sensor speed refactoring

Bjoern Schmidt · Bjoern Schmidt · commit eea7ef0739f6 · 2019-04-10T17:32:40.000+02:00
diff --git a/ACAcommons.c b/ACAcommons.c
@@ -94,9 +94,9 @@ void updateSpeeds(void) {
 			ui16_time_ticks_between_speed_interrupt = ui16_time_ticks_for_speed_calculation; //save recent speed
 			ui16_time_ticks_for_speed_calculation = 0; //reset speed counter
 
-			ui32_SPEED_km_h_accumulated -= ui32_SPEED_km_h_accumulated >> 2;
-			ui32_SPEED_km_h_accumulated += (wheel_circumference * PWM_CYCLES_SECOND * 36L) / (10L * (uint32_t) ui16_time_ticks_between_speed_interrupt); // speed km/h*1000 from external sensor
-			ui32_SPEED_km_h = ui32_SPEED_km_h_accumulated >> 2; //calculate speed in m/h conversion from sec to hour --> *3600, conversion from mm to km --> /1000000, tic frequency 15625 Hz
+			ui32_speed_sensor_rpks_accumulated -= ui32_speed_sensor_rpks_accumulated >> 2;
+			ui32_speed_sensor_rpks_accumulated += (((uint32_t)PWM_CYCLES_SECOND)*1000) / ((uint32_t) ui16_time_ticks_between_speed_interrupt); // speed in rounds per 1000 seconds
+			ui32_speed_sensor_rpks = ui32_speed_sensor_rpks_accumulated >> 2; //tic frequency 15625 Hz
 		}
 
 		ui8_SPEED_Flag = 0; //reset interrupt flag
@@ -106,7 +106,7 @@ void updateSpeeds(void) {
 	// FIXME, the following is gathered from two places that were executed just in that order
 	// distinction 40000/65529 doesn't really make much sense
 	if (ui16_time_ticks_for_speed_calculation > 40000) {
-		ui32_SPEED_km_h = 0;
+		ui32_speed_sensor_rpks = 0;
 	}
 	if (ui16_time_ticks_for_speed_calculation > 65529 && ui16_time_ticks_between_speed_interrupt != 65530) {
 		ui16_time_ticks_between_speed_interrupt = 65530; //Set Display to 0 km/h
diff --git a/ACAcontrollerState.c b/ACAcontrollerState.c
@@ -104,8 +104,8 @@ uint8_t ui8_hall_order_counter = 5;
 
 uint16_t ui16_speed_kph_to_erps_ratio = 0;
 
-uint32_t ui32_SPEED_km_h; //global variable Speed
-uint32_t ui32_SPEED_km_h_accumulated;
+uint32_t ui32_speed_sensor_rpks; //speed sensor rounds per 1000 sec
+uint16_t ui16_SPEED_km_h_accumulated;
 uint16_t ui16_time_ticks_between_speed_interrupt = 64000L; //speed in timetics
 uint16_t ui16_time_ticks_for_speed_calculation = 0; //time tics for speed measurement
 uint16_t ui16_time_ticks_for_uart_timeout = 0;
diff --git a/ACAcontrollerState.h b/ACAcontrollerState.h
@@ -79,8 +79,8 @@ extern uint8_t ui8_hall_order_counter;
 extern uint8_t ui8_gear_ratio;
 extern uint16_t ui16_speed_kph_to_erps_ratio;
 
-extern uint32_t ui32_SPEED_km_h; //global variable Speed
-extern uint32_t ui32_SPEED_km_h_accumulated;
+extern uint32_t ui32_speed_sensor_rpks; //speed sensor rounds per 1000 sec
+extern uint32_t ui32_speed_sensor_rpks_accumulated;
 
 extern uint16_t ui16_time_ticks_for_uart_timeout;
 extern uint16_t ui16_time_ticks_for_speed_calculation;
diff --git a/ACAsetPoint.c b/ACAsetPoint.c
@@ -97,7 +97,7 @@ BitStatus checkOverVoltageOverride(){
 uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_speed_interrupt, uint16_t ui16_time_ticks_between_pas_interrupt, uint16_t setpoint_old) {
 	// select virtual erps speed based on speedsensor type
 	if (((ui16_aca_flags & EXTERNAL_SPEED_SENSOR) == EXTERNAL_SPEED_SENSOR)) {
-		ui16_virtual_erps_speed = ui16_speed_kph_to_erps_ratio * ((uint16_t) (ui32_SPEED_km_h / 100)) / 1000; // /100/1000 instead of more plausible /1000/100 cause of 16bit overflow
+		ui16_virtual_erps_speed = (uint16_t) ((((uint32_t)ui8_gear_ratio) * ui32_speed_sensor_rpks) /1000); 
 	}else{
 		ui16_virtual_erps_speed = (uint16_t) ui32_erps_filtered;
 	}
diff --git a/BOdisplay.c b/BOdisplay.c
@@ -228,8 +228,8 @@ void addBasicStateInfos(void) {
 	addPayload(CODE_BATTERY_VOLTAGE, ui8_BatteryVoltage);
 	addPayload(CODE_ER_SPEED_HIGH_BYTE, ui16_motor_speed_erps >> 8);
 	addPayload(CODE_ER_SPEED, ui16_motor_speed_erps);
-	addPayload(CODE_SPEED_HIGH_BYTE, ui32_SPEED_km_h >> 8);
-	addPayload(CODE_SPEED, ui32_SPEED_km_h);
+	addPayload(CODE_SENSOR_RPKS_HIGH_BYTE, ui32_speed_sensor_rpks >> 8);
+	addPayload(CODE_SENSOR_RPKS, ui32_speed_sensor_rpks);
 	addPayload(CODE_BATTERY_CURRENT_HIGH_BYTE, ui16_BatteryCurrent >> 8);
 	addPayload(CODE_BATTERY_CURRENT, ui16_BatteryCurrent);
 	addPayload(CODE_SUM_TORQUE, ui16_sum_torque);
diff --git a/BOdisplay.h b/BOdisplay.h
@@ -83,8 +83,8 @@ typedef enum {
 	CODE_CORRECTION_VALUE = ((uint8_t) 0xC6),
 	CODE_PHASE_CURRENT = ((uint8_t) 0xC7),
 
-	CODE_SPEED_HIGH_BYTE = ((uint8_t) 0xC8),
-	CODE_SPEED = ((uint8_t) 0xC9),
+	CODE_SENSOR_RPKS_HIGH_BYTE = ((uint8_t) 0xC8),
+	CODE_SENSOR_RPKS = ((uint8_t) 0xC9),
 
 	CODE_ER_SPEED_HIGH_BYTE = ((uint8_t) 0xCA),
 	CODE_ER_SPEED = ((uint8_t) 0xCB),
diff --git a/main.c b/main.c
@@ -189,7 +189,7 @@ int main(void) {
 
 				//printf("erps %d, motorstate %d, cyclecountertotal %d\r\n", ui16_motor_speed_erps, ui8_motor_state, ui16_PWM_cycles_counter_total);
 
-				//printf("cheatstate, %d, km/h %lu, Voltage, %d, setpoint %d, erps %d, current %d, correction_value, %d\n", ui8_offroad_state, ui32_SPEED_km_h, ui8_BatteryVoltage, ui16_setpoint, ui16_motor_speed_erps, ui16_BatteryCurrent, ui8_position_correction_value);
+				//printf("cheatstate, %d, km/h %lu, Voltage, %d, setpoint %d, erps %d, current %d, correction_value, %d\n", ui8_offroad_state, ui32_speed_sensor_rpks, ui8_BatteryVoltage, ui16_setpoint, ui16_motor_speed_erps, ui16_BatteryCurrent, ui8_position_correction_value);
 
 				//printf("kv %d, erps %d, R %d\n", (uint16_t)(float_kv*10.0) , ui16_motor_speed_erps, (uint16_t)(float_R*1000.0));
 
@@ -203,7 +203,7 @@ int main(void) {
 				//printf("%d, %d, %d, %d, %d, %d, %d,\r\n", ui8_position_correction_value, ui16_BatteryCurrent, ui16_setpoint, ui8_regen_throttle, ui16_motor_speed_erps, ui16_ADC_iq_current>>2,ui16_adc_read_battery_voltage());
 
 
-				//printf("correction angle %d, Current %d, Voltage %d, sumtorque %d, setpoint %d, km/h %lu\n",ui8_position_correction_value, i16_deziAmps, ui8_BatteryVoltage, ui16_sum_throttle, ui16_setpoint, ui32_SPEED_km_h);
+				//printf("correction angle %d, Current %d, Voltage %d, sumtorque %d, setpoint %d, km/h %lu\n",ui8_position_correction_value, i16_deziAmps, ui8_BatteryVoltage, ui16_sum_throttle, ui16_setpoint, ui32_speed_sensor_rpks);
 #endif
 			}//end of very slow loop
 
diff --git a/nbproject/private/private.xml b/nbproject/private/private.xml
@@ -34,6 +34,7 @@
             <file>file:/G:/osebikefw/main.c</file>
             <file>file:/G:/osebikefw/adc.h</file>
             <file>file:/G:/osebikefw/ACAcontrollerState.c</file>
+            <file>file:/G:/osebikefw/BOdisplay.h</file>
             <file>file:/G:/osebikefw/display_kingmeter.c</file>
             <file>file:/G:/osebikefw/ACAsetPoint.c</file>
             <file>file:/G:/osebikefw/ACAcontrollerState.h</file>

Original file line number	Diff line number	Diff line change
`@@ -97,7 +97,7 @@ BitStatus checkOverVoltageOverride(){`
`97`	`97`	`uint16_t aca_setpoint(uint16_t ui16_time_ticks_between_speed_interrupt, uint16_t ui16_time_ticks_between_pas_interrupt, uint16_t setpoint_old) {`
`98`	`98`	`// select virtual erps speed based on speedsensor type`
`99`	`99`	`if (((ui16_aca_flags & EXTERNAL_SPEED_SENSOR) == EXTERNAL_SPEED_SENSOR)) {`
`100`		`- ui16_virtual_erps_speed = ui16_speed_kph_to_erps_ratio * ((uint16_t) (ui32_SPEED_km_h / 100)) / 1000; // /100/1000 instead of more plausible /1000/100 cause of 16bit overflow`
	`100`	`+ ui16_virtual_erps_speed = (uint16_t) ((((uint32_t)ui8_gear_ratio) * ui32_speed_sensor_rpks) /1000);`
`101`	`101`	`}else{`
`102`	`102`	`ui16_virtual_erps_speed = (uint16_t) ui32_erps_filtered;`
`103`	`103`	`}`