Added support for Erider T9 bottom bracket

Author: Jens Kießling

Arduino_Pedelec_Controller/Arduino_Pedelec_Controller.ino

@@ -88,7 +88,7 @@ Time now;
 #error Soft poti is incompatible with throttle auto cruise
 #endif
 
-#if defined(SUPPORT_LIGHTS_SWITCH) && (defined(SUPPORT_XCELL_RT)||defined(SUPPORT_SEMPU)||defined(SUPPORT_SEMPU_V1)) && HARDWARE_REV < 20
+#if defined(SUPPORT_LIGHTS_SWITCH) && (defined(SUPPORT_XCELL_RT)||defined(SUPPORT_SEMPU)||defined(SUPPORT_SEMPU_V1)||defined(SUPPORT_T9)) && HARDWARE_REV < 20
 #error Software controlled lights switch is not compatible with torque sensor support on FC < 2.0
 #endif
 
@@ -133,7 +133,7 @@ struct savings   //add variables if you want to store additional values to the e
 #ifdef SUPPORT_BATTERY_CHARGE_COUNTER
     unsigned int charge_count;//battery charge count
 #endif
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) 
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
     float wh_human; //human watthours
 #endif
 };
@@ -256,7 +256,9 @@ int last_throttle_write=0;                      //last throttle write value
 volatile byte wheel_counter=0; //counter for events that should happen once per wheel revolution. only needed if wheel_magnets>1
 volatile unsigned long last_pas_event = millis();  //last change-time of PAS sensor status
 #ifdef SUPPORT_SEMPU_V1
-  #define pas_time 1875 //conversion factor for pas_time to rpm (cadence) 
+  #define pas_time 1875 //conversion factor for pas_time to rpm (cadence), 32 Pulses
+#elif defined(SUPPORT_T9)
+  #define pas_time 3333 //conversion factor for pas_time to rpm (cadence), 18 Pulses
 #else
   #define pas_time 60000/pas_magnets //conversion factor for pas_time to rpm (cadence)
 #endif
@@ -272,7 +274,7 @@ double torque=0.0;           //cyclist's torque in Nm (averaged over one pedal r
 double torque_instant=0.0;   //cyclist's torque in Nm (live)
 double power_human=0.0;      //cyclist's power
 double wh_human=0;
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
 int torque_zero=TORQUE_ZERO; //Offset of torque sensor. Adjusted at startup if TORQUE_AUTOZERO option is set
 static volatile boolean analogRead_in_use = false; //read torque values in interrupt only if no analogRead in process
 static volatile boolean torque_want_calculation = false; //read torque values in interrupt only if no analogRead in process
@@ -285,6 +287,9 @@ volatile int torquevalues[torquevalues_count]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}
 #elif defined(SUPPORT_SEMPU)
 const int torquevalues_count=24;
 volatile int torquevalues[torquevalues_count]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; //stores the 24 torque values per pedal roundtrip (Sempu new version)
+#elif defined(SUPPORT_T9)
+const int torquevalues_count=18;
+volatile int torquevalues[torquevalues_count]= {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; //stores the 18 torque values per half roundtrip (T9)
 #endif
 volatile byte torqueindex=0;        //index to write next torque value
 volatile boolean readtorque=false;  //true if torque array has been updated -> recalculate in main loop
@@ -487,7 +492,7 @@ digitalWrite(option_pin,HIGH);
 #ifdef SUPPORT_PAS
     bitClear(DDRE,5);      //configure PE5 as input
     bitSet(PORTE,5);       //enable pull-up on PAS sensor
-#if !defined(SUPPORT_XCELL_RT) && !defined(SUPPORT_BBS) && !defined(SUPPORT_SEMPU)
+#if !defined(SUPPORT_XCELL_RT) && !defined(SUPPORT_BBS) && !defined(SUPPORT_SEMPU) //add second interrupt for two-signal-pas-sensors
     bitSet(EICRB,2);      //trigger on any edge INT5 for PAS sensor
     EIMSK  |= (1<<INT5);  //turn on interrupt INT5 for PAS sensor
 #else
@@ -529,7 +534,7 @@ digitalWrite(option_pin,HIGH);
     poti_stat = map(poti_value_on_startup_in_watts, 0, curr_power_poti_max, 0, 1023);
 #endif
 
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) ||defined(SUPPORT_T9)
 #ifdef TORQUE_AUTOZERO
     torque_rezero();
 #endif
@@ -668,11 +673,11 @@ if (loadcell.is_ready())     //new conversion result from load cell available
     power=current*voltage;
     power_display = current_display*voltage_display;
 
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
 #ifdef SUPPORT_XCELL_RT
       torque_instant=0.49*(analogRead(option_pin)-torque_zero);  //multiplication constant for THUN X-CELL RT is approx. 0.49Nm/count
-#else //Sempu
-      torque_instant=0.33*(analogRead(option_pin)-torque_zero);  //multiplication constant for SEMPU V1 is approx. 0.33Nm/count
+#else //Sempu and T9
+      torque_instant=0.33*(analogRead(option_pin)-torque_zero);  //multiplication constant for SEMPU and T9 is approx. 0.33Nm/count
 #endif
     if (readtorque==true)
     {
@@ -693,6 +698,9 @@ if (loadcell.is_ready())     //new conversion result from load cell available
 #elif defined(SUPPORT_SEMPU_V1) //SEMPU V1
       torque=abs((torque)*0.02078055073);   //torque=sum of torque values/#of torque values*5V/1023 counts/(14.7 mV/Nm)
       power_human=0.10471975512*cad*torque;   //power=2*pi*cadence*torque/60s
+#elif defined(SUPPORT_T9) //Erider T9
+      torque=abs((torque)*0.01847160065);   //torque=sum of torque values/#of torque values*5V/1023 counts/(14.7 mV/Nm)
+      power_human=0.10471975512*cad*torque;   //power=2*pi*cadence*torque/60s
 #else //SEMPU
       torque=abs((torque)*0.01385370049);   //torque=sum of torque values/#of torque values*5V/1023 counts/(14.7 mV/Nm)
       power_human=0.10471975512*cad*torque;   //power=2*pi*cadence*torque/60s
@@ -730,7 +738,7 @@ if (loadcell.is_ready())     //new conversion result from load cell available
             wh=variable.wh;
             km=variable.kilometers;
             mah=variable.mah;
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
             wh_human=variable.wh_human;
 #endif
         }
@@ -794,7 +802,7 @@ if (loadcell.is_ready())     //new conversion result from load cell available
     power_throttle = throttle_stat / 1023.0 * curr_power_max;         //power currently set by throttle
 
 #if CONTROL_MODE == CONTROL_MODE_TORQUE                      //human power control mode
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
     power_poti = poti_stat/102300.0* curr_power_poti_max*power_human*(1+spd/20.0); //power_poti_max is in this control mode interpreted as percentage. Example: power_poti_max=200 means; motor power = 200% of human power
 #ifdef SUPPORT_TORQUE_THROTTLE                              //we want to trigger throttle just by pedal torque
     if (abs(torque_instant)>torque_throttle_min)            //we are above the threshold to trigger throttle
@@ -1131,7 +1139,7 @@ void pas_change_dual(boolean signal)
 #endif
 #endif
 
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
 void read_current_torque() //this reads the current torque value
 {
     torquevalues[torqueindex]=analogRead(option_pin)-torque_zero;
@@ -1155,7 +1163,7 @@ void pas_change()       //Are we pedaling? PAS Sensor Change--------------------
     if (pas_stat)
     {
         pas_off_time=millis()-last_pas_event;
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
         if (analogRead_in_use)
           torque_want_calculation = true;
         else
@@ -1169,6 +1177,8 @@ void pas_change()       //Are we pedaling? PAS Sensor Change--------------------
 
     #ifdef SUPPORT_SEMPU_V1
       pedaling=bitRead(PINE,6); //read direction pin of pas sensor and set pedaling to true
+    #elif defined(SUPPORT_T9)
+      pedaling=true; //no direction pin, set pedaling to true!
     #else
       pas_failtime=pas_failtime+1;
       double pas_factor=(double)pas_on_time/(double)pas_off_time;
@@ -1287,7 +1297,7 @@ void serial_debug(HardwareSerial* localSerial)
     localSerial->print(current,1);
     localSerial->print(MY_F(" Power"));
     localSerial->print(power,0);
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
     localSerial->print(MY_F(" Pedaling"));
     localSerial->print(pedaling);
     localSerial->print(MY_F(" Torque"));
@@ -1528,7 +1538,7 @@ void save_eeprom()
 #ifdef SUPPORT_BATTERY_CHARGE_COUNTER
   variable_new.charge_count=charge_count; //save charge counter
 #endif
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
   variable_new.wh_human=wh_human; //save human watthours
 #endif
   const byte* p_new = (const byte*)(const void*)&variable_new; //pointer to new variables to save
@@ -1599,7 +1609,7 @@ void handle_unused_pins()
 
 int analogRead_noISR(uint8_t pin) //this function makes sure that analogRead is never used in interrupt. only important for X-Cell RT bottom brackets
 {
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
     analogRead_in_use = true; //this prevents analogReads in Interrupt from Thun bracket
     if (torque_want_calculation)
     {
@@ -1608,7 +1618,7 @@ int analogRead_noISR(uint8_t pin) //this function makes sure that analogRead is
     }
 #endif
     int temp=analogRead(pin);
-#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU)
+#if defined(SUPPORT_XCELL_RT) || defined(SUPPORT_SEMPU_V1) || defined(SUPPORT_SEMPU) || defined(SUPPORT_T9)
     analogRead_in_use = false;
 #endif
     return temp;

Arduino_Pedelec_Controller/config.h

@@ -143,7 +143,8 @@ const int fixed_throttle_in_watts = 250;         //number of watts to set as thr
 #define BBS_GEARCHANGEPAUSE 2000 //powerless time in milliseconds to allow gear change 
 // #define SUPPORT_XCELL_RT    //uncomment if X-CELL RT connected. FC1.4: pas_factor_min=0.2, pas_factor_max=0.5. FC1.5: pas_factor_min=0.5, pas_factor_max=1.5. pas_magnets=8
 // #define SUPPORT_SEMPU_V1  //uncomment if you have a Sempu torque sensor, old type with one direction wire and one pas wire
-//#define SUPPORT_SEMPU  //uncomment if you have a Sempu torque sensor, new type with two pas wires
+// #define SUPPORT_SEMPU  //uncomment if you have a Sempu torque sensor, new type with two pas wires
+// #define SUPPORT_T9  //uncomment if you have a n Erider T9 bottom bracked with one torque wire and one speed wire (4 pins in total)
 // #define SUPPORT_TORQUE_THROTTLE
 // #define SUPPORT_HRMI         //uncomment if polar heart-rate monitor interface connected to i2c port
 #define SUPPORT_BRAKE        //uncomment if brake switch connected