fugbixes

Author: Bjoern Schmidt

ACAcommons.c

@@ -259,17 +259,23 @@ void updatePasStatus(void) {
 void updateSlowLoopStates(void) {
 
 	if (ui16_motor_speed_erps == 0) {
-		ui16_idle_counter++;
+		if (ui16_idle_counter < 64000){
+			ui16_idle_counter++;
+		}
 	} else {
 		ui16_idle_counter = 0;
 	}
 
+	// debug only
+	ui8_variableDebugA = ui16_passcode;
+	ui8_variableDebugB = ui16_passcode >>8;
+	
 	//disable lock if passcode is not at least 4 digits
-	if (ui16_passcode < 1000){
-		ui8_lockstatus = 0;
+	if (ui16_passcode < 1001){
+		ui8_lockstatus = 16;
 	}else if (((ui16_aca_flags & IDLE_LOCKS_CONTROLLER) == IDLE_LOCKS_CONTROLLER) && (ui16_idle_counter > 3000)) {
 		//lock after 60 seconds idle
-		ui8_lockstatus = 1;
+		ui8_lockstatus = 255;
 	}
 
 	if (((ui16_aca_flags & IDLE_DISABLES_OFFROAD) == IDLE_DISABLES_OFFROAD) && (ui8_offroad_state > 4) && (ui16_idle_counter > 3000)) {

ACAcontrollerState.c

@@ -110,7 +110,7 @@ uint8_t ui8_SPEED_Flag = 0; //flag for SPEED interrupt
 uint8_t ui8_offroad_counter = 0; //counter for offroad switching procedure
 uint16_t ui16_idle_counter = 0;
 uint16_t ui16_passcode = 0;
-uint8_t ui8_lockstatus = 1;
+uint8_t ui8_lockstatus = 255;
 
 uint16_t ui16_aca_flags = 0;
 uint16_t ui16_aca_experimental_flags = 0;

BOdisplay.c

@@ -214,7 +214,7 @@ void addDetailStateInfos(void) {
 	addPayload(CODE_VER_SPEED_HIGH_BYTE, ui16_virtual_erps_speed >> 8);
 	addPayload(CODE_VER_SPEED, ui16_virtual_erps_speed);
 	addPayload(CODE_LOCKSTATUS, ui8_lockstatus);
-	// 9 more elements left/avail (max30)
+	// 8 more elements left/avail (max30)
 }
 
 void addBasicStateInfos(void) {
@@ -280,18 +280,18 @@ void digestConfigRequest(uint8_t configAddress, uint8_t requestedCodeLowByte, ui
 			addPayload(requestedCodeLowByte, ui8_offroad_state);
 			break;
 		case CODE_PASSCODE:
-			if ((ui8_lockstatus == 0) && (configAddress == EEPROM_ADDRESS)){
+			if ((ui8_lockstatus == 16) && (configAddress == EEPROM_ADDRESS)){
 				// write new passcode only if unlocked
-				ui16_passcode == ((uint16_t) requestedValueHighByte << 8)+(uint16_t) requestedValue;
+				ui16_passcode = ((uint16_t) requestedValueHighByte << 8)+(uint16_t) requestedValue;
 				eeprom_write(OFFSET_PASSCODE_HIGH_BYTE, requestedValueHighByte);
 				eeprom_write(OFFSET_PASSCODE, requestedValue);
-				addPayload(CODE_PASSCODE_HIGH_BYTE, ui16_aca_flags >> 8);
-				addPayload(requestedCodeLowByte, ui16_aca_flags);
+				addPayload(CODE_PASSCODE_HIGH_BYTE, ui16_passcode >> 8);
+				addPayload(requestedCodeLowByte, ui16_passcode);
 			}else if ((configAddress != EEPROM_ADDRESS) && (ui16_passcode == (((uint16_t) requestedValueHighByte << 8)+(uint16_t) requestedValue))){
 				// unlock if correct code was sent
-				ui8_lockstatus = 0;
-				addPayload(CODE_PASSCODE_HIGH_BYTE, ui16_aca_flags >> 8);
-				addPayload(requestedCodeLowByte, ui16_aca_flags);
+				ui8_lockstatus = 16;
+				addPayload(CODE_PASSCODE_HIGH_BYTE, ui16_passcode >> 8);
+				addPayload(requestedCodeLowByte, ui16_passcode);
 			}else{
 				addPayload(CODE_ERROR, CODE_ERROR);
 			}

config.h

@@ -9,7 +9,7 @@
 #define CONFIG_H_
 
 #define NUMBER_OF_PAS_MAGS 12
-#define limit 25
+#define limit 28
 #define timeout 3125
 #define wheel_circumference 2230L
 #define limit_without_pas 6
@@ -19,7 +19,7 @@
 #define BATTERY_CURRENT_MAX_VALUE 150L
 #define PHASE_CURRENT_MAX_VALUE 300L
 #define REGEN_CURRENT_MAX_VALUE 50L
-#define MOTOR_ROTOR_DELTA_PHASE_ANGLE_RIGHT 0
+#define MOTOR_ROTOR_DELTA_PHASE_ANGLE_RIGHT 238
 #define current_cal_a 46
 #define TEMP_CAL_A 1.6
 #define TEMP_CAL_B -110.4
@@ -38,22 +38,22 @@
 #define BATTERY_LI_ION_CELLS_NUMBER 13
 #define PAS_THRESHOLD 1.9
 #define RAMP_START 64000
-#define limit_with_throttle_override 25
+#define limit_with_throttle_override 35
 #define CORRECTION_AT_ANGLE 127
 #define PWM_CYCLES_SECOND 15625L
-#define BLUOSEC
 #define SPEEDSENSOR_INTERNAL
 #define ANGLE_4_0 1
-#define ANGLE_6_60 43
-#define ANGLE_2_120 86
+#define ANGLE_6_60 38
+#define ANGLE_2_120 82
 #define ANGLE_3_180 128
-#define ANGLE_1_240 171
-#define ANGLE_5_300 213
+#define BLUOSEC
+#define ANGLE_1_240 166
+#define ANGLE_5_300 210
 #define TQS_CALIB 0.0
-#define ACA 4766
+#define ACA 4764
 #define EEPROM_NOINIT // eeprom will not be cleared
-#define EEPROM_INIT_MAGIC_BYTE 193 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
-#define ADC_BATTERY_VOLTAGE_K 70
+#define EEPROM_INIT_MAGIC_BYTE 85 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
+#define ADC_BATTERY_VOLTAGE_K 68
 #define ACA_EXPERIMENTAL 128
 #define BATTERY_VOLTAGE_MAX_VALUE 200