Conditional parking brake checks for erpm sign now

If rider jumps off the board and the board changes direction after
jumping off, it is assumed that the parking brake should be on.

Fix: don't let board roll downhill after jumping off at low speed

src/main.c

@@ -559,6 +559,8 @@ static bool check_faults(data *d) {
             // allow turning it off by engaging foot sensors
             state_stop(&d->state, STOP_SWITCH_HALF);
             return true;
+        } else {
+            d->motor.last_erpm_sign = d->motor.erpm_sign;
         }
     } else {
         bool disable_switch_faults = d->float_conf.fault_moving_fault_disabled &&
@@ -592,6 +594,7 @@ static bool check_faults(data *d) {
             }
         } else {
             d->fault_switch_timer = d->current_time;
+            d->motor.last_erpm_sign = d->motor.erpm_sign;
         }
 
         // Feature: Reverse-Stop
@@ -1453,9 +1456,7 @@ static void refloat_thd(void *arg) {
             break;
         }
 
-        motor_control_apply(
-            &d->motor_control, d->motor.abs_erpm_smooth, d->state.state, d->current_time
-        );
+        motor_control_apply(&d->motor_control, &d->motor, d->state.state, d->current_time);
         VESC_IF->sleep_us(d->loop_time_us);
     }
 }

src/motor_control.c

@@ -38,6 +38,13 @@ void motor_control_configure(MotorControl *mc, const RefloatConfig *config) {
     mc->click_current = config->startup_click_current;
     mc->parking_brake_mode = config->parking_brake_mode;
     mc->main_freq = config->hertz / 2;
+
+    // set parking brake true/false here instead of each cycle
+    if (mc->parking_brake_mode == PARKING_BRAKE_ALWAYS) {
+        mc->parking_brake_active = true;
+    } else {
+        mc->parking_brake_active = false;
+    }
 }
 
 void motor_control_request_current(MotorControl *mc, float current) {
@@ -51,14 +58,7 @@ static inline void reset_tone(MotorControl *mc) {
     mc->tone_high = 0;
 }
 
-void motor_control_apply(MotorControl *mc, float abs_erpm, RunState state, float time) {
-    if (mc->parking_brake_mode == PARKING_BRAKE_ALWAYS ||
-        (mc->parking_brake_mode == PARKING_BRAKE_IDLE && state != STATE_RUNNING && abs_erpm < 50)) {
-        mc->parking_brake_active = true;
-    } else if (mc->parking_brake_mode == PARKING_BRAKE_NEVER || state == STATE_RUNNING) {
-        mc->parking_brake_active = false;
-    }
-
+void motor_control_apply(MotorControl *mc, MotorData *md, RunState state, float time) {
     if (mc->tone_ticks > 0) {
         mc->current_requested = true;
 
@@ -87,7 +87,17 @@ void motor_control_apply(MotorControl *mc, float abs_erpm, RunState state, float
         VESC_IF->mc_set_current(mc->requested_current);
     } else {
         // Brake logic
-        if (abs_erpm > ERPM_MOVING_THRESHOLD) {
+        if (mc->parking_brake_mode == PARKING_BRAKE_IDLE) {
+            // only evaluate parking brake each cycle if pbmode is IDLE
+            if ((state != STATE_RUNNING) &&
+                ((md->abs_erpm_smooth < 50) || (md->last_erpm_sign != md->erpm_sign))) {
+                mc->parking_brake_active = true;
+            } else {
+                mc->parking_brake_active = false;
+            }
+        }
+
+        if (md->abs_erpm_smooth > ERPM_MOVING_THRESHOLD) {
             mc->brake_timeout = time + 1.0f;
         }
 
@@ -97,7 +107,7 @@ void motor_control_apply(MotorControl *mc, float abs_erpm, RunState state, float
             return;
         }
 
-        if (mc->parking_brake_active && abs_erpm < 2000) {
+        if (mc->parking_brake_active && md->abs_erpm_smooth < 2000) {
             // Duty Cycle mode has better holding power (phase-shorting on 6.05)
             VESC_IF->mc_set_duty(0);
         } else {

src/motor_control.h

@@ -21,6 +21,7 @@
 #include <stdint.h>
 
 #include "conf/datatypes.h"
+#include "motor_data.h"
 #include "state.h"
 
 typedef struct {
@@ -48,7 +49,7 @@ void motor_control_configure(MotorControl *mc, const RefloatConfig *config);
 
 void motor_control_request_current(MotorControl *mc, float current);
 
-void motor_control_apply(MotorControl *mc, float abs_erpm, RunState state, float time);
+void motor_control_apply(MotorControl *mc, MotorData *md, RunState state, float time);
 
 void motor_control_play_tone(MotorControl *mc, uint16_t frequency, float intensity);
 

src/motor_data.h

@@ -30,6 +30,7 @@ typedef struct {
     float abs_erpm_smooth;
     float last_erpm;
     int8_t erpm_sign;
+    int8_t last_erpm_sign;  // last erpm sign prior to footpads disengaging
 
     float current;
     bool braking;