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Version 1.1.6
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- Updated Hall calibration: Hall counter offset calculated for every Hall state
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@mspider65
mspider65 committed Feb 28, 2021
1 parent b2c4a8e commit 8e11f24
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Showing 4 changed files with 44 additions and 49 deletions.
77 changes: 35 additions & 42 deletions main/tsdz_data.c
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Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ struct_tsdz_cfg tsdz_cfg = {
.ui8_motor_temperature_min_value_to_limit = 65,
.ui8_motor_temperature_max_value_to_limit = 80,
.ui8_motor_acceleration = 25,
.ui8_dummy = 0,
.ui8_hall_offset_adj = 0,
.ui8_max_speed = 45,
.ui8_street_max_speed = 25,
.ui8_pedal_torque_per_10_bit_ADC_step_x100 = 67,
Expand Down Expand Up @@ -121,9 +121,8 @@ struct_tsdz_cfg tsdz_cfg = {
.ui8_walk_assist_level = {40,55,70,85},
.ui8_torque_offset_fix = 0,
.ui16_torque_offset_value = 0,
.ui8_hall_ref_angles = {217, 4, 47, 89, 132, 175},
.ui8_hall_offset_up = 45,
.ui8_hall_offset_down = 24
.ui8_hall_ref_angles = {217, 4, 47, 89, 132, 175}, // Array order: Hall states 6, 2, 3, 1, 5, 4
.ui8_hall_offsets = {44, 23, 44, 23, 44, 23} // Array order: Hall states 6, 2, 3, 1, 5, 4
};

uint8_t stm8_fw_version = -1;
Expand Down Expand Up @@ -566,8 +565,10 @@ void getControllerMessage(uint8_t lcd_os_message[]) {
break;
}

// set lights state
lcd_os_message[4] = ui8_oem_lights;
// set lights state (bit 7) and light configuration (bit 0-6)
lcd_os_message[4] = tsdz_cfg.ui8_lights_configuration & 0x7f;
if (ui8_oem_lights)
lcd_os_message[4] |= 0x80;

switch (ui8_message_ID) {
case 0:
Expand Down Expand Up @@ -600,25 +601,22 @@ void getControllerMessage(uint8_t lcd_os_message[]) {
break;

case 1:
// Free for future use
// free for future use
lcd_os_message[5] = 0;
lcd_os_message[6] = 0;

// wheel perimeter
lcd_os_message[6] = (uint8_t) (tsdz_cfg.ui16_wheel_perimeter & 0xff);
lcd_os_message[7] = (uint8_t) (tsdz_cfg.ui16_wheel_perimeter >> 8);
lcd_os_message[7] = (uint8_t) (tsdz_cfg.ui16_wheel_perimeter & 0xff);
lcd_os_message[8] = (uint8_t) (tsdz_cfg.ui16_wheel_perimeter >> 8);

// wheel max speed (based on Street Mode enable status)
if (tsdz_status.ui8_riding_mode & 0x80)
lcd_os_message[8] = tsdz_cfg.ui8_street_max_speed;
lcd_os_message[9] = tsdz_cfg.ui8_street_max_speed;
else
lcd_os_message[8] = tsdz_cfg.ui8_max_speed;
lcd_os_message[9] = tsdz_cfg.ui8_max_speed;

// assist without pedal rotation threshold
lcd_os_message[9] = tsdz_cfg.ui8_assist_without_pedal_rotation_threshold;

// lights configuration
lcd_os_message[10] = tsdz_cfg.ui8_lights_configuration;

lcd_os_message[10] = tsdz_cfg.ui8_assist_without_pedal_rotation_threshold;
break;
case 2:
// optional ADC function, disable throttle if is disabled in Street Mode
Expand All @@ -645,12 +643,17 @@ void getControllerMessage(uint8_t lcd_os_message[]) {

case 3:
if (validHallRefAngles(tsdz_cfg.ui8_hall_ref_angles)) {
lcd_os_message[5] = tsdz_cfg.ui8_hall_ref_angles[0];
lcd_os_message[6] = tsdz_cfg.ui8_hall_ref_angles[1];
lcd_os_message[7] = tsdz_cfg.ui8_hall_ref_angles[2];
lcd_os_message[8] = tsdz_cfg.ui8_hall_ref_angles[3];
lcd_os_message[9] = tsdz_cfg.ui8_hall_ref_angles[4];
lcd_os_message[10] = tsdz_cfg.ui8_hall_ref_angles[5];
uint8_t adj;
if (lcd_os_message[2] == MOTOR_CALIBRATION_MODE)
adj = ui8_app_rotor_angle_adj;
else
adj = tsdz_cfg.ui8_phase_angle_adj;
lcd_os_message[5] = tsdz_cfg.ui8_hall_ref_angles[0] + adj;
lcd_os_message[6] = tsdz_cfg.ui8_hall_ref_angles[1] + adj;
lcd_os_message[7] = tsdz_cfg.ui8_hall_ref_angles[2] + adj;
lcd_os_message[8] = tsdz_cfg.ui8_hall_ref_angles[3] + adj;
lcd_os_message[9] = tsdz_cfg.ui8_hall_ref_angles[4] + adj;
lcd_os_message[10] = tsdz_cfg.ui8_hall_ref_angles[5] + adj;
} else {
lcd_os_message[5] = 0;
lcd_os_message[6] = 0;
Expand All @@ -661,25 +664,13 @@ void getControllerMessage(uint8_t lcd_os_message[]) {
}
break;
case 4:
// Hall counter offset (Up & Down transition)
if (tsdz_cfg.ui8_hall_offset_up || tsdz_cfg.ui8_hall_offset_down) {
lcd_os_message[5] = tsdz_cfg.ui8_hall_offset_up;
lcd_os_message[6] = tsdz_cfg.ui8_hall_offset_down;
} else {
lcd_os_message[5] = 0;
lcd_os_message[6] = 0;
}

// Phase angle adjust
if (lcd_os_message[2] == MOTOR_CALIBRATION_MODE)
lcd_os_message[7] = ui8_app_rotor_angle_adj;
else
lcd_os_message[7] = tsdz_cfg.ui8_phase_angle_adj;

// Free for future use
lcd_os_message[8] = 0;
lcd_os_message[9] = 0;
lcd_os_message[10] = 0;
// Hall counter offset
lcd_os_message[5] = tsdz_cfg.ui8_hall_offsets[0] + tsdz_cfg.ui8_hall_offset_adj;
lcd_os_message[6] = tsdz_cfg.ui8_hall_offsets[1] + tsdz_cfg.ui8_hall_offset_adj;
lcd_os_message[7] = tsdz_cfg.ui8_hall_offsets[2] + tsdz_cfg.ui8_hall_offset_adj;
lcd_os_message[8] = tsdz_cfg.ui8_hall_offsets[3] + tsdz_cfg.ui8_hall_offset_adj;
lcd_os_message[9] = tsdz_cfg.ui8_hall_offsets[4] + tsdz_cfg.ui8_hall_offset_adj;
lcd_os_message[10] = tsdz_cfg.ui8_hall_offsets[5] + tsdz_cfg.ui8_hall_offset_adj;
break;
}

Expand Down Expand Up @@ -735,7 +726,9 @@ int tsdz_update_cfg(struct_tsdz_cfg *new_cfg) {
(new_cfg->ui8_cruise_mode_enabled > 1) ||
(new_cfg->ui8_street_mode_power_limit_enabled > 1) ||
(new_cfg->ui8_street_mode_power_limit_enabled > 1) ||
!validHallRefAngles(new_cfg->ui8_hall_ref_angles)) {
!validHallRefAngles(new_cfg->ui8_hall_ref_angles) ||
((new_cfg->ui8_phase_angle_adj > 10) && (new_cfg->ui8_phase_angle_adj < 246)) ||
((new_cfg->ui8_hall_offset_adj > 10) && (new_cfg->ui8_hall_offset_adj < 246))) {
ESP_LOGI(TAG,"tsdz_update_cfg VALUES OUT OF RANGE");
return 1;
}
Expand Down
7 changes: 3 additions & 4 deletions main/tsdz_data.h
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ typedef struct _tsdz_cfg {
volatile uint8_t ui8_motor_temperature_min_value_to_limit;
volatile uint8_t ui8_motor_temperature_max_value_to_limit;
volatile uint8_t ui8_motor_acceleration;
volatile uint8_t ui8_dummy;
volatile uint8_t ui8_hall_offset_adj;
volatile uint8_t ui8_max_speed;
volatile uint8_t ui8_street_max_speed;
volatile uint8_t ui8_pedal_torque_per_10_bit_ADC_step_x100;
Expand Down Expand Up @@ -67,9 +67,8 @@ typedef struct _tsdz_cfg {
volatile uint8_t ui8_walk_assist_level[4];
volatile uint8_t ui8_torque_offset_fix;
volatile uint16_t ui16_torque_offset_value;
volatile uint8_t ui8_hall_ref_angles[6];
volatile uint8_t ui8_hall_offset_up;
volatile uint8_t ui8_hall_offset_down;
volatile uint8_t ui8_hall_ref_angles[6];
volatile uint8_t ui8_hall_offsets[6];
} struct_tsdz_cfg;

#pragma pack(1)
Expand Down
7 changes: 5 additions & 2 deletions main/tsdz_nvs.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@

static const char *TAG = "tsdz_nvs";

static const uint8_t NVS_KEY_VAL = 5;
static const uint8_t NVS_KEY_VAL = 6;

// NVS Configuration Key values
static const char* NVS_KEY = "KEY";
Expand Down Expand Up @@ -115,13 +115,16 @@ void tsdz_nvs_read_cfg(void) {
break;
case 3:
case 4:
ESP_LOGI(TAG, "Upgrading NVS from version 3 or 4");
case 5:
ESP_LOGI(TAG, "Upgrading NVS from version 3 or 4 or 5");
// upgrade cfg from version 3 or 4
// get stored tsdz_cfg size
err = nvs_get_blob(my_handle, TSDZ_CFG_KEY, NULL, &len);
err |= nvs_get_blob(my_handle, TSDZ_CFG_KEY, &tsdz_cfg, &len);
if(err != ESP_OK)
ESP_LOGE(TAG, "FATAL ERROR: nvs_get_blob - Unable to upgrade cfg: 0x%x", err);
tsdz_cfg.ui8_hall_offset_adj = 0;
tsdz_cfg.ui8_phase_angle_adj = 0;
err = nvs_set_blob(my_handle, TSDZ_CFG_KEY, &tsdz_cfg, sizeof(tsdz_cfg));
if(err != ESP_OK)
ESP_LOGE(TAG, "FATAL ERROR: nvs_set_blob - Unable to upgrade cfg: 0x%x", err);
Expand Down
2 changes: 1 addition & 1 deletion version.txt
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Original file line number Diff line number Diff line change
@@ -1 +1 @@
1.1.5
1.1.6

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