,20 @@ static void apply_temperature_limiting(void)
 }
 
 
-static void apply_speed_limit(void)
-{
-    if (m_configuration_variables.ui8_wheel_speed_max) {
-        // set battery current target
-        ui8_adc_battery_current_target = map_ui16(ui16_wheel_speed_x10,
-                (uint16_t) (((uint8_t)(m_configuration_variables.ui8_wheel_speed_max) * (uint8_t)10U) - (uint8_t)20U),
-                (uint16_t) (((uint8_t)(m_configuration_variables.ui8_wheel_speed_max) * (uint8_t)10U) + (uint8_t)20U),
+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);
+
+        ui8_adc_battery_current_target = (uint8_t)map_ui16(ui16_wheel_speed_x10,
+                speed_limit_low,
+                speed_limit_high,
                 ui8_adc_battery_current_target,
-                0);
+                0U);
+
+		if (ui16_wheel_speed_x10 > speed_limit_high) {
+			ui8_duty_cycle_target = 0;
+		}
     }
 }
 
@@ -1647,34 +1652,32 @@ static void check_system(void)
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 // E09 ERROR_MOTOR_CHECK (E08 blinking for XH18)
 // E09 shared with ERROR_WRITE_EEPROM
-#define MOTOR_CHECK_TIME_GOES_ALONE_TRESHOLD         	60  // 60 * 100ms = 6.0 seconds
+#define MOTOR_CHECK_TIME_GOES_ALONE_TRESHOLD         	60 // 60 * 100ms = 6.0 seconds
 #define MOTOR_CHECK_ERPS_THRESHOLD                  	20 // 20 ERPS
 static uint8_t ui8_riding_torque_mode = 0;
-static uint8_t ui8_motor_check_time_goes_alone = 0;
+static uint8_t ui8_motor_check_goes_alone_timer = 0U;
 
 	// riding modes that use the torque sensor
 	if (((m_configuration_variables.ui8_riding_mode == POWER_ASSIST_MODE)
 	  ||(m_configuration_variables.ui8_riding_mode == TORQUE_ASSIST_MODE)
 	  ||(m_configuration_variables.ui8_riding_mode == HYBRID_ASSIST_MODE)
 	  ||(m_configuration_variables.ui8_riding_mode == eMTB_ASSIST_MODE))
-	  && (!ui8_adc_throttle_assist)) {
-		ui8_riding_torque_mode = 1;
+		&& (ui8_adc_throttle_assist == 0U)) {
+			ui8_riding_torque_mode = 1;
 	}
 	else {
 		ui8_riding_torque_mode = 0;
 	}
 	// Check if the motor goes alone and with current or duty cycle target = 0 (safety)
 	if ((ui16_motor_speed_erps > MOTOR_CHECK_ERPS_THRESHOLD)
-	  &&((ui8_riding_torque_mode)
-		||(m_configuration_variables.ui8_riding_mode == CADENCE_ASSIST_MODE))){
-			if ((!ui8_adc_battery_current_target || !ui8_duty_cycle_target)) {
-				ui8_motor_check_time_goes_alone++;
-			}
+		&&((ui8_riding_torque_mode) || (m_configuration_variables.ui8_riding_mode == CADENCE_ASSIST_MODE))
+		&& (ui8_adc_battery_current_target == 0U || ui8_duty_cycle_target == 0U)) {
+			ui8_motor_check_goes_alone_timer++;
 	}
 	else {
-		ui8_motor_check_time_goes_alone = 0;
+		ui8_motor_check_goes_alone_timer = 0;
 	}
-	if (ui8_motor_check_time_goes_alone > MOTOR_CHECK_TIME_GOES_ALONE_TRESHOLD) {
+	if (ui8_motor_check_goes_alone_timer > MOTOR_CHECK_TIME_GOES_ALONE_TRESHOLD) {
 		ui8_system_state = ERROR_MOTOR_CHECK;
 	}
 
@@ -2966,6 +2969,7 @@ static void uart_send_package(void)
 		if ((ui8_display_fault_code != NO_FAULT)&&(ui8_display_function_code == NO_FUNCTION)) {
 			#if ENABLE_XH18
 			if (ui8_display_fault_code == ERROR_WRITE_EEPROM) {
+				// shared with ERROR_MOTOR_CHECK
 				// instead of E09, display blinking E08
 				if (ui8_default_flash_state) {
 					ui8_tx_buffer[5] = 8;

src/motor.c

@@ -791,8 +791,8 @@ 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_g_duty_cycle > ui8_controller_duty_cycle_target)
-          || (ui8_adc_battery_current_filtered > ui8_controller_adc_battery_current_target)
+        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)
           || (ui16_hall_counter_total < (HALL_COUNTER_FREQ / MOTOR_OVER_SPEED_ERPS))
           || (ui16_adc_voltage < ui16_adc_voltage_cut_off)
@@ -813,7 +813,8 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
 				}
             }
         }
-		else if (ui8_g_duty_cycle < ui8_controller_duty_cycle_target) {
+		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)
             ui8_counter_duty_cycle_ramp_down = 0;
 

tests/test_speed_limit.py

@@ -0,0 +1,41 @@
+import pytest
+from sim._tsdz2 import ffi, lib as ebike # module generated from c-code
+import numpy as np
+
+BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100 = 16
+mA_to_ADC = 100/BATTERY_CURRENT_PER_10_BIT_ADC_STEP_X100 / 1000
+
+# Set up initial values before each test
+@pytest.fixture(autouse=True)
+def setup_ebike():
+    # Set up initial values before each test
+    ebike.m_configuration_variables.ui8_wheel_speed_max = 25
+    ebike.ui8_duty_cycle_target = 255 # set by assistance function
+    ebike.ui8_adc_battery_current_target = int(5000 * mA_to_ADC)  # 5000mA set by assistance function
+    yield
+    # Teardown after each test (optional)
+
+
+def apply_speed_limit_float(speed):
+    speed_max = ebike.m_configuration_variables.ui8_wheel_speed_max
+    speed_lo = speed_max - 2
+    speed_hi = speed_max + 2
+    curr_target = ebike.ui8_adc_battery_current_target
+    current_lim = np.interp(speed, [speed_lo, speed_hi], [curr_target, 0])
+    return current_lim
+
+# Parameterized test function with different ticks values
+@pytest.mark.parametrize("speed", [0, 22.9, 23, 23.5, 24, 24.5, 25, 25.5, 26, 26.5, 27, 27.1, 30])
+def test_apply_speed_limit(speed):
+    ebike.ui16_wheel_speed_x10 = int(speed * 10)
+
+    expected = apply_speed_limit_float(speed) # this has to run first
+    ebike.apply_speed_limit()
+    result = ebike.ui8_adc_battery_current_target
+
+    assert result ==pytest.approx(expected, rel=1e-1, abs=0.1), f'Expected target {expected/mA_to_ADC}mA, got {result/mA_to_ADC}mA'
+
+
+# Run the tests
+if __name__ == '__main__':
+    pytest.main()