Fixed PPM, PWM timeout

- fixed the general timeout handling: there is no need to disable the MOSFETs timer because it will confuse the BLDC_controller, making him consider the timeout as a false MOSFET defective error.
- renamed `timeout` to `timeoutCnt` for consistency and to ease the search
#61

Inc/config.h

@@ -31,7 +31,7 @@
 #else
   #define 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.
 #endif
-#define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
+#define TIMEOUT                20     // number of wrong / missing input commands before emergency off
 #define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
 
 // ADC conversion time definitions

Src/bldc.c

@@ -57,8 +57,6 @@ volatile int pwmr = 0;
 
 extern volatile adc_buf_t adc_buffer;
 
-extern volatile uint32_t timeout;
-
 uint8_t buzzerFreq          = 0;
 uint8_t buzzerPattern       = 0;
 static uint32_t buzzerTimer = 0;
@@ -116,13 +114,13 @@ void DMA1_Channel1_IRQHandler(void) {
 
   // Disable PWM when current limit is reached (current chopping)
   // This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
-  if(ABS(curL_DC) > curDC_max || timeout > TIMEOUT || enable == 0) {
+  if(ABS(curL_DC) > curDC_max || enable == 0) {
     LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     LEFT_TIM->BDTR |= TIM_BDTR_MOE;
   }
 
-  if(ABS(curR_DC)  > curDC_max || timeout > TIMEOUT || enable == 0) {
+  if(ABS(curR_DC)  > curDC_max || enable == 0) {
     RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     RIGHT_TIM->BDTR |= TIM_BDTR_MOE;

Src/control.c

@@ -10,7 +10,7 @@ TIM_HandleTypeDef TimHandle;
 TIM_HandleTypeDef TimHandle2;
 uint8_t ppm_count = 0;
 uint8_t pwm_count = 0;
-uint32_t timeout = 100;
+uint32_t timeoutCnt = 0;
 uint8_t nunchuk_data[6] = {0};
 
 uint8_t i2cBuffer[2];
@@ -40,7 +40,7 @@ void PPM_ISR_Callback(void) {
     ppm_count = 0;
   }
   else if (ppm_count < PPM_NUM_CHANNELS && IN_RANGE(rc_delay, 900, 2100)){
-    timeout = 0;
+    timeoutCnt = 0;
     ppm_captured_value_buffer[ppm_count++] = CLAMP(rc_delay, 1000, 2000) - 1000;
   } else {
     ppm_valid = false;
@@ -113,7 +113,7 @@ void PWM_ISR_CH1_Callback(void) {
   } else {                                    // Falling Edge interrupt -> measure pulse duration
     uint16_t rc_signal = TIM2->CNT - pwm_CNT_prev_ch1;
     if (IN_RANGE(rc_signal, 900, 2100)){
-      timeout = 0;
+      timeoutCnt = 0;
       pwm_timeout_ch1 = 0;
       pwm_captured_ch1_value = CLAMP(rc_signal, 1000, 2000) - 1000;
     }
@@ -132,7 +132,7 @@ void PWM_ISR_CH2_Callback(void) {
   } else {                                    // Falling Edge interrupt -> measure pulse duration
     uint16_t rc_signal = TIM2->CNT - pwm_CNT_prev_ch2;
     if (IN_RANGE(rc_signal, 900, 2100)){
-      timeout = 0;
+      timeoutCnt = 0;
       pwm_timeout_ch2 = 0;
       pwm_captured_ch2_value = CLAMP(rc_signal, 1000, 2000) - 1000;
     }
@@ -143,7 +143,7 @@ void PWM_ISR_CH2_Callback(void) {
 void PWM_SysTick_Callback(void) {
   pwm_timeout_ch1++;
   pwm_timeout_ch2++;
-  // Stop after 500 ms without PPM signal
+  // Stop after 500 ms without PWM signal
   if(pwm_timeout_ch1 > 500) {
     pwm_captured_ch1_value = 500;
     pwm_timeout_ch1 = 0;
@@ -228,11 +228,11 @@ void Nunchuk_Read(void) {
   HAL_I2C_Master_Transmit(&hi2c2,0xA4,(uint8_t*)i2cBuffer, 1, 10);
   HAL_Delay(3);
   if (HAL_I2C_Master_Receive(&hi2c2,0xA4,(uint8_t*)nunchuk_data, 6, 10) == HAL_OK) {
-    timeout = 0;
+    timeoutCnt = 0;
   }
 
   #ifndef TRANSPOTTER
-    if (timeout > 3) {
+    if (timeoutCnt > 3) {
       HAL_Delay(50);
       Nunchuk_Init();
     }

Src/main.c

@@ -65,6 +65,7 @@ extern int16_t cmd2;                    // normalized input value. -1000 to 1000
 
 extern int16_t speedAvg;                // Average measured speed
 extern int16_t speedAvgAbs;             // Average measured speed in absolute
+extern volatile uint32_t timeoutCnt;    // Timeout counter for the General timeout (PPM, PWM, Nunchuck)
 extern uint8_t timeoutFlagADC;          // Timeout Flag for for ADC Protection: 0 = OK, 1 = Problem detected (line disconnected or wrong ADC data)
 extern uint8_t timeoutFlagSerial;       // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
 
@@ -76,7 +77,6 @@ extern uint8_t buzzerPattern;           // global variable for the buzzer patter
 
 extern uint8_t enable;                  // global variable for motor enable
 
-extern volatile uint32_t timeout;       // global variable for timeout
 extern int16_t batVoltage;              // global variable for battery voltage
 
 #if defined(SIDEBOARD_SERIAL_USART2)
@@ -236,6 +236,12 @@ int main(void) {
         }
       #endif
 
+      // ####### GENERAL TIMEOUT #######
+      if (timeoutCnt > TIMEOUT) {  // Bring the system to a Safe State
+        cmd1 = 0;
+        cmd2 = 0;
+      }
+
       // ####### LOW-PASS FILTER #######
       rateLimiter16(cmd1, RATE, &steerRateFixdt);
       rateLimiter16(cmd2, RATE, &speedRateFixdt);
@@ -259,7 +265,7 @@ int main(void) {
       mixerFcn(speed << 4, steer << 4, &speedR, &speedL);   // This function implements the equations above
 
       // ####### SET OUTPUTS (if the target change is less than +/- 100) #######
-      if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100) && timeout < TIMEOUT) {
+      if ((speedL > lastSpeedL-100 && speedL < lastSpeedL+100) && (speedR > lastSpeedR-100 && speedR < lastSpeedR+100)) {
         #ifdef INVERT_R_DIRECTION
           pwmr = speedR;
         #else
@@ -308,10 +314,10 @@ int main(void) {
             enable = 0;
           }
         }
-        timeout = 0;
+        timeoutCnt = 0;
       }
 
-      if (timeout > TIMEOUT) {
+      if (timeoutCnt > TIMEOUT) {
         pwml = 0;
         pwmr = 0;
         enable = 0;
@@ -345,7 +351,7 @@ int main(void) {
               #ifdef SUPPORT_LCD
                 LCD_SetLocation(&lcd, 0, 0); LCD_WriteString(&lcd, "Nunchuk Control");
               #endif
-              timeout = 0;
+              timeoutCnt = 0;
               HAL_Delay(1000);
               nunchuk_connected = 1;
             }
@@ -452,7 +458,7 @@ int main(void) {
       enable        = 0;
       buzzerFreq    = 8;
       buzzerPattern = 1;
-    } else if (timeoutFlagADC || timeoutFlagSerial) {           // beep in case of ADC or Serial timeout - fast beep      
+    } else if (timeoutFlagADC || timeoutFlagSerial || timeoutCnt > TIMEOUT) { // beep in case of ADC timeout, Serial timeout or General timeout - fast beep      
       buzzerFreq    = 24;
       buzzerPattern = 1;
     } else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) {  // beep if mainboard gets hot
@@ -490,7 +496,7 @@ int main(void) {
     lastSpeedL = speedL;
     lastSpeedR = speedR;
     main_loop_counter++;
-    timeout++;
+    timeoutCnt++;
   }
 }
 

Src/util.c

@@ -52,7 +52,7 @@ extern uint8_t buzzerPattern;           // global variable for the buzzer patter
 extern uint8_t enable;                  // global variable for motor enable
 
 extern uint8_t nunchuk_data[6];
-extern volatile uint32_t timeout;       // global variable for timeout
+extern volatile uint32_t timeoutCnt;    // global variable for general timeout counter
 extern volatile uint32_t main_loop_counter;
 
 #if defined(CONTROL_PPM_LEFT) || defined(CONTROL_PPM_RIGHT)
@@ -746,7 +746,7 @@ void readCommand(void) {
         button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
         button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
       #endif
-      timeout = 0;
+      timeoutCnt = 0;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(CONTROL_SERIAL_USART3)
@@ -776,7 +776,7 @@ void readCommand(void) {
         button1 = !HAL_GPIO_ReadPin(BUTTON1_PORT, BUTTON1_PIN);
         button2 = !HAL_GPIO_ReadPin(BUTTON2_PORT, BUTTON2_PIN);
       #endif
-      timeout = 0;
+      timeoutCnt = 0;
     #endif
 
     #if defined(CONTROL_SERIAL_USART2) || defined(SIDEBOARD_SERIAL_USART2)