Motors are disabled as soon as poweroff() is called.

p-h-a-i-l · Jan 2, 2019 · c84f3d4 · c84f3d4
1 parent c541607
commit c84f3d4
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Showing 2 changed files with 25 additions and 22 deletions.
diff --git a/platformio.ini b/platformio.ini
@@ -3,7 +3,7 @@
 
 [platformio]
 include_dir = inc
-;env_default = genericSTM32F103RC
+env_default = genericSTM32F103RC
 ;env_default = transport_board
 ;env_default = paddelec
 
@@ -42,7 +42,7 @@ build_flags =
     -D PWM_FREQ=16000              ; PWM frequency in Hz
     -D DEAD_TIME=32                ; PWM deadtime
     -D DELAY_IN_MAIN_LOOP=5        ; in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
-    -D TIMEOUT=5                   ; number of wrong / missing input commands before emergency off
+    -D TIMEOUT=50                  ; number of wrong / missing input commands before emergency off
     -D SOFTWATCHDOG_TIMEOUT=50     ; Watchdog, Monitors main loop. Stops motors and shuts down when not called after xx ms.
 ; ############################### GENERAL ###############################
     -D BAT_CALIB_REAL_VOLTAGE=43.0 ; input voltage measured by multimeter
@@ -146,7 +146,7 @@ build_flags =
     -D PWM_FREQ=16000              ; PWM frequency in Hz
     -D DEAD_TIME=32                ; PWM deadtime
     -D DELAY_IN_MAIN_LOOP=5        ; in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
-    -D TIMEOUT=5                   ; number of wrong / missing input commands before emergency off
+    -D TIMEOUT=50                  ; number of wrong / missing input commands before emergency off
     -D SOFTWATCHDOG_TIMEOUT=50     ; Watchdog, Monitors main loop. Stops motors and shuts down when not called after xx ms.
 ; ############################### GENERAL ###############################
     -D BAT_CALIB_REAL_VOLTAGE=43.0 ; input voltage measured by multimeter

diff --git a/src/main.c b/src/main.c
@@ -91,27 +91,28 @@ int milli_vel_error_sum = 0;
 
 
 void poweroff() {
-    if (ABS(speed) < 20) {
-        buzzerPattern = 0;
-        enable = 0;
-        for (int i = 0; i < 8; i++) {
-            buzzerFreq = i;
+  enable = 0;    // disable Motors
+  if (ABS(speed) < 20) {
+    buzzerPattern = 0;
+    for (int i = 0; i < 8; i++) {
+      buzzerFreq = i;
+
 #ifdef SOFTWATCHDOG_TIMEOUT
-            for(int j = 0; j < 50; j++) {
-              __HAL_TIM_SET_COUNTER(&htim3, 0); // Kick the Watchdog
-              HAL_Delay(1);
-            }
+      for(int j = 0; j < 50; j++) {
+        __HAL_TIM_SET_COUNTER(&htim3, 0); // Kick the Watchdog
+        HAL_Delay(1);
+      }
+    }
 #else
-            HAL_Delay(100);
-#endif
-        }
-        HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); // shutdown  power
-        while(1) {}
-    } else {
-      speed=0;
-      steer=0;
-      powerofftimer = 1000;
+      HAL_Delay(100);
     }
+#endif
+
+    HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0); // shutdown  power
+    while(1) {}
+  } else {
+    powerofftimer = 1000;
+  }
 }
 
 #ifdef CONTROL_SERIAL_NAIVE_CRC
@@ -456,7 +457,9 @@ int main(void) {
 
 
     // ####### BEEP AND EMERGENCY POWEROFF #######
-    if ((TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && ABS(speed) < 20) || (batteryVoltage < ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS) && ABS(speed) < 20)) {  // poweroff before mainboard burns OR low bat 3
+    if (TEMP_POWEROFF_ENABLE && board_temp_deg_c >= TEMP_POWEROFF && ABS(speed) < 20) {  // poweroff before mainboard burns
+      poweroff();
+    } else if (batteryVoltage < ((float)BAT_LOW_DEAD * (float)BAT_NUMBER_OF_CELLS) && ABS(speed) < 20) {  // poweroff low bat 3
       poweroff();
     } else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) {  // beep if mainboard gets hot
       buzzerFreq = 4;