New vetter Motor Current Calculation, add Pump Limitation

car/Bonnie2019/MasterConf.h

@@ -13,6 +13,7 @@
 //#define PMOTORCONTROLLER_DISABLE_MOTOR_POWER_OUTPUT
 #define PMOTORCONTROLLER_ACTIVATE_RECUPERATION
 //#define PMOTORCONTROLLER_USE_BRAKE_FOR_RECUPERATION
+//#define DISABLE_PUMP
 #include "carpi.h"
 
 #define HIGH_DEMAND_SERVICE_REFRESH_RATE 120 // Hz

lib/carpi/src/carpi.h

@@ -4,7 +4,7 @@
     With this, all components, services and programs are included in the actual CarSoftware.
 */
 
-#define CARPI_VERSION "V0.1.4-P1 - Add Recuperation & Add voltage reading for adaptive power limit"
+#define CARPI_VERSION "V0.1.4-P2 - Add Recuperation & Add voltage reading for adaptive power limit"
 
 // Prior include Platform-specific Components
 

lib/carpi/src/components/hardware/HardwarePump.h

@@ -3,11 +3,17 @@
 
 #include "../interface/IPump.h"
 
+#ifdef DISABLE_PUMP
+    #warning "Pump Disabled!"
+#endif
+
+#define PUMP_MAX_SPEED 0.6 // %
+
 class HardwarePump : public IPump {
     public:
         HardwarePump(PinName pwmPort, PinName enablePort) : _pwmPort(pwmPort), _enablePort(enablePort) {
             _enablePort = 0;
-            _pwmPort = 1;
+            _pwmPort = 1; // -> pump pwm off
 
             setComponentType(COMPONENT_COOLING);
             setObjectType(OBJECT_HARDWARE);
@@ -18,8 +24,14 @@ class HardwarePump : public IPump {
         }
 
         virtual void setSpeed(pump_speed_t speed) {
-            if (speed > 1) speed = 1;
-            if (speed < 0) speed = 0;
+            #ifdef DISABLE_PUMP
+                speed = 0;
+            #else
+                if (speed > 1) speed = 1;
+                if (speed < 0) speed = 0;
+
+                speed *= PUMP_MAX_SPEED;
+            #endif
 
             _pwmPort.write(1 - speed);
         }
@@ -29,7 +41,9 @@ class HardwarePump : public IPump {
         }
 
         virtual void setEnable(pump_enable_t enable) {
-            _enablePort.write(enable);
+            #ifndef DISABLE_PUMP
+                _enablePort.write(enable);
+            #endif
         }
 
         virtual pump_enable_t getEnable() {

lib/carpi/src/runable/programs/PMotorController.h

@@ -22,14 +22,14 @@
 #define STD_HARD_BRAKE_CUTOFF_APPS_POSITION 0.25 // 25% -> If equal or higher than that while hard brake, gas pedal will be unprimed
 
 // HAS TO BE BOUNT TO SSPEED!!! The settings there define the max Current allowed, based on that, make the choice here
-#define STD_MAX_RECUPERATION_PERCENTAGE 0.204 // % (245 A set Max at SSpeed -> ~50 A)
+#define STD_MAX_RECUPERATION_PERCENTAGE 0.2 // % (250A set Max at SSpeed -> 50 A)
 #define STD_RECU_SPEED_THRESHHOLD 2 // km/h - Under this speed, Recuperation is disabled
 #define STD_RECU_SPEED_FULL 4 // km/h - From this speed up, recuperation is completely enabled
 
 // Recuperation using the Brake Pedal. Only used, if "PMOTORCONTROLLER_USE_BRAKE_FOR_RECUPERATION" is defined
 #ifdef PMOTORCONTROLLER_USE_BRAKE_FOR_RECUPERATION
-    #define STD_BRAKE_RECU_START 0.05 // % where the Brake-Pedal will activate recuperation
-    #define STD_BRAKE_RECU_MAX 0.20 // % where the Brake-Pedal reaches recuperation max
+    #define STD_BRAKE_RECU_START 0.15 // % where the Brake-Pedal will activate recuperation
+    #define STD_BRAKE_RECU_MAX 0.25 // % where the Brake-Pedal reaches recuperation max
 #else
     #define STD_GAS_RECU_THRESHHOLD 0.10 // % where the gas pedal will enter recuperation down below and power up above
 #endif
@@ -68,12 +68,12 @@ class PMotorController : public IProgram {
             #ifdef PMOTORCONTROLLER_ACTIVATE_RECUPERATION
                 #ifdef PMOTORCONTROLLER_USE_BRAKE_FOR_RECUPERATION
                     if (returnValue <= 0.00001) { // just to correct float error
-                        float brakePosition = _pedal.brake->getValue();
+                        float brakePosition = _brakePedal.object->getValue();
                         if (brakePosition > STD_BRAKE_RECU_START) {
                             if (brakePosition > STD_BRAKE_RECU_MAX) {
                                 returnValue = -STD_MAX_RECUPERATION_PERCENTAGE;
                             } else {
-                                returnValue = -STD_MAX_RECUPERATION_PERCENTAGE * _map(brakePedal, STD_BRAKE_RECU_START, STD_BRAKE_RECU_MAX, 0.0, 1.0);
+                                returnValue = -STD_MAX_RECUPERATION_PERCENTAGE * _map(brakePosition, STD_BRAKE_RECU_START, STD_BRAKE_RECU_MAX, 0.0, 1.0);
                             }
                         } else {
                             returnValue = 0;

lib/carpi/src/runable/services/SCar.h

@@ -151,6 +151,11 @@ class SCar : public IService {
         }
 
         void calibrationNeeded() {
+            if (_state = READY_TO_DRIVE) {
+                _motorController->setRUN(MOTOR_CONTROLLER_RUN_DISABLE);
+                _motorController->setRFE(MOTOR_CONTROLLER_RFE_DISABLE);
+            }
+
             _state = CALIBRATION_NEEDED;
             _resetLeds();
             _led.yellow->setState(LED_ON);

lib/carpi/src/runable/services/SSpeed.h

@@ -9,21 +9,27 @@
 #define STD_SPEED_DEVIANCE_THRESHHOLD 3 // kM/h -> if one sensor gives a higher Value than this, the other one will be compared
 #define STD_MAX_SPEED_DEVIANCE 0.1 // 10%
 
-#define STD_DISTANCE_PER_REVOLUTION 1.4451326206513048896928159563086 // m -> The distance a wheel will travel over one whole rotation
+#define STD_DISTANCE_PER_REVOLUTION 1.43633616122 // m -> The distance a wheel will travel over one whole rotation
 #define STD_MOTOR_TO_WHEEL_RATIO (1.0/3.6) // The gear Ratio from the Motor to the rear Wheels
 
 // Values to Calculate the Power for the Adaptive Power Control
 #define THROTTLE_ACTIVE // Comment do deactivate the Throttle according to the speed, dc voltage and the given values down below
 #define ACCU_MIN_VOLTAGE 300 // V -> is only used, if the Voltage can't be red from the Inverter
 #define ACCU_MAX_ALLOWED_POWER 80000 // W -> 80 kW
-#define ACCU_MAX_ALLOWED_CURRENT 245 // A !!! Also change the value at PMotorController for the max allowed Recuperation % !!!
-#define MOTOR_MAX_VOLTAGE 470 // V = Max Motor Voltage (according to datasheet)
-#define MOTOR_MAX_VOLTAGE_SPEED_UNDER_LOAD 5170 // RPM
+#define ACCU_MAX_ALLOWED_CURRENT 250 // A !!! Also change the value at PMotorController for the max allowed Recuperation % !!!
+//#define MOTOR_MAX_VOLTAGE 470 // V = Max Motor Voltage (according to datasheet)
+//#define MOTOR_MAX_VOLTAGE_SPEED_UNDER_LOAD 5170 // RPM
 #define INVERTER_MAX_ALLOWED_CURRENT 424.3 // A (under field I max pk)
 
+#define NEW_THROTTLE
+#define INVERTER_MAX_ALLOWED_PHASE_CURRENT 300.0 // A
+#define MOTOR_KN 0.0478 // Vrms/RPM
+
 // Gets calculated at compilation
 #define MOTOR_RPM_TO_KMH (STD_DISTANCE_PER_REVOLUTION * STD_MOTOR_TO_WHEEL_RATIO * 0.06) // =~ 0.02408554367752174816154693260514
 #define MOTOR_VOLTAGE_TO_RPM_MULTIPLYER (MOTOR_MAX_VOLTAGE_SPEED_UNDER_LOAD / MOTOR_MAX_VOLTAGE)
+#define ROOT_3 1.73205080757 // Needed for the chain factor
+#define ROOT_2 1.41421356237 // Needed for AC to DC conversion
 
 /*
     Speed is measured by the front Wheels -> most accurat result.
@@ -181,6 +187,45 @@ class SSpeed : public IService {
 
         void _setThrottle(speed_value_t speed) {
             #ifdef THROTTLE_ACTIVE
+            #ifdef NEW_THROTTLE
+
+            float rpmSpeed = speed * (1/(float)MOTOR_RPM_TO_KMH);
+
+            float dcVoltage = _motorController->getDcVoltage();
+            // Only use this voltage if the Inverter already sent it
+            if (_motorController->getDcVoltageGotCount() < 1) {
+                dcVoltage = (float)ACCU_MIN_VOLTAGE;
+            }
+
+            float motorVoltage = rpmSpeed * (float)MOTOR_KN;
+            float maxAcVoltage = dcVoltage / (float)ROOT_2;
+            if (motorVoltage > maxAcVoltage) {
+                motorVoltage = maxAcVoltage;
+            }
+
+            float maxPossiblePower = motorVoltage * (float)INVERTER_MAX_ALLOWED_PHASE_CURRENT * (float)ROOT_3;
+
+            float powerLimit = 1.0;
+            if (maxPossiblePower > 0) {
+                // Now limit the power either by the allowed current OR by the allowed Power
+                float powerLimitByCurrent = (dcVoltage * (float)ACCU_MAX_ALLOWED_CURRENT) / maxPossiblePower;
+                float powerLimitByPower = (float)ACCU_MAX_ALLOWED_POWER / maxPossiblePower;
+
+                // Check the lower power setting
+                if (powerLimitByCurrent > powerLimitByPower)
+                    powerLimit = powerLimitByPower;
+                else
+                    powerLimit = powerLimitByCurrent;
+
+                // Limit to boundary
+                if (powerLimit > 1.0) powerLimit = 1.0;
+                else if (powerLimit < 0.0) powerLimit = 0.0;
+            }
+
+            // And shoot it down the channel
+            _carService.setMaxPower(powerLimit);
+
+            #else
 
             // At first, get current DC Voltage
             float dcVoltage = _motorController->getDcVoltage();
@@ -190,33 +235,39 @@ class SSpeed : public IService {
                 dcVoltage = ACCU_MIN_VOLTAGE;
             }
 
-            // calculate the current Motor Voltage according to the Speed
+            // calculate the current Motor Voltage according to the Speed and limit it
             float motorVoltage = ((speed / ((float)MOTOR_MAX_VOLTAGE_SPEED_UNDER_LOAD * (float)MOTOR_RPM_TO_KMH)) * MOTOR_MAX_VOLTAGE);
+            if (motorVoltage > MOTOR_MAX_VOLTAGE) motorVoltage = MOTOR_MAX_VOLTAGE;
+
             // And limit it by the Accu Voltage
-            if (motorVoltage > (float)dcVoltage) motorVoltage = (float)dcVoltage;
+            if (motorVoltage > dcVoltage) motorVoltage = dcVoltage;
 
             // Get the current max Power according to the Motor Voltage
             float maxPossiblePower = motorVoltage * (float)INVERTER_MAX_ALLOWED_CURRENT;
 
-            // Now limit the power either by the allowed current OR by the allowed Power
-            float powerLimitByCurrent = (dcVoltage * (float)ACCU_MAX_ALLOWED_CURRENT) / maxPossiblePower;
-            float powerLimitByPower = (float)ACCU_MAX_ALLOWED_POWER / maxPossiblePower;
 
-            // Check the lower power setting
             float powerLimit = 1.0;
-            if (powerLimitByCurrent >= powerLimitByPower)
-                powerLimit = powerLimitByPower;
-            else if (powerLimitByCurrent < powerLimitByPower)
-                powerLimit = powerLimitByCurrent;
-
-            // Limit to boundary
-            if (powerLimit > 1.0) powerLimit = 1.0;
-            if (powerLimit < 0.0) powerLimit = 0.0;
+            if (maxPossiblePower > 0) {
+                // Now limit the power either by the allowed current OR by the allowed Power
+                float powerLimitByCurrent = (dcVoltage * (float)ACCU_MAX_ALLOWED_CURRENT) / maxPossiblePower;
+                float powerLimitByPower = (float)ACCU_MAX_ALLOWED_POWER / maxPossiblePower;
+
+                // Check the lower power setting
+                if (powerLimitByCurrent >= powerLimitByPower)
+                    powerLimit = powerLimitByPower;
+                else if (powerLimitByCurrent < powerLimitByPower)
+                    powerLimit = powerLimitByCurrent;
+
+                // Limit to boundary
+                if (powerLimit > 1.0) powerLimit = 1.0;
+                if (powerLimit < 0.0) powerLimit = 0.0;
+            }
 
             // And shoot it down the channel
             _carService.setMaxPower(powerLimit);
 
             #endif
+            #endif
         }
 };
 

platformio.ini

@@ -13,7 +13,7 @@ env_default = Master
 src_dir     = car
 
 [env:Dashboard]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_l432kc
 framework = mbed
 debug_tool = stlink
@@ -30,7 +30,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:Pedal]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_l432kc
 framework = mbed
 debug_tool = stlink
@@ -47,7 +47,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:Master]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_f767zi
 framework = mbed
 debug_tool = stlink
@@ -63,7 +63,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:Master-Small]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_f446re
 framework = mbed
 debug_tool = stlink
@@ -97,7 +97,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:Dashboard-Demo]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_f446re
 framework = mbed
 debug_tool = stlink
@@ -113,7 +113,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:F446RE_TESTING]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_f446re
 framework = mbed
 debug_tool = stlink
@@ -127,7 +127,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:F767ZI_TESTING]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_f767zi
 framework = mbed
 debug_tool = stlink
@@ -141,7 +141,7 @@ build_unflags =
     -Os -std=gnu++98
 
 [env:L432KC_TESTING]
-platform = ststm32
+platform = ststm32@5.6.0
 board = nucleo_l432kc
 framework = mbed
 debug_tool = stlink