241d1ae457
When pingpong detected a stall and switched direction, only _stalled and _stallStartTime were reset, leaving _stallCandidateCount and _motorStartTime unchanged. This caused motor inrush current after direction change to immediately trigger another stall, creating an infinite oscillation loop. Now calls resetStallDetection() which properly resets all stall state including triggering the STALL_STABILIZE_MS grace period to ignore inrush current.
61 lines
2.7 KiB
C
61 lines
2.7 KiB
C
#ifndef CONFIG_H
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#define CONFIG_H
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// WiFi Configuration
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#define WIFI_SSID "tami"
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#define WIFI_PASSWORD ""
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// Static IP Configuration
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#define STATIC_IP IPAddress(10, 81, 2, 185)
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#define GATEWAY IPAddress(10, 81, 2, 1)
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#define SUBNET IPAddress(255, 255, 255, 0)
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#define DNS IPAddress(10, 81, 2, 1)
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// BTS7960 Pin Definitions
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#define L_EN_PIN 14 // Left Enable
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#define LPWM_PIN 26 // Left PWM (Reverse)
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#define L_IS_PIN 35 // Left Current Sense (ADC input only)
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#define R_EN_PIN 27 // Right Enable
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#define RPWM_PIN 25 // Right PWM (Forward)
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#define R_IS_PIN 34 // Right Current Sense (ADC input only)
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// PWM Configuration
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#define PWM_FREQ 20000 // 20kHz - reduces motor noise
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#define PWM_RESOLUTION 8 // 8-bit resolution (0-255)
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#define PWM_CHANNEL_R 0 // LEDC channel for RPWM
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#define PWM_CHANNEL_L 1 // LEDC channel for LPWM
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#define MIN_PWM_PERCENT 20 // Minimum PWM when motor is running (%)
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// Current Sense Configuration
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// BTS7960 current sense ratio: 8500:1 (kilo-amps)
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// With 1kΩ resistor on IS pin: V = I_motor / 8500
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// ESP32 ADC: 12-bit (0-4095), 0-3.3V
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#define CURRENT_SENSE_RATIO 8500.0f // Amps to sense current ratio
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#define SENSE_RESISTOR 1000.0f // 1kΩ sense resistor (ohms)
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#define ADC_MAX 4095.0f // 12-bit ADC max value
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#define ADC_VREF 3.3f // ADC reference voltage
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#define CURRENT_CALIBRATION 1.0f // Calibration factor (measured current / reported current)
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// Stall Detection Configuration (delta-based)
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// Detects sudden current spikes above the rolling average
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#define STALL_DELTA_THRESHOLD 1.2f // Current spike above average that indicates stall (amps)
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#define STALL_EMA_ALPHA 0.1f // EMA smoothing factor (0.1 = slow, 0.5 = fast response)
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#define STALL_EMA_BASELINE 2.0f // Expected running current baseline for EMA seeding (amps)
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#define STALL_STABILIZE_MS 300 // Ignore stalls for this long after motor starts/changes
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#define STALL_CONFIRM_MS 50 // Current must exceed threshold for this long to confirm stall
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#define DISABLE_STALL_DETECT false // Set to true to disable stall detection
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// Under-current stall detection: motor commanded but drawing no current
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#define STALL_UNDERCURRENT_THRESHOLD 0.5f // If current below this for too long = stall (amps)
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#define STALL_UNDERCURRENT_MS 1000 // Under-current must persist this long to confirm stall
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// Repeated spike stall detection: catches oscillating stall (driver protection cycling)
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#define STALL_CANDIDATE_COUNT 5 // Number of stall candidates in window to confirm stall
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#define STALL_CANDIDATE_WINDOW_MS 2000 // Time window for counting stall candidates
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// Web Server
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#define HTTP_PORT 80
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#endif
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