Ghost Buster / Configurable Reverse Stop

.github/workflows/ci.yml

@@ -17,12 +17,14 @@ jobs:
         with:
           flakes: nixpkgs#llvmPackages_18.clang-tools, nixpkgs#pre-commit
 
-      - name: Run clang-format
-        id: clang-format
-        run: pre-commit run --all-files --show-diff-on-failure --color always
-
       - name: Build Package
         if: success() || (failure() && steps.clang-format.conclusion == 'failure')
         uses: ./.github/actions/build
         with:
           cache-auth-token: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+
+      - name: Upload refloat.vescpkg
+        uses: actions/upload-artifact@v4
+        with:
+          name: refloat-package
+          path: refloat.vescpkg

package_README.md

@@ -2,6 +2,9 @@
 
 A full-featured self-balancing skateboard package.
 
+## Experiments
+Playing with reverse stop config for anti ghosting protection
+
 ## New in 1.2
 - BMS alerting support (Pushback and Haptic)
 - Speed-based alerting (Pushback and Haptic)

src/conf/datatypes.h

@@ -229,6 +229,9 @@ typedef struct {
     bool enable_quickstop;
     bool fault_darkride_enabled;
     bool fault_reversestop_enabled;
+    uint32_t reverse_tolerance;
+    uint16_t reverse_stop_trigger_erpm;
+    float reverse_erpm_incr;
     float tiltback_duty_angle;
     float tiltback_duty_speed;
     float tiltback_duty;

src/conf/settings.xml

@@ -521,6 +521,69 @@ p, li { white-space: pre-wrap; }
             <cDefine>CFG_DFLT_FAULT_REVERSESTOP_ENABLED</cDefine>
             <valInt>0</valInt>
         </fault_reversestop_enabled>
+        <reverse_tolerance>
+            <longName>Reverse Stop Tolerance</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;            &lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;ERPM deadzone before Reverse Stop begins to slow the board.            &lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>CFG_DFLT_REVERSE_TOLERANCE</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>100000000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>5000</stepInt>
+            <valInt>400000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>5</vTx>
+        </reverse_tolerance>
+        <reverse_stop_trigger_erpm>
+            <longName>Reverse Stop Trigger ERPM</longName>
+            <type>2</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum reverse speed to trigger Reverse Stop detection. The board must be moving backwards faster than this ERPM value before Reverse Stop can engage.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>CFG_DFLT_REVERSE_STOP_TRIGGER_ERPM</cDefine>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxInt>65000</maxInt>
+            <minInt>0</minInt>
+            <showDisplay>0</showDisplay>
+            <stepInt>200</stepInt>
+            <valInt>2000</valInt>
+            <suffix> ERPM</suffix>
+            <vTx>3</vTx>
+        </reverse_stop_trigger_erpm>
+        <reverse_erpm_incr>
+            <longName>Reverse Stop ERPM Increment</longName>
+            <type>1</type>
+            <transmittable>1</transmittable>
+            <description>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Roboto'; ; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Scale factor used to convert aggregated ERPM over the reverse tolerance into a tiltback setpoint angle. Smaller values make the system less aggressive.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</description>
+            <cDefine>CFG_DFLT_REVERSE_ERPM_INCR</cDefine>
+            <editorDecimalsDouble>8</editorDecimalsDouble>
+            <editorScale>1</editorScale>
+            <editAsPercentage>0</editAsPercentage>
+            <maxDouble>10</maxDouble>
+            <minDouble>0</minDouble>
+            <showDisplay>0</showDisplay>
+            <stepDouble>1e-05</stepDouble>
+            <valDouble>8e-05</valDouble>
+            <vTxDoubleScale>1</vTxDoubleScale>
+            <suffix></suffix>
+            <vTx>9</vTx>
+        </reverse_erpm_incr>
         <tiltback_duty_angle>
             <longName>Pushback Angle</longName>
             <type>1</type>
@@ -3944,6 +4007,9 @@ p, li { white-space: pre-wrap; }
         <ser>enable_quickstop</ser>
         <ser>fault_darkride_enabled</ser>
         <ser>fault_reversestop_enabled</ser>
+        <ser>reverse_tolerance</ser>
+        <ser>reverse_stop_trigger_erpm</ser>
+        <ser>reverse_erpm_incr</ser>
         <ser>tiltback_duty_angle</ser>
         <ser>tiltback_duty_speed</ser>
         <ser>tiltback_duty</ser>
@@ -4204,6 +4270,9 @@ p, li { white-space: pre-wrap; }
                     <param>::sep::Features</param>
                     <param>fault_darkride_enabled</param>
                     <param>fault_reversestop_enabled</param>
+                    <param>reverse_tolerance</param>
+                    <param>reverse_stop_trigger_erpm</param>
+                    <param>reverse_erpm_incr</param>
                 </subgroupParams>
             </subgroup>
             <subgroup>

src/data.h

@@ -121,6 +121,7 @@ typedef struct {
 
     // Feature: Reverse Stop
     float reverse_stop_step_size, reverse_tolerance, reverse_total_erpm;
+    float reverse_total_erpm_plot;
     time_t reverse_timer;
 
     // Feature: Soft Start

src/main.c

@@ -97,7 +97,6 @@ static void cmd_flywheel_toggle(Data *d, unsigned char *cfg, int len);
 
 const VESC_PIN beeper_pin = VESC_PIN_PPM;
 
-#define REVSTOP_ERPM_INCR 0.00008
 #define EXT_BEEPER_ON() VESC_IF->io_write(beeper_pin, 1)
 #define EXT_BEEPER_OFF() VESC_IF->io_write(beeper_pin, 0)
 
@@ -205,8 +204,9 @@ static void configure(Data *d) {
     }
 
     // Feature: Reverse Stop
-    d->reverse_tolerance = 20000;
+    d->reverse_tolerance = d->float_conf.reverse_tolerance;
     d->reverse_stop_step_size = 100.0 / d->float_conf.hertz;
+    d->reverse_total_erpm_plot = d->reverse_total_erpm * 0.001f;
 
     // Speed above which to warn users about an impending full switch fault
     d->switch_warn_beep_erpm = d->float_conf.is_footbeep_enabled ? 2000 : 100000;
@@ -518,28 +518,31 @@ static void calculate_setpoint_target(Data *d) {
     } else if (d->state.sat == SAT_REVERSESTOP) {
         // accumalete erpms:
         d->reverse_total_erpm += d->motor.erpm;
-        if (fabsf(d->reverse_total_erpm) > d->reverse_tolerance) {
-            // tilt down by 10 degrees after exceeding aggregate erpm
-            d->setpoint_target =
-                (fabsf(d->reverse_total_erpm) - d->reverse_tolerance) * REVSTOP_ERPM_INCR;
-        } else {
+        d->reverse_total_erpm_plot = d->reverse_total_erpm * 0.001f;
+                if (fabsf(d->reverse_total_erpm) > d->reverse_tolerance) {
+                    // tilt down by 10 degrees after exceeding aggregate erpm
+                    d->setpoint_target =
+                        (fabsf(d->reverse_total_erpm) - d->reverse_tolerance) *
+                        d->float_conf.reverse_erpm_incr;
+                } else {
             if (fabsf(d->reverse_total_erpm) <= d->reverse_tolerance * 0.5) {
-                if (d->motor.erpm >= 0) {
+                if (d->motor.erpm >= -(int) d->float_conf.reverse_stop_trigger_erpm) {
                     d->state.sat = SAT_NONE;
                     d->reverse_total_erpm = 0;
                     d->setpoint_target = 0;
                 }
             }
         }
-    } else if (d->float_conf.fault_reversestop_enabled && d->motor.erpm < -200 &&
+    } else if (d->float_conf.fault_reversestop_enabled && d->motor.erpm < -(int)d->float_conf.reverse_stop_trigger_erpm &&
                !d->state.darkride) {
         // Detecting reverse stop takes priority over any error condition SAT
-        if (d->state.sat >= SAT_PB_HIGH_VOLTAGE) {
-            // If this happens while in Error-Tiltback (LV/HV/TEMP) then we need to
-            // take the already existing setpoint into account
-            d->reverse_total_erpm =
-                -(d->reverse_tolerance + d->setpoint_target_interpolated / REVSTOP_ERPM_INCR);
-        } else {
+            if (d->state.sat >= SAT_PB_HIGH_VOLTAGE) {
+                // If this happens while in Error-Tiltback (LV/HV/TEMP) then we need to
+                // take the already existing setpoint into account
+                d->reverse_total_erpm = -(d->reverse_tolerance +
+                                          d->setpoint_target_interpolated /
+                                          d->float_conf.reverse_erpm_incr);
+            } else {
             d->reverse_total_erpm = 0;
         }
         d->state.sat = SAT_REVERSESTOP;

src/rt_data.h

@@ -61,6 +61,8 @@
     S(turn_tilt.setpoint)                                                                          \
     S(remote.setpoint)                                                                             \
     R(balance_current)                                                                             \
+    R(reverse_total_erpm_plot)                                                                    \
+    R(reverse_timer)                                                                               \
     S(atr.accel_diff)                                                                              \
     S(atr.speed_boost)                                                                             \
     S(booster.current)

ui.qml.in

@@ -2143,6 +2143,8 @@ Item {
         ["footpad.adc1", {"name": "ADC1 Voltage", "color": "#69aad7", "visible": false}],
         ["footpad.adc2", {"name": "ADC2 Voltage", "color": "#4a8772", "visible": false}],
         ["balance_current", {"name": "Balance Current", "color": "#36738b", "visible": false}],
+        ["reverse_total_erpm_plot", {"name": "Reverse Total ERPM (k)", "color": "#748b36", "visible": false}],
+        ["reverse_timer", {"name": "Reverse Timer", "color": "#368b5c", "visible": false}],
         ["booster.current", {"name": "Booster Current", "color": "#8f2f26", "visible": false}],
         ["atr.accel_diff", {"name": "ATR Accel Diff", "color": "#4f5984", "visible": false}],
         ["atr.speed_boost", {"name": "ATR Speed Boost", "color": "#34633c", "visible": false}],

version

@@ -1 +1 @@
-1.2.3
+1.2.4