Attempted Cleanup of ENABLE and REVERSE

collin80 · Sep 17, 2014 · e9bfdc2 · e9bfdc2
1 parent 7c3ed3d
commit e9bfdc2
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Showing 6 changed files with 37 additions and 39 deletions.
diff --git a/CodaMotorController.cpp b/CodaMotorController.cpp
@@ -4,8 +4,14 @@
  * CAN Interface to the Coda flavored UQM Powerphase 100 inverter - 
    Handles sending of commands and reception of status frames to drive
    the inverter and thus motor.  Endianess is configurable in the firmware 
-   inside the UQM inverter.  This object module * uses little endian format 
+   inside the UQM inverter but default is little endian.  This object module * uses little endian format 
    - the least significant byte is the first in order with the MSB following.
+ **************NOTE***************
+  Ticks are critical for the UQM inverter.  A tick value of 10000 in config.h is necessary as the inverter
+ expects a torque command within each 12 millisecond period.  Failing to provide it is a bit subtle to catch
+  but quite dramatic.  The motor will run at speed for about 5 to 7 minutes and then "cough" losing all torque and
+  then recovering.  Five minutes later, this will repeat.  Setting to a very fast value of 10000 seems to cure it NOW.
+ As the software grows and the load on the CPU increases, this could show up again.   
  *
 Copyright (c) 2014 Jack Rickard
 
@@ -66,7 +72,7 @@ void CodaMotorController::setup()
 	// register ourselves as observer of all 0x20x can frames for UQM
        CanHandler::getInstanceEV()->attach(this, 0x200, 0x7f0, false);
 
-    operationState=ENABLE;
+       operationState=ENABLE;
        selectedGear=DRIVE;
        running=true;
        TickHandler::getInstance()->attach(this, CFG_TICK_INTERVAL_MOTOR_CONTROLLER_CODAUQM);
@@ -124,28 +130,21 @@ void CodaMotorController::handleCanFrame(CAN_FRAME *frame)
 	          else {temperatureMotor = (StatorTemp-40)*10;}		
                 Logger::debug("UQM 20E Inverter temp: %d Motor temp: %d", temperatureInverter,temperatureMotor);
     		break;
-
 
         case 0x20F:    //CAN Watchdog Status Message           
                 Logger::debug("UQM 20F CAN Watchdog status error");
                 warning=true;
                 sendCmd2(); //If we get a Watchdog status, we need to respond with Watchdog reset
 		break;
-
-
 	}
 }
 
 
 
-
-
-
 void CodaMotorController::handleTick() {
 
 	MotorController::handleTick(); //kick the ball up to papa
-        sendCmd1();   //Send our torque command
-
+        sendCmd1();   //Send our lone torque command
 }
 
 
@@ -211,15 +210,15 @@ void CodaMotorController::sendCmd1()
         //Requested throttle is [-1000, 1000]
        //Two byte torque request in 0.1NM Can be positive or negative  
 
-        torqueCommand=32128; //Set our zero offset value
-        torqueRequested = ((throttleRequested * config->torqueMax) / 1000); //Calculate torque command 
+        torqueCommand=32128; //Set our zero offset value -torque=0
+        torqueRequested = ((throttleRequested * config->torqueMax) / 1000); //Calculate torque request from throttle position x maximum torque 
         if(speedActual<config->speedMax){torqueCommand += torqueRequested;} //If actual rpm less than max rpm, add torque command to offset
-
-        output.data.bytes[3] = (torqueCommand & 0xFF00) >> 8;
+          else {torqueCommand+= torqueRequested/2;}  //If at RPM limit, cut torque command in half.
+        output.data.bytes[3] = (torqueCommand & 0xFF00) >> 8;  //Stow torque command in bytes 2 and 3.
         output.data.bytes[2] = (torqueCommand & 0x00FF);
-        output.data.bytes[4] = genCodaCRC(output.data.bytes[1], output.data.bytes[2], output.data.bytes[3]);
+        output.data.bytes[4] = genCodaCRC(output.data.bytes[1], output.data.bytes[2], output.data.bytes[3]); //Calculate security byte
 
-	CanHandler::getInstanceEV()->sendFrame(output);
+	CanHandler::getInstanceEV()->sendFrame(output);  //Mail it.
         timestamp();
 
         Logger::debug("Torque command: %X   %X  ControlByte: %X  LSB %X  MSB: %X  CRC: %X  %d:%d:%d.%d",output.id, output.data.bytes[0],

diff --git a/DmocMotorController.cpp b/DmocMotorController.cpp
@@ -95,13 +95,13 @@ void DmocMotorController::handleCanFrame(CAN_FRAME *frame) {
 		RotorTemp = frame->data.bytes[0];
 		invTemp = frame->data.bytes[1];
 		StatorTemp = frame->data.bytes[2];
-		temperatureInverter = invTemp * 10 -400;
+		temperatureInverter = (invTemp-40) *10;
 		//now pick highest of motor temps and report it
 		if (RotorTemp > StatorTemp) {
-			temperatureMotor = RotorTemp * 10 -400;
+			temperatureMotor = (RotorTemp-40) *10;
 		}
 		else {
-			temperatureMotor = StatorTemp * 10 -400;
+			temperatureMotor = (StatorTemp-40) *10;
 		}
 		activityCount++;
 		break;
@@ -253,11 +253,11 @@ void DmocMotorController::sendCmd2() {
 			if (selectedGear == DRIVE)
                             torqueRequested = (((long) throttleRequested * (long) config->torqueMax) / 1000L);
 			if (selectedGear == REVERSE)
-			    torqueRequested = (((long) throttleRequested * (long) config->torqueMax) / 2000L);
+			    torqueRequested = (((long) throttleRequested * (long) config->torqueMax) / 1000L);
 		}
 
-                if(speedActual<config->speedMax){torqueCommand+=torqueRequested;} //If actual rpm is less than max rpm, add torque to offset
-                                                                                  // else torque is left set to zero.
+                if(speedActual < config->speedMax){torqueCommand+=torqueRequested;} //If actual rpm is less than max rpm, add torque to offset
+                   else {torqueCommand += torqueRequested /2;}                       // else torque is halved
 		output.data.bytes[0] = (torqueCommand & 0xFF00) >> 8;
 		output.data.bytes[1] = (torqueCommand & 0x00FF);
 		output.data.bytes[2] = output.data.bytes[0];

diff --git a/MotorController.cpp b/MotorController.cpp
@@ -326,13 +326,13 @@ void MotorController:: checkReverseInput()
     {
     if((getDigital(reverseinput))||testreverseinput)
       {
-       selectedGear=REVERSE; 
+       setSelectedGear(REVERSE); 
        statusBitfield2 |=1 << 16; //set bit to turn on REVERSE annunciator
        statusBitfield2 |=1 << reverseinput;//setbit to Turn on reverse input annunciator
        } 
         else 
         {
-          selectedGear=DRIVE; //If it's off, lets set to DRIVE. 
+          setSelectedGear(DRIVE); //If it's off, lets set to DRIVE. 
           statusBitfield2 &= ~(1 << 16); //clear bit to turn off REVERSE annunciator
           statusBitfield2 &= ~(1 << reverseinput);//clear bit to turn off reverse input annunciator
           }                       

diff --git a/config.h b/config.h
@@ -35,8 +35,8 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 
 #include <due_can.h>
 
-#define CFG_BUILD_NUM	1050        //increment this every time a git commit is done. 
-#define CFG_VERSION "GEVCU alpha 2014-08-19"
+#define CFG_BUILD_NUM	1051        //increment this every time a git commit is done. 
+#define CFG_VERSION "GEVCU 2014-09-16"
 
 
 /*
@@ -57,16 +57,16 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  * try to use the same numbers for several devices because then they will share
  * the same timer (out of a limited number of 9 timers).
  */
-#define CFG_TICK_INTERVAL_HEARTBEAT					2000000
-#define CFG_TICK_INTERVAL_POT_THROTTLE				40000
-#define CFG_TICK_INTERVAL_CAN_THROTTLE				40000
-#define CFG_TICK_INTERVAL_MOTOR_CONTROLLER			40000
+#define CFG_TICK_INTERVAL_HEARTBEAT			2000000
+#define CFG_TICK_INTERVAL_POT_THROTTLE		        40000
+#define CFG_TICK_INTERVAL_CAN_THROTTLE			40000
+#define CFG_TICK_INTERVAL_MOTOR_CONTROLLER		40000
 #define CFG_TICK_INTERVAL_MOTOR_CONTROLLER_DMOC		40000
 #define CFG_TICK_INTERVAL_MOTOR_CONTROLLER_CODAUQM	10000
 #define CFG_TICK_INTERVAL_MOTOR_CONTROLLER_BRUSA	20000
-#define CFG_TICK_INTERVAL_MEM_CACHE					40000
-#define CFG_TICK_INTERVAL_BMS_THINK					500000
-#define CFG_TICK_INTERVAL_WIFI						200000
+#define CFG_TICK_INTERVAL_MEM_CACHE			40000
+#define CFG_TICK_INTERVAL_BMS_THINK			500000
+#define CFG_TICK_INTERVAL_WIFI				200000
 
 
 /*

diff --git a/website/src/gauges.js b/website/src/gauges.js
@@ -45,19 +45,18 @@ function generateGauges() {
 		width       : 250,
 		height      : 250,
 		glow        : true,
-		units       : 'Percent',
+		units       : 'Raw',
 		title       : "Throttle",
-		minValue    : -60,
-		maxValue    : 100,
-		majorTicks  : ['-60','-40','-20','0','20','40','60','80','100'],
+		minValue    : 0,
+		maxValue    : 3000,
+		majorTicks  : ['0','300','600','900','1200','1500','1800','2100','2400','2700','3000'],
 		minorTicks  : 2,
 		strokeTicks : false,
 		valueFormat      : { "int" : 3, "dec" : 1 },
 
 
 		highlights  : [
-			{ from : -60,   to : 0, color : 'rgba(255, 0, 0, .75)' },
-			{ from : 0, to : 100, color : 'rgba(0, 255,  0, .75)' }
+			{ from : 0,   to : 3000, color : 'rgba(0, 255, 0, .75)' }
 			],
 
 		colors      : {

diff --git a/website/website.img b/website/website.img