Some fixes for previous PR

CHANGELOG

@@ -2,6 +2,7 @@
 * Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
 * APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.
 * APP_PPM: Make pulses invalid if they are above 150 % instead of 120 %.
+* Introduced a new control mode that allows reverse with hysteria (@ackmaniac port)
 
 === FW 3.57 ===
 * Added CAN status message 5 with input voltage and tachometer data.
@@ -99,7 +100,7 @@
 * Softer encoder detection.
 * Better NRF_EXT support.
 * New more reliable flux linkage measurement.
-* Simpler to add hardware versions to build system. 
+* Simpler to add hardware versions to build system.
 * More DAS hardware support.
 * DRV8323s support.
 * Initial UAVCAN support.

appconf/appconf_default.h

@@ -107,6 +107,9 @@
 #ifndef APPCONF_PPM_TC_MAX_DIFF
 #define APPCONF_PPM_TC_MAX_DIFF				3000.0
 #endif
+#ifndef APPCONF_PPM_MAX_ERPM_FOR_DIR
+#define APPCONF_PPM_MAX_ERPM_FOR_DIR		4000.0
+#endif
 
 // ADC app configureation
 #ifndef APPCONF_ADC_CTRL_TYPE

applications/app_ppm.c

@@ -1,5 +1,5 @@
 /*
-	Copyright 2016 Benjamin Vedder	benjamin@vedder.se
+	Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se
 
 	This file is part of the VESC firmware.
 
@@ -51,6 +51,7 @@ static volatile bool stop_now = true;
 static volatile ppm_config config;
 static volatile int pulses_without_power = 0;
 static float input_val = 0.0;
+static volatile float direction_hyst = 0;
 
 // Private functions
 static void update(void *p);
@@ -64,6 +65,8 @@ void app_ppm_configure(ppm_config *conf) {
 	if (is_running) {
 		servodec_set_pulse_options(config.pulse_start, config.pulse_end, config.median_filter);
 	}
+
+	direction_hyst = config.max_erpm_for_dir * 0.20;
 #else
 	(void)conf;
 #endif
@@ -206,8 +209,80 @@ static THD_FUNCTION(ppm_thread, arg) {
 		bool current_mode_brake = false;
 		bool send_current = false;
 		bool send_duty = false;
+		static bool force_brake = true;
+		static int8_t did_idle_once = 0;
+		float rpm_local = mc_interface_get_rpm();
+		float rpm_lowest = rpm_local;
 
 		switch (config.ctrl_type) {
+		case PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST:
+			current_mode = true;
+
+			// Hysteresis 20 % of actual RPM
+			if (force_brake) {
+				if (rpm_local < config.max_erpm_for_dir - direction_hyst) { // for 2500 it's 2000
+					force_brake = false;
+					did_idle_once = 0;
+				}
+			} else {
+				if (rpm_local > config.max_erpm_for_dir + direction_hyst) { // for 2500 it's 3000
+					force_brake = true;
+					did_idle_once = 0;
+				}
+			}
+
+			if (servo_val >= 0.0) {
+				if (servo_val == 0.0) {
+					// if there was a idle in between then allow going backwards
+					if (did_idle_once == 1 && !force_brake) {
+						did_idle_once = 2;
+					}
+				}else{
+					// accelerated forward or fast enough at least
+					if (rpm_local > -config.max_erpm_for_dir){ // for 2500 it's -2500
+						did_idle_once = 0;
+					}
+				}
+
+				current = servo_val * mcconf->lo_current_motor_max_now;
+			} else {
+				// too fast
+				if (force_brake){
+					current_mode_brake = true;
+				}else{
+					// not too fast backwards
+					if (rpm_local > -config.max_erpm_for_dir) { // for 2500 it's -2500
+						// first time that we brake and we are not too fast
+						if (did_idle_once != 2) {
+							did_idle_once = 1;
+							current_mode_brake = true;
+						}
+					// too fast backwards
+					} else {
+						// if brake was active already
+						if (did_idle_once == 1) {
+							current_mode_brake = true;
+						} else {
+							// it's ok to go backwards now braking would be strange now
+							did_idle_once = 2;
+						}
+					}
+				}
+
+				if (current_mode_brake) {
+					// braking
+					current = fabsf(servo_val * mcconf->lo_current_motor_min_now);
+				} else {
+					// reverse acceleration
+					current = servo_val * fabsf(mcconf->lo_current_motor_min_now);
+				}
+			}
+
+			if (fabsf(servo_val) < 0.001) {
+				pulses_without_power++;
+			}
+
+			break;
 		case PPM_CTRL_TYPE_CURRENT:
 		case PPM_CTRL_TYPE_CURRENT_NOREV:
 			current_mode = true;
@@ -275,8 +350,6 @@ static THD_FUNCTION(ppm_thread, arg) {
 		}
 
 		// Find lowest RPM
-		float rpm_local = mc_interface_get_rpm();
-		float rpm_lowest = rpm_local;
 		if (config.multi_esc) {
 			for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
 				can_status_msg *msg = comm_can_get_status_msg_index(i);

conf_general.h

@@ -67,8 +67,8 @@
 // Benjamins first HW60 PCB with PB5 and PB6 swapped
 //#define HW60_VEDDER_FIRST_PCB
 
-//#define HW_SOURCE "hw_60.c"
-//#define HW_HEADER "hw_60.h"
+#define HW_SOURCE "hw_60.c"
+#define HW_HEADER "hw_60.h"
 
 //#define HW_SOURCE "hw_r2.c"
 //#define HW_HEADER "hw_r2.h"
@@ -94,8 +94,8 @@
 // Second revision with separate UART for NRF51
 #define HW75_300_REV_2
 
-#define HW_SOURCE "hw_75_300.c"
-#define HW_HEADER "hw_75_300.h"
+//#define HW_SOURCE "hw_75_300.c"
+//#define HW_HEADER "hw_75_300.h"
 
 //#define HW_SOURCE "hw_mini4.c"
 //#define HW_HEADER "hw_mini4.h"

confgenerator.c

@@ -172,6 +172,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer[ind++] = conf->app_ppm_conf.multi_esc;
 	buffer[ind++] = conf->app_ppm_conf.tc;
 	buffer_append_float32_auto(buffer, conf->app_ppm_conf.tc_max_diff, &ind);
+	buffer_append_float32_auto(buffer, conf->app_ppm_conf.max_erpm_for_dir, &ind);
 	buffer[ind++] = conf->app_adc_conf.ctrl_type;
 	buffer_append_float32_auto(buffer, conf->app_adc_conf.hyst, &ind);
 	buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_start, &ind);
@@ -394,6 +395,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->app_ppm_conf.multi_esc = buffer[ind++];
 	conf->app_ppm_conf.tc = buffer[ind++];
 	conf->app_ppm_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
+	conf->app_ppm_conf.max_erpm_for_dir = buffer_get_float32_auto(buffer, &ind);
 	conf->app_adc_conf.ctrl_type = buffer[ind++];
 	conf->app_adc_conf.hyst = buffer_get_float32_auto(buffer, &ind);
 	conf->app_adc_conf.voltage_start = buffer_get_float32_auto(buffer, &ind);
@@ -600,6 +602,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
 	conf->app_ppm_conf.multi_esc = APPCONF_PPM_MULTI_ESC;
 	conf->app_ppm_conf.tc = APPCONF_PPM_TC;
 	conf->app_ppm_conf.tc_max_diff = APPCONF_PPM_TC_MAX_DIFF;
+	conf->app_ppm_conf.max_erpm_for_dir = APPCONF_PPM_MAX_ERPM_FOR_DIR;
 	conf->app_adc_conf.ctrl_type = APPCONF_ADC_CTRL_TYPE;
 	conf->app_adc_conf.hyst = APPCONF_ADC_HYST;
 	conf->app_adc_conf.voltage_start = APPCONF_ADC_VOLTAGE_START;

confgenerator.h

@@ -9,7 +9,7 @@
 
 // Constants
 #define MCCONF_SIGNATURE		503309878
-#define APPCONF_SIGNATURE		1962523771
+#define APPCONF_SIGNATURE		1099508905
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

datatypes.h

@@ -336,7 +336,8 @@ typedef enum {
 	PPM_CTRL_TYPE_DUTY,
 	PPM_CTRL_TYPE_DUTY_NOREV,
 	PPM_CTRL_TYPE_PID,
-	PPM_CTRL_TYPE_PID_NOREV
+	PPM_CTRL_TYPE_PID_NOREV,
+	PPM_CTRL_TYPE_CURRENT_BRAKE_REV_HYST
 } ppm_control_type;
 
 typedef struct {
@@ -356,6 +357,7 @@ typedef struct {
 	bool multi_esc;
 	bool tc;
 	float tc_max_diff;
+	float max_erpm_for_dir;
 } ppm_config;
 
 // ADC control types