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Merge pull request #726 from luna-cycle/pas_torque_sensor_safety_improvement 

Pas torque sensor safety improvement
This commit is contained in:
Benjamin Vedder 2024-05-20 20:13:36 +02:00 committed by GitHub
parent be0fef9a9e acf14b4978
commit 20d311e189
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GPG Key ID: B5690EEEBB952194
4 changed files with 18 additions and 5 deletions
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17
applications/app_pas.c
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@ -35,7 +35,8 @@
// Settings
#define PEDAL_INPUT_TIMEOUT 0.2
#define MAX_MS_WITHOUT_CADENCE 5000
#define MAX_MS_WITHOUT_CADENCE_OR_TORQUE 5000
#define MAX_MS_WITHOUT_CADENCE 1000
#define MIN_MS_WITHOUT_POWER 500
#define FILTER_SAMPLES 5
#define RPM_FILTER_SAMPLES 8
@ -164,6 +165,7 @@ void pas_event_handler(void) {
pedal_rpm = 60.0 / period_filtered;
pedal_rpm *= (direction_conf * (float)direction_qem);
inactivity_time = 0.0;
correct_direction_counter = 0;
}
else {
inactivity_time += 1.0 / (float)config.update_rate_hz;
@ -253,10 +255,21 @@ static THD_FUNCTION(pas_thread, arg) {
ms_without_cadence_or_torque = 0.0;
} else {
ms_without_cadence_or_torque += (1000.0 * (float)sleep_time) / (float)CH_CFG_ST_FREQUENCY;
if(ms_without_cadence_or_torque > MAX_MS_WITHOUT_CADENCE) {
if(ms_without_cadence_or_torque > MAX_MS_WITHOUT_CADENCE_OR_TORQUE) {
output = 0.0;
}
}
// if cranks are not moving, there should not be any output. This covers the case of a torque sensor
// stuck with a non-zero signal.
static float ms_without_cadence = 0.0;
if(pedal_rpm < 0.01) {
ms_without_cadence += (1000.0 * (float)sleep_time) / (float)CH_CFG_ST_FREQUENCY;
if(ms_without_cadence > MAX_MS_WITHOUT_CADENCE) {
output = 0.0;
}
} else {
ms_without_cadence = 0.0;
}
}
#endif
default:

2
hwconf/luna/m600/appconf_luna_m600.h
View File

@ -280,7 +280,7 @@
#define APPCONF_PAS_INVERT_PEDAL_DIRECTION 0
// Sensor Magnets
#define APPCONF_PAS_MAGNETS 12
#define APPCONF_PAS_MAGNETS 48
// Use Filter
#define APPCONF_PAS_USE_FILTER 1

2
hwconf/luna/m600/hw_luna_m600.h
View File

@ -21,7 +21,7 @@
#ifndef HW_LUNA_M600_H_
#define HW_LUNA_M600_H_
#define FW_NAME "2023.12.13"
#define FW_NAME "2024.05.08"
#ifdef M600_60V_BATTERY
#include "mcconf_luna_m600_60V.h"

2
hwconf/luna/m600/luna_m600_display.c
View File

@ -37,7 +37,7 @@
#include "mcpwm_foc.h" // for encoder angle error
#define LUNA_TORQUE_SENSOR_DEFAULT_TORQUE 0x02EE
#define LUNA_TORQUE_SENSOR_MINIMUM_TORQUE 0x0360
#define LUNA_TORQUE_SENSOR_MINIMUM_TORQUE 0x044C
#define LUNA_TORQUE_SENSOR_MAXIMUM_TORQUE 0x0600
typedef enum {