bugfix for not stopping motor

Author: stancecoke

ACAsetPoint.c

@@ -247,8 +247,11 @@ uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_pas_interrupt, uint16_t s
 			if ((ui16_aca_flags & SPEED_INFLUENCES_TORQUESENSOR) == SPEED_INFLUENCES_TORQUESENSOR) {
 				float_temp *= (1.0 + ((float) ui16_virtual_erps_speed) / ((float) (ui16_speed_kph_to_erps_ratio * ((float) ui8_speedlimit_kph)) / 100.0)); // influence of current speed based on base speed limit
 			}
-
+			if(PAS_is_active)
 			uint32_current_target = (uint32_t) (float_temp * (float) (ui16_battery_current_max_value) / 255.0 + (float) ui16_current_cal_b);
+			else uint32_current_target =(uint32_t) ui16_current_cal_b;
+
+
 			controll_state_temp += 4;
 
 		}

config.h

@@ -10,44 +10,43 @@
 
 #define NUMBER_OF_PAS_MAGS 12
 #define limit 28
-#define timeout 3125
+#define timeout 16000
 #define wheel_circumference 2230L
 #define limit_without_pas 6
 #define ADC_THROTTLE_MIN_VALUE 43
 #define ADC_THROTTLE_MAX_VALUE 182
 #define BATTERY_VOLTAGE_MIN_VALUE 148
-#define BATTERY_CURRENT_MAX_VALUE 64L
+#define BATTERY_CURRENT_MAX_VALUE 66L
 #define PHASE_CURRENT_MAX_VALUE 350L
 #define REGEN_CURRENT_MAX_VALUE 50L
-#define MOTOR_ROTOR_DELTA_PHASE_ANGLE_RIGHT 246
+#define MOTOR_ROTOR_DELTA_PHASE_ANGLE_RIGHT 238
 #define current_cal_a 46
-#define LEVEL_1 26
-#define LEVEL_2 38
-#define LEVEL_3 55
-#define LEVEL_4 80
+#define LEVEL_1 22
+#define LEVEL_2 33
+#define LEVEL_3 50
+#define LEVEL_4 75
 #define LEVEL_5 100
 #define MORSE_TIME_1 50
 #define MORSE_TIME_2 50
 #define MORSE_TIME_3 50
-#define RAMP_END 1500
+#define RAMP_END 0
 #define P_FACTOR 0.5
 #define I_FACTOR 0.2
-#define GEAR_RATIO 69L
+#define GEAR_RATIO 51L
 #define PAS_THRESHOLD 1.9
-#define RAMP_START 64000
+#define RAMP_START 0
 #define limit_with_throttle_override 35
 #define CORRECTION_AT_ANGLE 127
 #define ANGLE_4_0 1
-#define ANGLE_6_60 41
-#define ANGLE_2_120 84
-#define ANGLE_3_180 129
+#define ANGLE_6_60 43
+#define ANGLE_2_120 86
+#define ANGLE_3_180 128
 #define BLUOSEC
-#define ANGLE_1_240 167
-#define ANGLE_5_300 212
-#define TQS_CALIB 0.0
-#define ACA 4764
-#define EEPROM_NOINIT // eeprom will not be cleared
-#define EEPROM_INIT_MAGIC_BYTE 93 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
+#define ANGLE_1_240 171
+#define ANGLE_5_300 213
+#define TQS_CALIB 10000.0
+#define ACA 6812
+#define EEPROM_INIT_MAGIC_BYTE 25 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
 #define ADC_BATTERY_VOLTAGE_K 67
 #define ACA_EXPERIMENTAL 128
 #define BATTERY_VOLTAGE_MAX_VALUE 208

main.c

@@ -154,7 +154,7 @@ int main(void) {
 		// scheduled update of setpoint and duty cycle (slow loop, 50 Hz)
 		if (ui8_slowloop_flag) {
 			//printf("MainSlowLoop\n");
-
+		    debug_pin_set();
 			ui8_slowloop_flag = 0; //reset flag for slow loop
 			ui8_veryslowloop_counter++; // increase counter for very slow loop
 
@@ -212,7 +212,7 @@ int main(void) {
 #endif
 			}//end of very slow loop
 
-
+			debug_pin_reset();
 		}// end of slow loop
 	}// end of while(1) loop
 }

motor.c

@@ -84,7 +84,7 @@ void hall_sensors_read_and_action(void) {
 			case 3://rotor position 180 degree
 				// full electric revolution recognized, update counters
 				uint8_t_hall_case[3] = ui8_adc_read_phase_B_current();
-				debug_pin_set();
+
 
 				if (ui8_half_rotation_flag) {
 					ui8_half_rotation_flag = 0;
@@ -126,7 +126,7 @@ void hall_sensors_read_and_action(void) {
 				ui8_foc_enable_flag = 1;
 
 				uint8_t_hall_case[0] = ui8_adc_read_phase_B_current();
-				debug_pin_reset();
+				//debug_pin_reset();
 				ui8_motor_rotor_hall_position = ui8_s_hall_angle4_0;
 				break;