casainho said:
So it might be a good idea to learn german now! I keep my fingers crossed, that you get positive news from that company within the next days!casainho said:
Can you please tell me how did you implement PAS only? Which branch from your repo should I follow?stancecoke said:
The latest version is in the Torque_Simulation_Testing branch.casainho said:
void motor_fast_loop (void)
{
if(ui16_SPEED_Counter < 65530) {ui16_SPEED_Counter++;} //increase SPEED Counter but avoid overflow
if(ui16_PAS_Counter < 65530) {ui16_PAS_Counter++;} //increase PAS Counter but avoid overflowvoid EXTI_PORTD_IRQHandler(void) __interrupt(EXTI_PORTD_IRQHANDLER)
{ //find the pin that has caused the interrupt
if (!GPIO_ReadInputPin(PAS__PORT, PAS__PIN)) //PAS handling
{
ui8_PAS_Flag = 1; //just setting flag in interrupt handler
}
if (!GPIO_ReadInputPin(CURRENT_MOTOR_TOTAL_OVER__PORT,CURRENT_MOTOR_TOTAL_OVER__PIN)) //over current handling
{
TIM1_CtrlPWMOutputs(DISABLE); //set phases floating
while (1) {} // infinitve loop, user has to
}
} if (ui8_PAS_Flag == 1)
{
ui16_PAS=ui16_PAS_Counter; //save recent cadence
//printf("PAStic %d\n", ui16_PAS_Counter);
ui16_PAS_Counter=0; //reset PAS Counter
ui8_PAS_Flag =0; //reset interrupt flag
} ui16_setpoint = (uint16_t)update_setpoint (ui16_SPEED,ui16_PAS,ui16_sum_torque,ui16_setpoint); //update setpoint#ifndef THROTTLE
}else if (ui16_PAS_Counter>timeout){
TIM1_CtrlPWMOutputs(DISABLE);
uint_PWM_Enable=0;
ui32_setpoint=0; // next priority: Stop motor if not pedaling
printf("you are not pedaling!\r\n");
#endif#ifdef TORQUE_SIMULATION
ui16_PAS_accumulated-=ui16_PAS_accumulated>>3;
ui16_PAS_accumulated+=PAS;
PAS=ui16_PAS_accumulated>>3;
if (PAS>RAMP_END) //if you are pedaling slower than defined ramp end, current is proportional to cadence
{
uint32_current_target= (i16_assistlevel[ui8_assistlevel_global-1]*(BATTERY_CURRENT_MAX_VALUE+current_cal_b)/100);
float_temp=((float)RAMP_END)/((float)PAS);
uint32_current_target= ((int16_t)(uint32_current_target)*(int16_t)(float_temp*100))/100-current_cal_b;
//printf("PAS %d, delta %d, current target %d\n", PAS, (int16_t)(float_temp*100), uint32_current_target);
}
else
{
uint32_current_target= (i16_assistlevel[ui8_assistlevel_global-1]*(BATTERY_CURRENT_MAX_VALUE+current_cal_b)/100-current_cal_b);
//printf("current_target %d\n", uint32_current_target);
}casainho said:
Thanks, got it. It is not much difficult.stancecoke said:
uint32_t CheckSpeed (uint16_t current_target, uint16_t erps)
{
//ramp down motor power if you are riding too fast and speed liming is active
if (erps>(limit)*GEAR_RATIO && ui8_cheat_state!=4){
if (erps>(limit+2)*GEAR_RATIO){ //if you are riding much too fast, stop motor immediately
current_target=-1*current_cal_b;
printf("Speed much too high!\r\n", erps);
}
else {
current_target=((current_target+current_cal_b)*((limit+2)*GEAR_RATIO-erps))/(2*GEAR_RATIO)-current_cal_b; //ramp down the motor power within 2 km/h, if you are riding too fast
printf("Speed too high!\r\n");
}
}
return ((uint32_t)current_target);
}
Are you getting feedback from users using the Java tool?stancecoke said:
Not yet. I got no feedback so far.casainho said:
If you look at the Torque-Simulation branch, you will see, that I only use the falling edge of the PAS-signal for interrupt, as the dutycycle of the PAS signal is <>0.5casainho said:
There are 12 magnets on the PAS disk:casainho said:
The peak ADC values are the peak torque values of course. The torque at the crank is some kind of sinusodial.casainho said:
For PAS in principle, see the very detailed explanation here.casainho said:
Yes.stancecoke said:
Thank you for all this technical documentation!! I will now save it on the project pagestancecoke said:
#if CONTROL_MODE == CONTROL_MODE_TORQUE //human power control mode
#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU)
power_poti = poti_stat/102300.0* curr_power_poti_max*power_human*(1+spd/20.0); //power_poti_max is in this control mode interpreted as percentage. Example: power_poti_max=200 means; motor power = 200% of human power
#ifdef SUPPORT_TORQUE_THROTTLE //we want to trigger throttle just by pedal torque
if (abs(torque_instant)>torque_throttle_min) //we are above the threshold to trigger throttle
{
double power_torque_throttle = abs(torque_instant/torque_throttle_full*poti_stat/1023*curr_power_max); //translate torque_throttle_full to maximum power
power_throttle = max(power_throttle,power_torque_throttle); //decide if thumb throttle or torque throttle are higher
power_throttle = constrain(power_throttle,0,curr_power_max); //constrain throttle value to maximum power
}Since you are experienced and really want to use torque sensor, can you please tell me if for you, is important or not to instantaneously motor help when start pedaling? Maybe I am missing something.stancecoke said:
Current loop runs every PWM cycle so it is really fast!! I can put throttle immediately to 100% and the current controller works well. And as discussed before, the rise on the current should take a some PWM cycles, so it is slower than we can act.stancecoke said:But remember this is exactly the situaltion, where the risk to burn your mosfets is the highest.... (I hope the current control loop will always be fast enough
What to do in this case?? Maybe:stancecoke said:
Good to know I am not alone.stancecoke said:
so need to make a lot of torque with my legs to start pedaling.
