More reliable pressed throttle detection

Smoother over temperature derating
Limit potmax to 3500 to prevent using over range pedal connection
Add uptime counter, can be used as CAN alive counter
In SINE firmware filter idc for smoother battery current derating

include/param_prj.h

@@ -17,15 +17,15 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VERSION 5.34
+#define VERSION 5.35
 
 /* Entries should be ordered as follows:
    1. Saveable parameters
    2. Temporary parameters
    3. Display values
  */
 //Next param id (increase when adding new parameter!): 159
-//Next value Id: 2053
+//Next value Id: 2055
 /*              category     name         unit       min     max     default id */
 
 #define MOTOR_PARAMETERS_COMMON \
@@ -108,8 +108,8 @@
     PARAM_ENTRY(CAT_CHARGER, chargepwmax, "%",       0,      99,     90,     79  )
 
 #define THROTTLE_PARAMETERS_COMMON \
-    PARAM_ENTRY(CAT_THROTTLE,potmin,      "dig",     0,      4095,   0,      17  ) \
-    PARAM_ENTRY(CAT_THROTTLE,potmax,      "dig",     0,      4095,   4095,   18  ) \
+    PARAM_ENTRY(CAT_THROTTLE,potmin,      "dig",     0,      3500,   0,      17  ) \
+    PARAM_ENTRY(CAT_THROTTLE,potmax,      "dig",     0,      3500,   3500,   18  ) \
     PARAM_ENTRY(CAT_THROTTLE,pot2min,     "dig",     0,      4095,   4095,   63  ) \
     PARAM_ENTRY(CAT_THROTTLE,pot2max,     "dig",     0,      4095,   4095,   64  ) \
     PARAM_ENTRY(CAT_THROTTLE,potmode,     POTMODES,  0,      6,      0,      82  ) \
@@ -197,6 +197,7 @@
     VALUE_ENTRY(din_ocur,    OKERR,   2030 ) \
     VALUE_ENTRY(din_desat,   OKERR,   2031 ) \
     VALUE_ENTRY(din_bms,     ONOFF,   2032 ) \
+    VALUE_ENTRY(uptime,      "10ms",  2054 ) \
     VALUE_ENTRY(cpuload,     "%",     2035 ) \
 
 #define VALUES_SINE \

include/throttle.h

@@ -40,6 +40,7 @@ class Throttle
       static void FrequencyLimitCommand(float& finalSpnt, float frequency);
       static float RampThrottle(float finalSpnt);
       static void UpdateDynamicRegenTravel(float regenTravelMax, float frequency);
+      static bool IsThrottlePressed(int pot1);
       static int potmin[2];
       static int potmax[2];
       static float brknom;

src/pwmgeneration-sine.cpp

@@ -243,6 +243,7 @@ PwmGeneration::EdgeType PwmGeneration::CalcRms(s32fp il, EdgeType& lastEdge, s32
 s32fp PwmGeneration::ProcessCurrents()
 {
    static s32fp currentMax[2];
+   static s32fp idcFiltered = 0;
    static int samples[2] = { 0 };
    static EdgeType lastEdge[2] = { PosEdge, PosEdge };
 
@@ -263,7 +264,8 @@ s32fp PwmGeneration::ProcessCurrents()
          s32fp idc = (SineCore::GetAmp() * rms) / SineCore::MAXAMP;
          idc = FP_MUL(idc, FP_FROMFLT(1.2247)); //multiply by sqrt(3)/sqrt(2)
          idc *= fslip < 0 ? -1 : 1;
-         Param::SetFixed(Param::idc, idc);
+         idcFiltered = IIRFILTER(idcFiltered, idc, Param::GetInt(Param::idcflt));
+         Param::SetFixed(Param::idc, idcFiltered);
       }
    }
    if (CalcRms(il2, lastEdge[1], currentMax[1], rms, samples[1], il2PrevRms))

src/stm32_sine.cpp

@@ -149,7 +149,7 @@ static void Ms10Task(void)
 
    stt |= DigIo::emcystop_in.Get() || hwRev == HW_REV3 ? STAT_NONE : STAT_EMCYSTOP;
    stt |= DigIo::mprot_in.Get() ? STAT_NONE : STAT_MPROT;
-   stt |= Param::GetInt(Param::potnom) <= 0 ? STAT_NONE : STAT_POTPRESSED;
+   stt |= Throttle::IsThrottlePressed(Param::GetInt(Param::pot)) ? STAT_POTPRESSED : STAT_NONE;
    stt |= udc >= Param::GetFloat(Param::udcsw) ? STAT_NONE : STAT_UDCBELOWUDCSW;
    stt |= udc < Param::GetFloat(Param::udclim) ? STAT_NONE : STAT_UDCLIM;
    stt |= seenBrakePedal ? STAT_NONE : STAT_BRAKECHECK;
@@ -245,6 +245,8 @@ static void Ms10Task(void)
       initWait--;
    }
 
+   Param::SetInt(Param::uptime, rtc_get_counter_val());
+
    if (Param::GetInt(Param::canperiod) == CAN_PERIOD_10MS)
       canMap->SendAll();
 }
@@ -346,6 +348,12 @@ static void UpgradeParameters()
    if (Param::Get(Param::offthrotregen) > 0)
       Param::Set(Param::offthrotregen, -Param::Get(Param::offthrotregen));
 
+   s32fp maxPotMax = Param::GetAttrib(Param::potmax)->max;
+   s32fp potMax = Param::Get(Param::potmax);
+
+   if (potMax > maxPotMax)
+      Param::SetFixed(Param::potmax, maxPotMax);
+
    //Remove CAN mapping for safety critical values
    canMap->Remove(Param::pot);
    canMap->Remove(Param::pot2);

src/throttle.cpp

@@ -76,6 +76,12 @@ bool Throttle::CheckAndLimitRange(int* potval, uint8_t potIdx)
    return true;
 }
 
+bool Throttle::IsThrottlePressed(int pot1)
+{
+   float percent = DigitsToPercent(pot1, 0);
+   return percent > brknom;
+}
+
 float Throttle::DigitsToPercent(int potval, int potidx)
 {
    if (potidx > 1) return 0;
@@ -194,12 +200,8 @@ bool Throttle::HoldPosition(int distance, float& finalSpnt)
 
 bool Throttle::TemperatureDerate(float temp, float tempMax, float& finalSpnt)
 {
-   float limit = 0;
-
-   if (temp <= tempMax)
-      limit = 100.0f;
-   else if (temp < (tempMax + 2.0f))
-      limit = 50.0f;
+   float limit = (tempMax - temp) * 10; //derate 10% per °C as we approach tempMax
+   limit = MAX(0, limit);
 
    if (finalSpnt >= 0)
       finalSpnt = MIN(finalSpnt, limit);