Added filter for the mapped input current limit

confgenerator.c

@@ -19,6 +19,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->l_in_current_max, &ind);
 	buffer_append_float32_auto(buffer, conf->l_in_current_min, &ind);
 	buffer_append_float16(buffer, conf->l_in_current_map_start, 10000, &ind);
+	buffer_append_float16(buffer, conf->l_in_current_map_filter, 10000, &ind);
 	buffer_append_float32_auto(buffer, conf->l_abs_current_max, &ind);
 	buffer_append_float32_auto(buffer, conf->l_min_erpm, &ind);
 	buffer_append_float32_auto(buffer, conf->l_max_erpm, &ind);
@@ -352,6 +353,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->l_in_current_max = buffer_get_float32_auto(buffer, &ind);
 	conf->l_in_current_min = buffer_get_float32_auto(buffer, &ind);
 	conf->l_in_current_map_start = buffer_get_float16(buffer, 10000, &ind);
+	conf->l_in_current_map_filter = buffer_get_float16(buffer, 10000, &ind);
 	conf->l_abs_current_max = buffer_get_float32_auto(buffer, &ind);
 	conf->l_min_erpm = buffer_get_float32_auto(buffer, &ind);
 	conf->l_max_erpm = buffer_get_float32_auto(buffer, &ind);
@@ -681,6 +683,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->l_in_current_max = MCCONF_L_IN_CURRENT_MAX;
 	conf->l_in_current_min = MCCONF_L_IN_CURRENT_MIN;
 	conf->l_in_current_map_start = MCCONF_L_IN_CURRENT_MAP_START;
+	conf->l_in_current_map_filter = MCCONF_L_IN_CURRENT_MAP_FILTER;
 	conf->l_abs_current_max = MCCONF_L_MAX_ABS_CURRENT;
 	conf->l_min_erpm = MCCONF_L_RPM_MIN;
 	conf->l_max_erpm = MCCONF_L_RPM_MAX;

confgenerator.h

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		1910543301
+#define MCCONF_SIGNATURE		4054209897
 #define APPCONF_SIGNATURE		2099347128
 
 // Functions

datatypes.h

@@ -349,6 +349,7 @@ typedef struct {
 	float l_in_current_max;
 	float l_in_current_min;
 	float l_in_current_map_start;
+	float l_in_current_map_filter;
 	float l_abs_current_max;
 	float l_min_erpm;
 	float l_max_erpm;

motor/mc_interface.c

@@ -86,6 +86,7 @@ typedef struct {
 	float m_input_voltage_filtered;
 	float m_input_voltage_filtered_slower;
 	float m_temp_override;
+	float m_i_in_filter;
 
 	// Backup data counters
 	uint64_t m_odometer_last;
@@ -1904,6 +1905,9 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
 		abs_current_filtered = current_filtered;
 	}
 
+	// Additional input current filter for the mapped current limit
+	UTILS_LP_FAST(motor->m_i_in_filter, current_in_filtered, motor->m_conf.l_in_current_map_filter);
+
 	if (state == MC_STATE_RUNNING) {
 		motor->m_cycles_running++;
 	} else {
@@ -2436,9 +2440,8 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
 	// input current from id and iq.
 
 	float lo_max_i_in = l_current_max_tmp;
-	float i_in = mc_interface_get_tot_current_in();
-	if (i_in > 0.0 && conf->l_in_current_map_start < 0.98) {
-		float frac = i_in / conf->lo_in_current_max;
+	if (motor->m_i_in_filter > 0.0 && conf->l_in_current_map_start < 0.98) {
+		float frac = motor->m_i_in_filter / conf->lo_in_current_max;
 		if (frac > conf->l_in_current_map_start) {
 			lo_max_i_in = utils_map(frac, conf->l_in_current_map_start,
 					1.0, l_current_max_tmp, 0.0);

motor/mcconf_default.h

@@ -50,6 +50,9 @@
 #ifndef MCCONF_L_IN_CURRENT_MAP_START
 #define MCCONF_L_IN_CURRENT_MAP_START	1.0		// Input current to Q axis current limit map start
 #endif
+#ifndef MCCONF_L_IN_CURRENT_MAP_FILTER
+#define MCCONF_L_IN_CURRENT_MAP_FILTER	0.1		// Input current filter for the mapped limit
+#endif
 #ifndef MCCONF_L_MAX_ABS_CURRENT
 #define MCCONF_L_MAX_ABS_CURRENT		130.0	// The maximum absolute current above which a fault is generated
 #endif