Simpler cadence stop detection

dzid26 · Apr 15, 2024 · da1b2f0 · da1b2f0
1 parent 24307dd
commit da1b2f0
Showing 1 changed file with 8 additions and 15 deletions.
diff --git a/src/controller/motor.c b/src/controller/motor.c
@@ -330,7 +330,6 @@ volatile uint16_t ui16_cadence_sensor_ticks = CADENCE_TICKS_STOP;
 static uint16_t ui16_cadence_sensor_ticks_counter_min = CADENCE_SENSOR_CALC_COUNTER_MIN;
 static uint8_t ui8_pas_state_old = 4;
 static uint16_t ui16_cadence_calc_counter = CADENCE_COUNTER_MAX;
-static uint16_t ui16_cadence_stop_counter = 0;
 static uint8_t ui8_cadence_calc_ref_state = NO_PAS_REF;
 const static uint8_t ui8_pas_old_valid_state[4] = { 0x01, 0x03, 0x00, 0x02 };
 
@@ -846,7 +845,7 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
          * ui8_pas_state stores the PAS1 and PAS2 state: bit0=PAS1,  bit1=PAS2
          * Pedal forward ui8_pas_state sequence is: 0x01 -> 0x00 -> 0x02 -> 0x03 -> 0x01
          * After a stop, the first forward transition is taken as reference transition
-         * Following forward transition sets the cadence to 7RPM for immediate startup
+         * Following forward transition sets the cadence to 1RPM for immediate startup
          * Then, starting form the second reference transition, the cadence is calculated based on counter value
          * All transitions resets the stop detection counter (much faster stop detection):
          */
@@ -863,7 +862,7 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
 
 			// motor fast stop
 			if(ui8_pedal_cadence_fast_stop && (ui16_cadence_sensor_ticks != CADENCE_TICKS_STOP)) {
-				ui16_cadence_sensor_ticks_counter_min = ui16_cadence_sensor_ticks - (CADENCE_SENSOR_STANDARD_MODE_SCHMITT_TRIGGER_THRESHOLD >> 1);
+				ui16_cadence_sensor_ticks_counter_min = ui16_cadence_sensor_ticks;
 			}
 			else {
 				ui16_cadence_sensor_ticks_counter_min = ui16_cadence_ticks_count_min_speed_adj;
@@ -873,8 +872,6 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
                 // ui16_cadence_calc_counter is valid for cadence calculation
                 ui16_cadence_sensor_ticks = ui16_cadence_calc_counter;
                 ui16_cadence_calc_counter = CADENCE_COUNTER_RESET;
-                // software based Schmitt trigger to stop motor jitter when at resolution limits
-                ui16_cadence_sensor_ticks_counter_min += CADENCE_SENSOR_STANDARD_MODE_SCHMITT_TRIGGER_THRESHOLD;
             } else if (ui8_cadence_calc_ref_state == NO_PAS_REF) {
                 // this is the new reference state for cadence calculation
                 ui8_cadence_calc_ref_state = ui8_pas_state;
@@ -887,24 +884,20 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
             }
 
             skip_cadence:
-            // reset the counter used to detect pedal stop
-            ui16_cadence_stop_counter = 0;
             // save current PAS state
             ui8_pas_state_old = ui8_pas_state;
         }
         if (ui16_cadence_calc_counter > ui16_cadence_sensor_ticks) {
-                // next pulse later than previous - start decaying the speed
-                ui16_cadence_sensor_ticks = ui16_cadence_calc_counter;
+            // next pulse later than previous - start decaying the speed
+            ui16_cadence_sensor_ticks = ui16_cadence_calc_counter;
         }
 
-        if (++ui16_cadence_stop_counter > ui16_cadence_sensor_ticks_counter_min) {
-            // pedals stop detected
-            ui16_cadence_sensor_ticks = CADENCE_TICKS_STOP;
-            ui16_cadence_stop_counter = 0;
-            ui8_cadence_calc_ref_state = NO_PAS_REF;
-        } else if ((ui8_cadence_calc_ref_state != NO_PAS_REF) && (ui16_cadence_calc_counter < CADENCE_COUNTER_MAX)) {
+        if (ui16_cadence_calc_counter < CADENCE_COUNTER_MAX) {
             // increment cadence tick counter
             ++ui16_cadence_calc_counter;
+        } else { //detect stop
+            ui8_cadence_calc_ref_state = NO_PAS_REF;
+            ui16_cadence_sensor_ticks = CADENCE_TICKS_STOP;
         }
 
         /****************************************************************************/