Merge pull request emmebrusa#106 from dzid26/goes_alone

Motor goes alone fixes
dzid26 · Aug 9, 2024 · cb44428 · cb44428
2 parents ac89880 + b1cc802
commit cb44428
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Showing 2 changed files with 5 additions and 4 deletions.
diff --git a/.vscode/launch.json b/.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",

diff --git a/src/motor.c b/src/motor.c
@@ -795,8 +795,8 @@ 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)
@@ -817,7 +817,8 @@ 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;