Regen Testing and Calculate Vehicle Speed Off eRPM

Autogen/CAN/Doc/GRCAN.CANdo

@@ -560,7 +560,7 @@ Message ID:
       data type: u4
     Torque Map:
       bit_start: 36
-      comment: The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 50 / 100 / 150 / 200 / 250 / 275, 2 and later is tbd
+      comment: The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 100 / 200 / 250 / 300 / 325 / 350 Amps, 2 and later is tbd
       data type: u4
     Max Cell Temp:
       bit_start: 40
@@ -668,7 +668,7 @@ Message ID:
       units: Volts
       scaled min: 0
       scaled max: 655.35
-      map equation: "0.01x"
+      map equation: "0.1x"
     Accumulator Current:
       bit_start: 32
       comment: Current output of accumulator

Autogen/CAN/Doc/GRCAN_Charger.dbc

@@ -41,7 +41,7 @@ BO_ 2550588916 ACU_Charger_Control_to_Charger: 5 ACU
 
 BO_ 2150631170 ACU_ACU_Status_1_to_CCU: 8 ACU
  SG_ Accumulator_Voltage : 0|16@1+ (0.01,0) [0|655.35] "Volts"  CCU
- SG_ TS_Voltage : 16|16@1+ (0.01,0) [0|655.35] "Volts"  CCU
+ SG_ TS_Voltage : 16|16@1+ (0.1,0) [0|655.35] "Volts"  CCU
  SG_ Accumulator_Current : 32|16@1- (0.01,0) [-327.68|327.67] "Amps"  CCU
  SG_ Accumulator_SOC : 48|8@1+ (0.3921568627,0) [0|100] "%"  CCU
  SG_ GLV_SOC : 56|8@1+ (0.3921568627,0) [0|100] "%"  CCU

Autogen/CAN/Doc/GRCAN_Primary.dbc

@@ -45,7 +45,7 @@ BO_ 2150629890 ACU_Ping_to_ECU: 4 ACU
 
 BO_ 2150631170 ACU_ACU_Status_1_to_ECU: 8 ACU
  SG_ Accumulator_Voltage : 0|16@1+ (0.01,0) [0|655.35] "Volts"  ECU
- SG_ TS_Voltage : 16|16@1+ (0.01,0) [0|655.35] "Volts"  ECU
+ SG_ TS_Voltage : 16|16@1+ (0.1,0) [0|655.35] "Volts"  ECU
  SG_ Accumulator_Current : 32|16@1- (0.01,0) [-327.68|327.67] "Amps"  ECU
  SG_ Accumulator_SOC : 48|8@1+ (0.3921568627,0) [0|100] "%"  ECU
  SG_ GLV_SOC : 56|8@1+ (0.3921568627,0) [0|100] "%"  ECU
@@ -515,7 +515,7 @@ CM_ SG_ 2149581568 Ping_Group_1 "[Byte 1 / Bits 8-15] ECU ping targets 8: ACU (1
 CM_ SG_ 2149581568 Ping_Group_2 "[Byte 2 / Bits 16-23] ECU ping targets 16: Suspension FL (1: OK, 0: Timeout) 17: Suspension FR (1: OK, 0: Timeout) 18: Suspension RL (1: OK, 0: Timeout) 19: Suspension RR (1: OK, 0: Timeout) 20: InboardFloor FL (1: OK, 0: Timeout) 21: InboardFloor FR (1: OK, 0: Timeout) 22: InboardFloor RL (1: OK, 0: Timeout) 23: InboardFloor RR (1: OK, 0: Timeout)";
 CM_ SG_ 2149581568 Ping_Group_3 "[Byte 3 / Bits 24-31] ECU ping targets 24: TireTemp FL (1: OK, 0: Timeout) 25: TireTemp FR (1: OK, 0: Timeout) 26: TireTemp RL (1: OK, 0: Timeout) 27: TireTemp RR (1: OK, 0: Timeout) 28: BrakeTemp FL (1: OK, 0: Timeout) 29: BrakeTemp FR (1: OK, 0: Timeout) 30: BrakeTemp RL (1: OK, 0: Timeout) 31: BrakeTemp RR (1: OK, 0: Timeout)";
 CM_ SG_ 2149581568 Power_Level "Controls the AC current limits to each of the inverters Discrete Mapping, actual current values described by the torque map";
-CM_ SG_ 2149581568 Torque_Map "The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 50 / 100 / 150 / 200 / 250 / 275, 2 and later is tbd";
+CM_ SG_ 2149581568 Torque_Map "The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 100 / 200 / 250 / 300 / 325 / 350 Amps, 2 and later is tbd";
 CM_ SG_ 2149581568 Max_Cell_Temp "the Temp of the hottest cell of the accumulator";
 CM_ SG_ 2149581568 Accumulator_State_of_Chg "% charged of the Accumulator";
 CM_ SG_ 2149581568 GLV_State_of_Chg "% charged of the Low Voltage Bat";

Autogen/CAN/Inc/GRCAN_MSG_DATA.h

@@ -53,8 +53,8 @@ See diagram in StateMachine.h (Byte 0) */
 31: BrakeTemp RR (1: OK, 0: Timeout) (Byte 3) */
 	uint8_t ping_group_3;
 	/** Controls the AC current limits to each of the inverters
-Discrete Mapping, actual current values described by the torque map The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 50
-/ 100 / 150 / 200 / 250 / 275, 2 and later is tbd (Byte 4) */
+Discrete Mapping, actual current values described by the torque map The torque map selected; torque map is the mapping of the throttle to the torque sent to each motor. 0 is max current amps, 1 is 100
+/ 200 / 250 / 300 / 325 / 350 Amps, 2 and later is tbd (Byte 4) */
 	uint8_t power_level_torque_map;
 	/** the Temp of the hottest cell of the accumulator (Byte 5) */
 	uint8_t max_cell_temp;

CCU/Application/Src/StateUtils.c

@@ -89,7 +89,7 @@ void VCP_Oneliner(const CCU_StateData *state_data)
 	length = snprintf(buffer, sizeof(buffer), " | IR+ %s", state_data->IR_PLUS ? "Closed" : "Open");
 	VCP_Send(buffer, length);
 
-	length = snprintf(buffer, sizeof(buffer), " | %huV", state_data->Accumulator_Voltage / 100);
+	length = snprintf(buffer, sizeof(buffer), " | %huV", state_data->Accumulator_Voltage / 10);
 	VCP_Send(buffer, length);
 
 	length = snprintf(buffer, sizeof(buffer), " | SOC %hu%%", (uint8_t)(state_data->Accumulator_SOC * 20.0f / 51.0f));

ECU/Application/Inc/CANdler.h

@@ -2,6 +2,7 @@
 #include <stdint.h>
 
 #include "GRCAN_BUS_ID.h"
+#include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
 #include "StateData.h"
@@ -11,4 +12,6 @@
 
 void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id, uint8_t *data, uint32_t data_length);
 
+void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length);
+
 #endif

ECU/Application/Inc/Lights.h

@@ -12,6 +12,8 @@
  *
  * @return void
  */
+void BrakeLightControl(ECU_StateData *stateLump);
+void dashLights(ECU_StateData *stateLump);
 void lightControl(ECU_StateData *stateData);
 
 #endif

ECU/Application/Inc/StateData.h

@@ -116,9 +116,7 @@ typedef volatile struct ECU_StateData {
 	bool ir_minus;
 	bool acu_software_latch;
 
-	bool bms_light;
-	bool imd_light;
-	bool tssi_fault;
+	bool SDC_startup_condition;
 
 	bool enable_regen;
 

ECU/Application/Inc/StateUtils.h

@@ -14,10 +14,10 @@ uint32_t MillisecondsSinceBoot(void);
 #define MAX_APPS_IMPLAUSIBLE_TIME_MS 100
 #define MAX_BUZZER_TIME_MS 1000
 
-#define REGEN_MIN_SPEED_MPH 3.106856f // MPH
+#define REGEN_MIN_SPEED_MPH 3.106856f // 5 KPH
 
-#define MAX_CURRENT_AMPS 300.0f	       // Determined by Ryan
-#define MAX_REVERSE_CURRENT_AMPS 20.0f // TODO: Change as appropriate
+#define MAX_CURRENT_AMPS 375.0f	       // Determined by Ryan
+#define MAX_REVERSE_CURRENT_AMPS 30.0f // TODO: Change as appropriate
 
 #define ECU_STATUS_MSG_PERIOD_MILLIS (1000)
 #define TRACTIVE_SYSTEM_MAX_PERMITTED_DISCHARGE_TIME_MILLIS (5000)
@@ -74,7 +74,6 @@ bool PressingBrake(volatile const ECU_StateData *stateData);
 float CalcBrakePressure(volatile const ECU_StateData *stateData);
 float CalcAccPedalTravel(volatile const ECU_StateData *stateData);
 bool APPS_Plausible(volatile const ECU_StateData *stateData);
-bool vehicle_is_moving(volatile const ECU_StateData *stateData);
 /* Disable inverter for both DTI and Custom */
 void disable_inverter(void);
 void Send_VCP_APPS(const ECU_StateData *stateData, uint16_t apps1_raw, uint16_t apps2_raw);

ECU/Application/Src/CANdler.c

@@ -1,16 +1,24 @@
 #include "CANdler.h"
 
+#include <math.h>
 #include <stdint.h>
 
 #include "GRCAN_BUS_ID.h"
+#include "GRCAN_CUSTOM_ID.h"
 #include "GRCAN_MSG_ID.h"
 #include "GRCAN_NODE_ID.h"
 #include "Logomatic.h"
 #include "Pinging.h"
 #include "StateData.h"
 #include "bitManipulations.h"
 
-#define WHEEL_RPM_TO_MPH_RATIO 0.0476f
+#define WHEEL_RADIUS_INCHES 8.0f
+#define WHEEL_CIRCUMFERENCE_INCHES (2.0f * (float)M_PI * WHEEL_RADIUS_INCHES)
+#define WHEEL_RPM_TO_MPH_RATIO (WHEEL_CIRCUMFERENCE_INCHES / 63360.0f * 60.0f)
+#define NUM_MOTOR_POLE_PAIRS 10
+#define DRIVEN_SPROCKET_TEETH 51.0f
+#define DRIVING_SPROCKET_TEETH 19.0f
+#define GEAR_RATIO (51.0f / 19.0f)
 
 void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
 {
@@ -63,7 +71,7 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 			GRCAN_ACU_STATUS_1_MSG *acu_status_1 = (GRCAN_ACU_STATUS_1_MSG *)data;
 			state_data->tractivebattery_soc = acu_status_1->accumulator_soc;
 			state_data->glv_soc = acu_status_1->glv_soc;
-			state_data->ts_voltage = acu_status_1->ts_voltage * 0.01f;
+			state_data->ts_voltage = acu_status_1->ts_voltage * 0.1f;
 			break;
 
 		case GRCAN_ACU_STATUS_2:
@@ -156,3 +164,22 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 			break;
 	}
 }
+
+void ECU_CAN_DTI_MessageHandler(ECU_StateData *state_data, GRCAN_CUSTOM_ID id, uint8_t *data, uint32_t data_length)
+{
+	switch (id) {
+		case DTI_DATA_1_CAN_ID:
+			if (data_length != 8) {
+				ReportBadMessageLength(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
+				break;
+			}
+			int32_t erpm = ((uint32_t)data[0] << 24) | ((uint32_t)data[1] << 16) | ((uint32_t)data[2] << 8) | ((uint32_t)data[3]);
+			state_data->vehicle_speed_mph = (float)erpm * WHEEL_RPM_TO_MPH_RATIO / (NUM_MOTOR_POLE_PAIRS * GEAR_RATIO);
+			break;
+
+		default:
+			// don't really gaf
+			// ReportUnhandledMessage(GRCAN_BUS_PRIMARY, (GRCAN_MSG_ID)id, GRCAN_DTI_Inv);
+			break;
+	}
+}

ECU/Application/Src/CANutils.c

@@ -132,7 +132,7 @@ void SendECUAnalogDataOverCAN(const ECU_StateData *stateData)
 	uint32_t millis_since_boot = MillisecondsSinceBoot();
 
 	static uint32_t last_can_tcm_request_millis = 0;
-	if (millis_since_boot - last_can_tcm_request_millis > 100) {
+	if (millis_since_boot - last_can_tcm_request_millis > 30) {
 		GRCAN_ECU_ANALOG_DATA_MSG message = {.bspd_signal = stateData->bspd_signal,
 						     .bse_signal = stateData->bse_signal,
 						     .apps_1_signal = stateData->APPS1_Signal,

ECU/Application/Src/Lights.c

@@ -13,14 +13,19 @@
 
 void BrakeLightControl(ECU_StateData *stateLump)
 {
+	static uint32_t brake_light_start_millis;
+
 	if (PressingBrake(stateLump)) {
+		brake_light_start_millis = MillisecondsSinceBoot();
+	}
+
+	if (MillisecondsSinceBoot() - brake_light_start_millis < 100) {
 		LL_GPIO_SetOutputPin(BRAKE_LIGHT_GPIO_Port, BRAKE_LIGHT_Pin);
 	} else {
 		LL_GPIO_ResetOutputPin(BRAKE_LIGHT_GPIO_Port, BRAKE_LIGHT_Pin);
 	}
 }
 
-static bool SDCStartupCondition = true; // prevent false positive TSSI on startup
 // PRECONDITION: IMD assumed to give valid readings before this is run
 void TSSILightControl(ECU_StateData *stateLump)
 {
@@ -30,16 +35,16 @@ void TSSILightControl(ECU_StateData *stateLump)
 	bool redCar;
 
 	// if we are before SDC is reset, don't red car unless there is an active failure
-	if (SDCStartupCondition) {
+	if (stateLump->SDC_startup_condition) {
 		redCar = false;
 
 		SDC_Level bms = bmsLevel(stateLump);
 		SDC_Level imd = imdLevel(stateLump);
 
 		if (bms == SDC_OK && imd == SDC_OK) {
-			SDCStartupCondition = false;
+			stateLump->SDC_startup_condition = false;
 		} else if (bms == SDC_ONGOING_FAILURE || imd == SDC_ONGOING_FAILURE) {
-			SDCStartupCondition = false;
+			stateLump->SDC_startup_condition = false;
 			redCar = true;
 		}
 	} else {
@@ -143,8 +148,13 @@ void dashLights(ECU_StateData *stateLump)
 
 	GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (bms_nonlatch << 5) | (imd_nonlatch << 4) | (bspd_nonlatch << 3) | (bms_latch << 2) | (imd_latch << 1) | (bspd_latch << 0)};
 	*/
-	GRCAN_DASH_CONFIG_MSG message = {.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
-							    (imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
+	GRCAN_DASH_CONFIG_MSG message;
+	if (stateLump->SDC_startup_condition) {
+		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (true << 5) | (true << 4) | (true << 3) | (false << 2) | (false << 1) | (false << 0)};
+	} else {
+		message = (GRCAN_DASH_CONFIG_MSG){.led_latch_flags = (!bspdFailure(stateLump) << 5) | (!imdFailure(stateLump) << 4) | (!bmsFailure(stateLump) << 3) | (bspdFailure(stateLump) << 2) |
+								     (imdFailure(stateLump) << 1) | (bmsFailure(stateLump) << 0)};
+	}
 
 	message.led_latch_flags = ~message.led_latch_flags; // not to spec, needed as of the current iteration of the dash panel code
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Dash_Panel, GRCAN_DASH_CONFIG, &message, sizeof(message));

ECU/Application/Src/StateTicks.c

@@ -31,8 +31,8 @@ ECU_StateData stateLump = {
     .ecu_state = GR_GLV_ON,
     // Assume ACU good at boot
     .acu_software_latch = 1,
-    // Startup at just above minimum power
-    .powerlevel = 1,
+    // Startup at minimum power
+    .powerlevel = 0,
     // See CANdo specification
     .torquemap = 1,
     // APPS Deadzone
@@ -59,7 +59,8 @@ ECU_StateData stateLump = {
     .apps_2_max = 1926,
     // Regen
     .regen_strength = 2,
-    .enable_regen = false};
+    .enable_regen = false,
+    .SDC_startup_condition = true};
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)
@@ -233,12 +234,11 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		LL_GPIO_ResetOutputPin(RTD_CONTROL_GPIO_Port, RTD_CONTROL_Pin);
 	} else {
 		LL_GPIO_SetOutputPin(RTD_CONTROL_GPIO_Port, RTD_CONTROL_Pin);
-		// LOGOMATIC("buzz!\n");
 	}
 
 	if (stateData->rtd_button_pressed) {
 		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
-		if (vehicle_is_moving(stateData)) {
+		if (stateData->vehicle_speed_mph > 0) {
 			LOGOMATIC("Warning: Vehicle is moving during state transition.\n");
 		}
 		return;
@@ -260,29 +260,29 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 
 	if (stateData->apps_bse_violation || !apps_plausible) {
 		torque_request = 0;
-	} else if (stateData->enable_regen && PressingBrake(stateData) && 0 > REGEN_MIN_SPEED_MPH) { // stateData->vehicle_speed_mph
+	} else if (stateData->enable_regen && PressingBrake(stateData) && stateData->vehicle_speed_mph > REGEN_MIN_SPEED_MPH) {
 		torque_request = -MIN_WITH_TYPES(CalcBrakePressure(stateData) / 5000.0f * stateData->regen_strength, 1.0f) * MAX_REVERSE_CURRENT_AMPS;
 	} else {
 		uint16_t max_current = 0;
 		// Chosen max current for different power level / torque maps
 		switch (stateData->powerlevel) {
 			case 0:
-				max_current = 50;
+				max_current = 325;
 				break;
 			case 1:
-				max_current = 100;
+				max_current = 325;
 				break;
 			case 2:
-				max_current = 150;
+				max_current = 325;
 				break;
 			case 3:
-				max_current = 200;
+				max_current = 325;
 				break;
 			case 4:
-				max_current = 250;
+				max_current = 325;
 				break;
 			case 5:
-				max_current = 275;
+				max_current = 325;
 				break;
 			default:
 				LOGOMATIC("Invalid power level: %d. Defaulting to no current.\n", stateData->powerlevel);

ECU/Application/Src/StateUtils.c

@@ -140,7 +140,7 @@ bool PressingBrake(volatile const ECU_StateData *stateData)
 	}
 #endif
 
-	return (stateData->Brake_F_Signal > stateData->brake_f_min) || (stateData->Brake_R_Signal > stateData->brake_r_min);
+	return stateData->bse_signal > stateData->brake_bse_min;
 }
 
 float CalcBrakePressure(volatile const ECU_StateData *stateData)
@@ -149,9 +149,7 @@ float CalcBrakePressure(volatile const ECU_StateData *stateData)
 	return 0;
 #endif
 
-	float psi_front = stateData->Brake_F_Signal / 4096.0f * 5000.0f;
-	float psi_rear = stateData->Brake_R_Signal / 4096.0f * 5000.0f;
-	return fmaxf(psi_front, psi_rear);
+	return ((float)stateData->bse_signal - 654.09f) * 5000.0f / 2614.73f;
 }
 
 // TODO: reconsider deadzone
@@ -175,15 +173,9 @@ bool APPS_Plausible(volatile const ECU_StateData *stateData)
 	return error < 0.1f;
 }
 
-bool vehicle_is_moving(volatile const ECU_StateData *stateData)
-{
-	const float tolerance = 0.1f; // In MPH
-	return stateData->vehicle_speed_mph > tolerance;
-}
-
 void disable_inverter(void)
 {
-	GRCAN_INV_CMD_MSG inverter_msg = {.drive_enable = 0, .field_weakening = 0, .rpm_limit = 0, .set_ac_current = 0, .set_dc_current = 0};
+	GRCAN_INV_CMD_MSG inverter_msg = {.drive_enable = 0, .field_weakening = 0, .rpm_limit = 0, .set_ac_current = 32768, .set_dc_current = 32768};
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inv, GRCAN_INV_CMD, &inverter_msg, sizeof(inverter_msg));
 	ECU_CAN_Send_DTI(DTI_CONTROL_12_CAN_ID, &inverter_msg.drive_enable, 1);
 }