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Merge commit '49fc785aaef383498681b404b8a1d12af8ef2de0' into optimiza…
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@dzid26
dzid26 committed Aug 16, 2024
2 parents 9db5159 + 49fc785 commit de96483
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Showing 2 changed files with 37 additions and 60 deletions.
91 changes: 34 additions & 57 deletions src/ebike_app.c
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Original file line number Diff line number Diff line change
Expand Up @@ -104,9 +104,9 @@ 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 @@ -300,13 +300,12 @@ 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 @@ -354,52 +353,26 @@ 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 = (uint32_t)TARGET_MAX_BATTERY_POWER * 100 * 1000 / 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 = (uint32_t)STREET_MODE_POWER_LIMIT * 100 * 1000 / 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 @@ -549,12 +522,15 @@ 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 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 @@ -1434,8 +1410,9 @@ 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 @@ -2807,12 +2784,12 @@ 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
6 changes: 3 additions & 3 deletions src/motor.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -791,9 +791,9 @@ 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 @@ -815,7 +815,7 @@ 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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