Display rotor direction and selected direction separately

Allow switching from neutral into rotor direction Removed dodgy speed frequency output, lets wait if anyone complains Made CRC check of control message optional
jsphuebner · Sep 14, 2023 · e1ea274 · e1ea274
1 parent 84138fa
commit e1ea274
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Showing 6 changed files with 26 additions and 38 deletions.
diff --git a/include/param_prj.h b/include/param_prj.h
@@ -25,7 +25,7 @@
    3. Display values
  */
 //Next param id (increase when adding new parameter!): 158
-//Next value Id: 2052
+//Next value Id: 2053
 /*              category     name         unit       min     max     default id */
 
 #define MOTOR_PARAMETERS_COMMON \
@@ -179,7 +179,8 @@
     VALUE_ENTRY(pot2,        "dig",   2016 ) \
     VALUE_ENTRY(regenpreset, "%",     2051 ) \
     VALUE_ENTRY(potnom,      "%",     2017 ) \
-    VALUE_ENTRY(dir,         DIRS,    2018 ) \
+    VALUE_ENTRY(seldir,      DIRS,    2018 ) \
+    VALUE_ENTRY(rotordir,    DIRS,    2053 ) \
     VALUE_ENTRY(tmphs,       "°C",    2019 ) \
     VALUE_ENTRY(tmpm,        "°C",    2020 ) \
     VALUE_ENTRY(uaux,        "V",     2021 ) \

diff --git a/libopeninv b/libopeninv
diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
@@ -55,7 +55,7 @@ void PwmGeneration::Run()
    {
       static s32fp idcFiltered = 0;
       static int amplitudeErrFiltered;
-      int dir = Param::GetInt(Param::dir);
+      int dir = Param::GetInt(Param::seldir);
       s32fp id, iq;
 
       Encoder::UpdateRotorAngle(0);

diff --git a/src/pwmgeneration-sine.cpp b/src/pwmgeneration-sine.cpp
@@ -39,7 +39,7 @@ void PwmGeneration::Run()
 {
    if (opmode == MOD_MANUAL || opmode == MOD_RUN || opmode == MOD_SINE)
    {
-      int dir = Param::GetInt(Param::dir);
+      int dir = Param::GetInt(Param::seldir);
 
       Encoder::UpdateRotorAngle(dir);
       s32fp ampNomLimited = LimitCurrent();
@@ -134,7 +134,7 @@ void PwmGeneration::SetTorquePercent(float torque)
          }
       }
    }
-   else if (Encoder::GetRotorDirection() != Param::GetInt(Param::dir))
+   else if (Encoder::GetRotorDirection() != Param::GetInt(Param::seldir))
    {
       // Do not apply negative torque if we are already traveling backwards.
       fslipspnt = 0;

diff --git a/src/stm32_sine.cpp b/src/stm32_sine.cpp
@@ -136,6 +136,7 @@ static void Ms10Task(void)
    VehicleControl::GetDigInputs();
    float torquePercent = VehicleControl::ProcessThrottle();
    Param::SetInt(Param::speed, Encoder::GetSpeed());
+   Param::SetInt(Param::rotordir, Encoder::GetRotorDirection());
 
    if (MOD_RUN == opmode && initWait == -1)
    {
@@ -248,25 +249,6 @@ static void Ms10Task(void)
       canMap->SendAll();
 }
 
-static void Ms1Task(void)
-{
-   static int speedCnt = 0;
-
-   if (Param::GetInt(Param::pwmfunc) == PWM_FUNC_SPEEDFRQ)
-   {
-      int speed = Param::GetInt(Param::speed);
-      if (speedCnt == 0 && speed != 0)
-      {
-         DigIo::speed_out.Toggle();
-         speedCnt = Param::GetInt(Param::pwmgain) / (2 * speed);
-      }
-      else if (speedCnt > 0)
-      {
-         speedCnt--;
-      }
-   }
-}
-
 /** This function is called when the user changes a parameter */
 void Param::Change(Param::PARAM_NUM paramNum)
 {
@@ -413,7 +395,6 @@ extern "C" int main(void)
 
    s.AddTask(Ms100Task, 100);
    s.AddTask(Ms10Task, 10);
-   s.AddTask(Ms1Task, 1);
 
    DigIo::prec_out.Set();
 

diff --git a/src/vehiclecontrol.cpp b/src/vehiclecontrol.cpp
@@ -81,11 +81,16 @@ bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2])
    uint8_t ctr2 = (data[1] >> 14) & 0x3;
    uint8_t regenpreset = (data[1] >> 16) & 0xFF;
    uint8_t crc = (data[1] >> 24) & 0xFF;
+   uint8_t calcCrc = crc;
 
-   //Zero out CRC byte
-   data[1] &= 0x00FFFFFF;
-   crc_reset();
-   uint32_t calcCrc = crc_calculate_block(data, 2) & 0xFF;
+   //Optional CRC check
+   if (Param::GetBool(Param::controlcheck))
+   {
+      //Zero out CRC byte
+      data[1] &= 0x00FFFFFF;
+      crc_reset();
+      calcCrc = crc_calculate_block(data, 2) & 0xFF;
+   }
 
    //We check for CRC and sequence counter errors. As long as we stay below maxErrors
    //we can heal bad frames with good frames. Once we've surpassed maxErrors we do
@@ -206,7 +211,8 @@ void VehicleControl::CruiseControl()
 
 void VehicleControl::SelectDirection()
 {
-   int selectedDir = Param::GetInt(Param::dir);
+   int selectedDir = Param::GetInt(Param::seldir);
+   int rotorDir = Param::GetInt(Param::rotordir);
    int userDirSelection = 0;
    int dirSign = (Param::GetInt(Param::dirmode) & DIR_REVERSED) ? -1 : 1;
    bool potPressed = Param::GetInt(Param::potnom) > 0;
@@ -247,10 +253,10 @@ void VehicleControl::SelectDirection()
    }
 
    /* Only change direction when below certain motor speed and throttle is not pressed */
-   if ((int)Encoder::GetSpeed() < Param::GetInt(Param::dirchrpm) && !potPressed)
+   if (((int)Encoder::GetSpeed() < Param::GetInt(Param::dirchrpm) || userDirSelection == rotorDir) && !potPressed)
       selectedDir = userDirSelection;
 
-   Param::SetInt(Param::dir, selectedDir);
+   Param::SetInt(Param::seldir, selectedDir);
 }
 
 float VehicleControl::ProcessThrottle()
@@ -313,7 +319,7 @@ float VehicleControl::ProcessThrottle()
       if (finalSpnt < 0)
          finalSpnt *= Encoder::GetRotorDirection();
       else //inconsistency here: in slip control negative always means regen
-         finalSpnt *= Param::GetInt(Param::dir);
+         finalSpnt *= Param::GetInt(Param::seldir);
 
       //At 110% fmax start derating field weakening current just in case it has a torque producing component
       Throttle::fmax = Param::GetFloat(Param::fmax) * 1.1f;
@@ -324,7 +330,7 @@ float VehicleControl::ProcessThrottle()
    }
 
    //Make sure we never command torque in neutral
-   if (Param::GetInt(Param::dir) == 0)
+   if (Param::GetInt(Param::seldir) == 0)
       finalSpnt = 0;
 
    return finalSpnt;
@@ -683,16 +689,16 @@ float VehicleControl::GetUserThrottleCommand()
       if (bidirThrot == 0 || (requestedDirection != rotorDirection && speed > 30))
       {
          bidirThrot = Throttle::brkmax;
-         Param::SetInt(Param::dir, rotorDirection);
+         Param::SetInt(Param::seldir, rotorDirection);
       }
       else if (bidirThrot < 0)
       {
          bidirThrot = -bidirThrot;
-         Param::SetInt(Param::dir, -1);
+         Param::SetInt(Param::seldir, -1);
       }
       else //bidirThrot > 0
       {
-         Param::SetInt(Param::dir, 1);
+         Param::SetInt(Param::seldir, 1);
       }
       return bidirThrot;
    }