KT motor controllers -- Flexible OpenSource firmware for BMSBattery S/Kunteng KT motor controllers (0.25kW up to 5kW)

// choose between throttle and/or pas or torque sensor
#define EBIKE_THROTTLE_TYPE	EBIKE_THROTTLE_TYPE_THROTTLE_PAS
//#define EBIKE_THROTTLE_TYPE	EBIKE_THROTTLE_TYPE_TORQUE_SENSOR

// next, choose one of the both (only apply to throttle and/or PAS)
//#define EBIKE_THROTTLE_TYPE_THROTTLE_PAS_PWM_DUTY_CYCLE // direct PWM duty_cycle control
#define EBIKE_THROTTLE_TYPE_THROTTLE_PAS_CURRENT_SPEED // control using motor current/torque and/or wheel speed

void ebike_throttle_type_throttle_pas (void)
{
#if defined (EBIKE_THROTTLE_TYPE_THROTTLE_PAS_PWM_DUTY_CYCLE)
  uint8_t ui8_temp;
  float f_temp;

  f_temp = (float) (((float) ui8_throttle_value_filtered) * f_get_assist_level ());
  ui8_temp = (uint8_t) (map ((uint32_t) f_temp,
  			 (uint32_t) 0,
  			 (uint32_t) 255,
  			 (uint32_t) 0,
  			 (uint32_t) 255));
  motor_set_pwm_duty_cycle_target (ui8_temp);

// next, if enabled, output of torque sensor algorithm is the human power (torque * cadence) other way will be the same as the torque signal
// (only apply to torque sensor)
#define EBIKE_THROTTLE_TYPE_TORQUE_SENSOR_HUMAN_POWER

#if defined (EBIKE_THROTTLE_TYPE_TORQUE_SENSOR_HUMAN_POWER)
  // calc humam power on the crank using as input the pedal torque sensor value and pedal cadence
  ui16_temp = (uint16_t) (f_temp * ((float) ((float) ui8_pas1_cadence_rpm / ((float) PAS_MAX_CADENCE_RPM))));

  // PWM duty_cycle controller:
  // - limit battery overvoltage
  // - limit battery undervoltage
  // - limit battery max current
  // - limit battery max regen current
  // - limit motor max current
  // - limit motor max regen current
  // - limit motor max ERPS
  // - ramp up/down PWM duty_cycle value

*
 /* config.h
 *
 *  Automatically created by Flexible OpenSource firmware - Configuration tool
 *  Author: stancecoke
 *  Author: casainho
 */

#ifndef CONFIG_H_
#define CONFIG_H_

//#define EBIKE_THROTTLE_TYPE EBIKE_THROTTLE_TYPE_TORQUE_SENSOR
#define EBIKE_THROTTLE_TYPE	EBIKE_THROTTLE_TYPE_THROTTLE_PAS
//#define EBIKE_THROTTLE_TYPE_THROTTLE_PAS_CURRENT_SPEED
#define EBIKE_THROTTLE_TYPE_THROTTLE_PAS_PWM_DUTY_CYCLE
#define EBIKE_THROTTLE_TYPE_THROTTLE_PAS_ASSIST_LEVEL_PAS_ONLY
#define PAS_NUMBER_MAGNETS 12
#define PAS_MAX_CADENCE_RPM 80
#define PAS_DIRECTION PAS_DIRECTION_RIGHT
#define ASSIST_LEVEL_0 0.0
#define ASSIST_LEVEL_1 0.2
#define ASSIST_LEVEL_2 0.4
#define ASSIST_LEVEL_3 0.6
#define ASSIST_LEVEL_4 0.8
#define ASSIST_LEVEL_5 1.0
#define BATTERY_LI_ION_CELLS_NUMBER 10
#define ADC_BATTERY_CURRENT_MAX 18
#define ADC_BATTERY_REGEN_CURRENT_MAX 35
#define MOTOR_ROTOR_OFFSET_ANGLE 214
#define FOC_READ_ID_CURRENT_ANGLE_ADJUST 115
#define MOTOR_ROTOR_ERPS_START_INTERPOLATION_60_DEGREES 5
#define ADC_MOTOR_CURRENT_MAX 120
#define ADC_MOTOR_REGEN_CURRENT_MAX 66
#define PWM_DUTY_CYCLE_RAMP_UP_INVERSE_STEP 35
#define PWM_DUTY_CYCLE_RAMP_DOWN_INVERSE_STEP 35

#define EBIKE_REGEN_EBRAKE_LIKE_COAST_BRAKES

#endif /* CONFIG_H_ */

  // make sure we just execute one time per ERPS, so use the flag ui8_flag_foc_read_id_current
  if ((ui8_motor_rotor_angle >= ((uint8_t) FOC_READ_ID_CURRENT_ANGLE_ADJUST)) && (ui8_flag_foc_read_id_current))
  {
    ui8_flag_foc_read_id_current = 0;

    // minimum speed to do FOC
    if (ui16_motor_speed_erps > MOTOR_ROTOR_ERPS_START_INTERPOLATION_60_DEGREES)
    {
      // read here the phase B current: FOC Id current
      ui8_adc_id_current = UI8_ADC_MOTOR_PHASE_B_CURRENT;
      if (ui8_adc_id_current > ADC_PHASE_B_CURRENT_ZERO_AMPS_FOC_MAX)
      {
	// limit max ui8_angle_correction value (127 + 15)
	if ((ui8_angle_correction+1) < 143) { ui8_angle_correction++; }
      }
      else if (ui8_adc_id_current < ADC_PHASE_B_CURRENT_ZERO_AMPS_FOC_MIN)
      {
	// limit min ui8_angle_correction value (127 - 15)
	if ((ui8_angle_correction-1) > 112)
	{
	  // decrease only when not regen!! other way ui8_angle_correction will always decrease... CAN WE IMPROVE THIS??
	  if (UI8_ADC_BATTERY_CURRENT > (ui8_adc_battery_current_offset+2)) { ui8_angle_correction--; }
	}
      }
    }
  }

void read_torque_sensor_throttle (void)
{

...
    // now count 5 seconds
    case 1:
    if (ui8_rtst_counter++ > 50) // 5 seconds
    {

  // if user doesn't pedal, disable throttle signal
  if ((ui8_startup_phase == 0) && (ui8_pas1_cadence_rpm == 0))
  {
    ui8_throttle_value_filtered = 0;