added power control (instead of current) option

added safety check for torquesensor mode, no override when there is no cadence detected

Author: Bjoern Schmidt

ACAcontrollerState.h

@@ -146,8 +146,9 @@ typedef enum {
 
 	DYNAMIC_ASSIST_LEVEL = ((uint16_t) 512),
 
+	POWER_BASED_CONTROL= ((uint16_t) 1024),
 	TQ_SENSOR_MODE = ((uint16_t) 2048),
-	ANGLE_CORRECTION_ENABLED = ((uint16_t) 4096)
+	ANGLE_CORRECTION_ENABLED = ((uint16_t) 4096)		
 } ACA_FLAGS;
 
 typedef enum {

ACAsetPoint.c

@@ -235,7 +235,7 @@ uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_speed_interrupt, uint16_t
 			float_temp = (float) ui16_sum_torque;
 			float_temp *= ((float) ui8_assist_percent_actual / 100.0);
 
-			if (((ui16_aca_flags & TQ_SENSOR_MODE) == TQ_SENSOR_MODE)) {
+			if (flt_torquesensorCalibration != 0.0) {
 				// flt_torquesensorCalibration is >fummelfactor * NUMBER_OF_PAS_MAGS * 64< (64 cause of <<6)
 				float_temp *= flt_torquesensorCalibration / ((float) ui16_time_ticks_between_pas_interrupt_smoothed); // influence of cadence
 				//printf("%lu, %u, %u, %u \r\n", uint32_current_target, ui16_sum_torque,(uint16_t) float_temp, ui16_time_ticks_between_pas_interrupt_smoothed );
@@ -263,7 +263,7 @@ uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_speed_interrupt, uint16_t
 		}
 
 		// map curret target to assist level, not to maximum value
-		if ((ui16_aca_flags & ASSIST_LVL_AFFECTS_THROTTLE) == 1) {
+		if ((ui16_aca_flags & ASSIST_LVL_AFFECTS_THROTTLE) == ASSIST_LVL_AFFECTS_THROTTLE) {
 			float_temp *= ((float) ui8_assist_percent_actual / 100.0);
 			controll_state_temp += 8;
 		}
@@ -272,7 +272,15 @@ uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_speed_interrupt, uint16_t
 
 
 		if ((uint32_t) float_temp > uint32_current_target) {
-			uint32_current_target = (uint32_t) float_temp; //override torque simulation with throttle / torquesensor
+			if (((ui16_aca_flags & TQ_SENSOR_MODE) == TQ_SENSOR_MODE)) {
+				if (uint32_current_target > ui16_current_cal_b){
+					//override cadence based torque with torquesensor-throttle only if there is cadence based contribution
+					uint32_current_target = (uint32_t) float_temp;
+				}
+			}else{
+				//override torque simulation with throttle
+				uint32_current_target = (uint32_t) float_temp; 
+			}
 			controll_state_temp += 16;
 		}
 
@@ -293,6 +301,13 @@ uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_speed_interrupt, uint16_t
 			controll_state_temp += 128;
 		}
 
+		// control power instead of current
+		if ((ui16_aca_flags & POWER_BASED_CONTROL) == POWER_BASED_CONTROL) {
+			// nominal voltage based on limits
+			ui8_temp = ((ui8_s_battery_voltage_max - ui8_s_battery_voltage_min)>>1)+ui8_s_battery_voltage_min;
+			uint32_current_target*=ui8_temp/ui8_BatteryVoltage;
+		}
+		
 		if ((ui16_aca_experimental_flags & DC_STATIC_ZERO) == DC_STATIC_ZERO) {
 			ui32_dutycycle = 0;
 			controll_state_temp += 256;

OSEC Parameter Configurator.jar

@@ -9,7 +9,7 @@
 #define CONFIG_H_
 
 #define NUMBER_OF_PAS_MAGS 12
-#define limit 28
+#define limit 25
 #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 238
+#define MOTOR_ROTOR_DELTA_PHASE_ANGLE_RIGHT 0
 #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 35
+#define limit_with_throttle_override 25
 #define CORRECTION_AT_ANGLE 127
 #define PWM_CYCLES_SECOND 15625L
+#define DISPLAY_TYPE_KT_LCD3
 #define SPEEDSENSOR_INTERNAL
 #define ANGLE_4_0 1
-#define ANGLE_6_60 38
-#define ANGLE_2_120 82
+#define ANGLE_6_60 43
+#define ANGLE_2_120 86
 #define ANGLE_3_180 128
-#define BLUOSEC
-#define ANGLE_1_240 166
-#define ANGLE_5_300 210
+#define ANGLE_1_240 171
+#define ANGLE_5_300 213
 #define TQS_CALIB 0.0
-#define ACA 4764
+#define ACA 4766
 #define EEPROM_NOINIT // eeprom will not be cleared
-#define EEPROM_INIT_MAGIC_BYTE 11 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
-#define ADC_BATTERY_VOLTAGE_K 68
+#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 ACA_EXPERIMENTAL 128
 #define BATTERY_VOLTAGE_MAX_VALUE 200
 

config.h

@@ -139,6 +139,7 @@ public String toString() {
 	private JCheckBox cbPwmOff;
 	private JCheckBox cbDcNull;
 	private JCheckBox cbCorrectionEnabled;
+	private JCheckBox cbPowerBasedControlEnabled;
 	private JCheckBox cbDynAssist;
 
 	private JTextField txtAngle4;
@@ -264,7 +265,7 @@ public void loadSettings(File f) throws IOException {
 		cbBypassLowSpeedRegenPiControl.setSelected((acaFlags & 256) > 0);
 
 		cbDynAssist.setSelected((acaFlags & 512) > 0);
-		
+		cbPowerBasedControlEnabled.setSelected((acaFlags & 1024) > 0);
 		cbTorqueSensor.setSelected((acaFlags & 2048) > 0);
 		cbCorrectionEnabled.setSelected((acaFlags & 4096) > 0);
 		tmp = in.readLine();
@@ -710,6 +711,7 @@ public void mouseClicked(MouseEvent e) {
 
 		JLabel lblUndervoltageLimit = new JLabel("Undervoltage");
 		lblUndervoltageLimit.setBounds(415, 270, 121, 14);
+		lblUndervoltageLimit.setForeground(Color.GRAY);
 		contentPane.add(lblUndervoltageLimit);
 
 		txtUndervoltage = new JTextField();
@@ -730,6 +732,7 @@ public void mouseClicked(MouseEvent e) {
 
 		JLabel lblOvervoltageLimit = new JLabel("Overvoltage");
 		lblOvervoltageLimit.setBounds(415, 310, 121, 14);
+		lblOvervoltageLimit.setForeground(Color.GRAY);
 		contentPane.add(lblOvervoltageLimit);
 
 		txtOvervoltage = new JTextField();
@@ -964,15 +967,21 @@ public void itemStateChanged(ItemEvent e) {
 		cbCorrectionEnabled.setForeground(Color.GRAY);
 		contentPane.add(cbCorrectionEnabled);
 
+		cbPowerBasedControlEnabled = new JCheckBox("Power based control");
+		cbPowerBasedControlEnabled.setSelected(false);
+		cbPowerBasedControlEnabled.setBounds(250, 535, 250, 20);
+		cbPowerBasedControlEnabled.setForeground(Color.GRAY);
+		contentPane.add(cbPowerBasedControlEnabled);
+		
 		cbPwmOff = new JCheckBox("PWM off @coast (experimental)");
 		cbPwmOff.setSelected(false);
-		cbPwmOff.setBounds(250, 535, 250, 20);
+		cbPwmOff.setBounds(250, 615, 250, 20);
 		cbPwmOff.setForeground(Color.ORANGE);
 		contentPane.add(cbPwmOff);
 
 		cbDcNull = new JCheckBox("DC static zero (testing/experimental)");
 		cbDcNull.setSelected(false);
-		cbDcNull.setBounds(250, 555, 250, 20);
+		cbDcNull.setBounds(250, 635, 250, 20);
 		cbDcNull.setForeground(Color.ORANGE);
 		contentPane.add(cbDcNull);
 
@@ -1321,7 +1330,7 @@ public void actionPerformed(ActionEvent arg0) {
 					acaFlags |= (cbBypassLowSpeedRegenPiControl.isSelected() ? 256 : 0);
 
 					acaFlags |= (cbDynAssist.isSelected() ? 512 : 0);
-
+					acaFlags |= (cbPowerBasedControlEnabled.isSelected() ? 1024 : 0);
 					acaFlags |= (cbTorqueSensor.isSelected() ? 2048 : 0);
 					acaFlags |= (cbCorrectionEnabled.isSelected() ? 4096 : 0);