diff --git a/AMS__interface__test_8h.html b/AMS__interface__test_8h.html index aaaff4d0a..e95201cb9 100644 --- a/AMS__interface__test_8h.html +++ b/AMS__interface__test_8h.html @@ -181,7 +181,7 @@

AMSInterface::heartbeat_received
bool heartbeat_received(unsigned long curr_millis)
Definition: AMSInterface.cpp:30
AMSInterface::init
void init(unsigned long curr_millis)
Definition: AMSInterface.cpp:3
AMSInterface::set_start_state
void set_start_state()
Definition: AMSInterface.cpp:12
-
ams_interface
AMSInterface ams_interface(8)
Definition: main.cpp:138
+
ams_interface
AMSInterface ams_interface(8)
Definition: main.cpp:148
diff --git a/AMS__interface__test_8h_source.html b/AMS__interface__test_8h_source.html index bac7b2d99..15d94d244 100644 --- a/AMS__interface__test_8h_source.html +++ b/AMS__interface__test_8h_source.html @@ -140,7 +140,7 @@
AMSInterface::heartbeat_received
bool heartbeat_received(unsigned long curr_millis)
Definition: AMSInterface.cpp:30
AMSInterface::init
void init(unsigned long curr_millis)
Definition: AMSInterface.cpp:3
AMSInterface::set_start_state
void set_start_state()
Definition: AMSInterface.cpp:12
-
ams_interface
AMSInterface ams_interface(8)
Definition: main.cpp:138
+
ams_interface
AMSInterface ams_interface(8)
Definition: main.cpp:148
diff --git a/CASESystem_8h.html b/CASESystem_8h.html index 316d50181..cb29db5b4 100644 --- a/CASESystem_8h.html +++ b/CASESystem_8h.html @@ -84,6 +84,8 @@ #include "DrivetrainSystem.h"
#include "SteeringSystem.h"
#include "MCUStateMachine.h"
+#include "ProtobufMsgInterface.h"
+#include "ParameterInterface.h"
#include "CASESystem.tpp"

Go to the source code of this file.

diff --git a/CASESystem_8h_source.html b/CASESystem_8h_source.html index bd1336956..874972c5a 100644 --- a/CASESystem_8h_source.html +++ b/CASESystem_8h_source.html @@ -85,196 +85,324 @@
7#include "DrivetrainSystem.h"
8#include "SteeringSystem.h"
9#include "MCUStateMachine.h"
-
10
-
11struct CASEConfiguration
-
12{
-
13 float AbsoluteTorqueLimit;
-
14 float yaw_pid_p;
-
15 float yaw_pid_i;
-
16 float yaw_pid_d;
-
17 float tcs_pid_p;
-
18 float tcs_pid_i;
-
19 float tcs_pid_d;
-
20 bool useLaunch;
-
21 bool usePIDTV;
-
22 bool useTCSLimitedYawPID;
-
23 bool useNormalForce;
-
24 bool useTractionControl;
-
25 bool usePowerLimit;
-
26 bool usePIDPowerLimit;
-
27 bool useDecoupledYawBrakes;
-
28 bool useDiscontinuousYawPIDBrakes;
-
29 float tcsSLThreshold;
-
30 float launchSL;
-
31 float launchDeadZone;
-
32 float launchVelThreshold;
-
33 float tcsVelThreshold;
-
34 float yawPIDMaxDifferential;
-
35 float yawPIDErrorThreshold;
-
36 float yawPIDVelThreshold;
-
37 float yawPIDCoastThreshold;
-
38 float yaw_pid_brakes_p;
-
39 float yaw_pid_brakes_i;
-
40 float yaw_pid_brakes_d;
-
41 float decoupledYawPIDBrakesMaxDIfference;
-
42 float discontinuousBrakesPercentThreshold;
-
43 float TorqueMode;
-
44 float RegenLimit;
-
45 bool useNoRegen5kph;
-
46 bool useTorqueBias;
-
47 float DriveTorquePercentFront;
-
48 float BrakeTorquePercentFront;
-
49 float MechPowerMaxkW;
-
50
-
51 float max_rpm;
-
52 float max_regen_torque;
-
53 float max_torque;
-
54};
-
55
-
57// this class will also handle output onto the CAN bus of data
-
59template <typename message_queue>
-
60class CASESystem
-
61{
-
62public:
-
67 CASESystem(
-
68 message_queue *can_queue,
-
69 unsigned long controller_send_period_ms,
-
70 unsigned long vehicle_math_offset_ms,
-
71 CASEConfiguration config)
-
72 {
-
73 msg_queue_ = can_queue;
-
74 case_.initialize();
-
75 vn_active_start_time_ = 0;
-
76 config_ = config;
-
77 last_controller_pt1_send_time_ = 0;
-
78 last_controller_pt2_send_time_ = 0;
-
79
-
80 controller_send_period_ms_ = controller_send_period_ms;
-
81 last_vehm_send_time_ = 0;
-
82 vehicle_math_offset_ms_ = vehicle_math_offset_ms;
-
83 }
-
84
-
96 DrivetrainCommand_s evaluate(
-
97 const SysTick_s &tick,
-
98 const vector_nav &vn_data,
-
99 const SteeringSystemData_s &steering_data,
-
100 const DrivetrainDynamicReport_s &drivetrain_data,
-
101 const veh_vec<AnalogConversion_s> &load_cell_vals,
-
102 const PedalsSystemData_s &pedals_data,
-
103 float power_kw,
-
104 CAR_STATE fsm_state,
-
105 bool start_button_pressed,
-
106 uint8_t vn_status);
-
107
-
108 void update_pid(float yaw_p, float yaw_i, float yaw_d, float tcs_p, float tcs_i, float tcs_d, float brake_p, float brake_i, float brake_d)
+
10#include "ProtobufMsgInterface.h"
+
11#include "ParameterInterface.h"
+
12
+
13struct CASEConfiguration
+
14{
+
15 float AbsoluteTorqueLimit;
+
16 float yaw_pid_p;
+
17 float yaw_pid_i;
+
18 float yaw_pid_d;
+
19 float tcs_pid_p_lowerBound_front;
+
20 float tcs_pid_p_upperBound_front;
+
21 float tcs_pid_p_lowerBound_rear;
+
22 float tcs_pid_p_upperBound_rear;
+
23 float tcs_pid_i;
+
24 float tcs_pid_d;
+
25 bool useLaunch;
+
26 bool usePIDTV;
+
27 bool useTCSLimitedYawPID;
+
28 bool useNormalForce;
+
29 bool useTractionControl;
+
30 bool usePowerLimit;
+
31 bool usePIDPowerLimit;
+
32 bool useDecoupledYawBrakes;
+
33 bool useDiscontinuousYawPIDBrakes;
+
34 float tcsSLThreshold;
+
35 float launchSL;
+
36 float launchDeadZone;
+
37 float launchVelThreshold;
+
38 float tcsVelThreshold;
+
39 float yawPIDMaxDifferential;
+
40 float yawPIDErrorThreshold;
+
41 float yawPIDVelThreshold;
+
42 float yawPIDCoastThreshold;
+
43 float yaw_pid_brakes_p;
+
44 float yaw_pid_brakes_i;
+
45 float yaw_pid_brakes_d;
+
46 float decoupledYawPIDBrakesMaxDIfference;
+
47 float discontinuousBrakesPercentThreshold;
+
48 float TorqueMode;
+
49 float RegenLimit;
+
50 bool useNoRegen5kph;
+
51 bool useTorqueBias;
+
52 float DriveTorquePercentFront;
+
53 float BrakeTorquePercentFront;
+
54 float MechPowerMaxkW;
+
55 float launchLeftRightMaxDiff;
+
56 float tcs_pid_lower_rpm_front;
+
57 float tcs_pid_upper_rpm_front;
+
58 float tcs_pid_lower_rpm_rear;
+
59 float tcs_pid_upper_rpm_rear;
+
60 float maxNormalLoadBrakeScalingFront;
+
61 float tcs_saturation_front;
+
62 float tcs_saturation_rear;
+
63 float TCSGenLeftRightDiffLowerBound;
+
64 float TCSGenLeftRightDiffUpperBound;
+
65 float TCSWheelSteerLowerBound;
+
66 float TCSWheelSteerUpperBound;
+
67 bool useRPM_TCS_GainSchedule;
+
68 bool useNL_TCS_GainSchedule;
+
69 float TCS_NL_startBoundPerc_FrontAxle;
+
70 float TCS_NL_endBoundPerc_FrontAxle;
+
71 float TCS_NL_startBoundPerc_RearAxle;
+
72 float TCS_NL_endBoundPerc_RearAxle;
+
73 bool useNL_TCS_SlipSchedule;
+
74 float launchSL_startBound_Front;
+
75 float launchSL_endBound_Front;
+
76 float launchSL_startBound_Rear;
+
77 float launchSL_endBound_Rear;
+
78 float TCS_SL_startBound_Front;
+
79 float TCS_SL_endBound_Front;
+
80 float TCS_SL_startBound_Rear;
+
81 float TCS_SL_endBound_Rear;
+
82 float TCS_SL_NLPerc_startBound_Front;
+
83 float TCS_SL_NLPerc_endBound_Front;
+
84 float TCS_SL_NLPerc_startBound_Rear;
+
85 float TCS_SL_NLPerc_endBound_Rear;
+
86
+
87 float max_rpm;
+
88 float max_regen_torque;
+
89 float max_torque;
+
90};
+
91
+
93// this class will also handle output onto the CAN bus of data
+
95template <typename message_queue>
+
96class CASESystem
+
97{
+
98public:
+
103 CASESystem(
+
104 message_queue *can_queue,
+
105 unsigned long controller_send_period_ms,
+
106 unsigned long vehicle_math_offset_ms,
+
107 unsigned long lowest_controller_send_period_ms,
+
108 CASEConfiguration config)
109 {
-
110 config_.yaw_pid_p = yaw_p;
-
111 config_.yaw_pid_p = yaw_i;
-
112 config_.yaw_pid_p = yaw_d;
-
113
-
114 config_.tcs_pid_p = tcs_p;
-
115 config_.tcs_pid_i = tcs_i;
-
116 config_.tcs_pid_d = tcs_d;
-
117
-
118 config_.yaw_pid_brakes_p = brake_p;
-
119 config_.yaw_pid_brakes_i = brake_i;
-
120 config_.yaw_pid_brakes_d = brake_d;
-
121 }
-
122 float calculate_torque_request(const PedalsSystemData_s &pedals_data, float max_regen_torque, float max_rpm);
-
125 void configure(const CASEConfiguration &config)
-
126 {
-
127 config_ = config;
-
128 }
-
129 float get_rpm_setpoint(float final_torque)
-
130 {
-
131 if (final_torque > 0)
-
132 {
-
133 return config_.max_rpm;
-
134 }
-
135 else
-
136 {
-
137 return 0;
-
138 }
-
139 }
-
140
-
141private:
-
142 CASEConfiguration config_;
-
143 message_queue *msg_queue_;
-
144 HT08_CASE case_;
-
145
-
146 unsigned long vn_active_start_time_, last_eval_time_, vehicle_math_offset_ms_, last_controller_pt1_send_time_, last_controller_pt2_send_time_, last_controller_pt3_send_time_, last_vehm_send_time_, controller_send_period_ms_;
-
147};
-
148
-
149#include "CASESystem.tpp"
-
150#endif
+
110 msg_queue_ = can_queue;
+
111 case_.initialize();
+
112 vn_active_start_time_ = 0;
+
113 config_ = config;
+
114 last_controller_pt1_send_time_ = 0;
+
115 last_controller_pt2_send_time_ = 0;
+
116 last_controller_pt3_send_time_ = 0;
+
117 last_lowest_priority_controller_send_time_ = 0;
+
118
+
119 controller_send_period_ms_ = controller_send_period_ms;
+
120 last_vehm_send_time_ = 0;
+
121 vehicle_math_offset_ms_ = vehicle_math_offset_ms;
+
122 lowest_priority_controller_send_period_ms_ = lowest_controller_send_period_ms;
+
123 }
+
124
+
136 DrivetrainCommand_s evaluate(
+
137 const SysTick_s &tick,
+
138 const vector_nav &vn_data,
+
139 const SteeringSystemData_s &steering_data,
+
140 const DrivetrainDynamicReport_s &drivetrain_data,
+
141 const veh_vec<AnalogConversion_s> &load_cell_vals,
+
142 const PedalsSystemData_s &pedals_data,
+
143 float power_kw,
+
144 CAR_STATE fsm_state,
+
145 bool start_button_pressed,
+
146 uint8_t vn_status);
+
147
+
148 // void update_pid(float yaw_p, float yaw_i, float yaw_d, float tcs_p, float tcs_i, float tcs_d, float brake_p, float brake_i, float brake_d)
+
149 // {
+
150 // config_.yaw_pid_p = yaw_p;
+
151 // config_.yaw_pid_p = yaw_i;
+
152 // config_.yaw_pid_p = yaw_d;
+
153
+
154 // config_.tcs_pid_p = tcs_p;
+
155 // config_.tcs_pid_i = tcs_i;
+
156 // config_.tcs_pid_d = tcs_d;
+
157
+
158 // config_.yaw_pid_brakes_p = brake_p;
+
159 // config_.yaw_pid_brakes_i = brake_i;
+
160 // config_.yaw_pid_brakes_d = brake_d;
+
161 // }
+
162
+
163 float calculate_torque_request(const PedalsSystemData_s &pedals_data, float max_regen_torque, float max_rpm);
+
166
+
167 void update_config_from_param_interface(ParameterInterface &param_interface_ref)
+
168 {
+
169 config cfg = param_interface_ref.get_config();
+
170 config_.AbsoluteTorqueLimit = cfg.AbsoluteTorqueLimit;
+
171 config_.yaw_pid_p = cfg.yaw_pid_p;
+
172 config_.yaw_pid_i = cfg.yaw_pid_i;
+
173 config_.yaw_pid_d = cfg.yaw_pid_d;
+
174 config_.tcs_pid_p_lowerBound_front = cfg.tcs_pid_p_lowerBound_front;
+
175 config_.tcs_pid_p_upperBound_front = cfg.tcs_pid_p_upperBound_front;
+
176 config_.tcs_pid_p_lowerBound_rear = cfg.tcs_pid_p_lowerBound_rear;
+
177 config_.tcs_pid_p_upperBound_rear = cfg.tcs_pid_p_upperBound_rear;
+
178 config_.tcs_pid_i = cfg.tcs_pid_i;
+
179 config_.tcs_pid_d = cfg.tcs_pid_d;
+
180 config_.useLaunch = cfg.useLaunch;
+
181 config_.usePIDTV = cfg.usePIDTV;
+
182 config_.useTCSLimitedYawPID = cfg.useTCSLimitedYawPID;
+
183 config_.useNormalForce = cfg.useNormalForce;
+
184 config_.useTractionControl = cfg.useTractionControl;
+
185 config_.usePowerLimit = cfg.usePowerLimit;
+
186 config_.usePIDPowerLimit = cfg.usePIDPowerLimit;
+
187 config_.useDecoupledYawBrakes = cfg.useDecoupledYawBrakes;
+
188 config_.useDiscontinuousYawPIDBrakes = cfg.useDiscontinuousYawPIDBrakes;
+
189 config_.tcsSLThreshold = cfg.tcsSLThreshold;
+
190 config_.launchSL = cfg.launchSL;
+
191 config_.launchDeadZone = cfg.launchDeadZone;
+
192 config_.launchVelThreshold = cfg.launchVelThreshold;
+
193 config_.tcsVelThreshold = cfg.tcsVelThreshold;
+
194 config_.yawPIDMaxDifferential = cfg.yawPIDMaxDifferential;
+
195 config_.yawPIDErrorThreshold = cfg.yawPIDErrorThreshold;
+
196 config_.yawPIDVelThreshold = cfg.yawPIDVelThreshold;
+
197 config_.yawPIDCoastThreshold = cfg.yawPIDCoastThreshold;
+
198 config_.yaw_pid_brakes_p = cfg.yaw_pid_brakes_p;
+
199 config_.yaw_pid_brakes_i = cfg.yaw_pid_brakes_i;
+
200 config_.yaw_pid_brakes_d = cfg.yaw_pid_brakes_d;
+
201 config_.decoupledYawPIDBrakesMaxDIfference = cfg.decoupledYawPIDBrakesMaxDIfference;
+
202 config_.discontinuousBrakesPercentThreshold = cfg.discontinuousBrakesPercentThreshold;
+
203 config_.TorqueMode = cfg.TorqueMode;
+
204 config_.RegenLimit = cfg.RegenLimit;
+
205 config_.useNoRegen5kph = cfg.useNoRegen5kph;
+
206 config_.useTorqueBias = cfg.useTorqueBias;
+
207 config_.DriveTorquePercentFront = cfg.DriveTorquePercentFront;
+
208 config_.BrakeTorquePercentFront = cfg.BrakeTorquePercentFront;
+
209 config_.MechPowerMaxkW = cfg.MechPowerMaxkW;
+
210 config_.launchLeftRightMaxDiff = cfg.launchLeftRightMaxDiff;
+
211 config_.tcs_pid_lower_rpm_front = cfg.tcs_pid_lower_rpm_front;
+
212 config_.tcs_pid_upper_rpm_front = cfg.tcs_pid_upper_rpm_front;
+
213 config_.tcs_pid_lower_rpm_rear = cfg.tcs_pid_lower_rpm_rear;
+
214 config_.tcs_pid_upper_rpm_rear = cfg.tcs_pid_upper_rpm_rear;
+
215 config_.maxNormalLoadBrakeScalingFront = cfg.maxNormalLoadBrakeScalingFront;
+
216 config_.max_rpm = cfg.max_rpm;
+
217 config_.max_regen_torque = cfg.max_regen_torque;
+
218 config_.max_torque = cfg.max_torque;
+
219 }
+
220 float get_rpm_setpoint(float final_torque)
+
221 {
+
222 if (final_torque > 0)
+
223 {
+
224 return config_.max_rpm;
+
225 }
+
226 else
+
227 {
+
228 return 0;
+
229 }
+
230 }
+
231
+
232private:
+
233 CASEConfiguration config_;
+
234 message_queue *msg_queue_;
+
235 HT08_CASE case_;
+
236
+
237 unsigned long vn_active_start_time_, last_eval_time_, vehicle_math_offset_ms_, last_controller_pt1_send_time_, last_controller_pt2_send_time_, last_controller_pt3_send_time_, last_vehm_send_time_, controller_send_period_ms_, lowest_priority_controller_send_period_ms_, last_lowest_priority_controller_send_time_;
+
238};
+
239
+
240#include "CASESystem.tpp"
+
241#endif
CAR_STATE
CAR_STATE
Definition: MCUStateMachine.h:18
-
CASESystem
this class with both take in sensor inputs as well as handle calculations for various derived states ...
Definition: CASESystem.h:61
+
CASESystem
this class with both take in sensor inputs as well as handle calculations for various derived states ...
Definition: CASESystem.h:97
CASESystem::evaluate
DrivetrainCommand_s evaluate(const SysTick_s &tick, const vector_nav &vn_data, const SteeringSystemData_s &steering_data, const DrivetrainDynamicReport_s &drivetrain_data, const veh_vec< AnalogConversion_s > &load_cell_vals, const PedalsSystemData_s &pedals_data, float power_kw, CAR_STATE fsm_state, bool start_button_pressed, uint8_t vn_status)
function that evaluates the CASE (controller and state estimation) system. updates the internal pstat...
-
CASESystem::vn_active_start_time_
unsigned long vn_active_start_time_
Definition: CASESystem.h:146
-
CASESystem::config_
CASEConfiguration config_
Definition: CASESystem.h:142
+
CASESystem::vn_active_start_time_
unsigned long vn_active_start_time_
Definition: CASESystem.h:237
+
CASESystem::config_
CASEConfiguration config_
Definition: CASESystem.h:233
CASESystem::calculate_torque_request
float calculate_torque_request(const PedalsSystemData_s &pedals_data, float max_regen_torque, float max_rpm)
-
CASESystem::case_
HT08_CASE case_
Definition: CASESystem.h:144
-
CASESystem::get_rpm_setpoint
float get_rpm_setpoint(float final_torque)
Definition: CASESystem.h:129
-
CASESystem::last_eval_time_
unsigned long last_eval_time_
Definition: CASESystem.h:146
-
CASESystem::controller_send_period_ms_
unsigned long controller_send_period_ms_
Definition: CASESystem.h:146
-
CASESystem::vehicle_math_offset_ms_
unsigned long vehicle_math_offset_ms_
Definition: CASESystem.h:146
-
CASESystem::last_controller_pt3_send_time_
unsigned long last_controller_pt3_send_time_
Definition: CASESystem.h:146
-
CASESystem::last_controller_pt1_send_time_
unsigned long last_controller_pt1_send_time_
Definition: CASESystem.h:146
-
CASESystem::configure
void configure(const CASEConfiguration &config)
configuration function to determine what CASE is using / turn on and off different features within CA...
Definition: CASESystem.h:125
-
CASESystem::msg_queue_
message_queue * msg_queue_
Definition: CASESystem.h:143
-
CASESystem::last_vehm_send_time_
unsigned long last_vehm_send_time_
Definition: CASESystem.h:146
-
CASESystem::last_controller_pt2_send_time_
unsigned long last_controller_pt2_send_time_
Definition: CASESystem.h:146
-
CASESystem::CASESystem
CASESystem(message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, CASEConfiguration config)
constructor for state estimator system.
Definition: CASESystem.h:67
-
CASESystem::update_pid
void update_pid(float yaw_p, float yaw_i, float yaw_d, float tcs_p, float tcs_i, float tcs_d, float brake_p, float brake_i, float brake_d)
Definition: CASESystem.h:108
- - -
CASEConfiguration::yawPIDMaxDifferential
float yawPIDMaxDifferential
Definition: CASESystem.h:34
- -
CASEConfiguration::yawPIDCoastThreshold
float yawPIDCoastThreshold
Definition: CASESystem.h:37
-
CASEConfiguration::discontinuousBrakesPercentThreshold
float discontinuousBrakesPercentThreshold
Definition: CASESystem.h:42
- - - - -
CASEConfiguration::launchVelThreshold
float launchVelThreshold
Definition: CASESystem.h:32
-
CASEConfiguration::MechPowerMaxkW
float MechPowerMaxkW
Definition: CASESystem.h:49
- - -
CASEConfiguration::launchDeadZone
float launchDeadZone
Definition: CASESystem.h:31
-
CASEConfiguration::decoupledYawPIDBrakesMaxDIfference
float decoupledYawPIDBrakesMaxDIfference
Definition: CASESystem.h:41
-
CASEConfiguration::yaw_pid_brakes_i
float yaw_pid_brakes_i
Definition: CASESystem.h:39
-
CASEConfiguration::yaw_pid_brakes_d
float yaw_pid_brakes_d
Definition: CASESystem.h:40
- -
CASEConfiguration::AbsoluteTorqueLimit
float AbsoluteTorqueLimit
Definition: CASESystem.h:13
-
CASEConfiguration::useDiscontinuousYawPIDBrakes
bool useDiscontinuousYawPIDBrakes
Definition: CASESystem.h:28
- -
CASEConfiguration::BrakeTorquePercentFront
float BrakeTorquePercentFront
Definition: CASESystem.h:48
- -
CASEConfiguration::useTractionControl
bool useTractionControl
Definition: CASESystem.h:24
-
CASEConfiguration::useDecoupledYawBrakes
bool useDecoupledYawBrakes
Definition: CASESystem.h:27
-
CASEConfiguration::yaw_pid_brakes_p
float yaw_pid_brakes_p
Definition: CASESystem.h:38
-
CASEConfiguration::tcsSLThreshold
float tcsSLThreshold
Definition: CASESystem.h:29
- - - - -
CASEConfiguration::max_regen_torque
float max_regen_torque
Definition: CASESystem.h:52
-
CASEConfiguration::yawPIDVelThreshold
float yawPIDVelThreshold
Definition: CASESystem.h:36
-
CASEConfiguration::DriveTorquePercentFront
float DriveTorquePercentFront
Definition: CASESystem.h:47
- -
CASEConfiguration::tcsVelThreshold
float tcsVelThreshold
Definition: CASESystem.h:33
-
CASEConfiguration::useTCSLimitedYawPID
bool useTCSLimitedYawPID
Definition: CASESystem.h:22
- -
CASEConfiguration::yawPIDErrorThreshold
float yawPIDErrorThreshold
Definition: CASESystem.h:35
- +
CASESystem::case_
HT08_CASE case_
Definition: CASESystem.h:235
+
CASESystem::get_rpm_setpoint
float get_rpm_setpoint(float final_torque)
Definition: CASESystem.h:220
+
CASESystem::last_eval_time_
unsigned long last_eval_time_
Definition: CASESystem.h:237
+
CASESystem::CASESystem
CASESystem(message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, unsigned long lowest_controller_send_period_ms, CASEConfiguration config)
constructor for state estimator system.
Definition: CASESystem.h:103
+
CASESystem::controller_send_period_ms_
unsigned long controller_send_period_ms_
Definition: CASESystem.h:237
+
CASESystem::last_lowest_priority_controller_send_time_
unsigned long last_lowest_priority_controller_send_time_
Definition: CASESystem.h:237
+
CASESystem::vehicle_math_offset_ms_
unsigned long vehicle_math_offset_ms_
Definition: CASESystem.h:237
+
CASESystem::update_config_from_param_interface
void update_config_from_param_interface(ParameterInterface &param_interface_ref)
configuration function to determine what CASE is using / turn on and off different features within CA...
Definition: CASESystem.h:167
+
CASESystem::lowest_priority_controller_send_period_ms_
unsigned long lowest_priority_controller_send_period_ms_
Definition: CASESystem.h:237
+
CASESystem::last_controller_pt3_send_time_
unsigned long last_controller_pt3_send_time_
Definition: CASESystem.h:237
+
CASESystem::last_controller_pt1_send_time_
unsigned long last_controller_pt1_send_time_
Definition: CASESystem.h:237
+
CASESystem::msg_queue_
message_queue * msg_queue_
Definition: CASESystem.h:234
+
CASESystem::last_vehm_send_time_
unsigned long last_vehm_send_time_
Definition: CASESystem.h:237
+
CASESystem::last_controller_pt2_send_time_
unsigned long last_controller_pt2_send_time_
Definition: CASESystem.h:237
+ + + + +
CASEConfiguration::tcs_pid_p_lowerBound_rear
float tcs_pid_p_lowerBound_rear
Definition: CASESystem.h:21
+
CASEConfiguration::yawPIDMaxDifferential
float yawPIDMaxDifferential
Definition: CASESystem.h:39
+ +
CASEConfiguration::yawPIDCoastThreshold
float yawPIDCoastThreshold
Definition: CASESystem.h:42
+
CASEConfiguration::TCSWheelSteerLowerBound
float TCSWheelSteerLowerBound
Definition: CASESystem.h:65
+
CASEConfiguration::tcs_pid_upper_rpm_front
float tcs_pid_upper_rpm_front
Definition: CASESystem.h:57
+
CASEConfiguration::discontinuousBrakesPercentThreshold
float discontinuousBrakesPercentThreshold
Definition: CASESystem.h:47
+
CASEConfiguration::launchSL_startBound_Rear
float launchSL_startBound_Rear
Definition: CASESystem.h:76
+ +
CASEConfiguration::tcs_saturation_rear
float tcs_saturation_rear
Definition: CASESystem.h:62
+ +
CASEConfiguration::TCS_SL_startBound_Front
float TCS_SL_startBound_Front
Definition: CASESystem.h:78
+
CASEConfiguration::maxNormalLoadBrakeScalingFront
float maxNormalLoadBrakeScalingFront
Definition: CASESystem.h:60
+
CASEConfiguration::tcs_pid_p_lowerBound_front
float tcs_pid_p_lowerBound_front
Definition: CASESystem.h:19
+ + +
CASEConfiguration::launchVelThreshold
float launchVelThreshold
Definition: CASESystem.h:37
+
CASEConfiguration::MechPowerMaxkW
float MechPowerMaxkW
Definition: CASESystem.h:54
+ +
CASEConfiguration::tcs_saturation_front
float tcs_saturation_front
Definition: CASESystem.h:61
+
CASEConfiguration::TCS_SL_endBound_Front
float TCS_SL_endBound_Front
Definition: CASESystem.h:79
+
CASEConfiguration::TCS_SL_startBound_Rear
float TCS_SL_startBound_Rear
Definition: CASESystem.h:80
+ +
CASEConfiguration::launchDeadZone
float launchDeadZone
Definition: CASESystem.h:36
+
CASEConfiguration::decoupledYawPIDBrakesMaxDIfference
float decoupledYawPIDBrakesMaxDIfference
Definition: CASESystem.h:46
+
CASEConfiguration::useRPM_TCS_GainSchedule
bool useRPM_TCS_GainSchedule
Definition: CASESystem.h:67
+
CASEConfiguration::yaw_pid_brakes_i
float yaw_pid_brakes_i
Definition: CASESystem.h:44
+
CASEConfiguration::TCSGenLeftRightDiffLowerBound
float TCSGenLeftRightDiffLowerBound
Definition: CASESystem.h:63
+
CASEConfiguration::yaw_pid_brakes_d
float yaw_pid_brakes_d
Definition: CASESystem.h:45
+
CASEConfiguration::launchSL_endBound_Rear
float launchSL_endBound_Rear
Definition: CASESystem.h:77
+
CASEConfiguration::useNL_TCS_GainSchedule
bool useNL_TCS_GainSchedule
Definition: CASESystem.h:68
+
CASEConfiguration::TCS_NL_startBoundPerc_FrontAxle
float TCS_NL_startBoundPerc_FrontAxle
Definition: CASESystem.h:69
+
CASEConfiguration::tcs_pid_lower_rpm_rear
float tcs_pid_lower_rpm_rear
Definition: CASESystem.h:58
+
CASEConfiguration::tcs_pid_p_upperBound_front
float tcs_pid_p_upperBound_front
Definition: CASESystem.h:20
+
CASEConfiguration::AbsoluteTorqueLimit
float AbsoluteTorqueLimit
Definition: CASESystem.h:15
+
CASEConfiguration::useDiscontinuousYawPIDBrakes
bool useDiscontinuousYawPIDBrakes
Definition: CASESystem.h:33
+
CASEConfiguration::tcs_pid_p_upperBound_rear
float tcs_pid_p_upperBound_rear
Definition: CASESystem.h:22
+
CASEConfiguration::TCS_SL_NLPerc_endBound_Front
float TCS_SL_NLPerc_endBound_Front
Definition: CASESystem.h:83
+ +
CASEConfiguration::TCS_SL_NLPerc_endBound_Rear
float TCS_SL_NLPerc_endBound_Rear
Definition: CASESystem.h:85
+
CASEConfiguration::TCSWheelSteerUpperBound
float TCSWheelSteerUpperBound
Definition: CASESystem.h:66
+
CASEConfiguration::launchSL_endBound_Front
float launchSL_endBound_Front
Definition: CASESystem.h:75
+
CASEConfiguration::tcs_pid_lower_rpm_front
float tcs_pid_lower_rpm_front
Definition: CASESystem.h:56
+
CASEConfiguration::BrakeTorquePercentFront
float BrakeTorquePercentFront
Definition: CASESystem.h:53
+
CASEConfiguration::TCS_NL_endBoundPerc_RearAxle
float TCS_NL_endBoundPerc_RearAxle
Definition: CASESystem.h:72
+
CASEConfiguration::TCS_NL_startBoundPerc_RearAxle
float TCS_NL_startBoundPerc_RearAxle
Definition: CASESystem.h:71
+ +
CASEConfiguration::useTractionControl
bool useTractionControl
Definition: CASESystem.h:29
+
CASEConfiguration::useDecoupledYawBrakes
bool useDecoupledYawBrakes
Definition: CASESystem.h:32
+
CASEConfiguration::yaw_pid_brakes_p
float yaw_pid_brakes_p
Definition: CASESystem.h:43
+
CASEConfiguration::tcsSLThreshold
float tcsSLThreshold
Definition: CASESystem.h:34
+ + +
CASEConfiguration::TCS_SL_endBound_Rear
float TCS_SL_endBound_Rear
Definition: CASESystem.h:81
+
CASEConfiguration::TCS_SL_NLPerc_startBound_Front
float TCS_SL_NLPerc_startBound_Front
Definition: CASESystem.h:82
+ +
CASEConfiguration::TCSGenLeftRightDiffUpperBound
float TCSGenLeftRightDiffUpperBound
Definition: CASESystem.h:64
+ +
CASEConfiguration::launchSL_startBound_Front
float launchSL_startBound_Front
Definition: CASESystem.h:74
+
CASEConfiguration::max_regen_torque
float max_regen_torque
Definition: CASESystem.h:88
+
CASEConfiguration::yawPIDVelThreshold
float yawPIDVelThreshold
Definition: CASESystem.h:41
+
CASEConfiguration::DriveTorquePercentFront
float DriveTorquePercentFront
Definition: CASESystem.h:52
+
CASEConfiguration::TCS_NL_endBoundPerc_FrontAxle
float TCS_NL_endBoundPerc_FrontAxle
Definition: CASESystem.h:70
+
CASEConfiguration::tcs_pid_upper_rpm_rear
float tcs_pid_upper_rpm_rear
Definition: CASESystem.h:59
+ +
CASEConfiguration::TCS_SL_NLPerc_startBound_Rear
float TCS_SL_NLPerc_startBound_Rear
Definition: CASESystem.h:84
+
CASEConfiguration::launchLeftRightMaxDiff
float launchLeftRightMaxDiff
Definition: CASESystem.h:55
+
CASEConfiguration::tcsVelThreshold
float tcsVelThreshold
Definition: CASESystem.h:38
+
CASEConfiguration::useNL_TCS_SlipSchedule
bool useNL_TCS_SlipSchedule
Definition: CASESystem.h:73
+
CASEConfiguration::useTCSLimitedYawPID
bool useTCSLimitedYawPID
Definition: CASESystem.h:27
+ +
CASEConfiguration::yawPIDErrorThreshold
float yawPIDErrorThreshold
Definition: CASESystem.h:40
+
DrivetrainCommand_s
Definition: DrivetrainSystem.h:11
DrivetrainDynamicReport_s
Definition: DrivetrainSystem.h:17
PedalsSystemData_s
system interface struct that contains the data from the pedal system
Definition: PedalsSystem.h:11
-
SteeringSystemData_s
Definition: SteeringSystem.h:32
+
SteeringSystemData_s
Definition: SteeringSystem.h:35
vector_nav
Definition: VectornavInterface.h:6
veh_vec
generic data vector type that can be used with tire and / or anything to do with 4 corners of the car...
Definition: Utility.h:16
diff --git a/DashboardInterface_8cpp_source.html b/DashboardInterface_8cpp_source.html index 570720ff9..6a592bf89 100644 --- a/DashboardInterface_8cpp_source.html +++ b/DashboardInterface_8cpp_source.html @@ -220,7 +220,7 @@
142bool DashboardInterface::safetySystemOK() {return _data.ssok;}
143bool DashboardInterface::shutdownHAboveThreshold() {return _data.shutdown;}
144
-
145void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;}
+
145void DashboardInterface::soundBuzzer(bool state) {_data.buzzer_cmd = state;}
146bool DashboardInterface::checkBuzzer() {return _data.buzzer_state;}
147
@@ -248,11 +248,12 @@
MCUInterface::imd_ok_is_high
bool imd_ok_is_high()
Definition: MCUInterface.cpp:78
MCUInterface::get_bots_ok
bool get_bots_ok()
Definition: MCUInterface.cpp:89
MCUInterface::bms_ok_is_high
bool bms_ok_is_high()
Definition: MCUInterface.cpp:73
+
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
TorqueLimit_e
TorqueLimit_e
Definition: DashboardInterface.h:10
DialMode_e
DialMode_e
Definition: DashboardInterface.h:19
LEDColors_e
LEDColors_e
Definition: DashboardInterface.h:34
DashLED_e
DashLED_e
Definition: DashboardInterface.h:43
-
buzzer
BuzzerController buzzer(BUZZER_ON_INTERVAL)
Definition: main.cpp:213
+
buzzer
BuzzerController buzzer(BUZZER_ON_INTERVAL)
Definition: main.cpp:236
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
DashButtons_s::launch_ctrl
bool launch_ctrl
Definition: DashboardInterface.h:73
DashButtons_s::mode
bool mode
Definition: DashboardInterface.h:71
diff --git a/DrivetrainSystem_8h_source.html b/DrivetrainSystem_8h_source.html index 51987efde..a02994af2 100644 --- a/DrivetrainSystem_8h_source.html +++ b/DrivetrainSystem_8h_source.html @@ -241,7 +241,7 @@
DrivetrainDynamicReport_s::measuredInverterFLPackVoltage
uint16_t measuredInverterFLPackVoltage
Definition: DrivetrainSystem.h:18
DrivetrainDynamicReport_s::measuredTorques
float measuredTorques[NUM_MOTORS]
Definition: DrivetrainSystem.h:20
DrivetrainDynamicReport_s::measuredMagnetizingCurrents
float measuredMagnetizingCurrents[NUM_MOTORS]
Definition: DrivetrainSystem.h:22
- +
diff --git a/ETHERNET_8md.html b/ETHERNET_8md.html new file mode 100644 index 000000000..94be6faac --- /dev/null +++ b/ETHERNET_8md.html @@ -0,0 +1,81 @@ + + + + + + + +MCU: ETHERNET.md File Reference + + + + + + + + + +
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+ + diff --git a/Filter__IIR_8h.html b/Filter__IIR_8h.html new file mode 100644 index 000000000..66b0ed3e3 --- /dev/null +++ b/Filter__IIR_8h.html @@ -0,0 +1,121 @@ + + + + + + + +MCU: lib/mock_interfaces/Filter_IIR.h File Reference + + + + + + + + + +
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Filter_IIR.h File Reference
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#include <stdint.h>
+
+

Go to the source code of this file.

+ + + + + + +

+Classes

class  Filter_IIR< dataType >
 
class  FilterIIRMulti< dataType, N >
 
+ + + +

+Macros

#define DEFAULT_ALPHA   0.0
 
+

Macro Definition Documentation

+ +

◆ DEFAULT_ALPHA

+ +
+
+ + + + +
#define DEFAULT_ALPHA   0.0
+
+ +

Definition at line 7 of file Filter_IIR.h.

+ +
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+Generated by doxygen 1.9.5 +
+ + diff --git a/Filter__IIR_8h_source.html b/Filter__IIR_8h_source.html new file mode 100644 index 000000000..9f5647bdf --- /dev/null +++ b/Filter__IIR_8h_source.html @@ -0,0 +1,163 @@ + + + + + + + +MCU: lib/mock_interfaces/Filter_IIR.h Source File + + + + + + + + + +
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Filter_IIR.h
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1/* IIR digital low pass filter */
+
2#ifndef __FILTER_IIR__
+
3#define __FILTER_IIR__
+
4
+
5#include <stdint.h>
+
6
+
7#define DEFAULT_ALPHA 0.0
+
8
+
9template <typename dataType>
+
10class Filter_IIR
+
11{
+
12
+
13public:
+
17 Filter_IIR(float alpha, dataType init_val=0) {
+
18 set_alpha(alpha);
+
19 prev_reading = init_val;
+
20 }
+
21 Filter_IIR() {
+
22 Filter_IIR(DEFAULT_ALPHA);
+
23 }
+
24
+
25 void set_alpha(float alpha);
+
26 dataType get_prev_reading() const {return prev_reading;}
+
27
+
28 dataType filtered_result(dataType new_val);
+
29
+
30private:
+
31 float alpha;
+
32 dataType prev_reading;
+
33};
+
34
+
35template <typename dataType>
+
36void Filter_IIR<dataType>::set_alpha(float alpha) {
+
37 if (alpha > 1.0) {
+
38 this->alpha = 1.0;
+
39 }
+
40 else if (alpha < 0.0) {
+
41 this->alpha = 0.0;
+
42 }
+
43 else
+
44 {
+
45 this->alpha = alpha;
+
46 }
+
47}
+
48
+
49template <typename dataType>
+
50dataType Filter_IIR<dataType>::filtered_result(dataType new_val) {
+
51 prev_reading = (1 - alpha) * new_val + alpha * prev_reading;
+
52
+
53 return prev_reading;
+
54}
+
55
+
56template <typename dataType, int N>
+
57class FilterIIRMulti
+
58{
+
59protected:
+
60 Filter_IIR<dataType> filter_channels_[N];
+
61public:
+
62 virtual void setAlphas(int channel, float alpha)
+
63 {
+
64 filter_channels_[channel].set_alpha(alpha);
+
65 }
+
66};
+
67
+
68#endif
+
69#pragma once
+
DEFAULT_ALPHA
#define DEFAULT_ALPHA
Definition: Filter_IIR.h:7
+ +
FilterIIRMulti::filter_channels_
Filter_IIR< dataType > filter_channels_[N]
Definition: Filter_IIR.h:60
+
FilterIIRMulti::setAlphas
virtual void setAlphas(int channel, float alpha)
Definition: Filter_IIR.h:62
+
Filter_IIR
Definition: Filter_IIR.h:11
+
Filter_IIR::get_prev_reading
dataType get_prev_reading() const
Definition: Filter_IIR.h:26
+
Filter_IIR::Filter_IIR
Filter_IIR(float alpha, dataType init_val=0)
Definition: Filter_IIR.h:17
+
Filter_IIR::prev_reading
dataType prev_reading
Definition: Filter_IIR.h:32
+
Filter_IIR::set_alpha
void set_alpha(float alpha)
Definition: Filter_IIR.h:36
+
Filter_IIR::alpha
float alpha
Definition: Filter_IIR.h:31
+
Filter_IIR::filtered_result
dataType filtered_result(dataType new_val)
Definition: Filter_IIR.h:50
+
Filter_IIR::Filter_IIR
Filter_IIR()
Definition: Filter_IIR.h:21
+
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/InterfaceParams_8h.html b/InterfaceParams_8h.html new file mode 100644 index 000000000..7453853fe --- /dev/null +++ b/InterfaceParams_8h.html @@ -0,0 +1,120 @@ + + + + + + + +MCU: include/InterfaceParams.h File Reference + + + + + + + + + +
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InterfaceParams.h File Reference
+
+
+
#include "NativeEthernet.h"
+
+

Go to the source code of this file.

+ + + + +

+Namespaces

namespace  EthParams
 
+ + + + + + + + + +

+Functions

const IPAddress EthParams::default_MCU_ip (192, 168, 1, 30)
 
const IPAddress EthParams::default_TCU_ip (192, 168, 1, 68)
 
const IPAddress EthParams::default_netmask (255, 255, 255, 0)
 
const IPAddress EthParams::default_gateway (192, 168, 0, 1)
 
+ + + + + + + + + +

+Variables

uint8_t EthParams::default_MCU_MAC_address [6]
 
const uint16_t EthParams::default_protobuf_send_port = 2001
 
const uint16_t EthParams::default_protobuf_recv_port = 2000
 
const uint16_t EthParams::default_buffer_size = 512
 
+
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+Generated by doxygen 1.9.5 +
+ + diff --git a/InterfaceParams_8h_source.html b/InterfaceParams_8h_source.html new file mode 100644 index 000000000..38874490d --- /dev/null +++ b/InterfaceParams_8h_source.html @@ -0,0 +1,115 @@ + + + + + + + +MCU: include/InterfaceParams.h Source File + + + + + + + + + +
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1#ifndef INTERFACEPARAMS
+
2#define INTERFACEPARAMS
+
3#include "NativeEthernet.h"
+
4
+
5namespace EthParams
+
6{
+
7 uint8_t default_MCU_MAC_address[6] =
+
8 {0x04, 0xe9, 0xe5, 0x10, 0x1f, 0x22};
+
9
+
10 const IPAddress default_MCU_ip(192, 168, 1, 30);
+
11 const IPAddress default_TCU_ip(192, 168, 1, 68);
+
12
+
13 const uint16_t default_protobuf_send_port = 2001;
+
14 const uint16_t default_protobuf_recv_port = 2000;
+
15
+
16 const IPAddress default_netmask(255, 255, 255, 0);
+
17 const IPAddress default_gateway(192, 168, 0, 1);
+
18
+
19 const uint16_t default_buffer_size = 512;
+
20}
+
21#endif
+ +
EthParams::default_gateway
const IPAddress default_gateway(192, 168, 0, 1)
+
EthParams::default_protobuf_send_port
const uint16_t default_protobuf_send_port
Definition: InterfaceParams.h:13
+
EthParams::default_MCU_MAC_address
uint8_t default_MCU_MAC_address[6]
Definition: InterfaceParams.h:7
+
EthParams::default_TCU_ip
const IPAddress default_TCU_ip(192, 168, 1, 68)
+
EthParams::default_netmask
const IPAddress default_netmask(255, 255, 255, 0)
+
EthParams::default_protobuf_recv_port
const uint16_t default_protobuf_recv_port
Definition: InterfaceParams.h:14
+
EthParams::default_MCU_ip
const IPAddress default_MCU_ip(192, 168, 1, 30)
+
EthParams::default_buffer_size
const uint16_t default_buffer_size
Definition: InterfaceParams.h:19
+
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/MCUStateMachine_8h_source.html b/MCUStateMachine_8h_source.html index 9eafc56dc..ff6e76fe5 100644 --- a/MCUStateMachine_8h_source.html +++ b/MCUStateMachine_8h_source.html @@ -178,8 +178,8 @@ -
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:142
-
buzzer
BuzzerController buzzer(BUZZER_ON_INTERVAL)
Definition: main.cpp:213
+
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:152
+
buzzer
BuzzerController buzzer(BUZZER_ON_INTERVAL)
Definition: main.cpp:236
diff --git a/MCU__rev15__defs_8h.html b/MCU__rev15__defs_8h.html index 2406ac65f..90911ac75 100644 --- a/MCU__rev15__defs_8h.html +++ b/MCU__rev15__defs_8h.html @@ -79,6 +79,7 @@
#include "PedalsSystem.h"
+#include "InterfaceParams.h"

Go to the source code of this file.

@@ -118,6 +119,18 @@ + + + + + + + + + + + + @@ -188,14 +201,16 @@ - + - + - + - + + +
 
const int MCU15_FR_LOADCELL_CHANNEL = 2
 
const int MCU15_TEENSY_ADC_CHANNELS = 2
 
const int MCU15_THERM_FL = 38
 
const int MCU15_THERM_FR = 41
 
const int MCU15_THERM_FL_CHANNEL = 0
 
const int MCU15_THERM_FR_CHANNEL = 1
 
const int DEFAULT_ANALOG_PINS [MCU15_TEENSY_ADC_CHANNELS] = {MCU15_THERM_FL, MCU15_THERM_FR}
 
const unsigned long SETUP_PRESENT_ACTION_INTERVAL = 1000
 
const unsigned long BUZZER_ON_INTERVAL = 2000
 
const float PRIMARY_STEERING_SENSE_OFFSET = 0.0
 
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 785
 
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3087
 
const int SECONDARY_STEERING_SENSE_CENTER = 1970
const int SECONDARY_STEERING_SENSE_CENTER = 1945
 
const float STEERING_RANGE_DEGREES = 256.05f
const float STEERING_RANGE_DEGREES = 257.0f
 
const float STEERING_IIR_ALPHA = 0.7f
 

Variable Documentation

@@ -210,7 +225,7 @@

-

Definition at line 42 of file MCU_rev15_defs.h.

+

Definition at line 54 of file MCU_rev15_defs.h.

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Definition at line 45 of file MCU_rev15_defs.h.

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Definition at line 57 of file MCU_rev15_defs.h.

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-

Definition at line 57 of file MCU_rev15_defs.h.

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Definition at line 69 of file MCU_rev15_defs.h.

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-

Definition at line 54 of file MCU_rev15_defs.h.

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Definition at line 66 of file MCU_rev15_defs.h.

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Definition at line 43 of file MCU_rev15_defs.h.

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Definition at line 55 of file MCU_rev15_defs.h.

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+

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+ + + + +

◆ DEFAULT_ANALOG_PINS

+ +
+
+ + + + +
const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS] = {MCU15_THERM_FL, MCU15_THERM_FR}
+
+ +

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+

Definition at line 24 of file MCU_rev15_defs.h.

+ + + + +

◆ MCU15_TEENSY_ADC_CHANNELS

+ +
+
+ + + + +
const int MCU15_TEENSY_ADC_CHANNELS = 2
+
+ +

Definition at line 34 of file MCU_rev15_defs.h.

+ +
+
+ +

◆ MCU15_THERM_FL

+ +
+
+ + + + +
const int MCU15_THERM_FL = 38
+
+ +

Definition at line 35 of file MCU_rev15_defs.h.

+ +
+
+ +

◆ MCU15_THERM_FL_CHANNEL

+ +
+
+ + + + +
const int MCU15_THERM_FL_CHANNEL = 0
+
+ +

Definition at line 37 of file MCU_rev15_defs.h.

+ +
+
+ +

◆ MCU15_THERM_FR

+ +
+
+ + + + +
const int MCU15_THERM_FR = 41
+
+ +

Definition at line 36 of file MCU_rev15_defs.h.

+ +
+
+ +

◆ MCU15_THERM_FR_CHANNEL

+ +
+
+ + + + +
const int MCU15_THERM_FR_CHANNEL = 1
+
+ +

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- +
const int SECONDARY_STEERING_SENSE_CENTER = 1970const int SECONDARY_STEERING_SENSE_CENTER = 1945
-

Definition at line 92 of file MCU_rev15_defs.h.

+

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- +
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 785
-

Definition at line 90 of file MCU_rev15_defs.h.

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- +
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3087
-

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+ + + + +

◆ STEERING_IIR_ALPHA

+ +
+
+ + + + +
const float STEERING_IIR_ALPHA = 0.7f
+
+ +

Definition at line 106 of file MCU_rev15_defs.h.

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- +
const float STEERING_RANGE_DEGREES = 256.05fconst float STEERING_RANGE_DEGREES = 257.0f
-

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Definition at line 15 of file MCU_rev15_defs.h.

diff --git a/MCU__rev15__defs_8h_source.html b/MCU__rev15__defs_8h_source.html index ade7a7cba..23302e0b3 100644 --- a/MCU__rev15__defs_8h_source.html +++ b/MCU__rev15__defs_8h_source.html @@ -80,153 +80,174 @@
2#define __MCU15_H__
3
4#include "PedalsSystem.h"
-
5
-
6// pindefs
-
7const int ADC1_CS = 34;
-
8const int ADC2_CS = 33;
-
9const int ADC3_CS = 29;
-
10const int SOFTWARE_OK = 8;
-
11const int WATCHDOG_INPUT = 32;
-
12
-
13
-
14// ADC1 channel defs
-
15const int MCU15_ACCEL1_CHANNEL = 2;
-
16const int MCU15_ACCEL2_CHANNEL = 1;
-
17const int MCU15_BRAKE1_CHANNEL = 5;
-
18const int MCU15_BRAKE2_CHANNEL = 3;
-
19const int MCU15_GLV_SENSE_CHANNEL = 4;
-
20const int MCU15_STEERING_CHANNEL = 7;
-
21const int MCU15_CUR_POS_SENSE_CHANNEL = 6;
-
22const int MCU15_CUR_NEG_SENSE_CHANNEL = 0;
-
23// ADC2 channel defs
-
24const int MCU15_FL_POTS_CHANNEL = 1;
-
25const int MCU15_FR_POTS_CHANNEL = 1;
-
26const int MCU15_FL_LOADCELL_CHANNEL = 2;
-
27const int MCU15_FR_LOADCELL_CHANNEL = 2;
-
28
-
29// Time intervals
-
30const unsigned long SETUP_PRESENT_ACTION_INTERVAL = 1000;
-
31const unsigned long BUZZER_ON_INTERVAL = 2000;
-
32const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL = 5000;
-
33
-
34// Communication speeds
-
35const unsigned long INV_CAN_BAUDRATE = 500000;
-
36const unsigned long TELEM_CAN_BAUDRATE = 500000;
-
37
-
38// APPS/Brake pedal parameters
-
39// All of these values are the PEDAL min/max
-
40// the sensor min/max that trip implaus are calculated
-
41// in the PedalsSystem constructor
-
42const int ACCEL1_PEDAL_MAX = 3330;
-
43const int ACCEL2_PEDAL_MAX = 388;
-
44
-
45const int ACCEL1_PEDAL_MIN = 2124;
-
46const int ACCEL2_PEDAL_MIN = 1517;
-
47
-
48const int BRAKE1_PEDAL_MAX = 2200;
-
49const int BRAKE2_PEDAL_MAX = 2200;
-
50
-
51const int BRAKE1_PEDAL_MIN = 785;
-
52const int BRAKE2_PEDAL_MIN = 785;
-
53
-
54const int ACCEL1_PEDAL_OOR_MIN = 90;
-
55const int ACCEL2_PEDAL_OOR_MIN = 90;
+
5#ifndef TESTING_SYSTEMS
+
6#include "InterfaceParams.h"
+
7#endif
+
8
+
9
+
10// pindefs
+
11const int ADC1_CS = 34;
+
12const int ADC2_CS = 33;
+
13const int ADC3_CS = 29;
+
14const int SOFTWARE_OK = 8;
+
15const int WATCHDOG_INPUT = 32;
+
16
+
17
+
18// ADC1 channel defs
+
19const int MCU15_ACCEL1_CHANNEL = 2;
+
20const int MCU15_ACCEL2_CHANNEL = 1;
+
21const int MCU15_BRAKE1_CHANNEL = 5;
+
22const int MCU15_BRAKE2_CHANNEL = 3;
+
23const int MCU15_GLV_SENSE_CHANNEL = 4;
+
24const int MCU15_STEERING_CHANNEL = 7;
+
25const int MCU15_CUR_POS_SENSE_CHANNEL = 6;
+
26const int MCU15_CUR_NEG_SENSE_CHANNEL = 0;
+
27// ADC2 channel defs
+
28const int MCU15_FL_POTS_CHANNEL = 1;
+
29const int MCU15_FR_POTS_CHANNEL = 1;
+
30const int MCU15_FL_LOADCELL_CHANNEL = 2;
+
31const int MCU15_FR_LOADCELL_CHANNEL = 2;
+
32
+
33//MCU teensy analog channels
+
34const int MCU15_TEENSY_ADC_CHANNELS = 2;
+
35const int MCU15_THERM_FL = 38;
+
36const int MCU15_THERM_FR = 41;
+
37const int MCU15_THERM_FL_CHANNEL = 0;
+
38const int MCU15_THERM_FR_CHANNEL = 1;
+
39
+
40const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS] = {MCU15_THERM_FL, MCU15_THERM_FR};
+
41// Time intervals
+
42const unsigned long SETUP_PRESENT_ACTION_INTERVAL = 1000;
+
43const unsigned long BUZZER_ON_INTERVAL = 2000;
+
44const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL = 5000;
+
45
+
46// Communication speeds
+
47const unsigned long INV_CAN_BAUDRATE = 500000;
+
48const unsigned long TELEM_CAN_BAUDRATE = 500000;
+
49
+
50// APPS/Brake pedal parameters
+
51// All of these values are the PEDAL min/max
+
52// the sensor min/max that trip implaus are calculated
+
53// in the PedalsSystem constructor
+
54const int ACCEL1_PEDAL_MAX = 3330;
+
55const int ACCEL2_PEDAL_MAX = 388;
56
-
57const int ACCEL1_PEDAL_OOR_MAX = 4000;
-
58const int ACCEL2_PEDAL_OOR_MAX = 4000;
+
57const int ACCEL1_PEDAL_MIN = 2124;
+
58const int ACCEL2_PEDAL_MIN = 1517;
59
-
60const int BRAKE1_PEDAL_OOR_MIN = 90;
-
61const int BRAKE2_PEDAL_OOR_MIN = 90;
+
60const int BRAKE1_PEDAL_MAX = 2200;
+
61const int BRAKE2_PEDAL_MAX = 2200;
62
-
63const int BRAKE1_PEDAL_OOR_MAX = 4000;
-
64const int BRAKE2_PEDAL_OOR_MAX = 4000;
+
63const int BRAKE1_PEDAL_MIN = 785;
+
64const int BRAKE2_PEDAL_MIN = 785;
65
-
66const float DEFAULT_PEDAL_DEADZONE = 0.05f;
-
67const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.10f;
+
66const int ACCEL1_PEDAL_OOR_MIN = 90;
+
67const int ACCEL2_PEDAL_OOR_MIN = 90;
68
-
69const float APPS_ACTIVATION_PERCENTAGE = 0.1f;
-
70const float BRAKE_ACTIVATION_PERCENTAGE = 0.05f;
-
71const float BRAKE_MECH_THRESH = 0.40f;
-
72
-
73// Load Cell Defs to convert raw to lbs
-
74// lbs = (raw + offset) * scale
-
75
-
76const float LOADCELL_FL_SCALE = 0.0554;
-
77const float LOADCELL_FL_OFFSET = 19.976 / LOADCELL_FL_SCALE;
-
78
-
79const float LOADCELL_FR_SCALE = 0.0514;
-
80const float LOADCELL_FR_OFFSET = 19.892 / LOADCELL_FR_SCALE;
-
81
-
82const float LOADCELL_RL_SCALE = 0.0595;
-
83const float LOADCELL_RL_OFFSET = 7.148 / LOADCELL_RL_SCALE;
+
69const int ACCEL1_PEDAL_OOR_MAX = 4000;
+
70const int ACCEL2_PEDAL_OOR_MAX = 4000;
+
71
+
72const int BRAKE1_PEDAL_OOR_MIN = 90;
+
73const int BRAKE2_PEDAL_OOR_MIN = 90;
+
74
+
75const int BRAKE1_PEDAL_OOR_MAX = 4000;
+
76const int BRAKE2_PEDAL_OOR_MAX = 4000;
+
77
+
78const float DEFAULT_PEDAL_DEADZONE = 0.05f;
+
79const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.10f;
+
80
+
81const float APPS_ACTIVATION_PERCENTAGE = 0.1f;
+
82const float BRAKE_ACTIVATION_PERCENTAGE = 0.05f;
+
83const float BRAKE_MECH_THRESH = 0.40f;
84
-
85const float LOADCELL_RR_SCALE = 0.06;
-
86const float LOADCELL_RR_OFFSET = 23.761 / LOADCELL_RR_SCALE;
+
85// Load Cell Defs to convert raw to lbs
+
86// lbs = (raw + offset) * scale
87
-
88// Steering parameters
-
89const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
-
90const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812;
-
91const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179;
-
92const int SECONDARY_STEERING_SENSE_CENTER = 1970;
-
93const float STEERING_RANGE_DEGREES = 256.05f;
-
94
-
95#endif /* __MCU15_H__ */
-
MCU15_BRAKE1_CHANNEL
const int MCU15_BRAKE1_CHANNEL
Definition: MCU_rev15_defs.h:17
-
MCU15_STEERING_CHANNEL
const int MCU15_STEERING_CHANNEL
Definition: MCU_rev15_defs.h:20
-
LOADCELL_FL_SCALE
const float LOADCELL_FL_SCALE
Definition: MCU_rev15_defs.h:76
-
MCU15_ACCEL2_CHANNEL
const int MCU15_ACCEL2_CHANNEL
Definition: MCU_rev15_defs.h:16
-
BRAKE2_PEDAL_OOR_MIN
const int BRAKE2_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:61
-
LOADCELL_FL_OFFSET
const float LOADCELL_FL_OFFSET
Definition: MCU_rev15_defs.h:77
-
WATCHDOG_INPUT
const int WATCHDOG_INPUT
Definition: MCU_rev15_defs.h:11
-
ACCEL1_PEDAL_MIN
const int ACCEL1_PEDAL_MIN
Definition: MCU_rev15_defs.h:45
-
BRAKE1_PEDAL_MAX
const int BRAKE1_PEDAL_MAX
Definition: MCU_rev15_defs.h:48
-
BRAKE2_PEDAL_MIN
const int BRAKE2_PEDAL_MIN
Definition: MCU_rev15_defs.h:52
-
MCU15_CUR_POS_SENSE_CHANNEL
const int MCU15_CUR_POS_SENSE_CHANNEL
Definition: MCU_rev15_defs.h:21
-
ADC1_CS
const int ADC1_CS
Definition: MCU_rev15_defs.h:7
-
DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
Definition: MCU_rev15_defs.h:67
-
MCU15_GLV_SENSE_CHANNEL
const int MCU15_GLV_SENSE_CHANNEL
Definition: MCU_rev15_defs.h:19
-
BRAKE1_PEDAL_MIN
const int BRAKE1_PEDAL_MIN
Definition: MCU_rev15_defs.h:51
-
ACCEL1_PEDAL_MAX
const int ACCEL1_PEDAL_MAX
Definition: MCU_rev15_defs.h:42
-
BRAKE_ACTIVATION_PERCENTAGE
const float BRAKE_ACTIVATION_PERCENTAGE
Definition: MCU_rev15_defs.h:70
-
TELEM_CAN_BAUDRATE
const unsigned long TELEM_CAN_BAUDRATE
Definition: MCU_rev15_defs.h:36
-
LOADCELL_RL_SCALE
const float LOADCELL_RL_SCALE
Definition: MCU_rev15_defs.h:82
-
STEERING_RANGE_DEGREES
const float STEERING_RANGE_DEGREES
Definition: MCU_rev15_defs.h:93
-
ACCEL2_PEDAL_OOR_MIN
const int ACCEL2_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:55
-
ACCEL2_PEDAL_MIN
const int ACCEL2_PEDAL_MIN
Definition: MCU_rev15_defs.h:46
-
MCU15_FL_POTS_CHANNEL
const int MCU15_FL_POTS_CHANNEL
Definition: MCU_rev15_defs.h:24
-
BRAKE1_PEDAL_OOR_MIN
const int BRAKE1_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:60
-
ACCEL2_PEDAL_MAX
const int ACCEL2_PEDAL_MAX
Definition: MCU_rev15_defs.h:43
-
ACCEL1_PEDAL_OOR_MAX
const int ACCEL1_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:57
-
DEFAULT_PEDAL_DEADZONE
const float DEFAULT_PEDAL_DEADZONE
Definition: MCU_rev15_defs.h:66
-
SOFTWARE_OK
const int SOFTWARE_OK
Definition: MCU_rev15_defs.h:10
-
LOADCELL_FR_SCALE
const float LOADCELL_FR_SCALE
Definition: MCU_rev15_defs.h:79
-
MCU15_FR_LOADCELL_CHANNEL
const int MCU15_FR_LOADCELL_CHANNEL
Definition: MCU_rev15_defs.h:27
-
APPS_ACTIVATION_PERCENTAGE
const float APPS_ACTIVATION_PERCENTAGE
Definition: MCU_rev15_defs.h:69
-
ACCEL2_PEDAL_OOR_MAX
const int ACCEL2_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:58
-
ADC2_CS
const int ADC2_CS
Definition: MCU_rev15_defs.h:8
-
MCU15_BRAKE2_CHANNEL
const int MCU15_BRAKE2_CHANNEL
Definition: MCU_rev15_defs.h:18
-
MCU15_FL_LOADCELL_CHANNEL
const int MCU15_FL_LOADCELL_CHANNEL
Definition: MCU_rev15_defs.h:26
-
LOADCELL_RL_OFFSET
const float LOADCELL_RL_OFFSET
Definition: MCU_rev15_defs.h:83
-
SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
Definition: MCU_rev15_defs.h:91
-
MCU15_ACCEL1_CHANNEL
const int MCU15_ACCEL1_CHANNEL
Definition: MCU_rev15_defs.h:15
-
ACCEL1_PEDAL_OOR_MIN
const int ACCEL1_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:54
-
PRIMARY_STEERING_SENSE_OFFSET
const float PRIMARY_STEERING_SENSE_OFFSET
Definition: MCU_rev15_defs.h:89
-
SETUP_PRESENT_ACTION_INTERVAL
const unsigned long SETUP_PRESENT_ACTION_INTERVAL
Definition: MCU_rev15_defs.h:30
-
INV_CAN_BAUDRATE
const unsigned long INV_CAN_BAUDRATE
Definition: MCU_rev15_defs.h:35
-
MCU15_CUR_NEG_SENSE_CHANNEL
const int MCU15_CUR_NEG_SENSE_CHANNEL
Definition: MCU_rev15_defs.h:22
-
BUZZER_ON_INTERVAL
const unsigned long BUZZER_ON_INTERVAL
Definition: MCU_rev15_defs.h:31
-
BRAKE_MECH_THRESH
const float BRAKE_MECH_THRESH
Definition: MCU_rev15_defs.h:71
-
LOADCELL_RR_OFFSET
const float LOADCELL_RR_OFFSET
Definition: MCU_rev15_defs.h:86
-
LOADCELL_RR_SCALE
const float LOADCELL_RR_SCALE
Definition: MCU_rev15_defs.h:85
-
BRAKE2_PEDAL_MAX
const int BRAKE2_PEDAL_MAX
Definition: MCU_rev15_defs.h:49
-
BRAKE2_PEDAL_OOR_MAX
const int BRAKE2_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:64
-
LOADCELL_FR_OFFSET
const float LOADCELL_FR_OFFSET
Definition: MCU_rev15_defs.h:80
-
BRAKE1_PEDAL_OOR_MAX
const int BRAKE1_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:63
-
MCU15_FR_POTS_CHANNEL
const int MCU15_FR_POTS_CHANNEL
Definition: MCU_rev15_defs.h:25
-
INVERTER_ENABLING_TIMEOUT_INTERVAL
const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL
Definition: MCU_rev15_defs.h:32
-
SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
Definition: MCU_rev15_defs.h:90
-
SECONDARY_STEERING_SENSE_CENTER
const int SECONDARY_STEERING_SENSE_CENTER
Definition: MCU_rev15_defs.h:92
-
ADC3_CS
const int ADC3_CS
Definition: MCU_rev15_defs.h:9
+
88const float LOADCELL_FL_SCALE = 0.0554;
+
89const float LOADCELL_FL_OFFSET = 19.976 / LOADCELL_FL_SCALE;
+
90
+
91const float LOADCELL_FR_SCALE = 0.0514;
+
92const float LOADCELL_FR_OFFSET = 19.892 / LOADCELL_FR_SCALE;
+
93
+
94const float LOADCELL_RL_SCALE = 0.0595;
+
95const float LOADCELL_RL_OFFSET = 7.148 / LOADCELL_RL_SCALE;
+
96
+
97const float LOADCELL_RR_SCALE = 0.06;
+
98const float LOADCELL_RR_OFFSET = 23.761 / LOADCELL_RR_SCALE;
+
99
+
100// Steering parameters
+
101const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
+
102const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 785; // 794 // 812 // 130 deg
+
103const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3087; // 3075 // 3179 // 134 deg
+
104const int SECONDARY_STEERING_SENSE_CENTER = 1945; // 1960 // 1970
+
105const float STEERING_RANGE_DEGREES = 257.0f; // 253.0f // 256.05f // 134+130-7(slop)
+
106const float STEERING_IIR_ALPHA = 0.7f; // shaves off around 1 deg of max discrepancy
+
107
+
108#endif /* __MCU15_H__ */
+ +
MCU15_BRAKE1_CHANNEL
const int MCU15_BRAKE1_CHANNEL
Definition: MCU_rev15_defs.h:21
+
MCU15_STEERING_CHANNEL
const int MCU15_STEERING_CHANNEL
Definition: MCU_rev15_defs.h:24
+
LOADCELL_FL_SCALE
const float LOADCELL_FL_SCALE
Definition: MCU_rev15_defs.h:88
+
MCU15_THERM_FR
const int MCU15_THERM_FR
Definition: MCU_rev15_defs.h:36
+
MCU15_ACCEL2_CHANNEL
const int MCU15_ACCEL2_CHANNEL
Definition: MCU_rev15_defs.h:20
+
BRAKE2_PEDAL_OOR_MIN
const int BRAKE2_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:73
+
LOADCELL_FL_OFFSET
const float LOADCELL_FL_OFFSET
Definition: MCU_rev15_defs.h:89
+
MCU15_THERM_FR_CHANNEL
const int MCU15_THERM_FR_CHANNEL
Definition: MCU_rev15_defs.h:38
+
WATCHDOG_INPUT
const int WATCHDOG_INPUT
Definition: MCU_rev15_defs.h:15
+
ACCEL1_PEDAL_MIN
const int ACCEL1_PEDAL_MIN
Definition: MCU_rev15_defs.h:57
+
BRAKE1_PEDAL_MAX
const int BRAKE1_PEDAL_MAX
Definition: MCU_rev15_defs.h:60
+
BRAKE2_PEDAL_MIN
const int BRAKE2_PEDAL_MIN
Definition: MCU_rev15_defs.h:64
+
MCU15_CUR_POS_SENSE_CHANNEL
const int MCU15_CUR_POS_SENSE_CHANNEL
Definition: MCU_rev15_defs.h:25
+
ADC1_CS
const int ADC1_CS
Definition: MCU_rev15_defs.h:11
+
DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
Definition: MCU_rev15_defs.h:79
+
MCU15_GLV_SENSE_CHANNEL
const int MCU15_GLV_SENSE_CHANNEL
Definition: MCU_rev15_defs.h:23
+
BRAKE1_PEDAL_MIN
const int BRAKE1_PEDAL_MIN
Definition: MCU_rev15_defs.h:63
+
ACCEL1_PEDAL_MAX
const int ACCEL1_PEDAL_MAX
Definition: MCU_rev15_defs.h:54
+
BRAKE_ACTIVATION_PERCENTAGE
const float BRAKE_ACTIVATION_PERCENTAGE
Definition: MCU_rev15_defs.h:82
+
TELEM_CAN_BAUDRATE
const unsigned long TELEM_CAN_BAUDRATE
Definition: MCU_rev15_defs.h:48
+
LOADCELL_RL_SCALE
const float LOADCELL_RL_SCALE
Definition: MCU_rev15_defs.h:94
+
STEERING_RANGE_DEGREES
const float STEERING_RANGE_DEGREES
Definition: MCU_rev15_defs.h:105
+
ACCEL2_PEDAL_OOR_MIN
const int ACCEL2_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:67
+
MCU15_THERM_FL
const int MCU15_THERM_FL
Definition: MCU_rev15_defs.h:35
+
ACCEL2_PEDAL_MIN
const int ACCEL2_PEDAL_MIN
Definition: MCU_rev15_defs.h:58
+
MCU15_FL_POTS_CHANNEL
const int MCU15_FL_POTS_CHANNEL
Definition: MCU_rev15_defs.h:28
+
STEERING_IIR_ALPHA
const float STEERING_IIR_ALPHA
Definition: MCU_rev15_defs.h:106
+
DEFAULT_ANALOG_PINS
const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS]
Definition: MCU_rev15_defs.h:40
+
BRAKE1_PEDAL_OOR_MIN
const int BRAKE1_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:72
+
ACCEL2_PEDAL_MAX
const int ACCEL2_PEDAL_MAX
Definition: MCU_rev15_defs.h:55
+
ACCEL1_PEDAL_OOR_MAX
const int ACCEL1_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:69
+
DEFAULT_PEDAL_DEADZONE
const float DEFAULT_PEDAL_DEADZONE
Definition: MCU_rev15_defs.h:78
+
SOFTWARE_OK
const int SOFTWARE_OK
Definition: MCU_rev15_defs.h:14
+
LOADCELL_FR_SCALE
const float LOADCELL_FR_SCALE
Definition: MCU_rev15_defs.h:91
+
MCU15_FR_LOADCELL_CHANNEL
const int MCU15_FR_LOADCELL_CHANNEL
Definition: MCU_rev15_defs.h:31
+
MCU15_TEENSY_ADC_CHANNELS
const int MCU15_TEENSY_ADC_CHANNELS
Definition: MCU_rev15_defs.h:34
+
APPS_ACTIVATION_PERCENTAGE
const float APPS_ACTIVATION_PERCENTAGE
Definition: MCU_rev15_defs.h:81
+
ACCEL2_PEDAL_OOR_MAX
const int ACCEL2_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:70
+
ADC2_CS
const int ADC2_CS
Definition: MCU_rev15_defs.h:12
+
MCU15_BRAKE2_CHANNEL
const int MCU15_BRAKE2_CHANNEL
Definition: MCU_rev15_defs.h:22
+
MCU15_THERM_FL_CHANNEL
const int MCU15_THERM_FL_CHANNEL
Definition: MCU_rev15_defs.h:37
+
MCU15_FL_LOADCELL_CHANNEL
const int MCU15_FL_LOADCELL_CHANNEL
Definition: MCU_rev15_defs.h:30
+
LOADCELL_RL_OFFSET
const float LOADCELL_RL_OFFSET
Definition: MCU_rev15_defs.h:95
+
SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
Definition: MCU_rev15_defs.h:103
+
MCU15_ACCEL1_CHANNEL
const int MCU15_ACCEL1_CHANNEL
Definition: MCU_rev15_defs.h:19
+
ACCEL1_PEDAL_OOR_MIN
const int ACCEL1_PEDAL_OOR_MIN
Definition: MCU_rev15_defs.h:66
+
PRIMARY_STEERING_SENSE_OFFSET
const float PRIMARY_STEERING_SENSE_OFFSET
Definition: MCU_rev15_defs.h:101
+
SETUP_PRESENT_ACTION_INTERVAL
const unsigned long SETUP_PRESENT_ACTION_INTERVAL
Definition: MCU_rev15_defs.h:42
+
INV_CAN_BAUDRATE
const unsigned long INV_CAN_BAUDRATE
Definition: MCU_rev15_defs.h:47
+
MCU15_CUR_NEG_SENSE_CHANNEL
const int MCU15_CUR_NEG_SENSE_CHANNEL
Definition: MCU_rev15_defs.h:26
+
BUZZER_ON_INTERVAL
const unsigned long BUZZER_ON_INTERVAL
Definition: MCU_rev15_defs.h:43
+
BRAKE_MECH_THRESH
const float BRAKE_MECH_THRESH
Definition: MCU_rev15_defs.h:83
+
LOADCELL_RR_OFFSET
const float LOADCELL_RR_OFFSET
Definition: MCU_rev15_defs.h:98
+
LOADCELL_RR_SCALE
const float LOADCELL_RR_SCALE
Definition: MCU_rev15_defs.h:97
+
BRAKE2_PEDAL_MAX
const int BRAKE2_PEDAL_MAX
Definition: MCU_rev15_defs.h:61
+
BRAKE2_PEDAL_OOR_MAX
const int BRAKE2_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:76
+
LOADCELL_FR_OFFSET
const float LOADCELL_FR_OFFSET
Definition: MCU_rev15_defs.h:92
+
BRAKE1_PEDAL_OOR_MAX
const int BRAKE1_PEDAL_OOR_MAX
Definition: MCU_rev15_defs.h:75
+
MCU15_FR_POTS_CHANNEL
const int MCU15_FR_POTS_CHANNEL
Definition: MCU_rev15_defs.h:29
+
INVERTER_ENABLING_TIMEOUT_INTERVAL
const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL
Definition: MCU_rev15_defs.h:44
+
SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
Definition: MCU_rev15_defs.h:102
+
SECONDARY_STEERING_SENSE_CENTER
const int SECONDARY_STEERING_SENSE_CENTER
Definition: MCU_rev15_defs.h:104
+
ADC3_CS
const int ADC3_CS
Definition: MCU_rev15_defs.h:13
diff --git a/PedalsSystem_8cpp_source.html b/PedalsSystem_8cpp_source.html index 033e6a149..00ef01d28 100644 --- a/PedalsSystem_8cpp_source.html +++ b/PedalsSystem_8cpp_source.html @@ -199,18 +199,18 @@
121}
122
123// only checks implaus based on first min / max
-
124bool PedalsSystem::evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params)
+
124bool PedalsSystem::evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params)
125{
-
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
127}
128
129bool PedalsSystem::evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData1,
130 const AnalogConversion_s &pedalData2,
-
131 const PedalsParams &params,
+
131 const PedalsParams &params,
132 float max_percent_diff)
133{
-
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
-
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
+
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
136 bool sens_not_within_req_percent = (fabs(pedalData1.conversion - pedalData2.conversion) > max_percent_diff);
137 if (pedal1_min_max_implaus || pedal2_min_max_implaus)
138 {
@@ -309,19 +309,19 @@
231 return both_pedals_implausible;
232}
233
-
234bool PedalsSystem::pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams& params, bool check_mech_activation)
+
234bool PedalsSystem::pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams& params, bool check_mech_activation)
235{
-
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
-
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
+
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
+
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
238 bool pedal_1_is_active;
239 bool pedal_2_is_active;
240 if(check_mech_activation)
241 {
-
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
-
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
+
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
+
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
244 } else {
-
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
-
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
+
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
+
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
247 }
248 return (pedal_1_is_active || pedal_2_is_active);
249}
@@ -346,22 +346,18 @@
PedalsSystem::tick
void tick(const SysTick_s &tick, const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake)
overloaded tick function that runs the evaluation of the pedals system. evaluates brake using only mi...
Definition: PedalsSystem.cpp:12
PedalsSystem::evaluate_brake_and_accel_pressed_
bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1, const AnalogConversion_s &accelPedalData2, const AnalogConversion_s &brakePedalData1, const AnalogConversion_s &brakePedalData2)
function to determine if the pedals and the brakes are pressed at the same time. evaluates brake bein...
Definition: PedalsSystem.cpp:219
PedalsSystem::remove_deadzone_
float remove_deadzone_(float conversion_input, float deadzone)
Definition: PedalsSystem.cpp:189
+
params
ParameterInterface params(state)
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
AnalogConversion_s::conversion
float conversion
Definition: AnalogSensorsInterface.h:16
AnalogConversion_s::raw
int raw
Definition: AnalogSensorsInterface.h:15
PedalsParams
Pedals params struct that will hold min / max that will be used for evaluateion.
Definition: PedalsSystem.h:26
PedalsParams::deadzone_margin
float deadzone_margin
Definition: PedalsSystem.h:36
-
PedalsParams::max_sensor_pedal_1
int max_sensor_pedal_1
Definition: PedalsSystem.h:33
PedalsParams::activation_percentage
float activation_percentage
Definition: PedalsSystem.h:35
PedalsParams::mechanical_activation_percentage
float mechanical_activation_percentage
Definition: PedalsSystem.h:38
-
PedalsParams::implausibility_margin
float implausibility_margin
Definition: PedalsSystem.h:37
-
PedalsParams::min_sensor_pedal_1
int min_sensor_pedal_1
Definition: PedalsSystem.h:31
PedalsParams::min_sensor_pedal_2
int min_sensor_pedal_2
Definition: PedalsSystem.h:32
-
PedalsParams::max_sensor_pedal_2
int max_sensor_pedal_2
Definition: PedalsSystem.h:34
-
PedalsSystemData_s
system interface struct that contains the data from the pedal system
Definition: PedalsSystem.h:11
PedalsSystemData_s::brakePercent
float brakePercent
Definition: PedalsSystem.h:20
PedalsSystemData_s::mechBrakeActive
bool mechBrakeActive
Definition: PedalsSystem.h:16
diff --git a/PedalsSystem_8h_source.html b/PedalsSystem_8h_source.html index 7e3f4209d..61ea39465 100644 --- a/PedalsSystem_8h_source.html +++ b/PedalsSystem_8h_source.html @@ -178,10 +178,10 @@
141
147 bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData1,
148 const AnalogConversion_s &pedalData2,
-
149 const PedalsParams &params,
+
149 const PedalsParams &params,
150 float max_percent_diff);
151
-
156 bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params);
+
156 bool evaluate_pedal_implausibilities_(const AnalogConversion_s &pedalData, const PedalsParams &params);
157
166 bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1,
167 const AnalogConversion_s &accelPedalData2,
@@ -199,7 +199,7 @@
193 int max,
194 float implaus_margin_scale);
195
-
202 bool pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation);
+
202 bool pedal_is_active_(float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation);
203
204};
205
@@ -224,6 +224,7 @@
PedalsSystem::getMechBrakeActiveThreshold
float getMechBrakeActiveThreshold()
Definition: PedalsSystem.h:72
PedalsSystem::evaluate_brake_and_accel_pressed_
bool evaluate_brake_and_accel_pressed_(const AnalogConversion_s &accelPedalData1, const AnalogConversion_s &accelPedalData2, const AnalogConversion_s &brakePedalData1, const AnalogConversion_s &brakePedalData2)
function to determine if the pedals and the brakes are pressed at the same time. evaluates brake bein...
Definition: PedalsSystem.cpp:219
PedalsSystem::remove_deadzone_
float remove_deadzone_(float conversion_input, float deadzone)
Definition: PedalsSystem.cpp:189
+
params
ParameterInterface params(state)
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
PedalsParams
Pedals params struct that will hold min / max that will be used for evaluateion.
Definition: PedalsSystem.h:26
PedalsParams::deadzone_margin
float deadzone_margin
Definition: PedalsSystem.h:36
diff --git a/SteeringEncoderInterface_8h_source.html b/SteeringEncoderInterface_8h_source.html index 057787f86..56af72ebb 100644 --- a/SteeringEncoderInterface_8h_source.html +++ b/SteeringEncoderInterface_8h_source.html @@ -98,21 +98,30 @@
20class SteeringEncoderInterface
21{
22public:
-
23// Functions
-
25 virtual void sample();
-
28 virtual SteeringEncoderConversion_s convert();
-
31 virtual void setOffset(float newOffset);
-
32};
-
33
-
34#endif /* __UPPERSTEERINGSENSOR_H__ */
+
23// Mock data
+
24 SteeringEncoderConversion_s mockConversion;
+
25// Functions
+
26 void sample()
+
27 {
+
28 return;
+
29 };
+
30 SteeringEncoderConversion_s convert()
+
31 {
+
32 return mockConversion;
+
33 };
+
34 void setOffset(float newOffset);
+
35};
+
36
+
37#endif /* __UPPERSTEERINGSENSOR_H__ */
SteeringEncoderStatus_e
SteeringEncoderStatus_e
Definition: SteeringEncoderInterface.h:7
-
SteeringEncoderInterface::setOffset
virtual void setOffset(float newOffset)
Set the upper steering sensor's offset. 0 degrees should be centered.
-
SteeringEncoderInterface::sample
virtual void sample()
Commands the underlying steering sensor to sample and hold the result.
-
SteeringEncoderInterface::convert
virtual SteeringEncoderConversion_s convert()
Calculate steering angle and whether result is in sensor's defined bounds. DOES NOT SAMPLE.
+
SteeringEncoderInterface::convert
SteeringEncoderConversion_s convert()
Definition: SteeringEncoderInterface.h:30
+ +
SteeringEncoderInterface::mockConversion
SteeringEncoderConversion_s mockConversion
Definition: SteeringEncoderInterface.h:24
+
SteeringEncoderInterface::setOffset
void setOffset(float newOffset)
SteeringEncoderConversion_s
Definition: SteeringEncoderInterface.h:14
SteeringEncoderConversion_s::angle
float angle
Definition: SteeringEncoderInterface.h:16
SteeringEncoderConversion_s::raw
int raw
Definition: SteeringEncoderInterface.h:15
diff --git a/SteeringSystem_8cpp_source.html b/SteeringSystem_8cpp_source.html index 8f4715582..445373d75 100644 --- a/SteeringSystem_8cpp_source.html +++ b/SteeringSystem_8cpp_source.html @@ -87,73 +87,87 @@
9 if (intake.tick.triggers.trigger100)
10 {
11 // Poll upper steering sensor
-
12 primarySensor_->sample();
-
13 primaryConversion_ = primarySensor_->convert();
+
12 primarySensor_->sample();
+
13 primaryConversion_ = primarySensor_->convert();
14
-
15 // Both sensors are nominal and agree
-
16 if (
-
17 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL)
-
18 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
-
19 && (std::abs(primaryConversion_.angle - intake.secondaryConversion.conversion) < STEERING_DIVERGENCE_WARN_THRESHOLD)
-
20 )
-
21 {
-
22 steeringData_ = {
-
23 .angle = primaryConversion_.angle,
-
24 .status = SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL
-
25 };
-
26 }
-
27 // One or both sensors are marginal
-
28 // Sensors disagree by STEERING_DIVERGENCE_WARN_THRESHOLD degrees and less than STEERING_DIVERGENCE_ERROR_THRESHOLD degrees
-
29 else if (
-
30 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_MARGINAL)
-
31 || (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED)
-
32 || ((std::abs(primaryConversion_.angle - intake.secondaryConversion.conversion) >= STEERING_DIVERGENCE_WARN_THRESHOLD) && (std::abs(primaryConversion_.angle - intake.secondaryConversion.conversion) < STEERING_DIVERGENCE_ERROR_THRESHOLD))
-
33 )
-
34 {
-
35 steeringData_ = {
-
36 .angle = primaryConversion_.angle,
-
37 .status = SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL
-
38 };
-
39 }
-
40 // Upper steering sensor reports error or is not detected, lower sensor is nominal
-
41 else if (
-
42 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_ERROR)
-
43 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
-
44 )
-
45 {
-
46 steeringData_ = {
-
47 .angle = intake.secondaryConversion.conversion,
-
48 .status = SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED
-
49 };
-
50 }
-
51 // Fall through case
-
52 // Complete failure of steering sensing
-
53 else
-
54 {
-
55 steeringData_ = {
-
56 .angle = 0.0,
-
57 .status = SteeringSystemStatus_e::STEERING_SYSTEM_ERROR
-
58 };
-
59 }
-
60 }
-
61}
+
15 // Filter both sensor angle readings
+
16 filteredAnglePrimary_ = steeringFilters_[0].filtered_result(primaryConversion_.angle);
+
17 filteredAngleSecondary_ = steeringFilters_[1].filtered_result(intake.secondaryConversion.conversion);
+
18
+
19 // Both sensors are nominal and agree
+
20 if (
+
21 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL)
+
22 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
+
23 && (std::abs(filteredAnglePrimary_ - filteredAngleSecondary_) < STEERING_DIVERGENCE_WARN_THRESHOLD)
+
24 )
+
25 {
+
26 steeringData_ = {
+
27 .angle = filteredAnglePrimary_,
+
28 .status = SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL
+
29 };
+
30 }
+
31 // One or both sensors are marginal
+
32 // Sensors disagree by STEERING_DIVERGENCE_WARN_THRESHOLD degrees and less than STEERING_DIVERGENCE_ERROR_THRESHOLD degrees
+
33 else if (
+
34 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_MARGINAL)
+
35 || ((primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL) && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED))
+
36 || ((std::abs(filteredAnglePrimary_ - filteredAngleSecondary_) >= STEERING_DIVERGENCE_WARN_THRESHOLD) && (std::abs(filteredAnglePrimary_ - filteredAngleSecondary_) < STEERING_DIVERGENCE_ERROR_THRESHOLD))
+
37 )
+
38 {
+
39 steeringData_ = {
+
40 .angle = filteredAnglePrimary_,
+
41 .status = SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL
+
42 };
+
43 }
+
44 // Upper steering sensor reports error or is not detected, lower sensor is nominal
+
45 else if (
+
46 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_ERROR)
+
47 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
+
48 )
+
49 {
+
50 steeringData_ = {
+
51 .angle = filteredAngleSecondary_,
+
52 .status = SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED
+
53 };
+
54 }
+
55 // Fall through case
+
56 // Complete failure of steering sensing
+
57 else
+
58 {
+
59 steeringData_ = {
+
60 .angle = 0.0,
+
61 .status = SteeringSystemStatus_e::STEERING_SYSTEM_ERROR
+
62 };
+
63 }
+
64
+
65 // For possible bottom sensor recalibration
+
66 // TODO: Remove me once done!
+
67 // Serial.print("Secondary sensor raw: ");
+
68 // Serial.println(intake.secondaryConversion.raw);
+
69 // Serial.println();
+
70 }
+
71}
-
STEERING_DIVERGENCE_ERROR_THRESHOLD
#define STEERING_DIVERGENCE_ERROR_THRESHOLD
Definition: SteeringSystem.h:12
-
STEERING_DIVERGENCE_WARN_THRESHOLD
#define STEERING_DIVERGENCE_WARN_THRESHOLD
Definition: SteeringSystem.h:13
-
SteeringEncoderInterface::sample
virtual void sample()
Commands the underlying steering sensor to sample and hold the result.
-
SteeringEncoderInterface::convert
virtual SteeringEncoderConversion_s convert()
Calculate steering angle and whether result is in sensor's defined bounds. DOES NOT SAMPLE.
-
SteeringSystem::primarySensor_
SteeringEncoderInterface * primarySensor_
Definition: SteeringSystem.h:40
+
STEERING_DIVERGENCE_ERROR_THRESHOLD
#define STEERING_DIVERGENCE_ERROR_THRESHOLD
Definition: SteeringSystem.h:13
+
STEERING_DIVERGENCE_WARN_THRESHOLD
#define STEERING_DIVERGENCE_WARN_THRESHOLD
Definition: SteeringSystem.h:14
+
Filter_IIR::filtered_result
dataType filtered_result(dataType new_val)
Definition: Filter_IIR.h:50
+
SteeringEncoderInterface::convert
SteeringEncoderConversion_s convert()
Definition: SteeringEncoderInterface.h:30
+ +
SteeringSystem::primarySensor_
SteeringEncoderInterface * primarySensor_
Definition: SteeringSystem.h:43
+
SteeringSystem::filteredAnglePrimary_
float filteredAnglePrimary_
Definition: SteeringSystem.h:53
SteeringSystem::tick
void tick(const SteeringSystemTick_s &intake)
Computes steering angle and status of the steering system.
Definition: SteeringSystem.cpp:4
-
SteeringSystem::primaryConversion_
SteeringEncoderConversion_s primaryConversion_
Definition: SteeringSystem.h:41
-
SteeringSystem::steeringData_
SteeringSystemData_s steeringData_
Definition: SteeringSystem.h:42
+
SteeringSystem::primaryConversion_
SteeringEncoderConversion_s primaryConversion_
Definition: SteeringSystem.h:44
+
SteeringSystem::filteredAngleSecondary_
float filteredAngleSecondary_
Definition: SteeringSystem.h:54
+
SteeringSystem::steeringData_
SteeringSystemData_s steeringData_
Definition: SteeringSystem.h:45
+
SteeringSystem::steeringFilters_
Filter_IIR< float > steeringFilters_[NUM_SENSORS]
Definition: SteeringSystem.h:52
AnalogConversion_s::conversion
float conversion
Definition: AnalogSensorsInterface.h:16
AnalogConversion_s::status
AnalogSensorStatus_e status
Definition: AnalogSensorsInterface.h:17
SteeringEncoderConversion_s::angle
float angle
Definition: SteeringEncoderInterface.h:16
SteeringEncoderConversion_s::status
SteeringEncoderStatus_e status
Definition: SteeringEncoderInterface.h:17
-
SteeringSystemData_s::angle
float angle
Definition: SteeringSystem.h:33
-
SteeringSystemTick_s
Definition: SteeringSystem.h:26
-
SteeringSystemTick_s::secondaryConversion
const AnalogConversion_s & secondaryConversion
Definition: SteeringSystem.h:28
-
SteeringSystemTick_s::tick
const SysTick_s & tick
Definition: SteeringSystem.h:27
+
SteeringSystemData_s::angle
float angle
Definition: SteeringSystem.h:36
+
SteeringSystemTick_s
Definition: SteeringSystem.h:29
+
SteeringSystemTick_s::secondaryConversion
const AnalogConversion_s & secondaryConversion
Definition: SteeringSystem.h:31
+
SteeringSystemTick_s::tick
const SysTick_s & tick
Definition: SteeringSystem.h:30
diff --git a/SteeringSystem_8h.html b/SteeringSystem_8h.html index 387314f70..ef9ec8d38 100644 --- a/SteeringSystem_8h.html +++ b/SteeringSystem_8h.html @@ -82,6 +82,7 @@
#include "SteeringEncoderInterface.h"
#include "AnalogSensorsInterface.h"
+#include "Filter_IIR.h"
#include "SysClock.h"

Go to the source code of this file.

@@ -97,10 +98,14 @@ - + + + + +

Macros

#define STEERING_DIVERGENCE_ERROR_THRESHOLD   (14.0)
#define STEERING_DIVERGENCE_ERROR_THRESHOLD   (16.0)
 
#define STEERING_DIVERGENCE_WARN_THRESHOLD   (8.0)
 
#define NUM_SENSORS   2
 
#define DEFAULT_STEERING_ALPHA   (0.0)
 
@@ -112,6 +117,38 @@

Enumerations

 

Macro Definition Documentation

+ +

◆ DEFAULT_STEERING_ALPHA

+ +
+
+ + + + +
#define DEFAULT_STEERING_ALPHA   (0.0)
+
+ +

Definition at line 16 of file SteeringSystem.h.

+ +
+
+ +

◆ NUM_SENSORS

+ +
+
+ + + + +
#define NUM_SENSORS   2
+
+ +

Definition at line 15 of file SteeringSystem.h.

+ +
+

◆ STEERING_DIVERGENCE_ERROR_THRESHOLD

@@ -119,12 +156,12 @@

- +
#define STEERING_DIVERGENCE_ERROR_THRESHOLD   (14.0)#define STEERING_DIVERGENCE_ERROR_THRESHOLD   (16.0)

-

Definition at line 12 of file SteeringSystem.h.

+

Definition at line 13 of file SteeringSystem.h.

@@ -140,7 +177,7 @@

-

Definition at line 13 of file SteeringSystem.h.

+

Definition at line 14 of file SteeringSystem.h.

@@ -171,13 +208,13 @@

STEERING_SYSTEM_ERROR  -

Definition at line 16 of file SteeringSystem.h.

-
17{
-
18 STEERING_SYSTEM_NOMINAL = 0,
-
19 STEERING_SYSTEM_MARGINAL = 1,
-
20 STEERING_SYSTEM_DEGRADED = 2,
-
21 STEERING_SYSTEM_ERROR = 3,
-
22};
+

Definition at line 19 of file SteeringSystem.h.

+
20{
+
21 STEERING_SYSTEM_NOMINAL = 0,
+
22 STEERING_SYSTEM_MARGINAL = 1,
+
23 STEERING_SYSTEM_DEGRADED = 2,
+
24 STEERING_SYSTEM_ERROR = 3,
+
25};
diff --git a/SteeringSystem_8h_source.html b/SteeringSystem_8h_source.html index 5e7537033..a68277ce2 100644 --- a/SteeringSystem_8h_source.html +++ b/SteeringSystem_8h_source.html @@ -81,80 +81,108 @@
3
4#include "SteeringEncoderInterface.h"
5#include "AnalogSensorsInterface.h"
-
6#include "SysClock.h"
-
7// Digital Encoder = Primary Sensor
-
8// Analog Encoder = Secondary Sensor
-
9
-
10// Definitions
-
11// TODO: evalaute reasonable thresholds for agreement
-
12#define STEERING_DIVERGENCE_ERROR_THRESHOLD (14.0) // Steering sensors can disagree by 5 degrees before output is considered erroneous
-
13#define STEERING_DIVERGENCE_WARN_THRESHOLD (8.0) // Warning condition will be raised when steering sensors diverge 2.5 degrees
-
14
-
15// Enums
-
16enum class SteeringSystemStatus_e
-
17{
-
18 STEERING_SYSTEM_NOMINAL = 0,
-
19 STEERING_SYSTEM_MARGINAL = 1,
-
20 STEERING_SYSTEM_DEGRADED = 2,
-
21 STEERING_SYSTEM_ERROR = 3,
-
22};
-
23
-
24// Structs
-
25struct SteeringSystemTick_s
-
26{
-
27 const SysTick_s &tick;
-
28 const AnalogConversion_s &secondaryConversion;
-
29};
-
30
-
31struct SteeringSystemData_s
-
32{
-
33 float angle;
-
34 SteeringSystemStatus_e status;
-
35};
-
36
-
37class SteeringSystem
-
38{
-
39private:
-
40 SteeringEncoderInterface *primarySensor_;
-
41 SteeringEncoderConversion_s primaryConversion_;
-
42 SteeringSystemData_s steeringData_;
-
43public:
-
44 SteeringSystem(SteeringEncoderInterface *primarySensor)
-
45 : primarySensor_(primarySensor)
-
46 {}
-
47
-
51 void tick(const SteeringSystemTick_s &intake);
-
52
-
55 const SteeringSystemData_s& getSteeringSystemData()
-
56 {
-
57 return steeringData_;
-
58 }
-
59};
-
60
-
61#endif /* __STEERINGSYSTEM_H__ */
+
6#include "Filter_IIR.h"
+
7#include "SysClock.h"
+
8// Digital Encoder = Primary Sensor
+
9// Analog Encoder = Secondary Sensor
+
10
+
11// Definitions
+
12// TODO: evalaute reasonable thresholds for agreement
+
13#define STEERING_DIVERGENCE_ERROR_THRESHOLD (16.0) // Steering sensors can disagree by x degrees before output is considered erroneous
+
14#define STEERING_DIVERGENCE_WARN_THRESHOLD (8.0) // Warning condition will be raised when steering sensors diverge x degrees
+
15#define NUM_SENSORS 2
+
16#define DEFAULT_STEERING_ALPHA (0.0)
+
17
+
18// Enums
+
19enum class SteeringSystemStatus_e
+
20{
+
21 STEERING_SYSTEM_NOMINAL = 0,
+
22 STEERING_SYSTEM_MARGINAL = 1,
+
23 STEERING_SYSTEM_DEGRADED = 2,
+
24 STEERING_SYSTEM_ERROR = 3,
+
25};
+
26
+
27// Structs
+
28struct SteeringSystemTick_s
+
29{
+
30 const SysTick_s &tick;
+
31 const AnalogConversion_s &secondaryConversion;
+
32};
+
33
+
34struct SteeringSystemData_s
+
35{
+
36 float angle;
+
37 SteeringSystemStatus_e status;
+
38};
+
39
+
40class SteeringSystem
+
41{
+
42private:
+
43 SteeringEncoderInterface *primarySensor_;
+
44 SteeringEncoderConversion_s primaryConversion_;
+
45 SteeringSystemData_s steeringData_;
+
46
+
52 Filter_IIR<float> steeringFilters_[NUM_SENSORS];
+
53 float filteredAnglePrimary_;
+
54 float filteredAngleSecondary_;
+
55public:
+
56 SteeringSystem(SteeringEncoderInterface *primarySensor)
+
57 : SteeringSystem(primarySensor, DEFAULT_STEERING_ALPHA)
+
58 {}
+
59
+
60 SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlpha)
+
61 : SteeringSystem(primarySensor, filterAlpha, filterAlpha)
+
62 {}
+
63
+
64 SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlphaPrimary, float filterAlphaSecondary)
+
65 : primarySensor_(primarySensor)
+
66 {
+
67 steeringFilters_[0] = Filter_IIR<float>(filterAlphaPrimary);
+
68 steeringFilters_[1] = Filter_IIR<float>(filterAlphaSecondary);
+
69
+
70 }
+
71
+
75 void tick(const SteeringSystemTick_s &intake);
+
76
+
79 const SteeringSystemData_s& getSteeringSystemData()
+
80 {
+
81 return steeringData_;
+
82 }
+
83};
+
84
+
85#endif /* __STEERINGSYSTEM_H__ */
+
Filter_IIR.h
-
SteeringSystemStatus_e
SteeringSystemStatus_e
Definition: SteeringSystem.h:17
+
SteeringSystemStatus_e
SteeringSystemStatus_e
Definition: SteeringSystem.h:20
+
DEFAULT_STEERING_ALPHA
#define DEFAULT_STEERING_ALPHA
Definition: SteeringSystem.h:16
+
NUM_SENSORS
#define NUM_SENSORS
Definition: SteeringSystem.h:15
+
Filter_IIR
Definition: Filter_IIR.h:11
- -
SteeringSystem::getSteeringSystemData
const SteeringSystemData_s & getSteeringSystemData()
Get a reference to the steering system's data.
Definition: SteeringSystem.h:55
-
SteeringSystem::primarySensor_
SteeringEncoderInterface * primarySensor_
Definition: SteeringSystem.h:40
-
SteeringSystem::SteeringSystem
SteeringSystem(SteeringEncoderInterface *primarySensor)
Definition: SteeringSystem.h:44
+ +
SteeringSystem::getSteeringSystemData
const SteeringSystemData_s & getSteeringSystemData()
Get a reference to the steering system's data.
Definition: SteeringSystem.h:79
+
SteeringSystem::primarySensor_
SteeringEncoderInterface * primarySensor_
Definition: SteeringSystem.h:43
+
SteeringSystem::SteeringSystem
SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlpha)
Definition: SteeringSystem.h:60
+
SteeringSystem::SteeringSystem
SteeringSystem(SteeringEncoderInterface *primarySensor)
Definition: SteeringSystem.h:56
+
SteeringSystem::filteredAnglePrimary_
float filteredAnglePrimary_
Definition: SteeringSystem.h:53
SteeringSystem::tick
void tick(const SteeringSystemTick_s &intake)
Computes steering angle and status of the steering system.
Definition: SteeringSystem.cpp:4
-
SteeringSystem::primaryConversion_
SteeringEncoderConversion_s primaryConversion_
Definition: SteeringSystem.h:41
-
SteeringSystem::steeringData_
SteeringSystemData_s steeringData_
Definition: SteeringSystem.h:42
+
SteeringSystem::primaryConversion_
SteeringEncoderConversion_s primaryConversion_
Definition: SteeringSystem.h:44
+
SteeringSystem::SteeringSystem
SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlphaPrimary, float filterAlphaSecondary)
Definition: SteeringSystem.h:64
+
SteeringSystem::filteredAngleSecondary_
float filteredAngleSecondary_
Definition: SteeringSystem.h:54
+
SteeringSystem::steeringData_
SteeringSystemData_s steeringData_
Definition: SteeringSystem.h:45
+
SteeringSystem::steeringFilters_
Filter_IIR< float > steeringFilters_[NUM_SENSORS]
Definition: SteeringSystem.h:52
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
SteeringEncoderConversion_s
Definition: SteeringEncoderInterface.h:14
-
SteeringSystemData_s
Definition: SteeringSystem.h:32
-
SteeringSystemData_s::angle
float angle
Definition: SteeringSystem.h:33
-
SteeringSystemData_s::status
SteeringSystemStatus_e status
Definition: SteeringSystem.h:34
-
SteeringSystemTick_s
Definition: SteeringSystem.h:26
-
SteeringSystemTick_s::secondaryConversion
const AnalogConversion_s & secondaryConversion
Definition: SteeringSystem.h:28
-
SteeringSystemTick_s::tick
const SysTick_s & tick
Definition: SteeringSystem.h:27
+
SteeringSystemData_s
Definition: SteeringSystem.h:35
+
SteeringSystemData_s::angle
float angle
Definition: SteeringSystem.h:36
+
SteeringSystemData_s::status
SteeringSystemStatus_e status
Definition: SteeringSystem.h:37
+
SteeringSystemTick_s
Definition: SteeringSystem.h:29
+
SteeringSystemTick_s::secondaryConversion
const AnalogConversion_s & secondaryConversion
Definition: SteeringSystem.h:31
+
SteeringSystemTick_s::tick
const SysTick_s & tick
Definition: SteeringSystem.h:30
diff --git a/TelemetryInterface_8cpp_source.html b/TelemetryInterface_8cpp_source.html index 81eaa8a60..5eb4506da 100644 --- a/TelemetryInterface_8cpp_source.html +++ b/TelemetryInterface_8cpp_source.html @@ -77,288 +77,300 @@
Go to the documentation of this file.
1#include "TelemetryInterface.h"
-
2
-
3/* Update CAN messages */
-
4// Main loop
-
5// MCP3208 returns structure
-
6void TelemetryInterface::update_pedal_readings_CAN_msg(float accel_percent,
-
7 float brake_percent,
-
8 float mech_brake_percent) {
-
9
-
10 MCU_PEDAL_READINGS_t pedal_readings;
-
11
-
12 pedal_readings.accel_percent_float_ro = HYTECH_accel_percent_float_ro_toS(accel_percent*100);
-
13 pedal_readings.brake_percent_float_ro = HYTECH_brake_percent_float_ro_toS(brake_percent*100);
-
14 pedal_readings.mechanical_brake_percent_float_ro = HYTECH_mechanical_brake_percent_float_ro_toS(mech_brake_percent*100);
-
15
-
16 enqueue_new_CAN<MCU_PEDAL_READINGS_t>(&pedal_readings, &Pack_MCU_PEDAL_READINGS_hytech);
-
17}
-
18void TelemetryInterface::update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1,
-
19 const AnalogConversion_s &accel_2,
-
20 const AnalogConversion_s &brake_1,
-
21 const AnalogConversion_s &brake_2) {
-
22 MCU_PEDAL_RAW_t pedal_read;
-
23
-
24 pedal_read.accel_1_raw = accel_1.raw;
-
25 pedal_read.accel_2_raw = accel_2.raw;
-
26 pedal_read.brake_1_raw = brake_1.raw;
-
27 pedal_read.brake_2_raw = brake_2.raw;
-
28
-
29 enqueue_new_CAN<MCU_PEDAL_RAW_t>(&pedal_read, &Pack_MCU_PEDAL_RAW_hytech);
-
30
-
31}
-
32// MCP3204 returns structure
-
33void TelemetryInterface::update_suspension_CAN_msg(const AnalogConversion_s &lc_fl,
-
34 const AnalogConversion_s &lc_fr,
-
35 const AnalogConversion_s &pots_fl,
-
36 const AnalogConversion_s &pots_fr) {
-
37 MCU_SUSPENSION_t sus;
-
38 sus.load_cell_fl = lc_fl.raw;
-
39 sus.load_cell_fr = lc_fr.raw;
-
40 sus.potentiometer_fl = pots_fr.raw;
-
41 sus.potentiometer_fr = pots_fl.raw;
-
42
-
43 enqueue_new_CAN<MCU_SUSPENSION_t>(&sus, &Pack_MCU_SUSPENSION_hytech);
-
44}
-
45// SteeringDual and MCP3208 return structures
-
46void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1,
-
47 const AnalogConversion_s &steer2,
-
48 const AnalogConversion_s &current,
-
49 const AnalogConversion_s &reference,
-
50 const AnalogConversion_s &glv) {
-
51 // do sth with mcu_analog_readings_
-
52 mcu_analog_readings_.set_steering_1(steer1.raw);
-
53 mcu_analog_readings_.set_steering_2(steer2.raw);
-
54 mcu_analog_readings_.set_hall_effect_current(current.raw - reference.raw);
-
55 // Serial.println("hall effect current: ");
-
56 // Serial.println(mcu_analog_readings_.get_hall_effect_current());
-
57 mcu_analog_readings_.set_glv_battery_voltage(glv.raw);
-
58
-
59 enqueue_CAN<MCU_analog_readings>(mcu_analog_readings_, ID_MCU_ANALOG_READINGS);
-
60}
-
61
-
62void TelemetryInterface::update_drivetrain_rpms_CAN_msg(InvInt_t* fl, InvInt_t* fr, InvInt_t* rl, InvInt_t* rr)
-
63{
-
64 DRIVETRAIN_RPMS_TELEM_t rpms;
-
65 rpms.fl_motor_rpm = fl->get_speed();
-
66 rpms.fr_motor_rpm = fr->get_speed();
-
67 rpms.rl_motor_rpm = rl->get_speed();
-
68 rpms.rr_motor_rpm = rr->get_speed();
-
69
-
70 enqueue_new_CAN<DRIVETRAIN_RPMS_TELEM_t>(&rpms, &Pack_DRIVETRAIN_RPMS_TELEM_hytech);
-
71}
-
72
-
73void TelemetryInterface::update_drivetrain_err_status_CAN_msg(InvInt_t* fl, InvInt_t* fr, InvInt_t* rl, InvInt_t* rr)
-
74{
-
75
-
76 if (1) { // We should only write error status if some error has occurred, but for now, this is just an if(1)
-
77 DRIVETRAIN_ERR_STATUS_TELEM_t errors;
-
78 errors.mc1_diagnostic_number = fl->get_error_status();
-
79 errors.mc2_diagnostic_number = fr->get_error_status();
-
80 errors.mc3_diagnostic_number = rl->get_error_status();
-
81 errors.mc4_diagnostic_number = rr->get_error_status();
-
82 enqueue_new_CAN<DRIVETRAIN_ERR_STATUS_TELEM_t>(&errors, &Pack_DRIVETRAIN_ERR_STATUS_TELEM_hytech);
-
83 }
-
84
-
85}
-
86
-
87void TelemetryInterface::update_drivetrain_status_telem_CAN_msg(
-
88 InvInt_t* fl,
-
89 InvInt_t* fr,
-
90 InvInt_t* rl,
-
91 InvInt_t* rr,
-
92 bool accel_implaus,
-
93 bool brake_implaus,
-
94 float accel_per,
-
95 float brake_per)
-
96{
-
97 DRIVETRAIN_STATUS_TELEM_t status;
-
98
-
99 status.mc1_dc_on = fl->get_dc_on();
-
100 status.mc1_derating_on = fl->get_derating_on();
-
101 status.mc1_error = fl->get_error();
-
102 status.mc1_inverter_on = fl->get_inverter_on();
-
103 status.mc1_quit_dc = fl->get_quit_dc_on();
-
104 status.mc1_quit_inverter_on = fl->get_quit_inverter_on();
-
105 status.mc1_system_ready = fl->inverter_system_ready();
-
106 status.mc1_warning = fl->get_warning();
+
2/* Update CAN messages */
+
3// Main loop
+
4// MCP3208 returns structure
+
5void TelemetryInterface::update_pedal_readings_CAN_msg(float accel_percent,
+
6 float brake_percent,
+
7 float mech_brake_percent) {
+
8
+
9 MCU_PEDAL_READINGS_t pedal_readings;
+
10
+
11 pedal_readings.accel_percent_float_ro = HYTECH_accel_percent_float_ro_toS(accel_percent*100);
+
12 pedal_readings.brake_percent_float_ro = HYTECH_brake_percent_float_ro_toS(brake_percent*100);
+
13 pedal_readings.mechanical_brake_percent_float_ro = HYTECH_mechanical_brake_percent_float_ro_toS(mech_brake_percent*100);
+
14
+
15 enqueue_new_CAN<MCU_PEDAL_READINGS_t>(&pedal_readings, &Pack_MCU_PEDAL_READINGS_hytech);
+
16}
+
17void TelemetryInterface::update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1,
+
18 const AnalogConversion_s &accel_2,
+
19 const AnalogConversion_s &brake_1,
+
20 const AnalogConversion_s &brake_2) {
+
21 MCU_PEDAL_RAW_t pedal_read;
+
22
+
23 pedal_read.accel_1_raw = accel_1.raw;
+
24 pedal_read.accel_2_raw = accel_2.raw;
+
25 pedal_read.brake_1_raw = brake_1.raw;
+
26 pedal_read.brake_2_raw = brake_2.raw;
+
27
+
28 enqueue_new_CAN<MCU_PEDAL_RAW_t>(&pedal_read, &Pack_MCU_PEDAL_RAW_hytech);
+
29
+
30}
+
31// MCP3204 returns structure
+
32void TelemetryInterface::update_suspension_CAN_msg(const AnalogConversion_s &lc_fl,
+
33 const AnalogConversion_s &lc_fr,
+
34 const AnalogConversion_s &pots_fl,
+
35 const AnalogConversion_s &pots_fr) {
+
36 MCU_SUSPENSION_t sus;
+
37 sus.load_cell_fl = lc_fl.raw;
+
38 sus.load_cell_fr = lc_fr.raw;
+
39 sus.potentiometer_fl = pots_fr.raw;
+
40 sus.potentiometer_fr = pots_fl.raw;
+
41
+
42 enqueue_new_CAN<MCU_SUSPENSION_t>(&sus, &Pack_MCU_SUSPENSION_hytech);
+
43}
+
44// SteeringDual and MCP3208 return structures
+
45void TelemetryInterface::update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1,
+
46 const AnalogConversion_s &steer2,
+
47 const AnalogConversion_s &current,
+
48 const AnalogConversion_s &reference,
+
49 const AnalogConversion_s &glv) {
+
50 // do sth with mcu_analog_readings_
+
51 mcu_analog_readings_.set_steering_1(steer1.raw);
+
52 mcu_analog_readings_.set_steering_2(steer2.raw);
+
53 mcu_analog_readings_.set_hall_effect_current(current.raw - reference.raw);
+
54 // Serial.println("hall effect current: ");
+
55 // Serial.println(mcu_analog_readings_.get_hall_effect_current());
+
56 mcu_analog_readings_.set_glv_battery_voltage(glv.raw);
+
57
+
58 enqueue_CAN<MCU_analog_readings>(mcu_analog_readings_, ID_MCU_ANALOG_READINGS);
+
59}
+
60void TelemetryInterface::update_front_thermistors_CAN_msg(const AnalogConversion_s &therm_fl,
+
61 const AnalogConversion_s &therm_fr) {
+
62
+
63 FRONT_THERMISTORS_t front_thermistors_;
+
64 front_thermistors_.thermistor_motor_fl = therm_fl.raw;
+
65 front_thermistors_.thermistor_motor_fr = therm_fr.raw;
+
66
+
67 enqueue_new_CAN<FRONT_THERMISTORS_t>(&front_thermistors_, &Pack_FRONT_THERMISTORS_hytech);
+
68}
+
69
+
70
+
71void TelemetryInterface::update_drivetrain_rpms_CAN_msg(InvInt_t* fl, InvInt_t* fr, InvInt_t* rl, InvInt_t* rr)
+
72{
+
73 DRIVETRAIN_RPMS_TELEM_t rpms;
+
74 rpms.fl_motor_rpm = fl->get_speed();
+
75 rpms.fr_motor_rpm = fr->get_speed();
+
76 rpms.rl_motor_rpm = rl->get_speed();
+
77 rpms.rr_motor_rpm = rr->get_speed();
+
78
+
79 enqueue_new_CAN<DRIVETRAIN_RPMS_TELEM_t>(&rpms, &Pack_DRIVETRAIN_RPMS_TELEM_hytech);
+
80}
+
81
+
82void TelemetryInterface::update_drivetrain_err_status_CAN_msg(InvInt_t* fl, InvInt_t* fr, InvInt_t* rl, InvInt_t* rr)
+
83{
+
84
+
85 if (1) { // We should only write error status if some error has occurred, but for now, this is just an if(1)
+
86 DRIVETRAIN_ERR_STATUS_TELEM_t errors;
+
87 errors.mc1_diagnostic_number = fl->get_error_status();
+
88 errors.mc2_diagnostic_number = fr->get_error_status();
+
89 errors.mc3_diagnostic_number = rl->get_error_status();
+
90 errors.mc4_diagnostic_number = rr->get_error_status();
+
91 enqueue_new_CAN<DRIVETRAIN_ERR_STATUS_TELEM_t>(&errors, &Pack_DRIVETRAIN_ERR_STATUS_TELEM_hytech);
+
92 }
+
93
+
94}
+
95
+
96void TelemetryInterface::update_drivetrain_status_telem_CAN_msg(
+
97 InvInt_t* fl,
+
98 InvInt_t* fr,
+
99 InvInt_t* rl,
+
100 InvInt_t* rr,
+
101 bool accel_implaus,
+
102 bool brake_implaus,
+
103 float accel_per,
+
104 float brake_per)
+
105{
+
106 DRIVETRAIN_STATUS_TELEM_t status;
107
-
108 status.mc2_dc_on = fr->get_dc_on();
-
109 status.mc2_derating_on = fr->get_derating_on();
-
110 status.mc2_error = fr->get_error();
-
111 status.mc2_inverter_on = fr->get_inverter_on();
-
112 status.mc2_quit_dc = fr->get_quit_dc_on();
-
113 status.mc2_quit_inverter_on = fr->get_quit_inverter_on();
-
114 status.mc2_system_ready = fr->inverter_system_ready();
-
115 status.mc2_warning = fr->get_warning();
+
108 status.mc1_dc_on = fl->get_dc_on();
+
109 status.mc1_derating_on = fl->get_derating_on();
+
110 status.mc1_error = fl->get_error();
+
111 status.mc1_inverter_on = fl->get_inverter_on();
+
112 status.mc1_quit_dc = fl->get_quit_dc_on();
+
113 status.mc1_quit_inverter_on = fl->get_quit_inverter_on();
+
114 status.mc1_system_ready = fl->inverter_system_ready();
+
115 status.mc1_warning = fl->get_warning();
116
-
117 status.mc3_dc_on = rl->get_dc_on();
-
118 status.mc3_derating_on = rl->get_derating_on();
-
119 status.mc3_error = rl->get_error();
-
120 status.mc3_inverter_on = rl->get_inverter_on();
-
121 status.mc3_quit_dc = rl->get_quit_dc_on();
-
122 status.mc3_quit_inverter_on = rl->get_quit_inverter_on();
-
123 status.mc3_system_ready = rl->inverter_system_ready();
-
124 status.mc3_warning = rl->get_warning();
+
117 status.mc2_dc_on = fr->get_dc_on();
+
118 status.mc2_derating_on = fr->get_derating_on();
+
119 status.mc2_error = fr->get_error();
+
120 status.mc2_inverter_on = fr->get_inverter_on();
+
121 status.mc2_quit_dc = fr->get_quit_dc_on();
+
122 status.mc2_quit_inverter_on = fr->get_quit_inverter_on();
+
123 status.mc2_system_ready = fr->inverter_system_ready();
+
124 status.mc2_warning = fr->get_warning();
125
-
126 status.mc4_dc_on = rr->get_dc_on();
-
127 status.mc4_derating_on = rr->get_derating_on();
-
128 status.mc4_error = rr->get_error();
-
129 status.mc4_inverter_on = rr->get_inverter_on();
-
130 status.mc4_quit_dc = rr->get_quit_dc_on();
-
131 status.mc4_quit_inverter_on = rr->get_quit_inverter_on();
-
132 status.mc4_system_ready = rr->inverter_system_ready();
-
133 status.mc4_warning = rr->get_warning();
+
126 status.mc3_dc_on = rl->get_dc_on();
+
127 status.mc3_derating_on = rl->get_derating_on();
+
128 status.mc3_error = rl->get_error();
+
129 status.mc3_inverter_on = rl->get_inverter_on();
+
130 status.mc3_quit_dc = rl->get_quit_dc_on();
+
131 status.mc3_quit_inverter_on = rl->get_quit_inverter_on();
+
132 status.mc3_system_ready = rl->inverter_system_ready();
+
133 status.mc3_warning = rl->get_warning();
134
-
135 status.accel_implausible = accel_implaus;
-
136 status.brake_implausible = brake_implaus;
-
137 status.brake_percent = (uint8_t)(abs(brake_per) * 100);
-
138 status.accel_percent = (uint8_t)(abs(accel_per) * 100);
-
139
-
140 MC_temps mc1_temps = fl->get_temps_msg();
-
141 MC_temps mc2_temps = fr->get_temps_msg();
-
142 MC_temps mc3_temps = rl->get_temps_msg();
-
143 MC_temps mc4_temps = rr->get_temps_msg();
-
144
-
145 MC_setpoints_command mc1_cmd = fl->get_cmd_msg();
-
146 MC_setpoints_command mc2_cmd = fr->get_cmd_msg();
-
147 MC_setpoints_command mc3_cmd = rl->get_cmd_msg();
-
148 MC_setpoints_command mc4_cmd = rr->get_cmd_msg();
-
149
-
150 enqueue_CAN<MC_temps>(mc1_temps, ID_MC1_TEMPS);
-
151 enqueue_CAN<MC_temps>(mc2_temps, ID_MC2_TEMPS);
-
152 enqueue_CAN<MC_temps>(mc3_temps, ID_MC3_TEMPS);
-
153 enqueue_CAN<MC_temps>(mc4_temps, ID_MC4_TEMPS);
-
154 enqueue_CAN<MC_setpoints_command>(mc1_cmd, ID_MC1_SETPOINTS_COMMAND);
-
155 enqueue_CAN<MC_setpoints_command>(mc2_cmd, ID_MC2_SETPOINTS_COMMAND);
-
156 enqueue_CAN<MC_setpoints_command>(mc3_cmd, ID_MC3_SETPOINTS_COMMAND);
-
157 enqueue_CAN<MC_setpoints_command>(mc4_cmd, ID_MC4_SETPOINTS_COMMAND);
-
158 enqueue_new_CAN<DRIVETRAIN_STATUS_TELEM_t>(&status, &Pack_DRIVETRAIN_STATUS_TELEM_hytech);
-
159}
-
160
-
161void TelemetryInterface::update_drivetrain_torque_telem_CAN_msg(
-
162 InvInt_t* fl,
-
163 InvInt_t* fr,
-
164 InvInt_t* rl,
-
165 InvInt_t* rr)
-
166{
-
167 // TODO: change this to use actual torque values from inverter
-
168 // Torque current just temporary for gearbox seal validation
-
169 DRIVETRAIN_TORQUE_TELEM_t torque;
-
170 torque.fl_motor_torque_ro = HYTECH_fl_motor_torque_ro_toS(fl->get_torque_current());
-
171 torque.fr_motor_torque_ro = HYTECH_fr_motor_torque_ro_toS(fr->get_torque_current());
-
172 torque.rl_motor_torque_ro = HYTECH_rl_motor_torque_ro_toS(rl->get_torque_current());
-
173 torque.rr_motor_torque_ro = HYTECH_rr_motor_torque_ro_toS(rr->get_torque_current());
-
174
-
175 enqueue_new_CAN<DRIVETRAIN_TORQUE_TELEM_t>(&torque, &Pack_DRIVETRAIN_TORQUE_TELEM_hytech);
-
176}
-
177
-
178// Pack_PENTHOUSE_ACCUM_MSG_hytech
-
179void TelemetryInterface::update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
-
180{
-
181 PENTHOUSE_ACCUM_MSG_t message;
-
182 message.hall_curr_ref = reference.raw;
-
183 message.hall_curr_signal = current.raw;
-
184
-
185 enqueue_new_CAN<PENTHOUSE_ACCUM_MSG_t>(&message, &Pack_PENTHOUSE_ACCUM_MSG_hytech);
-
186}
-
187
-
188/* Send CAN messages */
-
189template<typename T>
-
190void TelemetryInterface::enqueue_CAN(T msg_class, uint32_t id) {
-
191
-
192 CAN_message_t msg;
-
193 msg_class.write(msg.buf);
-
194 msg.id = id;
-
195 msg.len = sizeof(msg_class);
-
196 uint8_t buf[sizeof(CAN_message_t)];
-
197 memmove(buf, &msg, sizeof(CAN_message_t));
-
198
-
199 msg_queue_->push_back(buf, sizeof(CAN_message_t));
-
200
-
201}
-
202
-
203/* Send inverter CAN messages with new CAN library */
-
204template<typename U>
-
205void TelemetryInterface::enqueue_new_CAN(U* structure, uint32_t (* pack_function)(U*, uint8_t*, uint8_t*, uint8_t*)) {
-
206 CAN_message_t can_msg;
-
207 can_msg.id = pack_function(structure, can_msg.buf, &can_msg.len, (uint8_t*) &can_msg.flags.extended);
-
208 uint8_t buf[sizeof(CAN_message_t)] = {};
-
209 memmove(buf, &can_msg, sizeof(CAN_message_t));
-
210 msg_queue_->push_back(buf, sizeof(CAN_message_t));
-
211}
-
212
-
213void TelemetryInterface::enqeue_controller_CAN_msg(const PIDTVTorqueControllerData& data)
-
214{
-
215 CONTROLLER_PID_TV_DATA_t msg;
-
216 msg.controller_input_ro = HYTECH_controller_input_ro_toS(data.controller_input);
-
217 msg.controller_output_ro = HYTECH_controller_output_ro_toS(data.controller_output);
-
218 enqueue_new_CAN<CONTROLLER_PID_TV_DATA_t>(&msg, &Pack_CONTROLLER_PID_TV_DATA_hytech);
-
219
-
220 CONTROLLER_PID_TV_DELTA_DATA_t delta_msg;
-
221 delta_msg.pid_tv_fl_delta_ro = HYTECH_pid_tv_fl_delta_ro_toS(data.fl_torque_delta);
-
222 delta_msg.pid_tv_fr_delta_ro = HYTECH_pid_tv_fr_delta_ro_toS(data.fr_torque_delta);
-
223 delta_msg.pid_tv_rl_delta_ro = HYTECH_pid_tv_rl_delta_ro_toS(data.rl_torque_delta);
-
224 delta_msg.pid_tv_rr_delta_ro = HYTECH_pid_tv_rr_delta_ro_toS(data.rr_torque_delta);
-
225
-
226 enqueue_new_CAN<CONTROLLER_PID_TV_DELTA_DATA_t>(&delta_msg, &Pack_CONTROLLER_PID_TV_DELTA_DATA_hytech);
-
227
-
228
-
229}
-
230
-
231
-
232/* Tick SysClock */
-
233void TelemetryInterface::tick(const AnalogConversionPacket_s<8> &adc1,
-
234 const AnalogConversionPacket_s<4> &adc2,
-
235 const AnalogConversionPacket_s<4> &adc3,
-
236 const SteeringEncoderConversion_s &encoder,
-
237 InvInt_t* fl,
-
238 InvInt_t* fr,
-
239 InvInt_t* rl,
-
240 InvInt_t* rr,
-
241 bool accel_implaus,
-
242 bool brake_implaus,
-
243 float accel_per,
-
244 float brake_per,
-
245 const AnalogConversion_s &accel_1,
-
246 const AnalogConversion_s &accel_2,
-
247 const AnalogConversion_s &brake_1,
-
248 const AnalogConversion_s &brake_2,
-
249 float mech_brake_active_percent,
-
250 const PIDTVTorqueControllerData& data) {
-
251
-
252 // Pedals
-
253 update_pedal_readings_CAN_msg(accel_per,
-
254 brake_per,
-
255 mech_brake_active_percent);
-
256
-
257 update_pedal_readings_raw_CAN_msg(accel_1,
-
258 accel_2,
-
259 brake_1,
-
260 brake_2);
-
261 // Analog readings
-
262 update_analog_readings_CAN_msg(encoder,
-
263 adc1.conversions[channels_.analog_steering_channel],
-
264 adc1.conversions[channels_.current_channel],
-
265 adc1.conversions[channels_.current_ref_channel],
-
266 get_glv_voltage(adc1));
-
267 // Load cells
-
268 update_suspension_CAN_msg(adc2.conversions[channels_.loadcell_fl_channel],
-
269 adc3.conversions[channels_.loadcell_fr_channel],
-
270 adc2.conversions[channels_.pots_fl_channel],
-
271 adc3.conversions[channels_.pots_fr_channel]);
-
272
-
273 update_drivetrain_rpms_CAN_msg(fl, fr, rl, rr);
-
274 update_drivetrain_err_status_CAN_msg(fl, fr, rl, rr);
-
275 update_drivetrain_status_telem_CAN_msg(fl, fr, rl, rr, accel_implaus, brake_implaus, accel_per, brake_per);
-
276 update_drivetrain_torque_telem_CAN_msg(fl, fr, rl, rr);
-
277
-
278 update_penthouse_accum_CAN_msg(adc1.conversions[channels_.current_channel],
-
279 adc1.conversions[channels_.current_ref_channel]);
-
280
-
281 enqeue_controller_CAN_msg(data);
+
135 status.mc4_dc_on = rr->get_dc_on();
+
136 status.mc4_derating_on = rr->get_derating_on();
+
137 status.mc4_error = rr->get_error();
+
138 status.mc4_inverter_on = rr->get_inverter_on();
+
139 status.mc4_quit_dc = rr->get_quit_dc_on();
+
140 status.mc4_quit_inverter_on = rr->get_quit_inverter_on();
+
141 status.mc4_system_ready = rr->inverter_system_ready();
+
142 status.mc4_warning = rr->get_warning();
+
143
+
144 status.accel_implausible = accel_implaus;
+
145 status.brake_implausible = brake_implaus;
+
146 status.brake_percent = (uint8_t)(abs(brake_per) * 100);
+
147 status.accel_percent = (uint8_t)(abs(accel_per) * 100);
+
148
+
149 MC_temps mc1_temps = fl->get_temps_msg();
+
150 MC_temps mc2_temps = fr->get_temps_msg();
+
151 MC_temps mc3_temps = rl->get_temps_msg();
+
152 MC_temps mc4_temps = rr->get_temps_msg();
+
153
+
154 MC_setpoints_command mc1_cmd = fl->get_cmd_msg();
+
155 MC_setpoints_command mc2_cmd = fr->get_cmd_msg();
+
156 MC_setpoints_command mc3_cmd = rl->get_cmd_msg();
+
157 MC_setpoints_command mc4_cmd = rr->get_cmd_msg();
+
158
+
159 enqueue_CAN<MC_temps>(mc1_temps, ID_MC1_TEMPS);
+
160 enqueue_CAN<MC_temps>(mc2_temps, ID_MC2_TEMPS);
+
161 enqueue_CAN<MC_temps>(mc3_temps, ID_MC3_TEMPS);
+
162 enqueue_CAN<MC_temps>(mc4_temps, ID_MC4_TEMPS);
+
163 enqueue_CAN<MC_setpoints_command>(mc1_cmd, ID_MC1_SETPOINTS_COMMAND);
+
164 enqueue_CAN<MC_setpoints_command>(mc2_cmd, ID_MC2_SETPOINTS_COMMAND);
+
165 enqueue_CAN<MC_setpoints_command>(mc3_cmd, ID_MC3_SETPOINTS_COMMAND);
+
166 enqueue_CAN<MC_setpoints_command>(mc4_cmd, ID_MC4_SETPOINTS_COMMAND);
+
167 enqueue_new_CAN<DRIVETRAIN_STATUS_TELEM_t>(&status, &Pack_DRIVETRAIN_STATUS_TELEM_hytech);
+
168}
+
169
+
170void TelemetryInterface::update_drivetrain_torque_telem_CAN_msg(
+
171 InvInt_t* fl,
+
172 InvInt_t* fr,
+
173 InvInt_t* rl,
+
174 InvInt_t* rr)
+
175{
+
176 // TODO: change this to use actual torque values from inverter
+
177 // Torque current just temporary for gearbox seal validation
+
178 DRIVETRAIN_TORQUE_TELEM_t torque;
+
179 torque.fl_motor_torque_ro = HYTECH_fl_motor_torque_ro_toS(fl->get_torque_current());
+
180 torque.fr_motor_torque_ro = HYTECH_fr_motor_torque_ro_toS(fr->get_torque_current());
+
181 torque.rl_motor_torque_ro = HYTECH_rl_motor_torque_ro_toS(rl->get_torque_current());
+
182 torque.rr_motor_torque_ro = HYTECH_rr_motor_torque_ro_toS(rr->get_torque_current());
+
183
+
184 enqueue_new_CAN<DRIVETRAIN_TORQUE_TELEM_t>(&torque, &Pack_DRIVETRAIN_TORQUE_TELEM_hytech);
+
185}
+
186
+
187// Pack_PENTHOUSE_ACCUM_MSG_hytech
+
188void TelemetryInterface::update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
+
189{
+
190 PENTHOUSE_ACCUM_MSG_t message;
+
191 message.hall_curr_ref = reference.raw;
+
192 message.hall_curr_signal = current.raw;
+
193
+
194 enqueue_new_CAN<PENTHOUSE_ACCUM_MSG_t>(&message, &Pack_PENTHOUSE_ACCUM_MSG_hytech);
+
195}
+
196
+
197/* Send CAN messages */
+
198template<typename T>
+
199void TelemetryInterface::enqueue_CAN(T msg_class, uint32_t id) {
+
200
+
201 CAN_message_t msg;
+
202 msg_class.write(msg.buf);
+
203 msg.id = id;
+
204 msg.len = sizeof(msg_class);
+
205 uint8_t buf[sizeof(CAN_message_t)];
+
206 memmove(buf, &msg, sizeof(CAN_message_t));
+
207
+
208 msg_queue_->push_back(buf, sizeof(CAN_message_t));
+
209
+
210}
+
211
+
212/* Send inverter CAN messages with new CAN library */
+
213template<typename U>
+
214void TelemetryInterface::enqueue_new_CAN(U* structure, uint32_t (* pack_function)(U*, uint8_t*, uint8_t*, uint8_t*)) {
+
215 CAN_message_t can_msg;
+
216 can_msg.id = pack_function(structure, can_msg.buf, &can_msg.len, (uint8_t*) &can_msg.flags.extended);
+
217 uint8_t buf[sizeof(CAN_message_t)] = {};
+
218 memmove(buf, &can_msg, sizeof(CAN_message_t));
+
219 msg_queue_->push_back(buf, sizeof(CAN_message_t));
+
220}
+
221
+
222void TelemetryInterface::enqeue_controller_CAN_msg(const PIDTVTorqueControllerData& data)
+
223{
+
224 CONTROLLER_PID_TV_DATA_t msg;
+
225 msg.controller_input_ro = HYTECH_controller_input_ro_toS(data.controller_input);
+
226 msg.controller_output_ro = HYTECH_controller_output_ro_toS(data.controller_output);
+
227 enqueue_new_CAN<CONTROLLER_PID_TV_DATA_t>(&msg, &Pack_CONTROLLER_PID_TV_DATA_hytech);
+
228
+
229 CONTROLLER_PID_TV_DELTA_DATA_t delta_msg;
+
230 delta_msg.pid_tv_fl_delta_ro = HYTECH_pid_tv_fl_delta_ro_toS(data.fl_torque_delta);
+
231 delta_msg.pid_tv_fr_delta_ro = HYTECH_pid_tv_fr_delta_ro_toS(data.fr_torque_delta);
+
232 delta_msg.pid_tv_rl_delta_ro = HYTECH_pid_tv_rl_delta_ro_toS(data.rl_torque_delta);
+
233 delta_msg.pid_tv_rr_delta_ro = HYTECH_pid_tv_rr_delta_ro_toS(data.rr_torque_delta);
+
234
+
235 enqueue_new_CAN<CONTROLLER_PID_TV_DELTA_DATA_t>(&delta_msg, &Pack_CONTROLLER_PID_TV_DELTA_DATA_hytech);
+
236
+
237
+
238}
+
239
+
240
+
241/* Tick SysClock */
+
242void TelemetryInterface::tick(const AnalogConversionPacket_s<8> &adc1,
+
243 const AnalogConversionPacket_s<4> &adc2,
+
244 const AnalogConversionPacket_s<4> &adc3,
+
245 const AnalogConversionPacket_s<2> &mcu_adc,
+
246 const SteeringEncoderConversion_s &encoder,
+
247 InvInt_t* fl,
+
248 InvInt_t* fr,
+
249 InvInt_t* rl,
+
250 InvInt_t* rr,
+
251 bool accel_implaus,
+
252 bool brake_implaus,
+
253 float accel_per,
+
254 float brake_per,
+
255 const AnalogConversion_s &accel_1,
+
256 const AnalogConversion_s &accel_2,
+
257 const AnalogConversion_s &brake_1,
+
258 const AnalogConversion_s &brake_2,
+
259 float mech_brake_active_percent,
+
260 const PIDTVTorqueControllerData& data) {
+
261
+
262 // Pedals
+
263 update_pedal_readings_CAN_msg(accel_per,
+
264 brake_per,
+
265 mech_brake_active_percent);
+
266
+
267 update_pedal_readings_raw_CAN_msg(accel_1,
+
268 accel_2,
+
269 brake_1,
+
270 brake_2);
+
271 // Analog readings
+
272 update_analog_readings_CAN_msg(encoder,
+
273 adc1.conversions[channels_.analog_steering_channel],
+
274 adc1.conversions[channels_.current_channel],
+
275 adc1.conversions[channels_.current_ref_channel],
+
276 get_glv_voltage(adc1));
+
277 // Load cells
+
278 update_suspension_CAN_msg(adc2.conversions[channels_.loadcell_fl_channel],
+
279 adc3.conversions[channels_.loadcell_fr_channel],
+
280 adc2.conversions[channels_.pots_fl_channel],
+
281 adc3.conversions[channels_.pots_fr_channel]);
282
-
283}
+
283 update_drivetrain_rpms_CAN_msg(fl, fr, rl, rr);
+
284 update_drivetrain_err_status_CAN_msg(fl, fr, rl, rr);
+
285 update_drivetrain_status_telem_CAN_msg(fl, fr, rl, rr, accel_implaus, brake_implaus, accel_per, brake_per);
+
286 update_drivetrain_torque_telem_CAN_msg(fl, fr, rl, rr);
+
287
+
288 update_penthouse_accum_CAN_msg(adc1.conversions[channels_.current_channel],
+
289 adc1.conversions[channels_.current_ref_channel]);
+
290
+
291 enqeue_controller_CAN_msg(data);
+
292 update_front_thermistors_CAN_msg(mcu_adc.conversions[channels_.therm_fl_channel],
+
293 mcu_adc.conversions[channels_.therm_fr_channel]);
+
294
+
295}
@@ -374,23 +386,25 @@ -
TelemetryInterface::update_drivetrain_rpms_CAN_msg
void update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:62
-
TelemetryInterface::enqeue_controller_CAN_msg
void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:213
-
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:6
-
TelemetryInterface::tick
void tick(const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:233
-
TelemetryInterface::update_suspension_CAN_msg
void update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
Definition: TelemetryInterface.cpp:33
-
TelemetryInterface::msg_queue_
CANBufferType * msg_queue_
Definition: TelemetryInterface.h:40
-
TelemetryInterface::update_drivetrain_torque_telem_CAN_msg
void update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:161
-
TelemetryInterface::enqueue_new_CAN
void enqueue_new_CAN(U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))
Definition: TelemetryInterface.cpp:205
-
TelemetryInterface::update_penthouse_accum_CAN_msg
void update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
Definition: TelemetryInterface.cpp:179
-
TelemetryInterface::channels_
TelemetryInterfaceReadChannels channels_
Definition: TelemetryInterface.h:42
-
TelemetryInterface::enqueue_CAN
void enqueue_CAN(T can_msg, uint32_t id)
Definition: TelemetryInterface.cpp:190
-
TelemetryInterface::mcu_analog_readings_
MCU_analog_readings mcu_analog_readings_
Definition: TelemetryInterface.h:38
-
TelemetryInterface::update_drivetrain_status_telem_CAN_msg
void update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
Definition: TelemetryInterface.cpp:87
-
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:46
-
TelemetryInterface::update_pedal_readings_raw_CAN_msg
void update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
Definition: TelemetryInterface.cpp:18
-
TelemetryInterface::get_glv_voltage
AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s< 8 > &adc1)
Definition: TelemetryInterface.h:50
-
TelemetryInterface::update_drivetrain_err_status_CAN_msg
void update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:73
+
TelemetryInterface::update_drivetrain_rpms_CAN_msg
void update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:71
+
TelemetryInterface::enqeue_controller_CAN_msg
void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:222
+
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:5
+
TelemetryInterface::update_suspension_CAN_msg
void update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
Definition: TelemetryInterface.cpp:32
+
TelemetryInterface::msg_queue_
CANBufferType * msg_queue_
Definition: TelemetryInterface.h:42
+
TelemetryInterface::tick
void tick(const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const AnalogConversionPacket_s< 2 > &mcu_adc, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:242
+
TelemetryInterface::update_drivetrain_torque_telem_CAN_msg
void update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:170
+
TelemetryInterface::enqueue_new_CAN
void enqueue_new_CAN(U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))
Definition: TelemetryInterface.cpp:214
+
TelemetryInterface::update_penthouse_accum_CAN_msg
void update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
Definition: TelemetryInterface.cpp:188
+
TelemetryInterface::channels_
TelemetryInterfaceReadChannels channels_
Definition: TelemetryInterface.h:44
+
TelemetryInterface::enqueue_CAN
void enqueue_CAN(T can_msg, uint32_t id)
Definition: TelemetryInterface.cpp:199
+
TelemetryInterface::mcu_analog_readings_
MCU_analog_readings mcu_analog_readings_
Definition: TelemetryInterface.h:40
+
TelemetryInterface::update_drivetrain_status_telem_CAN_msg
void update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
Definition: TelemetryInterface.cpp:96
+
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:45
+
TelemetryInterface::update_pedal_readings_raw_CAN_msg
void update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
Definition: TelemetryInterface.cpp:17
+
TelemetryInterface::get_glv_voltage
AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s< 8 > &adc1)
Definition: TelemetryInterface.h:52
+
TelemetryInterface::update_front_thermistors_CAN_msg
void update_front_thermistors_CAN_msg(const AnalogConversion_s &therm_fl, const AnalogConversion_s &therm_fr)
Definition: TelemetryInterface.cpp:60
+
TelemetryInterface::update_drivetrain_err_status_CAN_msg
void update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:82
+
mcu_adc
Teensy_ADC< 2 > mcu_adc
Definition: main.cpp:108
AnalogConversionPacket_s
Definition: AnalogSensorsInterface.h:22
AnalogConversionPacket_s::conversions
AnalogConversion_s conversions[N]
Definition: AnalogSensorsInterface.h:23
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
@@ -404,8 +418,10 @@
SteeringEncoderConversion_s
Definition: SteeringEncoderInterface.h:14
SteeringEncoderConversion_s::raw
int raw
Definition: SteeringEncoderInterface.h:15
+ + diff --git a/TelemetryInterface_8h_source.html b/TelemetryInterface_8h_source.html index 617b5535b..a7919b443 100644 --- a/TelemetryInterface_8h_source.html +++ b/TelemetryInterface_8h_source.html @@ -107,120 +107,127 @@
29 int current_channel;
30 int current_ref_channel;
31 int glv_sense_channel;
-
32};
-
33
-
34class TelemetryInterface
-
35{
-
36private:
-
37 /* Outbound telemetry CAN messages */
-
38 MCU_analog_readings mcu_analog_readings_;
-
39 /* CAN Tx buffer */
-
40 CANBufferType *msg_queue_;
-
41 /* ADC read channels */
-
42 TelemetryInterfaceReadChannels channels_;
-
43
-
44public:
-
45 TelemetryInterface(CANBufferType *msg_output_queue, const TelemetryInterfaceReadChannels &channels) : msg_queue_(msg_output_queue),
-
46 channels_(channels){};
-
47
-
48 /* GETTERS for basic conversions that don't have a home*/
+
32 int therm_fl_channel;
+
33 int therm_fr_channel;
+
34};
+
35
+
36class TelemetryInterface
+
37{
+
38private:
+
39 /* Outbound telemetry CAN messages */
+
40 MCU_analog_readings mcu_analog_readings_;
+
41 /* CAN Tx buffer */
+
42 CANBufferType *msg_queue_;
+
43 /* ADC read channels */
+
44 TelemetryInterfaceReadChannels channels_;
+
45
+
46public:
+
47 TelemetryInterface(CANBufferType *msg_output_queue, const TelemetryInterfaceReadChannels &channels) : msg_queue_(msg_output_queue),
+
48 channels_(channels){};
49
-
50 AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s<8> &adc1)
-
51 {
-
52 return adc1.conversions[channels_.glv_sense_channel];
-
53 }
-
54
-
55 /* Update CAN messages (main loop) */
-
56 // Interfaces
-
57 void update_pedal_readings_CAN_msg(
-
58 float accel_percent,
-
59 float brake_percent,
-
60 float mech_brake_percent
-
61 );
-
62 void update_pedal_readings_raw_CAN_msg(
-
63 const AnalogConversion_s &accel_1,
-
64 const AnalogConversion_s &accel_2,
-
65 const AnalogConversion_s &brake_1,
-
66 const AnalogConversion_s &brake_2
+
50 /* GETTERS for basic conversions that don't have a home*/
+
51
+
52 AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s<8> &adc1)
+
53 {
+
54 return adc1.conversions[channels_.glv_sense_channel];
+
55 }
+
56
+
57 /* Update CAN messages (main loop) */
+
58 // Interfaces
+
59 void update_front_thermistors_CAN_msg(
+
60 const AnalogConversion_s &therm_fl,
+
61 const AnalogConversion_s &therm_fr
+
62 );
+
63 void update_pedal_readings_CAN_msg(
+
64 float accel_percent,
+
65 float brake_percent,
+
66 float mech_brake_percent
67 );
-
68 void update_suspension_CAN_msg(
-
69 const AnalogConversion_s &lc_fl,
-
70 const AnalogConversion_s &lc_fr,
-
71 const AnalogConversion_s &pots_fl,
-
72 const AnalogConversion_s &pots_fr);
-
73 void update_analog_readings_CAN_msg(
-
74 const SteeringEncoderConversion_s &steer1,
-
75 const AnalogConversion_s &steer2,
-
76 const AnalogConversion_s &current,
-
77 const AnalogConversion_s &reference,
-
78 const AnalogConversion_s &glv);
-
79 void update_drivetrain_rpms_CAN_msg(
-
80 InvInt_t *fl,
-
81 InvInt_t *fr,
-
82 InvInt_t *rl,
-
83 InvInt_t *rr);
-
84 void update_drivetrain_err_status_CAN_msg(
-
85 InvInt_t *fl,
-
86 InvInt_t *fr,
-
87 InvInt_t *rl,
-
88 InvInt_t *rr);
-
89 void update_drivetrain_status_telem_CAN_msg(
-
90 InvInt_t *fl,
-
91 InvInt_t *fr,
-
92 InvInt_t *rl,
-
93 InvInt_t *rr,
-
94 bool accel_implaus,
-
95 bool brake_implaus,
-
96 float accel_per,
-
97 float brake_per);
-
98 void update_drivetrain_torque_telem_CAN_msg(
-
99 InvInt_t *fl,
-
100 InvInt_t *fr,
-
101 InvInt_t *rl,
-
102 InvInt_t *rr);
-
103 void update_penthouse_accum_CAN_msg(
-
104 const AnalogConversion_s &current,
-
105 const AnalogConversion_s &reference);
-
106
-
107 void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data);
-
108
-
109 /* Enqueue outbound telemetry CAN messages */
-
110 // void enqueue_CAN_mcu_pedal_readings();
-
111 // void enqueue_CAN_mcu_load_cells();
-
112 // void enqueue_CAN_mcu_front_potentiometers();
-
113 // void enqueue_CAN_mcu_rear_potentiometers();
-
114 // void enqueue_CAN_mcu_analog_readings();
-
115
-
116 template <typename T>
-
117 void enqueue_CAN(T can_msg, uint32_t id);
-
118
-
119 template <typename U>
-
120 void enqueue_new_CAN(U *structure, uint32_t (*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *));
+
68 void update_pedal_readings_raw_CAN_msg(
+
69 const AnalogConversion_s &accel_1,
+
70 const AnalogConversion_s &accel_2,
+
71 const AnalogConversion_s &brake_1,
+
72 const AnalogConversion_s &brake_2
+
73 );
+
74 void update_suspension_CAN_msg(
+
75 const AnalogConversion_s &lc_fl,
+
76 const AnalogConversion_s &lc_fr,
+
77 const AnalogConversion_s &pots_fl,
+
78 const AnalogConversion_s &pots_fr);
+
79 void update_analog_readings_CAN_msg(
+
80 const SteeringEncoderConversion_s &steer1,
+
81 const AnalogConversion_s &steer2,
+
82 const AnalogConversion_s &current,
+
83 const AnalogConversion_s &reference,
+
84 const AnalogConversion_s &glv);
+
85 void update_drivetrain_rpms_CAN_msg(
+
86 InvInt_t *fl,
+
87 InvInt_t *fr,
+
88 InvInt_t *rl,
+
89 InvInt_t *rr);
+
90 void update_drivetrain_err_status_CAN_msg(
+
91 InvInt_t *fl,
+
92 InvInt_t *fr,
+
93 InvInt_t *rl,
+
94 InvInt_t *rr);
+
95 void update_drivetrain_status_telem_CAN_msg(
+
96 InvInt_t *fl,
+
97 InvInt_t *fr,
+
98 InvInt_t *rl,
+
99 InvInt_t *rr,
+
100 bool accel_implaus,
+
101 bool brake_implaus,
+
102 float accel_per,
+
103 float brake_per);
+
104 void update_drivetrain_torque_telem_CAN_msg(
+
105 InvInt_t *fl,
+
106 InvInt_t *fr,
+
107 InvInt_t *rl,
+
108 InvInt_t *rr);
+
109 void update_penthouse_accum_CAN_msg(
+
110 const AnalogConversion_s &current,
+
111 const AnalogConversion_s &reference);
+
112
+
113 void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data);
+
114
+
115 /* Enqueue outbound telemetry CAN messages */
+
116 // void enqueue_CAN_mcu_pedal_readings();
+
117 // void enqueue_CAN_mcu_load_cells();
+
118 // void enqueue_CAN_mcu_front_potentiometers();
+
119 // void enqueue_CAN_mcu_rear_potentiometers();
+
120 // void enqueue_CAN_mcu_analog_readings();
121
-
122 // TODO dont pass in pointer to inverter interface here we will break shit with this
-
123 /* Tick at 50Hz to send CAN */
-
124 void tick(
-
125 const AnalogConversionPacket_s<8> &adc1,
-
126 const AnalogConversionPacket_s<4> &adc2,
-
127 const AnalogConversionPacket_s<4> &adc3,
-
128 const SteeringEncoderConversion_s &encoder,
-
129 InvInt_t *fl,
-
130 InvInt_t *fr,
-
131 InvInt_t *rl,
-
132 InvInt_t *rr,
-
133 bool accel_implaus,
-
134 bool brake_implaus,
-
135 float accel_per,
-
136 float brake_per,
-
137 const AnalogConversion_s &accel_1,
-
138 const AnalogConversion_s &accel_2,
-
139 const AnalogConversion_s &brake_1,
-
140 const AnalogConversion_s &brake_2,
-
141 float mech_brake_active_percent,
-
142 const PIDTVTorqueControllerData &data);
-
143};
-
144
-
145#endif /* TELEMETRYINTERFACE */
+
122 template <typename T>
+
123 void enqueue_CAN(T can_msg, uint32_t id);
+
124
+
125 template <typename U>
+
126 void enqueue_new_CAN(U *structure, uint32_t (*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *));
+
127
+
128 // TODO dont pass in pointer to inverter interface here we will break shit with this
+
129 /* Tick at 50Hz to send CAN */
+
130 void tick(
+
131 const AnalogConversionPacket_s<8> &adc1,
+
132 const AnalogConversionPacket_s<4> &adc2,
+
133 const AnalogConversionPacket_s<4> &adc3,
+
134 const AnalogConversionPacket_s<2> &mcu_adc,
+
135 const SteeringEncoderConversion_s &encoder,
+
136 InvInt_t *fl,
+
137 InvInt_t *fr,
+
138 InvInt_t *rl,
+
139 InvInt_t *rr,
+
140 bool accel_implaus,
+
141 bool brake_implaus,
+
142 float accel_per,
+
143 float brake_per,
+
144 const AnalogConversion_s &accel_1,
+
145 const AnalogConversion_s &accel_2,
+
146 const AnalogConversion_s &brake_1,
+
147 const AnalogConversion_s &brake_2,
+
148 float mech_brake_active_percent,
+
149 const PIDTVTorqueControllerData &data);
+
150};
+
151
+
152#endif /* TELEMETRYINTERFACE */
CANBufferType
Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
Definition: MessageQueueDefine.h:7
@@ -228,25 +235,27 @@
FIXED_POINT_PRECISION
const int FIXED_POINT_PRECISION
Definition: TelemetryInterface.h:16
- -
TelemetryInterface::update_drivetrain_rpms_CAN_msg
void update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:62
-
TelemetryInterface::enqeue_controller_CAN_msg
void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:213
-
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:6
-
TelemetryInterface::tick
void tick(const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:233
-
TelemetryInterface::update_suspension_CAN_msg
void update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
Definition: TelemetryInterface.cpp:33
-
TelemetryInterface::msg_queue_
CANBufferType * msg_queue_
Definition: TelemetryInterface.h:40
-
TelemetryInterface::update_drivetrain_torque_telem_CAN_msg
void update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:161
-
TelemetryInterface::enqueue_new_CAN
void enqueue_new_CAN(U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))
Definition: TelemetryInterface.cpp:205
-
TelemetryInterface::update_penthouse_accum_CAN_msg
void update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
Definition: TelemetryInterface.cpp:179
-
TelemetryInterface::channels_
TelemetryInterfaceReadChannels channels_
Definition: TelemetryInterface.h:42
-
TelemetryInterface::enqueue_CAN
void enqueue_CAN(T can_msg, uint32_t id)
Definition: TelemetryInterface.cpp:190
-
TelemetryInterface::mcu_analog_readings_
MCU_analog_readings mcu_analog_readings_
Definition: TelemetryInterface.h:38
-
TelemetryInterface::update_drivetrain_status_telem_CAN_msg
void update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
Definition: TelemetryInterface.cpp:87
-
TelemetryInterface::TelemetryInterface
TelemetryInterface(CANBufferType *msg_output_queue, const TelemetryInterfaceReadChannels &channels)
Definition: TelemetryInterface.h:45
-
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:46
-
TelemetryInterface::update_pedal_readings_raw_CAN_msg
void update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
Definition: TelemetryInterface.cpp:18
-
TelemetryInterface::get_glv_voltage
AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s< 8 > &adc1)
Definition: TelemetryInterface.h:50
-
TelemetryInterface::update_drivetrain_err_status_CAN_msg
void update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:73
+ +
TelemetryInterface::update_drivetrain_rpms_CAN_msg
void update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:71
+
TelemetryInterface::enqeue_controller_CAN_msg
void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:222
+
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:5
+
TelemetryInterface::update_suspension_CAN_msg
void update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
Definition: TelemetryInterface.cpp:32
+
TelemetryInterface::msg_queue_
CANBufferType * msg_queue_
Definition: TelemetryInterface.h:42
+
TelemetryInterface::tick
void tick(const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const AnalogConversionPacket_s< 2 > &mcu_adc, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:242
+
TelemetryInterface::update_drivetrain_torque_telem_CAN_msg
void update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:170
+
TelemetryInterface::enqueue_new_CAN
void enqueue_new_CAN(U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))
Definition: TelemetryInterface.cpp:214
+
TelemetryInterface::update_penthouse_accum_CAN_msg
void update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
Definition: TelemetryInterface.cpp:188
+
TelemetryInterface::channels_
TelemetryInterfaceReadChannels channels_
Definition: TelemetryInterface.h:44
+
TelemetryInterface::enqueue_CAN
void enqueue_CAN(T can_msg, uint32_t id)
Definition: TelemetryInterface.cpp:199
+
TelemetryInterface::mcu_analog_readings_
MCU_analog_readings mcu_analog_readings_
Definition: TelemetryInterface.h:40
+
TelemetryInterface::update_drivetrain_status_telem_CAN_msg
void update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
Definition: TelemetryInterface.cpp:96
+
TelemetryInterface::TelemetryInterface
TelemetryInterface(CANBufferType *msg_output_queue, const TelemetryInterfaceReadChannels &channels)
Definition: TelemetryInterface.h:47
+
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:45
+
TelemetryInterface::update_pedal_readings_raw_CAN_msg
void update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
Definition: TelemetryInterface.cpp:17
+
TelemetryInterface::get_glv_voltage
AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s< 8 > &adc1)
Definition: TelemetryInterface.h:52
+
TelemetryInterface::update_front_thermistors_CAN_msg
void update_front_thermistors_CAN_msg(const AnalogConversion_s &therm_fl, const AnalogConversion_s &therm_fr)
Definition: TelemetryInterface.cpp:60
+
TelemetryInterface::update_drivetrain_err_status_CAN_msg
void update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:82
+
mcu_adc
Teensy_ADC< 2 > mcu_adc
Definition: main.cpp:108
AnalogConversionPacket_s
Definition: AnalogSensorsInterface.h:22
AnalogConversionPacket_s::conversions
AnalogConversion_s conversions[N]
Definition: AnalogSensorsInterface.h:23
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
@@ -254,10 +263,12 @@
SteeringEncoderConversion_s
Definition: SteeringEncoderInterface.h:14
+ + diff --git a/Telemetry__interface__test_8h.html b/Telemetry__interface__test_8h.html index 5edad333a..6bf7a8ba1 100644 --- a/Telemetry__interface__test_8h.html +++ b/Telemetry__interface__test_8h.html @@ -196,7 +196,7 @@

92 TEST_ASSERT_EQUAL(pots_fr.raw, front_pots_can_msg.get_pot3());

93}
CAN_tx_test
CANBufferType CAN_tx_test
Definition: Telemetry_interface_test.h:14
- +
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
AnalogConversion_s::raw
int raw
Definition: AnalogSensorsInterface.h:15
SteeringEncoderConversion_s
Definition: SteeringEncoderInterface.h:14
diff --git a/Telemetry__interface__test_8h_source.html b/Telemetry__interface__test_8h_source.html index d87fa3e48..0bd1df269 100644 --- a/Telemetry__interface__test_8h_source.html +++ b/Telemetry__interface__test_8h_source.html @@ -179,9 +179,9 @@
test_telemetry_update_CAN
void test_telemetry_update_CAN()
Definition: Telemetry_interface_test.h:16
CAN_tx_test
CANBufferType CAN_tx_test
Definition: Telemetry_interface_test.h:14
- -
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:6
-
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:46
+ +
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:5
+
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:45
AnalogConversion_s
Definition: AnalogSensorsInterface.h:14
AnalogConversion_s::raw
int raw
Definition: AnalogSensorsInterface.h:15
SteeringEncoderConversion_s
Definition: SteeringEncoderInterface.h:14
diff --git a/TorqueControllerMux_8cpp_source.html b/TorqueControllerMux_8cpp_source.html index 89ae0fa14..562345f98 100644 --- a/TorqueControllerMux_8cpp_source.html +++ b/TorqueControllerMux_8cpp_source.html @@ -149,11 +149,11 @@
71 // Check if targeted controller is ready to be selected
72 bool controllerNotReadyPreventsModeChange = (controllerOutputs_[static_cast<int>(dialModeMap_[dashboardDialMode])].ready == false);
73
-
74 if (!(speedPreventsModeChange || torqueDeltaPreventsModeChange || controllerNotReadyPreventsModeChange))
-
75 {
-
76 muxMode_ = dialModeMap_[dashboardDialMode];
-
77 cur_dial_mode_ = dashboardDialMode;
-
78 }
+
74 // if (!(speedPreventsModeChange || torqueDeltaPreventsModeChange || controllerNotReadyPreventsModeChange))
+
75 // {
+
76 muxMode_ = dialModeMap_[dashboardDialMode];
+
77 cur_dial_mode_ = dashboardDialMode;
+
78 // }
79 }
80
81 // Check if the current controller is ready. If it has faulted, revert to safe mode
@@ -166,144 +166,151 @@
88
89 drivetrainCommand_ = controllerOutputs_[static_cast<int>(muxMode_)].command;
90
-
91 // apply torque limit before power limit to not power limit
-
92 applyRegenLimit(&drivetrainCommand_, &drivetrainData);
-
93 applyTorqueLimit(&drivetrainCommand_);
-
94 applyPowerLimit(&drivetrainCommand_, &drivetrainData);
-
95 applyPosSpeedLimit(&drivetrainCommand_);
-
96 }
-
97}
-
98
-
99/*
-
100 Apply limit to make sure that regenerative braking is not applied when
-
101 wheelspeed is below 5kph on all wheels.
-
102*/
-
103void TorqueControllerMux::applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
-
104{
-
105 const float noRegenLimitKPH = 10.0;
-
106 const float fullRegenLimitKPH = 5.0;
-
107 float maxWheelSpeed = 0.0;
-
108 float torqueScaleDown = 0.0;
-
109 bool allWheelsRegen = true; // true when all wheels are targeting speeds below the current wheel speed
-
110
-
111 for (int i = 0; i < NUM_MOTORS; i++)
-
112 {
-
113 #ifdef ARDUINO_TEENSY41
-
114 maxWheelSpeed = std::max(maxWheelSpeed, abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
-
115 allWheelsRegen &= (command->speeds_rpm[i] < abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
-
116 #else
-
117 maxWheelSpeed = std::max(maxWheelSpeed, std::abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
-
118 allWheelsRegen &= (command->speeds_rpm[i] < std::abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
-
119 #endif
-
120 }
-
121
-
122 // begin limiting regen at noRegenLimitKPH and completely limit regen at fullRegenLimitKPH
-
123 // linearly interpolate the scale factor between noRegenLimitKPH and fullRegenLimitKPH
-
124 torqueScaleDown = std::min(1.0f, std::max(0.0f, (maxWheelSpeed - fullRegenLimitKPH) / (noRegenLimitKPH - fullRegenLimitKPH)));
-
125
-
126 if (allWheelsRegen)
-
127 {
-
128 for (int i = 0; i < NUM_MOTORS; i++)
-
129 {
-
130 command->torqueSetpoints[i] *= torqueScaleDown;
-
131 }
-
132 }
-
133}
+
91 // Apply setpoints value limits
+
92 // Safety checks for CASE: CASE handles regen, torque, and power limit internally
+
93 applyRegenLimit(&drivetrainCommand_, &drivetrainData);
+
94 // Apply torque limit before power limit to not power limit
+
95 applyTorqueLimit(&drivetrainCommand_);
+
96 applyPowerLimit(&drivetrainCommand_, &drivetrainData);
+
97 // Uniformly apply speed limit to all controller modes
+
98 applyPosSpeedLimit(&drivetrainCommand_);
+
99 }
+
100}
+
101
+
102/*
+
103 Apply limit to make sure that regenerative braking is not applied when
+
104 wheelspeed is below 5kph on all wheels.
+
105
+
106 FSAE rules:
+
107 EV.3.3.3 The powertrain must not regenerate energy when vehicle speed is between 0 and 5 km/hr
+
108 Assumption:
+
109 Assuming there won't be a scenario where there are positive and negative setpoints simultaneously
+
110 AND vehicle speed is < 5km/h
+
111*/
+
112void TorqueControllerMux::applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
+
113{
+
114 const float noRegenLimitKPH = 10.0;
+
115 const float fullRegenLimitKPH = 5.0;
+
116 float maxWheelSpeed = 0.0;
+
117 float torqueScaleDown = 0.0;
+
118 bool allWheelsRegen = true; // true when all wheels are targeting speeds below the current wheel speed
+
119
+
120 for (int i = 0; i < NUM_MOTORS; i++)
+
121 {
+
122#ifdef ARDUINO_TEENSY41
+
123 maxWheelSpeed = std::max(maxWheelSpeed, abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
+
124 allWheelsRegen &= (command->speeds_rpm[i] < abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
+
125#else
+
126 maxWheelSpeed = std::max(maxWheelSpeed, std::abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
+
127 allWheelsRegen &= (command->speeds_rpm[i] < std::abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
+
128#endif
+
129 }
+
130
+
131 // begin limiting regen at noRegenLimitKPH and completely limit regen at fullRegenLimitKPH
+
132 // linearly interpolate the scale factor between noRegenLimitKPH and fullRegenLimitKPH
+
133 torqueScaleDown = std::min(1.0f, std::max(0.0f, (maxWheelSpeed - fullRegenLimitKPH) / (noRegenLimitKPH - fullRegenLimitKPH)));
134
-
135/*
-
136 Apply power limit such that the mechanical power of all wheels never
-
137 exceeds the preset mechanical power limit. Scales all wheels down to
-
138 preserve functionality of torque controllers
-
139*/
-
140void TorqueControllerMux::applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
-
141{
-
142 float net_torque_mag = 0;
-
143 float net_power = 0;
-
144
-
145 // calculate current mechanical power
-
146 for (int i = 0; i < NUM_MOTORS; i++)
-
147 {
-
148 // get the total magnitude of torque from all 4 wheels
-
149 #ifdef ARDUINO_TEENSY41 // screw arduino.h macros
-
150 net_torque_mag += abs(command->torqueSetpoints[i]);
-
151 net_power += abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
152 #else
-
153 // sum up net torque
-
154 net_torque_mag += std::abs(command->torqueSetpoints[i]);
-
155 // calculate P = T*w for each wheel and sum together
-
156 net_power += std::abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
157#endif
-
158 }
-
159
-
160 // only evaluate power limit if current power exceeds it
-
161 if (net_power > (MAX_POWER_LIMIT))
-
162 {
-
163 for (int i = 0; i < NUM_MOTORS; i++)
-
164 {
-
165
-
166 // TODO: SOMEBODY PLZ MAKE THIS WORK
-
167 // enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_power_);
+
135 if (allWheelsRegen)
+
136 {
+
137 for (int i = 0; i < NUM_MOTORS; i++)
+
138 {
+
139 command->torqueSetpoints[i] *= torqueScaleDown;
+
140 }
+
141 }
+
142}
+
143
+
144/*
+
145 Apply power limit such that the mechanical power of all wheels never
+
146 exceeds the preset mechanical power limit. Scales all wheels down to
+
147 preserve functionality of torque controllers
+
148*/
+
149void TorqueControllerMux::applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
+
150{
+
151 float net_torque_mag = 0;
+
152 float net_power = 0;
+
153
+
154 // calculate current mechanical power
+
155 for (int i = 0; i < NUM_MOTORS; i++)
+
156 {
+
157// get the total magnitude of torque from all 4 wheels
+
158#ifdef ARDUINO_TEENSY41 // screw arduino.h macros
+
159 net_torque_mag += abs(command->torqueSetpoints[i]);
+
160 net_power += abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
161#else
+
162 // sum up net torque
+
163 net_torque_mag += std::abs(command->torqueSetpoints[i]);
+
164 // calculate P = T*w for each wheel and sum together
+
165 net_power += std::abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
166#endif
+
167 }
168
-
169 // calculate the percent of total torque requested per wheel
-
170 float torque_percent = abs(command->torqueSetpoints[i] / net_torque_mag);
-
171 // based on the torque percent and max power limit, get the max power each wheel can use
-
172 float power_per_corner = (torque_percent * MAX_POWER_LIMIT);
-
173
-
174 // power / omega (motor rad/s) to get torque per wheel
-
175 #ifdef ARDUINO_TEENSY41
-
176 command->torqueSetpoints[i] = abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
177 #else
-
178 command->torqueSetpoints[i] = std::abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
179 #endif
-
180 command->torqueSetpoints[i] = std::max(0.0f, std::min(command->torqueSetpoints[i], getMaxTorque()));
-
181
-
182 }
-
183 }
-
184}
-
185
-
186/*
-
187 Apply limit such that the average wheel torque is never above the max
-
188 torque allowed in the current torque mode.
-
189 This will uniformally scale down all torques as to not affect the functionality
-
190 of non-symmetrical torque controllers.
-
191*/
-
192void TorqueControllerMux::applyTorqueLimit(DrivetrainCommand_s *command)
-
193{
-
194 float max_torque = getMaxTorque();
-
195 float avg_torque = 0;
-
196
-
197 // get the average torque accross all 4 wheels
-
198 for (int i = 0; i < NUM_MOTORS; i++)
-
199 {
-
200#ifdef ARDUINO_TEENSY41 // screw arduino.h macros
-
201 avg_torque += abs(command->torqueSetpoints[i]);
-
202#else
-
203 avg_torque += std::abs(command->torqueSetpoints[i]);
-
204#endif
-
205 }
-
206 avg_torque /= NUM_MOTORS;
-
207
-
208 // if this is greather than the torque limit, scale down
-
209 if (avg_torque > max_torque)
-
210 {
-
211 // get the scale of avg torque above max torque
-
212 float scale = avg_torque / max_torque;
-
213 // divide by scale to lower avg below max torque
-
214 for (int i = 0; i < NUM_MOTORS; i++)
-
215 {
-
216 command->torqueSetpoints[i] /= scale;
-
217 }
-
218 }
-
219}
-
220
-
221/* Apply limit such that wheelspeed never goes negative */
-
222void TorqueControllerMux::applyPosSpeedLimit(DrivetrainCommand_s *command)
-
223{
-
224 for (int i = 0; i < NUM_MOTORS; i++)
-
225 {
-
226 command->speeds_rpm[i] = std::max(0.0f, command->speeds_rpm[i]);
-
227 }
-
228}
+
169 // only evaluate power limit if current power exceeds it
+
170 if (net_power > (MAX_POWER_LIMIT))
+
171 {
+
172 for (int i = 0; i < NUM_MOTORS; i++)
+
173 {
+
174
+
175 // TODO: SOMEBODY PLZ MAKE THIS WORK
+
176 // enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_power_);
+
177
+
178 // calculate the percent of total torque requested per wheel
+
179 float torque_percent = abs(command->torqueSetpoints[i] / net_torque_mag);
+
180 // based on the torque percent and max power limit, get the max power each wheel can use
+
181 float power_per_corner = (torque_percent * MAX_POWER_LIMIT);
+
182
+
183// power / omega (motor rad/s) to get torque per wheel
+
184#ifdef ARDUINO_TEENSY41
+
185 command->torqueSetpoints[i] = abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
186#else
+
187 command->torqueSetpoints[i] = std::abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
188#endif
+
189 command->torqueSetpoints[i] = std::max(0.0f, std::min(command->torqueSetpoints[i], getMaxTorque()));
+
190 }
+
191 }
+
192}
+
193
+
194/*
+
195 Apply limit such that the average wheel torque is never above the max
+
196 torque allowed in the current torque mode.
+
197 This will uniformally scale down all torques as to not affect the functionality
+
198 of non-symmetrical torque controllers.
+
199*/
+
200void TorqueControllerMux::applyTorqueLimit(DrivetrainCommand_s *command)
+
201{
+
202 float max_torque = getMaxTorque();
+
203 float avg_torque = 0;
+
204
+
205 // get the average torque accross all 4 wheels
+
206 for (int i = 0; i < NUM_MOTORS; i++)
+
207 {
+
208#ifdef ARDUINO_TEENSY41 // screw arduino.h macros
+
209 avg_torque += abs(command->torqueSetpoints[i]);
+
210#else
+
211 avg_torque += std::abs(command->torqueSetpoints[i]);
+
212#endif
+
213 }
+
214 avg_torque /= NUM_MOTORS;
+
215
+
216 // if this is greather than the torque limit, scale down
+
217 if (avg_torque > max_torque)
+
218 {
+
219 // get the scale of avg torque above max torque
+
220 float scale = avg_torque / max_torque;
+
221 // divide by scale to lower avg below max torque
+
222 for (int i = 0; i < NUM_MOTORS; i++)
+
223 {
+
224 command->torqueSetpoints[i] /= scale;
+
225 }
+
226 }
+
227}
+
228
+
232void TorqueControllerMux::applyPosSpeedLimit(DrivetrainCommand_s *command)
+
233{
+
234 for (int i = 0; i < NUM_MOTORS; i++)
+
235 {
+
236 command->speeds_rpm[i] = std::max(0.0f, command->speeds_rpm[i]);
+
237 }
+
238}
RPM_TO_METERS_PER_SECOND
const float RPM_TO_METERS_PER_SECOND
Definition: PhysicalParameters.h:6
RPM_TO_RAD_PER_SECOND
const float RPM_TO_RAD_PER_SECOND
Definition: PhysicalParameters.h:10
@@ -322,10 +329,10 @@
TorqueControllerMux::muxMode_
TorqueController_e muxMode_
Definition: TorqueControllerMux.h:44
-
TorqueControllerMux::applyPosSpeedLimit
void applyPosSpeedLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:222
-
TorqueControllerMux::applyPowerLimit
void applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:140
-
TorqueControllerMux::applyTorqueLimit
void applyTorqueLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:192
-
TorqueControllerMux::applyRegenLimit
void applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:103
+
TorqueControllerMux::applyPosSpeedLimit
void applyPosSpeedLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:232
+
TorqueControllerMux::applyPowerLimit
void applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:149
+
TorqueControllerMux::applyTorqueLimit
void applyTorqueLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:200
+
TorqueControllerMux::applyRegenLimit
void applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:112
TorqueControllerMux::torqueControllerSlipLaunch_
TorqueControllerSlipLaunch torqueControllerSlipLaunch_
Definition: TorqueControllerMux.h:26
TorqueControllerMux::tcCASEWrapper_
TorqueControllerCASEWrapper tcCASEWrapper_
Definition: TorqueControllerMux.h:27
TorqueControllerMux::torqueControllerLoadCellVectoring_
TorqueControllerLoadCellVectoring torqueControllerLoadCellVectoring_
Definition: TorqueControllerMux.h:24
@@ -341,7 +348,7 @@
TorqueControllerSimple::tick
void tick(const SysTick_s &tick, const PedalsSystemData_s &pedalsData, float torqueLimit)
Definition: TorqueControllers.cpp:8
TorqueLimit_e
TorqueLimit_e
Definition: DashboardInterface.h:18
DialMode_e
DialMode_e
Definition: DashboardInterface.h:27
-
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:142
+
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:152
DrivetrainCommand_s
Definition: DrivetrainSystem.h:11
DrivetrainCommand_s::speeds_rpm
float speeds_rpm[NUM_MOTORS]
Definition: DrivetrainSystem.h:12
DrivetrainCommand_s::torqueSetpoints
float torqueSetpoints[NUM_MOTORS]
Definition: DrivetrainSystem.h:13
@@ -349,7 +356,7 @@
DrivetrainDynamicReport_s::measuredSpeeds
float measuredSpeeds[NUM_MOTORS]
Definition: DrivetrainSystem.h:19
LoadCellInterfaceOutput_s
Definition: LoadCellInterface.h:19
PedalsSystemData_s
system interface struct that contains the data from the pedal system
Definition: PedalsSystem.h:11
-
SteeringSystemData_s
Definition: SteeringSystem.h:32
+
SteeringSystemData_s
Definition: SteeringSystem.h:35
TCCaseWrapperTick_s
Definition: TorqueControllers.h:64
TorqueControllerOutput_s::ready
bool ready
Definition: TorqueControllers.h:59
TorqueControllerOutput_s::command
DrivetrainCommand_s command
Definition: TorqueControllers.h:58
diff --git a/TorqueControllerMux_8h_source.html b/TorqueControllerMux_8h_source.html index ef4a8d397..b844b7088 100644 --- a/TorqueControllerMux_8h_source.html +++ b/TorqueControllerMux_8h_source.html @@ -239,11 +239,11 @@
TorqueControllerMux::activeController
TorqueControllerBase * activeController()
Definition: TorqueControllerMux.h:132
TorqueControllerMux::muxMode_
TorqueController_e muxMode_
Definition: TorqueControllerMux.h:44
TorqueControllerMux::controllers
TorqueControllerBase * controllers[static_cast< int >(TorqueController_e::TC_NUM_CONTROLLERS)]
Definition: TorqueControllerMux.h:50
-
TorqueControllerMux::applyPosSpeedLimit
void applyPosSpeedLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:222
-
TorqueControllerMux::applyPowerLimit
void applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:140
+
TorqueControllerMux::applyPosSpeedLimit
void applyPosSpeedLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:232
+
TorqueControllerMux::applyPowerLimit
void applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:149
TorqueControllerMux::torqueControllerNone_
TorqueControllerNone torqueControllerNone_
Definition: TorqueControllerMux.h:22
-
TorqueControllerMux::applyTorqueLimit
void applyTorqueLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:192
-
TorqueControllerMux::applyRegenLimit
void applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:103
+
TorqueControllerMux::applyTorqueLimit
void applyTorqueLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:200
+
TorqueControllerMux::applyRegenLimit
void applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:112
TorqueControllerMux::getTorqueLimit
const TorqueLimit_e & getTorqueLimit()
Definition: TorqueControllerMux.h:102
TorqueControllerMux::getDrivetrainCommand
const DrivetrainCommand_s & getDrivetrainCommand()
Definition: TorqueControllerMux.h:97
TorqueControllerMux::torqueControllerSlipLaunch_
TorqueControllerSlipLaunch torqueControllerSlipLaunch_
Definition: TorqueControllerMux.h:26
@@ -268,12 +268,12 @@
TorqueLimit_e
TorqueLimit_e
Definition: DashboardInterface.h:18
DialMode_e
DialMode_e
Definition: DashboardInterface.h:27
-
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:142
+
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:152
DrivetrainCommand_s
Definition: DrivetrainSystem.h:11
DrivetrainDynamicReport_s
Definition: DrivetrainSystem.h:17
LoadCellInterfaceOutput_s
Definition: LoadCellInterface.h:19
PedalsSystemData_s
system interface struct that contains the data from the pedal system
Definition: PedalsSystem.h:11
-
SteeringSystemData_s
Definition: SteeringSystem.h:32
+
SteeringSystemData_s
Definition: SteeringSystem.h:35
TorqueControllerOutput_s
Definition: TorqueControllers.h:57
vector_nav
Definition: VectornavInterface.h:6
diff --git a/TorqueControllers_8cpp_source.html b/TorqueControllers_8cpp_source.html index 41b21ed5a..1ddf6cc20 100644 --- a/TorqueControllers_8cpp_source.html +++ b/TorqueControllers_8cpp_source.html @@ -478,7 +478,7 @@
PedalsSystemData_s::brakePercent
float brakePercent
Definition: PedalsSystem.h:20
PedalsSystemData_s::accelPercent
float accelPercent
Definition: PedalsSystem.h:19
PedalsSystemData_s::regenPercent
float regenPercent
Definition: PedalsSystem.h:21
-
SteeringSystemData_s::status
SteeringSystemStatus_e status
Definition: SteeringSystem.h:34
+
SteeringSystemData_s::status
SteeringSystemStatus_e status
Definition: SteeringSystem.h:37
TCCaseWrapperTick_s
Definition: TorqueControllers.h:64
TCCaseWrapperTick_s::steeringData
const SteeringSystemData_s & steeringData
Definition: TorqueControllers.h:66
TCCaseWrapperTick_s::command
const DrivetrainCommand_s & command
Definition: TorqueControllers.h:65
diff --git a/TorqueControllers_8h.html b/TorqueControllers_8h.html index 2d8fd397a..06aa4299b 100644 --- a/TorqueControllers_8h.html +++ b/TorqueControllers_8h.html @@ -91,7 +91,6 @@ #include "LoadCellInterface.h"
#include "accel_lookup.h"
#include "TorqueControllersData.h"
-#include "PID_TV.h"

Go to the source code of this file.

diff --git a/TorqueControllers_8h_source.html b/TorqueControllers_8h_source.html index f2ff4998b..cce643a4e 100644 --- a/TorqueControllers_8h_source.html +++ b/TorqueControllers_8h_source.html @@ -93,7 +93,7 @@
15#include "accel_lookup.h"
16
17#include "TorqueControllersData.h"
-
18#include "PID_TV.h"
+
18
19
20/* CONTROLLER CONSTANTS */
21
@@ -484,7 +484,7 @@
DrivetrainCommand_s::speeds_rpm
float speeds_rpm[NUM_MOTORS]
Definition: DrivetrainSystem.h:12
LoadCellInterfaceOutput_s
Definition: LoadCellInterface.h:19
PedalsSystemData_s
system interface struct that contains the data from the pedal system
Definition: PedalsSystem.h:11
-
SteeringSystemData_s
Definition: SteeringSystem.h:32
+
SteeringSystemData_s
Definition: SteeringSystem.h:35
TCCaseWrapperTick_s
Definition: TorqueControllers.h:64
TCCaseWrapperTick_s::steeringData
const SteeringSystemData_s & steeringData
Definition: TorqueControllers.h:66
TCCaseWrapperTick_s::command
const DrivetrainCommand_s & command
Definition: TorqueControllers.h:65
diff --git a/WatchdogInterface_8cpp_source.html b/WatchdogInterface_8cpp_source.html index 66019e7d6..86ff5b0e4 100644 --- a/WatchdogInterface_8cpp_source.html +++ b/WatchdogInterface_8cpp_source.html @@ -112,8 +112,8 @@
34}
35
36/* Set interface status */
-
37void WatchdogInterface::set_watchdog_state(bool state) {
-
38 watchdog_state = state;
+
37void WatchdogInterface::set_watchdog_state(bool state) {
+
38 watchdog_state = state;
39}
40
WatchdogInterface::init
void init(unsigned long curr_millis)
Definition: WatchdogInterface.cpp:4
@@ -124,6 +124,7 @@
WatchdogInterface::set_watchdog_state
void set_watchdog_state(bool state)
Definition: WatchdogInterface.cpp:37
+
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
WATCHDOG_KICK_INTERVAL
const unsigned long WATCHDOG_KICK_INTERVAL
Definition: WatchdogInterface.h:5
diff --git a/annotated.html b/annotated.html index 6fe4b0d31..0edcbb0df 100644 --- a/annotated.html +++ b/annotated.html @@ -91,49 +91,53 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 CDrivetrainDynamicReport_s
 CDrivetrainMock
 CDrivetrainSystem
 CFakeMessageQueue
 CIMDInterface
 CInverterCommand
 CInverterInterface
 CInverterMock
 Cinverters
 CLoadCellInterface
 CLoadCellInterfaceOutput_s
 CLoadCellInterfaceTick_s
 CMainECUHardwareReadPinsSpecifically designed so that Walker would be happy
 CMCUInterface
 CMCUStateMachine
 CPedalsParamsPedals params struct that will hold min / max that will be used for evaluateion
 CPedalsSystem
 CPedalsSystemData_sSystem interface struct that contains the data from the pedal system
 CPIDTVTorqueControllerData
 CSABInterface
 CSafetySystem
 CSteeringEncoderConversion_s
 CSteeringEncoderInterface
 CSteeringSystem
 CSteeringSystemData_s
 CSteeringSystemTick_s
 CTCCaseWrapperTick_s
 CTelemetryInterface
 CTelemetryInterfaceReadChannels
 CTorqueController
 CTorqueControllerBase
 CTorqueControllerCASEWrapper
 CTorqueControllerLoadCellVectoring
 CTorqueControllerLookupLaunch
 CTorqueControllerMux
 CTorqueControllerNone
 CTorqueControllerOutput_s
 CTorqueControllerSimpleSimple torque controller that only considers pedal inputs and torque limit
 CTorqueControllerSimpleLaunch
 CTorqueControllerSlipLaunch
 Cvector_nav
 Cveh_vecGeneric data vector type that can be used with tire and / or anything to do with 4 corners of the car
 CVNInterface
 CWatchdogInterface
 Cxy_vec
 Cxyz_vec
 CETHInterfaces
 CFakeMessageQueue
 CFilter_IIR
 CFilterIIRMulti
 CIMDInterface
 CInverterCommand
 CInverterInterface
 CInverterMock
 Cinverters
 CLoadCellInterface
 CLoadCellInterfaceOutput_s
 CLoadCellInterfaceTick_s
 CMainECUHardwareReadPinsSpecifically designed so that Walker would be happy
 CMCUInterface
 CMCUStateMachine
 CParameterInterface
 CPedalsParamsPedals params struct that will hold min / max that will be used for evaluateion
 CPedalsSystem
 CPedalsSystemData_sSystem interface struct that contains the data from the pedal system
 CPIDTVTorqueControllerData
 CSABInterface
 CSafetySystem
 CSteeringEncoderConversion_s
 CSteeringEncoderInterface
 CSteeringSystem
 CSteeringSystemData_s
 CSteeringSystemTick_s
 CTCCaseWrapperTick_s
 CTelemetryInterface
 CTelemetryInterfaceReadChannels
 CTorqueController
 CTorqueControllerBase
 CTorqueControllerCASEWrapper
 CTorqueControllerLoadCellVectoring
 CTorqueControllerLookupLaunch
 CTorqueControllerMux
 CTorqueControllerNone
 CTorqueControllerOutput_s
 CTorqueControllerSimpleSimple torque controller that only considers pedal inputs and torque limit
 CTorqueControllerSimpleLaunch
 CTorqueControllerSlipLaunch
 Cvector_nav
 Cveh_vecGeneric data vector type that can be used with tire and / or anything to do with 4 corners of the car
 CVNInterface
 CWatchdogInterface
 Cxy_vec
 Cxyz_vec
diff --git a/classCASESystem-members.html b/classCASESystem-members.html index e4ff72ae7..61ecbb1b0 100644 --- a/classCASESystem-members.html +++ b/classCASESystem-members.html @@ -77,21 +77,22 @@ - + - - - - - - - - + + + + + + + + - - - - + + + + +
calculate_torque_request(const PedalsSystemData_s &pedals_data, float max_regen_torque, float max_rpm)CASESystem< message_queue >
case_CASESystem< message_queue >private
CASESystem(message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, CASEConfiguration config)CASESystem< message_queue >inline
CASESystem(message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, unsigned long lowest_controller_send_period_ms, CASEConfiguration config)CASESystem< message_queue >inline
config_CASESystem< message_queue >private
configure(const CASEConfiguration &config)CASESystem< message_queue >inline
controller_send_period_ms_CASESystem< message_queue >private
evaluate(const SysTick_s &tick, const vector_nav &vn_data, const SteeringSystemData_s &steering_data, const DrivetrainDynamicReport_s &drivetrain_data, const veh_vec< AnalogConversion_s > &load_cell_vals, const PedalsSystemData_s &pedals_data, float power_kw, CAR_STATE fsm_state, bool start_button_pressed, uint8_t vn_status)CASESystem< message_queue >
get_rpm_setpoint(float final_torque)CASESystem< message_queue >inline
last_controller_pt1_send_time_CASESystem< message_queue >private
last_controller_pt2_send_time_CASESystem< message_queue >private
last_controller_pt3_send_time_CASESystem< message_queue >private
last_eval_time_CASESystem< message_queue >private
controller_send_period_ms_CASESystem< message_queue >private
evaluate(const SysTick_s &tick, const vector_nav &vn_data, const SteeringSystemData_s &steering_data, const DrivetrainDynamicReport_s &drivetrain_data, const veh_vec< AnalogConversion_s > &load_cell_vals, const PedalsSystemData_s &pedals_data, float power_kw, CAR_STATE fsm_state, bool start_button_pressed, uint8_t vn_status)CASESystem< message_queue >
get_rpm_setpoint(float final_torque)CASESystem< message_queue >inline
last_controller_pt1_send_time_CASESystem< message_queue >private
last_controller_pt2_send_time_CASESystem< message_queue >private
last_controller_pt3_send_time_CASESystem< message_queue >private
last_eval_time_CASESystem< message_queue >private
last_lowest_priority_controller_send_time_CASESystem< message_queue >private
last_vehm_send_time_CASESystem< message_queue >private
msg_queue_CASESystem< message_queue >private
update_pid(float yaw_p, float yaw_i, float yaw_d, float tcs_p, float tcs_i, float tcs_d, float brake_p, float brake_i, float brake_d)CASESystem< message_queue >inline
vehicle_math_offset_ms_CASESystem< message_queue >private
vn_active_start_time_CASESystem< message_queue >private
lowest_priority_controller_send_period_ms_CASESystem< message_queue >private
msg_queue_CASESystem< message_queue >private
update_config_from_param_interface(ParameterInterface &param_interface_ref)CASESystem< message_queue >inline
vehicle_math_offset_ms_CASESystem< message_queue >private
vn_active_start_time_CASESystem< message_queue >private
diff --git a/classCASESystem.html b/classCASESystem.html index 829a47be4..288fb9d0e 100644 --- a/classCASESystem.html +++ b/classCASESystem.html @@ -84,19 +84,17 @@ - - - + + + - - - - - + + +

Public Member Functions

 CASESystem (message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, CASEConfiguration config)
 constructor for state estimator system. More...
 
 CASESystem (message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, unsigned long lowest_controller_send_period_ms, CASEConfiguration config)
 constructor for state estimator system. More...
 
DrivetrainCommand_s evaluate (const SysTick_s &tick, const vector_nav &vn_data, const SteeringSystemData_s &steering_data, const DrivetrainDynamicReport_s &drivetrain_data, const veh_vec< AnalogConversion_s > &load_cell_vals, const PedalsSystemData_s &pedals_data, float power_kw, CAR_STATE fsm_state, bool start_button_pressed, uint8_t vn_status)
 function that evaluates the CASE (controller and state estimation) system. updates the internal pstate_ and returns controller result More...
 
void update_pid (float yaw_p, float yaw_i, float yaw_d, float tcs_p, float tcs_i, float tcs_d, float brake_p, float brake_i, float brake_d)
 
float calculate_torque_request (const PedalsSystemData_s &pedals_data, float max_regen_torque, float max_rpm)
 
void configure (const CASEConfiguration &config)
 configuration function to determine what CASE is using / turn on and off different features within CASE More...
 
void update_config_from_param_interface (ParameterInterface &param_interface_ref)
 configuration function to determine what CASE is using / turn on and off different features within CASE More...
 
float get_rpm_setpoint (float final_torque)
 
@@ -124,6 +122,10 @@ + + + +
 
unsigned long controller_send_period_ms_
 
unsigned long lowest_priority_controller_send_period_ms_
 
unsigned long last_lowest_priority_controller_send_time_
 

Detailed Description

template<typename message_queue>
@@ -135,10 +137,10 @@ -

Definition at line 60 of file CASESystem.h.

+

Definition at line 96 of file CASESystem.h.

Constructor & Destructor Documentation

- -

◆ CASESystem()

+ +

◆ CASESystem()

@@ -166,6 +168,12 @@

unsigned long  vehicle_math_offset_ms, + + + + unsigned long  + lowest_controller_send_period_ms, + @@ -195,28 +203,34 @@

Definition at line 67 of file CASESystem.h.

-
72 {
-
73 msg_queue_ = can_queue;
-
74 case_.initialize();
-
75 vn_active_start_time_ = 0;
-
76 config_ = config;
-
77 last_controller_pt1_send_time_ = 0;
-
78 last_controller_pt2_send_time_ = 0;
-
79
-
80 controller_send_period_ms_ = controller_send_period_ms;
-
81 last_vehm_send_time_ = 0;
-
82 vehicle_math_offset_ms_ = vehicle_math_offset_ms;
-
83 }
-
CASESystem::vn_active_start_time_
unsigned long vn_active_start_time_
Definition: CASESystem.h:146
-
CASESystem::config_
CASEConfiguration config_
Definition: CASESystem.h:142
-
CASESystem::case_
HT08_CASE case_
Definition: CASESystem.h:144
-
CASESystem::controller_send_period_ms_
unsigned long controller_send_period_ms_
Definition: CASESystem.h:146
-
CASESystem::vehicle_math_offset_ms_
unsigned long vehicle_math_offset_ms_
Definition: CASESystem.h:146
-
CASESystem::last_controller_pt1_send_time_
unsigned long last_controller_pt1_send_time_
Definition: CASESystem.h:146
-
CASESystem::msg_queue_
message_queue * msg_queue_
Definition: CASESystem.h:143
-
CASESystem::last_vehm_send_time_
unsigned long last_vehm_send_time_
Definition: CASESystem.h:146
-
CASESystem::last_controller_pt2_send_time_
unsigned long last_controller_pt2_send_time_
Definition: CASESystem.h:146
+

Definition at line 103 of file CASESystem.h.

+
109 {
+
110 msg_queue_ = can_queue;
+
111 case_.initialize();
+
112 vn_active_start_time_ = 0;
+
113 config_ = config;
+
114 last_controller_pt1_send_time_ = 0;
+
115 last_controller_pt2_send_time_ = 0;
+
116 last_controller_pt3_send_time_ = 0;
+
117 last_lowest_priority_controller_send_time_ = 0;
+
118
+
119 controller_send_period_ms_ = controller_send_period_ms;
+
120 last_vehm_send_time_ = 0;
+
121 vehicle_math_offset_ms_ = vehicle_math_offset_ms;
+
122 lowest_priority_controller_send_period_ms_ = lowest_controller_send_period_ms;
+
123 }
+
CASESystem::vn_active_start_time_
unsigned long vn_active_start_time_
Definition: CASESystem.h:237
+
CASESystem::config_
CASEConfiguration config_
Definition: CASESystem.h:233
+
CASESystem::case_
HT08_CASE case_
Definition: CASESystem.h:235
+
CASESystem::controller_send_period_ms_
unsigned long controller_send_period_ms_
Definition: CASESystem.h:237
+
CASESystem::last_lowest_priority_controller_send_time_
unsigned long last_lowest_priority_controller_send_time_
Definition: CASESystem.h:237
+
CASESystem::vehicle_math_offset_ms_
unsigned long vehicle_math_offset_ms_
Definition: CASESystem.h:237
+
CASESystem::lowest_priority_controller_send_period_ms_
unsigned long lowest_priority_controller_send_period_ms_
Definition: CASESystem.h:237
+
CASESystem::last_controller_pt3_send_time_
unsigned long last_controller_pt3_send_time_
Definition: CASESystem.h:237
+
CASESystem::last_controller_pt1_send_time_
unsigned long last_controller_pt1_send_time_
Definition: CASESystem.h:237
+
CASESystem::msg_queue_
message_queue * msg_queue_
Definition: CASESystem.h:234
+
CASESystem::last_vehm_send_time_
unsigned long last_vehm_send_time_
Definition: CASESystem.h:237
+
CASESystem::last_controller_pt2_send_time_
unsigned long last_controller_pt2_send_time_
Definition: CASESystem.h:237

@@ -255,47 +269,6 @@

-

-
- -

◆ configure()

- -
-
-
-template<typename message_queue >
- - - - - -
- - - - - - - - -
void CASESystem< message_queue >::configure (const CASEConfiguration & config)
- 		-inline
-
- -

configuration function to determine what CASE is using / turn on and off different features within CASE

-
Parameters
- - -
configthe configuration struct we will be setting
-
-
- -

Definition at line 125 of file CASESystem.h.

-
126 {
-
127 config_ = config;
-
128 }
-
@@ -419,23 +392,23 @@

-

Definition at line 129 of file CASESystem.h.

-
130 {
-
131 if (final_torque > 0)
-
132 {
-
133 return config_.max_rpm;
-
134 }
-
135 else
-
136 {
-
137 return 0;
-
138 }
-
139 }
- +

Definition at line 220 of file CASESystem.h.

+
221 {
+
222 if (final_torque > 0)
+
223 {
+
224 return config_.max_rpm;
+
225 }
+
226 else
+
227 {
+
228 return 0;
+
229 }
+
230 }
+
- -

◆ update_pid()

+ +

◆ update_config_from_param_interface()

@@ -446,63 +419,11 @@

- + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - - - - - - - - - -
void CASESystem< message_queue >::update_pid void CASESystem< message_queue >::update_config_from_param_interface (float yaw_p,
float yaw_i,
float yaw_d,
float tcs_p,
float tcs_i,
float tcs_d,
float brake_p,
ParameterInterface & param_interface_ref) float brake_i,
float brake_d 
)
@@ -512,27 +433,116 @@

-

Definition at line 108 of file CASESystem.h.

-
109 {
-
110 config_.yaw_pid_p = yaw_p;
-
111 config_.yaw_pid_p = yaw_i;
-
112 config_.yaw_pid_p = yaw_d;
-
113
-
114 config_.tcs_pid_p = tcs_p;
-
115 config_.tcs_pid_i = tcs_i;
-
116 config_.tcs_pid_d = tcs_d;
-
117
-
118 config_.yaw_pid_brakes_p = brake_p;
-
119 config_.yaw_pid_brakes_i = brake_i;
-
120 config_.yaw_pid_brakes_d = brake_d;
-
121 }
- - -
CASEConfiguration::yaw_pid_brakes_i
float yaw_pid_brakes_i
Definition: CASESystem.h:39
-
CASEConfiguration::yaw_pid_brakes_d
float yaw_pid_brakes_d
Definition: CASESystem.h:40
- - -
CASEConfiguration::yaw_pid_brakes_p
float yaw_pid_brakes_p
Definition: CASESystem.h:38
+

configuration function to determine what CASE is using / turn on and off different features within CASE

+
Parameters
+ + +
configthe configuration struct we will be setting
+
+
+ +

Definition at line 167 of file CASESystem.h.

+
168 {
+
169 config cfg = param_interface_ref.get_config();
+
170 config_.AbsoluteTorqueLimit = cfg.AbsoluteTorqueLimit;
+
171 config_.yaw_pid_p = cfg.yaw_pid_p;
+
172 config_.yaw_pid_i = cfg.yaw_pid_i;
+
173 config_.yaw_pid_d = cfg.yaw_pid_d;
+
174 config_.tcs_pid_p_lowerBound_front = cfg.tcs_pid_p_lowerBound_front;
+
175 config_.tcs_pid_p_upperBound_front = cfg.tcs_pid_p_upperBound_front;
+
176 config_.tcs_pid_p_lowerBound_rear = cfg.tcs_pid_p_lowerBound_rear;
+
177 config_.tcs_pid_p_upperBound_rear = cfg.tcs_pid_p_upperBound_rear;
+
178 config_.tcs_pid_i = cfg.tcs_pid_i;
+
179 config_.tcs_pid_d = cfg.tcs_pid_d;
+
180 config_.useLaunch = cfg.useLaunch;
+
181 config_.usePIDTV = cfg.usePIDTV;
+
182 config_.useTCSLimitedYawPID = cfg.useTCSLimitedYawPID;
+
183 config_.useNormalForce = cfg.useNormalForce;
+
184 config_.useTractionControl = cfg.useTractionControl;
+
185 config_.usePowerLimit = cfg.usePowerLimit;
+
186 config_.usePIDPowerLimit = cfg.usePIDPowerLimit;
+
187 config_.useDecoupledYawBrakes = cfg.useDecoupledYawBrakes;
+
188 config_.useDiscontinuousYawPIDBrakes = cfg.useDiscontinuousYawPIDBrakes;
+
189 config_.tcsSLThreshold = cfg.tcsSLThreshold;
+
190 config_.launchSL = cfg.launchSL;
+
191 config_.launchDeadZone = cfg.launchDeadZone;
+
192 config_.launchVelThreshold = cfg.launchVelThreshold;
+
193 config_.tcsVelThreshold = cfg.tcsVelThreshold;
+
194 config_.yawPIDMaxDifferential = cfg.yawPIDMaxDifferential;
+
195 config_.yawPIDErrorThreshold = cfg.yawPIDErrorThreshold;
+
196 config_.yawPIDVelThreshold = cfg.yawPIDVelThreshold;
+
197 config_.yawPIDCoastThreshold = cfg.yawPIDCoastThreshold;
+
198 config_.yaw_pid_brakes_p = cfg.yaw_pid_brakes_p;
+
199 config_.yaw_pid_brakes_i = cfg.yaw_pid_brakes_i;
+
200 config_.yaw_pid_brakes_d = cfg.yaw_pid_brakes_d;
+
201 config_.decoupledYawPIDBrakesMaxDIfference = cfg.decoupledYawPIDBrakesMaxDIfference;
+
202 config_.discontinuousBrakesPercentThreshold = cfg.discontinuousBrakesPercentThreshold;
+
203 config_.TorqueMode = cfg.TorqueMode;
+
204 config_.RegenLimit = cfg.RegenLimit;
+
205 config_.useNoRegen5kph = cfg.useNoRegen5kph;
+
206 config_.useTorqueBias = cfg.useTorqueBias;
+
207 config_.DriveTorquePercentFront = cfg.DriveTorquePercentFront;
+
208 config_.BrakeTorquePercentFront = cfg.BrakeTorquePercentFront;
+
209 config_.MechPowerMaxkW = cfg.MechPowerMaxkW;
+
210 config_.launchLeftRightMaxDiff = cfg.launchLeftRightMaxDiff;
+
211 config_.tcs_pid_lower_rpm_front = cfg.tcs_pid_lower_rpm_front;
+
212 config_.tcs_pid_upper_rpm_front = cfg.tcs_pid_upper_rpm_front;
+
213 config_.tcs_pid_lower_rpm_rear = cfg.tcs_pid_lower_rpm_rear;
+
214 config_.tcs_pid_upper_rpm_rear = cfg.tcs_pid_upper_rpm_rear;
+
215 config_.maxNormalLoadBrakeScalingFront = cfg.maxNormalLoadBrakeScalingFront;
+
216 config_.max_rpm = cfg.max_rpm;
+
217 config_.max_regen_torque = cfg.max_regen_torque;
+
218 config_.max_torque = cfg.max_torque;
+
219 }
+ + +
CASEConfiguration::tcs_pid_p_lowerBound_rear
float tcs_pid_p_lowerBound_rear
Definition: CASESystem.h:21
+
CASEConfiguration::yawPIDMaxDifferential
float yawPIDMaxDifferential
Definition: CASESystem.h:39
+
CASEConfiguration::yawPIDCoastThreshold
float yawPIDCoastThreshold
Definition: CASESystem.h:42
+
CASEConfiguration::tcs_pid_upper_rpm_front
float tcs_pid_upper_rpm_front
Definition: CASESystem.h:57
+
CASEConfiguration::discontinuousBrakesPercentThreshold
float discontinuousBrakesPercentThreshold
Definition: CASESystem.h:47
+ + +
CASEConfiguration::maxNormalLoadBrakeScalingFront
float maxNormalLoadBrakeScalingFront
Definition: CASESystem.h:60
+
CASEConfiguration::tcs_pid_p_lowerBound_front
float tcs_pid_p_lowerBound_front
Definition: CASESystem.h:19
+ + +
CASEConfiguration::launchVelThreshold
float launchVelThreshold
Definition: CASESystem.h:37
+
CASEConfiguration::MechPowerMaxkW
float MechPowerMaxkW
Definition: CASESystem.h:54
+ + +
CASEConfiguration::launchDeadZone
float launchDeadZone
Definition: CASESystem.h:36
+
CASEConfiguration::decoupledYawPIDBrakesMaxDIfference
float decoupledYawPIDBrakesMaxDIfference
Definition: CASESystem.h:46
+
CASEConfiguration::yaw_pid_brakes_i
float yaw_pid_brakes_i
Definition: CASESystem.h:44
+
CASEConfiguration::yaw_pid_brakes_d
float yaw_pid_brakes_d
Definition: CASESystem.h:45
+
CASEConfiguration::tcs_pid_lower_rpm_rear
float tcs_pid_lower_rpm_rear
Definition: CASESystem.h:58
+
CASEConfiguration::tcs_pid_p_upperBound_front
float tcs_pid_p_upperBound_front
Definition: CASESystem.h:20
+
CASEConfiguration::AbsoluteTorqueLimit
float AbsoluteTorqueLimit
Definition: CASESystem.h:15
+
CASEConfiguration::useDiscontinuousYawPIDBrakes
bool useDiscontinuousYawPIDBrakes
Definition: CASESystem.h:33
+
CASEConfiguration::tcs_pid_p_upperBound_rear
float tcs_pid_p_upperBound_rear
Definition: CASESystem.h:22
+ +
CASEConfiguration::tcs_pid_lower_rpm_front
float tcs_pid_lower_rpm_front
Definition: CASESystem.h:56
+
CASEConfiguration::BrakeTorquePercentFront
float BrakeTorquePercentFront
Definition: CASESystem.h:53
+ +
CASEConfiguration::useTractionControl
bool useTractionControl
Definition: CASESystem.h:29
+
CASEConfiguration::useDecoupledYawBrakes
bool useDecoupledYawBrakes
Definition: CASESystem.h:32
+
CASEConfiguration::yaw_pid_brakes_p
float yaw_pid_brakes_p
Definition: CASESystem.h:43
+
CASEConfiguration::tcsSLThreshold
float tcsSLThreshold
Definition: CASESystem.h:34
+ + + + +
CASEConfiguration::max_regen_torque
float max_regen_torque
Definition: CASESystem.h:88
+
CASEConfiguration::yawPIDVelThreshold
float yawPIDVelThreshold
Definition: CASESystem.h:41
+
CASEConfiguration::DriveTorquePercentFront
float DriveTorquePercentFront
Definition: CASESystem.h:52
+
CASEConfiguration::tcs_pid_upper_rpm_rear
float tcs_pid_upper_rpm_rear
Definition: CASESystem.h:59
+ +
CASEConfiguration::launchLeftRightMaxDiff
float launchLeftRightMaxDiff
Definition: CASESystem.h:55
+
CASEConfiguration::tcsVelThreshold
float tcsVelThreshold
Definition: CASESystem.h:38
+
CASEConfiguration::useTCSLimitedYawPID
bool useTCSLimitedYawPID
Definition: CASESystem.h:27
+ +
CASEConfiguration::yawPIDErrorThreshold
float yawPIDErrorThreshold
Definition: CASESystem.h:40
+

@@ -559,7 +569,7 @@

-

Definition at line 144 of file CASESystem.h.

+

Definition at line 235 of file CASESystem.h.

@@ -585,7 +595,7 @@

-

Definition at line 142 of file CASESystem.h.

+

Definition at line 233 of file CASESystem.h.

@@ -611,7 +621,7 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

@@ -637,7 +647,7 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

@@ -663,7 +673,7 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

@@ -689,7 +699,7 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

@@ -715,7 +725,33 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

+ + + + +

◆ last_lowest_priority_controller_send_time_

+ +
+
+
+template<typename message_queue >
+ + + + + +
+ + + + +
unsigned long CASESystem< message_queue >::last_lowest_priority_controller_send_time_
+ 		+private
+
+ +

Definition at line 237 of file CASESystem.h.

@@ -741,7 +777,33 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

+ + + + +

◆ lowest_priority_controller_send_period_ms_

+ +
+
+
+template<typename message_queue >
+ + + + + +
+ + + + +
unsigned long CASESystem< message_queue >::lowest_priority_controller_send_period_ms_
+ 		+private
+
+ +

Definition at line 237 of file CASESystem.h.

@@ -767,7 +829,7 @@

-

Definition at line 143 of file CASESystem.h.

+

Definition at line 234 of file CASESystem.h.

@@ -793,7 +855,7 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

@@ -819,7 +881,7 @@

-

Definition at line 146 of file CASESystem.h.

+

Definition at line 237 of file CASESystem.h.

diff --git a/classDashboardInterface.html b/classDashboardInterface.html index 3de1b64c2..5708c732b 100644 --- a/classDashboardInterface.html +++ b/classDashboardInterface.html @@ -517,7 +517,8 @@

Definition at line 145 of file DashboardInterface.cpp.

-
145{_data.buzzer_cmd = state;}
+
145{_data.buzzer_cmd = state;}
+
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
DashComponentInterface_s::buzzer_cmd
bool buzzer_cmd
Definition: DashboardInterface.h:94
diff --git a/classDrivetrainSystem.html b/classDrivetrainSystem.html index 9c714ed60..43f0451bc 100644 --- a/classDrivetrainSystem.html +++ b/classDrivetrainSystem.html @@ -278,7 +278,7 @@

DrivetrainSystem::last_no_torque_cmd_time_
unsigned long last_no_torque_cmd_time_
Definition: DrivetrainSystem.h:105
DrivetrainSystem::min_cmd_period_
unsigned int min_cmd_period_
Definition: DrivetrainSystem.h:104
- + diff --git a/classFilterIIRMulti-members.html b/classFilterIIRMulti-members.html new file mode 100644 index 000000000..6e851640f --- /dev/null +++ b/classFilterIIRMulti-members.html @@ -0,0 +1,86 @@ + + + + + + + +MCU: Member List + + + + + + + + + +
+
+ + + + + + +
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FilterIIRMulti< dataType, N > Member List
+
+
+ +

This is the complete list of members for FilterIIRMulti< dataType, N >, including all inherited members.

+ + + +
filter_channels_FilterIIRMulti< dataType, N >protected
setAlphas(int channel, float alpha)FilterIIRMulti< dataType, N >inlinevirtual
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/classFilterIIRMulti.html b/classFilterIIRMulti.html new file mode 100644 index 000000000..e3535cf9f --- /dev/null +++ b/classFilterIIRMulti.html @@ -0,0 +1,177 @@ + + + + + + + +MCU: FilterIIRMulti< dataType, N > Class Template Reference + + + + + + + + + +
+
+ + + + + + +
+
MCU +
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+Public Member Functions | +Protected Attributes | +List of all members
+
FilterIIRMulti< dataType, N > Class Template Reference
+
+
+ +

#include <Filter_IIR.h>

+ + + + +

+Public Member Functions

virtual void setAlphas (int channel, float alpha)
 
+ + + +

+Protected Attributes

Filter_IIR< dataType > filter_channels_ [N]
 
+

Detailed Description

+
template<typename dataType, int N>
+class FilterIIRMulti< dataType, N >
+

Definition at line 57 of file Filter_IIR.h.

+

Member Function Documentation

+ +

◆ setAlphas()

+ +
+
+
+template<typename dataType , int N>
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void FilterIIRMulti< dataType, N >::setAlphas (int channel,
float alpha 
)
+ 		+inlinevirtual
+
+ +

Definition at line 62 of file Filter_IIR.h.

+
63 {
+
64 filter_channels_[channel].set_alpha(alpha);
+
65 }
+
FilterIIRMulti::filter_channels_
Filter_IIR< dataType > filter_channels_[N]
Definition: Filter_IIR.h:60
+
+
+
+

Member Data Documentation

+ +

◆ filter_channels_

+ +
+
+
+template<typename dataType , int N>
+ + + + + +
+ + + + +
Filter_IIR<dataType> FilterIIRMulti< dataType, N >::filter_channels_[N]
+ 		+protected
+
+ +

Definition at line 60 of file Filter_IIR.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/classFilter__IIR-members.html b/classFilter__IIR-members.html new file mode 100644 index 000000000..e8fca28bd --- /dev/null +++ b/classFilter__IIR-members.html @@ -0,0 +1,91 @@ + + + + + + + +MCU: Member List + + + + + + + + + +
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Filter_IIR< dataType > Member List
+
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+ +

This is the complete list of members for Filter_IIR< dataType >, including all inherited members.

+ + + + + + + + +
alphaFilter_IIR< dataType >private
Filter_IIR(float alpha, dataType init_val=0)Filter_IIR< dataType >inline
Filter_IIR()Filter_IIR< dataType >inline
filtered_result(dataType new_val)Filter_IIR< dataType >
get_prev_reading() constFilter_IIR< dataType >inline
prev_readingFilter_IIR< dataType >private
set_alpha(float alpha)Filter_IIR< dataType >
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/classFilter__IIR.html b/classFilter__IIR.html new file mode 100644 index 000000000..89561a1cb --- /dev/null +++ b/classFilter__IIR.html @@ -0,0 +1,343 @@ + + + + + + + +MCU: Filter_IIR< dataType > Class Template Reference + + + + + + + + + +
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+
Filter_IIR< dataType > Class Template Reference
+
+
+ +

#include <Filter_IIR.h>

+ + + + + + + + + + + + +

+Public Member Functions

 Filter_IIR (float alpha, dataType init_val=0)
 
 Filter_IIR ()
 
void set_alpha (float alpha)
 
dataType get_prev_reading () const
 
dataType filtered_result (dataType new_val)
 
+ + + + + +

+Private Attributes

float alpha
 
dataType prev_reading
 
+

Detailed Description

+
template<typename dataType>
+class Filter_IIR< dataType >
+

Definition at line 10 of file Filter_IIR.h.

+

Constructor & Destructor Documentation

+ +

◆ Filter_IIR() [1/2]

+ +
+
+
+template<typename dataType >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
Filter_IIR< dataType >::Filter_IIR (float alpha,
dataType init_val = 0 
)
+ 		+inline
+
+

Constructors

+ +

Definition at line 17 of file Filter_IIR.h.

+
17 {
+
18 set_alpha(alpha);
+
19 prev_reading = init_val;
+
20 }
+
Filter_IIR::prev_reading
dataType prev_reading
Definition: Filter_IIR.h:32
+
Filter_IIR::set_alpha
void set_alpha(float alpha)
Definition: Filter_IIR.h:36
+
Filter_IIR::alpha
float alpha
Definition: Filter_IIR.h:31
+
+
+
+ +

◆ Filter_IIR() [2/2]

+ +
+
+
+template<typename dataType >
+ + + + + +
+ + + + + + + +
Filter_IIR< dataType >::Filter_IIR ()
+ 		+inline
+
+ +

Definition at line 21 of file Filter_IIR.h.

+
21 {
+
22 Filter_IIR(DEFAULT_ALPHA);
+
23 }
+
DEFAULT_ALPHA
#define DEFAULT_ALPHA
Definition: Filter_IIR.h:7
+
Filter_IIR::Filter_IIR
Filter_IIR()
Definition: Filter_IIR.h:21
+
+
+
+

Member Function Documentation

+ +

◆ filtered_result()

+ +
+
+
+template<typename dataType >
+ + + + + + + + +
dataType Filter_IIR< dataType >::filtered_result (dataType new_val)
+
+ +

Definition at line 50 of file Filter_IIR.h.

+
50 {
+
51 prev_reading = (1 - alpha) * new_val + alpha * prev_reading;
+
52
+
53 return prev_reading;
+
54}
+
+
+
+ +

◆ get_prev_reading()

+ +
+
+
+template<typename dataType >
+ + + + + +
+ + + + + + + +
dataType Filter_IIR< dataType >::get_prev_reading () const
+ 		+inline
+
+ +

Definition at line 26 of file Filter_IIR.h.

+
26{return prev_reading;}
+
+
+
+ +

◆ set_alpha()

+ +
+
+
+template<typename dataType >
+ + + + + + + + +
void Filter_IIR< dataType >::set_alpha (float alpha)
+
+ +

Definition at line 36 of file Filter_IIR.h.

+
36 {
+
37 if (alpha > 1.0) {
+
38 this->alpha = 1.0;
+
39 }
+
40 else if (alpha < 0.0) {
+
41 this->alpha = 0.0;
+
42 }
+
43 else
+
44 {
+
45 this->alpha = alpha;
+
46 }
+
47}
+
+
+
+

Member Data Documentation

+ +

◆ alpha

+ +
+
+
+template<typename dataType >
+ + + + + +
+ + + + +
float Filter_IIR< dataType >::alpha
+ 		+private
+
+ +

Definition at line 31 of file Filter_IIR.h.

+ +
+
+ +

◆ prev_reading

+ +
+
+
+template<typename dataType >
+ + + + + +
+ + + + +
dataType Filter_IIR< dataType >::prev_reading
+ 		+private
+
+ +

Definition at line 32 of file Filter_IIR.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/classMCUStateMachine.html b/classMCUStateMachine.html index 3ef98737b..a05257782 100644 --- a/classMCUStateMachine.html +++ b/classMCUStateMachine.html @@ -204,8 +204,8 @@

MCUStateMachine::dashboard_
DashboardInterface * dashboard_
drivers within state machine
Definition: MCUStateMachine.h:72
MCUStateMachine::safety_system_
SafetySystem * safety_system_
Definition: MCUStateMachine.h:74
MCUStateMachine::drivetrain_
DrivetrainSysType * drivetrain_
Definition: MCUStateMachine.h:68
-
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:142
-
buzzer
BuzzerController buzzer(BUZZER_ON_INTERVAL)
Definition: main.cpp:213
+
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:152
+
buzzer
BuzzerController buzzer(BUZZER_ON_INTERVAL)
Definition: main.cpp:236
diff --git a/classParameterInterface-members.html b/classParameterInterface-members.html new file mode 100644 index 000000000..754d915c2 --- /dev/null +++ b/classParameterInterface-members.html @@ -0,0 +1,101 @@ + + + + + + + +MCU: Member List + + + + + + + + + +
+
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ParameterInterface Member List
+
+
+ +

This is the complete list of members for ParameterInterface, including all inherited members.

+ + + + + + + + + + + + + + + + + + +
config_ParameterInterfaceprivate
current_car_state_ParameterInterfaceprivate
get_config()ParameterInterfaceinline
get_config()ParameterInterfaceinline
ParameterInterface()ParameterInterfaceinline
ParameterInterface()ParameterInterfaceinline
params_need_sending()ParameterInterfaceinline
params_need_sending()ParameterInterfaceinline
params_need_sending_ParameterInterfaceprivate
reset_params_need_sending()ParameterInterfaceinline
reset_params_need_sending()ParameterInterfaceinline
set_params_need_sending()ParameterInterfaceinline
set_params_need_sending()ParameterInterfaceinline
update_car_state(const CAR_STATE &state)ParameterInterfaceinline
update_car_state(const CAR_STATE &state)ParameterInterfaceinline
update_config(const config &config)ParameterInterfaceinline
update_config(const config &config)ParameterInterfaceinline
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/classParameterInterface.html b/classParameterInterface.html new file mode 100644 index 000000000..0853519c8 --- /dev/null +++ b/classParameterInterface.html @@ -0,0 +1,636 @@ + + + + + + + +MCU: ParameterInterface Class Reference + + + + + + + + + +
+
+ + + + + + +
+
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+Public Member Functions | +Private Attributes | +List of all members
+
ParameterInterface Class Reference
+
+
+ +

#include <ParameterInterface.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 ParameterInterface ()
 
void update_car_state (const CAR_STATE &state)
 
void update_config (const config &config)
 
config get_config ()
 
void set_params_need_sending ()
 
void reset_params_need_sending ()
 
bool params_need_sending ()
 
 ParameterInterface ()
 
void update_car_state (const CAR_STATE &state)
 
void update_config (const config &config)
 
config get_config ()
 
void set_params_need_sending ()
 
void reset_params_need_sending ()
 
bool params_need_sending ()
 
+ + + + + + + +

+Private Attributes

CAR_STATE current_car_state_
 
bool params_need_sending_ = false
 
config config_
 
+

Detailed Description

+
+

Definition at line 9 of file ParameterInterface.h.

+

Constructor & Destructor Documentation

+ +

◆ ParameterInterface() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
ParameterInterface::ParameterInterface ()
+ 		+inline
+
+ +

Definition at line 12 of file ParameterInterface.h.

+
12: current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}
+ + + +
+
+
+ +

◆ ParameterInterface() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
ParameterInterface::ParameterInterface ()
+ 		+inline
+
+ +

Definition at line 12 of file ParameterInterface.h.

+
12: current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}
+
+
+
+

Member Function Documentation

+ +

◆ get_config() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
config ParameterInterface::get_config ()
+ 		+inline
+
+ +

Definition at line 25 of file ParameterInterface.h.

+
26 {
+
27 return config_;
+
28 }
+
+
+
+ +

◆ get_config() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
config ParameterInterface::get_config ()
+ 		+inline
+
+ +

Definition at line 25 of file ParameterInterface.h.

+
26 {
+
27 return config_;
+
28 }
+
+
+
+ +

◆ params_need_sending() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
bool ParameterInterface::params_need_sending ()
+ 		+inline
+
+ +

Definition at line 37 of file ParameterInterface.h.

+
37{ return params_need_sending_; }
+
+
+
+ +

◆ params_need_sending() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
bool ParameterInterface::params_need_sending ()
+ 		+inline
+
+ +

Definition at line 37 of file ParameterInterface.h.

+
37{ return params_need_sending_; }
+
+
+
+ +

◆ reset_params_need_sending() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
void ParameterInterface::reset_params_need_sending ()
+ 		+inline
+
+ +

Definition at line 33 of file ParameterInterface.h.

+
34 {
+
35 params_need_sending_ = false;
+
36 }
+
+
+
+ +

◆ reset_params_need_sending() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
void ParameterInterface::reset_params_need_sending ()
+ 		+inline
+
+ +

Definition at line 33 of file ParameterInterface.h.

+
34 {
+
35 params_need_sending_ = false;
+
36 }
+
+
+
+ +

◆ set_params_need_sending() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
void ParameterInterface::set_params_need_sending ()
+ 		+inline
+
+ +

Definition at line 29 of file ParameterInterface.h.

+
30 {
+
31 params_need_sending_ = true;
+
32 }
+
+
+
+ +

◆ set_params_need_sending() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
void ParameterInterface::set_params_need_sending ()
+ 		+inline
+
+ +

Definition at line 29 of file ParameterInterface.h.

+
30 {
+
31 params_need_sending_ = true;
+
32 }
+
+
+
+ +

◆ update_car_state() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void ParameterInterface::update_car_state (const CAR_STATE & state)
+ 		+inline
+
+ +

Definition at line 14 of file ParameterInterface.h.

+
15 {
+
16 current_car_state_ = state;
+
17 }
+
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
+
+
+
+ +

◆ update_car_state() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void ParameterInterface::update_car_state (const CAR_STATE & state)
+ 		+inline
+
+ +

Definition at line 14 of file ParameterInterface.h.

+
15 {
+
16 current_car_state_ = state;
+
17 }
+
+
+
+ +

◆ update_config() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void ParameterInterface::update_config (const config & config)
+ 		+inline
+
+ +

Definition at line 18 of file ParameterInterface.h.

+
19 {
+
20 if(static_cast<int>(current_car_state_) < 5 ){
+
21 config_ = config;
+
22 }
+
23
+
24 }
+
+
+
+ +

◆ update_config() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void ParameterInterface::update_config (const config & config)
+ 		+inline
+
+ +

Definition at line 18 of file ParameterInterface.h.

+
19 {
+
20 if(static_cast<int>(current_car_state_) < 5 ){
+
21 config_ = config;
+
22 }
+
23
+
24 }
+
+
+
+

Member Data Documentation

+ +

◆ config_

+ +
+
+ + + + + +
+ + + + +
config ParameterInterface::config_
+ 		+private
+
+ +

Definition at line 42 of file ParameterInterface.h.

+ +
+
+ +

◆ current_car_state_

+ +
+
+ + + + + +
+ + + + +
CAR_STATE ParameterInterface::current_car_state_
+ 		+private
+
+ +

Definition at line 40 of file ParameterInterface.h.

+ +
+
+ +

◆ params_need_sending_

+ +
+
+ + + + + +
+ + + + +
bool ParameterInterface::params_need_sending_ = false
+ 		+private
+
+ +

Definition at line 41 of file ParameterInterface.h.

+ +
+
+
The documentation for this class was generated from the following files: +
+ +
+Generated by doxygen 1.9.5 +
+ + diff --git a/classPedalsSystem.html b/classPedalsSystem.html index 5bb725274..7fc3fc071 100644 --- a/classPedalsSystem.html +++ b/classPedalsSystem.html @@ -109,10 +109,10 @@   bool max_duration_of_implausibility_exceeded_ (unsigned long curr_time)   -bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData1, const AnalogConversion_s &pedalData2, const PedalsParams &params, float max_percent_diff) +bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData1, const AnalogConversion_s &pedalData2, const PedalsParams &params, float max_percent_diff)  Evaluate pedal implausibilities_ determines if there is a software implausibility in the pedals caused by them going out of range. Our max/min sensor ranges are calcuated from the pedal min/max values The pedal min/max values are defined in MCU_defs and are the real world raw values that we determine from the pedal output. The max/min sensor values are then a certain percent higher than these real world values as determined by the implausibility margin. This protects against physical damage to the sensor or pedal, but will not accidentally trip implausibility if pedal values fluctuate. More...
  -bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData, const PedalsParams &params) +bool evaluate_pedal_implausibilities_ (const AnalogConversion_s &pedalData, const PedalsParams &params)  overloaded pedal implaus check that doesnt need to check for percent diff between sensors since only one sensor More...
  bool evaluate_brake_and_accel_pressed_ (const AnalogConversion_s &accelPedalData1, const AnalogConversion_s &accelPedalData2, const AnalogConversion_s &brakePedalData1, const AnalogConversion_s &brakePedalData2) @@ -126,7 +126,7 @@   bool evaluate_min_max_pedal_implausibilities_ (const AnalogConversion_s &pedalData, int min, int max, float implaus_margin_scale)   -bool pedal_is_active_ (float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation) +bool pedal_is_active_ (float pedal1ConvertedData, float pedal2ConvertedData, const PedalsParams &params, bool check_mech_activation)  check whether or not pedal is active according to input parameters. returns true if either pedal is over threshold. removes the deadzone before checking. More...
  @@ -483,12 +483,10 @@

Definition at line 124 of file PedalsSystem.cpp.

125{
-
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
126 return evaluate_min_max_pedal_implausibilities_(pedalData, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
127}
PedalsSystem::evaluate_min_max_pedal_implausibilities_
bool evaluate_min_max_pedal_implausibilities_(const AnalogConversion_s &pedalData, int min, int max, float implaus_margin_scale)
Definition: PedalsSystem.cpp:151
-
PedalsParams::implausibility_margin
float implausibility_margin
Definition: PedalsSystem.h:37
- - +
params
ParameterInterface params(state)
@@ -552,8 +550,8 @@

Definition at line 129 of file PedalsSystem.cpp.

133{
-
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
-
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
+
134 bool pedal1_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData1, params.min_pedal_1, params.max_pedal_1, params.implausibility_margin);
+
135 bool pedal2_min_max_implaus = evaluate_min_max_pedal_implausibilities_(pedalData2, params.min_pedal_2, params.max_pedal_2, params.implausibility_margin);
136 bool sens_not_within_req_percent = (fabs(pedalData1.conversion - pedalData2.conversion) > max_percent_diff);
137 if (pedal1_min_max_implaus || pedal2_min_max_implaus)
138 {
@@ -568,8 +566,6 @@

147 return false;

148 }
149}
- - @@ -1028,17 +1024,17 @@

Definition at line 234 of file PedalsSystem.cpp.

235{
-
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
-
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
+
236 float val1_deadzone_removed = remove_deadzone_(pedal1ConvertedData, params.deadzone_margin);
+
237 float val2_deadzone_removed = remove_deadzone_(pedal2ConvertedData, params.deadzone_margin);
238 bool pedal_1_is_active;
239 bool pedal_2_is_active;
240 if(check_mech_activation)
241 {
-
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
-
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
+
242 pedal_1_is_active = val1_deadzone_removed >= params.mechanical_activation_percentage;
+
243 pedal_2_is_active = val2_deadzone_removed >= params.mechanical_activation_percentage;
244 } else {
-
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
-
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
+
245 pedal_1_is_active = val1_deadzone_removed >= params.activation_percentage;
+
246 pedal_2_is_active = val2_deadzone_removed >= params.activation_percentage;
247 }
248 return (pedal_1_is_active || pedal_2_is_active);
249}
diff --git a/classSteeringEncoderInterface-members.html b/classSteeringEncoderInterface-members.html index 49db43849..f276af5e6 100644 --- a/classSteeringEncoderInterface-members.html +++ b/classSteeringEncoderInterface-members.html @@ -75,9 +75,10 @@

This is the complete list of members for SteeringEncoderInterface, including all inherited members.

- - - + + + +
convert()SteeringEncoderInterfacevirtual
sample()SteeringEncoderInterfacevirtual
setOffset(float newOffset)SteeringEncoderInterfacevirtual
convert()SteeringEncoderInterfaceinline
mockConversionSteeringEncoderInterface
sample()SteeringEncoderInterfaceinline
setOffset(float newOffset)SteeringEncoderInterface
diff --git a/classSteeringEncoderInterface.html b/classSteeringEncoderInterface.html index 544e07a43..541f1a703 100644 --- a/classSteeringEncoderInterface.html +++ b/classSteeringEncoderInterface.html @@ -71,6 +71,7 @@
Public Member Functions | +Public Attributes | List of all members
SteeringEncoderInterface Class Reference
@@ -80,22 +81,24 @@ - - - - - - - - - + + + + + + +

Public Member Functions

virtual void sample ()
 Commands the underlying steering sensor to sample and hold the result. More...
 
virtual SteeringEncoderConversion_s convert ()
 Calculate steering angle and whether result is in sensor's defined bounds. DOES NOT SAMPLE. More...
 
virtual void setOffset (float newOffset)
 Set the upper steering sensor's offset. 0 degrees should be centered. More...
 
void sample ()
 
SteeringEncoderConversion_s convert ()
 
void setOffset (float newOffset)
 
+ + +

+Public Attributes

SteeringEncoderConversion_s mockConversion
 

Detailed Description

Definition at line 20 of file SteeringEncoderInterface.h.

Member Function Documentation

- -

◆ convert()

+ +

◆ convert()

@@ -104,7 +107,7 @@

- + @@ -112,18 +115,21 @@

-virtual +inline

virtual SteeringEncoderConversion_s SteeringEncoderInterface::convert SteeringEncoderConversion_s SteeringEncoderInterface::convert ( )

-

Calculate steering angle and whether result is in sensor's defined bounds. DOES NOT SAMPLE.

-
Returns
Calculated steering angle in degrees, upperSteeringStatus_s
- +

Definition at line 30 of file SteeringEncoderInterface.h.

+
31 {
+
32 return mockConversion;
+
33 };
+
SteeringEncoderInterface::mockConversion
SteeringEncoderConversion_s mockConversion
Definition: SteeringEncoderInterface.h:24
+
- -

◆ sample()

+ +

◆ sample()

@@ -132,7 +138,7 @@

- + @@ -140,47 +146,50 @@

-virtual +inline

virtual void SteeringEncoderInterface::sample void SteeringEncoderInterface::sample ( )

-

Commands the underlying steering sensor to sample and hold the result.

- +

Definition at line 26 of file SteeringEncoderInterface.h.

+
27 {
+
28 return;
+
29 };
+
- -

◆ setOffset()

+ +

◆ setOffset()

- - - - - -
- +
virtual void SteeringEncoderInterface::setOffset void SteeringEncoderInterface::setOffset ( float  newOffset)
- 		-virtual
-

Set the upper steering sensor's offset. 0 degrees should be centered.

-
Parameters
- - -
newOffset
-
-
-
+
+
+

Member Data Documentation

+ +

◆ mockConversion

+ +
+
+ + + + +
SteeringEncoderConversion_s SteeringEncoderInterface::mockConversion
+
+ +

Definition at line 24 of file SteeringEncoderInterface.h.

diff --git a/classSteeringSystem-members.html b/classSteeringSystem-members.html index 1d69161bb..c2d5e31db 100644 --- a/classSteeringSystem-members.html +++ b/classSteeringSystem-members.html @@ -75,12 +75,17 @@

This is the complete list of members for SteeringSystem, including all inherited members.

+ + - - + + + + +
filteredAnglePrimary_SteeringSystemprivate
filteredAngleSecondary_SteeringSystemprivate
getSteeringSystemData()SteeringSysteminline
primaryConversion_SteeringSystemprivate
primarySensor_SteeringSystemprivate
steeringData_SteeringSystemprivate
SteeringSystem(SteeringEncoderInterface *primarySensor)SteeringSysteminline
tick(const SteeringSystemTick_s &intake)SteeringSystem
steeringFilters_SteeringSystemprivate
SteeringSystem(SteeringEncoderInterface *primarySensor)SteeringSysteminline
SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlpha)SteeringSysteminline
SteeringSystem(SteeringEncoderInterface *primarySensor, float filterAlphaPrimary, float filterAlphaSecondary)SteeringSysteminline
tick(const SteeringSystemTick_s &intake)SteeringSystem
diff --git a/classSteeringSystem.html b/classSteeringSystem.html index e5753d2f9..fadc5caed 100644 --- a/classSteeringSystem.html +++ b/classSteeringSystem.html @@ -83,6 +83,10 @@ Public Member Functions

 SteeringSystem (SteeringEncoderInterface *primarySensor)   + SteeringSystem (SteeringEncoderInterface *primarySensor, float filterAlpha) +  + SteeringSystem (SteeringEncoderInterface *primarySensor, float filterAlphaPrimary, float filterAlphaSecondary) +  void tick (const SteeringSystemTick_s &intake)  Computes steering angle and status of the steering system. More...
  @@ -98,13 +102,19 @@   SteeringSystemData_s steeringData_   +Filter_IIR< float > steeringFilters_ [NUM_SENSORS] +  +float filteredAnglePrimary_ +  +float filteredAngleSecondary_ + 

Detailed Description

-

Definition at line 37 of file SteeringSystem.h.

+

Definition at line 40 of file SteeringSystem.h.

Constructor & Destructor Documentation

-

◆ SteeringSystem()

+

◆ SteeringSystem() [1/3]

@@ -127,10 +137,104 @@

-

Definition at line 44 of file SteeringSystem.h.

-
45 : primarySensor_(primarySensor)
-
46 {}
-
SteeringSystem::primarySensor_
SteeringEncoderInterface * primarySensor_
Definition: SteeringSystem.h:40
+

Definition at line 56 of file SteeringSystem.h.

+
57 : SteeringSystem(primarySensor, DEFAULT_STEERING_ALPHA)
+
58 {}
+
DEFAULT_STEERING_ALPHA
#define DEFAULT_STEERING_ALPHA
Definition: SteeringSystem.h:16
+ +
+
+

+ +

◆ SteeringSystem() [2/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
SteeringSystem::SteeringSystem (SteeringEncoderInterface * primarySensor,
float filterAlpha 
)
+ 		+inline
+
+ +

Definition at line 60 of file SteeringSystem.h.

+
61 : SteeringSystem(primarySensor, filterAlpha, filterAlpha)
+
62 {}
+
+
+
+ +

◆ SteeringSystem() [3/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
SteeringSystem::SteeringSystem (SteeringEncoderInterface * primarySensor,
float filterAlphaPrimary,
float filterAlphaSecondary 
)
+ 		+inline
+
+ +

Definition at line 64 of file SteeringSystem.h.

+
65 : primarySensor_(primarySensor)
+
66 {
+
67 steeringFilters_[0] = Filter_IIR<float>(filterAlphaPrimary);
+
68 steeringFilters_[1] = Filter_IIR<float>(filterAlphaSecondary);
+
69
+
70 }
+
Filter_IIR
Definition: Filter_IIR.h:11
+
SteeringSystem::primarySensor_
SteeringEncoderInterface * primarySensor_
Definition: SteeringSystem.h:43
+
SteeringSystem::steeringFilters_
Filter_IIR< float > steeringFilters_[NUM_SENSORS]
Definition: SteeringSystem.h:52
@@ -161,11 +265,11 @@

Returns
const SteeringSystemData_s&
-

Definition at line 55 of file SteeringSystem.h.

-
56 {
-
57 return steeringData_;
-
58 }
-
SteeringSystem::steeringData_
SteeringSystemData_s steeringData_
Definition: SteeringSystem.h:42
+

Definition at line 79 of file SteeringSystem.h.

+
80 {
+
81 return steeringData_;
+
82 }
+
SteeringSystem::steeringData_
SteeringSystemData_s steeringData_
Definition: SteeringSystem.h:45

@@ -202,72 +306,133 @@

9 if (intake.tick.triggers.trigger100)
10 {
11 // Poll upper steering sensor
-
12 primarySensor_->sample();
-
13 primaryConversion_ = primarySensor_->convert();
+
12 primarySensor_->sample();
+
13 primaryConversion_ = primarySensor_->convert();
14
-
15 // Both sensors are nominal and agree
-
16 if (
-
17 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL)
-
18 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
-
19 && (std::abs(primaryConversion_.angle - intake.secondaryConversion.conversion) < STEERING_DIVERGENCE_WARN_THRESHOLD)
-
20 )
-
21 {
-
22 steeringData_ = {
-
23 .angle = primaryConversion_.angle,
-
24 .status = SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL
-
25 };
-
26 }
-
27 // One or both sensors are marginal
-
28 // Sensors disagree by STEERING_DIVERGENCE_WARN_THRESHOLD degrees and less than STEERING_DIVERGENCE_ERROR_THRESHOLD degrees
-
29 else if (
-
30 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_MARGINAL)
-
31 || (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED)
-
32 || ((std::abs(primaryConversion_.angle - intake.secondaryConversion.conversion) >= STEERING_DIVERGENCE_WARN_THRESHOLD) && (std::abs(primaryConversion_.angle - intake.secondaryConversion.conversion) < STEERING_DIVERGENCE_ERROR_THRESHOLD))
-
33 )
-
34 {
-
35 steeringData_ = {
-
36 .angle = primaryConversion_.angle,
-
37 .status = SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL
-
38 };
-
39 }
-
40 // Upper steering sensor reports error or is not detected, lower sensor is nominal
-
41 else if (
-
42 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_ERROR)
-
43 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
-
44 )
-
45 {
-
46 steeringData_ = {
-
47 .angle = intake.secondaryConversion.conversion,
-
48 .status = SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED
-
49 };
-
50 }
-
51 // Fall through case
-
52 // Complete failure of steering sensing
-
53 else
-
54 {
-
55 steeringData_ = {
-
56 .angle = 0.0,
-
57 .status = SteeringSystemStatus_e::STEERING_SYSTEM_ERROR
-
58 };
-
59 }
-
60 }
-
61}
-
STEERING_DIVERGENCE_ERROR_THRESHOLD
#define STEERING_DIVERGENCE_ERROR_THRESHOLD
Definition: SteeringSystem.h:12
-
STEERING_DIVERGENCE_WARN_THRESHOLD
#define STEERING_DIVERGENCE_WARN_THRESHOLD
Definition: SteeringSystem.h:13
-
SteeringEncoderInterface::sample
virtual void sample()
Commands the underlying steering sensor to sample and hold the result.
-
SteeringEncoderInterface::convert
virtual SteeringEncoderConversion_s convert()
Calculate steering angle and whether result is in sensor's defined bounds. DOES NOT SAMPLE.
-
SteeringSystem::primaryConversion_
SteeringEncoderConversion_s primaryConversion_
Definition: SteeringSystem.h:41
+
15 // Filter both sensor angle readings
+
16 filteredAnglePrimary_ = steeringFilters_[0].filtered_result(primaryConversion_.angle);
+
17 filteredAngleSecondary_ = steeringFilters_[1].filtered_result(intake.secondaryConversion.conversion);
+
18
+
19 // Both sensors are nominal and agree
+
20 if (
+
21 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL)
+
22 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
+
23 && (std::abs(filteredAnglePrimary_ - filteredAngleSecondary_) < STEERING_DIVERGENCE_WARN_THRESHOLD)
+
24 )
+
25 {
+
26 steeringData_ = {
+
27 .angle = filteredAnglePrimary_,
+
28 .status = SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL
+
29 };
+
30 }
+
31 // One or both sensors are marginal
+
32 // Sensors disagree by STEERING_DIVERGENCE_WARN_THRESHOLD degrees and less than STEERING_DIVERGENCE_ERROR_THRESHOLD degrees
+
33 else if (
+
34 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_MARGINAL)
+
35 || ((primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL) && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED))
+
36 || ((std::abs(filteredAnglePrimary_ - filteredAngleSecondary_) >= STEERING_DIVERGENCE_WARN_THRESHOLD) && (std::abs(filteredAnglePrimary_ - filteredAngleSecondary_) < STEERING_DIVERGENCE_ERROR_THRESHOLD))
+
37 )
+
38 {
+
39 steeringData_ = {
+
40 .angle = filteredAnglePrimary_,
+
41 .status = SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL
+
42 };
+
43 }
+
44 // Upper steering sensor reports error or is not detected, lower sensor is nominal
+
45 else if (
+
46 (primaryConversion_.status == SteeringEncoderStatus_e::STEERING_ENCODER_ERROR)
+
47 && (intake.secondaryConversion.status == AnalogSensorStatus_e::ANALOG_SENSOR_GOOD)
+
48 )
+
49 {
+
50 steeringData_ = {
+
51 .angle = filteredAngleSecondary_,
+
52 .status = SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED
+
53 };
+
54 }
+
55 // Fall through case
+
56 // Complete failure of steering sensing
+
57 else
+
58 {
+
59 steeringData_ = {
+
60 .angle = 0.0,
+
61 .status = SteeringSystemStatus_e::STEERING_SYSTEM_ERROR
+
62 };
+
63 }
+
64
+
65 // For possible bottom sensor recalibration
+
66 // TODO: Remove me once done!
+
67 // Serial.print("Secondary sensor raw: ");
+
68 // Serial.println(intake.secondaryConversion.raw);
+
69 // Serial.println();
+
70 }
+
71}
+
STEERING_DIVERGENCE_ERROR_THRESHOLD
#define STEERING_DIVERGENCE_ERROR_THRESHOLD
Definition: SteeringSystem.h:13
+
STEERING_DIVERGENCE_WARN_THRESHOLD
#define STEERING_DIVERGENCE_WARN_THRESHOLD
Definition: SteeringSystem.h:14
+
Filter_IIR::filtered_result
dataType filtered_result(dataType new_val)
Definition: Filter_IIR.h:50
+
SteeringEncoderInterface::convert
SteeringEncoderConversion_s convert()
Definition: SteeringEncoderInterface.h:30
+ +
SteeringSystem::filteredAnglePrimary_
float filteredAnglePrimary_
Definition: SteeringSystem.h:53
+
SteeringSystem::primaryConversion_
SteeringEncoderConversion_s primaryConversion_
Definition: SteeringSystem.h:44
+
SteeringSystem::filteredAngleSecondary_
float filteredAngleSecondary_
Definition: SteeringSystem.h:54
AnalogConversion_s::conversion
float conversion
Definition: AnalogSensorsInterface.h:16
AnalogConversion_s::status
AnalogSensorStatus_e status
Definition: AnalogSensorsInterface.h:17
SteeringEncoderConversion_s::angle
float angle
Definition: SteeringEncoderInterface.h:16
SteeringEncoderConversion_s::status
SteeringEncoderStatus_e status
Definition: SteeringEncoderInterface.h:17
-
SteeringSystemData_s::angle
float angle
Definition: SteeringSystem.h:33
-
SteeringSystemTick_s::secondaryConversion
const AnalogConversion_s & secondaryConversion
Definition: SteeringSystem.h:28
-
SteeringSystemTick_s::tick
const SysTick_s & tick
Definition: SteeringSystem.h:27
+
SteeringSystemData_s::angle
float angle
Definition: SteeringSystem.h:36
+
SteeringSystemTick_s::secondaryConversion
const AnalogConversion_s & secondaryConversion
Definition: SteeringSystem.h:31
+
SteeringSystemTick_s::tick
const SysTick_s & tick
Definition: SteeringSystem.h:30

Member Data Documentation

+ +

◆ filteredAnglePrimary_

+ +
+
+ + + + + +
+ + + + +
float SteeringSystem::filteredAnglePrimary_
+ 		+private
+
+ +

Definition at line 53 of file SteeringSystem.h.

+ +
+
+ +

◆ filteredAngleSecondary_

+ +
+
+ + + + + +
+ + + + +
float SteeringSystem::filteredAngleSecondary_
+ 		+private
+
+ +

Definition at line 54 of file SteeringSystem.h.

+ +
+

◆ primaryConversion_

@@ -288,7 +453,7 @@

-

Definition at line 41 of file SteeringSystem.h.

+

Definition at line 44 of file SteeringSystem.h.

@@ -312,7 +477,7 @@

-

Definition at line 40 of file SteeringSystem.h.

+

Definition at line 43 of file SteeringSystem.h.

@@ -336,7 +501,32 @@

-

Definition at line 42 of file SteeringSystem.h.

+

Definition at line 45 of file SteeringSystem.h.

+ + + + +

◆ steeringFilters_

+ +
+
+ + + + + +
+ + + + +
Filter_IIR<float> SteeringSystem::steeringFilters_[NUM_SENSORS]
+ 		+private
+
+

Utility digital IIR filters 0 : primary sensor filter 1 : secondary sensor filter

+ +

Definition at line 52 of file SteeringSystem.h.

diff --git a/classTelemetryInterface-members.html b/classTelemetryInterface-members.html index 6bb38426e..80c87b287 100644 --- a/classTelemetryInterface-members.html +++ b/classTelemetryInterface-members.html @@ -83,16 +83,17 @@ mcu_analog_readings_TelemetryInterfaceprivate msg_queue_TelemetryInterfaceprivate TelemetryInterface(CANBufferType *msg_output_queue, const TelemetryInterfaceReadChannels &channels)TelemetryInterfaceinline - tick(const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data)TelemetryInterface + tick(const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const AnalogConversionPacket_s< 2 > &mcu_adc, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data)TelemetryInterface update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)TelemetryInterface update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)TelemetryInterface update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)TelemetryInterface update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)TelemetryInterface update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)TelemetryInterface - update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)TelemetryInterface - update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)TelemetryInterface - update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)TelemetryInterface - update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)TelemetryInterface + update_front_thermistors_CAN_msg(const AnalogConversion_s &therm_fl, const AnalogConversion_s &therm_fr)TelemetryInterface + update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)TelemetryInterface + update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)TelemetryInterface + update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)TelemetryInterface + update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)TelemetryInterface
diff --git a/classTelemetryInterface.html b/classTelemetryInterface.html index 76832a966..5729edb26 100644 --- a/classTelemetryInterface.html +++ b/classTelemetryInterface.html @@ -85,6 +85,8 @@   AnalogConversion_s get_glv_voltage (const AnalogConversionPacket_s< 8 > &adc1)   +void update_front_thermistors_CAN_msg (const AnalogConversion_s &therm_fl, const AnalogConversion_s &therm_fr) +  void update_pedal_readings_CAN_msg (float accel_percent, float brake_percent, float mech_brake_percent)   void update_pedal_readings_raw_CAN_msg (const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2) @@ -111,8 +113,8 @@ template<typename U > void enqueue_new_CAN (U *structure, uint32_t(*pack_function)(U *, uint8_t *, uint8_t *, uint8_t *))   -void tick (const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data) -  +void tick (const AnalogConversionPacket_s< 8 > &adc1, const AnalogConversionPacket_s< 4 > &adc2, const AnalogConversionPacket_s< 4 > &adc3, const AnalogConversionPacket_s< 2 > &mcu_adc, const SteeringEncoderConversion_s &encoder, InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per, const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2, float mech_brake_active_percent, const PIDTVTorqueControllerData &data) +  @@ -125,7 +127,7 @@

Private Attributes

Detailed Description

-

Definition at line 34 of file TelemetryInterface.h.

+

Definition at line 36 of file TelemetryInterface.h.

Constructor & Destructor Documentation

◆ TelemetryInterface()

@@ -161,11 +163,11 @@

-

Definition at line 45 of file TelemetryInterface.h.

-
45 : msg_queue_(msg_output_queue),
-
46 channels_(channels){};
-
TelemetryInterface::msg_queue_
CANBufferType * msg_queue_
Definition: TelemetryInterface.h:40
-
TelemetryInterface::channels_
TelemetryInterfaceReadChannels channels_
Definition: TelemetryInterface.h:42
+

Definition at line 47 of file TelemetryInterface.h.

+
47 : msg_queue_(msg_output_queue),
+
48 channels_(channels){};
+
TelemetryInterface::msg_queue_
CANBufferType * msg_queue_
Definition: TelemetryInterface.h:42
+
TelemetryInterface::channels_
TelemetryInterfaceReadChannels channels_
Definition: TelemetryInterface.h:44
@@ -186,23 +188,23 @@

-

Definition at line 213 of file TelemetryInterface.cpp.

-
214{
-
215 CONTROLLER_PID_TV_DATA_t msg;
-
216 msg.controller_input_ro = HYTECH_controller_input_ro_toS(data.controller_input);
-
217 msg.controller_output_ro = HYTECH_controller_output_ro_toS(data.controller_output);
-
218 enqueue_new_CAN<CONTROLLER_PID_TV_DATA_t>(&msg, &Pack_CONTROLLER_PID_TV_DATA_hytech);
-
219
-
220 CONTROLLER_PID_TV_DELTA_DATA_t delta_msg;
-
221 delta_msg.pid_tv_fl_delta_ro = HYTECH_pid_tv_fl_delta_ro_toS(data.fl_torque_delta);
-
222 delta_msg.pid_tv_fr_delta_ro = HYTECH_pid_tv_fr_delta_ro_toS(data.fr_torque_delta);
-
223 delta_msg.pid_tv_rl_delta_ro = HYTECH_pid_tv_rl_delta_ro_toS(data.rl_torque_delta);
-
224 delta_msg.pid_tv_rr_delta_ro = HYTECH_pid_tv_rr_delta_ro_toS(data.rr_torque_delta);
-
225
-
226 enqueue_new_CAN<CONTROLLER_PID_TV_DELTA_DATA_t>(&delta_msg, &Pack_CONTROLLER_PID_TV_DELTA_DATA_hytech);
-
227
-
228
-
229}
+

Definition at line 222 of file TelemetryInterface.cpp.

+
223{
+
224 CONTROLLER_PID_TV_DATA_t msg;
+
225 msg.controller_input_ro = HYTECH_controller_input_ro_toS(data.controller_input);
+
226 msg.controller_output_ro = HYTECH_controller_output_ro_toS(data.controller_output);
+
227 enqueue_new_CAN<CONTROLLER_PID_TV_DATA_t>(&msg, &Pack_CONTROLLER_PID_TV_DATA_hytech);
+
228
+
229 CONTROLLER_PID_TV_DELTA_DATA_t delta_msg;
+
230 delta_msg.pid_tv_fl_delta_ro = HYTECH_pid_tv_fl_delta_ro_toS(data.fl_torque_delta);
+
231 delta_msg.pid_tv_fr_delta_ro = HYTECH_pid_tv_fr_delta_ro_toS(data.fr_torque_delta);
+
232 delta_msg.pid_tv_rl_delta_ro = HYTECH_pid_tv_rl_delta_ro_toS(data.rl_torque_delta);
+
233 delta_msg.pid_tv_rr_delta_ro = HYTECH_pid_tv_rr_delta_ro_toS(data.rr_torque_delta);
+
234
+
235 enqueue_new_CAN<CONTROLLER_PID_TV_DELTA_DATA_t>(&delta_msg, &Pack_CONTROLLER_PID_TV_DELTA_DATA_hytech);
+
236
+
237
+
238}
@@ -241,19 +243,19 @@

-

Definition at line 190 of file TelemetryInterface.cpp.

-
190 {
-
191
-
192 CAN_message_t msg;
-
193 msg_class.write(msg.buf);
-
194 msg.id = id;
-
195 msg.len = sizeof(msg_class);
-
196 uint8_t buf[sizeof(CAN_message_t)];
-
197 memmove(buf, &msg, sizeof(CAN_message_t));
-
198
-
199 msg_queue_->push_back(buf, sizeof(CAN_message_t));
-
200
-
201}
+

Definition at line 199 of file TelemetryInterface.cpp.

+
199 {
+
200
+
201 CAN_message_t msg;
+
202 msg_class.write(msg.buf);
+
203 msg.id = id;
+
204 msg.len = sizeof(msg_class);
+
205 uint8_t buf[sizeof(CAN_message_t)];
+
206 memmove(buf, &msg, sizeof(CAN_message_t));
+
207
+
208 msg_queue_->push_back(buf, sizeof(CAN_message_t));
+
209
+
210}

@@ -285,14 +287,14 @@

-

Definition at line 205 of file TelemetryInterface.cpp.

-
205 {
-
206 CAN_message_t can_msg;
-
207 can_msg.id = pack_function(structure, can_msg.buf, &can_msg.len, (uint8_t*) &can_msg.flags.extended);
-
208 uint8_t buf[sizeof(CAN_message_t)] = {};
-
209 memmove(buf, &can_msg, sizeof(CAN_message_t));
-
210 msg_queue_->push_back(buf, sizeof(CAN_message_t));
-
211}
+

Definition at line 214 of file TelemetryInterface.cpp.

+
214 {
+
215 CAN_message_t can_msg;
+
216 can_msg.id = pack_function(structure, can_msg.buf, &can_msg.len, (uint8_t*) &can_msg.flags.extended);
+
217 uint8_t buf[sizeof(CAN_message_t)] = {};
+
218 memmove(buf, &can_msg, sizeof(CAN_message_t));
+
219 msg_queue_->push_back(buf, sizeof(CAN_message_t));
+
220}

@@ -320,17 +322,17 @@

-

Definition at line 50 of file TelemetryInterface.h.

-
51 {
-
52 return adc1.conversions[channels_.glv_sense_channel];
-
53 }
+

Definition at line 52 of file TelemetryInterface.h.

+
53 {
+
54 return adc1.conversions[channels_.glv_sense_channel];
+
55 }
AnalogConversionPacket_s::conversions
AnalogConversion_s conversions[N]
Definition: AnalogSensorsInterface.h:23
- -

◆ tick()

+ +

◆ tick()

@@ -353,6 +355,12 @@

const AnalogConversionPacket_s< 4 > &  adc3, + + + + const AnalogConversionPacket_s< 2 > &  + mcu_adc, + @@ -451,54 +459,60 @@

-

Definition at line 233 of file TelemetryInterface.cpp.

-
250 {
-
251
-
252 // Pedals
-
253 update_pedal_readings_CAN_msg(accel_per,
-
254 brake_per,
-
255 mech_brake_active_percent);
-
256
-
257 update_pedal_readings_raw_CAN_msg(accel_1,
-
258 accel_2,
-
259 brake_1,
-
260 brake_2);
-
261 // Analog readings
-
262 update_analog_readings_CAN_msg(encoder,
-
263 adc1.conversions[channels_.analog_steering_channel],
-
264 adc1.conversions[channels_.current_channel],
-
265 adc1.conversions[channels_.current_ref_channel],
-
266 get_glv_voltage(adc1));
-
267 // Load cells
-
268 update_suspension_CAN_msg(adc2.conversions[channels_.loadcell_fl_channel],
-
269 adc3.conversions[channels_.loadcell_fr_channel],
-
270 adc2.conversions[channels_.pots_fl_channel],
-
271 adc3.conversions[channels_.pots_fr_channel]);
-
272
-
273 update_drivetrain_rpms_CAN_msg(fl, fr, rl, rr);
-
274 update_drivetrain_err_status_CAN_msg(fl, fr, rl, rr);
-
275 update_drivetrain_status_telem_CAN_msg(fl, fr, rl, rr, accel_implaus, brake_implaus, accel_per, brake_per);
-
276 update_drivetrain_torque_telem_CAN_msg(fl, fr, rl, rr);
-
277
-
278 update_penthouse_accum_CAN_msg(adc1.conversions[channels_.current_channel],
-
279 adc1.conversions[channels_.current_ref_channel]);
-
280
-
281 enqeue_controller_CAN_msg(data);
+

Definition at line 242 of file TelemetryInterface.cpp.

+
260 {
+
261
+
262 // Pedals
+
263 update_pedal_readings_CAN_msg(accel_per,
+
264 brake_per,
+
265 mech_brake_active_percent);
+
266
+
267 update_pedal_readings_raw_CAN_msg(accel_1,
+
268 accel_2,
+
269 brake_1,
+
270 brake_2);
+
271 // Analog readings
+
272 update_analog_readings_CAN_msg(encoder,
+
273 adc1.conversions[channels_.analog_steering_channel],
+
274 adc1.conversions[channels_.current_channel],
+
275 adc1.conversions[channels_.current_ref_channel],
+
276 get_glv_voltage(adc1));
+
277 // Load cells
+
278 update_suspension_CAN_msg(adc2.conversions[channels_.loadcell_fl_channel],
+
279 adc3.conversions[channels_.loadcell_fr_channel],
+
280 adc2.conversions[channels_.pots_fl_channel],
+
281 adc3.conversions[channels_.pots_fr_channel]);
282
-
283}
-
TelemetryInterface::update_drivetrain_rpms_CAN_msg
void update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:62
-
TelemetryInterface::enqeue_controller_CAN_msg
void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:213
-
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:6
-
TelemetryInterface::update_suspension_CAN_msg
void update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
Definition: TelemetryInterface.cpp:33
-
TelemetryInterface::update_drivetrain_torque_telem_CAN_msg
void update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:161
-
TelemetryInterface::update_penthouse_accum_CAN_msg
void update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
Definition: TelemetryInterface.cpp:179
-
TelemetryInterface::update_drivetrain_status_telem_CAN_msg
void update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
Definition: TelemetryInterface.cpp:87
-
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:46
-
TelemetryInterface::update_pedal_readings_raw_CAN_msg
void update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
Definition: TelemetryInterface.cpp:18
-
TelemetryInterface::get_glv_voltage
AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s< 8 > &adc1)
Definition: TelemetryInterface.h:50
-
TelemetryInterface::update_drivetrain_err_status_CAN_msg
void update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:73
+
283 update_drivetrain_rpms_CAN_msg(fl, fr, rl, rr);
+
284 update_drivetrain_err_status_CAN_msg(fl, fr, rl, rr);
+
285 update_drivetrain_status_telem_CAN_msg(fl, fr, rl, rr, accel_implaus, brake_implaus, accel_per, brake_per);
+
286 update_drivetrain_torque_telem_CAN_msg(fl, fr, rl, rr);
+
287
+
288 update_penthouse_accum_CAN_msg(adc1.conversions[channels_.current_channel],
+
289 adc1.conversions[channels_.current_ref_channel]);
+
290
+
291 enqeue_controller_CAN_msg(data);
+
292 update_front_thermistors_CAN_msg(mcu_adc.conversions[channels_.therm_fl_channel],
+
293 mcu_adc.conversions[channels_.therm_fr_channel]);
+
294
+
295}
+
TelemetryInterface::update_drivetrain_rpms_CAN_msg
void update_drivetrain_rpms_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:71
+
TelemetryInterface::enqeue_controller_CAN_msg
void enqeue_controller_CAN_msg(const PIDTVTorqueControllerData &data)
Definition: TelemetryInterface.cpp:222
+
TelemetryInterface::update_pedal_readings_CAN_msg
void update_pedal_readings_CAN_msg(float accel_percent, float brake_percent, float mech_brake_percent)
Definition: TelemetryInterface.cpp:5
+
TelemetryInterface::update_suspension_CAN_msg
void update_suspension_CAN_msg(const AnalogConversion_s &lc_fl, const AnalogConversion_s &lc_fr, const AnalogConversion_s &pots_fl, const AnalogConversion_s &pots_fr)
Definition: TelemetryInterface.cpp:32
+
TelemetryInterface::update_drivetrain_torque_telem_CAN_msg
void update_drivetrain_torque_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:170
+
TelemetryInterface::update_penthouse_accum_CAN_msg
void update_penthouse_accum_CAN_msg(const AnalogConversion_s &current, const AnalogConversion_s &reference)
Definition: TelemetryInterface.cpp:188
+
TelemetryInterface::update_drivetrain_status_telem_CAN_msg
void update_drivetrain_status_telem_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr, bool accel_implaus, bool brake_implaus, float accel_per, float brake_per)
Definition: TelemetryInterface.cpp:96
+
TelemetryInterface::update_analog_readings_CAN_msg
void update_analog_readings_CAN_msg(const SteeringEncoderConversion_s &steer1, const AnalogConversion_s &steer2, const AnalogConversion_s &current, const AnalogConversion_s &reference, const AnalogConversion_s &glv)
Definition: TelemetryInterface.cpp:45
+
TelemetryInterface::update_pedal_readings_raw_CAN_msg
void update_pedal_readings_raw_CAN_msg(const AnalogConversion_s &accel_1, const AnalogConversion_s &accel_2, const AnalogConversion_s &brake_1, const AnalogConversion_s &brake_2)
Definition: TelemetryInterface.cpp:17
+
TelemetryInterface::get_glv_voltage
AnalogConversion_s get_glv_voltage(const AnalogConversionPacket_s< 8 > &adc1)
Definition: TelemetryInterface.h:52
+
TelemetryInterface::update_front_thermistors_CAN_msg
void update_front_thermistors_CAN_msg(const AnalogConversion_s &therm_fl, const AnalogConversion_s &therm_fr)
Definition: TelemetryInterface.cpp:60
+
TelemetryInterface::update_drivetrain_err_status_CAN_msg
void update_drivetrain_err_status_CAN_msg(InvInt_t *fl, InvInt_t *fr, InvInt_t *rl, InvInt_t *rr)
Definition: TelemetryInterface.cpp:82
+
mcu_adc
Teensy_ADC< 2 > mcu_adc
Definition: main.cpp:108
+ + @@ -551,19 +565,19 @@

-

Definition at line 46 of file TelemetryInterface.cpp.

-
50 {
-
51 // do sth with mcu_analog_readings_
-
52 mcu_analog_readings_.set_steering_1(steer1.raw);
-
53 mcu_analog_readings_.set_steering_2(steer2.raw);
-
54 mcu_analog_readings_.set_hall_effect_current(current.raw - reference.raw);
-
55 // Serial.println("hall effect current: ");
-
56 // Serial.println(mcu_analog_readings_.get_hall_effect_current());
-
57 mcu_analog_readings_.set_glv_battery_voltage(glv.raw);
-
58
-
59 enqueue_CAN<MCU_analog_readings>(mcu_analog_readings_, ID_MCU_ANALOG_READINGS);
-
60}
-
TelemetryInterface::mcu_analog_readings_
MCU_analog_readings mcu_analog_readings_
Definition: TelemetryInterface.h:38
+

Definition at line 45 of file TelemetryInterface.cpp.

+
49 {
+
50 // do sth with mcu_analog_readings_
+
51 mcu_analog_readings_.set_steering_1(steer1.raw);
+
52 mcu_analog_readings_.set_steering_2(steer2.raw);
+
53 mcu_analog_readings_.set_hall_effect_current(current.raw - reference.raw);
+
54 // Serial.println("hall effect current: ");
+
55 // Serial.println(mcu_analog_readings_.get_hall_effect_current());
+
56 mcu_analog_readings_.set_glv_battery_voltage(glv.raw);
+
57
+
58 enqueue_CAN<MCU_analog_readings>(mcu_analog_readings_, ID_MCU_ANALOG_READINGS);
+
59}
+
TelemetryInterface::mcu_analog_readings_
MCU_analog_readings mcu_analog_readings_
Definition: TelemetryInterface.h:40
AnalogConversion_s::raw
int raw
Definition: AnalogSensorsInterface.h:15
SteeringEncoderConversion_s::raw
int raw
Definition: SteeringEncoderInterface.h:15
@@ -607,19 +621,19 @@

-

Definition at line 73 of file TelemetryInterface.cpp.

-
74{
-
75
-
76 if (1) { // We should only write error status if some error has occurred, but for now, this is just an if(1)
-
77 DRIVETRAIN_ERR_STATUS_TELEM_t errors;
-
78 errors.mc1_diagnostic_number = fl->get_error_status();
-
79 errors.mc2_diagnostic_number = fr->get_error_status();
-
80 errors.mc3_diagnostic_number = rl->get_error_status();
-
81 errors.mc4_diagnostic_number = rr->get_error_status();
-
82 enqueue_new_CAN<DRIVETRAIN_ERR_STATUS_TELEM_t>(&errors, &Pack_DRIVETRAIN_ERR_STATUS_TELEM_hytech);
-
83 }
-
84
-
85}
+

Definition at line 82 of file TelemetryInterface.cpp.

+
83{
+
84
+
85 if (1) { // We should only write error status if some error has occurred, but for now, this is just an if(1)
+
86 DRIVETRAIN_ERR_STATUS_TELEM_t errors;
+
87 errors.mc1_diagnostic_number = fl->get_error_status();
+
88 errors.mc2_diagnostic_number = fr->get_error_status();
+
89 errors.mc3_diagnostic_number = rl->get_error_status();
+
90 errors.mc4_diagnostic_number = rr->get_error_status();
+
91 enqueue_new_CAN<DRIVETRAIN_ERR_STATUS_TELEM_t>(&errors, &Pack_DRIVETRAIN_ERR_STATUS_TELEM_hytech);
+
92 }
+
93
+
94}
InverterInterface::get_error_status
uint16_t get_error_status()
@@ -662,16 +676,16 @@

-

Definition at line 62 of file TelemetryInterface.cpp.

-
63{
-
64 DRIVETRAIN_RPMS_TELEM_t rpms;
-
65 rpms.fl_motor_rpm = fl->get_speed();
-
66 rpms.fr_motor_rpm = fr->get_speed();
-
67 rpms.rl_motor_rpm = rl->get_speed();
-
68 rpms.rr_motor_rpm = rr->get_speed();
-
69
-
70 enqueue_new_CAN<DRIVETRAIN_RPMS_TELEM_t>(&rpms, &Pack_DRIVETRAIN_RPMS_TELEM_hytech);
-
71}
+

Definition at line 71 of file TelemetryInterface.cpp.

+
72{
+
73 DRIVETRAIN_RPMS_TELEM_t rpms;
+
74 rpms.fl_motor_rpm = fl->get_speed();
+
75 rpms.fr_motor_rpm = fr->get_speed();
+
76 rpms.rl_motor_rpm = rl->get_speed();
+
77 rpms.rr_motor_rpm = rr->get_speed();
+
78
+
79 enqueue_new_CAN<DRIVETRAIN_RPMS_TELEM_t>(&rpms, &Pack_DRIVETRAIN_RPMS_TELEM_hytech);
+
80}
@@ -738,71 +752,71 @@

-

Definition at line 87 of file TelemetryInterface.cpp.

-
96{
-
97 DRIVETRAIN_STATUS_TELEM_t status;
-
98
-
99 status.mc1_dc_on = fl->get_dc_on();
-
100 status.mc1_derating_on = fl->get_derating_on();
-
101 status.mc1_error = fl->get_error();
-
102 status.mc1_inverter_on = fl->get_inverter_on();
-
103 status.mc1_quit_dc = fl->get_quit_dc_on();
-
104 status.mc1_quit_inverter_on = fl->get_quit_inverter_on();
-
105 status.mc1_system_ready = fl->inverter_system_ready();
-
106 status.mc1_warning = fl->get_warning();
+

Definition at line 96 of file TelemetryInterface.cpp.

+
105{
+
106 DRIVETRAIN_STATUS_TELEM_t status;
107
-
108 status.mc2_dc_on = fr->get_dc_on();
-
109 status.mc2_derating_on = fr->get_derating_on();
-
110 status.mc2_error = fr->get_error();
-
111 status.mc2_inverter_on = fr->get_inverter_on();
-
112 status.mc2_quit_dc = fr->get_quit_dc_on();
-
113 status.mc2_quit_inverter_on = fr->get_quit_inverter_on();
-
114 status.mc2_system_ready = fr->inverter_system_ready();
-
115 status.mc2_warning = fr->get_warning();
+
108 status.mc1_dc_on = fl->get_dc_on();
+
109 status.mc1_derating_on = fl->get_derating_on();
+
110 status.mc1_error = fl->get_error();
+
111 status.mc1_inverter_on = fl->get_inverter_on();
+
112 status.mc1_quit_dc = fl->get_quit_dc_on();
+
113 status.mc1_quit_inverter_on = fl->get_quit_inverter_on();
+
114 status.mc1_system_ready = fl->inverter_system_ready();
+
115 status.mc1_warning = fl->get_warning();
116
-
117 status.mc3_dc_on = rl->get_dc_on();
-
118 status.mc3_derating_on = rl->get_derating_on();
-
119 status.mc3_error = rl->get_error();
-
120 status.mc3_inverter_on = rl->get_inverter_on();
-
121 status.mc3_quit_dc = rl->get_quit_dc_on();
-
122 status.mc3_quit_inverter_on = rl->get_quit_inverter_on();
-
123 status.mc3_system_ready = rl->inverter_system_ready();
-
124 status.mc3_warning = rl->get_warning();
+
117 status.mc2_dc_on = fr->get_dc_on();
+
118 status.mc2_derating_on = fr->get_derating_on();
+
119 status.mc2_error = fr->get_error();
+
120 status.mc2_inverter_on = fr->get_inverter_on();
+
121 status.mc2_quit_dc = fr->get_quit_dc_on();
+
122 status.mc2_quit_inverter_on = fr->get_quit_inverter_on();
+
123 status.mc2_system_ready = fr->inverter_system_ready();
+
124 status.mc2_warning = fr->get_warning();
125
-
126 status.mc4_dc_on = rr->get_dc_on();
-
127 status.mc4_derating_on = rr->get_derating_on();
-
128 status.mc4_error = rr->get_error();
-
129 status.mc4_inverter_on = rr->get_inverter_on();
-
130 status.mc4_quit_dc = rr->get_quit_dc_on();
-
131 status.mc4_quit_inverter_on = rr->get_quit_inverter_on();
-
132 status.mc4_system_ready = rr->inverter_system_ready();
-
133 status.mc4_warning = rr->get_warning();
+
126 status.mc3_dc_on = rl->get_dc_on();
+
127 status.mc3_derating_on = rl->get_derating_on();
+
128 status.mc3_error = rl->get_error();
+
129 status.mc3_inverter_on = rl->get_inverter_on();
+
130 status.mc3_quit_dc = rl->get_quit_dc_on();
+
131 status.mc3_quit_inverter_on = rl->get_quit_inverter_on();
+
132 status.mc3_system_ready = rl->inverter_system_ready();
+
133 status.mc3_warning = rl->get_warning();
134
-
135 status.accel_implausible = accel_implaus;
-
136 status.brake_implausible = brake_implaus;
-
137 status.brake_percent = (uint8_t)(abs(brake_per) * 100);
-
138 status.accel_percent = (uint8_t)(abs(accel_per) * 100);
-
139
-
140 MC_temps mc1_temps = fl->get_temps_msg();
-
141 MC_temps mc2_temps = fr->get_temps_msg();
-
142 MC_temps mc3_temps = rl->get_temps_msg();
-
143 MC_temps mc4_temps = rr->get_temps_msg();
-
144
-
145 MC_setpoints_command mc1_cmd = fl->get_cmd_msg();
-
146 MC_setpoints_command mc2_cmd = fr->get_cmd_msg();
-
147 MC_setpoints_command mc3_cmd = rl->get_cmd_msg();
-
148 MC_setpoints_command mc4_cmd = rr->get_cmd_msg();
-
149
-
150 enqueue_CAN<MC_temps>(mc1_temps, ID_MC1_TEMPS);
-
151 enqueue_CAN<MC_temps>(mc2_temps, ID_MC2_TEMPS);
-
152 enqueue_CAN<MC_temps>(mc3_temps, ID_MC3_TEMPS);
-
153 enqueue_CAN<MC_temps>(mc4_temps, ID_MC4_TEMPS);
-
154 enqueue_CAN<MC_setpoints_command>(mc1_cmd, ID_MC1_SETPOINTS_COMMAND);
-
155 enqueue_CAN<MC_setpoints_command>(mc2_cmd, ID_MC2_SETPOINTS_COMMAND);
-
156 enqueue_CAN<MC_setpoints_command>(mc3_cmd, ID_MC3_SETPOINTS_COMMAND);
-
157 enqueue_CAN<MC_setpoints_command>(mc4_cmd, ID_MC4_SETPOINTS_COMMAND);
-
158 enqueue_new_CAN<DRIVETRAIN_STATUS_TELEM_t>(&status, &Pack_DRIVETRAIN_STATUS_TELEM_hytech);
-
159}
+
135 status.mc4_dc_on = rr->get_dc_on();
+
136 status.mc4_derating_on = rr->get_derating_on();
+
137 status.mc4_error = rr->get_error();
+
138 status.mc4_inverter_on = rr->get_inverter_on();
+
139 status.mc4_quit_dc = rr->get_quit_dc_on();
+
140 status.mc4_quit_inverter_on = rr->get_quit_inverter_on();
+
141 status.mc4_system_ready = rr->inverter_system_ready();
+
142 status.mc4_warning = rr->get_warning();
+
143
+
144 status.accel_implausible = accel_implaus;
+
145 status.brake_implausible = brake_implaus;
+
146 status.brake_percent = (uint8_t)(abs(brake_per) * 100);
+
147 status.accel_percent = (uint8_t)(abs(accel_per) * 100);
+
148
+
149 MC_temps mc1_temps = fl->get_temps_msg();
+
150 MC_temps mc2_temps = fr->get_temps_msg();
+
151 MC_temps mc3_temps = rl->get_temps_msg();
+
152 MC_temps mc4_temps = rr->get_temps_msg();
+
153
+
154 MC_setpoints_command mc1_cmd = fl->get_cmd_msg();
+
155 MC_setpoints_command mc2_cmd = fr->get_cmd_msg();
+
156 MC_setpoints_command mc3_cmd = rl->get_cmd_msg();
+
157 MC_setpoints_command mc4_cmd = rr->get_cmd_msg();
+
158
+
159 enqueue_CAN<MC_temps>(mc1_temps, ID_MC1_TEMPS);
+
160 enqueue_CAN<MC_temps>(mc2_temps, ID_MC2_TEMPS);
+
161 enqueue_CAN<MC_temps>(mc3_temps, ID_MC3_TEMPS);
+
162 enqueue_CAN<MC_temps>(mc4_temps, ID_MC4_TEMPS);
+
163 enqueue_CAN<MC_setpoints_command>(mc1_cmd, ID_MC1_SETPOINTS_COMMAND);
+
164 enqueue_CAN<MC_setpoints_command>(mc2_cmd, ID_MC2_SETPOINTS_COMMAND);
+
165 enqueue_CAN<MC_setpoints_command>(mc3_cmd, ID_MC3_SETPOINTS_COMMAND);
+
166 enqueue_CAN<MC_setpoints_command>(mc4_cmd, ID_MC4_SETPOINTS_COMMAND);
+
167 enqueue_new_CAN<DRIVETRAIN_STATUS_TELEM_t>(&status, &Pack_DRIVETRAIN_STATUS_TELEM_hytech);
+
168}
@@ -854,22 +868,60 @@

-

Definition at line 161 of file TelemetryInterface.cpp.

-
166{
-
167 // TODO: change this to use actual torque values from inverter
-
168 // Torque current just temporary for gearbox seal validation
-
169 DRIVETRAIN_TORQUE_TELEM_t torque;
-
170 torque.fl_motor_torque_ro = HYTECH_fl_motor_torque_ro_toS(fl->get_torque_current());
-
171 torque.fr_motor_torque_ro = HYTECH_fr_motor_torque_ro_toS(fr->get_torque_current());
-
172 torque.rl_motor_torque_ro = HYTECH_rl_motor_torque_ro_toS(rl->get_torque_current());
-
173 torque.rr_motor_torque_ro = HYTECH_rr_motor_torque_ro_toS(rr->get_torque_current());
-
174
-
175 enqueue_new_CAN<DRIVETRAIN_TORQUE_TELEM_t>(&torque, &Pack_DRIVETRAIN_TORQUE_TELEM_hytech);
-
176}
+

Definition at line 170 of file TelemetryInterface.cpp.

+
175{
+
176 // TODO: change this to use actual torque values from inverter
+
177 // Torque current just temporary for gearbox seal validation
+
178 DRIVETRAIN_TORQUE_TELEM_t torque;
+
179 torque.fl_motor_torque_ro = HYTECH_fl_motor_torque_ro_toS(fl->get_torque_current());
+
180 torque.fr_motor_torque_ro = HYTECH_fr_motor_torque_ro_toS(fr->get_torque_current());
+
181 torque.rl_motor_torque_ro = HYTECH_rl_motor_torque_ro_toS(rl->get_torque_current());
+
182 torque.rr_motor_torque_ro = HYTECH_rr_motor_torque_ro_toS(rr->get_torque_current());
+
183
+
184 enqueue_new_CAN<DRIVETRAIN_TORQUE_TELEM_t>(&torque, &Pack_DRIVETRAIN_TORQUE_TELEM_hytech);
+
185}

+ +

◆ update_front_thermistors_CAN_msg()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void TelemetryInterface::update_front_thermistors_CAN_msg (const AnalogConversion_s & therm_fl,
const AnalogConversion_s & therm_fr 
)
+
+ +

Definition at line 60 of file TelemetryInterface.cpp.

+
61 {
+
62
+
63 FRONT_THERMISTORS_t front_thermistors_;
+
64 front_thermistors_.thermistor_motor_fl = therm_fl.raw;
+
65 front_thermistors_.thermistor_motor_fr = therm_fr.raw;
+
66
+
67 enqueue_new_CAN<FRONT_THERMISTORS_t>(&front_thermistors_, &Pack_FRONT_THERMISTORS_hytech);
+
68}
+
+
+

◆ update_pedal_readings_CAN_msg()

@@ -902,17 +954,17 @@

-

Definition at line 6 of file TelemetryInterface.cpp.

-
8 {
-
9
-
10 MCU_PEDAL_READINGS_t pedal_readings;
-
11
-
12 pedal_readings.accel_percent_float_ro = HYTECH_accel_percent_float_ro_toS(accel_percent*100);
-
13 pedal_readings.brake_percent_float_ro = HYTECH_brake_percent_float_ro_toS(brake_percent*100);
-
14 pedal_readings.mechanical_brake_percent_float_ro = HYTECH_mechanical_brake_percent_float_ro_toS(mech_brake_percent*100);
-
15
-
16 enqueue_new_CAN<MCU_PEDAL_READINGS_t>(&pedal_readings, &Pack_MCU_PEDAL_READINGS_hytech);
-
17}
+

Definition at line 5 of file TelemetryInterface.cpp.

+
7 {
+
8
+
9 MCU_PEDAL_READINGS_t pedal_readings;
+
10
+
11 pedal_readings.accel_percent_float_ro = HYTECH_accel_percent_float_ro_toS(accel_percent*100);
+
12 pedal_readings.brake_percent_float_ro = HYTECH_brake_percent_float_ro_toS(brake_percent*100);
+
13 pedal_readings.mechanical_brake_percent_float_ro = HYTECH_mechanical_brake_percent_float_ro_toS(mech_brake_percent*100);
+
14
+
15 enqueue_new_CAN<MCU_PEDAL_READINGS_t>(&pedal_readings, &Pack_MCU_PEDAL_READINGS_hytech);
+
16}

@@ -954,18 +1006,18 @@

-

Definition at line 18 of file TelemetryInterface.cpp.

-
21 {
-
22 MCU_PEDAL_RAW_t pedal_read;
-
23
-
24 pedal_read.accel_1_raw = accel_1.raw;
-
25 pedal_read.accel_2_raw = accel_2.raw;
-
26 pedal_read.brake_1_raw = brake_1.raw;
-
27 pedal_read.brake_2_raw = brake_2.raw;
-
28
-
29 enqueue_new_CAN<MCU_PEDAL_RAW_t>(&pedal_read, &Pack_MCU_PEDAL_RAW_hytech);
-
30
-
31}
+

Definition at line 17 of file TelemetryInterface.cpp.

+
20 {
+
21 MCU_PEDAL_RAW_t pedal_read;
+
22
+
23 pedal_read.accel_1_raw = accel_1.raw;
+
24 pedal_read.accel_2_raw = accel_2.raw;
+
25 pedal_read.brake_1_raw = brake_1.raw;
+
26 pedal_read.brake_2_raw = brake_2.raw;
+
27
+
28 enqueue_new_CAN<MCU_PEDAL_RAW_t>(&pedal_read, &Pack_MCU_PEDAL_RAW_hytech);
+
29
+
30}

@@ -995,14 +1047,14 @@

-

Definition at line 179 of file TelemetryInterface.cpp.

-
180{
-
181 PENTHOUSE_ACCUM_MSG_t message;
-
182 message.hall_curr_ref = reference.raw;
-
183 message.hall_curr_signal = current.raw;
-
184
-
185 enqueue_new_CAN<PENTHOUSE_ACCUM_MSG_t>(&message, &Pack_PENTHOUSE_ACCUM_MSG_hytech);
-
186}
+

Definition at line 188 of file TelemetryInterface.cpp.

+
189{
+
190 PENTHOUSE_ACCUM_MSG_t message;
+
191 message.hall_curr_ref = reference.raw;
+
192 message.hall_curr_signal = current.raw;
+
193
+
194 enqueue_new_CAN<PENTHOUSE_ACCUM_MSG_t>(&message, &Pack_PENTHOUSE_ACCUM_MSG_hytech);
+
195}

@@ -1044,16 +1096,16 @@

-

Definition at line 33 of file TelemetryInterface.cpp.

-
36 {
-
37 MCU_SUSPENSION_t sus;
-
38 sus.load_cell_fl = lc_fl.raw;
-
39 sus.load_cell_fr = lc_fr.raw;
-
40 sus.potentiometer_fl = pots_fr.raw;
-
41 sus.potentiometer_fr = pots_fl.raw;
-
42
-
43 enqueue_new_CAN<MCU_SUSPENSION_t>(&sus, &Pack_MCU_SUSPENSION_hytech);
-
44}
+

Definition at line 32 of file TelemetryInterface.cpp.

+
35 {
+
36 MCU_SUSPENSION_t sus;
+
37 sus.load_cell_fl = lc_fl.raw;
+
38 sus.load_cell_fr = lc_fr.raw;
+
39 sus.potentiometer_fl = pots_fr.raw;
+
40 sus.potentiometer_fr = pots_fl.raw;
+
41
+
42 enqueue_new_CAN<MCU_SUSPENSION_t>(&sus, &Pack_MCU_SUSPENSION_hytech);
+
43}

@@ -1078,7 +1130,7 @@

-

Definition at line 42 of file TelemetryInterface.h.

+

Definition at line 44 of file TelemetryInterface.h.

@@ -1102,7 +1154,7 @@

-

Definition at line 38 of file TelemetryInterface.h.

+

Definition at line 40 of file TelemetryInterface.h.

@@ -1126,7 +1178,7 @@

-

Definition at line 40 of file TelemetryInterface.h.

+

Definition at line 42 of file TelemetryInterface.h.

diff --git a/classTorqueControllerCASEWrapper.html b/classTorqueControllerCASEWrapper.html index 2cc830933..df2146397 100644 --- a/classTorqueControllerCASEWrapper.html +++ b/classTorqueControllerCASEWrapper.html @@ -173,7 +173,7 @@

NUM_MOTORS
const int NUM_MOTORS
Definition: Utility.h:9
DrivetrainCommand_s::speeds_rpm
float speeds_rpm[NUM_MOTORS]
Definition: DrivetrainSystem.h:12
DrivetrainCommand_s::torqueSetpoints
float torqueSetpoints[NUM_MOTORS]
Definition: DrivetrainSystem.h:13
-
SteeringSystemData_s::status
SteeringSystemStatus_e status
Definition: SteeringSystem.h:34
+
SteeringSystemData_s::status
SteeringSystemStatus_e status
Definition: SteeringSystem.h:37
TCCaseWrapperTick_s::steeringData
const SteeringSystemData_s & steeringData
Definition: TorqueControllers.h:66
TCCaseWrapperTick_s::command
const DrivetrainCommand_s & command
Definition: TorqueControllers.h:65
TorqueControllerOutput_s::ready
bool ready
Definition: TorqueControllers.h:59
diff --git a/classTorqueControllerMux.html b/classTorqueControllerMux.html index d3736b73c..5931c4b7f 100644 --- a/classTorqueControllerMux.html +++ b/classTorqueControllerMux.html @@ -299,14 +299,15 @@

- -

Definition at line 222 of file TorqueControllerMux.cpp.

-
223{
-
224 for (int i = 0; i < NUM_MOTORS; i++)
-
225 {
-
226 command->speeds_rpm[i] = std::max(0.0f, command->speeds_rpm[i]);
-
227 }
-
228}
+

Apply limit such that wheelspeed never goes negative

+ +

Definition at line 232 of file TorqueControllerMux.cpp.

+
233{
+
234 for (int i = 0; i < NUM_MOTORS; i++)
+
235 {
+
236 command->speeds_rpm[i] = std::max(0.0f, command->speeds_rpm[i]);
+
237 }
+
238}
NUM_MOTORS
const int NUM_MOTORS
Definition: Utility.h:9
DrivetrainCommand_s::speeds_rpm
float speeds_rpm[NUM_MOTORS]
Definition: DrivetrainSystem.h:12
@@ -338,55 +339,54 @@

-

Definition at line 140 of file TorqueControllerMux.cpp.

-
141{
-
142 float net_torque_mag = 0;
-
143 float net_power = 0;
-
144
-
145 // calculate current mechanical power
-
146 for (int i = 0; i < NUM_MOTORS; i++)
-
147 {
-
148 // get the total magnitude of torque from all 4 wheels
-
149 #ifdef ARDUINO_TEENSY41 // screw arduino.h macros
-
150 net_torque_mag += abs(command->torqueSetpoints[i]);
-
151 net_power += abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
152 #else
-
153 // sum up net torque
-
154 net_torque_mag += std::abs(command->torqueSetpoints[i]);
-
155 // calculate P = T*w for each wheel and sum together
-
156 net_power += std::abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
157#endif
-
158 }
-
159
-
160 // only evaluate power limit if current power exceeds it
-
161 if (net_power > (MAX_POWER_LIMIT))
-
162 {
-
163 for (int i = 0; i < NUM_MOTORS; i++)
-
164 {
-
165
-
166 // TODO: SOMEBODY PLZ MAKE THIS WORK
-
167 // enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_power_);
+

Definition at line 149 of file TorqueControllerMux.cpp.

+
150{
+
151 float net_torque_mag = 0;
+
152 float net_power = 0;
+
153
+
154 // calculate current mechanical power
+
155 for (int i = 0; i < NUM_MOTORS; i++)
+
156 {
+
157// get the total magnitude of torque from all 4 wheels
+
158#ifdef ARDUINO_TEENSY41 // screw arduino.h macros
+
159 net_torque_mag += abs(command->torqueSetpoints[i]);
+
160 net_power += abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
161#else
+
162 // sum up net torque
+
163 net_torque_mag += std::abs(command->torqueSetpoints[i]);
+
164 // calculate P = T*w for each wheel and sum together
+
165 net_power += std::abs(command->torqueSetpoints[i] * (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
166#endif
+
167 }
168
-
169 // calculate the percent of total torque requested per wheel
-
170 float torque_percent = abs(command->torqueSetpoints[i] / net_torque_mag);
-
171 // based on the torque percent and max power limit, get the max power each wheel can use
-
172 float power_per_corner = (torque_percent * MAX_POWER_LIMIT);
-
173
-
174 // power / omega (motor rad/s) to get torque per wheel
-
175 #ifdef ARDUINO_TEENSY41
-
176 command->torqueSetpoints[i] = abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
177 #else
-
178 command->torqueSetpoints[i] = std::abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
-
179 #endif
-
180 command->torqueSetpoints[i] = std::max(0.0f, std::min(command->torqueSetpoints[i], getMaxTorque()));
-
181
-
182 }
-
183 }
-
184}
+
169 // only evaluate power limit if current power exceeds it
+
170 if (net_power > (MAX_POWER_LIMIT))
+
171 {
+
172 for (int i = 0; i < NUM_MOTORS; i++)
+
173 {
+
174
+
175 // TODO: SOMEBODY PLZ MAKE THIS WORK
+
176 // enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_power_);
+
177
+
178 // calculate the percent of total torque requested per wheel
+
179 float torque_percent = abs(command->torqueSetpoints[i] / net_torque_mag);
+
180 // based on the torque percent and max power limit, get the max power each wheel can use
+
181 float power_per_corner = (torque_percent * MAX_POWER_LIMIT);
+
182
+
183// power / omega (motor rad/s) to get torque per wheel
+
184#ifdef ARDUINO_TEENSY41
+
185 command->torqueSetpoints[i] = abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
186#else
+
187 command->torqueSetpoints[i] = std::abs(power_per_corner / (drivetrain->measuredSpeeds[i] * RPM_TO_RAD_PER_SECOND));
+
188#endif
+
189 command->torqueSetpoints[i] = std::max(0.0f, std::min(command->torqueSetpoints[i], getMaxTorque()));
+
190 }
+
191 }
+
192}
RPM_TO_RAD_PER_SECOND
const float RPM_TO_RAD_PER_SECOND
Definition: PhysicalParameters.h:10
MAX_POWER_LIMIT
const float MAX_POWER_LIMIT
Definition: TorqueControllers.h:22
-
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:142
+
drivetrain
DriveSys_t drivetrain
Definition: main.cpp:152
DrivetrainCommand_s::torqueSetpoints
float torqueSetpoints[NUM_MOTORS]
Definition: DrivetrainSystem.h:13
@@ -417,37 +417,37 @@

-

Definition at line 103 of file TorqueControllerMux.cpp.

-
104{
-
105 const float noRegenLimitKPH = 10.0;
-
106 const float fullRegenLimitKPH = 5.0;
-
107 float maxWheelSpeed = 0.0;
-
108 float torqueScaleDown = 0.0;
-
109 bool allWheelsRegen = true; // true when all wheels are targeting speeds below the current wheel speed
-
110
-
111 for (int i = 0; i < NUM_MOTORS; i++)
-
112 {
-
113 #ifdef ARDUINO_TEENSY41
-
114 maxWheelSpeed = std::max(maxWheelSpeed, abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
-
115 allWheelsRegen &= (command->speeds_rpm[i] < abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
-
116 #else
-
117 maxWheelSpeed = std::max(maxWheelSpeed, std::abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
-
118 allWheelsRegen &= (command->speeds_rpm[i] < std::abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
-
119 #endif
-
120 }
-
121
-
122 // begin limiting regen at noRegenLimitKPH and completely limit regen at fullRegenLimitKPH
-
123 // linearly interpolate the scale factor between noRegenLimitKPH and fullRegenLimitKPH
-
124 torqueScaleDown = std::min(1.0f, std::max(0.0f, (maxWheelSpeed - fullRegenLimitKPH) / (noRegenLimitKPH - fullRegenLimitKPH)));
-
125
-
126 if (allWheelsRegen)
-
127 {
-
128 for (int i = 0; i < NUM_MOTORS; i++)
-
129 {
-
130 command->torqueSetpoints[i] *= torqueScaleDown;
-
131 }
-
132 }
-
133}
+

Definition at line 112 of file TorqueControllerMux.cpp.

+
113{
+
114 const float noRegenLimitKPH = 10.0;
+
115 const float fullRegenLimitKPH = 5.0;
+
116 float maxWheelSpeed = 0.0;
+
117 float torqueScaleDown = 0.0;
+
118 bool allWheelsRegen = true; // true when all wheels are targeting speeds below the current wheel speed
+
119
+
120 for (int i = 0; i < NUM_MOTORS; i++)
+
121 {
+
122#ifdef ARDUINO_TEENSY41
+
123 maxWheelSpeed = std::max(maxWheelSpeed, abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
+
124 allWheelsRegen &= (command->speeds_rpm[i] < abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
+
125#else
+
126 maxWheelSpeed = std::max(maxWheelSpeed, std::abs(drivetrain->measuredSpeeds[i]) * RPM_TO_KILOMETERS_PER_HOUR);
+
127 allWheelsRegen &= (command->speeds_rpm[i] < std::abs(drivetrain->measuredSpeeds[i]) || command->speeds_rpm[i] == 0);
+
128#endif
+
129 }
+
130
+
131 // begin limiting regen at noRegenLimitKPH and completely limit regen at fullRegenLimitKPH
+
132 // linearly interpolate the scale factor between noRegenLimitKPH and fullRegenLimitKPH
+
133 torqueScaleDown = std::min(1.0f, std::max(0.0f, (maxWheelSpeed - fullRegenLimitKPH) / (noRegenLimitKPH - fullRegenLimitKPH)));
+
134
+
135 if (allWheelsRegen)
+
136 {
+
137 for (int i = 0; i < NUM_MOTORS; i++)
+
138 {
+
139 command->torqueSetpoints[i] *= torqueScaleDown;
+
140 }
+
141 }
+
142}
RPM_TO_KILOMETERS_PER_HOUR
const float RPM_TO_KILOMETERS_PER_HOUR
Definition: PhysicalParameters.h:7
@@ -468,34 +468,34 @@

-

Definition at line 192 of file TorqueControllerMux.cpp.

-
193{
-
194 float max_torque = getMaxTorque();
-
195 float avg_torque = 0;
-
196
-
197 // get the average torque accross all 4 wheels
-
198 for (int i = 0; i < NUM_MOTORS; i++)
-
199 {
-
200#ifdef ARDUINO_TEENSY41 // screw arduino.h macros
-
201 avg_torque += abs(command->torqueSetpoints[i]);
-
202#else
-
203 avg_torque += std::abs(command->torqueSetpoints[i]);
-
204#endif
-
205 }
-
206 avg_torque /= NUM_MOTORS;
-
207
-
208 // if this is greather than the torque limit, scale down
-
209 if (avg_torque > max_torque)
-
210 {
-
211 // get the scale of avg torque above max torque
-
212 float scale = avg_torque / max_torque;
-
213 // divide by scale to lower avg below max torque
-
214 for (int i = 0; i < NUM_MOTORS; i++)
-
215 {
-
216 command->torqueSetpoints[i] /= scale;
-
217 }
-
218 }
-
219}
+

Definition at line 200 of file TorqueControllerMux.cpp.

+
201{
+
202 float max_torque = getMaxTorque();
+
203 float avg_torque = 0;
+
204
+
205 // get the average torque accross all 4 wheels
+
206 for (int i = 0; i < NUM_MOTORS; i++)
+
207 {
+
208#ifdef ARDUINO_TEENSY41 // screw arduino.h macros
+
209 avg_torque += abs(command->torqueSetpoints[i]);
+
210#else
+
211 avg_torque += std::abs(command->torqueSetpoints[i]);
+
212#endif
+
213 }
+
214 avg_torque /= NUM_MOTORS;
+
215
+
216 // if this is greather than the torque limit, scale down
+
217 if (avg_torque > max_torque)
+
218 {
+
219 // get the scale of avg torque above max torque
+
220 float scale = avg_torque / max_torque;
+
221 // divide by scale to lower avg below max torque
+
222 for (int i = 0; i < NUM_MOTORS; i++)
+
223 {
+
224 command->torqueSetpoints[i] /= scale;
+
225 }
+
226 }
+
227}

@@ -781,11 +781,11 @@

71 // Check if targeted controller is ready to be selected
72 bool controllerNotReadyPreventsModeChange = (controllerOutputs_[static_cast<int>(dialModeMap_[dashboardDialMode])].ready == false);
73
-
74 if (!(speedPreventsModeChange || torqueDeltaPreventsModeChange || controllerNotReadyPreventsModeChange))
-
75 {
-
76 muxMode_ = dialModeMap_[dashboardDialMode];
-
77 cur_dial_mode_ = dashboardDialMode;
-
78 }
+
74 // if (!(speedPreventsModeChange || torqueDeltaPreventsModeChange || controllerNotReadyPreventsModeChange))
+
75 // {
+
76 muxMode_ = dialModeMap_[dashboardDialMode];
+
77 cur_dial_mode_ = dashboardDialMode;
+
78 // }
79 }
80
81 // Check if the current controller is ready. If it has faulted, revert to safe mode
@@ -798,13 +798,16 @@

88
89 drivetrainCommand_ = controllerOutputs_[static_cast<int>(muxMode_)].command;
90
-
91 // apply torque limit before power limit to not power limit
-
92 applyRegenLimit(&drivetrainCommand_, &drivetrainData);
-
93 applyTorqueLimit(&drivetrainCommand_);
-
94 applyPowerLimit(&drivetrainCommand_, &drivetrainData);
-
95 applyPosSpeedLimit(&drivetrainCommand_);
-
96 }
-
97}
+
91 // Apply setpoints value limits
+
92 // Safety checks for CASE: CASE handles regen, torque, and power limit internally
+
93 applyRegenLimit(&drivetrainCommand_, &drivetrainData);
+
94 // Apply torque limit before power limit to not power limit
+
95 applyTorqueLimit(&drivetrainCommand_);
+
96 applyPowerLimit(&drivetrainCommand_, &drivetrainData);
+
97 // Uniformly apply speed limit to all controller modes
+
98 applyPosSpeedLimit(&drivetrainCommand_);
+
99 }
+
100}
RPM_TO_METERS_PER_SECOND
const float RPM_TO_METERS_PER_SECOND
Definition: PhysicalParameters.h:6
MAX_SPEED_FOR_MODE_CHANGE
const float MAX_SPEED_FOR_MODE_CHANGE
Definition: TorqueControllerMux.h:15
MAX_TORQUE_DELTA_FOR_MODE_CHANGE
const float MAX_TORQUE_DELTA_FOR_MODE_CHANGE
Definition: TorqueControllerMux.h:16
@@ -814,10 +817,10 @@

TorqueControllerLoadCellVectoring::tick
void tick(const SysTick_s &tick, const PedalsSystemData_s &pedalsData, float torqueLimit, const LoadCellInterfaceOutput_s &loadCellData)
Definition: TorqueControllers.cpp:58
TorqueControllerMux::torqueLimitButtonPressedTime_
unsigned long torqueLimitButtonPressedTime_
Definition: TorqueControllerMux.h:62
-
TorqueControllerMux::applyPosSpeedLimit
void applyPosSpeedLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:222
-
TorqueControllerMux::applyPowerLimit
void applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:140
-
TorqueControllerMux::applyTorqueLimit
void applyTorqueLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:192
-
TorqueControllerMux::applyRegenLimit
void applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:103
+
TorqueControllerMux::applyPosSpeedLimit
void applyPosSpeedLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:232
+
TorqueControllerMux::applyPowerLimit
void applyPowerLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:149
+
TorqueControllerMux::applyTorqueLimit
void applyTorqueLimit(DrivetrainCommand_s *command)
Definition: TorqueControllerMux.cpp:200
+
TorqueControllerMux::applyRegenLimit
void applyRegenLimit(DrivetrainCommand_s *command, const DrivetrainDynamicReport_s *drivetrain)
Definition: TorqueControllerMux.cpp:112
TorqueControllerMux::dialModeMap_
std::unordered_map< DialMode_e, TorqueController_e > dialModeMap_
Definition: TorqueControllerMux.h:30
TorqueControllerMux::tick
void tick(const SysTick_s &tick, const DrivetrainDynamicReport_s &drivetrainData, const PedalsSystemData_s &pedalsData, const SteeringSystemData_s &steeringData, const LoadCellInterfaceOutput_s &loadCellData, DialMode_e dashboardDialMode, bool dashboardTorqueModeButtonPressed, const vector_nav &vn_data, const DrivetrainCommand_s &CASECommand)
Definition: TorqueControllerMux.cpp:5
TorqueControllerSimple::tick
void tick(const SysTick_s &tick, const PedalsSystemData_s &pedalsData, float torqueLimit)
Definition: TorqueControllers.cpp:8
diff --git a/classWatchdogInterface.html b/classWatchdogInterface.html index 97754fa00..54123c5e0 100644 --- a/classWatchdogInterface.html +++ b/classWatchdogInterface.html @@ -91,7 +91,7 @@   bool get_watchdog_state ()   -void set_watchdog_state (bool state) +void set_watchdog_state (bool state)    WatchdogInterface (int wd_input_pin)   @@ -386,8 +386,9 @@

Definition at line 37 of file WatchdogInterface.cpp.

37 {
-
38 watchdog_state = state;
+
38 watchdog_state = state;
39}
+
state
CAR_STATE state
Definition: main_ethernet_test.cpp:9
diff --git a/classes.html b/classes.html index 98bf947ef..8646c50f7 100644 --- a/classes.html +++ b/classes.html @@ -72,7 +72,7 @@
Class Index
-
A | B | C | D | F | I | L | M | P | S | T | V | W | X
+
A | B | C | D | E | F | I | L | M | P | S | T | V | W | X
A
@@ -87,33 +87,36 @@
D
DashboardInterface
DashButtons_s
DashComponentInterface_s
DrivetrainCommand_s
DrivetrainDynamicReport_s
DrivetrainMock
DrivetrainSystem
-
F
-
FakeMessageQueue
+
E
+
ETHInterfaces
+
F
+
FakeMessageQueue
Filter_IIR
FilterIIRMulti
+
I
IMDInterface
InverterCommand
InverterInterface
InverterMock
inverters
-
+
L
LoadCellInterface
LoadCellInterfaceOutput_s
LoadCellInterfaceTick_s
-
+
M
MainECUHardwareReadPins
MCUInterface
MCUStateMachine
-
-
P
-
PedalsParams
PedalsSystem
PedalsSystemData_s
PIDTVTorqueControllerData
+
P
+
ParameterInterface
PedalsParams
PedalsSystem
PedalsSystemData_s
PIDTVTorqueControllerData
+
S
SABInterface
SafetySystem
SteeringEncoderConversion_s
SteeringEncoderInterface
SteeringSystem
SteeringSystemData_s
SteeringSystemTick_s
-
+
T
TCCaseWrapperTick_s
TelemetryInterface
TelemetryInterfaceReadChannels
TorqueController
TorqueControllerBase
TorqueControllerCASEWrapper
TorqueControllerLoadCellVectoring
TorqueControllerLookupLaunch
TorqueControllerMux
TorqueControllerNone
TorqueControllerOutput_s
TorqueControllerSimple
TorqueControllerSimpleLaunch
TorqueControllerSlipLaunch
-
+
V
vector_nav
veh_vec
VNInterface
-
+
W
WatchdogInterface
-
+
X
xy_vec
xyz_vec
diff --git a/dir_2286d04e06c9cc9c507c29bec2157f9d.html b/dir_2286d04e06c9cc9c507c29bec2157f9d.html index 7bc55f920..5c944f97d 100644 --- a/dir_2286d04e06c9cc9c507c29bec2157f9d.html +++ b/dir_2286d04e06c9cc9c507c29bec2157f9d.html @@ -85,12 +85,16 @@   file  main.cpp [code]   +file  param_system_test.h [code] +  file  pedals_system_test.h [code]   file  safety_system_test.h [code]   file  state_machine_test.h [code]   +file  steering_system_test.h [code] +  file  test_CASE.h [code]   file  torque_controller_mux_test.h [code] diff --git a/dir_5296aa929a02ec6e273df8793dc59bac.html b/dir_5296aa929a02ec6e273df8793dc59bac.html index d6a90b2e1..21566ad57 100644 --- a/dir_5296aa929a02ec6e273df8793dc59bac.html +++ b/dir_5296aa929a02ec6e273df8793dc59bac.html @@ -85,6 +85,8 @@   file  DashboardInterface.h [code]   +file  Filter_IIR.h [code] +  file  HytechCANInterface.h [code]   file  IMDInterface.h [code] @@ -95,6 +97,10 @@   file  MCUInterface.h [code]   +file  ParameterInterface.h [code] +  +file  ProtobufMsgInterface.h [code] +  file  SteeringEncoderInterface.h [code]   file  VectornavInterface.h [code] diff --git a/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/dir_68267d1309a1af8e8297ef4c3efbcdba.html index f0d841658..1dd6f154a 100644 --- a/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -81,6 +81,8 @@ Files

file  main.cpp [code]   +file  main_ethernet_test.cpp [code] +  file  main_spi_test.cpp [code]   file  test_can_interface.cpp [code] diff --git a/dir_8046baeaa71da174c5ebc74e4a6285dc.html b/dir_8046baeaa71da174c5ebc74e4a6285dc.html index 7010a4943..b204e61c8 100644 --- a/dir_8046baeaa71da174c5ebc74e4a6285dc.html +++ b/dir_8046baeaa71da174c5ebc74e4a6285dc.html @@ -93,6 +93,10 @@   file  MessageQueueDefine.h [code]   +file  ParameterInterface.h [code] +  +file  ProtobufMsgInterface.h [code] +  file  SABInterface.h [code]   file  TelemetryInterface.h [code] diff --git a/dir_d44c64559bbebec7f509842c48db8b23.html b/dir_d44c64559bbebec7f509842c48db8b23.html index 5d744322a..d82ebb402 100644 --- a/dir_d44c64559bbebec7f509842c48db8b23.html +++ b/dir_d44c64559bbebec7f509842c48db8b23.html @@ -81,6 +81,8 @@ Files

file  driver_constants.h [code]   +file  InterfaceParams.h [code] +  file  MCU_rev15_defs.h [code]   diff --git a/files.html b/files.html index 1b7d4a3d0..e80364a5d 100644 --- a/files.html +++ b/files.html @@ -76,42 +76,48 @@
[detail level 1234]
- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -140,26 +146,29 @@ - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + +
 ▼ include
 driver_constants.h
 MCU_rev15_defs.h
 ▼ lib
 ▼ interfaces
 ▼ include
 AMSInterface.h
 DashboardInterface.h
 HytechCANInterface.h
 InverterInterface.h
 LoadCellInterface.h
 MCUInterface.h
 MessageQueueDefine.h
 SABInterface.h
 TelemetryInterface.h
 VectornavInterface.h
 WatchdogInterface.h
 ▼ src
 AMSInterface.cpp
 DashboardInterface.cpp
 HytechCANInterface.cpp
 LoadCellInterface.cpp
 MCUInterface.cpp
 SABInterface.cpp
 TelemetryInterface.cpp
 WatchdogInterface.cpp
 ▼ mock_interfaces
 AMSInterface.h
 AnalogSensorsInterface.h
 DashboardInterface.h
 HytechCANInterface.h
 IMDInterface.h
 InverterInterface.h
 LoadCellInterface.h
 MCUInterface.h
 SteeringEncoderInterface.h
 VectornavInterface.h
 WatchdogInterface.h
 InterfaceParams.h
 MCU_rev15_defs.h
 ▼ lib
 ▼ interfaces
 ▼ include
 AMSInterface.h
 DashboardInterface.h
 HytechCANInterface.h
 InverterInterface.h
 LoadCellInterface.h
 MCUInterface.h
 MessageQueueDefine.h
 ParameterInterface.h
 ProtobufMsgInterface.h
 SABInterface.h
 TelemetryInterface.h
 VectornavInterface.h
 WatchdogInterface.h
 ▼ src
 AMSInterface.cpp
 DashboardInterface.cpp
 HytechCANInterface.cpp
 LoadCellInterface.cpp
 MCUInterface.cpp
 SABInterface.cpp
 TelemetryInterface.cpp
 WatchdogInterface.cpp
 ▼ mock_interfaces
 AMSInterface.h
 AnalogSensorsInterface.h
 DashboardInterface.h
 Filter_IIR.h
 HytechCANInterface.h
 IMDInterface.h
 InverterInterface.h
 LoadCellInterface.h
 MCUInterface.h
 ParameterInterface.h
 ProtobufMsgInterface.h
 SteeringEncoderInterface.h
 VectornavInterface.h
 WatchdogInterface.h
 ▼ shared_data
 ▼ include
 TorqueControllersData.h
 TorqueControllers.cpp
 ▼ src
 main.cpp
 main_spi_test.cpp
 test_can_interface.cpp
 ▼ test
 ▼ test_interfaces
 AMS_interface_test.h
 dashboard_interface_test.h
 MCU_interface_test.h
 run_embedded_tests.cpp
 Telemetry_interface_test.h
 Watchdog_interface_test.h
 ▼ test_systems
 drivetrain_system_test.h
 InverterInterface.h
 main.cpp
 pedals_system_test.h
 safety_system_test.h
 state_machine_test.h
 test_CASE.h
 torque_controller_mux_test.h
 extra_script.py
 main_ethernet_test.cpp
 main_spi_test.cpp
 test_can_interface.cpp
 ▼ test
 ▼ test_interfaces
 AMS_interface_test.h
 dashboard_interface_test.h
 MCU_interface_test.h
 run_embedded_tests.cpp
 Telemetry_interface_test.h
 Watchdog_interface_test.h
 ▼ test_systems
 drivetrain_system_test.h
 InverterInterface.h
 main.cpp
 param_system_test.h
 pedals_system_test.h
 safety_system_test.h
 state_machine_test.h
 steering_system_test.h
 test_CASE.h
 torque_controller_mux_test.h
 extra_script.py
diff --git a/functions_a.html b/functions_a.html index b4ed4f90e..fa7b26cf9 100644 --- a/functions_a.html +++ b/functions_a.html @@ -83,6 +83,7 @@

- a -

  • activation_percentage : PedalsParams
  • activeController() : TorqueControllerMux
  • actual_torque_nm_ : InverterInterface< message_queue >
    • +
  • alpha : Filter_IIR< dataType >
  • ams_ : SafetySystem
  • ams_interface : CANInterfaces< circular_buffer >
  • AMSInterface() : AMSInterface
    • diff --git a/functions_c.html b/functions_c.html index 61121f9e9..f79fc10df 100644 --- a/functions_c.html +++ b/functions_c.html @@ -77,7 +77,7 @@

    - c -

    • can_id_ : InverterInterface< message_queue >, VNInterface< message_queue >
    • car_in_ready_to_drive() : MCUStateMachine< DrivetrainSysType >
    • case_ : CASESystem< message_queue >
      • -
    • CASESystem() : CASESystem< message_queue >
      • +
    • CASESystem() : CASESystem< message_queue >
    • cell_temp_alpha : AMSInterface
    • cell_voltage_alpha : AMSInterface
    • channels_ : TelemetryInterface
      • @@ -95,8 +95,7 @@

      - c -

      • command_drivetrain_no_torque() : DrivetrainMock, DrivetrainSystem< InverterType >
      • command_no_torque() : InverterInterface< message_queue >, InverterMock
      • command_reset() : InverterInterface< message_queue >, InverterMock
        • -
      • config_ : CASESystem< message_queue >
        • -
      • configure() : CASESystem< message_queue >
        • +
      • config_ : CASESystem< message_queue >, ParameterInterface
      • controller_input : PIDTVTorqueControllerData
      • controller_mux_ : MCUStateMachine< DrivetrainSysType >
      • controller_output : PIDTVTorqueControllerData
        • @@ -105,11 +104,12 @@

        - c -

        • controllers : TorqueControllerMux
        • conversion : AnalogConversion_s
        • conversions : AnalogConversionPacket_s< N >
          • -
        • convert() : AnalogChannel, AnalogMultiSensor< N >, SteeringEncoderInterface
          • +
        • convert() : AnalogChannel, AnalogMultiSensor< N >, SteeringEncoderInterface
        • cur_dial_mode : DashComponentInterface_s
        • cur_dial_mode_ : TorqueControllerMux
        • curr_cmd_ : InverterInterface< message_queue >
        • curr_system_millis_ : DrivetrainSystem< InverterType >
          • +
        • current_car_state_ : ParameterInterface
        • current_channel : TelemetryInterfaceReadChannels
        • current_drivetrain_command_ : DrivetrainSystem< InverterType >
        • current_millis_ : BaseLaunchController
          • diff --git a/functions_f.html b/functions_f.html index 7e218b20e..1b29d3940 100644 --- a/functions_f.html +++ b/functions_f.html @@ -73,8 +73,13 @@

          - f -

          • FakeMessageQueue() : FakeMessageQueue
            • +
          • filter_channels_ : FilterIIRMulti< dataType, N >
            • +
          • Filter_IIR() : Filter_IIR< dataType >
          • filtered_max_cell_temp : AMSInterface
          • filtered_min_cell_voltage : AMSInterface
            • +
          • filtered_result() : Filter_IIR< dataType >
            • +
          • filteredAnglePrimary_ : SteeringSystem
            • +
          • filteredAngleSecondary_ : SteeringSystem
          • FIRCircBufferHead : LoadCellInterface, TorqueControllerLoadCellVectoring
          • FIRSaturated : LoadCellInterfaceOutput_s
          • FIRSaturated_ : LoadCellInterface, TorqueControllerLoadCellVectoring
            • diff --git a/functions_func_c.html b/functions_func_c.html index 00dec3117..98eb23412 100644 --- a/functions_func_c.html +++ b/functions_func_c.html @@ -75,7 +75,7 @@

            - c -

            • calc_launch_algo() : BaseLaunchController, TorqueControllerLookupLaunch, TorqueControllerSimpleLaunch, TorqueControllerSlipLaunch
            • calculate_torque_request() : CASESystem< message_queue >
            • car_in_ready_to_drive() : MCUStateMachine< DrivetrainSysType >
              • -
            • CASESystem() : CASESystem< message_queue >
              • +
            • CASESystem() : CASESystem< message_queue >
            • check_drivetrain_quit_dc_on_() : DrivetrainSystem< InverterType >
            • check_reset_condition() : DrivetrainSystem< InverterType >
            • checkBuzzer() : DashboardInterface
              • @@ -85,8 +85,7 @@

              - c -

              diff --git a/functions_func_f.html b/functions_func_f.html index 098cf34bb..140017bd1 100644 --- a/functions_func_f.html +++ b/functions_func_f.html @@ -73,6 +73,8 @@

              - f -

              diff --git a/functions_func_g.html b/functions_func_g.html index b3c2dc4cd..7c5521362 100644 --- a/functions_func_g.html +++ b/functions_func_g.html @@ -76,6 +76,7 @@

              - g -

              • get_actual_torque() : InverterInterface< message_queue >
              • get_bots_ok() : MCUInterface
              • get_cmd_msg() : InverterInterface< message_queue >
                • +
              • get_config() : ParameterInterface
              • get_dc_on() : InverterInterface< message_queue >
              • get_derating_on() : InverterInterface< message_queue >
              • get_dynamic_data() : DrivetrainSystem< InverterType >
                • @@ -88,6 +89,7 @@

                - g -

                • get_inverter_on() : InverterInterface< message_queue >
                • get_launch_state() : TorqueControllerBase, TorqueControllerLookupLaunch, TorqueControllerSimpleLaunch, TorqueControllerSlipLaunch
                • get_mag_current() : InverterInterface< message_queue >
                  • +
                • get_prev_reading() : Filter_IIR< dataType >
                • get_quit_dc_on() : InverterInterface< message_queue >, InverterMock
                • get_quit_inverter_on() : InverterInterface< message_queue >, InverterMock
                • get_rpm_setpoint() : CASESystem< message_queue >
                  • diff --git a/functions_func_p.html b/functions_func_p.html index 482db4d27..e0c0abdb3 100644 --- a/functions_func_p.html +++ b/functions_func_p.html @@ -73,6 +73,8 @@

                  - p -

                  diff --git a/functions_func_r.html b/functions_func_r.html index 4c9e75adb..5a708d4fe 100644 --- a/functions_func_r.html +++ b/functions_func_r.html @@ -83,6 +83,7 @@

                  - r -

                  • request_enable_hv() : InverterInterface< message_queue >, InverterMock
                  • request_enable_inverter() : InverterInterface< message_queue >, InverterMock
                  • reset_drivetrain() : DrivetrainSystem< InverterType >
                    • +
                  • reset_params_need_sending() : ParameterInterface
                  • retrieve_gps_time_CAN() : VNInterface< message_queue >
                  • retrieve_lat_lon_CAN() : VNInterface< message_queue >
                  • retrieve_linear_accel_CAN() : VNInterface< message_queue >
                    • diff --git a/functions_func_s.html b/functions_func_s.html index dc39bf6b6..5957b3dd4 100644 --- a/functions_func_s.html +++ b/functions_func_s.html @@ -75,15 +75,18 @@

                    - s -

                    • SABInterface() : SABInterface
                    • SafetySystem() : SafetySystem
                    • safetySystemOK() : DashboardInterface
                      • -
                    • sample() : AnalogMultiSensor< N >, SteeringEncoderInterface
                      • +
                    • sample() : AnalogMultiSensor< N >, SteeringEncoderInterface
                      • +
                    • set_alpha() : Filter_IIR< dataType >
                    • set_brake_light() : MCUInterface
                    • set_heartbeat() : AMSInterface
                      • +
                    • set_params_need_sending() : ParameterInterface
                    • set_start_state() : AMSInterface, WatchdogInterface
                    • set_state_() : MCUStateMachine< DrivetrainSysType >
                    • set_state_ok_high() : AMSInterface
                    • set_watchdog_state() : WatchdogInterface
                      • +
                    • setAlphas() : FilterIIRMulti< dataType, N >
                    • setLED() : DashboardInterface
                      • -
                    • setOffset() : SteeringEncoderInterface
                      • +
                    • setOffset() : SteeringEncoderInterface
                    • setParams() : PedalsSystem
                    • setup_retry() : DrivetrainSystem< InverterType >
                    • shutdownHAboveThreshold() : DashboardInterface
                      • diff --git a/functions_func_t.html b/functions_func_t.html index cfaa56838..b447bbc7d 100644 --- a/functions_func_t.html +++ b/functions_func_t.html @@ -73,7 +73,7 @@

                      - t -

                      • TelemetryInterface() : TelemetryInterface
                        • -
                      • tick() : BaseLaunchController, DrivetrainSystem< InverterType >, LoadCellInterface, MCUInterface, PedalsSystem, SteeringSystem, TelemetryInterface, TorqueControllerCASEWrapper, TorqueControllerLoadCellVectoring, TorqueControllerMux, TorqueControllerSimple
                        • +
                      • tick() : BaseLaunchController, DrivetrainSystem< InverterType >, LoadCellInterface, MCUInterface, PedalsSystem, SteeringSystem, TelemetryInterface, TorqueControllerCASEWrapper, TorqueControllerLoadCellVectoring, TorqueControllerMux, TorqueControllerSimple
                      • tick10() : DashboardInterface
                      • tick_state_machine() : MCUStateMachine< DrivetrainSysType >
                      • TorqueControllerCASEWrapper() : TorqueControllerCASEWrapper
                        • diff --git a/functions_func_u.html b/functions_func_u.html index 9663306e4..0814e1ae1 100644 --- a/functions_func_u.html +++ b/functions_func_u.html @@ -73,10 +73,14 @@

                        - u -

                        • update_analog_readings_CAN_msg() : TelemetryInterface
                          • +
                        • update_car_state() : ParameterInterface
                          • +
                        • update_config() : ParameterInterface
                          • +
                        • update_config_from_param_interface() : CASESystem< message_queue >
                        • update_drivetrain_err_status_CAN_msg() : TelemetryInterface
                        • update_drivetrain_rpms_CAN_msg() : TelemetryInterface
                        • update_drivetrain_status_telem_CAN_msg() : TelemetryInterface
                        • update_drivetrain_torque_telem_CAN_msg() : TelemetryInterface
                          • +
                        • update_front_thermistors_CAN_msg() : TelemetryInterface
                        • update_mcu_status_CAN() : MCUInterface
                        • update_mcu_status_CAN_ams() : MCUInterface
                        • update_mcu_status_CAN_buzzer() : MCUInterface
                          • @@ -89,7 +93,6 @@

                          - u -

                          diff --git a/functions_g.html b/functions_g.html index 08cd79799..98f571a24 100644 --- a/functions_g.html +++ b/functions_g.html @@ -76,6 +76,7 @@

                          - g -

                          • get_actual_torque() : InverterInterface< message_queue >
                          • get_bots_ok() : MCUInterface
                          • get_cmd_msg() : InverterInterface< message_queue >
                            • +
                          • get_config() : ParameterInterface
                          • get_dc_on() : InverterInterface< message_queue >
                          • get_derating_on() : InverterInterface< message_queue >
                          • get_dynamic_data() : DrivetrainSystem< InverterType >
                            • @@ -88,6 +89,7 @@

                            - g -

                            • get_inverter_on() : InverterInterface< message_queue >
                            • get_launch_state() : TorqueControllerBase, TorqueControllerLookupLaunch, TorqueControllerSimpleLaunch, TorqueControllerSlipLaunch
                            • get_mag_current() : InverterInterface< message_queue >
                              • +
                            • get_prev_reading() : Filter_IIR< dataType >
                            • get_quit_dc_on() : InverterInterface< message_queue >, InverterMock
                            • get_quit_inverter_on() : InverterInterface< message_queue >, InverterMock
                            • get_rpm_setpoint() : CASESystem< message_queue >
                              • diff --git a/functions_l.html b/functions_l.html index 9c9f2f547..1f3c8be72 100644 --- a/functions_l.html +++ b/functions_l.html @@ -82,6 +82,7 @@

                              - l -

                              • last_eval_time_ : CASESystem< message_queue >
                              • last_general_cmd_time_ : DrivetrainSystem< InverterType >
                              • last_heartbeat_time : AMSInterface
                                • +
                              • last_lowest_priority_controller_send_time_ : CASESystem< message_queue >
                              • last_no_torque_cmd_time_ : DrivetrainSystem< InverterType >
                              • last_reset_cmd_time_ : DrivetrainSystem< InverterType >
                              • last_reset_pressed_time_ : DrivetrainSystem< InverterType >
                                • @@ -93,7 +94,12 @@

                                - l -

                                • launch_state_ : BaseLaunchController
                                • launchControlButtonPressed() : DashboardInterface
                                • launchDeadZone : CASEConfiguration
                                  • +
                                • launchLeftRightMaxDiff : CASEConfiguration
                                • launchSL : CASEConfiguration
                                  • +
                                • launchSL_endBound_Front : CASEConfiguration
                                  • +
                                • launchSL_endBound_Rear : CASEConfiguration
                                  • +
                                • launchSL_startBound_Front : CASEConfiguration
                                  • +
                                • launchSL_startBound_Rear : CASEConfiguration
                                • launchVelThreshold : CASEConfiguration
                                • LED : DashComponentInterface_s
                                • led_dimmer : DashButtons_s
                                  • @@ -113,6 +119,7 @@

                                  - l -

                                  diff --git a/functions_m.html b/functions_m.html index f77a2dace..cfbffcc7a 100644 --- a/functions_m.html +++ b/functions_m.html @@ -82,6 +82,7 @@

                                  - m -

                                  • max_sensor_pedal_1 : PedalsParams
                                  • max_sensor_pedal_2 : PedalsParams
                                  • max_torque : CASEConfiguration
                                    • +
                                  • maxNormalLoadBrakeScalingFront : CASEConfiguration
                                  • mc_cycle : DashButtons_s
                                  • mc_temps_ : InverterInterface< message_queue >
                                  • mcu_analog_readings_ : TelemetryInterface
                                    • @@ -105,6 +106,7 @@

                                    - m -

                                    • min_pedal_2 : PedalsParams
                                    • min_sensor_pedal_1 : PedalsParams
                                    • min_sensor_pedal_2 : PedalsParams
                                      • +
                                    • mockConversion : SteeringEncoderInterface
                                    • mode : DashButtons_s
                                    • motor_pole_pairs_ : DrivetrainSystem< InverterType >
                                    • msg_queue_ : CASESystem< message_queue >, DashboardInterface, InverterInterface< message_queue >, MCUInterface, TelemetryInterface, VNInterface< message_queue >
                                      • diff --git a/functions_p.html b/functions_p.html index a44f2989f..aa2a6163e 100644 --- a/functions_p.html +++ b/functions_p.html @@ -73,6 +73,10 @@

                                      - p -

                                      • pack_charge_is_critical() : AMSInterface
                                        • +
                                      • param_interface : ETHInterfaces
                                        • +
                                      • ParameterInterface() : ParameterInterface
                                        • +
                                      • params_need_sending() : ParameterInterface
                                        • +
                                      • params_need_sending_ : ParameterInterface
                                      • pedal_is_active_() : PedalsSystem
                                      • pedals_ : MCUStateMachine< DrivetrainSysType >
                                      • PedalsSystem() : PedalsSystem
                                        • @@ -93,6 +97,7 @@

                                        - p -

                                        diff --git a/functions_r.html b/functions_r.html index 793fced7d..ab4904360 100644 --- a/functions_r.html +++ b/functions_r.html @@ -95,6 +95,7 @@

                                        - r -

                                        • request_enable_inverter_count_ : InverterMock
                                        • reset_drivetrain() : DrivetrainSystem< InverterType >
                                        • reset_interval_ : DrivetrainSystem< InverterType >
                                          • +
                                        • reset_params_need_sending() : ParameterInterface
                                        • reset_requested_ : DrivetrainSystem< InverterType >
                                        • retrieve_gps_time_CAN() : VNInterface< message_queue >
                                        • retrieve_lat_lon_CAN() : VNInterface< message_queue >
                                          • diff --git a/functions_s.html b/functions_s.html index c8cb0cf7c..804df1b69 100644 --- a/functions_s.html +++ b/functions_s.html @@ -77,16 +77,19 @@

                                          - s -

                                          • safety_system_ : MCUStateMachine< DrivetrainSysType >
                                          • SafetySystem() : SafetySystem
                                          • safetySystemOK() : DashboardInterface
                                            • -
                                          • sample() : AnalogMultiSensor< N >, SteeringEncoderInterface
                                            • +
                                          • sample() : AnalogMultiSensor< N >, SteeringEncoderInterface
                                          • secondaryConversion : SteeringSystemTick_s
                                            • +
                                          • set_alpha() : Filter_IIR< dataType >
                                          • set_brake_light() : MCUInterface
                                          • set_heartbeat() : AMSInterface
                                            • +
                                          • set_params_need_sending() : ParameterInterface
                                          • set_start_state() : AMSInterface, WatchdogInterface
                                          • set_state_() : MCUStateMachine< DrivetrainSysType >
                                          • set_state_ok_high() : AMSInterface
                                          • set_watchdog_state() : WatchdogInterface
                                            • +
                                          • setAlphas() : FilterIIRMulti< dataType, N >
                                          • setLED() : DashboardInterface
                                            • -
                                          • setOffset() : SteeringEncoderInterface
                                            • +
                                          • setOffset() : SteeringEncoderInterface
                                          • setParams() : PedalsSystem
                                          • setup_retry() : DrivetrainSystem< InverterType >
                                          • shutdown : DashComponentInterface_s
                                            • @@ -113,6 +116,7 @@

                                            - s -

                                            diff --git a/functions_t.html b/functions_t.html index 2a4b0c533..19302430f 100644 --- a/functions_t.html +++ b/functions_t.html @@ -73,13 +73,40 @@

                                            - t -

                                            • tcCASEWrapper_ : TorqueControllerMux
                                              • +
                                            • TCS_NL_endBoundPerc_FrontAxle : CASEConfiguration
                                              • +
                                            • TCS_NL_endBoundPerc_RearAxle : CASEConfiguration
                                              • +
                                            • TCS_NL_startBoundPerc_FrontAxle : CASEConfiguration
                                              • +
                                            • TCS_NL_startBoundPerc_RearAxle : CASEConfiguration
                                            • tcs_pid_d : CASEConfiguration
                                            • tcs_pid_i : CASEConfiguration
                                              • -
                                            • tcs_pid_p : CASEConfiguration
                                              • +
                                            • tcs_pid_lower_rpm_front : CASEConfiguration
                                              • +
                                            • tcs_pid_lower_rpm_rear : CASEConfiguration
                                              • +
                                            • tcs_pid_p_lowerBound_front : CASEConfiguration
                                              • +
                                            • tcs_pid_p_lowerBound_rear : CASEConfiguration
                                              • +
                                            • tcs_pid_p_upperBound_front : CASEConfiguration
                                              • +
                                            • tcs_pid_p_upperBound_rear : CASEConfiguration
                                              • +
                                            • tcs_pid_upper_rpm_front : CASEConfiguration
                                              • +
                                            • tcs_pid_upper_rpm_rear : CASEConfiguration
                                              • +
                                            • tcs_saturation_front : CASEConfiguration
                                              • +
                                            • tcs_saturation_rear : CASEConfiguration
                                              • +
                                            • TCS_SL_endBound_Front : CASEConfiguration
                                              • +
                                            • TCS_SL_endBound_Rear : CASEConfiguration
                                              • +
                                            • TCS_SL_NLPerc_endBound_Front : CASEConfiguration
                                              • +
                                            • TCS_SL_NLPerc_endBound_Rear : CASEConfiguration
                                              • +
                                            • TCS_SL_NLPerc_startBound_Front : CASEConfiguration
                                              • +
                                            • TCS_SL_NLPerc_startBound_Rear : CASEConfiguration
                                              • +
                                            • TCS_SL_startBound_Front : CASEConfiguration
                                              • +
                                            • TCS_SL_startBound_Rear : CASEConfiguration
                                              • +
                                            • TCSGenLeftRightDiffLowerBound : CASEConfiguration
                                              • +
                                            • TCSGenLeftRightDiffUpperBound : CASEConfiguration
                                            • tcsSLThreshold : CASEConfiguration
                                            • tcsVelThreshold : CASEConfiguration
                                              • +
                                            • TCSWheelSteerLowerBound : CASEConfiguration
                                              • +
                                            • TCSWheelSteerUpperBound : CASEConfiguration
                                            • TelemetryInterface() : TelemetryInterface
                                              • -
                                            • tick() : BaseLaunchController, DrivetrainSystem< InverterType >, LoadCellInterface, MCUInterface, PedalsSystem, SteeringSystem, SteeringSystemTick_s, TelemetryInterface, TorqueControllerCASEWrapper, TorqueControllerLoadCellVectoring, TorqueControllerMux, TorqueControllerSimple
                                              • +
                                            • therm_fl_channel : TelemetryInterfaceReadChannels
                                              • +
                                            • therm_fr_channel : TelemetryInterfaceReadChannels
                                              • +
                                            • tick() : BaseLaunchController, DrivetrainSystem< InverterType >, LoadCellInterface, MCUInterface, PedalsSystem, SteeringSystem, SteeringSystemTick_s, TelemetryInterface, TorqueControllerCASEWrapper, TorqueControllerLoadCellVectoring, TorqueControllerMux, TorqueControllerSimple
                                            • tick10() : DashboardInterface
                                            • tick_state_machine() : MCUStateMachine< DrivetrainSysType >
                                            • time_of_launch_ : BaseLaunchController
                                              • @@ -99,7 +126,7 @@

                                              - t -

                                              • torqueControllerSimple_ : TorqueControllerMux
                                              • TorqueControllerSimpleLaunch() : TorqueControllerSimpleLaunch
                                              • torqueControllerSimpleLaunch_ : TorqueControllerMux
                                                • -
                                              • TorqueControllerSlipLaunch() : TorqueControllerSlipLaunch
                                                • +
                                              • TorqueControllerSlipLaunch() : TorqueControllerSlipLaunch
                                              • torqueControllerSlipLaunch_ : TorqueControllerMux
                                              • torqueLimit_ : TorqueControllerMux
                                              • torqueLimitButtonPressed_ : TorqueControllerMux
                                                • diff --git a/functions_u.html b/functions_u.html index db7b39df2..c4e111bd4 100644 --- a/functions_u.html +++ b/functions_u.html @@ -74,10 +74,14 @@

                                                - u -

                                                • uncompLinear_accel : vector_nav
                                                • update_analog_readings_CAN_msg() : TelemetryInterface
                                                  • +
                                                • update_car_state() : ParameterInterface
                                                  • +
                                                • update_config() : ParameterInterface
                                                  • +
                                                • update_config_from_param_interface() : CASESystem< message_queue >
                                                • update_drivetrain_err_status_CAN_msg() : TelemetryInterface
                                                • update_drivetrain_rpms_CAN_msg() : TelemetryInterface
                                                • update_drivetrain_status_telem_CAN_msg() : TelemetryInterface
                                                • update_drivetrain_torque_telem_CAN_msg() : TelemetryInterface
                                                  • +
                                                • update_front_thermistors_CAN_msg() : TelemetryInterface
                                                • update_mcu_status_CAN() : MCUInterface
                                                • update_mcu_status_CAN_ams() : MCUInterface
                                                • update_mcu_status_CAN_buzzer() : MCUInterface
                                                  • @@ -90,16 +94,18 @@

                                                  - u -

                                                  • update_pedal_readings_CAN_msg() : TelemetryInterface
                                                  • update_pedal_readings_raw_CAN_msg() : TelemetryInterface
                                                  • update_penthouse_accum_CAN_msg() : TelemetryInterface
                                                    • -
                                                  • update_pid() : CASESystem< message_queue >
                                                  • update_suspension_CAN_msg() : TelemetryInterface
                                                  • useDecoupledYawBrakes : CASEConfiguration
                                                  • useDiscontinuousYawPIDBrakes : CASEConfiguration
                                                  • useLaunch : CASEConfiguration
                                                    • +
                                                  • useNL_TCS_GainSchedule : CASEConfiguration
                                                    • +
                                                  • useNL_TCS_SlipSchedule : CASEConfiguration
                                                  • useNoRegen5kph : CASEConfiguration
                                                  • useNormalForce : CASEConfiguration
                                                  • usePIDPowerLimit : CASEConfiguration
                                                  • usePIDTV : CASEConfiguration
                                                  • usePowerLimit : CASEConfiguration
                                                    • +
                                                  • useRPM_TCS_GainSchedule : CASEConfiguration
                                                  • useTCSLimitedYawPID : CASEConfiguration
                                                  • useTorqueBias : CASEConfiguration
                                                  • useTractionControl : CASEConfiguration
                                                    • diff --git a/functions_vars_a.html b/functions_vars_a.html index e95276420..e7b9a940b 100644 --- a/functions_vars_a.html +++ b/functions_vars_a.html @@ -81,6 +81,7 @@

                                                    - a -

                                                    • accelPressed : PedalsSystemData_s
                                                    • activation_percentage : PedalsParams
                                                    • actual_torque_nm_ : InverterInterface< message_queue >
                                                      • +
                                                    • alpha : Filter_IIR< dataType >
                                                    • ams_ : SafetySystem
                                                    • ams_interface : CANInterfaces< circular_buffer >
                                                    • analog_steering_channel : TelemetryInterfaceReadChannels
                                                      • diff --git a/functions_vars_c.html b/functions_vars_c.html index 06afb2b77..f11405a35 100644 --- a/functions_vars_c.html +++ b/functions_vars_c.html @@ -82,7 +82,7 @@

                                                      - c -

                                                      • cmd_no_t_count_ : InverterMock
                                                      • cmd_reset_count_ : InverterMock
                                                      • command : TCCaseWrapperTick_s, TorqueControllerOutput_s
                                                        • -
                                                      • config_ : CASESystem< message_queue >
                                                        • +
                                                      • config_ : CASESystem< message_queue >, ParameterInterface
                                                      • controller_input : PIDTVTorqueControllerData
                                                      • controller_mux_ : MCUStateMachine< DrivetrainSysType >
                                                      • controller_output : PIDTVTorqueControllerData
                                                        • @@ -95,6 +95,7 @@

                                                        - c -

                                                        • cur_dial_mode_ : TorqueControllerMux
                                                        • curr_cmd_ : InverterInterface< message_queue >
                                                        • curr_system_millis_ : DrivetrainSystem< InverterType >
                                                          • +
                                                        • current_car_state_ : ParameterInterface
                                                        • current_channel : TelemetryInterfaceReadChannels
                                                        • current_drivetrain_command_ : DrivetrainSystem< InverterType >
                                                        • current_millis_ : BaseLaunchController
                                                          • diff --git a/functions_vars_f.html b/functions_vars_f.html index 51acc2024..1c62259b8 100644 --- a/functions_vars_f.html +++ b/functions_vars_f.html @@ -72,8 +72,11 @@  

                                                          - f -

                                                            +
                                                          • filter_channels_ : FilterIIRMulti< dataType, N >
                                                          • filtered_max_cell_temp : AMSInterface
                                                          • filtered_min_cell_voltage : AMSInterface
                                                            • +
                                                          • filteredAnglePrimary_ : SteeringSystem
                                                            • +
                                                          • filteredAngleSecondary_ : SteeringSystem
                                                          • FIRCircBufferHead : LoadCellInterface, TorqueControllerLoadCellVectoring
                                                          • FIRSaturated : LoadCellInterfaceOutput_s
                                                          • FIRSaturated_ : LoadCellInterface, TorqueControllerLoadCellVectoring
                                                            • diff --git a/functions_vars_l.html b/functions_vars_l.html index 6e90551f6..abda50595 100644 --- a/functions_vars_l.html +++ b/functions_vars_l.html @@ -82,6 +82,7 @@

                                                            - l -

                                                            • last_eval_time_ : CASESystem< message_queue >
                                                            • last_general_cmd_time_ : DrivetrainSystem< InverterType >
                                                            • last_heartbeat_time : AMSInterface
                                                              • +
                                                            • last_lowest_priority_controller_send_time_ : CASESystem< message_queue >
                                                            • last_no_torque_cmd_time_ : DrivetrainSystem< InverterType >
                                                            • last_reset_cmd_time_ : DrivetrainSystem< InverterType >
                                                            • last_reset_pressed_time_ : DrivetrainSystem< InverterType >
                                                              • @@ -92,7 +93,12 @@

                                                              - l -

                                                              • launch_speed_target_ : BaseLaunchController
                                                              • launch_state_ : BaseLaunchController
                                                              • launchDeadZone : CASEConfiguration
                                                                • +
                                                              • launchLeftRightMaxDiff : CASEConfiguration
                                                              • launchSL : CASEConfiguration
                                                                • +
                                                              • launchSL_endBound_Front : CASEConfiguration
                                                                • +
                                                              • launchSL_endBound_Rear : CASEConfiguration
                                                                • +
                                                              • launchSL_startBound_Front : CASEConfiguration
                                                                • +
                                                              • launchSL_startBound_Rear : CASEConfiguration
                                                              • launchVelThreshold : CASEConfiguration
                                                              • LED : DashComponentInterface_s
                                                              • led_dimmer : DashButtons_s
                                                                • @@ -110,6 +116,7 @@

                                                                - l -

                                                                diff --git a/functions_vars_m.html b/functions_vars_m.html index f399b56f4..b77992305 100644 --- a/functions_vars_m.html +++ b/functions_vars_m.html @@ -81,6 +81,7 @@

                                                                - m -

                                                                • max_sensor_pedal_1 : PedalsParams
                                                                • max_sensor_pedal_2 : PedalsParams
                                                                • max_torque : CASEConfiguration
                                                                  • +
                                                                • maxNormalLoadBrakeScalingFront : CASEConfiguration
                                                                • mc_cycle : DashButtons_s
                                                                • mc_temps_ : InverterInterface< message_queue >
                                                                • mcu_analog_readings_ : TelemetryInterface
                                                                  • @@ -100,6 +101,7 @@

                                                                  - m -

                                                                  • min_pedal_2 : PedalsParams
                                                                  • min_sensor_pedal_1 : PedalsParams
                                                                  • min_sensor_pedal_2 : PedalsParams
                                                                    • +
                                                                  • mockConversion : SteeringEncoderInterface
                                                                  • mode : DashButtons_s
                                                                  • motor_pole_pairs_ : DrivetrainSystem< InverterType >
                                                                  • msg_queue_ : CASESystem< message_queue >, DashboardInterface, InverterInterface< message_queue >, MCUInterface, TelemetryInterface, VNInterface< message_queue >
                                                                    • diff --git a/functions_vars_p.html b/functions_vars_p.html index 9ac863f4b..a541016a8 100644 --- a/functions_vars_p.html +++ b/functions_vars_p.html @@ -72,6 +72,8 @@  

                                                                    - p -

                                                                      +
                                                                    • param_interface : ETHInterfaces
                                                                      • +
                                                                    • params_need_sending_ : ParameterInterface
                                                                    • pedals_ : MCUStateMachine< DrivetrainSysType >
                                                                    • pin_bms_ok_read : MainECUHardwareReadPins
                                                                    • pin_bots_ok_read : MainECUHardwareReadPins
                                                                      • @@ -90,6 +92,7 @@

                                                                      - p -

                                                                      diff --git a/functions_vars_s.html b/functions_vars_s.html index 6c076f342..57f98b695 100644 --- a/functions_vars_s.html +++ b/functions_vars_s.html @@ -94,6 +94,7 @@

                                                                      - s -

                                                                      diff --git a/functions_vars_t.html b/functions_vars_t.html index 64b6b2afb..9dccb6539 100644 --- a/functions_vars_t.html +++ b/functions_vars_t.html @@ -73,11 +73,38 @@

                                                                      - t -

                                                                      • tcCASEWrapper_ : TorqueControllerMux
                                                                        • +
                                                                      • TCS_NL_endBoundPerc_FrontAxle : CASEConfiguration
                                                                        • +
                                                                      • TCS_NL_endBoundPerc_RearAxle : CASEConfiguration
                                                                        • +
                                                                      • TCS_NL_startBoundPerc_FrontAxle : CASEConfiguration
                                                                        • +
                                                                      • TCS_NL_startBoundPerc_RearAxle : CASEConfiguration
                                                                      • tcs_pid_d : CASEConfiguration
                                                                      • tcs_pid_i : CASEConfiguration
                                                                        • -
                                                                      • tcs_pid_p : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_lower_rpm_front : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_lower_rpm_rear : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_p_lowerBound_front : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_p_lowerBound_rear : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_p_upperBound_front : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_p_upperBound_rear : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_upper_rpm_front : CASEConfiguration
                                                                        • +
                                                                      • tcs_pid_upper_rpm_rear : CASEConfiguration
                                                                        • +
                                                                      • tcs_saturation_front : CASEConfiguration
                                                                        • +
                                                                      • tcs_saturation_rear : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_endBound_Front : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_endBound_Rear : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_NLPerc_endBound_Front : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_NLPerc_endBound_Rear : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_NLPerc_startBound_Front : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_NLPerc_startBound_Rear : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_startBound_Front : CASEConfiguration
                                                                        • +
                                                                      • TCS_SL_startBound_Rear : CASEConfiguration
                                                                        • +
                                                                      • TCSGenLeftRightDiffLowerBound : CASEConfiguration
                                                                        • +
                                                                      • TCSGenLeftRightDiffUpperBound : CASEConfiguration
                                                                      • tcsSLThreshold : CASEConfiguration
                                                                      • tcsVelThreshold : CASEConfiguration
                                                                        • +
                                                                      • TCSWheelSteerLowerBound : CASEConfiguration
                                                                        • +
                                                                      • TCSWheelSteerUpperBound : CASEConfiguration
                                                                        • +
                                                                      • therm_fl_channel : TelemetryInterfaceReadChannels
                                                                        • +
                                                                      • therm_fr_channel : TelemetryInterfaceReadChannels
                                                                      • tick : SteeringSystemTick_s
                                                                      • time_of_launch_ : BaseLaunchController
                                                                      • timer_can_ : InverterInterface< message_queue >
                                                                        • diff --git a/functions_vars_u.html b/functions_vars_u.html index 8f879e57d..f3e32fc9b 100644 --- a/functions_vars_u.html +++ b/functions_vars_u.html @@ -76,11 +76,14 @@

                                                                        - u -

                                                                        • useDecoupledYawBrakes : CASEConfiguration
                                                                        • useDiscontinuousYawPIDBrakes : CASEConfiguration
                                                                        • useLaunch : CASEConfiguration
                                                                          • +
                                                                        • useNL_TCS_GainSchedule : CASEConfiguration
                                                                          • +
                                                                        • useNL_TCS_SlipSchedule : CASEConfiguration
                                                                        • useNoRegen5kph : CASEConfiguration
                                                                        • useNormalForce : CASEConfiguration
                                                                        • usePIDPowerLimit : CASEConfiguration
                                                                        • usePIDTV : CASEConfiguration
                                                                        • usePowerLimit : CASEConfiguration
                                                                          • +
                                                                        • useRPM_TCS_GainSchedule : CASEConfiguration
                                                                        • useTCSLimitedYawPID : CASEConfiguration
                                                                        • useTorqueBias : CASEConfiguration
                                                                        • useTractionControl : CASEConfiguration
                                                                          • diff --git a/globals_d.html b/globals_d.html index ae05231bd..6ea7fb9a6 100644 --- a/globals_d.html +++ b/globals_d.html @@ -75,6 +75,8 @@

                                                                          - d -

                                                                          • dash_CAN_buffer : dashboard_interface_test.h
                                                                          • DashLED_e : DashboardInterface.h
                                                                          • DEBOUNCE_MILLIS : Utility.h
                                                                            • +
                                                                          • DEFAULT_ALPHA : Filter_IIR.h
                                                                            • +
                                                                          • DEFAULT_ANALOG_PINS : MCU_rev15_defs.h
                                                                          • DEFAULT_BMS_OK_READ : MCUInterface.h
                                                                          • DEFAULT_BMS_SENSE_PIN : MCUInterface.h
                                                                          • DEFAULT_BOTS_OK_READ : MCUInterface.h
                                                                            • @@ -93,6 +95,7 @@

                                                                            - d -

                                                                            • DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN : MCU_rev15_defs.h
                                                                            • DEFAULT_SLIP_RATIO : TorqueControllers.h
                                                                            • DEFAULT_SOFTWARE_OK_READ : MCUInterface.h
                                                                              • +
                                                                            • DEFAULT_STEERING_ALPHA : SteeringSystem.h
                                                                            • DEFAULT_TEMP_ALPHA : AMSInterface.h
                                                                            • DEFAULT_VOLTAGE_ALPHA : AMSInterface.h
                                                                            • DialMode_e : DashboardInterface.h
                                                                              • diff --git a/globals_defs.html b/globals_defs.html index bad135d8c..041b50d7c 100644 --- a/globals_defs.html +++ b/globals_defs.html @@ -70,10 +70,19 @@
                                                                               
                                                                              diff --git a/globals_e.html b/globals_e.html index ba4d29c64..2bec937d0 100644 --- a/globals_e.html +++ b/globals_e.html @@ -73,6 +73,9 @@

                                                                              - e -

                                                                              diff --git a/globals_func.html b/globals_func.html index 6ef9eea79..63588ec0c 100644 --- a/globals_func.html +++ b/globals_func.html @@ -93,6 +93,9 @@

                                                                              - g -

                                                                                - h -

                                                                                @@ -100,11 +103,12 @@

                                                                                - h -

                                                                                  - i -

                                                                                  - l -

                                                                                  @@ -127,6 +131,7 @@

                                                                                  - p -

                                                                                    - r -

                                                                                    @@ -134,14 +139,14 @@

                                                                                    - r -

                                                                                      - s -

                                                                                      - t -

                                                                                      • tearDown() : run_embedded_tests.cpp
                                                                                        • -
                                                                                      • TEST() : pedals_system_test.h, drivetrain_system_test.h, safety_system_test.h, state_machine_test.h, test_CASE.h, torque_controller_mux_test.h, pedals_system_test.h, drivetrain_system_test.h, pedals_system_test.h
                                                                                        • +
                                                                                      • TEST() : state_machine_test.h, drivetrain_system_test.h, state_machine_test.h, steering_system_test.h, test_CASE.h, torque_controller_mux_test.h, safety_system_test.h, drivetrain_system_test.h, param_system_test.h, pedals_system_test.h, state_machine_test.h, pedals_system_test.h
                                                                                      • test_AMS_charge_critical_threshold() : AMS_interface_test.h
                                                                                      • test_AMS_filtered_readings() : AMS_interface_test.h
                                                                                      • test_AMS_heartbeat() : AMS_interface_test.h
                                                                                        • @@ -150,6 +155,7 @@

                                                                                        - t -

                                                                                        • test_AMS_unpacking_BMS_voltages_message() : AMS_interface_test.h
                                                                                        • test_dashboard_circular_buffer() : dashboard_interface_test.h
                                                                                        • test_dashboard_unpacking_can_message() : dashboard_interface_test.h
                                                                                          • +
                                                                                        • test_ethernet() : main_ethernet_test.cpp
                                                                                        • test_mcu_circular_buffer() : MCU_interface_test.h
                                                                                        • test_set_brake_light() : MCU_interface_test.h
                                                                                        • test_telemetry_update_CAN() : Telemetry_interface_test.h
                                                                                          • diff --git a/globals_h.html b/globals_h.html index 620e09154..bb8915ca2 100644 --- a/globals_h.html +++ b/globals_h.html @@ -74,6 +74,9 @@

                                                                                          - h -

                                                                                          diff --git a/globals_i.html b/globals_i.html index 9d7c273d8..b2108b9bc 100644 --- a/globals_i.html +++ b/globals_i.html @@ -74,6 +74,7 @@

                                                                                          - i -

                                                                                          • init_all_CAN_devices() : main.cpp
                                                                                          • init_can_interface() : test_can_interface.cpp
                                                                                            • +
                                                                                          • init_ethernet_device() : main_ethernet_test.cpp
                                                                                          • inv : main.cpp
                                                                                          • INV_CAN : main.cpp
                                                                                          • INV_CAN_BAUDRATE : MCU_rev15_defs.h
                                                                                            • diff --git a/globals_l.html b/globals_l.html index aaf0550c7..ff5bfb91f 100644 --- a/globals_l.html +++ b/globals_l.html @@ -88,7 +88,7 @@

                                                                                            - l -

                                                                                            diff --git a/globals_m.html b/globals_m.html index 0f2fd138d..31d537f94 100644 --- a/globals_m.html +++ b/globals_m.html @@ -89,6 +89,12 @@

                                                                                            - m -

                                                                                            • MCU15_FR_POTS_CHANNEL : MCU_rev15_defs.h
                                                                                            • MCU15_GLV_SENSE_CHANNEL : MCU_rev15_defs.h
                                                                                            • MCU15_STEERING_CHANNEL : MCU_rev15_defs.h
                                                                                              • +
                                                                                            • MCU15_TEENSY_ADC_CHANNELS : MCU_rev15_defs.h
                                                                                              • +
                                                                                            • MCU15_THERM_FL : MCU_rev15_defs.h
                                                                                              • +
                                                                                            • MCU15_THERM_FL_CHANNEL : MCU_rev15_defs.h
                                                                                              • +
                                                                                            • MCU15_THERM_FR : MCU_rev15_defs.h
                                                                                              • +
                                                                                            • MCU15_THERM_FR_CHANNEL : MCU_rev15_defs.h
                                                                                              • +
                                                                                            • mcu_adc : main.cpp
                                                                                            • mcu_CAN_buffer : MCU_interface_test.h
                                                                                            • METERS_PER_SECOND_TO_RPM : PhysicalParameters.h
                                                                                            • msg : test_can_interface.cpp
                                                                                              • diff --git a/globals_n.html b/globals_n.html index 5d7ee989d..da82b535f 100644 --- a/globals_n.html +++ b/globals_n.html @@ -73,6 +73,7 @@

                                                                                              - n -

                                                                                              diff --git a/globals_p.html b/globals_p.html index b4655436e..020876231 100644 --- a/globals_p.html +++ b/globals_p.html @@ -74,10 +74,15 @@

                                                                                              - p -

                                                                                              diff --git a/globals_r.html b/globals_r.html index 8a5665fc8..2b5013dc4 100644 --- a/globals_r.html +++ b/globals_r.html @@ -74,6 +74,8 @@

                                                                                              - r -

                                                                                              • RAD_PER_SECOND_TO_RPM : PhysicalParameters.h
                                                                                              • ran_test : test_can_interface.cpp
                                                                                                • +
                                                                                              • recv_function_t : ProtobufMsgInterface.h
                                                                                                • +
                                                                                              • recv_pb_stream_union_msg() : ProtobufMsgInterface.h
                                                                                              • reset_pedals_system_implaus_time() : pedals_system_test.h
                                                                                              • RL : Utility.h
                                                                                              • RPM_TO_KILOMETERS_PER_HOUR : PhysicalParameters.h
                                                                                                • diff --git a/globals_s.html b/globals_s.html index a0d6b049d..de899a2ed 100644 --- a/globals_s.html +++ b/globals_s.html @@ -73,19 +73,22 @@

                                                                                                - s -

                                                                                                • sab_interface : main.cpp
                                                                                                  • +
                                                                                                • SECONDARY_ALPHA : steering_system_test.h
                                                                                                • SECONDARY_STEERING_SENSE_CENTER : MCU_rev15_defs.h
                                                                                                • SECONDARY_STEERING_SENSE_LEFTMOST_BOUND : MCU_rev15_defs.h
                                                                                                • SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND : MCU_rev15_defs.h
                                                                                                • send_all_CAN_msgs() : HytechCANInterface.h
                                                                                                • Serial5 : main.cpp
                                                                                                  • +
                                                                                                • setup() : run_embedded_tests.cpp, test_can_interface.cpp, main_spi_test.cpp, main_ethernet_test.cpp, main.cpp
                                                                                                • setUp() : run_embedded_tests.cpp
                                                                                                  • -
                                                                                                • setup() : run_embedded_tests.cpp, test_can_interface.cpp, main_spi_test.cpp, main.cpp
                                                                                                • SETUP_PRESENT_ACTION_INTERVAL : MCU_rev15_defs.h
                                                                                                • SOFTWARE_OK : MCU_rev15_defs.h
                                                                                                • SS_PIN : main_spi_test.cpp
                                                                                                  • +
                                                                                                • state : main_ethernet_test.cpp
                                                                                                • steering1 : main.cpp
                                                                                                • STEERING_DIVERGENCE_ERROR_THRESHOLD : SteeringSystem.h
                                                                                                • STEERING_DIVERGENCE_WARN_THRESHOLD : SteeringSystem.h
                                                                                                  • +
                                                                                                • STEERING_IIR_ALPHA : MCU_rev15_defs.h
                                                                                                • STEERING_RANGE_DEGREES : MCU_rev15_defs.h
                                                                                                • SteeringEncoderStatus_e : SteeringEncoderInterface.h
                                                                                                • SteeringSystemStatus_e : SteeringSystem.h
                                                                                                  • diff --git a/globals_t.html b/globals_t.html index 58417bb72..16e94c972 100644 --- a/globals_t.html +++ b/globals_t.html @@ -85,7 +85,7 @@

                                                                                                  - t -

                                                                                                  • TELEM_CAN : main.cpp
                                                                                                  • TELEM_CAN_BAUDRATE : MCU_rev15_defs.h
                                                                                                  • telem_read_channels : main.cpp
                                                                                                    • -
                                                                                                  • TEST() : state_machine_test.h, safety_system_test.h, state_machine_test.h, pedals_system_test.h, state_machine_test.h, test_CASE.h, torque_controller_mux_test.h, pedals_system_test.h, drivetrain_system_test.h, pedals_system_test.h
                                                                                                    • +
                                                                                                  • TEST() : state_machine_test.h, steering_system_test.h, test_CASE.h, torque_controller_mux_test.h, pedals_system_test.h, safety_system_test.h, drivetrain_system_test.h, param_system_test.h, pedals_system_test.h
                                                                                                  • test_AMS_charge_critical_threshold() : AMS_interface_test.h
                                                                                                  • test_AMS_filtered_readings() : AMS_interface_test.h
                                                                                                  • test_AMS_heartbeat() : AMS_interface_test.h
                                                                                                    • @@ -96,6 +96,7 @@

                                                                                                    - t -

                                                                                                    diff --git a/globals_vars.html b/globals_vars.html index 1cb84541b..6d6ed3eb1 100644 --- a/globals_vars.html +++ b/globals_vars.html @@ -129,6 +129,7 @@

                                                                                                    - c -

                                                                                                      - d -

                                                                                                      • dash_CAN_buffer : dashboard_interface_test.h
                                                                                                      • DEBOUNCE_MILLIS : Utility.h
                                                                                                        • +
                                                                                                      • DEFAULT_ANALOG_PINS : MCU_rev15_defs.h
                                                                                                      • DEFAULT_BMS_OK_READ : MCUInterface.h
                                                                                                      • DEFAULT_BMS_SENSE_PIN : MCUInterface.h
                                                                                                      • DEFAULT_BOTS_OK_READ : MCUInterface.h
                                                                                                        • @@ -153,6 +154,11 @@

                                                                                                        - d -

                                                                                                        +

                                                                                                        - e -

                                                                                                        + +

                                                                                                        - f -

                                                                                                        • FIXED_POINT_PRECISION : TelemetryInterface.h
                                                                                                        • FL : Utility.h
                                                                                                          • @@ -213,6 +219,12 @@

                                                                                                          - m -

                                                                                                          • MCU15_FR_POTS_CHANNEL : MCU_rev15_defs.h
                                                                                                          • MCU15_GLV_SENSE_CHANNEL : MCU_rev15_defs.h
                                                                                                          • MCU15_STEERING_CHANNEL : MCU_rev15_defs.h
                                                                                                            • +
                                                                                                          • MCU15_TEENSY_ADC_CHANNELS : MCU_rev15_defs.h
                                                                                                            • +
                                                                                                          • MCU15_THERM_FL : MCU_rev15_defs.h
                                                                                                            • +
                                                                                                          • MCU15_THERM_FL_CHANNEL : MCU_rev15_defs.h
                                                                                                            • +
                                                                                                          • MCU15_THERM_FR : MCU_rev15_defs.h
                                                                                                            • +
                                                                                                          • MCU15_THERM_FR_CHANNEL : MCU_rev15_defs.h
                                                                                                            • +
                                                                                                          • mcu_adc : main.cpp
                                                                                                          • mcu_CAN_buffer : MCU_interface_test.h
                                                                                                          • METERS_PER_SECOND_TO_RPM : PhysicalParameters.h
                                                                                                          • msg : test_can_interface.cpp
                                                                                                            • @@ -227,8 +239,12 @@

                                                                                                            - n -

                                                                                                              - p -

                                                                                                              @@ -252,7 +268,9 @@

                                                                                                              - s -

                                                                                                              diff --git a/globals_w.html b/globals_w.html index 56303f121..980946272 100644 --- a/globals_w.html +++ b/globals_w.html @@ -72,6 +72,8 @@
                                                                                                              Here is a list of all file members with links to the files they belong to:

                                                                                                              - w -

                                                                                                                +
                                                                                                              • WARN_DIVERGENCE_OFFSET : steering_system_test.h
                                                                                                                • +
                                                                                                              • WARN_FILTER_LATENCY : steering_system_test.h
                                                                                                              • WATCHDOG_INPUT : MCU_rev15_defs.h
                                                                                                              • WATCHDOG_KICK_INTERVAL : WatchdogInterface.h
                                                                                                              • wd_interface : main.cpp
                                                                                                                • diff --git a/hierarchy.html b/hierarchy.html index 4d37e9161..b2dbb9237 100644 --- a/hierarchy.html +++ b/hierarchy.html @@ -94,63 +94,68 @@  CDrivetrainDynamicReport_s  CDrivetrainMock  CDrivetrainSystem< InverterType > - CFakeMessageQueue - CIMDInterface - CInverterCommand - CInverterInterface< message_queue > - CInverterInterface< CANBufferType > - CInverterInterface< circular_buffer > - CInverterMock - Cinverters - CLoadCellInterface - CLoadCellInterfaceOutput_s - CLoadCellInterfaceTick_s - CMainECUHardwareReadPinsSpecifically designed so that Walker would be happy - CMCUInterface - CMCUStateMachine< DrivetrainSysType > - CPedalsParamsPedals params struct that will hold min / max that will be used for evaluateion - CPedalsSystem - CPedalsSystemData_sSystem interface struct that contains the data from the pedal system - CPIDTVTorqueControllerData - CSABInterface - CSafetySystem - CSteeringEncoderConversion_s - CSteeringEncoderInterface - CSteeringSystem - CSteeringSystemData_s - CSteeringSystemTick_s - CTCCaseWrapperTick_s - CTelemetryInterface - CTelemetryInterfaceReadChannels - ▼CTorqueControllerBase - ▼CTorqueController< TC_CASE_SYSTEM > - CTorqueControllerCASEWrapper - ▼CTorqueController< TC_LOAD_CELL_VECTORING > - CTorqueControllerLoadCellVectoring - ▼CTorqueController< TC_LOOKUP_LAUNCH > - CTorqueControllerLookupLaunch - ▼CTorqueController< TC_NO_CONTROLLER > - CTorqueControllerNone - ▼CTorqueController< TC_SAFE_MODE > - CTorqueControllerSimpleSimple torque controller that only considers pedal inputs and torque limit - ▼CTorqueController< TC_SIMPLE_LAUNCH > - CTorqueControllerSimpleLaunch - ▼CTorqueController< TC_SLIP_LAUNCH > - CTorqueControllerSlipLaunch - CTorqueController< TorqueControllerType > - CTorqueControllerMux - CTorqueControllerOutput_s - Cvector_nav - Cveh_vec< T >Generic data vector type that can be used with tire and / or anything to do with 4 corners of the car - Cveh_vec< AnalogConversion_s > - Cveh_vec< float > - Cveh_vec< float[numFIRTaps_]> - CVNInterface< message_queue > - CVNInterface< circular_buffer > - CWatchdogInterface - Cxy_vec< T > - Cxyz_vec< T > - Cxyz_vec< float > + CETHInterfaces + CFakeMessageQueue + CFilter_IIR< dataType > + CFilter_IIR< float > + CFilterIIRMulti< dataType, N > + CIMDInterface + CInverterCommand + CInverterInterface< message_queue > + CInverterInterface< CANBufferType > + CInverterInterface< circular_buffer > + CInverterMock + Cinverters + CLoadCellInterface + CLoadCellInterfaceOutput_s + CLoadCellInterfaceTick_s + CMainECUHardwareReadPinsSpecifically designed so that Walker would be happy + CMCUInterface + CMCUStateMachine< DrivetrainSysType > + CParameterInterface + CPedalsParamsPedals params struct that will hold min / max that will be used for evaluateion + CPedalsSystem + CPedalsSystemData_sSystem interface struct that contains the data from the pedal system + CPIDTVTorqueControllerData + CSABInterface + CSafetySystem + CSteeringEncoderConversion_s + CSteeringEncoderInterface + CSteeringSystem + CSteeringSystemData_s + CSteeringSystemTick_s + CTCCaseWrapperTick_s + CTelemetryInterface + CTelemetryInterfaceReadChannels + ▼CTorqueControllerBase + ▼CTorqueController< TC_CASE_SYSTEM > + CTorqueControllerCASEWrapper + ▼CTorqueController< TC_LOAD_CELL_VECTORING > + CTorqueControllerLoadCellVectoring + ▼CTorqueController< TC_LOOKUP_LAUNCH > + CTorqueControllerLookupLaunch + ▼CTorqueController< TC_NO_CONTROLLER > + CTorqueControllerNone + ▼CTorqueController< TC_SAFE_MODE > + CTorqueControllerSimpleSimple torque controller that only considers pedal inputs and torque limit + ▼CTorqueController< TC_SIMPLE_LAUNCH > + CTorqueControllerSimpleLaunch + ▼CTorqueController< TC_SLIP_LAUNCH > + CTorqueControllerSlipLaunch + CTorqueController< TorqueControllerType > + CTorqueControllerMux + CTorqueControllerOutput_s + Cvector_nav + Cveh_vec< T >Generic data vector type that can be used with tire and / or anything to do with 4 corners of the car + Cveh_vec< AnalogConversion_s > + Cveh_vec< float > + Cveh_vec< float[numFIRTaps_]> + CVNInterface< message_queue > + CVNInterface< circular_buffer > + CWatchdogInterface + Cxy_vec< T > + Cxyz_vec< T > + Cxyz_vec< float > diff --git a/index.html b/index.html index 815438eaf..18c2ce774 100644 --- a/index.html +++ b/index.html @@ -73,17 +73,17 @@

                                                                                                                -

                                                                                                                +

                                                                                                                DO THIS ONCE

                                                                                                                you will need to add ssh key to your github account to allow platformio to pull in CASE as a library.

                                                                                                                follow these instructions on how to do this.

                                                                                                                -

                                                                                                                +

                                                                                                                UPDATING CASE

                                                                                                                to update case, look for the latest tag at this repo: https://github.com/hytech-racing/CASE_lib/tags

                                                                                                                and then in the platformio.ini file in this repository, change the number at this line:

                                                                                                                git+ssh://git@github.com/hytech-racing/CASE_lib.git#v(INSERT NUMBER HERE)

                                                                                                                for example: git+ssh://git@github.com/hytech-racing/CASE_lib.git#v34

                                                                                                                -

                                                                                                                +

                                                                                                                building testing and running

                                                                                                                This project uses Platformio for building, testing, checking and packaging.

                                                                                                                There are two main options for using Platformio:

                                                                                                                  @@ -96,28 +96,28 @@

                                                                                                                  ide upload and build

                                                                                                                The main thing to understand is that there exists two "environments" that this project gets built in (test_env). One of them is for native running of tests and the other is for building for the teensy and deploying to the teensy (teensy41).

                                                                                                                -

                                                                                                                +

                                                                                                                Building

                                                                                                                To build the project for an environment, simply use platformio build check mark after switching to the specified env

                                                                                                                To build using platformio core CLI simply run pio run -e teensy41

                                                                                                                -

                                                                                                                +

                                                                                                                Testing

                                                                                                                Before your feature / code addition / branch can get put into the master branch you must ensure the unit tests run with your code and that your code compiles. The remote CI will check your work and ensure that your code compiles and that it passes the unit tests however to check locally simply switch to the test_env and run the unit tests. This can be done through the VSCode IDE extension through the project tasks menu and selecting under test_env > Advanced > Test.

                                                                                                                To test using platformio core CLI simply run pio test -e test_env.

                                                                                                                -

                                                                                                                +

                                                                                                                Uploading

                                                                                                                To upload to the teensy simply use the platformio upload arrow shown here at number 3.

                                                                                                                -

                                                                                                                +

                                                                                                                On Implementing and Importance of tests

                                                                                                                Unit tests are a great way to ensure that new features and new code in general can integrate and work well with other code. It provides a framework to verify that your stuff works the way it should and lets you know when and how it doesnt.

                                                                                                                This project uses unit tests in the test folder to for both local testing and testing in the CI on github.

                                                                                                                The remote github CI testing currently only encompases system level testing and not the hardware dependent testing that is available locally for running.

                                                                                                                You can see results of previous test runs on commits here: https://github.com/hytech-racing/MCU/actions

                                                                                                                These MUST be maintained for functionality of the car.

                                                                                                                -

                                                                                                                +

                                                                                                                setup vscode

                                                                                                                -

                                                                                                                +

                                                                                                                with auto-completition and advanced navigation using compile commands

                                                                                                                the compile_commands.json file is a file that gets generated in the build folder upon excution of the compiledb platformio task that sets up the include paths for vscode. more about compile_commands.json here.

                                                                                                                If you enter the platformio terminal, you can generate compile commands with

                                                                                                                  @@ -148,7 +148,7 @@

                                                                                                                  }

                                                                                                                then you can select this configuration to be used with this c/c++ extension in vscode for auto-completition and code navigation.

                                                                                                                to select the configuration, use the hotkey ctrl+shift+p to open the command prompt in vscode, and then type `C/C++: Select a Configuration` and then select your configuration for which you named above.

                                                                                                                -

                                                                                                                +

                                                                                                                updating CASE (manual / old way)

                                                                                                                1. generate the .zip file in HyTech_sim by generating the code for CASE
                                                                                                                  2. @@ -156,15 +156,15 @@

                                                                                                                  while ensuring that you fill in your path to MCU.
                                                                                                                2. profit

                                                                                                                -

                                                                                                                +

                                                                                                                Design Lore of the Code

                                                                                                                -

                                                                                                                +

                                                                                                                outline

                                                                                                                Levels represent the layer of abstraction they are on. The reason for keeping track of this is to minimize the layers of abstraction for ease of understanding while also creating logical structure and getting maximum benefit per abstraction.

                                                                                                                -

                                                                                                                +

                                                                                                                state diagram legend

                                                                                                                + = Public - = Private

                                                                                                                -

                                                                                                                +

                                                                                                                level 1: state machine goals for interface design and implementation

                                                                                                                • Reason for abstraction: allows for easy swapping and adding of different portable systems and better separation of concerns from business logic of the car to the business logic of the system.
                                                                                                                  • @@ -207,7 +207,7 @@

                                                                                                                  car_state "1" *-- StateMachine : contains
                                                                                                                  -

                                                                                                                  +

                                                                                                                  level 2 portable Systems: interfaces, logic and structure

                                                                                                                  • Reason for abstraction: these Systems allow us to have board portable pieces so that when newer iterations of boards are made, the same systems that the previous iteration handled can be kept while only the hardware specific code changes.
                                                                                                                    • @@ -243,7 +243,7 @@

                                                                                                                    +torque_cmds get_torque_cmds(float desired_throttle)
                                                                                                                    -void pull_from_table(float current_speed)
                                                                                                                    }
                                                                                                                    -

                                                                                                                    +

                                                                                                                    level 2 SPI / i2c data bus abstraction from hardware specific implementations

                                                                                                                    • Reason for abstraction: this allows us to create a specific type of system that uses a shared resource, for example multiple sensors on a SPI bus, that each have their own scaling to produce data for feeding other systems.
                                                                                                                      • @@ -272,7 +272,7 @@

                                                                                                                      Sensor <|-- LoadSensor : implements
                                                                                                                      Sensor <|-- SteeringSensor : implements
                                                                                                                      Sensor <|-- CurrentSensor : implements
                                                                                                                      -

                                                                                                                      +

                                                                                                                      state machine documentation

                                                                                                                      stateDiagram-v2
                                                                                                                      startup : STARTUP
                                                                                                                      @@ -292,10 +292,10 @@

                                                                                                                      rtd_s --> rtd: buzzer done buzzing
                                                                                                                      rtd --> trac_sys_na: drivetrain voltage _not_ over threshold
                                                                                                                      rtd --> trac_sys_a: drivetrain error occured
                                                                                                                      -

                                                                                                                      +

                                                                                                                      running the tests

                                                                                                                      This repo uses platformio testing for CI unit testing. these tests can be run locally with pio test -e test_env. The CI checks to ensure that the code both compiles for the teensy and ensures that the tests are passing.

                                                                                                                      -

                                                                                                                      +

                                                                                                                      notes

                                                                                                                      new MCU code:

                                                                                                                      • system definition: an abstract sub-system of the physical car or the code that requires logic to be evaluated by the MCU to determine what input to give it or logic required to handle output from.
                                                                                                                        • @@ -314,13 +314,63 @@

                                                                                                                      • interface level:
                                                                                                                        • hytech_can interface
                                                                                                                          • -
                                                                                                                        • spi interfaces: SPI adcs for load cells, steering input, glv, etc.
                                                                                                                          • +
                                                                                                                        • spi interfaces: SPI adcs for load cells, steering input, glv, etc.

                                                                                                                    - +
                                                                                                                    flowchart LR
                                                                                                                    +
                                                                                                                    subgraph user_inputs[user defined inputs]
                                                                                                                    +
                                                                                                                    simulink
                                                                                                                    +
                                                                                                                    o_params
                                                                                                                    +
                                                                                                                    CAN_data
                                                                                                                    +
                                                                                                                    other_protos
                                                                                                                    +
                                                                                                                    end
                                                                                                                    +
                                                                                                                    subgraph user_interact[user interfaces]
                                                                                                                    +
                                                                                                                    fxglv_live
                                                                                                                    +
                                                                                                                    mcap
                                                                                                                    +
                                                                                                                    database
                                                                                                                    +
                                                                                                                    param_server
                                                                                                                    +
                                                                                                                    +
                                                                                                                    end
                                                                                                                    +
                                                                                                                    subgraph user_code_interact[user embedded code interfaces]
                                                                                                                    +
                                                                                                                    MCU
                                                                                                                    +
                                                                                                                    end
                                                                                                                    +
                                                                                                                    subgraph CASE_lib_repo[CASE lib repo gen]
                                                                                                                    +
                                                                                                                    CASE_lib
                                                                                                                    +
                                                                                                                    params
                                                                                                                    +
                                                                                                                    outputs
                                                                                                                    +
                                                                                                                    end
                                                                                                                    +
                                                                                                                    subgraph HT_params[HT_params repo gen]
                                                                                                                    +
                                                                                                                    param_defaults
                                                                                                                    +
                                                                                                                    nanopb
                                                                                                                    +
                                                                                                                    end
                                                                                                                    +
                                                                                                                    simulink[CASE simulink model] --> CASE_lib
                                                                                                                    +
                                                                                                                    simulink --> params[CASE defined params.json]
                                                                                                                    +
                                                                                                                    simulink --> outputs[CASE_outputs.proto]
                                                                                                                    +
                                                                                                                    params --> param_protos[params.proto]
                                                                                                                    +
                                                                                                                    params --> param_defaults[config defaults header]
                                                                                                                    +
                                                                                                                    param_defaults --> MCU
                                                                                                                    +
                                                                                                                    o_params[other params.json] --> param_protos
                                                                                                                    +
                                                                                                                    outputs --> h_proto
                                                                                                                    +
                                                                                                                    param_protos --> param_server[parameter server]
                                                                                                                    +
                                                                                                                    +
                                                                                                                    h_proto --> data_acq
                                                                                                                    +
                                                                                                                    data_acq --> fxglv_live[live foxglove]
                                                                                                                    +
                                                                                                                    data_acq --> mcap[output mcap files]
                                                                                                                    +
                                                                                                                    CAN_data[CAN message definitions] --> can_protos[CAN messages in hytech.proto]
                                                                                                                    +
                                                                                                                    can_protos --> h_proto
                                                                                                                    +
                                                                                                                    mcap --> database[mcap metadata defined database]
                                                                                                                    +
                                                                                                                    CASE_lib --> MCU
                                                                                                                    +
                                                                                                                    CAN_data --> dbc_h[dbc to C code gen hytech.h for CAN]
                                                                                                                    +
                                                                                                                    param_protos --> h_proto[hytech.proto]
                                                                                                                    +
                                                                                                                    dbc_h --> MCU
                                                                                                                    +
                                                                                                                    h_proto --> nanopb[protobuf msg defs ht_eth.pb.h]
                                                                                                                    +
                                                                                                                    nanopb --> MCU
                                                                                                                    +
                                                                                                                    other_protos[other msgs.proto]
                                                                                                                    +
                                                                                                                    other_protos --> h_proto
                                                                                                                    +
                                                                                                                    diff --git a/interfaces_2include_2HytechCANInterface_8h.html b/interfaces_2include_2HytechCANInterface_8h.html index 1bee8ab69..3f7319eb6 100644 --- a/interfaces_2include_2HytechCANInterface_8h.html +++ b/interfaces_2include_2HytechCANInterface_8h.html @@ -599,7 +599,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 107 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 117 of file main.cpp.

                                                                                                                    diff --git a/interfaces_2include_2HytechCANInterface_8h_source.html b/interfaces_2include_2HytechCANInterface_8h_source.html index c78f7f1c0..ceb978109 100644 --- a/interfaces_2include_2HytechCANInterface_8h_source.html +++ b/interfaces_2include_2HytechCANInterface_8h_source.html @@ -308,7 +308,7 @@
                                                                                                                    CAN3_rxBuffer
                                                                                                                    Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN3_rxBuffer
                                                                                                                    Definition: HytechCANInterface.cpp:5
                                                                                                                    process_ring_buffer
                                                                                                                    void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
                                                                                                                    Definition: HytechCANInterface.h:72
                                                                                                                    send_all_CAN_msgs
                                                                                                                    void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                                                                                                    Definition: HytechCANInterface.h:184
                                                                                                                    -
                                                                                                                    CAN3_txBuffer
                                                                                                                    CANBufferType CAN3_txBuffer
                                                                                                                    Definition: main.cpp:107
                                                                                                                    +
                                                                                                                    CAN3_txBuffer
                                                                                                                    CANBufferType CAN3_txBuffer
                                                                                                                    Definition: main.cpp:117
                                                                                                                    on_can3_receive
                                                                                                                    void on_can3_receive(const CAN_message_t &msg)
                                                                                                                    Definition: HytechCANInterface.cpp:26
                                                                                                                    enqueue_matlab_msg
                                                                                                                    void enqueue_matlab_msg(bufferType *msg_queue, const CAN_MESSAGE_BUS &structure)
                                                                                                                    message enque function for matlab generated CAN_MESSAGE_BUS type
                                                                                                                    Definition: HytechCANInterface.h:209
                                                                                                                    CAN1_rxBuffer
                                                                                                                    Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN1_rxBuffer
                                                                                                                    Definition: HytechCANInterface.cpp:3
                                                                                                                    diff --git a/interfaces_2include_2ParameterInterface_8h.html b/interfaces_2include_2ParameterInterface_8h.html new file mode 100644 index 000000000..95f027694 --- /dev/null +++ b/interfaces_2include_2ParameterInterface_8h.html @@ -0,0 +1,98 @@ + + + + + + + +MCU: lib/interfaces/include/ParameterInterface.h File Reference + + + + + + + + + +
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                                                                                                                    ParameterInterface.h File Reference
                                                                                                                    +
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                                                                                                                    #include "MCUStateMachine.h"
                                                                                                                    +#include "ht_eth.pb.h"
                                                                                                                    +#include "default_config.h"
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Go to the source code of this file.

                                                                                                                    + + + + +

                                                                                                                    +Classes

                                                                                                                    class  ParameterInterface
                                                                                                                     
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/interfaces_2include_2ParameterInterface_8h_source.html b/interfaces_2include_2ParameterInterface_8h_source.html new file mode 100644 index 000000000..451a7483e --- /dev/null +++ b/interfaces_2include_2ParameterInterface_8h_source.html @@ -0,0 +1,146 @@ + + + + + + + +MCU: lib/interfaces/include/ParameterInterface.h Source File + + + + + + + + + +
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                                                                                                                    ParameterInterface.h
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +Go to the documentation of this file.
                                                                                                                    1#ifndef PARAMETERINTERFACE
                                                                                                                    +
                                                                                                                    2#define PARAMETERINTERFACE
                                                                                                                    +
                                                                                                                    3#include "MCUStateMachine.h"
                                                                                                                    +
                                                                                                                    4#include "ht_eth.pb.h"
                                                                                                                    +
                                                                                                                    5#include "default_config.h"
                                                                                                                    +
                                                                                                                    6
                                                                                                                    +
                                                                                                                    7// yes, i know this is a singleton. im prototyping rn.
                                                                                                                    +
                                                                                                                    8// TODO review if I can just give this a pointer to an ethernet port
                                                                                                                    +
                                                                                                                    9class ParameterInterface
                                                                                                                    +
                                                                                                                    10{
                                                                                                                    +
                                                                                                                    11public:
                                                                                                                    +
                                                                                                                    12 ParameterInterface(): current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}
                                                                                                                    +
                                                                                                                    13
                                                                                                                    +
                                                                                                                    14 void update_car_state(const CAR_STATE& state)
                                                                                                                    +
                                                                                                                    15 {
                                                                                                                    +
                                                                                                                    16 current_car_state_ = state;
                                                                                                                    +
                                                                                                                    17 }
                                                                                                                    +
                                                                                                                    18 void update_config(const config &config)
                                                                                                                    +
                                                                                                                    19 {
                                                                                                                    +
                                                                                                                    20 if(static_cast<int>(current_car_state_) < 5 ){
                                                                                                                    +
                                                                                                                    21 config_ = config;
                                                                                                                    +
                                                                                                                    22 }
                                                                                                                    +
                                                                                                                    23
                                                                                                                    +
                                                                                                                    24 }
                                                                                                                    +
                                                                                                                    25 config get_config()
                                                                                                                    +
                                                                                                                    26 {
                                                                                                                    +
                                                                                                                    27 return config_;
                                                                                                                    +
                                                                                                                    28 }
                                                                                                                    +
                                                                                                                    29 void set_params_need_sending()
                                                                                                                    +
                                                                                                                    30 {
                                                                                                                    +
                                                                                                                    31 params_need_sending_ = true;
                                                                                                                    +
                                                                                                                    32 }
                                                                                                                    +
                                                                                                                    33 void reset_params_need_sending()
                                                                                                                    +
                                                                                                                    34 {
                                                                                                                    +
                                                                                                                    35 params_need_sending_ = false;
                                                                                                                    +
                                                                                                                    36 }
                                                                                                                    +
                                                                                                                    37 bool params_need_sending() { return params_need_sending_; }
                                                                                                                    +
                                                                                                                    38
                                                                                                                    +
                                                                                                                    39private:
                                                                                                                    +
                                                                                                                    40 CAR_STATE current_car_state_;
                                                                                                                    +
                                                                                                                    41 bool params_need_sending_ = false;
                                                                                                                    +
                                                                                                                    42 config config_;
                                                                                                                    +
                                                                                                                    43
                                                                                                                    +
                                                                                                                    44};
                                                                                                                    +
                                                                                                                    45
                                                                                                                    +
                                                                                                                    46#endif
                                                                                                                    + +
                                                                                                                    CAR_STATE
                                                                                                                    CAR_STATE
                                                                                                                    Definition: MCUStateMachine.h:18
                                                                                                                    + + + + + +
                                                                                                                    ParameterInterface::update_config
                                                                                                                    void update_config(const config &config)
                                                                                                                    Definition: ParameterInterface.h:18
                                                                                                                    + +
                                                                                                                    ParameterInterface::update_car_state
                                                                                                                    void update_car_state(const CAR_STATE &state)
                                                                                                                    Definition: ParameterInterface.h:14
                                                                                                                    + + + + +
                                                                                                                    state
                                                                                                                    CAR_STATE state
                                                                                                                    Definition: main_ethernet_test.cpp:9
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/interfaces_2include_2ProtobufMsgInterface_8h.html b/interfaces_2include_2ProtobufMsgInterface_8h.html new file mode 100644 index 000000000..ec521634c --- /dev/null +++ b/interfaces_2include_2ProtobufMsgInterface_8h.html @@ -0,0 +1,301 @@ + + + + + + + +MCU: lib/interfaces/include/ProtobufMsgInterface.h File Reference + + + + + + + + + +
                                                                                                                    +
                                                                                                                    + + + + + + +
                                                                                                                    +
                                                                                                                    MCU +
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                                                                                                                    +Classes | +Typedefs | +Functions
                                                                                                                    +
                                                                                                                    ProtobufMsgInterface.h File Reference
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    #include "ht_eth.pb.h"
                                                                                                                    +#include "pb_encode.h"
                                                                                                                    +#include "pb_decode.h"
                                                                                                                    +#include "pb_common.h"
                                                                                                                    +#include "ParameterInterface.h"
                                                                                                                    +#include "circular_buffer.h"
                                                                                                                    +#include "NativeEthernet.h"
                                                                                                                    +#include "MCU_rev15_defs.h"
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Go to the source code of this file.

                                                                                                                    + + + + +

                                                                                                                    +Classes

                                                                                                                    struct  ETHInterfaces
                                                                                                                     
                                                                                                                    + + + +

                                                                                                                    +Typedefs

                                                                                                                    using recv_function_t = void(*)(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                     
                                                                                                                    + + + + + + + + +

                                                                                                                    +Functions

                                                                                                                    void handle_ethernet_socket_receive (EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                                                                                                     
                                                                                                                    template<typename pb_struct >
                                                                                                                    bool handle_ethernet_socket_send_pb (EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                                                                                                     
                                                                                                                    void recv_pb_stream_union_msg (const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                     
                                                                                                                    +

                                                                                                                    Typedef Documentation

                                                                                                                    + +

                                                                                                                    ◆ recv_function_t

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    using recv_function_t = void (*)(const uint8_t* buffer, size_t packet_size, ETHInterfaces& interfaces)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 19 of file ProtobufMsgInterface.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Function Documentation

                                                                                                                    + +

                                                                                                                    ◆ handle_ethernet_socket_receive()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    void handle_ethernet_socket_receive (EthernetUDP * socket,
                                                                                                                    recv_function_t recv_function,
                                                                                                                    ETHInterfaces & interfaces 
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 22 of file ProtobufMsgInterface.h.

                                                                                                                    +
                                                                                                                    23{
                                                                                                                    +
                                                                                                                    24 int packet_size = socket->parsePacket();
                                                                                                                    +
                                                                                                                    25 if(packet_size > 0)
                                                                                                                    +
                                                                                                                    26 {
                                                                                                                    +
                                                                                                                    27 Serial.println("packet size");
                                                                                                                    +
                                                                                                                    28 Serial.println(packet_size);
                                                                                                                    +
                                                                                                                    29 uint8_t buffer[EthParams::default_buffer_size];
                                                                                                                    +
                                                                                                                    30 size_t read_bytes = socket->read(buffer, sizeof(buffer));
                                                                                                                    +
                                                                                                                    31 socket->read(buffer, UDP_TX_PACKET_MAX_SIZE);
                                                                                                                    +
                                                                                                                    32 recv_function(buffer, read_bytes, interfaces);
                                                                                                                    +
                                                                                                                    33 }
                                                                                                                    +
                                                                                                                    34}
                                                                                                                    +
                                                                                                                    EthParams::default_buffer_size
                                                                                                                    const uint16_t default_buffer_size
                                                                                                                    Definition: InterfaceParams.h:19
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ handle_ethernet_socket_send_pb()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +template<typename pb_struct >
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    bool handle_ethernet_socket_send_pb (EthernetUDP * socket,
                                                                                                                    const pb_struct & msg,
                                                                                                                    const pb_msgdesc_t * msg_desc 
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 37 of file ProtobufMsgInterface.h.

                                                                                                                    +
                                                                                                                    38{
                                                                                                                    +
                                                                                                                    39 socket->beginPacket(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port);
                                                                                                                    +
                                                                                                                    40
                                                                                                                    +
                                                                                                                    41 uint8_t buffer[EthParams::default_buffer_size];
                                                                                                                    +
                                                                                                                    42 pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
                                                                                                                    +
                                                                                                                    43 if (!pb_encode(&stream, msg_desc, &msg)) {
                                                                                                                    +
                                                                                                                    44 // You can handle error more explicitly by looking at stream.errmsg
                                                                                                                    +
                                                                                                                    45 return false;
                                                                                                                    +
                                                                                                                    46 }
                                                                                                                    +
                                                                                                                    47 auto message_length = stream.bytes_written;
                                                                                                                    +
                                                                                                                    48 socket->write(buffer, message_length);
                                                                                                                    +
                                                                                                                    49 socket->endPacket();
                                                                                                                    +
                                                                                                                    50 return true;
                                                                                                                    +
                                                                                                                    51}
                                                                                                                    +
                                                                                                                    EthParams::default_protobuf_send_port
                                                                                                                    const uint16_t default_protobuf_send_port
                                                                                                                    Definition: InterfaceParams.h:13
                                                                                                                    +
                                                                                                                    EthParams::default_TCU_ip
                                                                                                                    const IPAddress default_TCU_ip(192, 168, 1, 68)
                                                                                                                    +
                                                                                                                    msg
                                                                                                                    CAN_message_t msg
                                                                                                                    Definition: test_can_interface.cpp:9
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ recv_pb_stream_union_msg()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    void recv_pb_stream_union_msg (const uint8_t * buffer,
                                                                                                                    size_t packet_size,
                                                                                                                    ETHInterfaces & interfaces 
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 54 of file ProtobufMsgInterface.h.

                                                                                                                    +
                                                                                                                    55{
                                                                                                                    +
                                                                                                                    56 pb_istream_t stream = pb_istream_from_buffer(buffer, packet_size);
                                                                                                                    +
                                                                                                                    57 HT_ETH_Union msg = HT_ETH_Union_init_zero;
                                                                                                                    +
                                                                                                                    58 if (pb_decode(&stream, HT_ETH_Union_fields, &msg))
                                                                                                                    +
                                                                                                                    59 {
                                                                                                                    +
                                                                                                                    60 Serial.println("decoded!");
                                                                                                                    +
                                                                                                                    61
                                                                                                                    +
                                                                                                                    62 switch (msg.which_type_union)
                                                                                                                    +
                                                                                                                    63 {
                                                                                                                    +
                                                                                                                    64 case HT_ETH_Union_config__tag:
                                                                                                                    +
                                                                                                                    65 interfaces.param_interface->update_config(msg.type_union.config_);
                                                                                                                    +
                                                                                                                    66 break;
                                                                                                                    +
                                                                                                                    67 case HT_ETH_Union_get_config__tag:
                                                                                                                    +
                                                                                                                    68 interfaces.param_interface->set_params_need_sending();
                                                                                                                    +
                                                                                                                    69 break;
                                                                                                                    +
                                                                                                                    70 default:
                                                                                                                    +
                                                                                                                    71 break;
                                                                                                                    +
                                                                                                                    72 }
                                                                                                                    +
                                                                                                                    73 }
                                                                                                                    +
                                                                                                                    74}
                                                                                                                    +
                                                                                                                    ParameterInterface::update_config
                                                                                                                    void update_config(const config &config)
                                                                                                                    Definition: ParameterInterface.h:18
                                                                                                                    + +
                                                                                                                    ETHInterfaces::param_interface
                                                                                                                    ParameterInterface * param_interface
                                                                                                                    Definition: ProtobufMsgInterface.h:16
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/interfaces_2include_2ProtobufMsgInterface_8h_source.html b/interfaces_2include_2ProtobufMsgInterface_8h_source.html new file mode 100644 index 000000000..022efc7ef --- /dev/null +++ b/interfaces_2include_2ProtobufMsgInterface_8h_source.html @@ -0,0 +1,178 @@ + + + + + + + +MCU: lib/interfaces/include/ProtobufMsgInterface.h Source File + + + + + + + + + +
                                                                                                                    +
                                                                                                                    + + + + + + +
                                                                                                                    +
                                                                                                                    MCU +
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                                                                                                                    ProtobufMsgInterface.h
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +Go to the documentation of this file.
                                                                                                                    1#ifndef PROTOBUFMSGINTERFACE
                                                                                                                    +
                                                                                                                    2#define PROTOBUFMSGINTERFACE
                                                                                                                    +
                                                                                                                    3
                                                                                                                    +
                                                                                                                    4#include "ht_eth.pb.h"
                                                                                                                    +
                                                                                                                    5#include "pb_encode.h"
                                                                                                                    +
                                                                                                                    6#include "pb_decode.h"
                                                                                                                    +
                                                                                                                    7#include "pb_common.h"
                                                                                                                    +
                                                                                                                    8#include "ParameterInterface.h"
                                                                                                                    +
                                                                                                                    9#include "circular_buffer.h"
                                                                                                                    +
                                                                                                                    10#include "NativeEthernet.h"
                                                                                                                    +
                                                                                                                    11#include "MCU_rev15_defs.h"
                                                                                                                    +
                                                                                                                    12
                                                                                                                    +
                                                                                                                    13
                                                                                                                    +
                                                                                                                    14struct ETHInterfaces
                                                                                                                    +
                                                                                                                    15{
                                                                                                                    +
                                                                                                                    16 ParameterInterface* param_interface;
                                                                                                                    +
                                                                                                                    17};
                                                                                                                    +
                                                                                                                    18
                                                                                                                    +
                                                                                                                    19using recv_function_t = void (*)(const uint8_t* buffer, size_t packet_size, ETHInterfaces& interfaces);
                                                                                                                    +
                                                                                                                    20
                                                                                                                    +
                                                                                                                    21// this should be usable with arbitrary functions idk something
                                                                                                                    +
                                                                                                                    22void handle_ethernet_socket_receive(EthernetUDP* socket, recv_function_t recv_function, ETHInterfaces& interfaces)
                                                                                                                    +
                                                                                                                    23{
                                                                                                                    +
                                                                                                                    24 int packet_size = socket->parsePacket();
                                                                                                                    +
                                                                                                                    25 if(packet_size > 0)
                                                                                                                    +
                                                                                                                    26 {
                                                                                                                    +
                                                                                                                    27 Serial.println("packet size");
                                                                                                                    +
                                                                                                                    28 Serial.println(packet_size);
                                                                                                                    +
                                                                                                                    29 uint8_t buffer[EthParams::default_buffer_size];
                                                                                                                    +
                                                                                                                    30 size_t read_bytes = socket->read(buffer, sizeof(buffer));
                                                                                                                    +
                                                                                                                    31 socket->read(buffer, UDP_TX_PACKET_MAX_SIZE);
                                                                                                                    +
                                                                                                                    32 recv_function(buffer, read_bytes, interfaces);
                                                                                                                    +
                                                                                                                    33 }
                                                                                                                    +
                                                                                                                    34}
                                                                                                                    +
                                                                                                                    35
                                                                                                                    +
                                                                                                                    36template <typename pb_struct>
                                                                                                                    +
                                                                                                                    37bool handle_ethernet_socket_send_pb(EthernetUDP* socket, const pb_struct& msg, const pb_msgdesc_t* msg_desc)
                                                                                                                    +
                                                                                                                    38{
                                                                                                                    +
                                                                                                                    39 socket->beginPacket(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port);
                                                                                                                    +
                                                                                                                    40
                                                                                                                    +
                                                                                                                    41 uint8_t buffer[EthParams::default_buffer_size];
                                                                                                                    +
                                                                                                                    42 pb_ostream_t stream = pb_ostream_from_buffer(buffer, sizeof(buffer));
                                                                                                                    +
                                                                                                                    43 if (!pb_encode(&stream, msg_desc, &msg)) {
                                                                                                                    +
                                                                                                                    44 // You can handle error more explicitly by looking at stream.errmsg
                                                                                                                    +
                                                                                                                    45 return false;
                                                                                                                    +
                                                                                                                    46 }
                                                                                                                    +
                                                                                                                    47 auto message_length = stream.bytes_written;
                                                                                                                    +
                                                                                                                    48 socket->write(buffer, message_length);
                                                                                                                    +
                                                                                                                    49 socket->endPacket();
                                                                                                                    +
                                                                                                                    50 return true;
                                                                                                                    +
                                                                                                                    51}
                                                                                                                    +
                                                                                                                    52
                                                                                                                    +
                                                                                                                    53//
                                                                                                                    +
                                                                                                                    54void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces& interfaces)
                                                                                                                    +
                                                                                                                    55{
                                                                                                                    +
                                                                                                                    56 pb_istream_t stream = pb_istream_from_buffer(buffer, packet_size);
                                                                                                                    +
                                                                                                                    57 HT_ETH_Union msg = HT_ETH_Union_init_zero;
                                                                                                                    +
                                                                                                                    58 if (pb_decode(&stream, HT_ETH_Union_fields, &msg))
                                                                                                                    +
                                                                                                                    59 {
                                                                                                                    +
                                                                                                                    60 Serial.println("decoded!");
                                                                                                                    +
                                                                                                                    61
                                                                                                                    +
                                                                                                                    62 switch (msg.which_type_union)
                                                                                                                    +
                                                                                                                    63 {
                                                                                                                    +
                                                                                                                    64 case HT_ETH_Union_config__tag:
                                                                                                                    +
                                                                                                                    65 interfaces.param_interface->update_config(msg.type_union.config_);
                                                                                                                    +
                                                                                                                    66 break;
                                                                                                                    +
                                                                                                                    67 case HT_ETH_Union_get_config__tag:
                                                                                                                    +
                                                                                                                    68 interfaces.param_interface->set_params_need_sending();
                                                                                                                    +
                                                                                                                    69 break;
                                                                                                                    +
                                                                                                                    70 default:
                                                                                                                    +
                                                                                                                    71 break;
                                                                                                                    +
                                                                                                                    72 }
                                                                                                                    +
                                                                                                                    73 }
                                                                                                                    +
                                                                                                                    74}
                                                                                                                    +
                                                                                                                    75
                                                                                                                    +
                                                                                                                    76
                                                                                                                    +
                                                                                                                    77
                                                                                                                    +
                                                                                                                    78#endif
                                                                                                                    +
                                                                                                                    MCU_rev15_defs.h
                                                                                                                    + +
                                                                                                                    ParameterInterface::update_config
                                                                                                                    void update_config(const config &config)
                                                                                                                    Definition: ParameterInterface.h:18
                                                                                                                    + +
                                                                                                                    handle_ethernet_socket_receive
                                                                                                                    void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:22
                                                                                                                    +
                                                                                                                    recv_pb_stream_union_msg
                                                                                                                    void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:54
                                                                                                                    +
                                                                                                                    handle_ethernet_socket_send_pb
                                                                                                                    bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                                                                                                    Definition: ProtobufMsgInterface.h:37
                                                                                                                    +
                                                                                                                    recv_function_t
                                                                                                                    void(*)(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces) recv_function_t
                                                                                                                    Definition: ProtobufMsgInterface.h:19
                                                                                                                    +
                                                                                                                    ParameterInterface.h
                                                                                                                    +
                                                                                                                    EthParams::default_protobuf_send_port
                                                                                                                    const uint16_t default_protobuf_send_port
                                                                                                                    Definition: InterfaceParams.h:13
                                                                                                                    +
                                                                                                                    EthParams::default_TCU_ip
                                                                                                                    const IPAddress default_TCU_ip(192, 168, 1, 68)
                                                                                                                    +
                                                                                                                    EthParams::default_buffer_size
                                                                                                                    const uint16_t default_buffer_size
                                                                                                                    Definition: InterfaceParams.h:19
                                                                                                                    + +
                                                                                                                    ETHInterfaces::param_interface
                                                                                                                    ParameterInterface * param_interface
                                                                                                                    Definition: ProtobufMsgInterface.h:16
                                                                                                                    +
                                                                                                                    msg
                                                                                                                    CAN_message_t msg
                                                                                                                    Definition: test_can_interface.cpp:9
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/interfaces_2include_2WatchdogInterface_8h_source.html b/interfaces_2include_2WatchdogInterface_8h_source.html index 68287ffd5..9052ed005 100644 --- a/interfaces_2include_2WatchdogInterface_8h_source.html +++ b/interfaces_2include_2WatchdogInterface_8h_source.html @@ -111,7 +111,7 @@
                                                                                                                    33 /* Getters */
                                                                                                                    34 bool get_watchdog_state();
                                                                                                                    35 /* Setters */
                                                                                                                    -
                                                                                                                    36 void set_watchdog_state(bool state);
                                                                                                                    +
                                                                                                                    36 void set_watchdog_state(bool state);
                                                                                                                    37
                                                                                                                    38};
                                                                                                                    39
                                                                                                                    @@ -127,6 +127,7 @@
                                                                                                                    WatchdogInterface::set_watchdog_state
                                                                                                                    void set_watchdog_state(bool state)
                                                                                                                    Definition: WatchdogInterface.cpp:37
                                                                                                                    WatchdogInterface::WatchdogInterface
                                                                                                                    WatchdogInterface(int wd_input_pin)
                                                                                                                    Definition: WatchdogInterface.h:21
                                                                                                                    WATCHDOG_KICK_INTERVAL
                                                                                                                    const unsigned long WATCHDOG_KICK_INTERVAL
                                                                                                                    Definition: WatchdogInterface.h:6
                                                                                                                    +
                                                                                                                    state
                                                                                                                    CAR_STATE state
                                                                                                                    Definition: main_ethernet_test.cpp:9
                                                                                                                    diff --git a/main__ethernet__test_8cpp.html b/main__ethernet__test_8cpp.html new file mode 100644 index 000000000..c5469e3b2 --- /dev/null +++ b/main__ethernet__test_8cpp.html @@ -0,0 +1,319 @@ + + + + + + + +MCU: src/main_ethernet_test.cpp File Reference + + + + + + + + + +
                                                                                                                    +
                                                                                                                    + + + + + + +
                                                                                                                    +
                                                                                                                    MCU +
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                                                                                                                    +Functions | +Variables
                                                                                                                    +
                                                                                                                    main_ethernet_test.cpp File Reference
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    #include <Arduino.h>
                                                                                                                    +#include "ProtobufMsgInterface.h"
                                                                                                                    +#include "MCU_rev15_defs.h"
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Go to the source code of this file.

                                                                                                                    + + + + + + + + + + +

                                                                                                                    +Functions

                                                                                                                    void init_ethernet_device ()
                                                                                                                     
                                                                                                                    void test_ethernet ()
                                                                                                                     
                                                                                                                    void setup ()
                                                                                                                     
                                                                                                                    void loop ()
                                                                                                                     
                                                                                                                    + + + + + + + + + + + +

                                                                                                                    +Variables

                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                     
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                     
                                                                                                                    CAR_STATE state = CAR_STATE::STARTUP
                                                                                                                     
                                                                                                                    ParameterInterface params (state)
                                                                                                                     
                                                                                                                    ETHInterfaces ethernet_interfaces = {&params}
                                                                                                                     
                                                                                                                    +

                                                                                                                    Function Documentation

                                                                                                                    + +

                                                                                                                    ◆ init_ethernet_device()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + +
                                                                                                                    void init_ethernet_device ()
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 13 of file main_ethernet_test.cpp.

                                                                                                                    +
                                                                                                                    14{
                                                                                                                    +
                                                                                                                    15 Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                                                                                                    +
                                                                                                                    16 protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                                                                                                    +
                                                                                                                    17 protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                                                                                                    +
                                                                                                                    18}
                                                                                                                    +
                                                                                                                    protobuf_send_socket
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                    Definition: main_ethernet_test.cpp:7
                                                                                                                    +
                                                                                                                    protobuf_recv_socket
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                    Definition: main_ethernet_test.cpp:8
                                                                                                                    +
                                                                                                                    EthParams::default_protobuf_send_port
                                                                                                                    const uint16_t default_protobuf_send_port
                                                                                                                    Definition: InterfaceParams.h:13
                                                                                                                    +
                                                                                                                    EthParams::default_MCU_MAC_address
                                                                                                                    uint8_t default_MCU_MAC_address[6]
                                                                                                                    Definition: InterfaceParams.h:7
                                                                                                                    +
                                                                                                                    EthParams::default_protobuf_recv_port
                                                                                                                    const uint16_t default_protobuf_recv_port
                                                                                                                    Definition: InterfaceParams.h:14
                                                                                                                    +
                                                                                                                    EthParams::default_MCU_ip
                                                                                                                    const IPAddress default_MCU_ip(192, 168, 1, 30)
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ loop()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + +
                                                                                                                    void loop ()
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 39 of file main_ethernet_test.cpp.

                                                                                                                    +
                                                                                                                    40{
                                                                                                                    +
                                                                                                                    41 test_ethernet();
                                                                                                                    +
                                                                                                                    42 // Serial.println("loopin");
                                                                                                                    +
                                                                                                                    43}
                                                                                                                    +
                                                                                                                    test_ethernet
                                                                                                                    void test_ethernet()
                                                                                                                    Definition: main_ethernet_test.cpp:20
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ setup()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + +
                                                                                                                    void setup (void )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 34 of file main_ethernet_test.cpp.

                                                                                                                    +
                                                                                                                    35{
                                                                                                                    +
                                                                                                                    36 init_ethernet_device();
                                                                                                                    +
                                                                                                                    37}
                                                                                                                    +
                                                                                                                    init_ethernet_device
                                                                                                                    void init_ethernet_device()
                                                                                                                    Definition: main_ethernet_test.cpp:13
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ test_ethernet()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + +
                                                                                                                    void test_ethernet ()
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 20 of file main_ethernet_test.cpp.

                                                                                                                    +
                                                                                                                    21{
                                                                                                                    +
                                                                                                                    22
                                                                                                                    +
                                                                                                                    23 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                                                                                                    +
                                                                                                                    24 if(params.params_need_sending())
                                                                                                                    +
                                                                                                                    25 {
                                                                                                                    +
                                                                                                                    26 auto config = params.get_config();
                                                                                                                    +
                                                                                                                    27 if(!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields)){
                                                                                                                    +
                                                                                                                    28 }
                                                                                                                    +
                                                                                                                    29 params.reset_params_need_sending();
                                                                                                                    +
                                                                                                                    30 }
                                                                                                                    +
                                                                                                                    31
                                                                                                                    +
                                                                                                                    32}
                                                                                                                    + + + +
                                                                                                                    handle_ethernet_socket_receive
                                                                                                                    void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:22
                                                                                                                    +
                                                                                                                    recv_pb_stream_union_msg
                                                                                                                    void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:54
                                                                                                                    +
                                                                                                                    handle_ethernet_socket_send_pb
                                                                                                                    bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                                                                                                    Definition: ProtobufMsgInterface.h:37
                                                                                                                    +
                                                                                                                    params
                                                                                                                    ParameterInterface params(state)
                                                                                                                    +
                                                                                                                    ethernet_interfaces
                                                                                                                    ETHInterfaces ethernet_interfaces
                                                                                                                    Definition: main_ethernet_test.cpp:11
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Variable Documentation

                                                                                                                    + +

                                                                                                                    ◆ ethernet_interfaces

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    ETHInterfaces ethernet_interfaces = {&params}
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 11 of file main_ethernet_test.cpp.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ params

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + +
                                                                                                                    ParameterInterface params(state) (state )
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ protobuf_recv_socket

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 8 of file main_ethernet_test.cpp.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ protobuf_send_socket

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 7 of file main_ethernet_test.cpp.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ state

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    CAR_STATE state = CAR_STATE::STARTUP
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 9 of file main_ethernet_test.cpp.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/main__ethernet__test_8cpp_source.html b/main__ethernet__test_8cpp_source.html new file mode 100644 index 000000000..5ce4818f7 --- /dev/null +++ b/main__ethernet__test_8cpp_source.html @@ -0,0 +1,152 @@ + + + + + + + +MCU: src/main_ethernet_test.cpp Source File + + + + + + + + + +
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                                                                                                                    +
                                                                                                                    main_ethernet_test.cpp
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +Go to the documentation of this file.
                                                                                                                    1#include <Arduino.h>
                                                                                                                    +
                                                                                                                    2
                                                                                                                    +
                                                                                                                    3
                                                                                                                    +
                                                                                                                    4#include "ProtobufMsgInterface.h"
                                                                                                                    +
                                                                                                                    5#include "MCU_rev15_defs.h"
                                                                                                                    +
                                                                                                                    6
                                                                                                                    +
                                                                                                                    7EthernetUDP protobuf_send_socket;
                                                                                                                    +
                                                                                                                    8EthernetUDP protobuf_recv_socket;
                                                                                                                    +
                                                                                                                    9CAR_STATE state = CAR_STATE::STARTUP;
                                                                                                                    +
                                                                                                                    10ParameterInterface params(state);
                                                                                                                    +
                                                                                                                    11ETHInterfaces ethernet_interfaces = {&params};
                                                                                                                    +
                                                                                                                    12
                                                                                                                    +
                                                                                                                    13void init_ethernet_device()
                                                                                                                    +
                                                                                                                    14{
                                                                                                                    +
                                                                                                                    15 Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                                                                                                    +
                                                                                                                    16 protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                                                                                                    +
                                                                                                                    17 protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                                                                                                    +
                                                                                                                    18}
                                                                                                                    +
                                                                                                                    19
                                                                                                                    +
                                                                                                                    20void test_ethernet()
                                                                                                                    +
                                                                                                                    21{
                                                                                                                    +
                                                                                                                    22
                                                                                                                    +
                                                                                                                    23 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                                                                                                    +
                                                                                                                    24 if(params.params_need_sending())
                                                                                                                    +
                                                                                                                    25 {
                                                                                                                    +
                                                                                                                    26 auto config = params.get_config();
                                                                                                                    +
                                                                                                                    27 if(!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields)){
                                                                                                                    +
                                                                                                                    28 }
                                                                                                                    +
                                                                                                                    29 params.reset_params_need_sending();
                                                                                                                    +
                                                                                                                    30 }
                                                                                                                    +
                                                                                                                    31
                                                                                                                    +
                                                                                                                    32}
                                                                                                                    +
                                                                                                                    33
                                                                                                                    +
                                                                                                                    34void setup()
                                                                                                                    +
                                                                                                                    35{
                                                                                                                    +
                                                                                                                    36 init_ethernet_device();
                                                                                                                    +
                                                                                                                    37}
                                                                                                                    +
                                                                                                                    38
                                                                                                                    +
                                                                                                                    39void loop()
                                                                                                                    +
                                                                                                                    40{
                                                                                                                    +
                                                                                                                    41 test_ethernet();
                                                                                                                    +
                                                                                                                    42 // Serial.println("loopin");
                                                                                                                    +
                                                                                                                    43}
                                                                                                                    +
                                                                                                                    CAR_STATE
                                                                                                                    CAR_STATE
                                                                                                                    Definition: MCUStateMachine.h:18
                                                                                                                    + +
                                                                                                                    MCU_rev15_defs.h
                                                                                                                    + + + + +
                                                                                                                    handle_ethernet_socket_receive
                                                                                                                    void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:22
                                                                                                                    +
                                                                                                                    recv_pb_stream_union_msg
                                                                                                                    void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:54
                                                                                                                    +
                                                                                                                    handle_ethernet_socket_send_pb
                                                                                                                    bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                                                                                                    Definition: ProtobufMsgInterface.h:37
                                                                                                                    +
                                                                                                                    params
                                                                                                                    ParameterInterface params(state)
                                                                                                                    +
                                                                                                                    state
                                                                                                                    CAR_STATE state
                                                                                                                    Definition: main_ethernet_test.cpp:9
                                                                                                                    +
                                                                                                                    setup
                                                                                                                    void setup()
                                                                                                                    Definition: main_ethernet_test.cpp:34
                                                                                                                    +
                                                                                                                    test_ethernet
                                                                                                                    void test_ethernet()
                                                                                                                    Definition: main_ethernet_test.cpp:20
                                                                                                                    +
                                                                                                                    protobuf_send_socket
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                    Definition: main_ethernet_test.cpp:7
                                                                                                                    +
                                                                                                                    init_ethernet_device
                                                                                                                    void init_ethernet_device()
                                                                                                                    Definition: main_ethernet_test.cpp:13
                                                                                                                    +
                                                                                                                    ethernet_interfaces
                                                                                                                    ETHInterfaces ethernet_interfaces
                                                                                                                    Definition: main_ethernet_test.cpp:11
                                                                                                                    +
                                                                                                                    protobuf_recv_socket
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                    Definition: main_ethernet_test.cpp:8
                                                                                                                    +
                                                                                                                    loop
                                                                                                                    void loop()
                                                                                                                    Definition: main_ethernet_test.cpp:39
                                                                                                                    +
                                                                                                                    EthParams::default_protobuf_send_port
                                                                                                                    const uint16_t default_protobuf_send_port
                                                                                                                    Definition: InterfaceParams.h:13
                                                                                                                    +
                                                                                                                    EthParams::default_MCU_MAC_address
                                                                                                                    uint8_t default_MCU_MAC_address[6]
                                                                                                                    Definition: InterfaceParams.h:7
                                                                                                                    +
                                                                                                                    EthParams::default_protobuf_recv_port
                                                                                                                    const uint16_t default_protobuf_recv_port
                                                                                                                    Definition: InterfaceParams.h:14
                                                                                                                    +
                                                                                                                    EthParams::default_MCU_ip
                                                                                                                    const IPAddress default_MCU_ip(192, 168, 1, 30)
                                                                                                                    + +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/md_ETHERNET.html b/md_ETHERNET.html new file mode 100644 index 000000000..074a31927 --- /dev/null +++ b/md_ETHERNET.html @@ -0,0 +1,96 @@ + + + + + + + +MCU: ETHERNET + + + + + + + + + +
                                                                                                                    +
                                                                                                                    + + + + + + +
                                                                                                                    +
                                                                                                                    MCU +
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                                                                                                                    ETHERNET
                                                                                                                    +
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                                                                                                                    +
                                                                                                                    flowchart TD
                                                                                                                    +
                                                                                                                    ethernet[ethernet port] --> qnethernet[encoded ethernet data packets]
                                                                                                                    +
                                                                                                                    qnethernet --> port[protobuf union msgs port]
                                                                                                                    +
                                                                                                                    port --> ht_eth[HT ethernet interface]
                                                                                                                    +
                                                                                                                    ht_eth --> union_dec[union msgs splitter]
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                                                                                                                    union_dec --> int1[interface 1 message buffer]
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                                                                                                                    union_dec --> int2[interface 2 message buffer]
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                                                                                                                    union_dec --> intN[interface N message buffer]
                                                                                                                    +

                                                                                                                    +explanation

                                                                                                                    +

                                                                                                                    +receiving

                                                                                                                    +

                                                                                                                    Packets stream over ethernet and hit the ethernet port itself. The ethernet library has an internal queue for the UDP packets received. We know that a specific port id (say 4521) all messages will be a protobuf union msg that can contain only one of the types of messages that we will be sending (config control, TCU status, CASE msgs, etc.) and the union decoder method in the ethernet interface itself will handle this. The ethernet shall be able to receive multiple messages in one loop (of a limited number) and in between iterations of the loop the ethernet driver will hold the un-parsed messages in it's queue.

                                                                                                                    +

                                                                                                                    The union message decoder will handle parsing of all of the messages in the queue and will be able to determine what message the union pb packet holds. If all messages of a specific type are needed, The message decoder will then add the decoded particular protobuf message struct to the message queue in the respective interface that way if multiple messages of the same type appear in one loop iteration they can all be processed by the underlying system / interface. If the interface just needs the latest version of a message each loop, the decoder will just update the message instance in its respective interface.

                                                                                                                    +
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                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/menudata.js b/menudata.js index c635b2c6f..f8985b14d 100644 --- a/menudata.js +++ b/menudata.js @@ -29,6 +29,7 @@ var menudata={children:[ {text:"Namespace List",url:"namespaces.html"}, {text:"Namespace Members",url:"namespacemembers.html",children:[ {text:"All",url:"namespacemembers.html"}, +{text:"Functions",url:"namespacemembers_func.html"}, {text:"Variables",url:"namespacemembers_vars.html"}]}]}, {text:"Classes",url:"annotated.html",children:[ {text:"Class List",url:"annotated.html"}, @@ -150,6 +151,7 @@ var menudata={children:[ {text:"b",url:"globals_vars.html#index_b"}, {text:"c",url:"globals_vars.html#index_c"}, {text:"d",url:"globals_vars.html#index_d"}, +{text:"e",url:"globals_vars.html#index_e"}, {text:"f",url:"globals_vars.html#index_f"}, {text:"g",url:"globals_vars.html#index_g"}, {text:"h",url:"globals_vars.html#index_h"}, diff --git a/mock__interfaces_2ParameterInterface_8h.html b/mock__interfaces_2ParameterInterface_8h.html new file mode 100644 index 000000000..4196ef444 --- /dev/null +++ b/mock__interfaces_2ParameterInterface_8h.html @@ -0,0 +1,98 @@ + + + + + + + +MCU: lib/mock_interfaces/ParameterInterface.h File Reference + + + + + + + + + +
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                                                                                                                    +
                                                                                                                    ParameterInterface.h File Reference
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    #include "MCUStateMachine.h"
                                                                                                                    +#include "ht_eth.pb.h"
                                                                                                                    +#include "default_config.h"
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Go to the source code of this file.

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                                                                                                                    +Classes

                                                                                                                    class  ParameterInterface
                                                                                                                     
                                                                                                                    +
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                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/mock__interfaces_2ParameterInterface_8h_source.html b/mock__interfaces_2ParameterInterface_8h_source.html new file mode 100644 index 000000000..15b2fedc3 --- /dev/null +++ b/mock__interfaces_2ParameterInterface_8h_source.html @@ -0,0 +1,146 @@ + + + + + + + +MCU: lib/mock_interfaces/ParameterInterface.h Source File + + + + + + + + + +
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                                                                                                                    ParameterInterface.h
                                                                                                                    +
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                                                                                                                    1#ifndef PARAMETERINTERFACE
                                                                                                                    +
                                                                                                                    2#define PARAMETERINTERFACE
                                                                                                                    +
                                                                                                                    3#include "MCUStateMachine.h"
                                                                                                                    +
                                                                                                                    4#include "ht_eth.pb.h"
                                                                                                                    +
                                                                                                                    5#include "default_config.h"
                                                                                                                    +
                                                                                                                    6
                                                                                                                    +
                                                                                                                    7// yes, i know this is a singleton. im prototyping rn.
                                                                                                                    +
                                                                                                                    8// TODO review if I can just give this a pointer to an ethernet port
                                                                                                                    +
                                                                                                                    9class ParameterInterface
                                                                                                                    +
                                                                                                                    10{
                                                                                                                    +
                                                                                                                    11public:
                                                                                                                    +
                                                                                                                    12 ParameterInterface(): current_car_state_(CAR_STATE::STARTUP), params_need_sending_(false), config_(DEFAULT_CONFIG) {}
                                                                                                                    +
                                                                                                                    13
                                                                                                                    +
                                                                                                                    14 void update_car_state(const CAR_STATE& state)
                                                                                                                    +
                                                                                                                    15 {
                                                                                                                    +
                                                                                                                    16 current_car_state_ = state;
                                                                                                                    +
                                                                                                                    17 }
                                                                                                                    +
                                                                                                                    18 void update_config(const config &config)
                                                                                                                    +
                                                                                                                    19 {
                                                                                                                    +
                                                                                                                    20 if(static_cast<int>(current_car_state_) < 5 ){
                                                                                                                    +
                                                                                                                    21 config_ = config;
                                                                                                                    +
                                                                                                                    22 }
                                                                                                                    +
                                                                                                                    23
                                                                                                                    +
                                                                                                                    24 }
                                                                                                                    +
                                                                                                                    25 config get_config()
                                                                                                                    +
                                                                                                                    26 {
                                                                                                                    +
                                                                                                                    27 return config_;
                                                                                                                    +
                                                                                                                    28 }
                                                                                                                    +
                                                                                                                    29 void set_params_need_sending()
                                                                                                                    +
                                                                                                                    30 {
                                                                                                                    +
                                                                                                                    31 params_need_sending_ = true;
                                                                                                                    +
                                                                                                                    32 }
                                                                                                                    +
                                                                                                                    33 void reset_params_need_sending()
                                                                                                                    +
                                                                                                                    34 {
                                                                                                                    +
                                                                                                                    35 params_need_sending_ = false;
                                                                                                                    +
                                                                                                                    36 }
                                                                                                                    +
                                                                                                                    37 bool params_need_sending() { return params_need_sending_; }
                                                                                                                    +
                                                                                                                    38
                                                                                                                    +
                                                                                                                    39private:
                                                                                                                    +
                                                                                                                    40 CAR_STATE current_car_state_;
                                                                                                                    +
                                                                                                                    41 bool params_need_sending_ = false;
                                                                                                                    +
                                                                                                                    42 config config_;
                                                                                                                    +
                                                                                                                    43
                                                                                                                    +
                                                                                                                    44};
                                                                                                                    +
                                                                                                                    45
                                                                                                                    +
                                                                                                                    46#endif
                                                                                                                    + +
                                                                                                                    CAR_STATE
                                                                                                                    CAR_STATE
                                                                                                                    Definition: MCUStateMachine.h:18
                                                                                                                    + + + + + +
                                                                                                                    ParameterInterface::update_config
                                                                                                                    void update_config(const config &config)
                                                                                                                    Definition: ParameterInterface.h:18
                                                                                                                    + +
                                                                                                                    ParameterInterface::update_car_state
                                                                                                                    void update_car_state(const CAR_STATE &state)
                                                                                                                    Definition: ParameterInterface.h:14
                                                                                                                    + + + + +
                                                                                                                    state
                                                                                                                    CAR_STATE state
                                                                                                                    Definition: main_ethernet_test.cpp:9
                                                                                                                    +
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                                                                                                                    +Generated by doxygen 1.9.5 +
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                                                                                                                    1#ifndef PROTOBUFMSGINTERFACE
                                                                                                                    +
                                                                                                                    2#define PROTOBUFMSGINTERFACE
                                                                                                                    +
                                                                                                                    3#endif
                                                                                                                    +
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                                                                                                                    EthParams Namespace Reference
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                                                                                                                    +Functions

                                                                                                                    const IPAddress default_MCU_ip (192, 168, 1, 30)
                                                                                                                     
                                                                                                                    const IPAddress default_TCU_ip (192, 168, 1, 68)
                                                                                                                     
                                                                                                                    const IPAddress default_netmask (255, 255, 255, 0)
                                                                                                                     
                                                                                                                    const IPAddress default_gateway (192, 168, 0, 1)
                                                                                                                     
                                                                                                                    + + + + + + + + + +

                                                                                                                    +Variables

                                                                                                                    uint8_t default_MCU_MAC_address [6]
                                                                                                                     
                                                                                                                    const uint16_t default_protobuf_send_port = 2001
                                                                                                                     
                                                                                                                    const uint16_t default_protobuf_recv_port = 2000
                                                                                                                     
                                                                                                                    const uint16_t default_buffer_size = 512
                                                                                                                     
                                                                                                                    +

                                                                                                                    Function Documentation

                                                                                                                    + +

                                                                                                                    ◆ default_gateway()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    const IPAddress EthParams::default_gateway (192 ,
                                                                                                                    168 ,
                                                                                                                    0 ,
                                                                                                                    1  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ default_MCU_ip()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    const IPAddress EthParams::default_MCU_ip (192 ,
                                                                                                                    168 ,
                                                                                                                    1 ,
                                                                                                                    30  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ default_netmask()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    const IPAddress EthParams::default_netmask (255 ,
                                                                                                                    255 ,
                                                                                                                    255 ,
                                                                                                                    0  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ default_TCU_ip()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
                                                                                                                    const IPAddress EthParams::default_TCU_ip (192 ,
                                                                                                                    168 ,
                                                                                                                    1 ,
                                                                                                                    68  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Variable Documentation

                                                                                                                    + +

                                                                                                                    ◆ default_buffer_size

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    const uint16_t EthParams::default_buffer_size = 512
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 19 of file InterfaceParams.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ default_MCU_MAC_address

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    uint8_t EthParams::default_MCU_MAC_address[6]
                                                                                                                    +
                                                                                                                    +Initial value:
                                                                                                                    =
                                                                                                                    +
                                                                                                                    {0x04, 0xe9, 0xe5, 0x10, 0x1f, 0x22}
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Definition at line 7 of file InterfaceParams.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ default_protobuf_recv_port

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    const uint16_t EthParams::default_protobuf_recv_port = 2000
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 14 of file InterfaceParams.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ default_protobuf_send_port

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    const uint16_t EthParams::default_protobuf_send_port = 2001
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 13 of file InterfaceParams.h.

                                                                                                                    + +
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                                                                                                                    Here is a list of all namespaces with brief descriptions:
                                                                                                                    - + +
                                                                                                                     Nextra_script
                                                                                                                     NEthParams
                                                                                                                     Nextra_script
                                                                                                                    diff --git a/pages.html b/pages.html index f9815bfea..83eb69778 100644 --- a/pages.html +++ b/pages.html @@ -74,9 +74,10 @@
                                                                                                                    Here is a list of all related documentation pages:
                                                                                                                    - - - + + + +
                                                                                                                     presentation
                                                                                                                     TESTING
                                                                                                                     TODO
                                                                                                                     ETHERNET
                                                                                                                     presentation
                                                                                                                     TESTING
                                                                                                                     TODO
                                                                                                                    diff --git a/param__system__test_8h.html b/param__system__test_8h.html new file mode 100644 index 000000000..ec3a96425 --- /dev/null +++ b/param__system__test_8h.html @@ -0,0 +1,169 @@ + + + + + + + +MCU: test/test_systems/param_system_test.h File Reference + + + + + + + + + +
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                                                                                                                    +
                                                                                                                    param_system_test.h File Reference
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                                                                                                                    +
                                                                                                                    #include "ParameterSystem.h"
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Go to the source code of this file.

                                                                                                                    + + + + + + +

                                                                                                                    +Functions

                                                                                                                     TEST (ParamSystemTest, test_set_params)
                                                                                                                     
                                                                                                                     TEST (ParamSystemTest, test_set_get_params)
                                                                                                                     
                                                                                                                    +

                                                                                                                    Function Documentation

                                                                                                                    + +

                                                                                                                    ◆ TEST() [1/2]

                                                                                                                    + +
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                                                                                                                    TEST (ParamSystemTest ,
                                                                                                                    test_set_get_params  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 14 of file param_system_test.h.

                                                                                                                    +
                                                                                                                    14 {
                                                                                                                    +
                                                                                                                    15 int val = 20;
                                                                                                                    +
                                                                                                                    16 set_parameter(Parameters::CASE_TORQUE_MAXInstance, val);
                                                                                                                    +
                                                                                                                    17 EXPECT_EQ(get_parameter(Parameters::CASE_TORQUE_MAXInstance), val);
                                                                                                                    +
                                                                                                                    18}
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
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                                                                                                                    ◆ TEST() [2/2]

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                                                                                                                    TEST (ParamSystemTest ,
                                                                                                                    test_set_params  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 8 of file param_system_test.h.

                                                                                                                    +
                                                                                                                    8 {
                                                                                                                    +
                                                                                                                    9 int val = 20;
                                                                                                                    +
                                                                                                                    10 set_parameter(Parameters::CASE_TORQUE_MAXInstance, val);
                                                                                                                    +
                                                                                                                    11 EXPECT_EQ(Parameters::CASE_TORQUE_MAXInstance.get(), val);
                                                                                                                    +
                                                                                                                    12}
                                                                                                                    +
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                                                                                                                    param_system_test.h
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                                                                                                                    1#ifndef PARAMS_SYSTEM_TEST
                                                                                                                    +
                                                                                                                    2#define PARAMS_SYSTEM_TEST
                                                                                                                    +
                                                                                                                    3
                                                                                                                    +
                                                                                                                    4#include "ParameterSystem.h"
                                                                                                                    +
                                                                                                                    5
                                                                                                                    +
                                                                                                                    6// TODO may wanna do this with a fixed param lib, but for now the regular
                                                                                                                    +
                                                                                                                    7// param lib should be fine
                                                                                                                    +
                                                                                                                    8TEST(ParamSystemTest, test_set_params) {
                                                                                                                    +
                                                                                                                    9 int val = 20;
                                                                                                                    +
                                                                                                                    10 set_parameter(Parameters::CASE_TORQUE_MAXInstance, val);
                                                                                                                    +
                                                                                                                    11 EXPECT_EQ(Parameters::CASE_TORQUE_MAXInstance.get(), val);
                                                                                                                    +
                                                                                                                    12}
                                                                                                                    +
                                                                                                                    13
                                                                                                                    +
                                                                                                                    14TEST(ParamSystemTest, test_set_get_params) {
                                                                                                                    +
                                                                                                                    15 int val = 20;
                                                                                                                    +
                                                                                                                    16 set_parameter(Parameters::CASE_TORQUE_MAXInstance, val);
                                                                                                                    +
                                                                                                                    17 EXPECT_EQ(get_parameter(Parameters::CASE_TORQUE_MAXInstance), val);
                                                                                                                    +
                                                                                                                    18}
                                                                                                                    +
                                                                                                                    19
                                                                                                                    +
                                                                                                                    20#endif
                                                                                                                    +
                                                                                                                    TEST
                                                                                                                    TEST(ParamSystemTest, test_set_params)
                                                                                                                    Definition: param_system_test.h:8
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/pedals__system__test_8h.html b/pedals__system__test_8h.html index 63df79bb3..b91904d22 100644 --- a/pedals__system__test_8h.html +++ b/pedals__system__test_8h.html @@ -153,35 +153,24 @@

                                                                                                                    Definition at line 21 of file pedals_system_test.h.

                                                                                                                    22{
                                                                                                                    -
                                                                                                                    23 PedalsParams params;
                                                                                                                    -
                                                                                                                    24 params.min_pedal_1 = 2000;
                                                                                                                    -
                                                                                                                    25 params.max_pedal_1 = 1000;
                                                                                                                    -
                                                                                                                    26 params.min_pedal_2 = 1000;
                                                                                                                    -
                                                                                                                    27 params.max_pedal_2 = 2000;
                                                                                                                    -
                                                                                                                    28 params.min_sensor_pedal_1 = 90;
                                                                                                                    -
                                                                                                                    29 params.min_sensor_pedal_2 = 90;
                                                                                                                    -
                                                                                                                    30 params.max_sensor_pedal_1 = 4000;
                                                                                                                    -
                                                                                                                    31 params.max_sensor_pedal_2 = 4000;
                                                                                                                    -
                                                                                                                    32 params.activation_percentage = 0.25;
                                                                                                                    -
                                                                                                                    33 params.mechanical_activation_percentage = 0.4;
                                                                                                                    -
                                                                                                                    34 params.deadzone_margin = .03; // .05
                                                                                                                    -
                                                                                                                    35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    36 return params;
                                                                                                                    +
                                                                                                                    23 PedalsParams params;
                                                                                                                    +
                                                                                                                    24 params.min_pedal_1 = 2000;
                                                                                                                    +
                                                                                                                    25 params.max_pedal_1 = 1000;
                                                                                                                    +
                                                                                                                    26 params.min_pedal_2 = 1000;
                                                                                                                    +
                                                                                                                    27 params.max_pedal_2 = 2000;
                                                                                                                    +
                                                                                                                    28 params.min_sensor_pedal_1 = 90;
                                                                                                                    +
                                                                                                                    29 params.min_sensor_pedal_2 = 90;
                                                                                                                    +
                                                                                                                    30 params.max_sensor_pedal_1 = 4000;
                                                                                                                    +
                                                                                                                    31 params.max_sensor_pedal_2 = 4000;
                                                                                                                    +
                                                                                                                    32 params.activation_percentage = 0.25;
                                                                                                                    +
                                                                                                                    33 params.mechanical_activation_percentage = 0.4;
                                                                                                                    +
                                                                                                                    34 params.deadzone_margin = .03; // .05
                                                                                                                    +
                                                                                                                    35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    36 return params;
                                                                                                                    37}
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:79
                                                                                                                    +
                                                                                                                    params
                                                                                                                    ParameterInterface params(state)
                                                                                                                    PedalsParams
                                                                                                                    Pedals params struct that will hold min / max that will be used for evaluateion.
                                                                                                                    Definition: PedalsSystem.h:26
                                                                                                                    -
                                                                                                                    PedalsParams::deadzone_margin
                                                                                                                    float deadzone_margin
                                                                                                                    Definition: PedalsSystem.h:36
                                                                                                                    - -
                                                                                                                    PedalsParams::max_sensor_pedal_1
                                                                                                                    int max_sensor_pedal_1
                                                                                                                    Definition: PedalsSystem.h:33
                                                                                                                    -
                                                                                                                    PedalsParams::activation_percentage
                                                                                                                    float activation_percentage
                                                                                                                    Definition: PedalsSystem.h:35
                                                                                                                    -
                                                                                                                    PedalsParams::mechanical_activation_percentage
                                                                                                                    float mechanical_activation_percentage
                                                                                                                    Definition: PedalsSystem.h:38
                                                                                                                    -
                                                                                                                    PedalsParams::implausibility_margin
                                                                                                                    float implausibility_margin
                                                                                                                    Definition: PedalsSystem.h:37
                                                                                                                    - -
                                                                                                                    PedalsParams::min_sensor_pedal_1
                                                                                                                    int min_sensor_pedal_1
                                                                                                                    Definition: PedalsSystem.h:31
                                                                                                                    -
                                                                                                                    PedalsParams::min_sensor_pedal_2
                                                                                                                    int min_sensor_pedal_2
                                                                                                                    Definition: PedalsSystem.h:32
                                                                                                                    - -
                                                                                                                    PedalsParams::max_sensor_pedal_2
                                                                                                                    int max_sensor_pedal_2
                                                                                                                    Definition: PedalsSystem.h:34
                                                                                                                    -
                                                                                                                    @@ -202,25 +191,25 @@

                                                                                                                    Definition at line 75 of file pedals_system_test.h.

                                                                                                                    76{
                                                                                                                    -
                                                                                                                    77 PedalsParams params;
                                                                                                                    -
                                                                                                                    78 params.min_pedal_1 = 1000;
                                                                                                                    -
                                                                                                                    79 params.max_pedal_1 = 2000;
                                                                                                                    -
                                                                                                                    80 params.min_pedal_2 = 1000;
                                                                                                                    -
                                                                                                                    81 params.max_pedal_2 = 2000;
                                                                                                                    -
                                                                                                                    82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    86 params.activation_percentage = 0.1;
                                                                                                                    -
                                                                                                                    87 params.mechanical_activation_percentage = 0.4;
                                                                                                                    -
                                                                                                                    88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    -
                                                                                                                    89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    90 return params;
                                                                                                                    +
                                                                                                                    77 PedalsParams params;
                                                                                                                    +
                                                                                                                    78 params.min_pedal_1 = 1000;
                                                                                                                    +
                                                                                                                    79 params.max_pedal_1 = 2000;
                                                                                                                    +
                                                                                                                    80 params.min_pedal_2 = 1000;
                                                                                                                    +
                                                                                                                    81 params.max_pedal_2 = 2000;
                                                                                                                    +
                                                                                                                    82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    86 params.activation_percentage = 0.1;
                                                                                                                    +
                                                                                                                    87 params.mechanical_activation_percentage = 0.4;
                                                                                                                    +
                                                                                                                    88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    +
                                                                                                                    89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    90 return params;
                                                                                                                    91}
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:73
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:72
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:78
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:75
                                                                                                                    @@ -281,29 +270,29 @@

                                                                                                                    Definition at line 40 of file pedals_system_test.h.

                                                                                                                    41{
                                                                                                                    -
                                                                                                                    42 PedalsParams params;
                                                                                                                    -
                                                                                                                    43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    -
                                                                                                                    52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    -
                                                                                                                    53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    -
                                                                                                                    54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    55 return params;
                                                                                                                    +
                                                                                                                    42 PedalsParams params;
                                                                                                                    +
                                                                                                                    43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    +
                                                                                                                    52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    +
                                                                                                                    53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    +
                                                                                                                    54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    55 return params;
                                                                                                                    56}
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:45
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:42
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:46
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:43
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    -
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    +
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:81
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    @@ -324,26 +313,26 @@

                                                                                                                    Definition at line 57 of file pedals_system_test.h.

                                                                                                                    58{
                                                                                                                    -
                                                                                                                    59 PedalsParams params;
                                                                                                                    -
                                                                                                                    60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    -
                                                                                                                    69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                                                                                                    -
                                                                                                                    70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    -
                                                                                                                    71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    72 return params;
                                                                                                                    +
                                                                                                                    59 PedalsParams params;
                                                                                                                    +
                                                                                                                    60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    +
                                                                                                                    69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                                                                                                    +
                                                                                                                    70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    +
                                                                                                                    71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    72 return params;
                                                                                                                    73}
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:48
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:52
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:51
                                                                                                                    -
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:71
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:49
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:83
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    @@ -398,8 +387,8 @@

                                                                                                                    97 return data.implausibilityExceededMaxDuration;
                                                                                                                    98}
                                                                                                                    PedalsSystem::evaluate_pedals
                                                                                                                    PedalsSystemData_s evaluate_pedals(const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake1, const AnalogConversion_s &brake2, unsigned long curr_time)
                                                                                                                    Definition: PedalsSystem.cpp:64
                                                                                                                    -
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:98
                                                                                                                    -
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:97
                                                                                                                    +
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:106
                                                                                                                    +
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:105
                                                                                                                    PedalsSystemData_s::implausibilityExceededMaxDuration
                                                                                                                    bool implausibilityExceededMaxDuration
                                                                                                                    Definition: PedalsSystem.h:18
                                                                                                                    @@ -510,10 +499,10 @@

                                                                                                                    420{
                                                                                                                    421 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    422 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    423 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    423 auto params = gen_positive_slope_only_params();
                                                                                                                    424 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    425 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    426 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    425 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    426 PedalsSystem pedals(params, params);
                                                                                                                    427 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    428 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                                                                                                    429 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                                                                                                    @@ -568,10 +557,10 @@

                                                                                                                    446{
                                                                                                                    447 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    448 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    449 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    449 auto params = gen_positive_slope_only_params();
                                                                                                                    450 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    451 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    452 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    451 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    452 PedalsSystem pedals(params, params);
                                                                                                                    453 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    454 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                                                                                                    455 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                                                                                                    @@ -624,9 +613,9 @@

                                                                                                                    536 AnalogConversion_s test_pedal_implaus_2 = {600, 0.5, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    537 AnalogConversion_s test_pedal_good_val_brake = {900, 0.02, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    538
                                                                                                                    -
                                                                                                                    539 auto params = gen_positive_slope_only_params();
                                                                                                                    -
                                                                                                                    540 PedalsSystem pedals(params, params);
                                                                                                                    -
                                                                                                                    541 PedalsSystem pedals_single(params, params);
                                                                                                                    +
                                                                                                                    539 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    540 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    541 PedalsSystem pedals_single(params, params);
                                                                                                                    542 auto data_double_implause_1 = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    543 EXPECT_NEAR(data_double_implause_1.accelPercent, 0, .001);
                                                                                                                    544 auto data_single_implause_1 = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, 1300);
                                                                                                                    @@ -670,10 +659,10 @@

                                                                                                                    484{
                                                                                                                    485 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    486 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    487 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    487 auto params = gen_positive_slope_only_params();
                                                                                                                    488 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    489 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    490 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    489 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    490 PedalsSystem pedals(params, params);
                                                                                                                    491 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    492 EXPECT_FALSE(data.accelImplausible);
                                                                                                                    493 EXPECT_EQ(data.accelPercent, 0);
                                                                                                                    @@ -712,10 +701,10 @@

                                                                                                                    470{
                                                                                                                    471 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    472 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    473 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    473 auto params = gen_positive_slope_only_params();
                                                                                                                    474 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    475 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    476 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    475 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    476 PedalsSystem pedals(params, params);
                                                                                                                    477 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    478 EXPECT_FALSE(data.accelImplausible);
                                                                                                                    479 EXPECT_EQ(data.accelPercent, 0);
                                                                                                                    @@ -757,9 +746,9 @@

                                                                                                                    515 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    516 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    517
                                                                                                                    -
                                                                                                                    518 auto params = gen_positive_slope_only_params();
                                                                                                                    -
                                                                                                                    519 PedalsSystem pedals(params, params);
                                                                                                                    -
                                                                                                                    520 PedalsSystem pedals_single(params, params);
                                                                                                                    +
                                                                                                                    518 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    519 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    520 PedalsSystem pedals_single(params, params);
                                                                                                                    521 auto data_double_oor_hi = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    522 EXPECT_NEAR(data_double_oor_hi.accelPercent, 0, .001);
                                                                                                                    523 auto data_single_oor_hi = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    @@ -804,9 +793,9 @@

                                                                                                                    499 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    500 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    501
                                                                                                                    -
                                                                                                                    502 auto params = gen_positive_slope_only_params();
                                                                                                                    -
                                                                                                                    503 PedalsSystem pedals(params, params);
                                                                                                                    -
                                                                                                                    504 PedalsSystem pedals_single(params, params);
                                                                                                                    +
                                                                                                                    502 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    503 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    504 PedalsSystem pedals_single(params, params);
                                                                                                                    505 auto data_double = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    506 EXPECT_TRUE(data_double.accelPressed);
                                                                                                                    507 auto data_single = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    @@ -1076,8 +1065,8 @@

                                                                                                                    Definition at line 118 of file pedals_system_test.h.

                                                                                                                    119{
                                                                                                                    -
                                                                                                                    120 auto params = gen_positive_and_negative_slope_params();
                                                                                                                    -
                                                                                                                    121 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    120 auto params = gen_positive_and_negative_slope_params();
                                                                                                                    +
                                                                                                                    121 PedalsSystem pedals(params, params);
                                                                                                                    122
                                                                                                                    123 AnalogConversion_s test_pedal_bad_val_min = {0, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    124 AnalogConversion_s test_pedal_bad_val_max = {4000, 2.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    @@ -1195,8 +1184,8 @@

                                                                                                                    207 EXPECT_TRUE(reset_pedals_system_implaus_time(pedals));

                                                                                                                    208 }
                                                                                                                    209}
                                                                                                                    -
                                                                                                                    accel_params
                                                                                                                    const PedalsParams accel_params
                                                                                                                    Definition: main.cpp:55
                                                                                                                    -
                                                                                                                    brake_params
                                                                                                                    const PedalsParams brake_params
                                                                                                                    Definition: main.cpp:69
                                                                                                                    +
                                                                                                                    accel_params
                                                                                                                    const PedalsParams accel_params
                                                                                                                    Definition: main.cpp:60
                                                                                                                    +
                                                                                                                    brake_params
                                                                                                                    const PedalsParams brake_params
                                                                                                                    Definition: main.cpp:74
                                                                                                                    @@ -1285,9 +1274,9 @@

                                                                                                                    268 AnalogConversion_s brake_data = {brake, convb, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    269 EXPECT_TRUE(get_result_of_single_brake_test(pedals, test_pedal_val_half_pressed, test_pedal_val_half_pressed, test_pedal_val_half_pressed));
                                                                                                                    270}
                                                                                                                    -
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    +
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:82
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:76
                                                                                                                    diff --git a/pedals__system__test_8h_source.html b/pedals__system__test_8h_source.html index a55a57382..1f708f7bd 100644 --- a/pedals__system__test_8h_source.html +++ b/pedals__system__test_8h_source.html @@ -98,74 +98,74 @@
                                                                                                                    20}
                                                                                                                    21PedalsParams gen_positive_and_negative_slope_params()
                                                                                                                    22{
                                                                                                                    -
                                                                                                                    23 PedalsParams params;
                                                                                                                    -
                                                                                                                    24 params.min_pedal_1 = 2000;
                                                                                                                    -
                                                                                                                    25 params.max_pedal_1 = 1000;
                                                                                                                    -
                                                                                                                    26 params.min_pedal_2 = 1000;
                                                                                                                    -
                                                                                                                    27 params.max_pedal_2 = 2000;
                                                                                                                    -
                                                                                                                    28 params.min_sensor_pedal_1 = 90;
                                                                                                                    -
                                                                                                                    29 params.min_sensor_pedal_2 = 90;
                                                                                                                    -
                                                                                                                    30 params.max_sensor_pedal_1 = 4000;
                                                                                                                    -
                                                                                                                    31 params.max_sensor_pedal_2 = 4000;
                                                                                                                    -
                                                                                                                    32 params.activation_percentage = 0.25;
                                                                                                                    -
                                                                                                                    33 params.mechanical_activation_percentage = 0.4;
                                                                                                                    -
                                                                                                                    34 params.deadzone_margin = .03; // .05
                                                                                                                    -
                                                                                                                    35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    36 return params;
                                                                                                                    +
                                                                                                                    23 PedalsParams params;
                                                                                                                    +
                                                                                                                    24 params.min_pedal_1 = 2000;
                                                                                                                    +
                                                                                                                    25 params.max_pedal_1 = 1000;
                                                                                                                    +
                                                                                                                    26 params.min_pedal_2 = 1000;
                                                                                                                    +
                                                                                                                    27 params.max_pedal_2 = 2000;
                                                                                                                    +
                                                                                                                    28 params.min_sensor_pedal_1 = 90;
                                                                                                                    +
                                                                                                                    29 params.min_sensor_pedal_2 = 90;
                                                                                                                    +
                                                                                                                    30 params.max_sensor_pedal_1 = 4000;
                                                                                                                    +
                                                                                                                    31 params.max_sensor_pedal_2 = 4000;
                                                                                                                    +
                                                                                                                    32 params.activation_percentage = 0.25;
                                                                                                                    +
                                                                                                                    33 params.mechanical_activation_percentage = 0.4;
                                                                                                                    +
                                                                                                                    34 params.deadzone_margin = .03; // .05
                                                                                                                    +
                                                                                                                    35 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    36 return params;
                                                                                                                    37}
                                                                                                                    38
                                                                                                                    39//
                                                                                                                    40PedalsParams get_real_accel_pedal_params()
                                                                                                                    41{
                                                                                                                    -
                                                                                                                    42 PedalsParams params;
                                                                                                                    -
                                                                                                                    43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    -
                                                                                                                    52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    -
                                                                                                                    53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    -
                                                                                                                    54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    55 return params;
                                                                                                                    +
                                                                                                                    42 PedalsParams params;
                                                                                                                    +
                                                                                                                    43 params.min_pedal_1 = ACCEL1_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    44 params.max_pedal_1 = ACCEL1_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    45 params.min_pedal_2 = ACCEL2_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    46 params.max_pedal_2 = ACCEL2_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    47 params.min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    48 params.max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    49 params.min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    50 params.max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    51 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    +
                                                                                                                    52 params.mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    +
                                                                                                                    53 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    +
                                                                                                                    54 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    55 return params;
                                                                                                                    56}
                                                                                                                    57PedalsParams get_real_brake_pedal_params()
                                                                                                                    58{
                                                                                                                    -
                                                                                                                    59 PedalsParams params;
                                                                                                                    -
                                                                                                                    60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                                                                                                    -
                                                                                                                    63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                                                                                                    -
                                                                                                                    64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    -
                                                                                                                    69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                                                                                                    -
                                                                                                                    70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    -
                                                                                                                    71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    72 return params;
                                                                                                                    +
                                                                                                                    59 PedalsParams params;
                                                                                                                    +
                                                                                                                    60 params.min_pedal_1 = BRAKE1_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    61 params.max_pedal_1 = BRAKE1_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    62 params.min_pedal_2 = BRAKE2_PEDAL_MIN;
                                                                                                                    +
                                                                                                                    63 params.max_pedal_2 = BRAKE2_PEDAL_MAX;
                                                                                                                    +
                                                                                                                    64 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    65 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    66 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    67 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    68 params.activation_percentage = APPS_ACTIVATION_PERCENTAGE;
                                                                                                                    +
                                                                                                                    69 params.mechanical_activation_percentage = BRAKE_MECH_THRESH;
                                                                                                                    +
                                                                                                                    70 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    +
                                                                                                                    71 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    72 return params;
                                                                                                                    73}
                                                                                                                    74
                                                                                                                    75PedalsParams gen_positive_slope_only_params()
                                                                                                                    76{
                                                                                                                    -
                                                                                                                    77 PedalsParams params;
                                                                                                                    -
                                                                                                                    78 params.min_pedal_1 = 1000;
                                                                                                                    -
                                                                                                                    79 params.max_pedal_1 = 2000;
                                                                                                                    -
                                                                                                                    80 params.min_pedal_2 = 1000;
                                                                                                                    -
                                                                                                                    81 params.max_pedal_2 = 2000;
                                                                                                                    -
                                                                                                                    82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    -
                                                                                                                    85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    -
                                                                                                                    86 params.activation_percentage = 0.1;
                                                                                                                    -
                                                                                                                    87 params.mechanical_activation_percentage = 0.4;
                                                                                                                    -
                                                                                                                    88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    -
                                                                                                                    89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    -
                                                                                                                    90 return params;
                                                                                                                    +
                                                                                                                    77 PedalsParams params;
                                                                                                                    +
                                                                                                                    78 params.min_pedal_1 = 1000;
                                                                                                                    +
                                                                                                                    79 params.max_pedal_1 = 2000;
                                                                                                                    +
                                                                                                                    80 params.min_pedal_2 = 1000;
                                                                                                                    +
                                                                                                                    81 params.max_pedal_2 = 2000;
                                                                                                                    +
                                                                                                                    82 params.min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    83 params.max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    84 params.min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN;
                                                                                                                    +
                                                                                                                    85 params.max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX;
                                                                                                                    +
                                                                                                                    86 params.activation_percentage = 0.1;
                                                                                                                    +
                                                                                                                    87 params.mechanical_activation_percentage = 0.4;
                                                                                                                    +
                                                                                                                    88 params.deadzone_margin = DEFAULT_PEDAL_DEADZONE; // .05
                                                                                                                    +
                                                                                                                    89 params.implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN; // 0.1
                                                                                                                    +
                                                                                                                    90 return params;
                                                                                                                    91}
                                                                                                                    92
                                                                                                                    93bool get_result_of_double_brake_test(PedalsSystem &pedals, const AnalogConversion_s &a1, const AnalogConversion_s &a2, const AnalogConversion_s &b1, const AnalogConversion_s &b2)
                                                                                                                    @@ -195,8 +195,8 @@
                                                                                                                    117// T.4.3.4, T.4.2.7, T.4.2.9, T.4.2.10 FSAE rules 2024 v1
                                                                                                                    118TEST(PedalsSystemTesting, test_accel_and_brake_limits_plausibility)
                                                                                                                    119{
                                                                                                                    -
                                                                                                                    120 auto params = gen_positive_and_negative_slope_params();
                                                                                                                    -
                                                                                                                    121 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    120 auto params = gen_positive_and_negative_slope_params();
                                                                                                                    +
                                                                                                                    121 PedalsSystem pedals(params, params);
                                                                                                                    122
                                                                                                                    123 AnalogConversion_s test_pedal_bad_val_min = {0, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    124 AnalogConversion_s test_pedal_bad_val_max = {4000, 2.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    @@ -496,10 +496,10 @@
                                                                                                                    420{
                                                                                                                    421 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    422 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    423 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    423 auto params = gen_positive_slope_only_params();
                                                                                                                    424 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    425 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    426 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    425 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    426 PedalsSystem pedals(params, params);
                                                                                                                    427 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    428 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                                                                                                    429 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                                                                                                    @@ -522,10 +522,10 @@
                                                                                                                    446{
                                                                                                                    447 AnalogConversion_s test_pedal_good_val_accel = {1050, 0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    448 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    449 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    449 auto params = gen_positive_slope_only_params();
                                                                                                                    450 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    451 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    452 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    451 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    452 PedalsSystem pedals(params, params);
                                                                                                                    453 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    454 EXPECT_NEAR(data.brakePercent, 0.2, .02);
                                                                                                                    455 EXPECT_NEAR(data.regenPercent, 0.5, .02);
                                                                                                                    @@ -546,10 +546,10 @@
                                                                                                                    470{
                                                                                                                    471 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    472 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    473 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    473 auto params = gen_positive_slope_only_params();
                                                                                                                    474 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    475 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    476 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    475 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    476 PedalsSystem pedals(params, params);
                                                                                                                    477 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    478 EXPECT_FALSE(data.accelImplausible);
                                                                                                                    479 EXPECT_EQ(data.accelPercent, 0);
                                                                                                                    @@ -560,10 +560,10 @@
                                                                                                                    484{
                                                                                                                    485 AnalogConversion_s test_pedal_good_val_accel = {930, -0.05, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    486 AnalogConversion_s test_pedal_good_val_brake = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    -
                                                                                                                    487 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    487 auto params = gen_positive_slope_only_params();
                                                                                                                    488 // taking out deadzone margin to ensure that brake vals are good
                                                                                                                    -
                                                                                                                    489 params.deadzone_margin = 0;
                                                                                                                    -
                                                                                                                    490 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    489 params.deadzone_margin = 0;
                                                                                                                    +
                                                                                                                    490 PedalsSystem pedals(params, params);
                                                                                                                    491 auto data = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    492 EXPECT_FALSE(data.accelImplausible);
                                                                                                                    493 EXPECT_EQ(data.accelPercent, 0);
                                                                                                                    @@ -575,9 +575,9 @@
                                                                                                                    499 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    500 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    501
                                                                                                                    -
                                                                                                                    502 auto params = gen_positive_slope_only_params();
                                                                                                                    -
                                                                                                                    503 PedalsSystem pedals(params, params);
                                                                                                                    -
                                                                                                                    504 PedalsSystem pedals_single(params, params);
                                                                                                                    +
                                                                                                                    502 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    503 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    504 PedalsSystem pedals_single(params, params);
                                                                                                                    505 auto data_double = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    506 EXPECT_TRUE(data_double.accelPressed);
                                                                                                                    507 auto data_single = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_good_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    @@ -591,9 +591,9 @@
                                                                                                                    515 AnalogConversion_s test_pedal_good_val_accel = {1200, 0.2, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    516 AnalogConversion_s test_pedal_good_val_brake = {1001, 0.0, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    517
                                                                                                                    -
                                                                                                                    518 auto params = gen_positive_slope_only_params();
                                                                                                                    -
                                                                                                                    519 PedalsSystem pedals(params, params);
                                                                                                                    -
                                                                                                                    520 PedalsSystem pedals_single(params, params);
                                                                                                                    +
                                                                                                                    518 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    519 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    520 PedalsSystem pedals_single(params, params);
                                                                                                                    521 auto data_double_oor_hi = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    522 EXPECT_NEAR(data_double_oor_hi.accelPercent, 0, .001);
                                                                                                                    523 auto data_single_oor_hi = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_oor_hi_val_accel, test_pedal_good_val_brake, 1300);
                                                                                                                    @@ -612,9 +612,9 @@
                                                                                                                    536 AnalogConversion_s test_pedal_implaus_2 = {600, 0.5, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    537 AnalogConversion_s test_pedal_good_val_brake = {900, 0.02, AnalogSensorStatus_e::ANALOG_SENSOR_GOOD};
                                                                                                                    538
                                                                                                                    -
                                                                                                                    539 auto params = gen_positive_slope_only_params();
                                                                                                                    -
                                                                                                                    540 PedalsSystem pedals(params, params);
                                                                                                                    -
                                                                                                                    541 PedalsSystem pedals_single(params, params);
                                                                                                                    +
                                                                                                                    539 auto params = gen_positive_slope_only_params();
                                                                                                                    +
                                                                                                                    540 PedalsSystem pedals(params, params);
                                                                                                                    +
                                                                                                                    541 PedalsSystem pedals_single(params, params);
                                                                                                                    542 auto data_double_implause_1 = pedals.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, test_pedal_good_val_brake, 1300);
                                                                                                                    543 EXPECT_NEAR(data_double_implause_1.accelPercent, 0, .001);
                                                                                                                    544 auto data_single_implause_1 = pedals_single.evaluate_pedals(test_pedal_good_val_accel, test_pedal_implaus_1, test_pedal_good_val_brake, 1300);
                                                                                                                    @@ -628,31 +628,32 @@
                                                                                                                    552#endif /* PEDALS_SYSTEM_TEST */
                                                                                                                    MCU_rev15_defs.h
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:45
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:48
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:52
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:51
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:42
                                                                                                                    -
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:46
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:43
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    -
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    -
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:71
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:49
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:73
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:79
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    +
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:82
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:72
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:78
                                                                                                                    +
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:81
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    +
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:83
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:76
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:75
                                                                                                                    PedalsSystem::evaluate_pedals
                                                                                                                    PedalsSystemData_s evaluate_pedals(const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake1, const AnalogConversion_s &brake2, unsigned long curr_time)
                                                                                                                    Definition: PedalsSystem.cpp:64
                                                                                                                    PedalsSystem::setParams
                                                                                                                    void setParams(const PedalsParams &accelParams, const PedalsParams &brakeParams)
                                                                                                                    Definition: PedalsSystem.h:55
                                                                                                                    +
                                                                                                                    params
                                                                                                                    ParameterInterface params(state)
                                                                                                                    TEST
                                                                                                                    TEST(PedalsSystemTesting, test_accel_and_brake_limits_plausibility)
                                                                                                                    Definition: pedals_system_test.h:118
                                                                                                                    get_real_accel_pedal_params
                                                                                                                    PedalsParams get_real_accel_pedal_params()
                                                                                                                    Definition: pedals_system_test.h:40
                                                                                                                    get_result_of_single_brake_test
                                                                                                                    bool get_result_of_single_brake_test(PedalsSystem &pedals, const AnalogConversion_s &a1, const AnalogConversion_s &a2, const AnalogConversion_s &b1)
                                                                                                                    Definition: pedals_system_test.h:100
                                                                                                                    @@ -662,26 +663,14 @@
                                                                                                                    gen_positive_slope_only_params
                                                                                                                    PedalsParams gen_positive_slope_only_params()
                                                                                                                    Definition: pedals_system_test.h:75
                                                                                                                    get_result_of_double_brake_test
                                                                                                                    bool get_result_of_double_brake_test(PedalsSystem &pedals, const AnalogConversion_s &a1, const AnalogConversion_s &a2, const AnalogConversion_s &b1, const AnalogConversion_s &b2)
                                                                                                                    Definition: pedals_system_test.h:93
                                                                                                                    get_pedal_conversion_val
                                                                                                                    float get_pedal_conversion_val(float min, float max, float data)
                                                                                                                    Definition: pedals_system_test.h:16
                                                                                                                    -
                                                                                                                    accel_params
                                                                                                                    const PedalsParams accel_params
                                                                                                                    Definition: main.cpp:55
                                                                                                                    -
                                                                                                                    brake_params
                                                                                                                    const PedalsParams brake_params
                                                                                                                    Definition: main.cpp:69
                                                                                                                    -
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:98
                                                                                                                    -
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:97
                                                                                                                    +
                                                                                                                    accel_params
                                                                                                                    const PedalsParams accel_params
                                                                                                                    Definition: main.cpp:60
                                                                                                                    +
                                                                                                                    brake_params
                                                                                                                    const PedalsParams brake_params
                                                                                                                    Definition: main.cpp:74
                                                                                                                    +
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:106
                                                                                                                    +
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:105
                                                                                                                    AnalogConversion_s
                                                                                                                    Definition: AnalogSensorsInterface.h:14
                                                                                                                    AnalogConversion_s::conversion
                                                                                                                    float conversion
                                                                                                                    Definition: AnalogSensorsInterface.h:16
                                                                                                                    AnalogConversion_s::raw
                                                                                                                    int raw
                                                                                                                    Definition: AnalogSensorsInterface.h:15
                                                                                                                    PedalsParams
                                                                                                                    Pedals params struct that will hold min / max that will be used for evaluateion.
                                                                                                                    Definition: PedalsSystem.h:26
                                                                                                                    -
                                                                                                                    PedalsParams::deadzone_margin
                                                                                                                    float deadzone_margin
                                                                                                                    Definition: PedalsSystem.h:36
                                                                                                                    - -
                                                                                                                    PedalsParams::max_sensor_pedal_1
                                                                                                                    int max_sensor_pedal_1
                                                                                                                    Definition: PedalsSystem.h:33
                                                                                                                    -
                                                                                                                    PedalsParams::activation_percentage
                                                                                                                    float activation_percentage
                                                                                                                    Definition: PedalsSystem.h:35
                                                                                                                    -
                                                                                                                    PedalsParams::mechanical_activation_percentage
                                                                                                                    float mechanical_activation_percentage
                                                                                                                    Definition: PedalsSystem.h:38
                                                                                                                    -
                                                                                                                    PedalsParams::implausibility_margin
                                                                                                                    float implausibility_margin
                                                                                                                    Definition: PedalsSystem.h:37
                                                                                                                    - -
                                                                                                                    PedalsParams::min_sensor_pedal_1
                                                                                                                    int min_sensor_pedal_1
                                                                                                                    Definition: PedalsSystem.h:31
                                                                                                                    -
                                                                                                                    PedalsParams::min_sensor_pedal_2
                                                                                                                    int min_sensor_pedal_2
                                                                                                                    Definition: PedalsSystem.h:32
                                                                                                                    - -
                                                                                                                    PedalsParams::max_sensor_pedal_2
                                                                                                                    int max_sensor_pedal_2
                                                                                                                    Definition: PedalsSystem.h:34
                                                                                                                    -
                                                                                                                    PedalsSystemData_s::implausibilityExceededMaxDuration
                                                                                                                    bool implausibilityExceededMaxDuration
                                                                                                                    Definition: PedalsSystem.h:18
                                                                                                                    diff --git a/run__embedded__tests_8cpp.html b/run__embedded__tests_8cpp.html index ab1c31f3b..b4f83a997 100644 --- a/run__embedded__tests_8cpp.html +++ b/run__embedded__tests_8cpp.html @@ -79,10 +79,6 @@
                                                                                                                    #include <Arduino.h>
                                                                                                                    -#include <unity.h>
                                                                                                                    -#include "AMS_interface_test.h"
                                                                                                                    -#include "dashboard_interface_test.h"
                                                                                                                    -#include "Watchdog_interface_test.h"

                                                                                                                    Go to the source code of this file.

                                                                                                                    @@ -115,8 +111,8 @@

                                                                                                                    -

                                                                                                                    Definition at line 46 of file run_embedded_tests.cpp.

                                                                                                                    -
                                                                                                                    46{}
                                                                                                                    +

                                                                                                                    Definition at line 48 of file run_embedded_tests.cpp.

                                                                                                                    +
                                                                                                                    48{}
                                                                                                                    @@ -136,28 +132,25 @@

                                                                                                                    -

                                                                                                                    Definition at line 20 of file run_embedded_tests.cpp.

                                                                                                                    -
                                                                                                                    21{
                                                                                                                    -
                                                                                                                    22 UNITY_BEGIN();
                                                                                                                    -
                                                                                                                    23 /* TEST DASHBOARD */
                                                                                                                    -
                                                                                                                    24 RUN_TEST(test_dashboard_unpacking_can_message);
                                                                                                                    -
                                                                                                                    25 RUN_TEST(test_dashboard_circular_buffer);
                                                                                                                    -
                                                                                                                    26 /* TEST AMS */
                                                                                                                    -
                                                                                                                    27 RUN_TEST(test_AMS_heartbeat);
                                                                                                                    -
                                                                                                                    28 /* TEST WATCHDOG */
                                                                                                                    -
                                                                                                                    29 RUN_TEST(test_watchdog_kick);
                                                                                                                    -
                                                                                                                    30 // testing can interface
                                                                                                                    -
                                                                                                                    31 // RUN_TEST(test_can_interface_send)
                                                                                                                    -
                                                                                                                    32 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                                                                                                    -
                                                                                                                    33 /* TEST TELEMETRY */
                                                                                                                    -
                                                                                                                    34 // RUN_TEST(test_telemetry_update_CAN);
                                                                                                                    -
                                                                                                                    35
                                                                                                                    -
                                                                                                                    36 return UNITY_END();
                                                                                                                    -
                                                                                                                    37}
                                                                                                                    -
                                                                                                                    test_AMS_heartbeat
                                                                                                                    void test_AMS_heartbeat()
                                                                                                                    Definition: AMS_interface_test.h:37
                                                                                                                    -
                                                                                                                    test_watchdog_kick
                                                                                                                    void test_watchdog_kick()
                                                                                                                    Definition: Watchdog_interface_test.h:6
                                                                                                                    -
                                                                                                                    test_dashboard_circular_buffer
                                                                                                                    void test_dashboard_circular_buffer(void)
                                                                                                                    Definition: dashboard_interface_test.h:63
                                                                                                                    -
                                                                                                                    test_dashboard_unpacking_can_message
                                                                                                                    void test_dashboard_unpacking_can_message(void)
                                                                                                                    Definition: dashboard_interface_test.h:23
                                                                                                                    +

                                                                                                                    Definition at line 21 of file run_embedded_tests.cpp.

                                                                                                                    +
                                                                                                                    22{
                                                                                                                    +
                                                                                                                    23 UNITY_BEGIN();
                                                                                                                    +
                                                                                                                    24 /* TEST DASHBOARD */
                                                                                                                    +
                                                                                                                    25 // RUN_TEST(test_ethernet);
                                                                                                                    +
                                                                                                                    26 // RUN_TEST(test_dashboard_unpacking_can_message);
                                                                                                                    +
                                                                                                                    27 // RUN_TEST(test_dashboard_circular_buffer);
                                                                                                                    +
                                                                                                                    28 /* TEST AMS */
                                                                                                                    +
                                                                                                                    29 // RUN_TEST(test_AMS_heartbeat);
                                                                                                                    +
                                                                                                                    30 /* TEST WATCHDOG */
                                                                                                                    +
                                                                                                                    31 // RUN_TEST(test_watchdog_kick);
                                                                                                                    +
                                                                                                                    32 // testing can interface
                                                                                                                    +
                                                                                                                    33 // RUN_TEST(test_can_interface_send)
                                                                                                                    +
                                                                                                                    34 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                                                                                                    +
                                                                                                                    35 /* TEST TELEMETRY */
                                                                                                                    +
                                                                                                                    36 // RUN_TEST(test_telemetry_update_CAN);
                                                                                                                    +
                                                                                                                    37
                                                                                                                    +
                                                                                                                    38 return UNITY_END();
                                                                                                                    +
                                                                                                                    39}
                                                                                                                    @@ -177,13 +170,13 @@

                                                                                                                    -

                                                                                                                    Definition at line 39 of file run_embedded_tests.cpp.

                                                                                                                    -
                                                                                                                    40{
                                                                                                                    -
                                                                                                                    41 delay(500);
                                                                                                                    -
                                                                                                                    42
                                                                                                                    -
                                                                                                                    43 runUnityTests();
                                                                                                                    -
                                                                                                                    44}
                                                                                                                    -
                                                                                                                    runUnityTests
                                                                                                                    int runUnityTests(void)
                                                                                                                    Definition: run_embedded_tests.cpp:20
                                                                                                                    +

                                                                                                                    Definition at line 41 of file run_embedded_tests.cpp.

                                                                                                                    +
                                                                                                                    42{
                                                                                                                    +
                                                                                                                    43 delay(200);
                                                                                                                    +
                                                                                                                    44
                                                                                                                    +
                                                                                                                    45 runUnityTests();
                                                                                                                    +
                                                                                                                    46}
                                                                                                                    +
                                                                                                                    runUnityTests
                                                                                                                    int runUnityTests(void)
                                                                                                                    Definition: run_embedded_tests.cpp:21
                                                                                                                    @@ -206,7 +199,9 @@

                                                                                                                    Definition at line 10 of file run_embedded_tests.cpp.

                                                                                                                    11{
                                                                                                                    12 // init_can_interface();
                                                                                                                    -
                                                                                                                    13}
                                                                                                                    +
                                                                                                                    13 init_ethernet_device();
                                                                                                                    +
                                                                                                                    14}
                                                                                                                    +
                                                                                                                    init_ethernet_device
                                                                                                                    void init_ethernet_device()
                                                                                                                    Definition: main_ethernet_test.cpp:13
                                                                                                                    @@ -226,10 +221,10 @@

                                                                                                                    -

                                                                                                                    Definition at line 15 of file run_embedded_tests.cpp.

                                                                                                                    -
                                                                                                                    16{
                                                                                                                    -
                                                                                                                    17
                                                                                                                    -
                                                                                                                    18}
                                                                                                                    +

                                                                                                                    Definition at line 16 of file run_embedded_tests.cpp.

                                                                                                                    +
                                                                                                                    17{
                                                                                                                    +
                                                                                                                    18
                                                                                                                    +
                                                                                                                    19}
                                                                                                                    diff --git a/run__embedded__tests_8cpp_source.html b/run__embedded__tests_8cpp_source.html index e6d7f63a3..8f241861a 100644 --- a/run__embedded__tests_8cpp_source.html +++ b/run__embedded__tests_8cpp_source.html @@ -77,63 +77,59 @@
                                                                                                                    Go to the documentation of this file.
                                                                                                                    1#include <Arduino.h>
                                                                                                                    -
                                                                                                                    2#include <unity.h>
                                                                                                                    +
                                                                                                                    2// #include <unity.h>
                                                                                                                    3
                                                                                                                    -
                                                                                                                    4#include "AMS_interface_test.h"
                                                                                                                    -
                                                                                                                    5#include "dashboard_interface_test.h"
                                                                                                                    -
                                                                                                                    6#include "Watchdog_interface_test.h"
                                                                                                                    -
                                                                                                                    7
                                                                                                                    +
                                                                                                                    4// #include "AMS_interface_test.h"
                                                                                                                    +
                                                                                                                    5// #include "dashboard_interface_test.h"
                                                                                                                    +
                                                                                                                    6// #include "Watchdog_interface_test.h"
                                                                                                                    +
                                                                                                                    7// #include "test_ethernet.h"
                                                                                                                    8// #include "Telemetry_interface_test.h"
                                                                                                                    9
                                                                                                                    10void setUp(void)
                                                                                                                    11{
                                                                                                                    12 // init_can_interface();
                                                                                                                    -
                                                                                                                    13}
                                                                                                                    -
                                                                                                                    14
                                                                                                                    -
                                                                                                                    15void tearDown(void)
                                                                                                                    -
                                                                                                                    16{
                                                                                                                    -
                                                                                                                    17
                                                                                                                    -
                                                                                                                    18}
                                                                                                                    -
                                                                                                                    19
                                                                                                                    -
                                                                                                                    20int runUnityTests(void)
                                                                                                                    -
                                                                                                                    21{
                                                                                                                    -
                                                                                                                    22 UNITY_BEGIN();
                                                                                                                    -
                                                                                                                    23 /* TEST DASHBOARD */
                                                                                                                    -
                                                                                                                    24 RUN_TEST(test_dashboard_unpacking_can_message);
                                                                                                                    -
                                                                                                                    25 RUN_TEST(test_dashboard_circular_buffer);
                                                                                                                    -
                                                                                                                    26 /* TEST AMS */
                                                                                                                    -
                                                                                                                    27 RUN_TEST(test_AMS_heartbeat);
                                                                                                                    -
                                                                                                                    28 /* TEST WATCHDOG */
                                                                                                                    -
                                                                                                                    29 RUN_TEST(test_watchdog_kick);
                                                                                                                    -
                                                                                                                    30 // testing can interface
                                                                                                                    -
                                                                                                                    31 // RUN_TEST(test_can_interface_send)
                                                                                                                    -
                                                                                                                    32 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                                                                                                    -
                                                                                                                    33 /* TEST TELEMETRY */
                                                                                                                    -
                                                                                                                    34 // RUN_TEST(test_telemetry_update_CAN);
                                                                                                                    -
                                                                                                                    35
                                                                                                                    -
                                                                                                                    36 return UNITY_END();
                                                                                                                    -
                                                                                                                    37}
                                                                                                                    -
                                                                                                                    38
                                                                                                                    -
                                                                                                                    39void setup()
                                                                                                                    -
                                                                                                                    40{
                                                                                                                    -
                                                                                                                    41 delay(500);
                                                                                                                    -
                                                                                                                    42
                                                                                                                    -
                                                                                                                    43 runUnityTests();
                                                                                                                    -
                                                                                                                    44}
                                                                                                                    -
                                                                                                                    45
                                                                                                                    -
                                                                                                                    46void loop() {}
                                                                                                                    -
                                                                                                                    AMS_interface_test.h
                                                                                                                    -
                                                                                                                    test_AMS_heartbeat
                                                                                                                    void test_AMS_heartbeat()
                                                                                                                    Definition: AMS_interface_test.h:37
                                                                                                                    -
                                                                                                                    Watchdog_interface_test.h
                                                                                                                    -
                                                                                                                    test_watchdog_kick
                                                                                                                    void test_watchdog_kick()
                                                                                                                    Definition: Watchdog_interface_test.h:6
                                                                                                                    -
                                                                                                                    dashboard_interface_test.h
                                                                                                                    -
                                                                                                                    test_dashboard_circular_buffer
                                                                                                                    void test_dashboard_circular_buffer(void)
                                                                                                                    Definition: dashboard_interface_test.h:63
                                                                                                                    -
                                                                                                                    test_dashboard_unpacking_can_message
                                                                                                                    void test_dashboard_unpacking_can_message(void)
                                                                                                                    Definition: dashboard_interface_test.h:23
                                                                                                                    -
                                                                                                                    setup
                                                                                                                    void setup()
                                                                                                                    Definition: run_embedded_tests.cpp:39
                                                                                                                    +
                                                                                                                    13 init_ethernet_device();
                                                                                                                    +
                                                                                                                    14}
                                                                                                                    +
                                                                                                                    15
                                                                                                                    +
                                                                                                                    16void tearDown(void)
                                                                                                                    +
                                                                                                                    17{
                                                                                                                    +
                                                                                                                    18
                                                                                                                    +
                                                                                                                    19}
                                                                                                                    +
                                                                                                                    20
                                                                                                                    +
                                                                                                                    21int runUnityTests(void)
                                                                                                                    +
                                                                                                                    22{
                                                                                                                    +
                                                                                                                    23 UNITY_BEGIN();
                                                                                                                    +
                                                                                                                    24 /* TEST DASHBOARD */
                                                                                                                    +
                                                                                                                    25 // RUN_TEST(test_ethernet);
                                                                                                                    +
                                                                                                                    26 // RUN_TEST(test_dashboard_unpacking_can_message);
                                                                                                                    +
                                                                                                                    27 // RUN_TEST(test_dashboard_circular_buffer);
                                                                                                                    +
                                                                                                                    28 /* TEST AMS */
                                                                                                                    +
                                                                                                                    29 // RUN_TEST(test_AMS_heartbeat);
                                                                                                                    +
                                                                                                                    30 /* TEST WATCHDOG */
                                                                                                                    +
                                                                                                                    31 // RUN_TEST(test_watchdog_kick);
                                                                                                                    +
                                                                                                                    32 // testing can interface
                                                                                                                    +
                                                                                                                    33 // RUN_TEST(test_can_interface_send)
                                                                                                                    +
                                                                                                                    34 // RUN_TEST(test_can_interface_send_and_receive_raw)
                                                                                                                    +
                                                                                                                    35 /* TEST TELEMETRY */
                                                                                                                    +
                                                                                                                    36 // RUN_TEST(test_telemetry_update_CAN);
                                                                                                                    +
                                                                                                                    37
                                                                                                                    +
                                                                                                                    38 return UNITY_END();
                                                                                                                    +
                                                                                                                    39}
                                                                                                                    +
                                                                                                                    40
                                                                                                                    +
                                                                                                                    41void setup()
                                                                                                                    +
                                                                                                                    42{
                                                                                                                    +
                                                                                                                    43 delay(200);
                                                                                                                    +
                                                                                                                    44
                                                                                                                    +
                                                                                                                    45 runUnityTests();
                                                                                                                    +
                                                                                                                    46}
                                                                                                                    +
                                                                                                                    47
                                                                                                                    +
                                                                                                                    48void loop() {}
                                                                                                                    +
                                                                                                                    init_ethernet_device
                                                                                                                    void init_ethernet_device()
                                                                                                                    Definition: main_ethernet_test.cpp:13
                                                                                                                    +
                                                                                                                    setup
                                                                                                                    void setup()
                                                                                                                    Definition: run_embedded_tests.cpp:41
                                                                                                                    setUp
                                                                                                                    void setUp(void)
                                                                                                                    Definition: run_embedded_tests.cpp:10
                                                                                                                    -
                                                                                                                    tearDown
                                                                                                                    void tearDown(void)
                                                                                                                    Definition: run_embedded_tests.cpp:15
                                                                                                                    -
                                                                                                                    runUnityTests
                                                                                                                    int runUnityTests(void)
                                                                                                                    Definition: run_embedded_tests.cpp:20
                                                                                                                    -
                                                                                                                    loop
                                                                                                                    void loop()
                                                                                                                    Definition: run_embedded_tests.cpp:46
                                                                                                                    +
                                                                                                                    tearDown
                                                                                                                    void tearDown(void)
                                                                                                                    Definition: run_embedded_tests.cpp:16
                                                                                                                    +
                                                                                                                    runUnityTests
                                                                                                                    int runUnityTests(void)
                                                                                                                    Definition: run_embedded_tests.cpp:21
                                                                                                                    +
                                                                                                                    loop
                                                                                                                    void loop()
                                                                                                                    Definition: run_embedded_tests.cpp:48
                                                                                                                    diff --git a/safety__system__test_8h.html b/safety__system__test_8h.html index 6a5720eb0..13386d6bf 100644 --- a/safety__system__test_8h.html +++ b/safety__system__test_8h.html @@ -158,9 +158,9 @@

                                                                                                                    SafetySystem
                                                                                                                    Definition: SafetySystem.h:9
                                                                                                                    WatchdogInterface::init
                                                                                                                    void init(unsigned long curr_millis)
                                                                                                                    Definition: WatchdogInterface.cpp:4
                                                                                                                    -
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:138
                                                                                                                    +
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:148
                                                                                                                    wd_interface
                                                                                                                    WatchdogInterface wd_interface(32)
                                                                                                                    -
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:134
                                                                                                                    +
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:144
                                                                                                                    diff --git a/safety__system__test_8h_source.html b/safety__system__test_8h_source.html index e518139b4..0b02f4000 100644 --- a/safety__system__test_8h_source.html +++ b/safety__system__test_8h_source.html @@ -135,9 +135,9 @@
                                                                                                                    WatchdogInterface::init
                                                                                                                    void init(unsigned long curr_millis)
                                                                                                                    Definition: WatchdogInterface.cpp:4
                                                                                                                    TEST
                                                                                                                    TEST(SafetySystemTest, test_software_shutdown)
                                                                                                                    Definition: safety_system_test.h:11
                                                                                                                    -
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:138
                                                                                                                    +
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:148
                                                                                                                    wd_interface
                                                                                                                    WatchdogInterface wd_interface(32)
                                                                                                                    -
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:134
                                                                                                                    +
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:144
                                                                                                                    diff --git a/search/all_1.js b/search/all_1.js index 78db675e9..3db936313 100644 --- a/search/all_1.js +++ b/search/all_1.js @@ -27,29 +27,30 @@ var searchData= ['adc1_5fcs_24',['ADC1_CS',['../MCU__rev15__defs_8h.html#a43aad289b69980ab76a0a00479faf77e',1,'MCU_rev15_defs.h']]], ['adc2_5fcs_25',['ADC2_CS',['../MCU__rev15__defs_8h.html#ab25ab6b42051dd04d6fa01e83b13e235',1,'MCU_rev15_defs.h']]], ['adc3_5fcs_26',['ADC3_CS',['../MCU__rev15__defs_8h.html#afef284a61dec31ceaf620f532c528f07',1,'MCU_rev15_defs.h']]], - ['amk_5fmax_5frpm_27',['AMK_MAX_RPM',['../TorqueControllers_8h.html#a82baa3a9bb5bff28d581a673391aa7a6',1,'TorqueControllers.h']]], - ['amk_5fmax_5ftorque_28',['AMK_MAX_TORQUE',['../TorqueControllers_8h.html#a7ec80f409ae2327c088489fb3b0830b8',1,'TorqueControllers.h']]], - 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['reset_5frequested_5f_14',['reset_requested_',['../classDrivetrainSystem.html#a71fce82a9cc93c943a6405304f3c0eec',1,'DrivetrainSystem']]], ['right_5fshifter_15',['right_shifter',['../structDashButtons__s.html#a5b37e5a5b3eb4ff8d30fbb96242c5e4b',1,'DashButtons_s']]], - ['rl_16',['RL',['../Utility_8h.html#ae422df0ea387cc2ead9435c88d092c27',1,'Utility.h']]], + ['rl_16',['RL',['../Utility_8h.html#ae422df0ea387cc2ead9435c88d092c27',1,'RL(): Utility.h'],['../structveh__vec.html#a9125d94557d0adc494d7ecf685dcc984',1,'veh_vec::RL()']]], ['rl_17',['rl',['../structinverters.html#a7d3b90d8cc3f46cfe61941cf359ee78a',1,'inverters']]], - ['rl_18',['RL',['../structveh__vec.html#a9125d94557d0adc494d7ecf685dcc984',1,'veh_vec']]], - ['rl_5ftorque_5fdelta_19',['rl_torque_delta',['../structPIDTVTorqueControllerData.html#ab2176e8aa31c4ee9e996a62744d64e3b',1,'PIDTVTorqueControllerData']]], - ['rlconversion_20',['RLConversion',['../structLoadCellInterfaceTick__s.html#aab38d277dbc79af17f2f3af4d72c63fc',1,'LoadCellInterfaceTick_s']]], - ['rlloadcell_21',['rlLoadCell',['../classSABInterface.html#a2b01b724667b7f57cb5065b7e9339e2d',1,'SABInterface']]], - ['roll_22',['roll',['../structvector__nav.html#a22a713e245ebe1aa3d7d6bf7ab2853db',1,'vector_nav']]], - ['rpm_5fto_5fkilometers_5fper_5fhour_23',['RPM_TO_KILOMETERS_PER_HOUR',['../PhysicalParameters_8h.html#ab626262966d5bb2a71729aa68673f1ae',1,'PhysicalParameters.h']]], - ['rpm_5fto_5fmeters_5fper_5fsecond_24',['RPM_TO_METERS_PER_SECOND',['../PhysicalParameters_8h.html#a4f06b38f5382594cf48bdd40e6d018fe',1,'PhysicalParameters.h']]], - ['rpm_5fto_5frad_5fper_5fsecond_25',['RPM_TO_RAD_PER_SECOND',['../PhysicalParameters_8h.html#aafafe227a03de7be5332f7cce15d5b41',1,'PhysicalParameters.h']]], + ['rl_5ftorque_5fdelta_18',['rl_torque_delta',['../structPIDTVTorqueControllerData.html#ab2176e8aa31c4ee9e996a62744d64e3b',1,'PIDTVTorqueControllerData']]], + ['rlconversion_19',['RLConversion',['../structLoadCellInterfaceTick__s.html#aab38d277dbc79af17f2f3af4d72c63fc',1,'LoadCellInterfaceTick_s']]], + ['rlloadcell_20',['rlLoadCell',['../classSABInterface.html#a2b01b724667b7f57cb5065b7e9339e2d',1,'SABInterface']]], + ['roll_21',['roll',['../structvector__nav.html#a22a713e245ebe1aa3d7d6bf7ab2853db',1,'vector_nav']]], + ['rpm_5fto_5fkilometers_5fper_5fhour_22',['RPM_TO_KILOMETERS_PER_HOUR',['../PhysicalParameters_8h.html#ab626262966d5bb2a71729aa68673f1ae',1,'PhysicalParameters.h']]], + ['rpm_5fto_5fmeters_5fper_5fsecond_23',['RPM_TO_METERS_PER_SECOND',['../PhysicalParameters_8h.html#a4f06b38f5382594cf48bdd40e6d018fe',1,'PhysicalParameters.h']]], + ['rpm_5fto_5frad_5fper_5fsecond_24',['RPM_TO_RAD_PER_SECOND',['../PhysicalParameters_8h.html#aafafe227a03de7be5332f7cce15d5b41',1,'PhysicalParameters.h']]], + ['rr_25',['RR',['../structveh__vec.html#aa3a75ad1f1d1d78c14ffff2b6fe55de3',1,'veh_vec']]], ['rr_26',['rr',['../structinverters.html#a50cf4dd8729da63738e9f98800cbd236',1,'inverters']]], - ['rr_27',['RR',['../structveh__vec.html#aa3a75ad1f1d1d78c14ffff2b6fe55de3',1,'veh_vec::RR()'],['../Utility_8h.html#a070b34e47f13ddfdaa2502536eee14ce',1,'RR(): Utility.h']]], + ['rr_27',['RR',['../Utility_8h.html#a070b34e47f13ddfdaa2502536eee14ce',1,'Utility.h']]], ['rr_5ftorque_5fdelta_28',['rr_torque_delta',['../structPIDTVTorqueControllerData.html#a920ab4ecd12ed53a368c2fe0015aa81b',1,'PIDTVTorqueControllerData']]], ['rrconversion_29',['RRConversion',['../structLoadCellInterfaceTick__s.html#a4cdd38cc38d6a36845523356f2dad16a',1,'LoadCellInterfaceTick_s']]], ['rrloadcell_30',['rrLoadCell',['../classSABInterface.html#aeffa0f19967ce50d7b8e691c6a48eb7c',1,'SABInterface']]] diff --git a/src_2main_8cpp.html b/src_2main_8cpp.html index df2bf874e..ff2f3e247 100644 --- a/src_2main_8cpp.html +++ b/src_2main_8cpp.html @@ -82,10 +82,12 @@
                                                                                                                    #include <Arduino.h>
                                                                                                                    +#include "ParameterInterface.h"
                                                                                                                    #include "FlexCAN_T4.h"
                                                                                                                    #include "HyTech_CAN.h"
                                                                                                                    #include "MCU_rev15_defs.h"
                                                                                                                    #include "HytechCANInterface.h"
                                                                                                                    +#include "Teensy_ADC.h"
                                                                                                                    #include "MCP_ADC.h"
                                                                                                                    #include "ORBIS_BR10.h"
                                                                                                                    #include "MCUInterface.h"
                                                                                                                    @@ -133,6 +135,8 @@

                                                                                                                    + + @@ -146,6 +150,10 @@ + + + + @@ -156,8 +164,14 @@ + + + + + + @@ -200,7 +214,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 94 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 102 of file main.cpp.

                                                                                                                    @@ -216,7 +230,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 141 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 151 of file main.cpp.

                                                                                                                    @@ -232,7 +246,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 121 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 131 of file main.cpp.

                                                                                                                    @@ -252,6 +266,54 @@

                                                                                                                    + + + +

                                                                                                                    ◆ handle_ethernet_interface_comms()

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +

                                                                                                                     
                                                                                                                    void drivetrain_reset ()
                                                                                                                     
                                                                                                                    void handle_ethernet_interface_comms ()
                                                                                                                     
                                                                                                                    void setup ()
                                                                                                                     
                                                                                                                    void loop ()
                                                                                                                     
                                                                                                                    const PedalsParams brake_params
                                                                                                                     
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                     
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                     
                                                                                                                    FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 > INV_CAN
                                                                                                                     
                                                                                                                    FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_16 > TELEM_CAN
                                                                                                                     
                                                                                                                    MCP_ADC< 4 > a3 = MCP_ADC<4>(ADC3_CS, 1000000)
                                                                                                                     
                                                                                                                    Teensy_ADC< 2 > mcu_adc = Teensy_ADC<2>(DEFAULT_ANALOG_PINS)
                                                                                                                     
                                                                                                                    OrbisBR10 steering1 & Serial5
                                                                                                                     
                                                                                                                    ParameterInterface param_interface
                                                                                                                     
                                                                                                                    ETHInterfaces ethernet_interfaces = {&param_interface}
                                                                                                                     
                                                                                                                    VNInterface< CircularBufferType > vn_interface & CAN3_txBuffer
                                                                                                                     
                                                                                                                    AMSInterface ams_interface (8)
                                                                                                                    + + + + + + +
                                                                                                                    void handle_ethernet_interface_comms ()
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 551 of file main.cpp.

                                                                                                                    +
                                                                                                                    552{
                                                                                                                    +
                                                                                                                    553 // function that will handle receiving and distributing of all messages to all ethernet interfaces
                                                                                                                    +
                                                                                                                    554 // via the union message. this is a little bit cursed ngl.
                                                                                                                    +
                                                                                                                    555 // TODO un fuck this and make it more sane
                                                                                                                    +
                                                                                                                    556 // Serial.println("bruh");
                                                                                                                    +
                                                                                                                    557 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                                                                                                    +
                                                                                                                    558
                                                                                                                    +
                                                                                                                    559 // this is just kinda here i know.
                                                                                                                    +
                                                                                                                    560 if (param_interface.params_need_sending())
                                                                                                                    +
                                                                                                                    561 {
                                                                                                                    +
                                                                                                                    562 // Serial.println("handling ethernet");
                                                                                                                    +
                                                                                                                    563 auto config = param_interface.get_config();
                                                                                                                    +
                                                                                                                    564 if (!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields))
                                                                                                                    +
                                                                                                                    565 {
                                                                                                                    +
                                                                                                                    566 // TODO this means that something bad has happend
                                                                                                                    +
                                                                                                                    567 }
                                                                                                                    +
                                                                                                                    568 param_interface.reset_params_need_sending();
                                                                                                                    +
                                                                                                                    569 }
                                                                                                                    +
                                                                                                                    570}
                                                                                                                    + + + +
                                                                                                                    handle_ethernet_socket_receive
                                                                                                                    void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:22
                                                                                                                    +
                                                                                                                    recv_pb_stream_union_msg
                                                                                                                    void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:54
                                                                                                                    +
                                                                                                                    handle_ethernet_socket_send_pb
                                                                                                                    bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                                                                                                    Definition: ProtobufMsgInterface.h:37
                                                                                                                    +
                                                                                                                    protobuf_send_socket
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                    Definition: main.cpp:93
                                                                                                                    +
                                                                                                                    param_interface
                                                                                                                    ParameterInterface param_interface
                                                                                                                    Definition: main.cpp:114
                                                                                                                    +
                                                                                                                    ethernet_interfaces
                                                                                                                    ETHInterfaces ethernet_interfaces
                                                                                                                    Definition: main.cpp:115
                                                                                                                    +
                                                                                                                    protobuf_recv_socket
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                    Definition: main.cpp:94
                                                                                                                    +
                                                                                                                    @@ -269,32 +331,32 @@

                                                                                                                    -

                                                                                                                    Definition at line 352 of file main.cpp.

                                                                                                                    -
                                                                                                                    353{
                                                                                                                    -
                                                                                                                    354 // Inverter CAN line
                                                                                                                    -
                                                                                                                    355 INV_CAN.begin();
                                                                                                                    -
                                                                                                                    356 INV_CAN.setBaudRate(INV_CAN_BAUDRATE);
                                                                                                                    -
                                                                                                                    357 INV_CAN.setMaxMB(16);
                                                                                                                    -
                                                                                                                    358 INV_CAN.enableFIFO();
                                                                                                                    -
                                                                                                                    359 INV_CAN.enableFIFOInterrupt();
                                                                                                                    -
                                                                                                                    360 INV_CAN.onReceive(on_can2_receive);
                                                                                                                    -
                                                                                                                    361 INV_CAN.mailboxStatus();
                                                                                                                    -
                                                                                                                    362
                                                                                                                    -
                                                                                                                    363 // Telemetry CAN line
                                                                                                                    -
                                                                                                                    364 TELEM_CAN.begin();
                                                                                                                    -
                                                                                                                    365 TELEM_CAN.setBaudRate(TELEM_CAN_BAUDRATE);
                                                                                                                    -
                                                                                                                    366 TELEM_CAN.setMaxMB(16);
                                                                                                                    -
                                                                                                                    367 TELEM_CAN.enableFIFO();
                                                                                                                    -
                                                                                                                    368 TELEM_CAN.enableFIFOInterrupt();
                                                                                                                    -
                                                                                                                    369 TELEM_CAN.onReceive(on_can3_receive);
                                                                                                                    -
                                                                                                                    370 TELEM_CAN.mailboxStatus();
                                                                                                                    -
                                                                                                                    371}
                                                                                                                    -
                                                                                                                    TELEM_CAN_BAUDRATE
                                                                                                                    const unsigned long TELEM_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:36
                                                                                                                    -
                                                                                                                    INV_CAN_BAUDRATE
                                                                                                                    const unsigned long INV_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:35
                                                                                                                    +

                                                                                                                    Definition at line 394 of file main.cpp.

                                                                                                                    +
                                                                                                                    395{
                                                                                                                    +
                                                                                                                    396 // Inverter CAN line
                                                                                                                    +
                                                                                                                    397 INV_CAN.begin();
                                                                                                                    +
                                                                                                                    398 INV_CAN.setBaudRate(INV_CAN_BAUDRATE);
                                                                                                                    +
                                                                                                                    399 INV_CAN.setMaxMB(16);
                                                                                                                    +
                                                                                                                    400 INV_CAN.enableFIFO();
                                                                                                                    +
                                                                                                                    401 INV_CAN.enableFIFOInterrupt();
                                                                                                                    +
                                                                                                                    402 INV_CAN.onReceive(on_can2_receive);
                                                                                                                    +
                                                                                                                    403 INV_CAN.mailboxStatus();
                                                                                                                    +
                                                                                                                    404
                                                                                                                    +
                                                                                                                    405 // Telemetry CAN line
                                                                                                                    +
                                                                                                                    406 TELEM_CAN.begin();
                                                                                                                    +
                                                                                                                    407 TELEM_CAN.setBaudRate(TELEM_CAN_BAUDRATE);
                                                                                                                    +
                                                                                                                    408 TELEM_CAN.setMaxMB(16);
                                                                                                                    +
                                                                                                                    409 TELEM_CAN.enableFIFO();
                                                                                                                    +
                                                                                                                    410 TELEM_CAN.enableFIFOInterrupt();
                                                                                                                    +
                                                                                                                    411 TELEM_CAN.onReceive(on_can3_receive);
                                                                                                                    +
                                                                                                                    412 TELEM_CAN.mailboxStatus();
                                                                                                                    +
                                                                                                                    413}
                                                                                                                    +
                                                                                                                    TELEM_CAN_BAUDRATE
                                                                                                                    const unsigned long TELEM_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:48
                                                                                                                    +
                                                                                                                    INV_CAN_BAUDRATE
                                                                                                                    const unsigned long INV_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:47
                                                                                                                    on_can2_receive
                                                                                                                    void on_can2_receive(const CAN_message_t &msg)
                                                                                                                    Definition: HytechCANInterface.cpp:19
                                                                                                                    on_can3_receive
                                                                                                                    void on_can3_receive(const CAN_message_t &msg)
                                                                                                                    Definition: HytechCANInterface.cpp:26
                                                                                                                    -
                                                                                                                    INV_CAN
                                                                                                                    FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 > INV_CAN
                                                                                                                    Definition: main.cpp:89
                                                                                                                    -
                                                                                                                    TELEM_CAN
                                                                                                                    FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_16 > TELEM_CAN
                                                                                                                    Definition: main.cpp:90
                                                                                                                    +
                                                                                                                    INV_CAN
                                                                                                                    FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 > INV_CAN
                                                                                                                    Definition: main.cpp:97
                                                                                                                    +
                                                                                                                    TELEM_CAN
                                                                                                                    FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_16 > TELEM_CAN
                                                                                                                    Definition: main.cpp:98
                                                                                                                    @@ -313,72 +375,80 @@

                                                                                                                    -

                                                                                                                    Definition at line 297 of file main.cpp.

                                                                                                                    -
                                                                                                                    298{
                                                                                                                    -
                                                                                                                    299 // Serial.println("test");
                                                                                                                    -
                                                                                                                    300 // get latest tick from sys clock
                                                                                                                    -
                                                                                                                    301 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    -
                                                                                                                    302
                                                                                                                    -
                                                                                                                    303 // process received CAN messages
                                                                                                                    -
                                                                                                                    304 process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    -
                                                                                                                    305 process_ring_buffer(CAN3_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    -
                                                                                                                    306
                                                                                                                    -
                                                                                                                    307 // tick interfaces
                                                                                                                    -
                                                                                                                    308 tick_all_interfaces(curr_tick);
                                                                                                                    -
                                                                                                                    309
                                                                                                                    -
                                                                                                                    310 // tick systems
                                                                                                                    -
                                                                                                                    311 tick_all_systems(curr_tick);
                                                                                                                    -
                                                                                                                    312
                                                                                                                    -
                                                                                                                    313 // inverter procedure before entering state machine
                                                                                                                    -
                                                                                                                    314 // reset inverters
                                                                                                                    -
                                                                                                                    315 if (dashboard.inverterResetButtonPressed() && drivetrain.drivetrain_error_occured())
                                                                                                                    -
                                                                                                                    316 {
                                                                                                                    -
                                                                                                                    317 drivetrain.reset_drivetrain();
                                                                                                                    -
                                                                                                                    318 }
                                                                                                                    -
                                                                                                                    319 // tick state machine
                                                                                                                    -
                                                                                                                    320 fsm.tick_state_machine(curr_tick.millis);
                                                                                                                    -
                                                                                                                    321
                                                                                                                    -
                                                                                                                    322 // tick safety system
                                                                                                                    -
                                                                                                                    323 safety_system.software_shutdown(curr_tick);
                                                                                                                    -
                                                                                                                    324
                                                                                                                    -
                                                                                                                    325 // send CAN
                                                                                                                    -
                                                                                                                    326 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                                                                                                    -
                                                                                                                    327 send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
                                                                                                                    -
                                                                                                                    328
                                                                                                                    -
                                                                                                                    329 if (curr_tick.triggers.trigger5)
                                                                                                                    -
                                                                                                                    330 {
                                                                                                                    -
                                                                                                                    331 Serial.print("Steering system reported angle (deg): ");
                                                                                                                    -
                                                                                                                    332 Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    -
                                                                                                                    333 Serial.print("Primary sensor angle: ");
                                                                                                                    -
                                                                                                                    334 Serial.println(steering1.convert().angle);
                                                                                                                    -
                                                                                                                    335 Serial.print("Secondary sensor angle: ");
                                                                                                                    -
                                                                                                                    336 Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    -
                                                                                                                    337 Serial.print(" raw: ");
                                                                                                                    -
                                                                                                                    338 Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    339 Serial.print("Sensor divergence: ");
                                                                                                                    -
                                                                                                                    340 Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    -
                                                                                                                    341 Serial.println();
                                                                                                                    +

                                                                                                                    Definition at line 332 of file main.cpp.

                                                                                                                    +
                                                                                                                    333{
                                                                                                                    +
                                                                                                                    334 // get latest tick from sys clock
                                                                                                                    +
                                                                                                                    335 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    +
                                                                                                                    336
                                                                                                                    +
                                                                                                                    337 // handle_ethernet_interface_comms();
                                                                                                                    +
                                                                                                                    338
                                                                                                                    +
                                                                                                                    339 // process received CAN messages
                                                                                                                    +
                                                                                                                    340 process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    +
                                                                                                                    341 process_ring_buffer(CAN3_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    342
                                                                                                                    -
                                                                                                                    343 Serial.println();
                                                                                                                    -
                                                                                                                    344 }
                                                                                                                    -
                                                                                                                    345
                                                                                                                    -
                                                                                                                    346}
                                                                                                                    -
                                                                                                                    MCU15_STEERING_CHANNEL
                                                                                                                    const int MCU15_STEERING_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:20
                                                                                                                    +
                                                                                                                    343 // tick interfaces
                                                                                                                    +
                                                                                                                    344 tick_all_interfaces(curr_tick);
                                                                                                                    +
                                                                                                                    345
                                                                                                                    +
                                                                                                                    346 // tick systems
                                                                                                                    +
                                                                                                                    347 tick_all_systems(curr_tick);
                                                                                                                    +
                                                                                                                    348
                                                                                                                    +
                                                                                                                    349 // inverter procedure before entering state machine
                                                                                                                    +
                                                                                                                    350 // reset inverters
                                                                                                                    +
                                                                                                                    351 if (dashboard.inverterResetButtonPressed() && drivetrain.drivetrain_error_occured())
                                                                                                                    +
                                                                                                                    352 {
                                                                                                                    +
                                                                                                                    353 drivetrain.reset_drivetrain();
                                                                                                                    +
                                                                                                                    354 }
                                                                                                                    +
                                                                                                                    355 // tick state machine
                                                                                                                    +
                                                                                                                    356 fsm.tick_state_machine(curr_tick.millis);
                                                                                                                    +
                                                                                                                    357
                                                                                                                    +
                                                                                                                    358 // give the state of the car to the param interface
                                                                                                                    +
                                                                                                                    359 param_interface.update_car_state(fsm.get_state());
                                                                                                                    +
                                                                                                                    360
                                                                                                                    +
                                                                                                                    361 // tick safety system
                                                                                                                    +
                                                                                                                    362 safety_system.software_shutdown(curr_tick);
                                                                                                                    +
                                                                                                                    363
                                                                                                                    +
                                                                                                                    364 // send CAN
                                                                                                                    +
                                                                                                                    365 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                                                                                                    +
                                                                                                                    366 send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
                                                                                                                    +
                                                                                                                    367
                                                                                                                    +
                                                                                                                    368 // Basic debug prints
                                                                                                                    +
                                                                                                                    369 if (curr_tick.triggers.trigger5)
                                                                                                                    +
                                                                                                                    370 {
                                                                                                                    +
                                                                                                                    371 Serial.print("Steering system reported angle (deg): ");
                                                                                                                    +
                                                                                                                    372 Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    +
                                                                                                                    373 Serial.print("Steering system status: ");
                                                                                                                    +
                                                                                                                    374 Serial.println(static_cast<uint8_t>(steering_system.getSteeringSystemData().status));
                                                                                                                    +
                                                                                                                    375 Serial.print("Primary sensor angle: ");
                                                                                                                    +
                                                                                                                    376 Serial.println(steering1.convert().angle);
                                                                                                                    +
                                                                                                                    377 Serial.print("Secondary sensor angle: ");
                                                                                                                    +
                                                                                                                    378 Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    +
                                                                                                                    379 Serial.print(" raw: ");
                                                                                                                    +
                                                                                                                    380 Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
                                                                                                                    +
                                                                                                                    381 Serial.print("Sensor divergence: ");
                                                                                                                    +
                                                                                                                    382 Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    +
                                                                                                                    383 Serial.println();
                                                                                                                    +
                                                                                                                    384
                                                                                                                    +
                                                                                                                    385 Serial.println();
                                                                                                                    +
                                                                                                                    386 }
                                                                                                                    +
                                                                                                                    387
                                                                                                                    +
                                                                                                                    388}
                                                                                                                    +
                                                                                                                    MCU15_STEERING_CHANNEL
                                                                                                                    const int MCU15_STEERING_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:24
                                                                                                                    DrivetrainSystem::drivetrain_error_occured
                                                                                                                    bool drivetrain_error_occured()
                                                                                                                    DrivetrainSystem::reset_drivetrain
                                                                                                                    void reset_drivetrain()
                                                                                                                    +
                                                                                                                    ParameterInterface::update_car_state
                                                                                                                    void update_car_state(const CAR_STATE &state)
                                                                                                                    Definition: ParameterInterface.h:14
                                                                                                                    CAN2_txBuffer
                                                                                                                    CANBufferType CAN2_txBuffer
                                                                                                                    Definition: test_can_interface.cpp:14
                                                                                                                    CAN3_rxBuffer
                                                                                                                    Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN3_rxBuffer
                                                                                                                    Definition: HytechCANInterface.cpp:5
                                                                                                                    process_ring_buffer
                                                                                                                    void process_ring_buffer(BufferType &rx_buffer, const InterfaceType &interfaces, unsigned long curr_millis)
                                                                                                                    Definition: HytechCANInterface.h:72
                                                                                                                    send_all_CAN_msgs
                                                                                                                    void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                                                                                                    Definition: HytechCANInterface.h:184
                                                                                                                    CAN2_rxBuffer
                                                                                                                    Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN2_rxBuffer
                                                                                                                    Definition: HytechCANInterface.cpp:4
                                                                                                                    -
                                                                                                                    steering1
                                                                                                                    SteeringSystem steering_system & steering1
                                                                                                                    Definition: main.cpp:135
                                                                                                                    -
                                                                                                                    tick_all_interfaces
                                                                                                                    void tick_all_interfaces(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:377
                                                                                                                    -
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:142
                                                                                                                    -
                                                                                                                    CAN_receive_interfaces
                                                                                                                    CANInterfaces< CircularBufferType > CAN_receive_interfaces
                                                                                                                    Definition: main.cpp:219
                                                                                                                    -
                                                                                                                    CAN3_txBuffer
                                                                                                                    VNInterface< CircularBufferType > vn_interface & CAN3_txBuffer
                                                                                                                    Definition: main.cpp:106
                                                                                                                    -
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:97
                                                                                                                    -
                                                                                                                    tick_all_systems
                                                                                                                    void tick_all_systems(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:456
                                                                                                                    -
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:134
                                                                                                                    +
                                                                                                                    steering1
                                                                                                                    SteeringSystem steering_system & steering1
                                                                                                                    Definition: main.cpp:145
                                                                                                                    +
                                                                                                                    tick_all_interfaces
                                                                                                                    void tick_all_interfaces(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:419
                                                                                                                    +
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:152
                                                                                                                    +
                                                                                                                    CAN_receive_interfaces
                                                                                                                    CANInterfaces< CircularBufferType > CAN_receive_interfaces
                                                                                                                    Definition: main.cpp:242
                                                                                                                    +
                                                                                                                    CAN3_txBuffer
                                                                                                                    VNInterface< CircularBufferType > vn_interface & CAN3_txBuffer
                                                                                                                    Definition: main.cpp:116
                                                                                                                    +
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:105
                                                                                                                    +
                                                                                                                    tick_all_systems
                                                                                                                    void tick_all_systems(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:500
                                                                                                                    +
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:144
                                                                                                                    @@ -398,95 +468,108 @@

                                                                                                                    -

                                                                                                                    Definition at line 238 of file main.cpp.

                                                                                                                    -
                                                                                                                    239{
                                                                                                                    -
                                                                                                                    240
                                                                                                                    -
                                                                                                                    241 // initialize CAN communication
                                                                                                                    -
                                                                                                                    242 init_all_CAN_devices();
                                                                                                                    -
                                                                                                                    243
                                                                                                                    -
                                                                                                                    244 SPI.begin();
                                                                                                                    -
                                                                                                                    245 a1.init();
                                                                                                                    -
                                                                                                                    246 a2.init();
                                                                                                                    -
                                                                                                                    247 a3.init();
                                                                                                                    -
                                                                                                                    248
                                                                                                                    -
                                                                                                                    249 a1.setChannelScale(MCU15_ACCEL1_CHANNEL, (1.0 / (float)(ACCEL1_PEDAL_MAX - ACCEL1_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    250 a1.setChannelScale(MCU15_ACCEL2_CHANNEL, (1.0 / (float)(ACCEL2_PEDAL_MAX - ACCEL2_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    251 a1.setChannelScale(MCU15_BRAKE1_CHANNEL, (1.0 / (float)(BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    252 a1.setChannelScale(MCU15_BRAKE2_CHANNEL, (1.0 / (float)(BRAKE2_PEDAL_MAX - BRAKE2_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    253 a1.setChannelOffset(MCU15_ACCEL1_CHANNEL, -ACCEL1_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    254 a1.setChannelOffset(MCU15_ACCEL2_CHANNEL, -ACCEL2_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    255 a1.setChannelOffset(MCU15_BRAKE1_CHANNEL, -BRAKE1_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    256 a1.setChannelOffset(MCU15_BRAKE2_CHANNEL, -BRAKE2_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    257 a1.setChannelOffset(MCU15_STEERING_CHANNEL, -1 * SECONDARY_STEERING_SENSE_CENTER);
                                                                                                                    -
                                                                                                                    258 a1.setChannelScale(MCU15_STEERING_CHANNEL, STEERING_RANGE_DEGREES / ((float)SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND - (float)SECONDARY_STEERING_SENSE_LEFTMOST_BOUND));
                                                                                                                    -
                                                                                                                    259 a1.setChannelClamp(MCU15_STEERING_CHANNEL, -STEERING_RANGE_DEGREES / 0.5 * 1.15, STEERING_RANGE_DEGREES / 0.5 * 1.15); // 15% tolerance on each end of the steering sensor
                                                                                                                    -
                                                                                                                    260
                                                                                                                    -
                                                                                                                    261 a2.setChannelScale(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_SCALE /*Todo*/);
                                                                                                                    -
                                                                                                                    262 a3.setChannelScale(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_SCALE /*Todo*/);
                                                                                                                    -
                                                                                                                    263
                                                                                                                    -
                                                                                                                    264 a2.setChannelOffset(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_OFFSET /*Todo*/);
                                                                                                                    -
                                                                                                                    265 a3.setChannelOffset(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_OFFSET /*Todo*/);
                                                                                                                    -
                                                                                                                    266
                                                                                                                    -
                                                                                                                    267 // get latest tick from sys clock
                                                                                                                    -
                                                                                                                    268 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    -
                                                                                                                    269
                                                                                                                    -
                                                                                                                    270 /*
                                                                                                                    -
                                                                                                                    271 Init Interfaces
                                                                                                                    -
                                                                                                                    272 */
                                                                                                                    -
                                                                                                                    273
                                                                                                                    -
                                                                                                                    274 main_ecu.init(); // initial shutdown circuit readings,
                                                                                                                    -
                                                                                                                    275 wd_interface.init(curr_tick.millis); // initialize wd kick time
                                                                                                                    -
                                                                                                                    276 ams_interface.init(curr_tick.millis); // initialize last heartbeat time
                                                                                                                    -
                                                                                                                    277 steering1.init();
                                                                                                                    -
                                                                                                                    278 steering1.setOffset(PRIMARY_STEERING_SENSE_OFFSET);
                                                                                                                    -
                                                                                                                    279
                                                                                                                    -
                                                                                                                    280 Serial.begin(115200);
                                                                                                                    -
                                                                                                                    281
                                                                                                                    -
                                                                                                                    282 /*
                                                                                                                    -
                                                                                                                    283 Init Systems
                                                                                                                    -
                                                                                                                    284 */
                                                                                                                    -
                                                                                                                    285
                                                                                                                    -
                                                                                                                    286 safety_system.init();
                                                                                                                    -
                                                                                                                    287
                                                                                                                    -
                                                                                                                    288 // Drivetrain set all inverters disabled
                                                                                                                    -
                                                                                                                    289 drivetrain.disable(); // write inv_en and inv_24V_en low: writing high in previous code though, should double check
                                                                                                                    -
                                                                                                                    290 // would an error list be good for debugging? i.e. which inverter has error
                                                                                                                    -
                                                                                                                    291
                                                                                                                    -
                                                                                                                    292 // ControllerMux set max torque to 20 NM, torque mode to whatever makes most sense
                                                                                                                    -
                                                                                                                    293 // Preventing drivers from forgetting to toggle torque mode and end up self-derating at comp
                                                                                                                    -
                                                                                                                    294 // Not strictly necessary at the moment, just don't forget
                                                                                                                    -
                                                                                                                    295}
                                                                                                                    -
                                                                                                                    MCU15_BRAKE1_CHANNEL
                                                                                                                    const int MCU15_BRAKE1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:17
                                                                                                                    -
                                                                                                                    LOADCELL_FL_SCALE
                                                                                                                    const float LOADCELL_FL_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:76
                                                                                                                    -
                                                                                                                    MCU15_ACCEL2_CHANNEL
                                                                                                                    const int MCU15_ACCEL2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:16
                                                                                                                    -
                                                                                                                    LOADCELL_FL_OFFSET
                                                                                                                    const float LOADCELL_FL_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:77
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:45
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:48
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:52
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:51
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:42
                                                                                                                    -
                                                                                                                    STEERING_RANGE_DEGREES
                                                                                                                    const float STEERING_RANGE_DEGREES
                                                                                                                    Definition: MCU_rev15_defs.h:93
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:46
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:43
                                                                                                                    -
                                                                                                                    LOADCELL_FR_SCALE
                                                                                                                    const float LOADCELL_FR_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:79
                                                                                                                    -
                                                                                                                    MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:27
                                                                                                                    -
                                                                                                                    MCU15_BRAKE2_CHANNEL
                                                                                                                    const int MCU15_BRAKE2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:18
                                                                                                                    -
                                                                                                                    MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:26
                                                                                                                    -
                                                                                                                    SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:91
                                                                                                                    -
                                                                                                                    MCU15_ACCEL1_CHANNEL
                                                                                                                    const int MCU15_ACCEL1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:15
                                                                                                                    -
                                                                                                                    PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    const float PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:89
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:49
                                                                                                                    -
                                                                                                                    LOADCELL_FR_OFFSET
                                                                                                                    const float LOADCELL_FR_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:80
                                                                                                                    -
                                                                                                                    SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:90
                                                                                                                    -
                                                                                                                    SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    const int SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    Definition: MCU_rev15_defs.h:92
                                                                                                                    +

                                                                                                                    Definition at line 263 of file main.cpp.

                                                                                                                    +
                                                                                                                    264{
                                                                                                                    +
                                                                                                                    265 // initialize CAN communication
                                                                                                                    +
                                                                                                                    266 init_all_CAN_devices();
                                                                                                                    +
                                                                                                                    267
                                                                                                                    +
                                                                                                                    268 // Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                                                                                                    +
                                                                                                                    269 // protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                                                                                                    +
                                                                                                                    270 // protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                                                                                                    +
                                                                                                                    271
                                                                                                                    +
                                                                                                                    272 /* Do this to send message VVV */
                                                                                                                    +
                                                                                                                    273 // protobuf_socket.beginPacket(EthParams::default_TCU_ip, EthParams::default_protobuf_port);
                                                                                                                    +
                                                                                                                    274 // protobuf_socket.write(buf, len);
                                                                                                                    +
                                                                                                                    275 // protobuf_socker.endPacket();
                                                                                                                    +
                                                                                                                    276
                                                                                                                    +
                                                                                                                    277 SPI.begin();
                                                                                                                    +
                                                                                                                    278 a1.init();
                                                                                                                    +
                                                                                                                    279 a2.init();
                                                                                                                    +
                                                                                                                    280 a3.init();
                                                                                                                    +
                                                                                                                    281 mcu_adc.init();
                                                                                                                    +
                                                                                                                    282
                                                                                                                    +
                                                                                                                    283 a1.setChannelScale(MCU15_ACCEL1_CHANNEL, (1.0 / (float)(ACCEL1_PEDAL_MAX - ACCEL1_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    284 a1.setChannelScale(MCU15_ACCEL2_CHANNEL, (1.0 / (float)(ACCEL2_PEDAL_MAX - ACCEL2_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    285 a1.setChannelScale(MCU15_BRAKE1_CHANNEL, (1.0 / (float)(BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    286 a1.setChannelScale(MCU15_BRAKE2_CHANNEL, (1.0 / (float)(BRAKE2_PEDAL_MAX - BRAKE2_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    287 a1.setChannelOffset(MCU15_ACCEL1_CHANNEL, -ACCEL1_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    288 a1.setChannelOffset(MCU15_ACCEL2_CHANNEL, -ACCEL2_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    289 a1.setChannelOffset(MCU15_BRAKE1_CHANNEL, -BRAKE1_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    290 a1.setChannelOffset(MCU15_BRAKE2_CHANNEL, -BRAKE2_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    291 a1.setChannelOffset(MCU15_STEERING_CHANNEL, -1 * SECONDARY_STEERING_SENSE_CENTER);
                                                                                                                    +
                                                                                                                    292 a1.setChannelScale(MCU15_STEERING_CHANNEL, STEERING_RANGE_DEGREES / ((float)SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND - (float)SECONDARY_STEERING_SENSE_LEFTMOST_BOUND));
                                                                                                                    +
                                                                                                                    293 a1.setChannelClamp(MCU15_STEERING_CHANNEL, -STEERING_RANGE_DEGREES / 0.5 * 1.15, STEERING_RANGE_DEGREES / 0.5 * 1.15); // 15% tolerance on each end of the steering sensor
                                                                                                                    +
                                                                                                                    294
                                                                                                                    +
                                                                                                                    295 a2.setChannelScale(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_SCALE /*Todo*/);
                                                                                                                    +
                                                                                                                    296 a3.setChannelScale(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_SCALE /*Todo*/);
                                                                                                                    +
                                                                                                                    297
                                                                                                                    +
                                                                                                                    298 a2.setChannelOffset(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_OFFSET /*Todo*/);
                                                                                                                    +
                                                                                                                    299 a3.setChannelOffset(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_OFFSET /*Todo*/);
                                                                                                                    +
                                                                                                                    300
                                                                                                                    +
                                                                                                                    301 mcu_adc.setAlphas(MCU15_THERM_FL, 0.95);
                                                                                                                    +
                                                                                                                    302 mcu_adc.setAlphas(MCU15_THERM_FR, 0.95);
                                                                                                                    +
                                                                                                                    303 // get latest tick from sys clock
                                                                                                                    +
                                                                                                                    304 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    +
                                                                                                                    305
                                                                                                                    +
                                                                                                                    306 /*
                                                                                                                    +
                                                                                                                    307 Init Interfaces
                                                                                                                    +
                                                                                                                    308 */
                                                                                                                    +
                                                                                                                    309
                                                                                                                    +
                                                                                                                    310 main_ecu.init(); // initial shutdown circuit readings,
                                                                                                                    +
                                                                                                                    311 wd_interface.init(curr_tick.millis); // initialize wd kick time
                                                                                                                    +
                                                                                                                    312 ams_interface.init(curr_tick.millis); // initialize last heartbeat time
                                                                                                                    +
                                                                                                                    313 steering1.init();
                                                                                                                    +
                                                                                                                    314 steering1.setOffset(PRIMARY_STEERING_SENSE_OFFSET);
                                                                                                                    +
                                                                                                                    315
                                                                                                                    +
                                                                                                                    316 Serial.begin(115200);
                                                                                                                    +
                                                                                                                    317
                                                                                                                    +
                                                                                                                    318 /*
                                                                                                                    +
                                                                                                                    319 Init Systems
                                                                                                                    +
                                                                                                                    320 */
                                                                                                                    +
                                                                                                                    321 safety_system.init();
                                                                                                                    +
                                                                                                                    322
                                                                                                                    +
                                                                                                                    323 // Drivetrain set all inverters disabled
                                                                                                                    +
                                                                                                                    324 drivetrain.disable(); // write inv_en and inv_24V_en low: writing high in previous code though, should double check
                                                                                                                    +
                                                                                                                    325 // would an error list be good for debugging? i.e. which inverter has error
                                                                                                                    +
                                                                                                                    326
                                                                                                                    +
                                                                                                                    327 // ControllerMux set max torque to 20 NM, torque mode to whatever makes most sense
                                                                                                                    +
                                                                                                                    328 // Preventing drivers from forgetting to toggle torque mode and end up self-derating at comp
                                                                                                                    +
                                                                                                                    329 // Not strictly necessary at the moment, just don't forget
                                                                                                                    +
                                                                                                                    330}
                                                                                                                    +
                                                                                                                    MCU15_BRAKE1_CHANNEL
                                                                                                                    const int MCU15_BRAKE1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:21
                                                                                                                    +
                                                                                                                    LOADCELL_FL_SCALE
                                                                                                                    const float LOADCELL_FL_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:88
                                                                                                                    +
                                                                                                                    MCU15_THERM_FR
                                                                                                                    const int MCU15_THERM_FR
                                                                                                                    Definition: MCU_rev15_defs.h:36
                                                                                                                    +
                                                                                                                    MCU15_ACCEL2_CHANNEL
                                                                                                                    const int MCU15_ACCEL2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:20
                                                                                                                    +
                                                                                                                    LOADCELL_FL_OFFSET
                                                                                                                    const float LOADCELL_FL_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:89
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    +
                                                                                                                    STEERING_RANGE_DEGREES
                                                                                                                    const float STEERING_RANGE_DEGREES
                                                                                                                    Definition: MCU_rev15_defs.h:105
                                                                                                                    +
                                                                                                                    MCU15_THERM_FL
                                                                                                                    const int MCU15_THERM_FL
                                                                                                                    Definition: MCU_rev15_defs.h:35
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    +
                                                                                                                    LOADCELL_FR_SCALE
                                                                                                                    const float LOADCELL_FR_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:91
                                                                                                                    +
                                                                                                                    MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:31
                                                                                                                    +
                                                                                                                    MCU15_BRAKE2_CHANNEL
                                                                                                                    const int MCU15_BRAKE2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:22
                                                                                                                    +
                                                                                                                    MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:30
                                                                                                                    +
                                                                                                                    SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:103
                                                                                                                    +
                                                                                                                    MCU15_ACCEL1_CHANNEL
                                                                                                                    const int MCU15_ACCEL1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:19
                                                                                                                    +
                                                                                                                    PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    const float PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:101
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    +
                                                                                                                    LOADCELL_FR_OFFSET
                                                                                                                    const float LOADCELL_FR_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:92
                                                                                                                    +
                                                                                                                    SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:102
                                                                                                                    +
                                                                                                                    SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    const int SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    Definition: MCU_rev15_defs.h:104
                                                                                                                    AMSInterface::init
                                                                                                                    void init(unsigned long curr_millis)
                                                                                                                    Definition: AMSInterface.cpp:3
                                                                                                                    WatchdogInterface::init
                                                                                                                    void init(unsigned long curr_millis)
                                                                                                                    Definition: WatchdogInterface.cpp:4
                                                                                                                    -
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:98
                                                                                                                    -
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:138
                                                                                                                    +
                                                                                                                    mcu_adc
                                                                                                                    Teensy_ADC< 2 > mcu_adc
                                                                                                                    Definition: main.cpp:108
                                                                                                                    +
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:106
                                                                                                                    +
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:148
                                                                                                                    wd_interface
                                                                                                                    WatchdogInterface wd_interface(32)
                                                                                                                    -
                                                                                                                    init_all_CAN_devices
                                                                                                                    void init_all_CAN_devices()
                                                                                                                    Definition: main.cpp:352
                                                                                                                    -
                                                                                                                    a3
                                                                                                                    MCP_ADC< 4 > a3
                                                                                                                    Definition: main.cpp:99
                                                                                                                    +
                                                                                                                    init_all_CAN_devices
                                                                                                                    void init_all_CAN_devices()
                                                                                                                    Definition: main.cpp:394
                                                                                                                    +
                                                                                                                    a3
                                                                                                                    MCP_ADC< 4 > a3
                                                                                                                    Definition: main.cpp:107
                                                                                                                    @@ -506,80 +589,82 @@

                                                                                                                    -

                                                                                                                    Definition at line 377 of file main.cpp.

                                                                                                                    -
                                                                                                                    378{
                                                                                                                    -
                                                                                                                    379
                                                                                                                    -
                                                                                                                    380 TriggerBits_s t = current_system_tick.triggers;
                                                                                                                    -
                                                                                                                    381 if (t.trigger10) // 10Hz
                                                                                                                    -
                                                                                                                    382 {
                                                                                                                    -
                                                                                                                    383 dashboard.tick10(
                                                                                                                    -
                                                                                                                    384 &main_ecu,
                                                                                                                    -
                                                                                                                    385 int(fsm.get_state()),
                                                                                                                    -
                                                                                                                    386 buzzer.buzzer_is_on(),
                                                                                                                    -
                                                                                                                    387 drivetrain.drivetrain_error_occured(),
                                                                                                                    -
                                                                                                                    388 torque_controller_mux.getTorqueLimit(),
                                                                                                                    -
                                                                                                                    389 ams_interface.get_filtered_min_cell_voltage(),
                                                                                                                    -
                                                                                                                    390 telem_interface.get_glv_voltage(a1.get()),
                                                                                                                    -
                                                                                                                    391 static_cast<int>(torque_controller_mux.activeController()->get_launch_state()),
                                                                                                                    -
                                                                                                                    392 dashboard.getDialMode());
                                                                                                                    -
                                                                                                                    393
                                                                                                                    -
                                                                                                                    394 main_ecu.tick(
                                                                                                                    -
                                                                                                                    395 static_cast<int>(fsm.get_state()),
                                                                                                                    -
                                                                                                                    396 drivetrain.drivetrain_error_occured(),
                                                                                                                    -
                                                                                                                    397 safety_system.get_software_is_ok(),
                                                                                                                    -
                                                                                                                    398 static_cast<int>(torque_controller_mux.getDriveMode()),
                                                                                                                    -
                                                                                                                    399 static_cast<int>(torque_controller_mux.getTorqueLimit()),
                                                                                                                    -
                                                                                                                    400 torque_controller_mux.getMaxTorque(),
                                                                                                                    -
                                                                                                                    401 buzzer.buzzer_is_on(),
                                                                                                                    -
                                                                                                                    402 pedals_system.getPedalsSystemData(),
                                                                                                                    -
                                                                                                                    403 ams_interface.pack_charge_is_critical(),
                                                                                                                    -
                                                                                                                    404 dashboard.launchControlButtonPressed());
                                                                                                                    -
                                                                                                                    405
                                                                                                                    -
                                                                                                                    406 PedalsSystemData_s data2 = pedals_system.getPedalsSystemDataCopy();
                                                                                                                    -
                                                                                                                    407
                                                                                                                    -
                                                                                                                    408 telem_interface.tick(
                                                                                                                    -
                                                                                                                    409 a1.get(),
                                                                                                                    -
                                                                                                                    410 a2.get(),
                                                                                                                    -
                                                                                                                    411 a3.get(),
                                                                                                                    -
                                                                                                                    412 steering1.convert(),
                                                                                                                    -
                                                                                                                    413 &inv.fl,
                                                                                                                    -
                                                                                                                    414 &inv.fr,
                                                                                                                    -
                                                                                                                    415 &inv.rl,
                                                                                                                    -
                                                                                                                    416 &inv.rr,
                                                                                                                    -
                                                                                                                    417 data2.accelImplausible,
                                                                                                                    -
                                                                                                                    418 data2.brakeImplausible,
                                                                                                                    -
                                                                                                                    419 data2.accelPercent,
                                                                                                                    -
                                                                                                                    420 data2.brakePercent,
                                                                                                                    -
                                                                                                                    421 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    -
                                                                                                                    422 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    -
                                                                                                                    423 a1.get().conversions[MCU15_BRAKE1_CHANNEL],
                                                                                                                    -
                                                                                                                    424 a1.get().conversions[MCU15_BRAKE2_CHANNEL],
                                                                                                                    -
                                                                                                                    425 pedals_system.getMechBrakeActiveThreshold(),
                                                                                                                    -
                                                                                                                    426 {});
                                                                                                                    -
                                                                                                                    427 }
                                                                                                                    -
                                                                                                                    428
                                                                                                                    -
                                                                                                                    429 if (t.trigger50) // 50Hz
                                                                                                                    -
                                                                                                                    430 {
                                                                                                                    -
                                                                                                                    431 steering1.sample();
                                                                                                                    -
                                                                                                                    432 }
                                                                                                                    -
                                                                                                                    433
                                                                                                                    -
                                                                                                                    434 if (t.trigger100) // 100Hz
                                                                                                                    -
                                                                                                                    435 {
                                                                                                                    -
                                                                                                                    436
                                                                                                                    -
                                                                                                                    437 a1.tick();
                                                                                                                    -
                                                                                                                    438 a2.tick();
                                                                                                                    -
                                                                                                                    439 a3.tick();
                                                                                                                    -
                                                                                                                    440 load_cell_interface.tick(
                                                                                                                    -
                                                                                                                    441 (LoadCellInterfaceTick_s){
                                                                                                                    -
                                                                                                                    442 .FLConversion = a2.get().conversions[MCU15_FL_LOADCELL_CHANNEL],
                                                                                                                    -
                                                                                                                    443 .FRConversion = a3.get().conversions[MCU15_FR_LOADCELL_CHANNEL],
                                                                                                                    -
                                                                                                                    444 .RLConversion = sab_interface.rlLoadCell.convert(),
                                                                                                                    -
                                                                                                                    445 .RRConversion = sab_interface.rrLoadCell.convert()});
                                                                                                                    -
                                                                                                                    446 }
                                                                                                                    -
                                                                                                                    447 // // Untriggered
                                                                                                                    -
                                                                                                                    448 main_ecu.read_mcu_status(); // should be executed at the same rate as state machine
                                                                                                                    -
                                                                                                                    449 // DO NOT call in main_ecu.tick()
                                                                                                                    -
                                                                                                                    450}
                                                                                                                    +

                                                                                                                    Definition at line 419 of file main.cpp.

                                                                                                                    +
                                                                                                                    420{
                                                                                                                    +
                                                                                                                    421
                                                                                                                    +
                                                                                                                    422 TriggerBits_s t = current_system_tick.triggers;
                                                                                                                    +
                                                                                                                    423 if (t.trigger10) // 10Hz
                                                                                                                    +
                                                                                                                    424 {
                                                                                                                    +
                                                                                                                    425 dashboard.tick10(
                                                                                                                    +
                                                                                                                    426 &main_ecu,
                                                                                                                    +
                                                                                                                    427 int(fsm.get_state()),
                                                                                                                    +
                                                                                                                    428 buzzer.buzzer_is_on(),
                                                                                                                    +
                                                                                                                    429 drivetrain.drivetrain_error_occured(),
                                                                                                                    +
                                                                                                                    430 torque_controller_mux.getTorqueLimit(),
                                                                                                                    +
                                                                                                                    431 ams_interface.get_filtered_min_cell_voltage(),
                                                                                                                    +
                                                                                                                    432 telem_interface.get_glv_voltage(a1.get()),
                                                                                                                    +
                                                                                                                    433 static_cast<int>(torque_controller_mux.activeController()->get_launch_state()),
                                                                                                                    +
                                                                                                                    434 dashboard.getDialMode());
                                                                                                                    +
                                                                                                                    435
                                                                                                                    +
                                                                                                                    436 main_ecu.tick(
                                                                                                                    +
                                                                                                                    437 static_cast<int>(fsm.get_state()),
                                                                                                                    +
                                                                                                                    438 drivetrain.drivetrain_error_occured(),
                                                                                                                    +
                                                                                                                    439 safety_system.get_software_is_ok(),
                                                                                                                    +
                                                                                                                    440 static_cast<int>(torque_controller_mux.getDriveMode()),
                                                                                                                    +
                                                                                                                    441 static_cast<int>(torque_controller_mux.getTorqueLimit()),
                                                                                                                    +
                                                                                                                    442 torque_controller_mux.getMaxTorque(),
                                                                                                                    +
                                                                                                                    443 buzzer.buzzer_is_on(),
                                                                                                                    +
                                                                                                                    444 pedals_system.getPedalsSystemData(),
                                                                                                                    +
                                                                                                                    445 ams_interface.pack_charge_is_critical(),
                                                                                                                    +
                                                                                                                    446 dashboard.launchControlButtonPressed());
                                                                                                                    +
                                                                                                                    447
                                                                                                                    +
                                                                                                                    448 PedalsSystemData_s data2 = pedals_system.getPedalsSystemDataCopy();
                                                                                                                    +
                                                                                                                    449
                                                                                                                    +
                                                                                                                    450 telem_interface.tick(
                                                                                                                    +
                                                                                                                    451 a1.get(),
                                                                                                                    +
                                                                                                                    452 a2.get(),
                                                                                                                    +
                                                                                                                    453 a3.get(),
                                                                                                                    +
                                                                                                                    454 mcu_adc.get(),
                                                                                                                    +
                                                                                                                    455 steering1.convert(),
                                                                                                                    +
                                                                                                                    456 &inv.fl,
                                                                                                                    +
                                                                                                                    457 &inv.fr,
                                                                                                                    +
                                                                                                                    458 &inv.rl,
                                                                                                                    +
                                                                                                                    459 &inv.rr,
                                                                                                                    +
                                                                                                                    460 data2.accelImplausible,
                                                                                                                    +
                                                                                                                    461 data2.brakeImplausible,
                                                                                                                    +
                                                                                                                    462 data2.accelPercent,
                                                                                                                    +
                                                                                                                    463 data2.brakePercent,
                                                                                                                    +
                                                                                                                    464 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    +
                                                                                                                    465 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    +
                                                                                                                    466 a1.get().conversions[MCU15_BRAKE1_CHANNEL],
                                                                                                                    +
                                                                                                                    467 a1.get().conversions[MCU15_BRAKE2_CHANNEL],
                                                                                                                    +
                                                                                                                    468 pedals_system.getMechBrakeActiveThreshold(),
                                                                                                                    +
                                                                                                                    469 {});
                                                                                                                    +
                                                                                                                    470 }
                                                                                                                    +
                                                                                                                    471
                                                                                                                    +
                                                                                                                    472 if (t.trigger50) // 50Hz
                                                                                                                    +
                                                                                                                    473 {
                                                                                                                    +
                                                                                                                    474 steering1.sample();
                                                                                                                    +
                                                                                                                    475 }
                                                                                                                    +
                                                                                                                    476
                                                                                                                    +
                                                                                                                    477 if (t.trigger100) // 100Hz
                                                                                                                    +
                                                                                                                    478 {
                                                                                                                    +
                                                                                                                    479
                                                                                                                    +
                                                                                                                    480 a1.tick();
                                                                                                                    +
                                                                                                                    481 a2.tick();
                                                                                                                    +
                                                                                                                    482 a3.tick();
                                                                                                                    +
                                                                                                                    483 mcu_adc.tick();
                                                                                                                    +
                                                                                                                    484 load_cell_interface.tick(
                                                                                                                    +
                                                                                                                    485 (LoadCellInterfaceTick_s){
                                                                                                                    +
                                                                                                                    486 .FLConversion = a2.get().conversions[MCU15_FL_LOADCELL_CHANNEL],
                                                                                                                    +
                                                                                                                    487 .FRConversion = a3.get().conversions[MCU15_FR_LOADCELL_CHANNEL],
                                                                                                                    +
                                                                                                                    488 .RLConversion = sab_interface.rlLoadCell.convert(),
                                                                                                                    +
                                                                                                                    489 .RRConversion = sab_interface.rrLoadCell.convert()});
                                                                                                                    +
                                                                                                                    490 }
                                                                                                                    +
                                                                                                                    491 // // Untriggered
                                                                                                                    +
                                                                                                                    492 main_ecu.read_mcu_status(); // should be executed at the same rate as state machine
                                                                                                                    +
                                                                                                                    493 // DO NOT call in main_ecu.tick()
                                                                                                                    +
                                                                                                                    494}
                                                                                                                    AMSInterface::get_filtered_min_cell_voltage
                                                                                                                    float get_filtered_min_cell_voltage()
                                                                                                                    Definition: AMSInterface.cpp:60
                                                                                                                    AMSInterface::pack_charge_is_critical
                                                                                                                    bool pack_charge_is_critical()
                                                                                                                    Definition: AMSInterface.cpp:49
                                                                                                                    AnalogChannel::convert
                                                                                                                    AnalogConversion_s convert()
                                                                                                                    Calculate sensor output and whether result is in sensor's defined bounds. DOES NOT SAMPLE.
                                                                                                                    @@ -595,11 +680,11 @@

                                                                                                                    TorqueControllerMux::activeController
                                                                                                                    TorqueControllerBase * activeController()
                                                                                                                    Definition: TorqueControllerMux.h:132

                                                                                                                    TorqueControllerMux::getTorqueLimit
                                                                                                                    const TorqueLimit_e & getTorqueLimit()
                                                                                                                    Definition: TorqueControllerMux.h:102
                                                                                                                    TorqueControllerMux::getDriveMode
                                                                                                                    const TorqueController_e getDriveMode()
                                                                                                                    Definition: TorqueControllerMux.h:127
                                                                                                                    -
                                                                                                                    load_cell_interface
                                                                                                                    LoadCellInterface load_cell_interface
                                                                                                                    Definition: main.cpp:118
                                                                                                                    +
                                                                                                                    load_cell_interface
                                                                                                                    LoadCellInterface load_cell_interface
                                                                                                                    Definition: main.cpp:128
                                                                                                                    pedals_system
                                                                                                                    PedalsSystem pedals_system(accel_params, brake_params)
                                                                                                                    sab_interface
                                                                                                                    SABInterface sab_interface(LOADCELL_RL_SCALE, LOADCELL_RL_OFFSET, LOADCELL_RR_SCALE, LOADCELL_RR_OFFSET)
                                                                                                                    inv
                                                                                                                    struct inverters inv
                                                                                                                    -
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:213
                                                                                                                    +
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:236
                                                                                                                    torque_controller_mux
                                                                                                                    TorqueControllerMux torque_controller_mux(1.0, 0.4)
                                                                                                                    LoadCellInterfaceTick_s
                                                                                                                    Definition: LoadCellInterface.h:11
                                                                                                                    PedalsSystemData_s
                                                                                                                    system interface struct that contains the data from the pedal system
                                                                                                                    Definition: PedalsSystem.h:11
                                                                                                                    @@ -607,10 +692,10 @@

                                                                                                                    PedalsSystemData_s::accelPercent
                                                                                                                    float accelPercent
                                                                                                                    Definition: PedalsSystem.h:19

                                                                                                                    PedalsSystemData_s::accelImplausible
                                                                                                                    bool accelImplausible
                                                                                                                    Definition: PedalsSystem.h:12
                                                                                                                    PedalsSystemData_s::brakeImplausible
                                                                                                                    bool brakeImplausible
                                                                                                                    Definition: PedalsSystem.h:13
                                                                                                                    -
                                                                                                                    inverters::rr
                                                                                                                    InvInt_t rr
                                                                                                                    Definition: main.cpp:127
                                                                                                                    -
                                                                                                                    inverters::rl
                                                                                                                    InvInt_t rl
                                                                                                                    Definition: main.cpp:126
                                                                                                                    -
                                                                                                                    inverters::fr
                                                                                                                    InvInt_t fr
                                                                                                                    Definition: main.cpp:125
                                                                                                                    -
                                                                                                                    inverters::fl
                                                                                                                    InvInt_t fl
                                                                                                                    Definition: main.cpp:124
                                                                                                                    +
                                                                                                                    inverters::rr
                                                                                                                    InvInt_t rr
                                                                                                                    Definition: main.cpp:137
                                                                                                                    +
                                                                                                                    inverters::rl
                                                                                                                    InvInt_t rl
                                                                                                                    Definition: main.cpp:136
                                                                                                                    +
                                                                                                                    inverters::fr
                                                                                                                    InvInt_t fr
                                                                                                                    Definition: main.cpp:135
                                                                                                                    +
                                                                                                                    inverters::fl
                                                                                                                    InvInt_t fl
                                                                                                                    Definition: main.cpp:134
                                                                                                                    @@ -630,63 +715,56 @@

                                                                                                                    -

                                                                                                                    Definition at line 456 of file main.cpp.

                                                                                                                    -
                                                                                                                    457{
                                                                                                                    -
                                                                                                                    458 // tick pedals system
                                                                                                                    -
                                                                                                                    459
                                                                                                                    -
                                                                                                                    460 // Serial.println("accel1");
                                                                                                                    -
                                                                                                                    461 // Serial.println(a1.get().conversions[MCU15_ACCEL1_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    462 // Serial.println("accel2");
                                                                                                                    -
                                                                                                                    463 // Serial.println(a1.get().conversions[MCU15_ACCEL2_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    464 // Serial.println("brake1");
                                                                                                                    -
                                                                                                                    465 // Serial.println(a1.get().conversions[MCU15_BRAKE1_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    466 // Serial.println("brake2");
                                                                                                                    -
                                                                                                                    467 // Serial.println(a1.get().conversions[MCU15_BRAKE2_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    468
                                                                                                                    -
                                                                                                                    469 pedals_system.tick(
                                                                                                                    -
                                                                                                                    470 current_system_tick,
                                                                                                                    -
                                                                                                                    471 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    -
                                                                                                                    472 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    -
                                                                                                                    473 a1.get().conversions[MCU15_BRAKE1_CHANNEL]);
                                                                                                                    -
                                                                                                                    474
                                                                                                                    -
                                                                                                                    475 // tick steering system
                                                                                                                    -
                                                                                                                    476 steering_system.tick(
                                                                                                                    -
                                                                                                                    477 (SteeringSystemTick_s){
                                                                                                                    -
                                                                                                                    478 .tick = current_system_tick,
                                                                                                                    -
                                                                                                                    479 .secondaryConversion = a1.get().conversions[MCU15_STEERING_CHANNEL]});
                                                                                                                    -
                                                                                                                    480
                                                                                                                    -
                                                                                                                    481 // Serial.println("Steering angle");
                                                                                                                    -
                                                                                                                    482 // Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    -
                                                                                                                    483 // Serial.println("Steering status");
                                                                                                                    -
                                                                                                                    484 // Serial.println(static_cast<int>(steering_system.getSteeringSystemData().status));
                                                                                                                    -
                                                                                                                    485
                                                                                                                    -
                                                                                                                    486 // tick drivetrain system
                                                                                                                    -
                                                                                                                    487 drivetrain.tick(current_system_tick);
                                                                                                                    -
                                                                                                                    488 // // tick torque controller mux
                                                                                                                    -
                                                                                                                    489
                                                                                                                    -
                                                                                                                    490 DrivetrainCommand_s controller_output = case_system.evaluate(
                                                                                                                    -
                                                                                                                    491 current_system_tick,
                                                                                                                    -
                                                                                                                    492 vn_interface.get_vn_struct(),
                                                                                                                    -
                                                                                                                    493 steering_system.getSteeringSystemData(),
                                                                                                                    -
                                                                                                                    494 drivetrain.get_dynamic_data(),
                                                                                                                    -
                                                                                                                    495 load_cell_interface.getLoadCellForces().loadCellConversions, // should CASE use filtered load cells?
                                                                                                                    -
                                                                                                                    496 pedals_system.getPedalsSystemData(),
                                                                                                                    -
                                                                                                                    497 0,
                                                                                                                    -
                                                                                                                    498 fsm.get_state(),
                                                                                                                    -
                                                                                                                    499 dashboard.startButtonPressed(),
                                                                                                                    -
                                                                                                                    500 3);
                                                                                                                    -
                                                                                                                    501
                                                                                                                    -
                                                                                                                    502 torque_controller_mux.tick(
                                                                                                                    -
                                                                                                                    503 current_system_tick,
                                                                                                                    -
                                                                                                                    504 drivetrain.get_dynamic_data(),
                                                                                                                    -
                                                                                                                    505 pedals_system.getPedalsSystemData(),
                                                                                                                    -
                                                                                                                    506 steering_system.getSteeringSystemData(),
                                                                                                                    -
                                                                                                                    507 load_cell_interface.getLoadCellForces(),
                                                                                                                    -
                                                                                                                    508 dashboard.getDialMode(),
                                                                                                                    -
                                                                                                                    509 dashboard.torqueModeButtonPressed(),
                                                                                                                    -
                                                                                                                    510 vn_interface.get_vn_struct(),
                                                                                                                    -
                                                                                                                    511 controller_output);
                                                                                                                    -
                                                                                                                    512}
                                                                                                                    +

                                                                                                                    Definition at line 500 of file main.cpp.

                                                                                                                    +
                                                                                                                    501{
                                                                                                                    +
                                                                                                                    502 // tick pedals system
                                                                                                                    +
                                                                                                                    503
                                                                                                                    +
                                                                                                                    504 pedals_system.tick(
                                                                                                                    +
                                                                                                                    505 current_system_tick,
                                                                                                                    +
                                                                                                                    506 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    +
                                                                                                                    507 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    +
                                                                                                                    508 a1.get().conversions[MCU15_BRAKE1_CHANNEL]);
                                                                                                                    +
                                                                                                                    509
                                                                                                                    +
                                                                                                                    510 // tick steering system
                                                                                                                    +
                                                                                                                    511 steering_system.tick(
                                                                                                                    +
                                                                                                                    512 (SteeringSystemTick_s){
                                                                                                                    +
                                                                                                                    513 .tick = current_system_tick,
                                                                                                                    +
                                                                                                                    514 .secondaryConversion = a1.get().conversions[MCU15_STEERING_CHANNEL]});
                                                                                                                    +
                                                                                                                    515
                                                                                                                    +
                                                                                                                    516 // Serial.println("Steering angle");
                                                                                                                    +
                                                                                                                    517 // Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    +
                                                                                                                    518 // Serial.println("Steering status");
                                                                                                                    +
                                                                                                                    519 // Serial.println(static_cast<int>(steering_system.getSteeringSystemData().status));
                                                                                                                    +
                                                                                                                    520
                                                                                                                    +
                                                                                                                    521 // tick drivetrain system
                                                                                                                    +
                                                                                                                    522 drivetrain.tick(current_system_tick);
                                                                                                                    +
                                                                                                                    523 // // tick torque controller mux
                                                                                                                    +
                                                                                                                    524
                                                                                                                    +
                                                                                                                    525 DrivetrainCommand_s controller_output = case_system.evaluate(
                                                                                                                    +
                                                                                                                    526 current_system_tick,
                                                                                                                    +
                                                                                                                    527 vn_interface.get_vn_struct(),
                                                                                                                    +
                                                                                                                    528 steering_system.getSteeringSystemData(),
                                                                                                                    +
                                                                                                                    529 drivetrain.get_dynamic_data(),
                                                                                                                    +
                                                                                                                    530 load_cell_interface.getLoadCellForces().loadCellConversions, // should CASE use filtered load cells?
                                                                                                                    +
                                                                                                                    531 pedals_system.getPedalsSystemData(),
                                                                                                                    +
                                                                                                                    532 0,
                                                                                                                    +
                                                                                                                    533 fsm.get_state(),
                                                                                                                    +
                                                                                                                    534 dashboard.startButtonPressed(),
                                                                                                                    +
                                                                                                                    535 3);
                                                                                                                    +
                                                                                                                    536
                                                                                                                    +
                                                                                                                    537 // case_system.update_config_from_param_interface(param_interface);
                                                                                                                    +
                                                                                                                    538
                                                                                                                    +
                                                                                                                    539 torque_controller_mux.tick(
                                                                                                                    +
                                                                                                                    540 current_system_tick,
                                                                                                                    +
                                                                                                                    541 drivetrain.get_dynamic_data(),
                                                                                                                    +
                                                                                                                    542 pedals_system.getPedalsSystemData(),
                                                                                                                    +
                                                                                                                    543 steering_system.getSteeringSystemData(),
                                                                                                                    +
                                                                                                                    544 load_cell_interface.getLoadCellForces(),
                                                                                                                    +
                                                                                                                    545 dashboard.getDialMode(),
                                                                                                                    +
                                                                                                                    546 dashboard.torqueModeButtonPressed(),
                                                                                                                    +
                                                                                                                    547 vn_interface.get_vn_struct(),
                                                                                                                    +
                                                                                                                    548 controller_output);
                                                                                                                    +
                                                                                                                    549}
                                                                                                                    DrivetrainSystem::tick
                                                                                                                    void tick(const SysTick_s &tick)
                                                                                                                    DrivetrainSystem::get_dynamic_data
                                                                                                                    DrivetrainDynamicReport_s get_dynamic_data()
                                                                                                                    LoadCellInterface::getLoadCellForces
                                                                                                                    LoadCellInterfaceOutput_s getLoadCellForces()
                                                                                                                    Definition: LoadCellInterface.cpp:35
                                                                                                                    @@ -694,7 +772,7 @@

                                                                                                                    TorqueControllerMux::tick
                                                                                                                    void tick(const SysTick_s &tick, const DrivetrainDynamicReport_s &drivetrainData, const PedalsSystemData_s &pedalsData, const SteeringSystemData_s &steeringData, const LoadCellInterfaceOutput_s &loadCellData, DialMode_e dashboardDialMode, bool dashboardTorqueModeButtonPressed, const vector_nav &vn_data, const DrivetrainCommand_s &CASECommand)
                                                                                                                    Definition: TorqueControllerMux.cpp:5

                                                                                                                    DrivetrainCommand_s
                                                                                                                    Definition: DrivetrainSystem.h:11
                                                                                                                    LoadCellInterfaceOutput_s::loadCellConversions
                                                                                                                    veh_vec< AnalogConversion_s > loadCellConversions
                                                                                                                    Definition: LoadCellInterface.h:21
                                                                                                                    -
                                                                                                                    SteeringSystemTick_s
                                                                                                                    Definition: SteeringSystem.h:26
                                                                                                                    +
                                                                                                                    SteeringSystemTick_s
                                                                                                                    Definition: SteeringSystem.h:29
                                                                                                                    @@ -711,7 +789,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 97 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 105 of file main.cpp.

                                                                                                                    @@ -727,7 +805,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 98 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 106 of file main.cpp.

                                                                                                                    @@ -743,7 +821,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 99 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 107 of file main.cpp.

                                                                                                                    @@ -771,15 +849,15 @@

                                                                                                                    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
                                                                                                                    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
                                                                                                                    .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE}
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    -
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:79
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:78
                                                                                                                    +
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:81
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    -

                                                                                                                    Definition at line 55 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 60 of file main.cpp.

                                                                                                                    @@ -799,7 +877,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 138 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 148 of file main.cpp.

                                                                                                                    @@ -828,14 +906,14 @@

                                                                                                                    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
                                                                                                                    .mechanical_activation_percentage = BRAKE_MECH_THRESH,
                                                                                                                    }
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    -
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    -
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:71
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:73
                                                                                                                    +
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:82
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:72
                                                                                                                    +
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:83
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:76
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:75
                                                                                                                    -

                                                                                                                    Definition at line 69 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 74 of file main.cpp.

                                                                                                                    @@ -855,7 +933,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 213 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 236 of file main.cpp.

                                                                                                                    @@ -871,7 +949,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 106 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 116 of file main.cpp.

                                                                                                                    @@ -887,7 +965,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 219 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 242 of file main.cpp.

                                                                                                                    @@ -903,7 +981,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 145 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 155 of file main.cpp.

                                                                                                                    @@ -919,7 +997,23 @@

                                                                                                                    -

                                                                                                                    Definition at line 142 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 152 of file main.cpp.

                                                                                                                    + + + + +

                                                                                                                    ◆ ethernet_interfaces

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    ETHInterfaces ethernet_interfaces = {&param_interface}
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 115 of file main.cpp.

                                                                                                                    @@ -949,7 +1043,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 89 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 97 of file main.cpp.

                                                                                                                    @@ -965,7 +1059,39 @@

                                                                                                                    -

                                                                                                                    Definition at line 118 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 128 of file main.cpp.

                                                                                                                    + + + + +

                                                                                                                    ◆ mcu_adc

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    Teensy_ADC<2> mcu_adc = Teensy_ADC<2>(DEFAULT_ANALOG_PINS)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 108 of file main.cpp.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ param_interface

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    ParameterInterface param_interface
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 114 of file main.cpp.

                                                                                                                    @@ -995,6 +1121,38 @@

                                                                                                                    + + + +

                                                                                                                    ◆ protobuf_recv_socket

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 94 of file main.cpp.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ protobuf_send_socket

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 93 of file main.cpp.

                                                                                                                    +
                                                                                                                    @@ -1049,7 +1207,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 101 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 109 of file main.cpp.

                                                                                                                    @@ -1065,7 +1223,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 135 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 145 of file main.cpp.

                                                                                                                    @@ -1081,7 +1239,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 134 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 144 of file main.cpp.

                                                                                                                    @@ -1097,7 +1255,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 90 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 98 of file main.cpp.

                                                                                                                    @@ -1124,14 +1282,18 @@

                                                                                                                    .analog_steering_channel = MCU15_STEERING_CHANNEL,
                                                                                                                    .current_channel = MCU15_CUR_POS_SENSE_CHANNEL,
                                                                                                                    .current_ref_channel = MCU15_CUR_NEG_SENSE_CHANNEL,
                                                                                                                    -
                                                                                                                    .glv_sense_channel = MCU15_GLV_SENSE_CHANNEL}
                                                                                                                    -
                                                                                                                    MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:21
                                                                                                                    -
                                                                                                                    MCU15_GLV_SENSE_CHANNEL
                                                                                                                    const int MCU15_GLV_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:19
                                                                                                                    -
                                                                                                                    MCU15_FL_POTS_CHANNEL
                                                                                                                    const int MCU15_FL_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:24
                                                                                                                    -
                                                                                                                    MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:22
                                                                                                                    -
                                                                                                                    MCU15_FR_POTS_CHANNEL
                                                                                                                    const int MCU15_FR_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:25
                                                                                                                    +
                                                                                                                    .glv_sense_channel = MCU15_GLV_SENSE_CHANNEL,
                                                                                                                    +
                                                                                                                    .therm_fl_channel = MCU15_THERM_FL_CHANNEL,
                                                                                                                    +
                                                                                                                    .therm_fr_channel = MCU15_THERM_FR_CHANNEL}
                                                                                                                    +
                                                                                                                    MCU15_THERM_FR_CHANNEL
                                                                                                                    const int MCU15_THERM_FR_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:38
                                                                                                                    +
                                                                                                                    MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:25
                                                                                                                    +
                                                                                                                    MCU15_GLV_SENSE_CHANNEL
                                                                                                                    const int MCU15_GLV_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:23
                                                                                                                    +
                                                                                                                    MCU15_FL_POTS_CHANNEL
                                                                                                                    const int MCU15_FL_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:28
                                                                                                                    +
                                                                                                                    MCU15_THERM_FL_CHANNEL
                                                                                                                    const int MCU15_THERM_FL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:37
                                                                                                                    +
                                                                                                                    MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:26
                                                                                                                    +
                                                                                                                    MCU15_FR_POTS_CHANNEL
                                                                                                                    const int MCU15_FR_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:29
                                                                                                                    -

                                                                                                                    Definition at line 41 of file main.cpp.

                                                                                                                    +

                                                                                                                    Definition at line 44 of file main.cpp.

                                                                                                                    diff --git a/src_2main_8cpp_source.html b/src_2main_8cpp_source.html index a0646e80e..329db6f6c 100644 --- a/src_2main_8cpp_source.html +++ b/src_2main_8cpp_source.html @@ -79,581 +79,643 @@ Go to the documentation of this file.
                                                                                                                    1/* Include files */
                                                                                                                    2/* System Includes*/
                                                                                                                    3#include <Arduino.h>
                                                                                                                    -
                                                                                                                    4
                                                                                                                    +
                                                                                                                    4#include "ParameterInterface.h"
                                                                                                                    5/* Libraries */
                                                                                                                    6#include "FlexCAN_T4.h"
                                                                                                                    7#include "HyTech_CAN.h"
                                                                                                                    8#include "MCU_rev15_defs.h"
                                                                                                                    -
                                                                                                                    9
                                                                                                                    -
                                                                                                                    10// /* Interfaces */
                                                                                                                    -
                                                                                                                    11#include "HytechCANInterface.h"
                                                                                                                    -
                                                                                                                    12#include "MCP_ADC.h"
                                                                                                                    -
                                                                                                                    13#include "ORBIS_BR10.h"
                                                                                                                    -
                                                                                                                    14#include "MCUInterface.h"
                                                                                                                    -
                                                                                                                    15#include "AMSInterface.h"
                                                                                                                    -
                                                                                                                    16#include "WatchdogInterface.h"
                                                                                                                    -
                                                                                                                    17#include "DashboardInterface.h"
                                                                                                                    -
                                                                                                                    18#include "InverterInterface.h"
                                                                                                                    -
                                                                                                                    19#include "TelemetryInterface.h"
                                                                                                                    -
                                                                                                                    20#include "SABInterface.h"
                                                                                                                    -
                                                                                                                    21#include "VectornavInterface.h"
                                                                                                                    -
                                                                                                                    22#include "LoadCellInterface.h"
                                                                                                                    -
                                                                                                                    23
                                                                                                                    -
                                                                                                                    24/* Systems */
                                                                                                                    -
                                                                                                                    25#include "SysClock.h"
                                                                                                                    -
                                                                                                                    26#include "Buzzer.h"
                                                                                                                    -
                                                                                                                    27#include "SafetySystem.h"
                                                                                                                    -
                                                                                                                    28#include "DrivetrainSystem.h"
                                                                                                                    -
                                                                                                                    29#include "PedalsSystem.h"
                                                                                                                    -
                                                                                                                    30#include "TorqueControllerMux.h"
                                                                                                                    -
                                                                                                                    31
                                                                                                                    -
                                                                                                                    32#include "CASESystem.h"
                                                                                                                    -
                                                                                                                    33// /* State machine */
                                                                                                                    -
                                                                                                                    34#include "MCUStateMachine.h"
                                                                                                                    -
                                                                                                                    35#include "HT08_CASE.h"
                                                                                                                    -
                                                                                                                    36
                                                                                                                    -
                                                                                                                    37/*
                                                                                                                    -
                                                                                                                    38 PARAMETER STRUCTS
                                                                                                                    -
                                                                                                                    39*/
                                                                                                                    -
                                                                                                                    40
                                                                                                                    -
                                                                                                                    41const TelemetryInterfaceReadChannels telem_read_channels = {
                                                                                                                    -
                                                                                                                    42 .accel1_channel = MCU15_ACCEL1_CHANNEL,
                                                                                                                    -
                                                                                                                    43 .accel2_channel = MCU15_ACCEL2_CHANNEL,
                                                                                                                    -
                                                                                                                    44 .brake1_channel = MCU15_BRAKE1_CHANNEL,
                                                                                                                    -
                                                                                                                    45 .brake2_channel = MCU15_BRAKE2_CHANNEL,
                                                                                                                    -
                                                                                                                    46 .pots_fl_channel = MCU15_FL_POTS_CHANNEL,
                                                                                                                    -
                                                                                                                    47 .pots_fr_channel = MCU15_FR_POTS_CHANNEL,
                                                                                                                    -
                                                                                                                    48 .loadcell_fl_channel = MCU15_FL_LOADCELL_CHANNEL,
                                                                                                                    -
                                                                                                                    49 .loadcell_fr_channel = MCU15_FR_LOADCELL_CHANNEL,
                                                                                                                    -
                                                                                                                    50 .analog_steering_channel = MCU15_STEERING_CHANNEL,
                                                                                                                    -
                                                                                                                    51 .current_channel = MCU15_CUR_POS_SENSE_CHANNEL,
                                                                                                                    -
                                                                                                                    52 .current_ref_channel = MCU15_CUR_NEG_SENSE_CHANNEL,
                                                                                                                    -
                                                                                                                    53 .glv_sense_channel = MCU15_GLV_SENSE_CHANNEL};
                                                                                                                    -
                                                                                                                    54
                                                                                                                    -
                                                                                                                    55const PedalsParams accel_params = {
                                                                                                                    -
                                                                                                                    56 .min_pedal_1 = ACCEL1_PEDAL_MIN,
                                                                                                                    -
                                                                                                                    57 .min_pedal_2 = ACCEL2_PEDAL_MIN,
                                                                                                                    -
                                                                                                                    58 .max_pedal_1 = ACCEL1_PEDAL_MAX,
                                                                                                                    -
                                                                                                                    59 .max_pedal_2 = ACCEL2_PEDAL_MAX,
                                                                                                                    -
                                                                                                                    60 .min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN,
                                                                                                                    -
                                                                                                                    61 .min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN,
                                                                                                                    -
                                                                                                                    62 .max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX,
                                                                                                                    -
                                                                                                                    63 .max_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MAX,
                                                                                                                    -
                                                                                                                    64 .activation_percentage = APPS_ACTIVATION_PERCENTAGE,
                                                                                                                    -
                                                                                                                    65 .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
                                                                                                                    -
                                                                                                                    66 .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
                                                                                                                    -
                                                                                                                    67 .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE};
                                                                                                                    -
                                                                                                                    68
                                                                                                                    -
                                                                                                                    69const PedalsParams brake_params = {
                                                                                                                    -
                                                                                                                    70 .min_pedal_1 = BRAKE1_PEDAL_MIN,
                                                                                                                    -
                                                                                                                    71 .min_pedal_2 = BRAKE2_PEDAL_MIN,
                                                                                                                    -
                                                                                                                    72 .max_pedal_1 = BRAKE1_PEDAL_MAX,
                                                                                                                    -
                                                                                                                    73 .max_pedal_2 = BRAKE2_PEDAL_MAX,
                                                                                                                    -
                                                                                                                    74 .min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN,
                                                                                                                    -
                                                                                                                    75 .min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN,
                                                                                                                    -
                                                                                                                    76 .max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX,
                                                                                                                    -
                                                                                                                    77 .max_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MAX,
                                                                                                                    -
                                                                                                                    78 .activation_percentage = BRAKE_ACTIVATION_PERCENTAGE,
                                                                                                                    -
                                                                                                                    79 .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
                                                                                                                    -
                                                                                                                    80 .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
                                                                                                                    -
                                                                                                                    81 .mechanical_activation_percentage = BRAKE_MECH_THRESH,
                                                                                                                    -
                                                                                                                    82};
                                                                                                                    -
                                                                                                                    83
                                                                                                                    -
                                                                                                                    84/*
                                                                                                                    -
                                                                                                                    85 DATA SOURCES
                                                                                                                    -
                                                                                                                    86*/
                                                                                                                    -
                                                                                                                    87
                                                                                                                    -
                                                                                                                    88/* Two CAN lines on Main ECU rev15 */
                                                                                                                    -
                                                                                                                    89FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> INV_CAN; // Inverter CAN (now both are on same line)
                                                                                                                    -
                                                                                                                    90FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> TELEM_CAN; // telemetry CAN (basically everything except inverters)
                                                                                                                    -
                                                                                                                    91
                                                                                                                    -
                                                                                                                    92/* Set up CAN circular buffer */
                                                                                                                    -
                                                                                                                    93// using CircularBufferType = Circular_Buffer<uint8_t, (uint32_t)32, sizeof(CAN_message_t)>;
                                                                                                                    -
                                                                                                                    94using CircularBufferType = CANBufferType;
                                                                                                                    +
                                                                                                                    9// #include "NativeEthernet.h"
                                                                                                                    +
                                                                                                                    10
                                                                                                                    +
                                                                                                                    11// /* Interfaces */
                                                                                                                    +
                                                                                                                    12
                                                                                                                    +
                                                                                                                    13#include "HytechCANInterface.h"
                                                                                                                    +
                                                                                                                    14#include "Teensy_ADC.h"
                                                                                                                    +
                                                                                                                    15#include "MCP_ADC.h"
                                                                                                                    +
                                                                                                                    16#include "ORBIS_BR10.h"
                                                                                                                    +
                                                                                                                    17#include "MCUInterface.h"
                                                                                                                    +
                                                                                                                    18#include "AMSInterface.h"
                                                                                                                    +
                                                                                                                    19#include "WatchdogInterface.h"
                                                                                                                    +
                                                                                                                    20#include "DashboardInterface.h"
                                                                                                                    +
                                                                                                                    21#include "InverterInterface.h"
                                                                                                                    +
                                                                                                                    22#include "TelemetryInterface.h"
                                                                                                                    +
                                                                                                                    23#include "SABInterface.h"
                                                                                                                    +
                                                                                                                    24#include "VectornavInterface.h"
                                                                                                                    +
                                                                                                                    25#include "LoadCellInterface.h"
                                                                                                                    +
                                                                                                                    26
                                                                                                                    +
                                                                                                                    27/* Systems */
                                                                                                                    +
                                                                                                                    28#include "SysClock.h"
                                                                                                                    +
                                                                                                                    29#include "Buzzer.h"
                                                                                                                    +
                                                                                                                    30#include "SafetySystem.h"
                                                                                                                    +
                                                                                                                    31#include "DrivetrainSystem.h"
                                                                                                                    +
                                                                                                                    32#include "PedalsSystem.h"
                                                                                                                    +
                                                                                                                    33#include "TorqueControllerMux.h"
                                                                                                                    +
                                                                                                                    34
                                                                                                                    +
                                                                                                                    35#include "CASESystem.h"
                                                                                                                    +
                                                                                                                    36// /* State machine */
                                                                                                                    +
                                                                                                                    37#include "MCUStateMachine.h"
                                                                                                                    +
                                                                                                                    38#include "HT08_CASE.h"
                                                                                                                    +
                                                                                                                    39
                                                                                                                    +
                                                                                                                    40/*
                                                                                                                    +
                                                                                                                    41 PARAMETER STRUCTS
                                                                                                                    +
                                                                                                                    42*/
                                                                                                                    +
                                                                                                                    43
                                                                                                                    +
                                                                                                                    44const TelemetryInterfaceReadChannels telem_read_channels = {
                                                                                                                    +
                                                                                                                    45 .accel1_channel = MCU15_ACCEL1_CHANNEL,
                                                                                                                    +
                                                                                                                    46 .accel2_channel = MCU15_ACCEL2_CHANNEL,
                                                                                                                    +
                                                                                                                    47 .brake1_channel = MCU15_BRAKE1_CHANNEL,
                                                                                                                    +
                                                                                                                    48 .brake2_channel = MCU15_BRAKE2_CHANNEL,
                                                                                                                    +
                                                                                                                    49 .pots_fl_channel = MCU15_FL_POTS_CHANNEL,
                                                                                                                    +
                                                                                                                    50 .pots_fr_channel = MCU15_FR_POTS_CHANNEL,
                                                                                                                    +
                                                                                                                    51 .loadcell_fl_channel = MCU15_FL_LOADCELL_CHANNEL,
                                                                                                                    +
                                                                                                                    52 .loadcell_fr_channel = MCU15_FR_LOADCELL_CHANNEL,
                                                                                                                    +
                                                                                                                    53 .analog_steering_channel = MCU15_STEERING_CHANNEL,
                                                                                                                    +
                                                                                                                    54 .current_channel = MCU15_CUR_POS_SENSE_CHANNEL,
                                                                                                                    +
                                                                                                                    55 .current_ref_channel = MCU15_CUR_NEG_SENSE_CHANNEL,
                                                                                                                    +
                                                                                                                    56 .glv_sense_channel = MCU15_GLV_SENSE_CHANNEL,
                                                                                                                    +
                                                                                                                    57 .therm_fl_channel = MCU15_THERM_FL_CHANNEL,
                                                                                                                    +
                                                                                                                    58 .therm_fr_channel = MCU15_THERM_FR_CHANNEL};
                                                                                                                    +
                                                                                                                    59
                                                                                                                    +
                                                                                                                    60const PedalsParams accel_params = {
                                                                                                                    +
                                                                                                                    61 .min_pedal_1 = ACCEL1_PEDAL_MIN,
                                                                                                                    +
                                                                                                                    62 .min_pedal_2 = ACCEL2_PEDAL_MIN,
                                                                                                                    +
                                                                                                                    63 .max_pedal_1 = ACCEL1_PEDAL_MAX,
                                                                                                                    +
                                                                                                                    64 .max_pedal_2 = ACCEL2_PEDAL_MAX,
                                                                                                                    +
                                                                                                                    65 .min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN,
                                                                                                                    +
                                                                                                                    66 .min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN,
                                                                                                                    +
                                                                                                                    67 .max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX,
                                                                                                                    +
                                                                                                                    68 .max_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MAX,
                                                                                                                    +
                                                                                                                    69 .activation_percentage = APPS_ACTIVATION_PERCENTAGE,
                                                                                                                    +
                                                                                                                    70 .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
                                                                                                                    +
                                                                                                                    71 .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
                                                                                                                    +
                                                                                                                    72 .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE};
                                                                                                                    +
                                                                                                                    73
                                                                                                                    +
                                                                                                                    74const PedalsParams brake_params = {
                                                                                                                    +
                                                                                                                    75 .min_pedal_1 = BRAKE1_PEDAL_MIN,
                                                                                                                    +
                                                                                                                    76 .min_pedal_2 = BRAKE2_PEDAL_MIN,
                                                                                                                    +
                                                                                                                    77 .max_pedal_1 = BRAKE1_PEDAL_MAX,
                                                                                                                    +
                                                                                                                    78 .max_pedal_2 = BRAKE2_PEDAL_MAX,
                                                                                                                    +
                                                                                                                    79 .min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN,
                                                                                                                    +
                                                                                                                    80 .min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN,
                                                                                                                    +
                                                                                                                    81 .max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX,
                                                                                                                    +
                                                                                                                    82 .max_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MAX,
                                                                                                                    +
                                                                                                                    83 .activation_percentage = BRAKE_ACTIVATION_PERCENTAGE,
                                                                                                                    +
                                                                                                                    84 .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
                                                                                                                    +
                                                                                                                    85 .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
                                                                                                                    +
                                                                                                                    86 .mechanical_activation_percentage = BRAKE_MECH_THRESH,
                                                                                                                    +
                                                                                                                    87};
                                                                                                                    +
                                                                                                                    88
                                                                                                                    +
                                                                                                                    89/*
                                                                                                                    +
                                                                                                                    90 DATA SOURCES
                                                                                                                    +
                                                                                                                    91*/
                                                                                                                    +
                                                                                                                    92
                                                                                                                    +
                                                                                                                    93EthernetUDP protobuf_send_socket;
                                                                                                                    +
                                                                                                                    94EthernetUDP protobuf_recv_socket;
                                                                                                                    95
                                                                                                                    -
                                                                                                                    96/* Sensors */
                                                                                                                    -
                                                                                                                    97MCP_ADC<8> a1 = MCP_ADC<8>(ADC1_CS);
                                                                                                                    -
                                                                                                                    98MCP_ADC<4> a2 = MCP_ADC<4>(ADC2_CS, 1000000); // 1M baud needed for 04s
                                                                                                                    -
                                                                                                                    99MCP_ADC<4> a3 = MCP_ADC<4>(ADC3_CS, 1000000);
                                                                                                                    -
                                                                                                                    100
                                                                                                                    -
                                                                                                                    101OrbisBR10 steering1(&Serial5);
                                                                                                                    -
                                                                                                                    102
                                                                                                                    -
                                                                                                                    103// /*
                                                                                                                    -
                                                                                                                    104// INTERFACES
                                                                                                                    -
                                                                                                                    105// */
                                                                                                                    -
                                                                                                                    106VNInterface<CircularBufferType> vn_interface(&CAN3_txBuffer);
                                                                                                                    -
                                                                                                                    107DashboardInterface dashboard(&CAN3_txBuffer);
                                                                                                                    -
                                                                                                                    108AMSInterface ams_interface(8);
                                                                                                                    -
                                                                                                                    109WatchdogInterface wd_interface(32);
                                                                                                                    -
                                                                                                                    110MCUInterface main_ecu(&CAN3_txBuffer);
                                                                                                                    -
                                                                                                                    111TelemetryInterface telem_interface(&CAN3_txBuffer, telem_read_channels);
                                                                                                                    -
                                                                                                                    112SABInterface sab_interface(
                                                                                                                    -
                                                                                                                    113 LOADCELL_RL_SCALE, // RL Scale
                                                                                                                    -
                                                                                                                    114 LOADCELL_RL_OFFSET, // RL Offset (Migos)
                                                                                                                    -
                                                                                                                    115 LOADCELL_RR_SCALE, // RR Scale
                                                                                                                    -
                                                                                                                    116 LOADCELL_RR_OFFSET // RR Offset
                                                                                                                    -
                                                                                                                    117);
                                                                                                                    -
                                                                                                                    118LoadCellInterface load_cell_interface;
                                                                                                                    -
                                                                                                                    119
                                                                                                                    -
                                                                                                                    120// /* Inverter Interface Type */
                                                                                                                    -
                                                                                                                    121using InvInt_t = InverterInterface<CircularBufferType>;
                                                                                                                    -
                                                                                                                    122struct inverters
                                                                                                                    -
                                                                                                                    123{
                                                                                                                    -
                                                                                                                    124 InvInt_t fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND);
                                                                                                                    -
                                                                                                                    125 InvInt_t fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND);
                                                                                                                    -
                                                                                                                    126 InvInt_t rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND);
                                                                                                                    -
                                                                                                                    127 InvInt_t rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND);
                                                                                                                    -
                                                                                                                    128} inv;
                                                                                                                    +
                                                                                                                    96/* Two CAN lines on Main ECU rev15 */
                                                                                                                    +
                                                                                                                    97FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> INV_CAN; // Inverter CAN (now both are on same line)
                                                                                                                    +
                                                                                                                    98FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> TELEM_CAN; // telemetry CAN (basically everything except inverters)
                                                                                                                    +
                                                                                                                    99
                                                                                                                    +
                                                                                                                    100/* Set up CAN circular buffer */
                                                                                                                    +
                                                                                                                    101// using CircularBufferType = Circular_Buffer<uint8_t, (uint32_t)32, sizeof(CAN_message_t)>;
                                                                                                                    +
                                                                                                                    102using CircularBufferType = CANBufferType;
                                                                                                                    +
                                                                                                                    103
                                                                                                                    +
                                                                                                                    104/* Sensors */
                                                                                                                    +
                                                                                                                    105MCP_ADC<8> a1 = MCP_ADC<8>(ADC1_CS);
                                                                                                                    +
                                                                                                                    106MCP_ADC<4> a2 = MCP_ADC<4>(ADC2_CS, 1000000); // 1M baud needed for 04s
                                                                                                                    +
                                                                                                                    107MCP_ADC<4> a3 = MCP_ADC<4>(ADC3_CS, 1000000);
                                                                                                                    +
                                                                                                                    108Teensy_ADC<2> mcu_adc = Teensy_ADC<2>(DEFAULT_ANALOG_PINS);
                                                                                                                    +
                                                                                                                    109OrbisBR10 steering1(&Serial5);
                                                                                                                    +
                                                                                                                    110
                                                                                                                    +
                                                                                                                    111// /*
                                                                                                                    +
                                                                                                                    112// INTERFACES
                                                                                                                    +
                                                                                                                    113// */
                                                                                                                    +
                                                                                                                    114ParameterInterface param_interface;
                                                                                                                    +
                                                                                                                    115ETHInterfaces ethernet_interfaces = {&param_interface};
                                                                                                                    +
                                                                                                                    116VNInterface<CircularBufferType> vn_interface(&CAN3_txBuffer);
                                                                                                                    +
                                                                                                                    117DashboardInterface dashboard(&CAN3_txBuffer);
                                                                                                                    +
                                                                                                                    118AMSInterface ams_interface(8);
                                                                                                                    +
                                                                                                                    119WatchdogInterface wd_interface(32);
                                                                                                                    +
                                                                                                                    120MCUInterface main_ecu(&CAN3_txBuffer);
                                                                                                                    +
                                                                                                                    121TelemetryInterface telem_interface(&CAN3_txBuffer, telem_read_channels);
                                                                                                                    +
                                                                                                                    122SABInterface sab_interface(
                                                                                                                    +
                                                                                                                    123 LOADCELL_RL_SCALE, // RL Scale
                                                                                                                    +
                                                                                                                    124 LOADCELL_RL_OFFSET, // RL Offset (Migos)
                                                                                                                    +
                                                                                                                    125 LOADCELL_RR_SCALE, // RR Scale
                                                                                                                    +
                                                                                                                    126 LOADCELL_RR_OFFSET // RR Offset
                                                                                                                    +
                                                                                                                    127);
                                                                                                                    +
                                                                                                                    128LoadCellInterface load_cell_interface;
                                                                                                                    129
                                                                                                                    -
                                                                                                                    130// /*
                                                                                                                    -
                                                                                                                    131// SYSTEMS
                                                                                                                    -
                                                                                                                    132// */
                                                                                                                    -
                                                                                                                    133
                                                                                                                    -
                                                                                                                    134SysClock sys_clock;
                                                                                                                    -
                                                                                                                    135SteeringSystem steering_system(&steering1);
                                                                                                                    -
                                                                                                                    136BuzzerController buzzer(BUZZER_ON_INTERVAL);
                                                                                                                    -
                                                                                                                    137
                                                                                                                    -
                                                                                                                    138SafetySystem safety_system(&ams_interface, &wd_interface);
                                                                                                                    -
                                                                                                                    139// SafetySystem safety_system(&ams_interface, &wd_interface, &dashboard);
                                                                                                                    -
                                                                                                                    140PedalsSystem pedals_system(accel_params, brake_params);
                                                                                                                    -
                                                                                                                    141using DriveSys_t = DrivetrainSystem<InvInt_t>;
                                                                                                                    -
                                                                                                                    142DriveSys_t drivetrain = DriveSys_t({&inv.fl, &inv.fr, &inv.rl, &inv.rr}, &main_ecu, INVERTER_ENABLING_TIMEOUT_INTERVAL);
                                                                                                                    -
                                                                                                                    143TorqueControllerMux torque_controller_mux(1.0, 0.4);
                                                                                                                    -
                                                                                                                    144// TODO ensure that case uses max regen torque, right now its not
                                                                                                                    -
                                                                                                                    145CASEConfiguration case_config = {
                                                                                                                    -
                                                                                                                    146 // Following used for generated code
                                                                                                                    -
                                                                                                                    147 .AbsoluteTorqueLimit = AMK_MAX_TORQUE, // N-m
                                                                                                                    -
                                                                                                                    148 .yaw_pid_p = 1.33369,
                                                                                                                    -
                                                                                                                    149 .yaw_pid_i = 0.25,
                                                                                                                    -
                                                                                                                    150 .yaw_pid_d = 0.0,
                                                                                                                    -
                                                                                                                    151 .tcs_pid_p = 40.0,
                                                                                                                    -
                                                                                                                    152 .tcs_pid_i = 0.0,
                                                                                                                    -
                                                                                                                    153 .tcs_pid_d = 0.0,
                                                                                                                    -
                                                                                                                    154 .useLaunch = false,
                                                                                                                    -
                                                                                                                    155 .usePIDTV = true,
                                                                                                                    -
                                                                                                                    156 .useTCSLimitedYawPID = true,
                                                                                                                    -
                                                                                                                    157 .useNormalForce = false,
                                                                                                                    -
                                                                                                                    158 .useTractionControl = true,
                                                                                                                    -
                                                                                                                    159 .usePowerLimit = true,
                                                                                                                    -
                                                                                                                    160 .usePIDPowerLimit = false,
                                                                                                                    -
                                                                                                                    161 .useDecoupledYawBrakes = true,
                                                                                                                    -
                                                                                                                    162 .useDiscontinuousYawPIDBrakes = false,
                                                                                                                    -
                                                                                                                    163 .tcsSLThreshold = 0.2,
                                                                                                                    -
                                                                                                                    164 .launchSL = 0.2,
                                                                                                                    -
                                                                                                                    165 .launchDeadZone = 20, // N-m
                                                                                                                    -
                                                                                                                    166 .launchVelThreshold = 0.75, // m/s
                                                                                                                    -
                                                                                                                    167 .tcsVelThreshold = 2.5, // m/s
                                                                                                                    -
                                                                                                                    168 .yawPIDMaxDifferential = 10, // N-m
                                                                                                                    -
                                                                                                                    169 .yawPIDErrorThreshold = 0.1, // rad/s
                                                                                                                    -
                                                                                                                    170 .yawPIDVelThreshold = 1, // m/s
                                                                                                                    -
                                                                                                                    171 .yawPIDCoastThreshold = 2.5, // m/s
                                                                                                                    -
                                                                                                                    172 .yaw_pid_brakes_p = 0.25,
                                                                                                                    -
                                                                                                                    173 .yaw_pid_brakes_i = 0,
                                                                                                                    -
                                                                                                                    174 .yaw_pid_brakes_d = 0,
                                                                                                                    -
                                                                                                                    175 .decoupledYawPIDBrakesMaxDIfference = 2, // N-m
                                                                                                                    -
                                                                                                                    176 .discontinuousBrakesPercentThreshold = 0.4,
                                                                                                                    -
                                                                                                                    177 .TorqueMode = AMK_MAX_TORQUE, // N-m
                                                                                                                    -
                                                                                                                    178 // .TorqueMode = 2, // N-m
                                                                                                                    -
                                                                                                                    179 .RegenLimit = -10.0, // N-m
                                                                                                                    -
                                                                                                                    180 .useNoRegen5kph = true,
                                                                                                                    -
                                                                                                                    181 .useTorqueBias = true,
                                                                                                                    -
                                                                                                                    182 .DriveTorquePercentFront = 0.5,
                                                                                                                    -
                                                                                                                    183 .BrakeTorquePercentFront = 0.6,
                                                                                                                    -
                                                                                                                    184 .MechPowerMaxkW = 63, // kW
                                                                                                                    -
                                                                                                                    185
                                                                                                                    -
                                                                                                                    186 // Following used for calculate_torque_request in CASESystem.tpp
                                                                                                                    -
                                                                                                                    187 .max_rpm = AMK_MAX_RPM,
                                                                                                                    -
                                                                                                                    188 .max_regen_torque = AMK_MAX_TORQUE,
                                                                                                                    -
                                                                                                                    189 .max_torque = AMK_MAX_TORQUE,
                                                                                                                    -
                                                                                                                    190};
                                                                                                                    -
                                                                                                                    191// Torque limit used for yaw pid torque split overflow
                                                                                                                    -
                                                                                                                    192// Yaw PID P
                                                                                                                    -
                                                                                                                    193// Yaw PID I
                                                                                                                    -
                                                                                                                    194// Yaw PID D
                                                                                                                    -
                                                                                                                    195// TCS PID P
                                                                                                                    -
                                                                                                                    196// TCS PID I
                                                                                                                    -
                                                                                                                    197// TCS PID D
                                                                                                                    -
                                                                                                                    198// Use launch
                                                                                                                    -
                                                                                                                    199// Use PID TV
                                                                                                                    -
                                                                                                                    200// Use normal force TV
                                                                                                                    -
                                                                                                                    201// Use Traction Control (TCS)
                                                                                                                    -
                                                                                                                    202// Use power limit
                                                                                                                    -
                                                                                                                    203// Use PID power limit
                                                                                                                    -
                                                                                                                    204// TCS activation threshold
                                                                                                                    -
                                                                                                                    205// TCS launch SL target
                                                                                                                    -
                                                                                                                    206// TCS launch torque deadzone (N-m)
                                                                                                                    -
                                                                                                                    207// Max motor rpm
                                                                                                                    -
                                                                                                                    208// Max regen torque
                                                                                                                    -
                                                                                                                    209// Max torque
                                                                                                                    -
                                                                                                                    210CASESystem<CircularBufferType> case_system(&CAN3_txBuffer, 100, 70, case_config);
                                                                                                                    -
                                                                                                                    211
                                                                                                                    -
                                                                                                                    212/* Declare state machine */
                                                                                                                    -
                                                                                                                    213MCUStateMachine<DriveSys_t> fsm(&buzzer, &drivetrain, &dashboard, &pedals_system, &torque_controller_mux, &safety_system);
                                                                                                                    -
                                                                                                                    214
                                                                                                                    -
                                                                                                                    215// /*
                                                                                                                    -
                                                                                                                    216// GROUPING STRUCTS (To limit parameter count in utilizing functions)
                                                                                                                    -
                                                                                                                    217// */
                                                                                                                    -
                                                                                                                    218
                                                                                                                    -
                                                                                                                    219CANInterfaces<CircularBufferType> CAN_receive_interfaces = {&inv.fl, &inv.fr, &inv.rl, &inv.rr, &vn_interface, &dashboard, &ams_interface, &sab_interface};
                                                                                                                    -
                                                                                                                    220
                                                                                                                    -
                                                                                                                    221/*
                                                                                                                    -
                                                                                                                    222 FUNCTION DEFINITIONS
                                                                                                                    -
                                                                                                                    223*/
                                                                                                                    -
                                                                                                                    224
                                                                                                                    -
                                                                                                                    225/* Initialize CAN communication */
                                                                                                                    -
                                                                                                                    226void init_all_CAN_devices();
                                                                                                                    -
                                                                                                                    227/* Tick interfaces */
                                                                                                                    -
                                                                                                                    228void tick_all_interfaces(const SysTick_s &current_system_tick);
                                                                                                                    -
                                                                                                                    229/* Tick all systems */
                                                                                                                    -
                                                                                                                    230void tick_all_systems(const SysTick_s &current_system_tick);
                                                                                                                    -
                                                                                                                    231/* Reset inverters */
                                                                                                                    -
                                                                                                                    232void drivetrain_reset();
                                                                                                                    -
                                                                                                                    233
                                                                                                                    -
                                                                                                                    234/*
                                                                                                                    -
                                                                                                                    235 SETUP
                                                                                                                    -
                                                                                                                    236*/
                                                                                                                    +
                                                                                                                    130// /* Inverter Interface Type */
                                                                                                                    +
                                                                                                                    131using InvInt_t = InverterInterface<CircularBufferType>;
                                                                                                                    +
                                                                                                                    132struct inverters
                                                                                                                    +
                                                                                                                    133{
                                                                                                                    +
                                                                                                                    134 InvInt_t fl = InvInt_t(&CAN2_txBuffer, ID_MC1_SETPOINTS_COMMAND);
                                                                                                                    +
                                                                                                                    135 InvInt_t fr = InvInt_t(&CAN2_txBuffer, ID_MC2_SETPOINTS_COMMAND);
                                                                                                                    +
                                                                                                                    136 InvInt_t rl = InvInt_t(&CAN2_txBuffer, ID_MC3_SETPOINTS_COMMAND);
                                                                                                                    +
                                                                                                                    137 InvInt_t rr = InvInt_t(&CAN2_txBuffer, ID_MC4_SETPOINTS_COMMAND);
                                                                                                                    +
                                                                                                                    138} inv;
                                                                                                                    +
                                                                                                                    139
                                                                                                                    +
                                                                                                                    140// /*
                                                                                                                    +
                                                                                                                    141// SYSTEMS
                                                                                                                    +
                                                                                                                    142// */
                                                                                                                    +
                                                                                                                    143
                                                                                                                    +
                                                                                                                    144SysClock sys_clock;
                                                                                                                    +
                                                                                                                    145SteeringSystem steering_system(&steering1, STEERING_IIR_ALPHA);
                                                                                                                    +
                                                                                                                    146BuzzerController buzzer(BUZZER_ON_INTERVAL);
                                                                                                                    +
                                                                                                                    147
                                                                                                                    +
                                                                                                                    148SafetySystem safety_system(&ams_interface, &wd_interface);
                                                                                                                    +
                                                                                                                    149// SafetySystem safety_system(&ams_interface, &wd_interface, &dashboard);
                                                                                                                    +
                                                                                                                    150PedalsSystem pedals_system(accel_params, brake_params);
                                                                                                                    +
                                                                                                                    151using DriveSys_t = DrivetrainSystem<InvInt_t>;
                                                                                                                    +
                                                                                                                    152DriveSys_t drivetrain = DriveSys_t({&inv.fl, &inv.fr, &inv.rl, &inv.rr}, &main_ecu, INVERTER_ENABLING_TIMEOUT_INTERVAL);
                                                                                                                    +
                                                                                                                    153TorqueControllerMux torque_controller_mux(1.0, 0.4);
                                                                                                                    +
                                                                                                                    154// TODO ensure that case uses max regen torque, right now its not
                                                                                                                    +
                                                                                                                    155CASEConfiguration case_config = {
                                                                                                                    +
                                                                                                                    156 // Following used for generated code
                                                                                                                    +
                                                                                                                    157 .AbsoluteTorqueLimit = 21.42, // N-m, Torque limit used for yaw pid torque split overflow
                                                                                                                    +
                                                                                                                    158 .yaw_pid_p = 1.5,
                                                                                                                    +
                                                                                                                    159 .yaw_pid_i = 0.25,
                                                                                                                    +
                                                                                                                    160 .yaw_pid_d = 0.0,
                                                                                                                    +
                                                                                                                    161 .tcs_pid_p_lowerBound_front = 55.0, // if tcs_pid_p_lowerBound_front > tcs_pid_p_upperBound_front, inverse relationship, no error
                                                                                                                    +
                                                                                                                    162 .tcs_pid_p_upperBound_front = 45.0,
                                                                                                                    +
                                                                                                                    163 .tcs_pid_p_lowerBound_rear = 32.0,
                                                                                                                    +
                                                                                                                    164 .tcs_pid_p_upperBound_rear = 45.0,
                                                                                                                    +
                                                                                                                    165 .tcs_pid_i = 0.0,
                                                                                                                    +
                                                                                                                    166 .tcs_pid_d = 0.0,
                                                                                                                    +
                                                                                                                    167 .useLaunch = false,
                                                                                                                    +
                                                                                                                    168 .usePIDTV = true,
                                                                                                                    +
                                                                                                                    169 .useTCSLimitedYawPID = true,
                                                                                                                    +
                                                                                                                    170 .useNormalForce = true,
                                                                                                                    +
                                                                                                                    171 .useTractionControl = true,
                                                                                                                    +
                                                                                                                    172 .usePowerLimit = true,
                                                                                                                    +
                                                                                                                    173 .usePIDPowerLimit = false,
                                                                                                                    +
                                                                                                                    174 .useDecoupledYawBrakes = true,
                                                                                                                    +
                                                                                                                    175 .useDiscontinuousYawPIDBrakes = true,
                                                                                                                    +
                                                                                                                    176 .launchDeadZone = 20.0, // N-m
                                                                                                                    +
                                                                                                                    177 .launchVelThreshold = 0.15, // m/s
                                                                                                                    +
                                                                                                                    178 .tcsVelThreshold = 1.5, // m/s
                                                                                                                    +
                                                                                                                    179 .yawPIDMaxDifferential = 10.0, // N-m
                                                                                                                    +
                                                                                                                    180 .yawPIDErrorThreshold = 0.1, // rad/s
                                                                                                                    +
                                                                                                                    181 .yawPIDVelThreshold = 0.35, // m/s
                                                                                                                    +
                                                                                                                    182 .yawPIDCoastThreshold = 2.5, // m/s
                                                                                                                    +
                                                                                                                    183 .yaw_pid_brakes_p = 0.25,
                                                                                                                    +
                                                                                                                    184 .yaw_pid_brakes_i = 0.0,
                                                                                                                    +
                                                                                                                    185 .yaw_pid_brakes_d = 0.0,
                                                                                                                    +
                                                                                                                    186 .decoupledYawPIDBrakesMaxDIfference = 2, // N-m
                                                                                                                    +
                                                                                                                    187 .discontinuousBrakesPercentThreshold = 0.7,
                                                                                                                    +
                                                                                                                    188 .TorqueMode = 21.42, // N-m
                                                                                                                    +
                                                                                                                    189 .RegenLimit = -15.0, // N-m
                                                                                                                    +
                                                                                                                    190 .useNoRegen5kph = true,
                                                                                                                    +
                                                                                                                    191 .useTorqueBias = true,
                                                                                                                    +
                                                                                                                    192 .DriveTorquePercentFront = 0.5, // DON'T TOUCH UNTIL LOAD CELL ADHERES TO DRIVE BIAS
                                                                                                                    +
                                                                                                                    193 .BrakeTorquePercentFront = 0.7,
                                                                                                                    +
                                                                                                                    194 .MechPowerMaxkW = 63.0, // kW
                                                                                                                    +
                                                                                                                    195 .launchLeftRightMaxDiff = 2.0, // N-m
                                                                                                                    +
                                                                                                                    196 .tcs_pid_lower_rpm_front = 0.0, // RPM
                                                                                                                    +
                                                                                                                    197 .tcs_pid_upper_rpm_front = 5000.0, // RPM
                                                                                                                    +
                                                                                                                    198 .tcs_pid_lower_rpm_rear = 0.0, // RPM
                                                                                                                    +
                                                                                                                    199 .tcs_pid_upper_rpm_rear = 5000.0, // RPM
                                                                                                                    +
                                                                                                                    200 .maxNormalLoadBrakeScalingFront = 1.25,
                                                                                                                    +
                                                                                                                    201 .tcs_saturation_front = 20,
                                                                                                                    +
                                                                                                                    202 .tcs_saturation_rear = 20,
                                                                                                                    +
                                                                                                                    203 .TCSGenLeftRightDiffLowerBound = 2, // N-m
                                                                                                                    +
                                                                                                                    204 .TCSGenLeftRightDiffUpperBound = 20, // N-m
                                                                                                                    +
                                                                                                                    205 .TCSWheelSteerLowerBound = 2, // Deg
                                                                                                                    +
                                                                                                                    206 .TCSWheelSteerUpperBound = 25, // Deg
                                                                                                                    +
                                                                                                                    207 .useRPM_TCS_GainSchedule = false, // If both are false, then P values defaults to lower bound per axle
                                                                                                                    +
                                                                                                                    208 .useNL_TCS_GainSchedule = true,
                                                                                                                    +
                                                                                                                    209 .TCS_NL_startBoundPerc_FrontAxle = 0.5,
                                                                                                                    +
                                                                                                                    210 .TCS_NL_endBoundPerc_FrontAxle = 0.4,
                                                                                                                    +
                                                                                                                    211 .TCS_NL_startBoundPerc_RearAxle = 0.5,
                                                                                                                    +
                                                                                                                    212 .TCS_NL_endBoundPerc_RearAxle = 0.6,
                                                                                                                    +
                                                                                                                    213 .useNL_TCS_SlipSchedule = true,
                                                                                                                    +
                                                                                                                    214 .launchSL_startBound_Front = 0.25,
                                                                                                                    +
                                                                                                                    215 .launchSL_endBound_Front = 0.15,
                                                                                                                    +
                                                                                                                    216 .launchSL_startBound_Rear = 0.3,
                                                                                                                    +
                                                                                                                    217 .launchSL_endBound_Rear = 0.4,
                                                                                                                    +
                                                                                                                    218 .TCS_SL_startBound_Front = 0.25,
                                                                                                                    +
                                                                                                                    219 .TCS_SL_endBound_Front = 0.15,
                                                                                                                    +
                                                                                                                    220 .TCS_SL_startBound_Rear = 0.3,
                                                                                                                    +
                                                                                                                    221 .TCS_SL_endBound_Rear = 0.4,
                                                                                                                    +
                                                                                                                    222 .TCS_SL_NLPerc_startBound_Front = 0.5,
                                                                                                                    +
                                                                                                                    223 .TCS_SL_NLPerc_endBound_Front = 0.4,
                                                                                                                    +
                                                                                                                    224 .TCS_SL_NLPerc_startBound_Rear = 0.5,
                                                                                                                    +
                                                                                                                    225 .TCS_SL_NLPerc_endBound_Rear = 0.6,
                                                                                                                    +
                                                                                                                    226
                                                                                                                    +
                                                                                                                    227 // Following used for calculate_torque_request in CASESystem.tpp
                                                                                                                    +
                                                                                                                    228 .max_rpm = 20000,
                                                                                                                    +
                                                                                                                    229 .max_regen_torque = 21.42,
                                                                                                                    +
                                                                                                                    230 .max_torque = 21.42,
                                                                                                                    +
                                                                                                                    231};
                                                                                                                    +
                                                                                                                    232
                                                                                                                    +
                                                                                                                    233CASESystem<CircularBufferType> case_system(&CAN3_txBuffer, 100, 70, 550, case_config);
                                                                                                                    +
                                                                                                                    234
                                                                                                                    +
                                                                                                                    235/* Declare state machine */
                                                                                                                    +
                                                                                                                    236MCUStateMachine<DriveSys_t> fsm(&buzzer, &drivetrain, &dashboard, &pedals_system, &torque_controller_mux, &safety_system);
                                                                                                                    237
                                                                                                                    -
                                                                                                                    238void setup()
                                                                                                                    -
                                                                                                                    239{
                                                                                                                    -
                                                                                                                    240
                                                                                                                    -
                                                                                                                    241 // initialize CAN communication
                                                                                                                    -
                                                                                                                    242 init_all_CAN_devices();
                                                                                                                    +
                                                                                                                    238// /*
                                                                                                                    +
                                                                                                                    239// GROUPING STRUCTS (To limit parameter count in utilizing functions)
                                                                                                                    +
                                                                                                                    240// */
                                                                                                                    +
                                                                                                                    241
                                                                                                                    +
                                                                                                                    242CANInterfaces<CircularBufferType> CAN_receive_interfaces = {&inv.fl, &inv.fr, &inv.rl, &inv.rr, &vn_interface, &dashboard, &ams_interface, &sab_interface};
                                                                                                                    243
                                                                                                                    -
                                                                                                                    244 SPI.begin();
                                                                                                                    -
                                                                                                                    245 a1.init();
                                                                                                                    -
                                                                                                                    246 a2.init();
                                                                                                                    -
                                                                                                                    247 a3.init();
                                                                                                                    -
                                                                                                                    248
                                                                                                                    -
                                                                                                                    249 a1.setChannelScale(MCU15_ACCEL1_CHANNEL, (1.0 / (float)(ACCEL1_PEDAL_MAX - ACCEL1_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    250 a1.setChannelScale(MCU15_ACCEL2_CHANNEL, (1.0 / (float)(ACCEL2_PEDAL_MAX - ACCEL2_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    251 a1.setChannelScale(MCU15_BRAKE1_CHANNEL, (1.0 / (float)(BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    252 a1.setChannelScale(MCU15_BRAKE2_CHANNEL, (1.0 / (float)(BRAKE2_PEDAL_MAX - BRAKE2_PEDAL_MIN)));
                                                                                                                    -
                                                                                                                    253 a1.setChannelOffset(MCU15_ACCEL1_CHANNEL, -ACCEL1_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    254 a1.setChannelOffset(MCU15_ACCEL2_CHANNEL, -ACCEL2_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    255 a1.setChannelOffset(MCU15_BRAKE1_CHANNEL, -BRAKE1_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    256 a1.setChannelOffset(MCU15_BRAKE2_CHANNEL, -BRAKE2_PEDAL_MIN);
                                                                                                                    -
                                                                                                                    257 a1.setChannelOffset(MCU15_STEERING_CHANNEL, -1 * SECONDARY_STEERING_SENSE_CENTER);
                                                                                                                    -
                                                                                                                    258 a1.setChannelScale(MCU15_STEERING_CHANNEL, STEERING_RANGE_DEGREES / ((float)SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND - (float)SECONDARY_STEERING_SENSE_LEFTMOST_BOUND));
                                                                                                                    -
                                                                                                                    259 a1.setChannelClamp(MCU15_STEERING_CHANNEL, -STEERING_RANGE_DEGREES / 0.5 * 1.15, STEERING_RANGE_DEGREES / 0.5 * 1.15); // 15% tolerance on each end of the steering sensor
                                                                                                                    -
                                                                                                                    260
                                                                                                                    -
                                                                                                                    261 a2.setChannelScale(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_SCALE /*Todo*/);
                                                                                                                    -
                                                                                                                    262 a3.setChannelScale(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_SCALE /*Todo*/);
                                                                                                                    -
                                                                                                                    263
                                                                                                                    -
                                                                                                                    264 a2.setChannelOffset(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_OFFSET /*Todo*/);
                                                                                                                    -
                                                                                                                    265 a3.setChannelOffset(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_OFFSET /*Todo*/);
                                                                                                                    -
                                                                                                                    266
                                                                                                                    -
                                                                                                                    267 // get latest tick from sys clock
                                                                                                                    -
                                                                                                                    268 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    -
                                                                                                                    269
                                                                                                                    -
                                                                                                                    270 /*
                                                                                                                    -
                                                                                                                    271 Init Interfaces
                                                                                                                    -
                                                                                                                    272 */
                                                                                                                    -
                                                                                                                    273
                                                                                                                    -
                                                                                                                    274 main_ecu.init(); // initial shutdown circuit readings,
                                                                                                                    -
                                                                                                                    275 wd_interface.init(curr_tick.millis); // initialize wd kick time
                                                                                                                    -
                                                                                                                    276 ams_interface.init(curr_tick.millis); // initialize last heartbeat time
                                                                                                                    -
                                                                                                                    277 steering1.init();
                                                                                                                    -
                                                                                                                    278 steering1.setOffset(PRIMARY_STEERING_SENSE_OFFSET);
                                                                                                                    -
                                                                                                                    279
                                                                                                                    -
                                                                                                                    280 Serial.begin(115200);
                                                                                                                    -
                                                                                                                    281
                                                                                                                    -
                                                                                                                    282 /*
                                                                                                                    -
                                                                                                                    283 Init Systems
                                                                                                                    -
                                                                                                                    284 */
                                                                                                                    -
                                                                                                                    285
                                                                                                                    -
                                                                                                                    286 safety_system.init();
                                                                                                                    -
                                                                                                                    287
                                                                                                                    -
                                                                                                                    288 // Drivetrain set all inverters disabled
                                                                                                                    -
                                                                                                                    289 drivetrain.disable(); // write inv_en and inv_24V_en low: writing high in previous code though, should double check
                                                                                                                    -
                                                                                                                    290 // would an error list be good for debugging? i.e. which inverter has error
                                                                                                                    -
                                                                                                                    291
                                                                                                                    -
                                                                                                                    292 // ControllerMux set max torque to 20 NM, torque mode to whatever makes most sense
                                                                                                                    -
                                                                                                                    293 // Preventing drivers from forgetting to toggle torque mode and end up self-derating at comp
                                                                                                                    -
                                                                                                                    294 // Not strictly necessary at the moment, just don't forget
                                                                                                                    -
                                                                                                                    295}
                                                                                                                    -
                                                                                                                    296
                                                                                                                    -
                                                                                                                    297void loop()
                                                                                                                    -
                                                                                                                    298{
                                                                                                                    -
                                                                                                                    299 // Serial.println("test");
                                                                                                                    -
                                                                                                                    300 // get latest tick from sys clock
                                                                                                                    -
                                                                                                                    301 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    -
                                                                                                                    302
                                                                                                                    -
                                                                                                                    303 // process received CAN messages
                                                                                                                    -
                                                                                                                    304 process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    -
                                                                                                                    305 process_ring_buffer(CAN3_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    -
                                                                                                                    306
                                                                                                                    -
                                                                                                                    307 // tick interfaces
                                                                                                                    -
                                                                                                                    308 tick_all_interfaces(curr_tick);
                                                                                                                    +
                                                                                                                    244/*
                                                                                                                    +
                                                                                                                    245 FUNCTION DEFINITIONS
                                                                                                                    +
                                                                                                                    246*/
                                                                                                                    +
                                                                                                                    247
                                                                                                                    +
                                                                                                                    248/* Initialize CAN communication */
                                                                                                                    +
                                                                                                                    249void init_all_CAN_devices();
                                                                                                                    +
                                                                                                                    250/* Tick interfaces */
                                                                                                                    +
                                                                                                                    251void tick_all_interfaces(const SysTick_s &current_system_tick);
                                                                                                                    +
                                                                                                                    252/* Tick all systems */
                                                                                                                    +
                                                                                                                    253void tick_all_systems(const SysTick_s &current_system_tick);
                                                                                                                    +
                                                                                                                    254/* Reset inverters */
                                                                                                                    +
                                                                                                                    255void drivetrain_reset();
                                                                                                                    +
                                                                                                                    256
                                                                                                                    +
                                                                                                                    257void handle_ethernet_interface_comms();
                                                                                                                    +
                                                                                                                    258
                                                                                                                    +
                                                                                                                    259/*
                                                                                                                    +
                                                                                                                    260 SETUP
                                                                                                                    +
                                                                                                                    261*/
                                                                                                                    +
                                                                                                                    262
                                                                                                                    +
                                                                                                                    263void setup()
                                                                                                                    +
                                                                                                                    264{
                                                                                                                    +
                                                                                                                    265 // initialize CAN communication
                                                                                                                    +
                                                                                                                    266 init_all_CAN_devices();
                                                                                                                    +
                                                                                                                    267
                                                                                                                    +
                                                                                                                    268 // Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
                                                                                                                    +
                                                                                                                    269 // protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
                                                                                                                    +
                                                                                                                    270 // protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
                                                                                                                    +
                                                                                                                    271
                                                                                                                    +
                                                                                                                    272 /* Do this to send message VVV */
                                                                                                                    +
                                                                                                                    273 // protobuf_socket.beginPacket(EthParams::default_TCU_ip, EthParams::default_protobuf_port);
                                                                                                                    +
                                                                                                                    274 // protobuf_socket.write(buf, len);
                                                                                                                    +
                                                                                                                    275 // protobuf_socker.endPacket();
                                                                                                                    +
                                                                                                                    276
                                                                                                                    +
                                                                                                                    277 SPI.begin();
                                                                                                                    +
                                                                                                                    278 a1.init();
                                                                                                                    +
                                                                                                                    279 a2.init();
                                                                                                                    +
                                                                                                                    280 a3.init();
                                                                                                                    +
                                                                                                                    281 mcu_adc.init();
                                                                                                                    +
                                                                                                                    282
                                                                                                                    +
                                                                                                                    283 a1.setChannelScale(MCU15_ACCEL1_CHANNEL, (1.0 / (float)(ACCEL1_PEDAL_MAX - ACCEL1_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    284 a1.setChannelScale(MCU15_ACCEL2_CHANNEL, (1.0 / (float)(ACCEL2_PEDAL_MAX - ACCEL2_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    285 a1.setChannelScale(MCU15_BRAKE1_CHANNEL, (1.0 / (float)(BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    286 a1.setChannelScale(MCU15_BRAKE2_CHANNEL, (1.0 / (float)(BRAKE2_PEDAL_MAX - BRAKE2_PEDAL_MIN)));
                                                                                                                    +
                                                                                                                    287 a1.setChannelOffset(MCU15_ACCEL1_CHANNEL, -ACCEL1_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    288 a1.setChannelOffset(MCU15_ACCEL2_CHANNEL, -ACCEL2_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    289 a1.setChannelOffset(MCU15_BRAKE1_CHANNEL, -BRAKE1_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    290 a1.setChannelOffset(MCU15_BRAKE2_CHANNEL, -BRAKE2_PEDAL_MIN);
                                                                                                                    +
                                                                                                                    291 a1.setChannelOffset(MCU15_STEERING_CHANNEL, -1 * SECONDARY_STEERING_SENSE_CENTER);
                                                                                                                    +
                                                                                                                    292 a1.setChannelScale(MCU15_STEERING_CHANNEL, STEERING_RANGE_DEGREES / ((float)SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND - (float)SECONDARY_STEERING_SENSE_LEFTMOST_BOUND));
                                                                                                                    +
                                                                                                                    293 a1.setChannelClamp(MCU15_STEERING_CHANNEL, -STEERING_RANGE_DEGREES / 0.5 * 1.15, STEERING_RANGE_DEGREES / 0.5 * 1.15); // 15% tolerance on each end of the steering sensor
                                                                                                                    +
                                                                                                                    294
                                                                                                                    +
                                                                                                                    295 a2.setChannelScale(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_SCALE /*Todo*/);
                                                                                                                    +
                                                                                                                    296 a3.setChannelScale(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_SCALE /*Todo*/);
                                                                                                                    +
                                                                                                                    297
                                                                                                                    +
                                                                                                                    298 a2.setChannelOffset(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_OFFSET /*Todo*/);
                                                                                                                    +
                                                                                                                    299 a3.setChannelOffset(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_OFFSET /*Todo*/);
                                                                                                                    +
                                                                                                                    300
                                                                                                                    +
                                                                                                                    301 mcu_adc.setAlphas(MCU15_THERM_FL, 0.95);
                                                                                                                    +
                                                                                                                    302 mcu_adc.setAlphas(MCU15_THERM_FR, 0.95);
                                                                                                                    +
                                                                                                                    303 // get latest tick from sys clock
                                                                                                                    +
                                                                                                                    304 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    +
                                                                                                                    305
                                                                                                                    +
                                                                                                                    306 /*
                                                                                                                    +
                                                                                                                    307 Init Interfaces
                                                                                                                    +
                                                                                                                    308 */
                                                                                                                    309
                                                                                                                    -
                                                                                                                    310 // tick systems
                                                                                                                    -
                                                                                                                    311 tick_all_systems(curr_tick);
                                                                                                                    -
                                                                                                                    312
                                                                                                                    -
                                                                                                                    313 // inverter procedure before entering state machine
                                                                                                                    -
                                                                                                                    314 // reset inverters
                                                                                                                    -
                                                                                                                    315 if (dashboard.inverterResetButtonPressed() && drivetrain.drivetrain_error_occured())
                                                                                                                    -
                                                                                                                    316 {
                                                                                                                    -
                                                                                                                    317 drivetrain.reset_drivetrain();
                                                                                                                    -
                                                                                                                    318 }
                                                                                                                    -
                                                                                                                    319 // tick state machine
                                                                                                                    -
                                                                                                                    320 fsm.tick_state_machine(curr_tick.millis);
                                                                                                                    -
                                                                                                                    321
                                                                                                                    -
                                                                                                                    322 // tick safety system
                                                                                                                    -
                                                                                                                    323 safety_system.software_shutdown(curr_tick);
                                                                                                                    -
                                                                                                                    324
                                                                                                                    -
                                                                                                                    325 // send CAN
                                                                                                                    -
                                                                                                                    326 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                                                                                                    -
                                                                                                                    327 send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
                                                                                                                    -
                                                                                                                    328
                                                                                                                    -
                                                                                                                    329 if (curr_tick.triggers.trigger5)
                                                                                                                    -
                                                                                                                    330 {
                                                                                                                    -
                                                                                                                    331 Serial.print("Steering system reported angle (deg): ");
                                                                                                                    -
                                                                                                                    332 Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    -
                                                                                                                    333 Serial.print("Primary sensor angle: ");
                                                                                                                    -
                                                                                                                    334 Serial.println(steering1.convert().angle);
                                                                                                                    -
                                                                                                                    335 Serial.print("Secondary sensor angle: ");
                                                                                                                    -
                                                                                                                    336 Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    -
                                                                                                                    337 Serial.print(" raw: ");
                                                                                                                    -
                                                                                                                    338 Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    339 Serial.print("Sensor divergence: ");
                                                                                                                    -
                                                                                                                    340 Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    -
                                                                                                                    341 Serial.println();
                                                                                                                    +
                                                                                                                    310 main_ecu.init(); // initial shutdown circuit readings,
                                                                                                                    +
                                                                                                                    311 wd_interface.init(curr_tick.millis); // initialize wd kick time
                                                                                                                    +
                                                                                                                    312 ams_interface.init(curr_tick.millis); // initialize last heartbeat time
                                                                                                                    +
                                                                                                                    313 steering1.init();
                                                                                                                    +
                                                                                                                    314 steering1.setOffset(PRIMARY_STEERING_SENSE_OFFSET);
                                                                                                                    +
                                                                                                                    315
                                                                                                                    +
                                                                                                                    316 Serial.begin(115200);
                                                                                                                    +
                                                                                                                    317
                                                                                                                    +
                                                                                                                    318 /*
                                                                                                                    +
                                                                                                                    319 Init Systems
                                                                                                                    +
                                                                                                                    320 */
                                                                                                                    +
                                                                                                                    321 safety_system.init();
                                                                                                                    +
                                                                                                                    322
                                                                                                                    +
                                                                                                                    323 // Drivetrain set all inverters disabled
                                                                                                                    +
                                                                                                                    324 drivetrain.disable(); // write inv_en and inv_24V_en low: writing high in previous code though, should double check
                                                                                                                    +
                                                                                                                    325 // would an error list be good for debugging? i.e. which inverter has error
                                                                                                                    +
                                                                                                                    326
                                                                                                                    +
                                                                                                                    327 // ControllerMux set max torque to 20 NM, torque mode to whatever makes most sense
                                                                                                                    +
                                                                                                                    328 // Preventing drivers from forgetting to toggle torque mode and end up self-derating at comp
                                                                                                                    +
                                                                                                                    329 // Not strictly necessary at the moment, just don't forget
                                                                                                                    +
                                                                                                                    330}
                                                                                                                    +
                                                                                                                    331
                                                                                                                    +
                                                                                                                    332void loop()
                                                                                                                    +
                                                                                                                    333{
                                                                                                                    +
                                                                                                                    334 // get latest tick from sys clock
                                                                                                                    +
                                                                                                                    335 SysTick_s curr_tick = sys_clock.tick(micros());
                                                                                                                    +
                                                                                                                    336
                                                                                                                    +
                                                                                                                    337 // handle_ethernet_interface_comms();
                                                                                                                    +
                                                                                                                    338
                                                                                                                    +
                                                                                                                    339 // process received CAN messages
                                                                                                                    +
                                                                                                                    340 process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    +
                                                                                                                    341 process_ring_buffer(CAN3_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
                                                                                                                    342
                                                                                                                    -
                                                                                                                    343 Serial.println();
                                                                                                                    -
                                                                                                                    344 }
                                                                                                                    -
                                                                                                                    345
                                                                                                                    -
                                                                                                                    346}
                                                                                                                    -
                                                                                                                    347
                                                                                                                    -
                                                                                                                    348/*
                                                                                                                    -
                                                                                                                    349 Initialize CAN comm.
                                                                                                                    -
                                                                                                                    350*/
                                                                                                                    -
                                                                                                                    351
                                                                                                                    -
                                                                                                                    352void init_all_CAN_devices()
                                                                                                                    -
                                                                                                                    353{
                                                                                                                    -
                                                                                                                    354 // Inverter CAN line
                                                                                                                    -
                                                                                                                    355 INV_CAN.begin();
                                                                                                                    -
                                                                                                                    356 INV_CAN.setBaudRate(INV_CAN_BAUDRATE);
                                                                                                                    -
                                                                                                                    357 INV_CAN.setMaxMB(16);
                                                                                                                    -
                                                                                                                    358 INV_CAN.enableFIFO();
                                                                                                                    -
                                                                                                                    359 INV_CAN.enableFIFOInterrupt();
                                                                                                                    -
                                                                                                                    360 INV_CAN.onReceive(on_can2_receive);
                                                                                                                    -
                                                                                                                    361 INV_CAN.mailboxStatus();
                                                                                                                    -
                                                                                                                    362
                                                                                                                    -
                                                                                                                    363 // Telemetry CAN line
                                                                                                                    -
                                                                                                                    364 TELEM_CAN.begin();
                                                                                                                    -
                                                                                                                    365 TELEM_CAN.setBaudRate(TELEM_CAN_BAUDRATE);
                                                                                                                    -
                                                                                                                    366 TELEM_CAN.setMaxMB(16);
                                                                                                                    -
                                                                                                                    367 TELEM_CAN.enableFIFO();
                                                                                                                    -
                                                                                                                    368 TELEM_CAN.enableFIFOInterrupt();
                                                                                                                    -
                                                                                                                    369 TELEM_CAN.onReceive(on_can3_receive);
                                                                                                                    -
                                                                                                                    370 TELEM_CAN.mailboxStatus();
                                                                                                                    -
                                                                                                                    371}
                                                                                                                    -
                                                                                                                    372
                                                                                                                    -
                                                                                                                    373/*
                                                                                                                    -
                                                                                                                    374 TICK INTERFACES
                                                                                                                    -
                                                                                                                    375*/
                                                                                                                    -
                                                                                                                    376
                                                                                                                    -
                                                                                                                    377void tick_all_interfaces(const SysTick_s &current_system_tick)
                                                                                                                    -
                                                                                                                    378{
                                                                                                                    -
                                                                                                                    379
                                                                                                                    -
                                                                                                                    380 TriggerBits_s t = current_system_tick.triggers;
                                                                                                                    -
                                                                                                                    381 if (t.trigger10) // 10Hz
                                                                                                                    -
                                                                                                                    382 {
                                                                                                                    -
                                                                                                                    383 dashboard.tick10(
                                                                                                                    -
                                                                                                                    384 &main_ecu,
                                                                                                                    -
                                                                                                                    385 int(fsm.get_state()),
                                                                                                                    -
                                                                                                                    386 buzzer.buzzer_is_on(),
                                                                                                                    -
                                                                                                                    387 drivetrain.drivetrain_error_occured(),
                                                                                                                    -
                                                                                                                    388 torque_controller_mux.getTorqueLimit(),
                                                                                                                    -
                                                                                                                    389 ams_interface.get_filtered_min_cell_voltage(),
                                                                                                                    -
                                                                                                                    390 telem_interface.get_glv_voltage(a1.get()),
                                                                                                                    -
                                                                                                                    391 static_cast<int>(torque_controller_mux.activeController()->get_launch_state()),
                                                                                                                    -
                                                                                                                    392 dashboard.getDialMode());
                                                                                                                    +
                                                                                                                    343 // tick interfaces
                                                                                                                    +
                                                                                                                    344 tick_all_interfaces(curr_tick);
                                                                                                                    +
                                                                                                                    345
                                                                                                                    +
                                                                                                                    346 // tick systems
                                                                                                                    +
                                                                                                                    347 tick_all_systems(curr_tick);
                                                                                                                    +
                                                                                                                    348
                                                                                                                    +
                                                                                                                    349 // inverter procedure before entering state machine
                                                                                                                    +
                                                                                                                    350 // reset inverters
                                                                                                                    +
                                                                                                                    351 if (dashboard.inverterResetButtonPressed() && drivetrain.drivetrain_error_occured())
                                                                                                                    +
                                                                                                                    352 {
                                                                                                                    +
                                                                                                                    353 drivetrain.reset_drivetrain();
                                                                                                                    +
                                                                                                                    354 }
                                                                                                                    +
                                                                                                                    355 // tick state machine
                                                                                                                    +
                                                                                                                    356 fsm.tick_state_machine(curr_tick.millis);
                                                                                                                    +
                                                                                                                    357
                                                                                                                    +
                                                                                                                    358 // give the state of the car to the param interface
                                                                                                                    +
                                                                                                                    359 param_interface.update_car_state(fsm.get_state());
                                                                                                                    +
                                                                                                                    360
                                                                                                                    +
                                                                                                                    361 // tick safety system
                                                                                                                    +
                                                                                                                    362 safety_system.software_shutdown(curr_tick);
                                                                                                                    +
                                                                                                                    363
                                                                                                                    +
                                                                                                                    364 // send CAN
                                                                                                                    +
                                                                                                                    365 send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
                                                                                                                    +
                                                                                                                    366 send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
                                                                                                                    +
                                                                                                                    367
                                                                                                                    +
                                                                                                                    368 // Basic debug prints
                                                                                                                    +
                                                                                                                    369 if (curr_tick.triggers.trigger5)
                                                                                                                    +
                                                                                                                    370 {
                                                                                                                    +
                                                                                                                    371 Serial.print("Steering system reported angle (deg): ");
                                                                                                                    +
                                                                                                                    372 Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    +
                                                                                                                    373 Serial.print("Steering system status: ");
                                                                                                                    +
                                                                                                                    374 Serial.println(static_cast<uint8_t>(steering_system.getSteeringSystemData().status));
                                                                                                                    +
                                                                                                                    375 Serial.print("Primary sensor angle: ");
                                                                                                                    +
                                                                                                                    376 Serial.println(steering1.convert().angle);
                                                                                                                    +
                                                                                                                    377 Serial.print("Secondary sensor angle: ");
                                                                                                                    +
                                                                                                                    378 Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    +
                                                                                                                    379 Serial.print(" raw: ");
                                                                                                                    +
                                                                                                                    380 Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
                                                                                                                    +
                                                                                                                    381 Serial.print("Sensor divergence: ");
                                                                                                                    +
                                                                                                                    382 Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
                                                                                                                    +
                                                                                                                    383 Serial.println();
                                                                                                                    +
                                                                                                                    384
                                                                                                                    +
                                                                                                                    385 Serial.println();
                                                                                                                    +
                                                                                                                    386 }
                                                                                                                    +
                                                                                                                    387
                                                                                                                    +
                                                                                                                    388}
                                                                                                                    +
                                                                                                                    389
                                                                                                                    +
                                                                                                                    390/*
                                                                                                                    +
                                                                                                                    391 Initialize CAN comm.
                                                                                                                    +
                                                                                                                    392*/
                                                                                                                    393
                                                                                                                    -
                                                                                                                    394 main_ecu.tick(
                                                                                                                    -
                                                                                                                    395 static_cast<int>(fsm.get_state()),
                                                                                                                    -
                                                                                                                    396 drivetrain.drivetrain_error_occured(),
                                                                                                                    -
                                                                                                                    397 safety_system.get_software_is_ok(),
                                                                                                                    -
                                                                                                                    398 static_cast<int>(torque_controller_mux.getDriveMode()),
                                                                                                                    -
                                                                                                                    399 static_cast<int>(torque_controller_mux.getTorqueLimit()),
                                                                                                                    -
                                                                                                                    400 torque_controller_mux.getMaxTorque(),
                                                                                                                    -
                                                                                                                    401 buzzer.buzzer_is_on(),
                                                                                                                    -
                                                                                                                    402 pedals_system.getPedalsSystemData(),
                                                                                                                    -
                                                                                                                    403 ams_interface.pack_charge_is_critical(),
                                                                                                                    -
                                                                                                                    404 dashboard.launchControlButtonPressed());
                                                                                                                    -
                                                                                                                    405
                                                                                                                    -
                                                                                                                    406 PedalsSystemData_s data2 = pedals_system.getPedalsSystemDataCopy();
                                                                                                                    -
                                                                                                                    407
                                                                                                                    -
                                                                                                                    408 telem_interface.tick(
                                                                                                                    -
                                                                                                                    409 a1.get(),
                                                                                                                    -
                                                                                                                    410 a2.get(),
                                                                                                                    -
                                                                                                                    411 a3.get(),
                                                                                                                    -
                                                                                                                    412 steering1.convert(),
                                                                                                                    -
                                                                                                                    413 &inv.fl,
                                                                                                                    -
                                                                                                                    414 &inv.fr,
                                                                                                                    -
                                                                                                                    415 &inv.rl,
                                                                                                                    -
                                                                                                                    416 &inv.rr,
                                                                                                                    -
                                                                                                                    417 data2.accelImplausible,
                                                                                                                    -
                                                                                                                    418 data2.brakeImplausible,
                                                                                                                    -
                                                                                                                    419 data2.accelPercent,
                                                                                                                    -
                                                                                                                    420 data2.brakePercent,
                                                                                                                    -
                                                                                                                    421 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    -
                                                                                                                    422 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    -
                                                                                                                    423 a1.get().conversions[MCU15_BRAKE1_CHANNEL],
                                                                                                                    -
                                                                                                                    424 a1.get().conversions[MCU15_BRAKE2_CHANNEL],
                                                                                                                    -
                                                                                                                    425 pedals_system.getMechBrakeActiveThreshold(),
                                                                                                                    -
                                                                                                                    426 {});
                                                                                                                    -
                                                                                                                    427 }
                                                                                                                    -
                                                                                                                    428
                                                                                                                    -
                                                                                                                    429 if (t.trigger50) // 50Hz
                                                                                                                    -
                                                                                                                    430 {
                                                                                                                    -
                                                                                                                    431 steering1.sample();
                                                                                                                    -
                                                                                                                    432 }
                                                                                                                    -
                                                                                                                    433
                                                                                                                    -
                                                                                                                    434 if (t.trigger100) // 100Hz
                                                                                                                    -
                                                                                                                    435 {
                                                                                                                    -
                                                                                                                    436
                                                                                                                    -
                                                                                                                    437 a1.tick();
                                                                                                                    -
                                                                                                                    438 a2.tick();
                                                                                                                    -
                                                                                                                    439 a3.tick();
                                                                                                                    -
                                                                                                                    440 load_cell_interface.tick(
                                                                                                                    -
                                                                                                                    441 (LoadCellInterfaceTick_s){
                                                                                                                    -
                                                                                                                    442 .FLConversion = a2.get().conversions[MCU15_FL_LOADCELL_CHANNEL],
                                                                                                                    -
                                                                                                                    443 .FRConversion = a3.get().conversions[MCU15_FR_LOADCELL_CHANNEL],
                                                                                                                    -
                                                                                                                    444 .RLConversion = sab_interface.rlLoadCell.convert(),
                                                                                                                    -
                                                                                                                    445 .RRConversion = sab_interface.rrLoadCell.convert()});
                                                                                                                    -
                                                                                                                    446 }
                                                                                                                    -
                                                                                                                    447 // // Untriggered
                                                                                                                    -
                                                                                                                    448 main_ecu.read_mcu_status(); // should be executed at the same rate as state machine
                                                                                                                    -
                                                                                                                    449 // DO NOT call in main_ecu.tick()
                                                                                                                    -
                                                                                                                    450}
                                                                                                                    -
                                                                                                                    451
                                                                                                                    -
                                                                                                                    452// /*
                                                                                                                    -
                                                                                                                    453// TICK SYSTEMS
                                                                                                                    -
                                                                                                                    454// */
                                                                                                                    -
                                                                                                                    455
                                                                                                                    -
                                                                                                                    456void tick_all_systems(const SysTick_s &current_system_tick)
                                                                                                                    -
                                                                                                                    457{
                                                                                                                    -
                                                                                                                    458 // tick pedals system
                                                                                                                    -
                                                                                                                    459
                                                                                                                    -
                                                                                                                    460 // Serial.println("accel1");
                                                                                                                    -
                                                                                                                    461 // Serial.println(a1.get().conversions[MCU15_ACCEL1_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    462 // Serial.println("accel2");
                                                                                                                    -
                                                                                                                    463 // Serial.println(a1.get().conversions[MCU15_ACCEL2_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    464 // Serial.println("brake1");
                                                                                                                    -
                                                                                                                    465 // Serial.println(a1.get().conversions[MCU15_BRAKE1_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    466 // Serial.println("brake2");
                                                                                                                    -
                                                                                                                    467 // Serial.println(a1.get().conversions[MCU15_BRAKE2_CHANNEL].raw);
                                                                                                                    -
                                                                                                                    468
                                                                                                                    -
                                                                                                                    469 pedals_system.tick(
                                                                                                                    -
                                                                                                                    470 current_system_tick,
                                                                                                                    -
                                                                                                                    471 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    -
                                                                                                                    472 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    -
                                                                                                                    473 a1.get().conversions[MCU15_BRAKE1_CHANNEL]);
                                                                                                                    -
                                                                                                                    474
                                                                                                                    -
                                                                                                                    475 // tick steering system
                                                                                                                    -
                                                                                                                    476 steering_system.tick(
                                                                                                                    -
                                                                                                                    477 (SteeringSystemTick_s){
                                                                                                                    -
                                                                                                                    478 .tick = current_system_tick,
                                                                                                                    -
                                                                                                                    479 .secondaryConversion = a1.get().conversions[MCU15_STEERING_CHANNEL]});
                                                                                                                    -
                                                                                                                    480
                                                                                                                    -
                                                                                                                    481 // Serial.println("Steering angle");
                                                                                                                    -
                                                                                                                    482 // Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    -
                                                                                                                    483 // Serial.println("Steering status");
                                                                                                                    -
                                                                                                                    484 // Serial.println(static_cast<int>(steering_system.getSteeringSystemData().status));
                                                                                                                    -
                                                                                                                    485
                                                                                                                    -
                                                                                                                    486 // tick drivetrain system
                                                                                                                    -
                                                                                                                    487 drivetrain.tick(current_system_tick);
                                                                                                                    -
                                                                                                                    488 // // tick torque controller mux
                                                                                                                    -
                                                                                                                    489
                                                                                                                    -
                                                                                                                    490 DrivetrainCommand_s controller_output = case_system.evaluate(
                                                                                                                    -
                                                                                                                    491 current_system_tick,
                                                                                                                    -
                                                                                                                    492 vn_interface.get_vn_struct(),
                                                                                                                    -
                                                                                                                    493 steering_system.getSteeringSystemData(),
                                                                                                                    -
                                                                                                                    494 drivetrain.get_dynamic_data(),
                                                                                                                    -
                                                                                                                    495 load_cell_interface.getLoadCellForces().loadCellConversions, // should CASE use filtered load cells?
                                                                                                                    -
                                                                                                                    496 pedals_system.getPedalsSystemData(),
                                                                                                                    -
                                                                                                                    497 0,
                                                                                                                    -
                                                                                                                    498 fsm.get_state(),
                                                                                                                    -
                                                                                                                    499 dashboard.startButtonPressed(),
                                                                                                                    -
                                                                                                                    500 3);
                                                                                                                    -
                                                                                                                    501
                                                                                                                    -
                                                                                                                    502 torque_controller_mux.tick(
                                                                                                                    -
                                                                                                                    503 current_system_tick,
                                                                                                                    -
                                                                                                                    504 drivetrain.get_dynamic_data(),
                                                                                                                    -
                                                                                                                    505 pedals_system.getPedalsSystemData(),
                                                                                                                    -
                                                                                                                    506 steering_system.getSteeringSystemData(),
                                                                                                                    -
                                                                                                                    507 load_cell_interface.getLoadCellForces(),
                                                                                                                    -
                                                                                                                    508 dashboard.getDialMode(),
                                                                                                                    -
                                                                                                                    509 dashboard.torqueModeButtonPressed(),
                                                                                                                    -
                                                                                                                    510 vn_interface.get_vn_struct(),
                                                                                                                    -
                                                                                                                    511 controller_output);
                                                                                                                    -
                                                                                                                    512}
                                                                                                                    +
                                                                                                                    394void init_all_CAN_devices()
                                                                                                                    +
                                                                                                                    395{
                                                                                                                    +
                                                                                                                    396 // Inverter CAN line
                                                                                                                    +
                                                                                                                    397 INV_CAN.begin();
                                                                                                                    +
                                                                                                                    398 INV_CAN.setBaudRate(INV_CAN_BAUDRATE);
                                                                                                                    +
                                                                                                                    399 INV_CAN.setMaxMB(16);
                                                                                                                    +
                                                                                                                    400 INV_CAN.enableFIFO();
                                                                                                                    +
                                                                                                                    401 INV_CAN.enableFIFOInterrupt();
                                                                                                                    +
                                                                                                                    402 INV_CAN.onReceive(on_can2_receive);
                                                                                                                    +
                                                                                                                    403 INV_CAN.mailboxStatus();
                                                                                                                    +
                                                                                                                    404
                                                                                                                    +
                                                                                                                    405 // Telemetry CAN line
                                                                                                                    +
                                                                                                                    406 TELEM_CAN.begin();
                                                                                                                    +
                                                                                                                    407 TELEM_CAN.setBaudRate(TELEM_CAN_BAUDRATE);
                                                                                                                    +
                                                                                                                    408 TELEM_CAN.setMaxMB(16);
                                                                                                                    +
                                                                                                                    409 TELEM_CAN.enableFIFO();
                                                                                                                    +
                                                                                                                    410 TELEM_CAN.enableFIFOInterrupt();
                                                                                                                    +
                                                                                                                    411 TELEM_CAN.onReceive(on_can3_receive);
                                                                                                                    +
                                                                                                                    412 TELEM_CAN.mailboxStatus();
                                                                                                                    +
                                                                                                                    413}
                                                                                                                    +
                                                                                                                    414
                                                                                                                    +
                                                                                                                    415/*
                                                                                                                    +
                                                                                                                    416 TICK INTERFACES
                                                                                                                    +
                                                                                                                    417*/
                                                                                                                    +
                                                                                                                    418
                                                                                                                    +
                                                                                                                    419void tick_all_interfaces(const SysTick_s &current_system_tick)
                                                                                                                    +
                                                                                                                    420{
                                                                                                                    +
                                                                                                                    421
                                                                                                                    +
                                                                                                                    422 TriggerBits_s t = current_system_tick.triggers;
                                                                                                                    +
                                                                                                                    423 if (t.trigger10) // 10Hz
                                                                                                                    +
                                                                                                                    424 {
                                                                                                                    +
                                                                                                                    425 dashboard.tick10(
                                                                                                                    +
                                                                                                                    426 &main_ecu,
                                                                                                                    +
                                                                                                                    427 int(fsm.get_state()),
                                                                                                                    +
                                                                                                                    428 buzzer.buzzer_is_on(),
                                                                                                                    +
                                                                                                                    429 drivetrain.drivetrain_error_occured(),
                                                                                                                    +
                                                                                                                    430 torque_controller_mux.getTorqueLimit(),
                                                                                                                    +
                                                                                                                    431 ams_interface.get_filtered_min_cell_voltage(),
                                                                                                                    +
                                                                                                                    432 telem_interface.get_glv_voltage(a1.get()),
                                                                                                                    +
                                                                                                                    433 static_cast<int>(torque_controller_mux.activeController()->get_launch_state()),
                                                                                                                    +
                                                                                                                    434 dashboard.getDialMode());
                                                                                                                    +
                                                                                                                    435
                                                                                                                    +
                                                                                                                    436 main_ecu.tick(
                                                                                                                    +
                                                                                                                    437 static_cast<int>(fsm.get_state()),
                                                                                                                    +
                                                                                                                    438 drivetrain.drivetrain_error_occured(),
                                                                                                                    +
                                                                                                                    439 safety_system.get_software_is_ok(),
                                                                                                                    +
                                                                                                                    440 static_cast<int>(torque_controller_mux.getDriveMode()),
                                                                                                                    +
                                                                                                                    441 static_cast<int>(torque_controller_mux.getTorqueLimit()),
                                                                                                                    +
                                                                                                                    442 torque_controller_mux.getMaxTorque(),
                                                                                                                    +
                                                                                                                    443 buzzer.buzzer_is_on(),
                                                                                                                    +
                                                                                                                    444 pedals_system.getPedalsSystemData(),
                                                                                                                    +
                                                                                                                    445 ams_interface.pack_charge_is_critical(),
                                                                                                                    +
                                                                                                                    446 dashboard.launchControlButtonPressed());
                                                                                                                    +
                                                                                                                    447
                                                                                                                    +
                                                                                                                    448 PedalsSystemData_s data2 = pedals_system.getPedalsSystemDataCopy();
                                                                                                                    +
                                                                                                                    449
                                                                                                                    +
                                                                                                                    450 telem_interface.tick(
                                                                                                                    +
                                                                                                                    451 a1.get(),
                                                                                                                    +
                                                                                                                    452 a2.get(),
                                                                                                                    +
                                                                                                                    453 a3.get(),
                                                                                                                    +
                                                                                                                    454 mcu_adc.get(),
                                                                                                                    +
                                                                                                                    455 steering1.convert(),
                                                                                                                    +
                                                                                                                    456 &inv.fl,
                                                                                                                    +
                                                                                                                    457 &inv.fr,
                                                                                                                    +
                                                                                                                    458 &inv.rl,
                                                                                                                    +
                                                                                                                    459 &inv.rr,
                                                                                                                    +
                                                                                                                    460 data2.accelImplausible,
                                                                                                                    +
                                                                                                                    461 data2.brakeImplausible,
                                                                                                                    +
                                                                                                                    462 data2.accelPercent,
                                                                                                                    +
                                                                                                                    463 data2.brakePercent,
                                                                                                                    +
                                                                                                                    464 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    +
                                                                                                                    465 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    +
                                                                                                                    466 a1.get().conversions[MCU15_BRAKE1_CHANNEL],
                                                                                                                    +
                                                                                                                    467 a1.get().conversions[MCU15_BRAKE2_CHANNEL],
                                                                                                                    +
                                                                                                                    468 pedals_system.getMechBrakeActiveThreshold(),
                                                                                                                    +
                                                                                                                    469 {});
                                                                                                                    +
                                                                                                                    470 }
                                                                                                                    +
                                                                                                                    471
                                                                                                                    +
                                                                                                                    472 if (t.trigger50) // 50Hz
                                                                                                                    +
                                                                                                                    473 {
                                                                                                                    +
                                                                                                                    474 steering1.sample();
                                                                                                                    +
                                                                                                                    475 }
                                                                                                                    +
                                                                                                                    476
                                                                                                                    +
                                                                                                                    477 if (t.trigger100) // 100Hz
                                                                                                                    +
                                                                                                                    478 {
                                                                                                                    +
                                                                                                                    479
                                                                                                                    +
                                                                                                                    480 a1.tick();
                                                                                                                    +
                                                                                                                    481 a2.tick();
                                                                                                                    +
                                                                                                                    482 a3.tick();
                                                                                                                    +
                                                                                                                    483 mcu_adc.tick();
                                                                                                                    +
                                                                                                                    484 load_cell_interface.tick(
                                                                                                                    +
                                                                                                                    485 (LoadCellInterfaceTick_s){
                                                                                                                    +
                                                                                                                    486 .FLConversion = a2.get().conversions[MCU15_FL_LOADCELL_CHANNEL],
                                                                                                                    +
                                                                                                                    487 .FRConversion = a3.get().conversions[MCU15_FR_LOADCELL_CHANNEL],
                                                                                                                    +
                                                                                                                    488 .RLConversion = sab_interface.rlLoadCell.convert(),
                                                                                                                    +
                                                                                                                    489 .RRConversion = sab_interface.rrLoadCell.convert()});
                                                                                                                    +
                                                                                                                    490 }
                                                                                                                    +
                                                                                                                    491 // // Untriggered
                                                                                                                    +
                                                                                                                    492 main_ecu.read_mcu_status(); // should be executed at the same rate as state machine
                                                                                                                    +
                                                                                                                    493 // DO NOT call in main_ecu.tick()
                                                                                                                    +
                                                                                                                    494}
                                                                                                                    +
                                                                                                                    495
                                                                                                                    +
                                                                                                                    496// /*
                                                                                                                    +
                                                                                                                    497// TICK SYSTEMS
                                                                                                                    +
                                                                                                                    498// */
                                                                                                                    +
                                                                                                                    499
                                                                                                                    +
                                                                                                                    500void tick_all_systems(const SysTick_s &current_system_tick)
                                                                                                                    +
                                                                                                                    501{
                                                                                                                    +
                                                                                                                    502 // tick pedals system
                                                                                                                    +
                                                                                                                    503
                                                                                                                    +
                                                                                                                    504 pedals_system.tick(
                                                                                                                    +
                                                                                                                    505 current_system_tick,
                                                                                                                    +
                                                                                                                    506 a1.get().conversions[MCU15_ACCEL1_CHANNEL],
                                                                                                                    +
                                                                                                                    507 a1.get().conversions[MCU15_ACCEL2_CHANNEL],
                                                                                                                    +
                                                                                                                    508 a1.get().conversions[MCU15_BRAKE1_CHANNEL]);
                                                                                                                    +
                                                                                                                    509
                                                                                                                    +
                                                                                                                    510 // tick steering system
                                                                                                                    +
                                                                                                                    511 steering_system.tick(
                                                                                                                    +
                                                                                                                    512 (SteeringSystemTick_s){
                                                                                                                    +
                                                                                                                    513 .tick = current_system_tick,
                                                                                                                    +
                                                                                                                    514 .secondaryConversion = a1.get().conversions[MCU15_STEERING_CHANNEL]});
                                                                                                                    +
                                                                                                                    515
                                                                                                                    +
                                                                                                                    516 // Serial.println("Steering angle");
                                                                                                                    +
                                                                                                                    517 // Serial.println(steering_system.getSteeringSystemData().angle);
                                                                                                                    +
                                                                                                                    518 // Serial.println("Steering status");
                                                                                                                    +
                                                                                                                    519 // Serial.println(static_cast<int>(steering_system.getSteeringSystemData().status));
                                                                                                                    +
                                                                                                                    520
                                                                                                                    +
                                                                                                                    521 // tick drivetrain system
                                                                                                                    +
                                                                                                                    522 drivetrain.tick(current_system_tick);
                                                                                                                    +
                                                                                                                    523 // // tick torque controller mux
                                                                                                                    +
                                                                                                                    524
                                                                                                                    +
                                                                                                                    525 DrivetrainCommand_s controller_output = case_system.evaluate(
                                                                                                                    +
                                                                                                                    526 current_system_tick,
                                                                                                                    +
                                                                                                                    527 vn_interface.get_vn_struct(),
                                                                                                                    +
                                                                                                                    528 steering_system.getSteeringSystemData(),
                                                                                                                    +
                                                                                                                    529 drivetrain.get_dynamic_data(),
                                                                                                                    +
                                                                                                                    530 load_cell_interface.getLoadCellForces().loadCellConversions, // should CASE use filtered load cells?
                                                                                                                    +
                                                                                                                    531 pedals_system.getPedalsSystemData(),
                                                                                                                    +
                                                                                                                    532 0,
                                                                                                                    +
                                                                                                                    533 fsm.get_state(),
                                                                                                                    +
                                                                                                                    534 dashboard.startButtonPressed(),
                                                                                                                    +
                                                                                                                    535 3);
                                                                                                                    +
                                                                                                                    536
                                                                                                                    +
                                                                                                                    537 // case_system.update_config_from_param_interface(param_interface);
                                                                                                                    +
                                                                                                                    538
                                                                                                                    +
                                                                                                                    539 torque_controller_mux.tick(
                                                                                                                    +
                                                                                                                    540 current_system_tick,
                                                                                                                    +
                                                                                                                    541 drivetrain.get_dynamic_data(),
                                                                                                                    +
                                                                                                                    542 pedals_system.getPedalsSystemData(),
                                                                                                                    +
                                                                                                                    543 steering_system.getSteeringSystemData(),
                                                                                                                    +
                                                                                                                    544 load_cell_interface.getLoadCellForces(),
                                                                                                                    +
                                                                                                                    545 dashboard.getDialMode(),
                                                                                                                    +
                                                                                                                    546 dashboard.torqueModeButtonPressed(),
                                                                                                                    +
                                                                                                                    547 vn_interface.get_vn_struct(),
                                                                                                                    +
                                                                                                                    548 controller_output);
                                                                                                                    +
                                                                                                                    549}
                                                                                                                    +
                                                                                                                    550
                                                                                                                    +
                                                                                                                    551void handle_ethernet_interface_comms()
                                                                                                                    +
                                                                                                                    552{
                                                                                                                    +
                                                                                                                    553 // function that will handle receiving and distributing of all messages to all ethernet interfaces
                                                                                                                    +
                                                                                                                    554 // via the union message. this is a little bit cursed ngl.
                                                                                                                    +
                                                                                                                    555 // TODO un fuck this and make it more sane
                                                                                                                    +
                                                                                                                    556 // Serial.println("bruh");
                                                                                                                    +
                                                                                                                    557 handle_ethernet_socket_receive(&protobuf_recv_socket, &recv_pb_stream_union_msg, ethernet_interfaces);
                                                                                                                    +
                                                                                                                    558
                                                                                                                    +
                                                                                                                    559 // this is just kinda here i know.
                                                                                                                    +
                                                                                                                    560 if (param_interface.params_need_sending())
                                                                                                                    +
                                                                                                                    561 {
                                                                                                                    +
                                                                                                                    562 // Serial.println("handling ethernet");
                                                                                                                    +
                                                                                                                    563 auto config = param_interface.get_config();
                                                                                                                    +
                                                                                                                    564 if (!handle_ethernet_socket_send_pb(&protobuf_send_socket, config, config_fields))
                                                                                                                    +
                                                                                                                    565 {
                                                                                                                    +
                                                                                                                    566 // TODO this means that something bad has happend
                                                                                                                    +
                                                                                                                    567 }
                                                                                                                    +
                                                                                                                    568 param_interface.reset_params_need_sending();
                                                                                                                    +
                                                                                                                    569 }
                                                                                                                    +
                                                                                                                    570}
                                                                                                                    MCU_rev15_defs.h
                                                                                                                    -
                                                                                                                    MCU15_BRAKE1_CHANNEL
                                                                                                                    const int MCU15_BRAKE1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:17
                                                                                                                    -
                                                                                                                    MCU15_STEERING_CHANNEL
                                                                                                                    const int MCU15_STEERING_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:20
                                                                                                                    -
                                                                                                                    LOADCELL_FL_SCALE
                                                                                                                    const float LOADCELL_FL_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:76
                                                                                                                    -
                                                                                                                    MCU15_ACCEL2_CHANNEL
                                                                                                                    const int MCU15_ACCEL2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:16
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    -
                                                                                                                    LOADCELL_FL_OFFSET
                                                                                                                    const float LOADCELL_FL_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:77
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:45
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:48
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:52
                                                                                                                    -
                                                                                                                    MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:21
                                                                                                                    -
                                                                                                                    ADC1_CS
                                                                                                                    const int ADC1_CS
                                                                                                                    Definition: MCU_rev15_defs.h:7
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    -
                                                                                                                    MCU15_GLV_SENSE_CHANNEL
                                                                                                                    const int MCU15_GLV_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:19
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:51
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:42
                                                                                                                    -
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    -
                                                                                                                    TELEM_CAN_BAUDRATE
                                                                                                                    const unsigned long TELEM_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:36
                                                                                                                    -
                                                                                                                    LOADCELL_RL_SCALE
                                                                                                                    const float LOADCELL_RL_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:82
                                                                                                                    -
                                                                                                                    STEERING_RANGE_DEGREES
                                                                                                                    const float STEERING_RANGE_DEGREES
                                                                                                                    Definition: MCU_rev15_defs.h:93
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:46
                                                                                                                    -
                                                                                                                    MCU15_FL_POTS_CHANNEL
                                                                                                                    const int MCU15_FL_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:24
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:43
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    -
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    -
                                                                                                                    LOADCELL_FR_SCALE
                                                                                                                    const float LOADCELL_FR_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:79
                                                                                                                    -
                                                                                                                    MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:27
                                                                                                                    -
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    -
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    -
                                                                                                                    ADC2_CS
                                                                                                                    const int ADC2_CS
                                                                                                                    Definition: MCU_rev15_defs.h:8
                                                                                                                    -
                                                                                                                    MCU15_BRAKE2_CHANNEL
                                                                                                                    const int MCU15_BRAKE2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:18
                                                                                                                    -
                                                                                                                    MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:26
                                                                                                                    -
                                                                                                                    LOADCELL_RL_OFFSET
                                                                                                                    const float LOADCELL_RL_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:83
                                                                                                                    -
                                                                                                                    SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:91
                                                                                                                    -
                                                                                                                    MCU15_ACCEL1_CHANNEL
                                                                                                                    const int MCU15_ACCEL1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:15
                                                                                                                    -
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    -
                                                                                                                    PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    const float PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:89
                                                                                                                    -
                                                                                                                    INV_CAN_BAUDRATE
                                                                                                                    const unsigned long INV_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:35
                                                                                                                    -
                                                                                                                    MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:22
                                                                                                                    -
                                                                                                                    BUZZER_ON_INTERVAL
                                                                                                                    const unsigned long BUZZER_ON_INTERVAL
                                                                                                                    Definition: MCU_rev15_defs.h:31
                                                                                                                    -
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:71
                                                                                                                    -
                                                                                                                    LOADCELL_RR_OFFSET
                                                                                                                    const float LOADCELL_RR_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:86
                                                                                                                    -
                                                                                                                    LOADCELL_RR_SCALE
                                                                                                                    const float LOADCELL_RR_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:85
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:49
                                                                                                                    -
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    -
                                                                                                                    LOADCELL_FR_OFFSET
                                                                                                                    const float LOADCELL_FR_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:80
                                                                                                                    -
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    -
                                                                                                                    MCU15_FR_POTS_CHANNEL
                                                                                                                    const int MCU15_FR_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:25
                                                                                                                    -
                                                                                                                    INVERTER_ENABLING_TIMEOUT_INTERVAL
                                                                                                                    const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL
                                                                                                                    Definition: MCU_rev15_defs.h:32
                                                                                                                    -
                                                                                                                    SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:90
                                                                                                                    -
                                                                                                                    SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    const int SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    Definition: MCU_rev15_defs.h:92
                                                                                                                    -
                                                                                                                    ADC3_CS
                                                                                                                    const int ADC3_CS
                                                                                                                    Definition: MCU_rev15_defs.h:9
                                                                                                                    +
                                                                                                                    MCU15_BRAKE1_CHANNEL
                                                                                                                    const int MCU15_BRAKE1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:21
                                                                                                                    +
                                                                                                                    MCU15_STEERING_CHANNEL
                                                                                                                    const int MCU15_STEERING_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:24
                                                                                                                    +
                                                                                                                    LOADCELL_FL_SCALE
                                                                                                                    const float LOADCELL_FL_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:88
                                                                                                                    +
                                                                                                                    MCU15_THERM_FR
                                                                                                                    const int MCU15_THERM_FR
                                                                                                                    Definition: MCU_rev15_defs.h:36
                                                                                                                    +
                                                                                                                    MCU15_ACCEL2_CHANNEL
                                                                                                                    const int MCU15_ACCEL2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:20
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:73
                                                                                                                    +
                                                                                                                    LOADCELL_FL_OFFSET
                                                                                                                    const float LOADCELL_FL_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:89
                                                                                                                    +
                                                                                                                    MCU15_THERM_FR_CHANNEL
                                                                                                                    const int MCU15_THERM_FR_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:38
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MIN
                                                                                                                    const int ACCEL1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:57
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MAX
                                                                                                                    const int BRAKE1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:60
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MIN
                                                                                                                    const int BRAKE2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:64
                                                                                                                    +
                                                                                                                    MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_POS_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:25
                                                                                                                    +
                                                                                                                    ADC1_CS
                                                                                                                    const int ADC1_CS
                                                                                                                    Definition: MCU_rev15_defs.h:11
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN
                                                                                                                    Definition: MCU_rev15_defs.h:79
                                                                                                                    +
                                                                                                                    MCU15_GLV_SENSE_CHANNEL
                                                                                                                    const int MCU15_GLV_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:23
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_MIN
                                                                                                                    const int BRAKE1_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:63
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_MAX
                                                                                                                    const int ACCEL1_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:54
                                                                                                                    +
                                                                                                                    BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    const float BRAKE_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:82
                                                                                                                    +
                                                                                                                    TELEM_CAN_BAUDRATE
                                                                                                                    const unsigned long TELEM_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:48
                                                                                                                    +
                                                                                                                    LOADCELL_RL_SCALE
                                                                                                                    const float LOADCELL_RL_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:94
                                                                                                                    +
                                                                                                                    STEERING_RANGE_DEGREES
                                                                                                                    const float STEERING_RANGE_DEGREES
                                                                                                                    Definition: MCU_rev15_defs.h:105
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL2_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:67
                                                                                                                    +
                                                                                                                    MCU15_THERM_FL
                                                                                                                    const int MCU15_THERM_FL
                                                                                                                    Definition: MCU_rev15_defs.h:35
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MIN
                                                                                                                    const int ACCEL2_PEDAL_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:58
                                                                                                                    +
                                                                                                                    MCU15_FL_POTS_CHANNEL
                                                                                                                    const int MCU15_FL_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:28
                                                                                                                    +
                                                                                                                    STEERING_IIR_ALPHA
                                                                                                                    const float STEERING_IIR_ALPHA
                                                                                                                    Definition: MCU_rev15_defs.h:106
                                                                                                                    +
                                                                                                                    DEFAULT_ANALOG_PINS
                                                                                                                    const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS]
                                                                                                                    Definition: MCU_rev15_defs.h:40
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MIN
                                                                                                                    const int BRAKE1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:72
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_MAX
                                                                                                                    const int ACCEL2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:55
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:69
                                                                                                                    +
                                                                                                                    DEFAULT_PEDAL_DEADZONE
                                                                                                                    const float DEFAULT_PEDAL_DEADZONE
                                                                                                                    Definition: MCU_rev15_defs.h:78
                                                                                                                    +
                                                                                                                    LOADCELL_FR_SCALE
                                                                                                                    const float LOADCELL_FR_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:91
                                                                                                                    +
                                                                                                                    MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FR_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:31
                                                                                                                    +
                                                                                                                    APPS_ACTIVATION_PERCENTAGE
                                                                                                                    const float APPS_ACTIVATION_PERCENTAGE
                                                                                                                    Definition: MCU_rev15_defs.h:81
                                                                                                                    +
                                                                                                                    ACCEL2_PEDAL_OOR_MAX
                                                                                                                    const int ACCEL2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:70
                                                                                                                    +
                                                                                                                    ADC2_CS
                                                                                                                    const int ADC2_CS
                                                                                                                    Definition: MCU_rev15_defs.h:12
                                                                                                                    +
                                                                                                                    MCU15_BRAKE2_CHANNEL
                                                                                                                    const int MCU15_BRAKE2_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:22
                                                                                                                    +
                                                                                                                    MCU15_THERM_FL_CHANNEL
                                                                                                                    const int MCU15_THERM_FL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:37
                                                                                                                    +
                                                                                                                    MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    const int MCU15_FL_LOADCELL_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:30
                                                                                                                    +
                                                                                                                    LOADCELL_RL_OFFSET
                                                                                                                    const float LOADCELL_RL_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:95
                                                                                                                    +
                                                                                                                    SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:103
                                                                                                                    +
                                                                                                                    MCU15_ACCEL1_CHANNEL
                                                                                                                    const int MCU15_ACCEL1_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:19
                                                                                                                    +
                                                                                                                    ACCEL1_PEDAL_OOR_MIN
                                                                                                                    const int ACCEL1_PEDAL_OOR_MIN
                                                                                                                    Definition: MCU_rev15_defs.h:66
                                                                                                                    +
                                                                                                                    PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    const float PRIMARY_STEERING_SENSE_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:101
                                                                                                                    +
                                                                                                                    INV_CAN_BAUDRATE
                                                                                                                    const unsigned long INV_CAN_BAUDRATE
                                                                                                                    Definition: MCU_rev15_defs.h:47
                                                                                                                    +
                                                                                                                    MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    const int MCU15_CUR_NEG_SENSE_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:26
                                                                                                                    +
                                                                                                                    BUZZER_ON_INTERVAL
                                                                                                                    const unsigned long BUZZER_ON_INTERVAL
                                                                                                                    Definition: MCU_rev15_defs.h:43
                                                                                                                    +
                                                                                                                    BRAKE_MECH_THRESH
                                                                                                                    const float BRAKE_MECH_THRESH
                                                                                                                    Definition: MCU_rev15_defs.h:83
                                                                                                                    +
                                                                                                                    LOADCELL_RR_OFFSET
                                                                                                                    const float LOADCELL_RR_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:98
                                                                                                                    +
                                                                                                                    LOADCELL_RR_SCALE
                                                                                                                    const float LOADCELL_RR_SCALE
                                                                                                                    Definition: MCU_rev15_defs.h:97
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_MAX
                                                                                                                    const int BRAKE2_PEDAL_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:61
                                                                                                                    +
                                                                                                                    BRAKE2_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE2_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:76
                                                                                                                    +
                                                                                                                    LOADCELL_FR_OFFSET
                                                                                                                    const float LOADCELL_FR_OFFSET
                                                                                                                    Definition: MCU_rev15_defs.h:92
                                                                                                                    +
                                                                                                                    BRAKE1_PEDAL_OOR_MAX
                                                                                                                    const int BRAKE1_PEDAL_OOR_MAX
                                                                                                                    Definition: MCU_rev15_defs.h:75
                                                                                                                    +
                                                                                                                    MCU15_FR_POTS_CHANNEL
                                                                                                                    const int MCU15_FR_POTS_CHANNEL
                                                                                                                    Definition: MCU_rev15_defs.h:29
                                                                                                                    +
                                                                                                                    INVERTER_ENABLING_TIMEOUT_INTERVAL
                                                                                                                    const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL
                                                                                                                    Definition: MCU_rev15_defs.h:44
                                                                                                                    +
                                                                                                                    SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND
                                                                                                                    Definition: MCU_rev15_defs.h:102
                                                                                                                    +
                                                                                                                    SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    const int SECONDARY_STEERING_SENSE_CENTER
                                                                                                                    Definition: MCU_rev15_defs.h:104
                                                                                                                    +
                                                                                                                    ADC3_CS
                                                                                                                    const int ADC3_CS
                                                                                                                    Definition: MCU_rev15_defs.h:13
                                                                                                                    CANBufferType
                                                                                                                    Circular_Buffer< uint8_t,(uint32_t) 128, sizeof(CAN_message_t)> CANBufferType
                                                                                                                    Definition: MessageQueueDefine.h:7
                                                                                                                    -
                                                                                                                    AMK_MAX_TORQUE
                                                                                                                    const float AMK_MAX_TORQUE
                                                                                                                    Definition: TorqueControllers.h:33
                                                                                                                    -
                                                                                                                    AMK_MAX_RPM
                                                                                                                    const float AMK_MAX_RPM
                                                                                                                    Definition: TorqueControllers.h:26
                                                                                                                    AMSInterface
                                                                                                                    this class is for interfacing with the AMS (accumulator management system)
                                                                                                                    Definition: AMSInterface.h:22
                                                                                                                    AMSInterface::get_filtered_min_cell_voltage
                                                                                                                    float get_filtered_min_cell_voltage()
                                                                                                                    Definition: AMSInterface.cpp:60
                                                                                                                    AMSInterface::init
                                                                                                                    void init(unsigned long curr_millis)
                                                                                                                    Definition: AMSInterface.cpp:3
                                                                                                                    @@ -661,7 +723,7 @@
                                                                                                                    AnalogChannel::convert
                                                                                                                    AnalogConversion_s convert()
                                                                                                                    Calculate sensor output and whether result is in sensor's defined bounds. DOES NOT SAMPLE.
                                                                                                                    BuzzerController::buzzer_is_on
                                                                                                                    bool buzzer_is_on()
                                                                                                                    Definition: Buzzer.h:16
                                                                                                                    -
                                                                                                                    CASESystem
                                                                                                                    this class with both take in sensor inputs as well as handle calculations for various derived states ...
                                                                                                                    Definition: CASESystem.h:61
                                                                                                                    +
                                                                                                                    CASESystem
                                                                                                                    this class with both take in sensor inputs as well as handle calculations for various derived states ...
                                                                                                                    Definition: CASESystem.h:97
                                                                                                                    DrivetrainSystem::drivetrain_error_occured
                                                                                                                    bool drivetrain_error_occured()
                                                                                                                    @@ -675,6 +737,11 @@
                                                                                                                    LoadCellInterface::tick
                                                                                                                    void tick(const LoadCellInterfaceTick_s &intake)
                                                                                                                    Definition: LoadCellInterface.cpp:3
                                                                                                                    + + +
                                                                                                                    ParameterInterface::update_car_state
                                                                                                                    void update_car_state(const CAR_STATE &state)
                                                                                                                    Definition: ParameterInterface.h:14
                                                                                                                    + +
                                                                                                                    PedalsSystem::getPedalsSystemDataCopy
                                                                                                                    PedalsSystemData_s getPedalsSystemDataCopy()
                                                                                                                    Definition: PedalsSystem.h:67
                                                                                                                    PedalsSystem::getPedalsSystemData
                                                                                                                    const PedalsSystemData_s & getPedalsSystemData()
                                                                                                                    Definition: PedalsSystem.h:62
                                                                                                                    @@ -684,8 +751,8 @@
                                                                                                                    SABInterface::rlLoadCell
                                                                                                                    AnalogChannel rlLoadCell
                                                                                                                    Definition: SABInterface.h:12
                                                                                                                    SABInterface::rrLoadCell
                                                                                                                    AnalogChannel rrLoadCell
                                                                                                                    Definition: SABInterface.h:13
                                                                                                                    - - + +
                                                                                                                    TorqueControllerBase::get_launch_state
                                                                                                                    virtual LaunchStates_e get_launch_state()
                                                                                                                    Definition: TorqueControllers.h:100
                                                                                                                    @@ -703,42 +770,52 @@
                                                                                                                    send_all_CAN_msgs
                                                                                                                    void send_all_CAN_msgs(bufferType &buffer, FlexCAN_T4_Base *can_interface)
                                                                                                                    Definition: HytechCANInterface.h:184
                                                                                                                    on_can3_receive
                                                                                                                    void on_can3_receive(const CAN_message_t &msg)
                                                                                                                    Definition: HytechCANInterface.cpp:26
                                                                                                                    CAN2_rxBuffer
                                                                                                                    Circular_Buffer< uint8_t,(uint32_t) 16, sizeof(CAN_message_t)> CAN2_rxBuffer
                                                                                                                    Definition: HytechCANInterface.cpp:4
                                                                                                                    -
                                                                                                                    load_cell_interface
                                                                                                                    LoadCellInterface load_cell_interface
                                                                                                                    Definition: main.cpp:118
                                                                                                                    -
                                                                                                                    steering1
                                                                                                                    SteeringSystem steering_system & steering1
                                                                                                                    Definition: main.cpp:135
                                                                                                                    +
                                                                                                                    handle_ethernet_socket_receive
                                                                                                                    void handle_ethernet_socket_receive(EthernetUDP *socket, recv_function_t recv_function, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:22
                                                                                                                    +
                                                                                                                    recv_pb_stream_union_msg
                                                                                                                    void recv_pb_stream_union_msg(const uint8_t *buffer, size_t packet_size, ETHInterfaces &interfaces)
                                                                                                                    Definition: ProtobufMsgInterface.h:54
                                                                                                                    +
                                                                                                                    handle_ethernet_socket_send_pb
                                                                                                                    bool handle_ethernet_socket_send_pb(EthernetUDP *socket, const pb_struct &msg, const pb_msgdesc_t *msg_desc)
                                                                                                                    Definition: ProtobufMsgInterface.h:37
                                                                                                                    +
                                                                                                                    load_cell_interface
                                                                                                                    LoadCellInterface load_cell_interface
                                                                                                                    Definition: main.cpp:128
                                                                                                                    +
                                                                                                                    steering1
                                                                                                                    SteeringSystem steering_system & steering1
                                                                                                                    Definition: main.cpp:145
                                                                                                                    pedals_system
                                                                                                                    PedalsSystem pedals_system(accel_params, brake_params)
                                                                                                                    -
                                                                                                                    InvInt_t
                                                                                                                    InverterInterface< CircularBufferType > InvInt_t
                                                                                                                    Definition: main.cpp:121
                                                                                                                    +
                                                                                                                    InvInt_t
                                                                                                                    InverterInterface< CircularBufferType > InvInt_t
                                                                                                                    Definition: main.cpp:131
                                                                                                                    sab_interface
                                                                                                                    SABInterface sab_interface(LOADCELL_RL_SCALE, LOADCELL_RL_OFFSET, LOADCELL_RR_SCALE, LOADCELL_RR_OFFSET)
                                                                                                                    drivetrain_reset
                                                                                                                    void drivetrain_reset()
                                                                                                                    -
                                                                                                                    Serial5
                                                                                                                    OrbisBR10 steering1 & Serial5
                                                                                                                    Definition: main.cpp:101
                                                                                                                    -
                                                                                                                    INV_CAN
                                                                                                                    FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 > INV_CAN
                                                                                                                    Definition: main.cpp:89
                                                                                                                    -
                                                                                                                    setup
                                                                                                                    void setup()
                                                                                                                    Definition: main.cpp:238
                                                                                                                    -
                                                                                                                    accel_params
                                                                                                                    const PedalsParams accel_params
                                                                                                                    Definition: main.cpp:55
                                                                                                                    -
                                                                                                                    tick_all_interfaces
                                                                                                                    void tick_all_interfaces(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:377
                                                                                                                    -
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:142
                                                                                                                    -
                                                                                                                    CircularBufferType
                                                                                                                    CANBufferType CircularBufferType
                                                                                                                    Definition: main.cpp:94
                                                                                                                    -
                                                                                                                    brake_params
                                                                                                                    const PedalsParams brake_params
                                                                                                                    Definition: main.cpp:69
                                                                                                                    -
                                                                                                                    telem_read_channels
                                                                                                                    const TelemetryInterfaceReadChannels telem_read_channels
                                                                                                                    Definition: main.cpp:41
                                                                                                                    -
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:98
                                                                                                                    -
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:138
                                                                                                                    +
                                                                                                                    Serial5
                                                                                                                    OrbisBR10 steering1 & Serial5
                                                                                                                    Definition: main.cpp:109
                                                                                                                    +
                                                                                                                    INV_CAN
                                                                                                                    FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 > INV_CAN
                                                                                                                    Definition: main.cpp:97
                                                                                                                    +
                                                                                                                    setup
                                                                                                                    void setup()
                                                                                                                    Definition: main.cpp:263
                                                                                                                    +
                                                                                                                    accel_params
                                                                                                                    const PedalsParams accel_params
                                                                                                                    Definition: main.cpp:60
                                                                                                                    +
                                                                                                                    tick_all_interfaces
                                                                                                                    void tick_all_interfaces(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:419
                                                                                                                    +
                                                                                                                    protobuf_send_socket
                                                                                                                    EthernetUDP protobuf_send_socket
                                                                                                                    Definition: main.cpp:93
                                                                                                                    +
                                                                                                                    mcu_adc
                                                                                                                    Teensy_ADC< 2 > mcu_adc
                                                                                                                    Definition: main.cpp:108
                                                                                                                    +
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:152
                                                                                                                    +
                                                                                                                    CircularBufferType
                                                                                                                    CANBufferType CircularBufferType
                                                                                                                    Definition: main.cpp:102
                                                                                                                    +
                                                                                                                    param_interface
                                                                                                                    ParameterInterface param_interface
                                                                                                                    Definition: main.cpp:114
                                                                                                                    +
                                                                                                                    brake_params
                                                                                                                    const PedalsParams brake_params
                                                                                                                    Definition: main.cpp:74
                                                                                                                    +
                                                                                                                    telem_read_channels
                                                                                                                    const TelemetryInterfaceReadChannels telem_read_channels
                                                                                                                    Definition: main.cpp:44
                                                                                                                    +
                                                                                                                    a2
                                                                                                                    MCP_ADC< 4 > a2
                                                                                                                    Definition: main.cpp:106
                                                                                                                    +
                                                                                                                    ams_interface
                                                                                                                    AMSInterface ams_interface(8)
                                                                                                                    Definition: main.cpp:148
                                                                                                                    inv
                                                                                                                    struct inverters inv
                                                                                                                    -
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:213
                                                                                                                    -
                                                                                                                    CAN_receive_interfaces
                                                                                                                    CANInterfaces< CircularBufferType > CAN_receive_interfaces
                                                                                                                    Definition: main.cpp:219
                                                                                                                    -
                                                                                                                    CAN3_txBuffer
                                                                                                                    VNInterface< CircularBufferType > vn_interface & CAN3_txBuffer
                                                                                                                    Definition: main.cpp:106
                                                                                                                    -
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:97
                                                                                                                    -
                                                                                                                    TELEM_CAN
                                                                                                                    FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_16 > TELEM_CAN
                                                                                                                    Definition: main.cpp:90
                                                                                                                    +
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:236
                                                                                                                    +
                                                                                                                    CAN_receive_interfaces
                                                                                                                    CANInterfaces< CircularBufferType > CAN_receive_interfaces
                                                                                                                    Definition: main.cpp:242
                                                                                                                    +
                                                                                                                    handle_ethernet_interface_comms
                                                                                                                    void handle_ethernet_interface_comms()
                                                                                                                    Definition: main.cpp:551
                                                                                                                    +
                                                                                                                    CAN3_txBuffer
                                                                                                                    VNInterface< CircularBufferType > vn_interface & CAN3_txBuffer
                                                                                                                    Definition: main.cpp:116
                                                                                                                    +
                                                                                                                    ethernet_interfaces
                                                                                                                    ETHInterfaces ethernet_interfaces
                                                                                                                    Definition: main.cpp:115
                                                                                                                    +
                                                                                                                    a1
                                                                                                                    MCP_ADC< 8 > a1
                                                                                                                    Definition: main.cpp:105
                                                                                                                    +
                                                                                                                    TELEM_CAN
                                                                                                                    FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_16 > TELEM_CAN
                                                                                                                    Definition: main.cpp:98
                                                                                                                    +
                                                                                                                    protobuf_recv_socket
                                                                                                                    EthernetUDP protobuf_recv_socket
                                                                                                                    Definition: main.cpp:94
                                                                                                                    wd_interface
                                                                                                                    WatchdogInterface wd_interface(32)
                                                                                                                    -
                                                                                                                    tick_all_systems
                                                                                                                    void tick_all_systems(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:456
                                                                                                                    -
                                                                                                                    case_config
                                                                                                                    CASEConfiguration case_config
                                                                                                                    Definition: main.cpp:145
                                                                                                                    -
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:134
                                                                                                                    -
                                                                                                                    init_all_CAN_devices
                                                                                                                    void init_all_CAN_devices()
                                                                                                                    Definition: main.cpp:352
                                                                                                                    -
                                                                                                                    a3
                                                                                                                    MCP_ADC< 4 > a3
                                                                                                                    Definition: main.cpp:99
                                                                                                                    -
                                                                                                                    DriveSys_t
                                                                                                                    DrivetrainSystem< InvInt_t > DriveSys_t
                                                                                                                    Definition: main.cpp:141
                                                                                                                    +
                                                                                                                    tick_all_systems
                                                                                                                    void tick_all_systems(const SysTick_s &current_system_tick)
                                                                                                                    Definition: main.cpp:500
                                                                                                                    +
                                                                                                                    case_config
                                                                                                                    CASEConfiguration case_config
                                                                                                                    Definition: main.cpp:155
                                                                                                                    +
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:144
                                                                                                                    +
                                                                                                                    init_all_CAN_devices
                                                                                                                    void init_all_CAN_devices()
                                                                                                                    Definition: main.cpp:394
                                                                                                                    +
                                                                                                                    a3
                                                                                                                    MCP_ADC< 4 > a3
                                                                                                                    Definition: main.cpp:107
                                                                                                                    +
                                                                                                                    DriveSys_t
                                                                                                                    DrivetrainSystem< InvInt_t > DriveSys_t
                                                                                                                    Definition: main.cpp:151
                                                                                                                    torque_controller_mux
                                                                                                                    TorqueControllerMux torque_controller_mux(1.0, 0.4)
                                                                                                                    -
                                                                                                                    loop
                                                                                                                    void loop()
                                                                                                                    Definition: main.cpp:297
                                                                                                                    +
                                                                                                                    loop
                                                                                                                    void loop()
                                                                                                                    Definition: main.cpp:332
                                                                                                                    - -
                                                                                                                    CASEConfiguration::AbsoluteTorqueLimit
                                                                                                                    float AbsoluteTorqueLimit
                                                                                                                    Definition: CASESystem.h:13
                                                                                                                    + +
                                                                                                                    CASEConfiguration::AbsoluteTorqueLimit
                                                                                                                    float AbsoluteTorqueLimit
                                                                                                                    Definition: CASESystem.h:15
                                                                                                                    DrivetrainCommand_s
                                                                                                                    Definition: DrivetrainSystem.h:11
                                                                                                                    +
                                                                                                                    LoadCellInterfaceOutput_s::loadCellConversions
                                                                                                                    veh_vec< AnalogConversion_s > loadCellConversions
                                                                                                                    Definition: LoadCellInterface.h:21
                                                                                                                    LoadCellInterfaceTick_s
                                                                                                                    Definition: LoadCellInterface.h:11
                                                                                                                    PedalsParams
                                                                                                                    Pedals params struct that will hold min / max that will be used for evaluateion.
                                                                                                                    Definition: PedalsSystem.h:26
                                                                                                                    @@ -748,14 +825,14 @@
                                                                                                                    PedalsSystemData_s::accelPercent
                                                                                                                    float accelPercent
                                                                                                                    Definition: PedalsSystem.h:19
                                                                                                                    PedalsSystemData_s::accelImplausible
                                                                                                                    bool accelImplausible
                                                                                                                    Definition: PedalsSystem.h:12
                                                                                                                    PedalsSystemData_s::brakeImplausible
                                                                                                                    bool brakeImplausible
                                                                                                                    Definition: PedalsSystem.h:13
                                                                                                                    -
                                                                                                                    SteeringSystemTick_s
                                                                                                                    Definition: SteeringSystem.h:26
                                                                                                                    +
                                                                                                                    SteeringSystemTick_s
                                                                                                                    Definition: SteeringSystem.h:29
                                                                                                                    - -
                                                                                                                    inverters::rr
                                                                                                                    InvInt_t rr
                                                                                                                    Definition: main.cpp:127
                                                                                                                    -
                                                                                                                    inverters::rl
                                                                                                                    InvInt_t rl
                                                                                                                    Definition: main.cpp:126
                                                                                                                    -
                                                                                                                    inverters::fr
                                                                                                                    InvInt_t fr
                                                                                                                    Definition: main.cpp:125
                                                                                                                    -
                                                                                                                    inverters::fl
                                                                                                                    InvInt_t fl
                                                                                                                    Definition: main.cpp:124
                                                                                                                    + +
                                                                                                                    inverters::rr
                                                                                                                    InvInt_t rr
                                                                                                                    Definition: main.cpp:137
                                                                                                                    +
                                                                                                                    inverters::rl
                                                                                                                    InvInt_t rl
                                                                                                                    Definition: main.cpp:136
                                                                                                                    +
                                                                                                                    inverters::fr
                                                                                                                    InvInt_t fr
                                                                                                                    Definition: main.cpp:135
                                                                                                                    +
                                                                                                                    inverters::fl
                                                                                                                    InvInt_t fl
                                                                                                                    Definition: main.cpp:134
                                                                                                                    diff --git a/state__machine__test_8h.html b/state__machine__test_8h.html index a2abc88e8..3ffcf101a 100644 --- a/state__machine__test_8h.html +++ b/state__machine__test_8h.html @@ -187,7 +187,7 @@

                                                                                                                    DashboardInterface::start_button_status_
                                                                                                                    bool start_button_status_
                                                                                                                    Definition: DashboardInterface.h:63
                                                                                                                    MCUStateMachine::tick_state_machine
                                                                                                                    void tick_state_machine(unsigned long cm)
                                                                                                                    our components can use this time to tell when to do things. We can set this ourselves for testing pur...
                                                                                                                    PedalsSystem::tick
                                                                                                                    void tick(const SysTick_s &tick, const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake)
                                                                                                                    overloaded tick function that runs the evaluation of the pedals system. evaluates brake using only mi...
                                                                                                                    Definition: PedalsSystem.cpp:12
                                                                                                                    -
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:142
                                                                                                                    +
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:152
                                                                                                                    AnalogConversion_s
                                                                                                                    Definition: AnalogSensorsInterface.h:14
                                                                                                                    AnalogConversion_s::conversion
                                                                                                                    float conversion
                                                                                                                    Definition: AnalogSensorsInterface.h:16
                                                                                                                    AnalogConversion_s::status
                                                                                                                    AnalogSensorStatus_e status
                                                                                                                    Definition: AnalogSensorsInterface.h:17
                                                                                                                    @@ -247,7 +247,7 @@

                                                                                                                    PedalsSystem
                                                                                                                    Definition: PedalsSystem.h:42
                                                                                                                    -
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:213
                                                                                                                    +
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:236
                                                                                                                    diff --git a/state__machine__test_8h_source.html b/state__machine__test_8h_source.html index 1beec5982..d56a61644 100644 --- a/state__machine__test_8h_source.html +++ b/state__machine__test_8h_source.html @@ -427,8 +427,8 @@
                                                                                                                    PedalsSystem::tick
                                                                                                                    void tick(const SysTick_s &tick, const AnalogConversion_s &accel1, const AnalogConversion_s &accel2, const AnalogConversion_s &brake)
                                                                                                                    overloaded tick function that runs the evaluation of the pedals system. evaluates brake using only mi...
                                                                                                                    Definition: PedalsSystem.cpp:12
                                                                                                                    -
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:142
                                                                                                                    -
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:213
                                                                                                                    +
                                                                                                                    drivetrain
                                                                                                                    DriveSys_t drivetrain
                                                                                                                    Definition: main.cpp:152
                                                                                                                    +
                                                                                                                    buzzer
                                                                                                                    BuzzerController buzzer(BUZZER_ON_INTERVAL)
                                                                                                                    Definition: main.cpp:236
                                                                                                                    TEST
                                                                                                                    TEST(MCUStateMachineTesting, test_state_machine_init_tick)
                                                                                                                    Definition: state_machine_test.h:60
                                                                                                                    handle_startup
                                                                                                                    void handle_startup(MCUStateMachine< DrivetrainMock > &state_machine, unsigned long sys_time, DrivetrainMock &drivetrain, PedalsSystem &pedals, DashboardInterface &dash_interface)
                                                                                                                    Definition: state_machine_test.h:30
                                                                                                                    AnalogConversion_s
                                                                                                                    Definition: AnalogSensorsInterface.h:14
                                                                                                                    diff --git a/steering__system__test_8h.html b/steering__system__test_8h.html new file mode 100644 index 000000000..dbc153e8e --- /dev/null +++ b/steering__system__test_8h.html @@ -0,0 +1,691 @@ + + + + + + + +MCU: test/test_systems/steering_system_test.h File Reference + + + + + + + + + +
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                                                                                                                    +Macros | +Functions
                                                                                                                    +
                                                                                                                    steering_system_test.h File Reference
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    #include <gtest/gtest.h>
                                                                                                                    +#include <gmock/gmock.h>
                                                                                                                    +#include "SteeringSystem.h"
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Go to the source code of this file.

                                                                                                                    + + + + + + + + + + + + + + +

                                                                                                                    +Macros

                                                                                                                    #define PRIMARY_ALPHA   (0.7)
                                                                                                                     
                                                                                                                    #define SECONDARY_ALPHA   (0.7)
                                                                                                                     
                                                                                                                    #define WARN_DIVERGENCE_OFFSET   (0.6)
                                                                                                                     
                                                                                                                    #define ERR_DIVERGENCE_OFFSET   (0.7)
                                                                                                                     
                                                                                                                    #define WARN_FILTER_LATENCY   (8)
                                                                                                                     
                                                                                                                    #define ERR_FILTER_LATENCY   (9)
                                                                                                                     
                                                                                                                    + + + + + + + + + + + + + + + +

                                                                                                                    +Functions

                                                                                                                     TEST (SteeringSystemTesting, test_steering_nominal)
                                                                                                                     
                                                                                                                     TEST (SteeringSystemTesting, test_steering_primary_is_marginal)
                                                                                                                     
                                                                                                                     TEST (SteeringSystemTesting, test_steering_secondary_is_marginal)
                                                                                                                     
                                                                                                                     TEST (SteeringSystemTesting, test_steering_divergence_warning)
                                                                                                                     
                                                                                                                     TEST (SteeringSystemTesting, test_steering_divergence_error)
                                                                                                                     
                                                                                                                     TEST (SteeringSystemTesting, test_steering_primary_is_missing)
                                                                                                                     
                                                                                                                     TEST (SteeringSystemTesting, test_steering_primary_is_missing_and_secondary_is_marginal)
                                                                                                                     
                                                                                                                    +

                                                                                                                    Macro Definition Documentation

                                                                                                                    + +

                                                                                                                    ◆ ERR_DIVERGENCE_OFFSET

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    #define ERR_DIVERGENCE_OFFSET   (0.7)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 10 of file steering_system_test.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ ERR_FILTER_LATENCY

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    #define ERR_FILTER_LATENCY   (9)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 12 of file steering_system_test.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ PRIMARY_ALPHA

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    #define PRIMARY_ALPHA   (0.7)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 7 of file steering_system_test.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ SECONDARY_ALPHA

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    #define SECONDARY_ALPHA   (0.7)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 8 of file steering_system_test.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ WARN_DIVERGENCE_OFFSET

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    #define WARN_DIVERGENCE_OFFSET   (0.6)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 9 of file steering_system_test.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ WARN_FILTER_LATENCY

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    #define WARN_FILTER_LATENCY   (8)
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 11 of file steering_system_test.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +

                                                                                                                    Function Documentation

                                                                                                                    + +

                                                                                                                    ◆ TEST() [1/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_divergence_error  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 154 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    155{
                                                                                                                    +
                                                                                                                    156 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    157 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    158 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    159 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    160 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    161 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    162 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    163 float mockPrimaryFilteredAngle;
                                                                                                                    +
                                                                                                                    164 float mockSecondaryFilteredAngle;
                                                                                                                    +
                                                                                                                    165
                                                                                                                    +
                                                                                                                    166 float primaryAngle = 0.0f;
                                                                                                                    +
                                                                                                                    167 // Pend divergence to sensor readings
                                                                                                                    +
                                                                                                                    168 // - IIR filter eq.: filtered_val = (1-alpha)*new_val + alpha*prev_val
                                                                                                                    +
                                                                                                                    169 // - when divergence set exactly to system threshold
                                                                                                                    +
                                                                                                                    170 // - divergence magnitude gets shaved off, will not trigger above threshold
                                                                                                                    +
                                                                                                                    171 // - pend offset to divergence to trip threshold
                                                                                                                    +
                                                                                                                    172 float secondaryAngle = primaryAngle + ERR_DIVERGENCE_OFFSET + STEERING_DIVERGENCE_ERROR_THRESHOLD; // edge discrepancy
                                                                                                                    +
                                                                                                                    173
                                                                                                                    +
                                                                                                                    174 // Latency due to filtering
                                                                                                                    +
                                                                                                                    175 // - required steps of filtering for divergence to rise up to threshold with offset pended
                                                                                                                    +
                                                                                                                    176 // - e.g. when alpha = 0.7, pending offset = 0.6, it takes a minimal of 9 steps of filtering to exceed error threshold
                                                                                                                    +
                                                                                                                    177 for (int i = 0; i < ERR_FILTER_LATENCY; i++) // edge filter steps to align output
                                                                                                                    +
                                                                                                                    178 {
                                                                                                                    +
                                                                                                                    179 mockPrimaryFilteredAngle = mockAngleFilters[0].filtered_result(primaryAngle);
                                                                                                                    +
                                                                                                                    180 mockSecondaryFilteredAngle = mockAngleFilters[1].filtered_result(secondaryAngle);
                                                                                                                    +
                                                                                                                    181
                                                                                                                    +
                                                                                                                    182 primarySensor.mockConversion.angle = primaryAngle;
                                                                                                                    +
                                                                                                                    183 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    184 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    185 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    186 {
                                                                                                                    +
                                                                                                                    187 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    188 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    189 {
                                                                                                                    +
                                                                                                                    190 .raw = 0,
                                                                                                                    +
                                                                                                                    191 .conversion = secondaryAngle,
                                                                                                                    +
                                                                                                                    192 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    193 }
                                                                                                                    +
                                                                                                                    194 }
                                                                                                                    +
                                                                                                                    195 );
                                                                                                                    +
                                                                                                                    196 }
                                                                                                                    +
                                                                                                                    197
                                                                                                                    +
                                                                                                                    198 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == 0.0f);
                                                                                                                    +
                                                                                                                    199 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_ERROR);
                                                                                                                    +
                                                                                                                    200}
                                                                                                                    + + + +
                                                                                                                    STEERING_DIVERGENCE_ERROR_THRESHOLD
                                                                                                                    #define STEERING_DIVERGENCE_ERROR_THRESHOLD
                                                                                                                    Definition: SteeringSystem.h:13
                                                                                                                    +
                                                                                                                    Filter_IIR
                                                                                                                    Definition: Filter_IIR.h:11
                                                                                                                    +
                                                                                                                    Filter_IIR::filtered_result
                                                                                                                    dataType filtered_result(dataType new_val)
                                                                                                                    Definition: Filter_IIR.h:50
                                                                                                                    + +
                                                                                                                    SteeringEncoderInterface::mockConversion
                                                                                                                    SteeringEncoderConversion_s mockConversion
                                                                                                                    Definition: SteeringEncoderInterface.h:24
                                                                                                                    + +
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:144
                                                                                                                    +
                                                                                                                    SECONDARY_ALPHA
                                                                                                                    #define SECONDARY_ALPHA
                                                                                                                    Definition: steering_system_test.h:8
                                                                                                                    +
                                                                                                                    PRIMARY_ALPHA
                                                                                                                    #define PRIMARY_ALPHA
                                                                                                                    Definition: steering_system_test.h:7
                                                                                                                    +
                                                                                                                    ERR_FILTER_LATENCY
                                                                                                                    #define ERR_FILTER_LATENCY
                                                                                                                    Definition: steering_system_test.h:12
                                                                                                                    +
                                                                                                                    ERR_DIVERGENCE_OFFSET
                                                                                                                    #define ERR_DIVERGENCE_OFFSET
                                                                                                                    Definition: steering_system_test.h:10
                                                                                                                    +
                                                                                                                    AnalogConversion_s
                                                                                                                    Definition: AnalogSensorsInterface.h:14
                                                                                                                    +
                                                                                                                    SteeringEncoderConversion_s::angle
                                                                                                                    float angle
                                                                                                                    Definition: SteeringEncoderInterface.h:16
                                                                                                                    +
                                                                                                                    SteeringEncoderConversion_s::status
                                                                                                                    SteeringEncoderStatus_e status
                                                                                                                    Definition: SteeringEncoderInterface.h:17
                                                                                                                    +
                                                                                                                    SteeringSystemTick_s
                                                                                                                    Definition: SteeringSystem.h:29
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TEST() [2/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_divergence_warning  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 106 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    107{
                                                                                                                    +
                                                                                                                    108 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    109 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    110 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    111 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    112 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    113 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    114 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    115 float mockPrimaryFilteredAngle;
                                                                                                                    +
                                                                                                                    116 float mockSecondaryFilteredAngle;
                                                                                                                    +
                                                                                                                    117
                                                                                                                    +
                                                                                                                    118 float primaryAngle = 0.0f;
                                                                                                                    +
                                                                                                                    119 // Pend divergence to sensor readings
                                                                                                                    +
                                                                                                                    120 // - IIR filter eq.: filtered_val = (1-alpha)*new_val + alpha*prev_val
                                                                                                                    +
                                                                                                                    121 // - when divergence set exactly to system threshold
                                                                                                                    +
                                                                                                                    122 // - divergence magnitude gets shaved off, will not trigger above threshold
                                                                                                                    +
                                                                                                                    123 // - pend offset to divergence to trip threshold
                                                                                                                    +
                                                                                                                    124 float secondaryAngle = primaryAngle + WARN_DIVERGENCE_OFFSET + STEERING_DIVERGENCE_WARN_THRESHOLD; // edge discrepancy
                                                                                                                    +
                                                                                                                    125
                                                                                                                    +
                                                                                                                    126 // Latency due to filtering
                                                                                                                    +
                                                                                                                    127 // - required steps of filtering for divergence to rise up to threshold with offset pended
                                                                                                                    +
                                                                                                                    128 // - e.g. when alpha = 0.7, pending offset = 0.6, it takes a minimal of 8 steps of filtering to exceed warn threshold
                                                                                                                    +
                                                                                                                    129 for (int i = 0; i < WARN_FILTER_LATENCY; i++) // edge filter steps to align output
                                                                                                                    +
                                                                                                                    130 {
                                                                                                                    +
                                                                                                                    131 mockPrimaryFilteredAngle = mockAngleFilters[0].filtered_result(primaryAngle);
                                                                                                                    +
                                                                                                                    132 mockSecondaryFilteredAngle = mockAngleFilters[1].filtered_result(secondaryAngle);
                                                                                                                    +
                                                                                                                    133
                                                                                                                    +
                                                                                                                    134 primarySensor.mockConversion.angle = primaryAngle;
                                                                                                                    +
                                                                                                                    135 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    136 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    137 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    138 {
                                                                                                                    +
                                                                                                                    139 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    140 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    141 {
                                                                                                                    +
                                                                                                                    142 .raw = 0,
                                                                                                                    +
                                                                                                                    143 .conversion = secondaryAngle,
                                                                                                                    +
                                                                                                                    144 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    145 }
                                                                                                                    +
                                                                                                                    146 }
                                                                                                                    +
                                                                                                                    147 );
                                                                                                                    +
                                                                                                                    148 }
                                                                                                                    +
                                                                                                                    149
                                                                                                                    +
                                                                                                                    150 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockPrimaryFilteredAngle);
                                                                                                                    +
                                                                                                                    151 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL);
                                                                                                                    +
                                                                                                                    152}
                                                                                                                    + +
                                                                                                                    STEERING_DIVERGENCE_WARN_THRESHOLD
                                                                                                                    #define STEERING_DIVERGENCE_WARN_THRESHOLD
                                                                                                                    Definition: SteeringSystem.h:14
                                                                                                                    +
                                                                                                                    WARN_DIVERGENCE_OFFSET
                                                                                                                    #define WARN_DIVERGENCE_OFFSET
                                                                                                                    Definition: steering_system_test.h:9
                                                                                                                    +
                                                                                                                    WARN_FILTER_LATENCY
                                                                                                                    #define WARN_FILTER_LATENCY
                                                                                                                    Definition: steering_system_test.h:11
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TEST() [3/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_nominal  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 14 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    15{
                                                                                                                    +
                                                                                                                    16 float angles_to_test[5] = {-120.0f, -60.0f, 0.0f, 60.0f, 120.0f};
                                                                                                                    +
                                                                                                                    17 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    18 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    19 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    20 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    21 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    22 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    23 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    24
                                                                                                                    +
                                                                                                                    25 // Sweep through a few angles where the sensors agree perfectly and check the system is nominal
                                                                                                                    +
                                                                                                                    26 for (float angle: angles_to_test)
                                                                                                                    +
                                                                                                                    27 {
                                                                                                                    +
                                                                                                                    28 primarySensor.mockConversion.angle = angle;
                                                                                                                    +
                                                                                                                    29 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    30 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    31 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    32 {
                                                                                                                    +
                                                                                                                    33 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    34 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    35 {
                                                                                                                    +
                                                                                                                    36 .raw = 0,
                                                                                                                    +
                                                                                                                    37 .conversion = angle,
                                                                                                                    +
                                                                                                                    38 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    39 }
                                                                                                                    +
                                                                                                                    40 }
                                                                                                                    +
                                                                                                                    41 );
                                                                                                                    +
                                                                                                                    42
                                                                                                                    +
                                                                                                                    43 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[0].filtered_result(angle));
                                                                                                                    +
                                                                                                                    44 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL);
                                                                                                                    +
                                                                                                                    45 }
                                                                                                                    +
                                                                                                                    46}
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TEST() [4/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_primary_is_marginal  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 48 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    49{
                                                                                                                    +
                                                                                                                    50 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    51 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    52 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    53 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    54 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    55 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    56 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    57 float angle = 0.0f;
                                                                                                                    +
                                                                                                                    58
                                                                                                                    +
                                                                                                                    59 primarySensor.mockConversion.angle = angle;
                                                                                                                    +
                                                                                                                    60 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_MARGINAL;
                                                                                                                    +
                                                                                                                    61 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    62 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    63 {
                                                                                                                    +
                                                                                                                    64 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    65 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    66 {
                                                                                                                    +
                                                                                                                    67 .raw = 0,
                                                                                                                    +
                                                                                                                    68 .conversion = angle,
                                                                                                                    +
                                                                                                                    69 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    70 }
                                                                                                                    +
                                                                                                                    71 }
                                                                                                                    +
                                                                                                                    72 );
                                                                                                                    +
                                                                                                                    73 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[0].filtered_result(angle));
                                                                                                                    +
                                                                                                                    74 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL);
                                                                                                                    +
                                                                                                                    75}
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TEST() [5/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_primary_is_missing  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 202 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    203{
                                                                                                                    +
                                                                                                                    204 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    205 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    206 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    207 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    208 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    209 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    210 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    211 float angle = 100.0f;
                                                                                                                    +
                                                                                                                    212
                                                                                                                    +
                                                                                                                    213 primarySensor.mockConversion.angle = 0.0f;
                                                                                                                    +
                                                                                                                    214 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_ERROR;
                                                                                                                    +
                                                                                                                    215 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    216 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    217 {
                                                                                                                    +
                                                                                                                    218 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    219 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    220 {
                                                                                                                    +
                                                                                                                    221 .raw = 0,
                                                                                                                    +
                                                                                                                    222 .conversion = angle,
                                                                                                                    +
                                                                                                                    223 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    224 }
                                                                                                                    +
                                                                                                                    225 }
                                                                                                                    +
                                                                                                                    226 );
                                                                                                                    +
                                                                                                                    227 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[1].filtered_result(angle));
                                                                                                                    +
                                                                                                                    228 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED);
                                                                                                                    +
                                                                                                                    229}
                                                                                                                    + + +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TEST() [6/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_primary_is_missing_and_secondary_is_marginal  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 231 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    232{
                                                                                                                    +
                                                                                                                    233 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    234 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    235 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    236 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    237 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    238 float angle = 100.0f;
                                                                                                                    +
                                                                                                                    239
                                                                                                                    +
                                                                                                                    240 primarySensor.mockConversion.angle = 0.0f;
                                                                                                                    +
                                                                                                                    241 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_ERROR;
                                                                                                                    +
                                                                                                                    242 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    243 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    244 {
                                                                                                                    +
                                                                                                                    245 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    246 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    247 {
                                                                                                                    +
                                                                                                                    248 .raw = 0,
                                                                                                                    +
                                                                                                                    249 .conversion = angle,
                                                                                                                    +
                                                                                                                    250 .status = AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED
                                                                                                                    +
                                                                                                                    251 }
                                                                                                                    +
                                                                                                                    252 }
                                                                                                                    +
                                                                                                                    253 );
                                                                                                                    +
                                                                                                                    254 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == 0.0f);
                                                                                                                    +
                                                                                                                    255 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_ERROR);
                                                                                                                    +
                                                                                                                    256}
                                                                                                                    + +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TEST() [7/7]

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + + + + + + + + + + + + + + + +
                                                                                                                    TEST (SteeringSystemTesting ,
                                                                                                                    test_steering_secondary_is_marginal  
                                                                                                                    )
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 77 of file steering_system_test.h.

                                                                                                                    +
                                                                                                                    78{
                                                                                                                    +
                                                                                                                    79 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    80 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    81 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    82 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    83 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    84 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    85 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    86 float angle = 0.0f;
                                                                                                                    +
                                                                                                                    87
                                                                                                                    +
                                                                                                                    88 primarySensor.mockConversion.angle = angle;
                                                                                                                    +
                                                                                                                    89 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    90 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    91 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    92 {
                                                                                                                    +
                                                                                                                    93 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    94 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    95 {
                                                                                                                    +
                                                                                                                    96 .raw = 0,
                                                                                                                    +
                                                                                                                    97 .conversion = angle,
                                                                                                                    +
                                                                                                                    98 .status = AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED
                                                                                                                    +
                                                                                                                    99 }
                                                                                                                    +
                                                                                                                    100 }
                                                                                                                    +
                                                                                                                    101 );
                                                                                                                    +
                                                                                                                    102 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[0].filtered_result(angle));
                                                                                                                    +
                                                                                                                    103 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL);
                                                                                                                    +
                                                                                                                    104}
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +
                                                                                                                    + +
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                                                                                                                    steering_system_test.h
                                                                                                                    +
                                                                                                                    +
                                                                                                                    +Go to the documentation of this file.
                                                                                                                    1#ifndef STEERING_SYSTEM_TEST
                                                                                                                    +
                                                                                                                    2#define STEERING_SYSTEM_TEST
                                                                                                                    +
                                                                                                                    3#include <gtest/gtest.h>
                                                                                                                    +
                                                                                                                    4#include <gmock/gmock.h>
                                                                                                                    +
                                                                                                                    5#include "SteeringSystem.h"
                                                                                                                    +
                                                                                                                    6
                                                                                                                    +
                                                                                                                    7#define PRIMARY_ALPHA (0.7) // parameter used on car
                                                                                                                    +
                                                                                                                    8#define SECONDARY_ALPHA (0.7)
                                                                                                                    +
                                                                                                                    9#define WARN_DIVERGENCE_OFFSET (0.6)
                                                                                                                    +
                                                                                                                    10#define ERR_DIVERGENCE_OFFSET (0.7)
                                                                                                                    +
                                                                                                                    11#define WARN_FILTER_LATENCY (8)
                                                                                                                    +
                                                                                                                    12#define ERR_FILTER_LATENCY (9)
                                                                                                                    +
                                                                                                                    13
                                                                                                                    +
                                                                                                                    14TEST(SteeringSystemTesting, test_steering_nominal)
                                                                                                                    +
                                                                                                                    15{
                                                                                                                    +
                                                                                                                    16 float angles_to_test[5] = {-120.0f, -60.0f, 0.0f, 60.0f, 120.0f};
                                                                                                                    +
                                                                                                                    17 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    18 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    19 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    20 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    21 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    22 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    23 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    24
                                                                                                                    +
                                                                                                                    25 // Sweep through a few angles where the sensors agree perfectly and check the system is nominal
                                                                                                                    +
                                                                                                                    26 for (float angle: angles_to_test)
                                                                                                                    +
                                                                                                                    27 {
                                                                                                                    +
                                                                                                                    28 primarySensor.mockConversion.angle = angle;
                                                                                                                    +
                                                                                                                    29 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    30 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    31 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    32 {
                                                                                                                    +
                                                                                                                    33 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    34 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    35 {
                                                                                                                    +
                                                                                                                    36 .raw = 0,
                                                                                                                    +
                                                                                                                    37 .conversion = angle,
                                                                                                                    +
                                                                                                                    38 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    39 }
                                                                                                                    +
                                                                                                                    40 }
                                                                                                                    +
                                                                                                                    41 );
                                                                                                                    +
                                                                                                                    42
                                                                                                                    +
                                                                                                                    43 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[0].filtered_result(angle));
                                                                                                                    +
                                                                                                                    44 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_NOMINAL);
                                                                                                                    +
                                                                                                                    45 }
                                                                                                                    +
                                                                                                                    46}
                                                                                                                    +
                                                                                                                    47
                                                                                                                    +
                                                                                                                    48TEST(SteeringSystemTesting, test_steering_primary_is_marginal)
                                                                                                                    +
                                                                                                                    49{
                                                                                                                    +
                                                                                                                    50 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    51 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    52 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    53 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    54 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    55 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    56 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    57 float angle = 0.0f;
                                                                                                                    +
                                                                                                                    58
                                                                                                                    +
                                                                                                                    59 primarySensor.mockConversion.angle = angle;
                                                                                                                    +
                                                                                                                    60 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_MARGINAL;
                                                                                                                    +
                                                                                                                    61 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    62 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    63 {
                                                                                                                    +
                                                                                                                    64 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    65 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    66 {
                                                                                                                    +
                                                                                                                    67 .raw = 0,
                                                                                                                    +
                                                                                                                    68 .conversion = angle,
                                                                                                                    +
                                                                                                                    69 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    70 }
                                                                                                                    +
                                                                                                                    71 }
                                                                                                                    +
                                                                                                                    72 );
                                                                                                                    +
                                                                                                                    73 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[0].filtered_result(angle));
                                                                                                                    +
                                                                                                                    74 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL);
                                                                                                                    +
                                                                                                                    75}
                                                                                                                    +
                                                                                                                    76
                                                                                                                    +
                                                                                                                    77TEST(SteeringSystemTesting, test_steering_secondary_is_marginal)
                                                                                                                    +
                                                                                                                    78{
                                                                                                                    +
                                                                                                                    79 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    80 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    81 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    82 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    83 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    84 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    85 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    86 float angle = 0.0f;
                                                                                                                    +
                                                                                                                    87
                                                                                                                    +
                                                                                                                    88 primarySensor.mockConversion.angle = angle;
                                                                                                                    +
                                                                                                                    89 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    90 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    91 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    92 {
                                                                                                                    +
                                                                                                                    93 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    94 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    95 {
                                                                                                                    +
                                                                                                                    96 .raw = 0,
                                                                                                                    +
                                                                                                                    97 .conversion = angle,
                                                                                                                    +
                                                                                                                    98 .status = AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED
                                                                                                                    +
                                                                                                                    99 }
                                                                                                                    +
                                                                                                                    100 }
                                                                                                                    +
                                                                                                                    101 );
                                                                                                                    +
                                                                                                                    102 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[0].filtered_result(angle));
                                                                                                                    +
                                                                                                                    103 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL);
                                                                                                                    +
                                                                                                                    104}
                                                                                                                    +
                                                                                                                    105
                                                                                                                    +
                                                                                                                    106TEST(SteeringSystemTesting, test_steering_divergence_warning)
                                                                                                                    +
                                                                                                                    107{
                                                                                                                    +
                                                                                                                    108 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    109 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    110 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    111 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    112 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    113 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    114 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    115 float mockPrimaryFilteredAngle;
                                                                                                                    +
                                                                                                                    116 float mockSecondaryFilteredAngle;
                                                                                                                    +
                                                                                                                    117
                                                                                                                    +
                                                                                                                    118 float primaryAngle = 0.0f;
                                                                                                                    +
                                                                                                                    119 // Pend divergence to sensor readings
                                                                                                                    +
                                                                                                                    120 // - IIR filter eq.: filtered_val = (1-alpha)*new_val + alpha*prev_val
                                                                                                                    +
                                                                                                                    121 // - when divergence set exactly to system threshold
                                                                                                                    +
                                                                                                                    122 // - divergence magnitude gets shaved off, will not trigger above threshold
                                                                                                                    +
                                                                                                                    123 // - pend offset to divergence to trip threshold
                                                                                                                    +
                                                                                                                    124 float secondaryAngle = primaryAngle + WARN_DIVERGENCE_OFFSET + STEERING_DIVERGENCE_WARN_THRESHOLD; // edge discrepancy
                                                                                                                    +
                                                                                                                    125
                                                                                                                    +
                                                                                                                    126 // Latency due to filtering
                                                                                                                    +
                                                                                                                    127 // - required steps of filtering for divergence to rise up to threshold with offset pended
                                                                                                                    +
                                                                                                                    128 // - e.g. when alpha = 0.7, pending offset = 0.6, it takes a minimal of 8 steps of filtering to exceed warn threshold
                                                                                                                    +
                                                                                                                    129 for (int i = 0; i < WARN_FILTER_LATENCY; i++) // edge filter steps to align output
                                                                                                                    +
                                                                                                                    130 {
                                                                                                                    +
                                                                                                                    131 mockPrimaryFilteredAngle = mockAngleFilters[0].filtered_result(primaryAngle);
                                                                                                                    +
                                                                                                                    132 mockSecondaryFilteredAngle = mockAngleFilters[1].filtered_result(secondaryAngle);
                                                                                                                    +
                                                                                                                    133
                                                                                                                    +
                                                                                                                    134 primarySensor.mockConversion.angle = primaryAngle;
                                                                                                                    +
                                                                                                                    135 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    136 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    137 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    138 {
                                                                                                                    +
                                                                                                                    139 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    140 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    141 {
                                                                                                                    +
                                                                                                                    142 .raw = 0,
                                                                                                                    +
                                                                                                                    143 .conversion = secondaryAngle,
                                                                                                                    +
                                                                                                                    144 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    145 }
                                                                                                                    +
                                                                                                                    146 }
                                                                                                                    +
                                                                                                                    147 );
                                                                                                                    +
                                                                                                                    148 }
                                                                                                                    +
                                                                                                                    149
                                                                                                                    +
                                                                                                                    150 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockPrimaryFilteredAngle);
                                                                                                                    +
                                                                                                                    151 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_MARGINAL);
                                                                                                                    +
                                                                                                                    152}
                                                                                                                    +
                                                                                                                    153
                                                                                                                    +
                                                                                                                    154TEST(SteeringSystemTesting, test_steering_divergence_error)
                                                                                                                    +
                                                                                                                    155{
                                                                                                                    +
                                                                                                                    156 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    157 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    158 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    159 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    160 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    161 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    162 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    163 float mockPrimaryFilteredAngle;
                                                                                                                    +
                                                                                                                    164 float mockSecondaryFilteredAngle;
                                                                                                                    +
                                                                                                                    165
                                                                                                                    +
                                                                                                                    166 float primaryAngle = 0.0f;
                                                                                                                    +
                                                                                                                    167 // Pend divergence to sensor readings
                                                                                                                    +
                                                                                                                    168 // - IIR filter eq.: filtered_val = (1-alpha)*new_val + alpha*prev_val
                                                                                                                    +
                                                                                                                    169 // - when divergence set exactly to system threshold
                                                                                                                    +
                                                                                                                    170 // - divergence magnitude gets shaved off, will not trigger above threshold
                                                                                                                    +
                                                                                                                    171 // - pend offset to divergence to trip threshold
                                                                                                                    +
                                                                                                                    172 float secondaryAngle = primaryAngle + ERR_DIVERGENCE_OFFSET + STEERING_DIVERGENCE_ERROR_THRESHOLD; // edge discrepancy
                                                                                                                    +
                                                                                                                    173
                                                                                                                    +
                                                                                                                    174 // Latency due to filtering
                                                                                                                    +
                                                                                                                    175 // - required steps of filtering for divergence to rise up to threshold with offset pended
                                                                                                                    +
                                                                                                                    176 // - e.g. when alpha = 0.7, pending offset = 0.6, it takes a minimal of 9 steps of filtering to exceed error threshold
                                                                                                                    +
                                                                                                                    177 for (int i = 0; i < ERR_FILTER_LATENCY; i++) // edge filter steps to align output
                                                                                                                    +
                                                                                                                    178 {
                                                                                                                    +
                                                                                                                    179 mockPrimaryFilteredAngle = mockAngleFilters[0].filtered_result(primaryAngle);
                                                                                                                    +
                                                                                                                    180 mockSecondaryFilteredAngle = mockAngleFilters[1].filtered_result(secondaryAngle);
                                                                                                                    +
                                                                                                                    181
                                                                                                                    +
                                                                                                                    182 primarySensor.mockConversion.angle = primaryAngle;
                                                                                                                    +
                                                                                                                    183 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_NOMINAL;
                                                                                                                    +
                                                                                                                    184 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    185 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    186 {
                                                                                                                    +
                                                                                                                    187 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    188 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    189 {
                                                                                                                    +
                                                                                                                    190 .raw = 0,
                                                                                                                    +
                                                                                                                    191 .conversion = secondaryAngle,
                                                                                                                    +
                                                                                                                    192 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    193 }
                                                                                                                    +
                                                                                                                    194 }
                                                                                                                    +
                                                                                                                    195 );
                                                                                                                    +
                                                                                                                    196 }
                                                                                                                    +
                                                                                                                    197
                                                                                                                    +
                                                                                                                    198 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == 0.0f);
                                                                                                                    +
                                                                                                                    199 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_ERROR);
                                                                                                                    +
                                                                                                                    200}
                                                                                                                    +
                                                                                                                    201
                                                                                                                    +
                                                                                                                    202TEST(SteeringSystemTesting, test_steering_primary_is_missing)
                                                                                                                    +
                                                                                                                    203{
                                                                                                                    +
                                                                                                                    204 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    205 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    206 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    207 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    208 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    209 // Filter refernce values for evaluation
                                                                                                                    +
                                                                                                                    210 Filter_IIR<float> mockAngleFilters[2] = {PRIMARY_ALPHA, SECONDARY_ALPHA};
                                                                                                                    +
                                                                                                                    211 float angle = 100.0f;
                                                                                                                    +
                                                                                                                    212
                                                                                                                    +
                                                                                                                    213 primarySensor.mockConversion.angle = 0.0f;
                                                                                                                    +
                                                                                                                    214 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_ERROR;
                                                                                                                    +
                                                                                                                    215 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    216 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    217 {
                                                                                                                    +
                                                                                                                    218 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    219 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    220 {
                                                                                                                    +
                                                                                                                    221 .raw = 0,
                                                                                                                    +
                                                                                                                    222 .conversion = angle,
                                                                                                                    +
                                                                                                                    223 .status = AnalogSensorStatus_e::ANALOG_SENSOR_GOOD
                                                                                                                    +
                                                                                                                    224 }
                                                                                                                    +
                                                                                                                    225 }
                                                                                                                    +
                                                                                                                    226 );
                                                                                                                    +
                                                                                                                    227 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == mockAngleFilters[1].filtered_result(angle));
                                                                                                                    +
                                                                                                                    228 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_DEGRADED);
                                                                                                                    +
                                                                                                                    229}
                                                                                                                    +
                                                                                                                    230
                                                                                                                    +
                                                                                                                    231TEST(SteeringSystemTesting, test_steering_primary_is_missing_and_secondary_is_marginal)
                                                                                                                    +
                                                                                                                    232{
                                                                                                                    +
                                                                                                                    233 // Boilerplate definitions for the testing aparatus
                                                                                                                    +
                                                                                                                    234 SysClock sys_clock;
                                                                                                                    +
                                                                                                                    235 SysTick_s sys_tick = sys_clock.tick(0);
                                                                                                                    +
                                                                                                                    236 SteeringEncoderInterface primarySensor;
                                                                                                                    +
                                                                                                                    237 SteeringSystem steeringSystem(&primarySensor, PRIMARY_ALPHA, SECONDARY_ALPHA);
                                                                                                                    +
                                                                                                                    238 float angle = 100.0f;
                                                                                                                    +
                                                                                                                    239
                                                                                                                    +
                                                                                                                    240 primarySensor.mockConversion.angle = 0.0f;
                                                                                                                    +
                                                                                                                    241 primarySensor.mockConversion.status = SteeringEncoderStatus_e::STEERING_ENCODER_ERROR;
                                                                                                                    +
                                                                                                                    242 steeringSystem.tick(
                                                                                                                    +
                                                                                                                    243 (SteeringSystemTick_s)
                                                                                                                    +
                                                                                                                    244 {
                                                                                                                    +
                                                                                                                    245 .tick = sys_tick,
                                                                                                                    +
                                                                                                                    246 .secondaryConversion = (AnalogConversion_s)
                                                                                                                    +
                                                                                                                    247 {
                                                                                                                    +
                                                                                                                    248 .raw = 0,
                                                                                                                    +
                                                                                                                    249 .conversion = angle,
                                                                                                                    +
                                                                                                                    250 .status = AnalogSensorStatus_e::ANALOG_SENSOR_CLAMPED
                                                                                                                    +
                                                                                                                    251 }
                                                                                                                    +
                                                                                                                    252 }
                                                                                                                    +
                                                                                                                    253 );
                                                                                                                    +
                                                                                                                    254 ASSERT_TRUE(steeringSystem.getSteeringSystemData().angle == 0.0f);
                                                                                                                    +
                                                                                                                    255 ASSERT_TRUE(steeringSystem.getSteeringSystemData().status == SteeringSystemStatus_e::STEERING_SYSTEM_ERROR);
                                                                                                                    +
                                                                                                                    256}
                                                                                                                    +
                                                                                                                    257
                                                                                                                    +
                                                                                                                    258#endif
                                                                                                                    + + + + + + + + + + +
                                                                                                                    STEERING_DIVERGENCE_ERROR_THRESHOLD
                                                                                                                    #define STEERING_DIVERGENCE_ERROR_THRESHOLD
                                                                                                                    Definition: SteeringSystem.h:13
                                                                                                                    +
                                                                                                                    STEERING_DIVERGENCE_WARN_THRESHOLD
                                                                                                                    #define STEERING_DIVERGENCE_WARN_THRESHOLD
                                                                                                                    Definition: SteeringSystem.h:14
                                                                                                                    +
                                                                                                                    Filter_IIR
                                                                                                                    Definition: Filter_IIR.h:11
                                                                                                                    +
                                                                                                                    Filter_IIR::filtered_result
                                                                                                                    dataType filtered_result(dataType new_val)
                                                                                                                    Definition: Filter_IIR.h:50
                                                                                                                    + +
                                                                                                                    SteeringEncoderInterface::mockConversion
                                                                                                                    SteeringEncoderConversion_s mockConversion
                                                                                                                    Definition: SteeringEncoderInterface.h:24
                                                                                                                    + +
                                                                                                                    SteeringSystem::getSteeringSystemData
                                                                                                                    const SteeringSystemData_s & getSteeringSystemData()
                                                                                                                    Get a reference to the steering system's data.
                                                                                                                    Definition: SteeringSystem.h:79
                                                                                                                    +
                                                                                                                    SteeringSystem::tick
                                                                                                                    void tick(const SteeringSystemTick_s &intake)
                                                                                                                    Computes steering angle and status of the steering system.
                                                                                                                    Definition: SteeringSystem.cpp:4
                                                                                                                    +
                                                                                                                    sys_clock
                                                                                                                    SysClock sys_clock
                                                                                                                    Definition: main.cpp:144
                                                                                                                    +
                                                                                                                    SECONDARY_ALPHA
                                                                                                                    #define SECONDARY_ALPHA
                                                                                                                    Definition: steering_system_test.h:8
                                                                                                                    +
                                                                                                                    PRIMARY_ALPHA
                                                                                                                    #define PRIMARY_ALPHA
                                                                                                                    Definition: steering_system_test.h:7
                                                                                                                    +
                                                                                                                    WARN_DIVERGENCE_OFFSET
                                                                                                                    #define WARN_DIVERGENCE_OFFSET
                                                                                                                    Definition: steering_system_test.h:9
                                                                                                                    +
                                                                                                                    WARN_FILTER_LATENCY
                                                                                                                    #define WARN_FILTER_LATENCY
                                                                                                                    Definition: steering_system_test.h:11
                                                                                                                    +
                                                                                                                    ERR_FILTER_LATENCY
                                                                                                                    #define ERR_FILTER_LATENCY
                                                                                                                    Definition: steering_system_test.h:12
                                                                                                                    +
                                                                                                                    TEST
                                                                                                                    TEST(SteeringSystemTesting, test_steering_nominal)
                                                                                                                    Definition: steering_system_test.h:14
                                                                                                                    +
                                                                                                                    ERR_DIVERGENCE_OFFSET
                                                                                                                    #define ERR_DIVERGENCE_OFFSET
                                                                                                                    Definition: steering_system_test.h:10
                                                                                                                    +
                                                                                                                    AnalogConversion_s
                                                                                                                    Definition: AnalogSensorsInterface.h:14
                                                                                                                    +
                                                                                                                    SteeringEncoderConversion_s::angle
                                                                                                                    float angle
                                                                                                                    Definition: SteeringEncoderInterface.h:16
                                                                                                                    +
                                                                                                                    SteeringEncoderConversion_s::status
                                                                                                                    SteeringEncoderStatus_e status
                                                                                                                    Definition: SteeringEncoderInterface.h:17
                                                                                                                    +
                                                                                                                    SteeringSystemData_s::angle
                                                                                                                    float angle
                                                                                                                    Definition: SteeringSystem.h:36
                                                                                                                    +
                                                                                                                    SteeringSystemData_s::status
                                                                                                                    SteeringSystemStatus_e status
                                                                                                                    Definition: SteeringSystem.h:37
                                                                                                                    +
                                                                                                                    SteeringSystemTick_s
                                                                                                                    Definition: SteeringSystem.h:29
                                                                                                                    +
                                                                                                                    + +
                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/structCASEConfiguration-members.html b/structCASEConfiguration-members.html index c442fbfc7..2b40aea75 100644 --- a/structCASEConfiguration-members.html +++ b/structCASEConfiguration-members.html @@ -81,27 +81,61 @@ discontinuousBrakesPercentThresholdCASEConfiguration DriveTorquePercentFrontCASEConfiguration launchDeadZoneCASEConfiguration - launchSLCASEConfiguration - launchVelThresholdCASEConfiguration - max_regen_torqueCASEConfiguration - max_rpmCASEConfiguration - max_torqueCASEConfiguration + launchLeftRightMaxDiffCASEConfiguration + launchSLCASEConfiguration + launchSL_endBound_FrontCASEConfiguration + launchSL_endBound_RearCASEConfiguration + launchSL_startBound_FrontCASEConfiguration + launchSL_startBound_RearCASEConfiguration + launchVelThresholdCASEConfiguration + max_regen_torqueCASEConfiguration + max_rpmCASEConfiguration + max_torqueCASEConfiguration + maxNormalLoadBrakeScalingFrontCASEConfiguration MechPowerMaxkWCASEConfiguration RegenLimitCASEConfiguration + TCS_NL_endBoundPerc_FrontAxleCASEConfiguration + TCS_NL_endBoundPerc_RearAxleCASEConfiguration + TCS_NL_startBoundPerc_FrontAxleCASEConfiguration + TCS_NL_startBoundPerc_RearAxleCASEConfiguration tcs_pid_dCASEConfiguration tcs_pid_iCASEConfiguration - tcs_pid_pCASEConfiguration - tcsSLThresholdCASEConfiguration - tcsVelThresholdCASEConfiguration - TorqueModeCASEConfiguration - useDecoupledYawBrakesCASEConfiguration - useDiscontinuousYawPIDBrakesCASEConfiguration - useLaunchCASEConfiguration - useNoRegen5kphCASEConfiguration - useNormalForceCASEConfiguration - usePIDPowerLimitCASEConfiguration - usePIDTVCASEConfiguration - usePowerLimitCASEConfiguration + tcs_pid_lower_rpm_frontCASEConfiguration + tcs_pid_lower_rpm_rearCASEConfiguration + tcs_pid_p_lowerBound_frontCASEConfiguration + tcs_pid_p_lowerBound_rearCASEConfiguration + tcs_pid_p_upperBound_frontCASEConfiguration + tcs_pid_p_upperBound_rearCASEConfiguration + tcs_pid_upper_rpm_frontCASEConfiguration + tcs_pid_upper_rpm_rearCASEConfiguration + tcs_saturation_frontCASEConfiguration + tcs_saturation_rearCASEConfiguration + TCS_SL_endBound_FrontCASEConfiguration + TCS_SL_endBound_RearCASEConfiguration + TCS_SL_NLPerc_endBound_FrontCASEConfiguration + TCS_SL_NLPerc_endBound_RearCASEConfiguration + TCS_SL_NLPerc_startBound_FrontCASEConfiguration + TCS_SL_NLPerc_startBound_RearCASEConfiguration + TCS_SL_startBound_FrontCASEConfiguration + TCS_SL_startBound_RearCASEConfiguration + TCSGenLeftRightDiffLowerBoundCASEConfiguration + TCSGenLeftRightDiffUpperBoundCASEConfiguration + tcsSLThresholdCASEConfiguration + tcsVelThresholdCASEConfiguration + TCSWheelSteerLowerBoundCASEConfiguration + TCSWheelSteerUpperBoundCASEConfiguration + TorqueModeCASEConfiguration + useDecoupledYawBrakesCASEConfiguration + useDiscontinuousYawPIDBrakesCASEConfiguration + useLaunchCASEConfiguration + useNL_TCS_GainScheduleCASEConfiguration + useNL_TCS_SlipScheduleCASEConfiguration + useNoRegen5kphCASEConfiguration + useNormalForceCASEConfiguration + usePIDPowerLimitCASEConfiguration + usePIDTVCASEConfiguration + usePowerLimitCASEConfiguration + useRPM_TCS_GainScheduleCASEConfiguration useTCSLimitedYawPIDCASEConfiguration useTorqueBiasCASEConfiguration useTractionControlCASEConfiguration diff --git a/structCASEConfiguration.html b/structCASEConfiguration.html index cb539a4d5..554c64870 100644 --- a/structCASEConfiguration.html +++ b/structCASEConfiguration.html @@ -88,8 +88,14 @@   float yaw_pid_d   -float tcs_pid_p -  +float tcs_pid_p_lowerBound_front +  +float tcs_pid_p_upperBound_front +  +float tcs_pid_p_lowerBound_rear +  +float tcs_pid_p_upperBound_rear +  float tcs_pid_i   float tcs_pid_d @@ -154,6 +160,68 @@   float MechPowerMaxkW   +float launchLeftRightMaxDiff +  +float tcs_pid_lower_rpm_front +  +float tcs_pid_upper_rpm_front +  +float tcs_pid_lower_rpm_rear +  +float tcs_pid_upper_rpm_rear +  +float maxNormalLoadBrakeScalingFront +  +float tcs_saturation_front +  +float tcs_saturation_rear +  +float TCSGenLeftRightDiffLowerBound +  +float TCSGenLeftRightDiffUpperBound +  +float TCSWheelSteerLowerBound +  +float TCSWheelSteerUpperBound +  +bool useRPM_TCS_GainSchedule +  +bool useNL_TCS_GainSchedule +  +float TCS_NL_startBoundPerc_FrontAxle +  +float TCS_NL_endBoundPerc_FrontAxle +  +float TCS_NL_startBoundPerc_RearAxle +  +float TCS_NL_endBoundPerc_RearAxle +  +bool useNL_TCS_SlipSchedule +  +float launchSL_startBound_Front +  +float launchSL_endBound_Front +  +float launchSL_startBound_Rear +  +float launchSL_endBound_Rear +  +float TCS_SL_startBound_Front +  +float TCS_SL_endBound_Front +  +float TCS_SL_startBound_Rear +  +float TCS_SL_endBound_Rear +  +float TCS_SL_NLPerc_startBound_Front +  +float TCS_SL_NLPerc_endBound_Front +  +float TCS_SL_NLPerc_startBound_Rear +  +float TCS_SL_NLPerc_endBound_Rear +  float max_rpm   float max_regen_torque @@ -163,7 +231,7 @@

                                                                                                                    Detailed Description

                                                                                                                    -

                                                                                                                    Definition at line 11 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 13 of file CASESystem.h.

                                                                                                                    Member Data Documentation

                                                                                                                    ◆ AbsoluteTorqueLimit

                                                                                                                    @@ -177,7 +245,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 13 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 15 of file CASESystem.h.

                                                                                                                    @@ -193,7 +261,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 48 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 53 of file CASESystem.h.

                                                                                                                    @@ -209,7 +277,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 41 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 46 of file CASESystem.h.

                                                                                                                    @@ -225,7 +293,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 42 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 47 of file CASESystem.h.

                                                                                                                    @@ -241,7 +309,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 47 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 52 of file CASESystem.h.

                                                                                                                    @@ -257,7 +325,23 @@

                                                                                                                    -

                                                                                                                    Definition at line 31 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 36 of file CASESystem.h.

                                                                                                                    + + + + +

                                                                                                                    ◆ launchLeftRightMaxDiff

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::launchLeftRightMaxDiff
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 55 of file CASESystem.h.

                                                                                                                    @@ -273,7 +357,71 @@

                                                                                                                    -

                                                                                                                    Definition at line 30 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 35 of file CASESystem.h.

                                                                                                                    + + + + +

                                                                                                                    ◆ launchSL_endBound_Front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::launchSL_endBound_Front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 75 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ launchSL_endBound_Rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::launchSL_endBound_Rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 77 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ launchSL_startBound_Front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::launchSL_startBound_Front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 74 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ launchSL_startBound_Rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::launchSL_startBound_Rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 76 of file CASESystem.h.

                                                                                                                    @@ -289,7 +437,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 32 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 37 of file CASESystem.h.

                                                                                                                    @@ -305,7 +453,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 52 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 88 of file CASESystem.h.

                                                                                                                    @@ -321,7 +469,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 51 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 87 of file CASESystem.h.

                                                                                                                    @@ -337,7 +485,23 @@

                                                                                                                    -

                                                                                                                    Definition at line 53 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 89 of file CASESystem.h.

                                                                                                                    + + + + +

                                                                                                                    ◆ maxNormalLoadBrakeScalingFront

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::maxNormalLoadBrakeScalingFront
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 60 of file CASESystem.h.

                                                                                                                    @@ -353,7 +517,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 49 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 54 of file CASESystem.h.

                                                                                                                    @@ -369,7 +533,71 @@

                                                                                                                    -

                                                                                                                    Definition at line 44 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 49 of file CASESystem.h.

                                                                                                                    + + + + +

                                                                                                                    ◆ TCS_NL_endBoundPerc_FrontAxle

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_NL_endBoundPerc_FrontAxle
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 70 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TCS_NL_endBoundPerc_RearAxle

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_NL_endBoundPerc_RearAxle
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 72 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TCS_NL_startBoundPerc_FrontAxle

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_NL_startBoundPerc_FrontAxle
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 69 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TCS_NL_startBoundPerc_RearAxle

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_NL_startBoundPerc_RearAxle
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 71 of file CASESystem.h.

                                                                                                                    @@ -385,7 +613,7 @@

                                                                                                                    -

                                                                                                                    Definition at line 19 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 24 of file CASESystem.h.

                                                                                                                    @@ -401,23 +629,327 @@

                                                                                                                    -

                                                                                                                    Definition at line 18 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 23 of file CASESystem.h.

                                                                                                                    - -

                                                                                                                    ◆ tcs_pid_p

                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_lower_rpm_front

                                                                                                                    - +
                                                                                                                    float CASEConfiguration::tcs_pid_pfloat CASEConfiguration::tcs_pid_lower_rpm_front
                                                                                                                    -

                                                                                                                    Definition at line 17 of file CASESystem.h.

                                                                                                                    +

                                                                                                                    Definition at line 56 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_lower_rpm_rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_lower_rpm_rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 58 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_p_lowerBound_front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_p_lowerBound_front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 19 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_p_lowerBound_rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_p_lowerBound_rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 21 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_p_upperBound_front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_p_upperBound_front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 20 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_p_upperBound_rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_p_upperBound_rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 22 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_upper_rpm_front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_upper_rpm_front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 57 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_pid_upper_rpm_rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_pid_upper_rpm_rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 59 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_saturation_front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_saturation_front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 61 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ tcs_saturation_rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::tcs_saturation_rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 62 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TCS_SL_endBound_Front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_SL_endBound_Front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 79 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TCS_SL_endBound_Rear

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_SL_endBound_Rear
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 81 of file CASESystem.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ TCS_SL_NLPerc_endBound_Front

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    float CASEConfiguration::TCS_SL_NLPerc_endBound_Front
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 83 of file CASESystem.h.

                                                                                                                    + +
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                                                                                                                    ◆ TCS_SL_NLPerc_endBound_Rear

                                                                                                                    + +
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                                                                                                                    float CASEConfiguration::TCS_SL_NLPerc_endBound_Rear
                                                                                                                    +
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                                                                                                                    Definition at line 85 of file CASESystem.h.

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                                                                                                                    ◆ TCS_SL_NLPerc_startBound_Front

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                                                                                                                    float CASEConfiguration::TCS_SL_NLPerc_startBound_Front
                                                                                                                    +
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                                                                                                                    Definition at line 82 of file CASESystem.h.

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                                                                                                                    ◆ TCS_SL_NLPerc_startBound_Rear

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                                                                                                                    float CASEConfiguration::TCS_SL_NLPerc_startBound_Rear
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                                                                                                                    Definition at line 84 of file CASESystem.h.

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                                                                                                                    ◆ TCS_SL_startBound_Front

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                                                                                                                    float CASEConfiguration::TCS_SL_startBound_Front
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                                                                                                                    Definition at line 78 of file CASESystem.h.

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                                                                                                                    ◆ TCS_SL_startBound_Rear

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                                                                                                                    float CASEConfiguration::TCS_SL_startBound_Rear
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                                                                                                                    Definition at line 80 of file CASESystem.h.

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                                                                                                                    ◆ TCSGenLeftRightDiffLowerBound

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                                                                                                                    float CASEConfiguration::TCSGenLeftRightDiffLowerBound
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                                                                                                                    Definition at line 63 of file CASESystem.h.

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                                                                                                                    ◆ TCSGenLeftRightDiffUpperBound

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                                                                                                                    float CASEConfiguration::TCSGenLeftRightDiffUpperBound
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                                                                                                                    Definition at line 64 of file CASESystem.h.

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                                                                                                                    Definition at line 29 of file CASESystem.h.

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                                                                                                                    Definition at line 33 of file CASESystem.h.

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                                                                                                                    Definition at line 38 of file CASESystem.h.

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                                                                                                                    ◆ TCSWheelSteerLowerBound

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                                                                                                                    float CASEConfiguration::TCSWheelSteerLowerBound
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                                                                                                                    Definition at line 65 of file CASESystem.h.

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                                                                                                                    ◆ TCSWheelSteerUpperBound

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                                                                                                                    float CASEConfiguration::TCSWheelSteerUpperBound
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                                                                                                                    Definition at line 66 of file CASESystem.h.

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                                                                                                                    Definition at line 43 of file CASESystem.h.

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                                                                                                                    Definition at line 27 of file CASESystem.h.

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                                                                                                                    Definition at line 28 of file CASESystem.h.

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                                                                                                                    Definition at line 33 of file CASESystem.h.

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                                                                                                                    Definition at line 20 of file CASESystem.h.

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                                                                                                                    Definition at line 25 of file CASESystem.h.

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                                                                                                                    ◆ useNL_TCS_GainSchedule

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                                                                                                                    bool CASEConfiguration::useNL_TCS_GainSchedule
                                                                                                                    +
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                                                                                                                    Definition at line 68 of file CASESystem.h.

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                                                                                                                    ◆ useNL_TCS_SlipSchedule

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                                                                                                                    bool CASEConfiguration::useNL_TCS_SlipSchedule
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                                                                                                                    Definition at line 73 of file CASESystem.h.

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                                                                                                                    Definition at line 45 of file CASESystem.h.

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                                                                                                                    Definition at line 23 of file CASESystem.h.

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                                                                                                                    Definition at line 26 of file CASESystem.h.

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                                                                                                                    Definition at line 31 of file CASESystem.h.

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                                                                                                                    Definition at line 21 of file CASESystem.h.

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                                                                                                                    Definition at line 26 of file CASESystem.h.

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                                                                                                                    Definition at line 25 of file CASESystem.h.

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                                                                                                                    Definition at line 30 of file CASESystem.h.

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                                                                                                                    ◆ useRPM_TCS_GainSchedule

                                                                                                                    + +
                                                                                                                    +
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                                                                                                                    bool CASEConfiguration::useRPM_TCS_GainSchedule
                                                                                                                    +
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                                                                                                                    Definition at line 67 of file CASESystem.h.

                                                                                                                    @@ -609,7 +1221,7 @@

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                                                                                                                    Definition at line 22 of file CASESystem.h.

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                                                                                                                    Definition at line 27 of file CASESystem.h.

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                                                                                                                    Definition at line 46 of file CASESystem.h.

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                                                                                                                    Definition at line 24 of file CASESystem.h.

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                                                                                                                    Definition at line 40 of file CASESystem.h.

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                                                                                                                    Definition at line 39 of file CASESystem.h.

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                                                                                                                    Definition at line 38 of file CASESystem.h.

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                                                                                                                    Definition at line 36 of file CASESystem.h.

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                                                                                                                    Definition at line 41 of file CASESystem.h.

                                                                                                                    diff --git a/structETHInterfaces-members.html b/structETHInterfaces-members.html new file mode 100644 index 000000000..733d2b36b --- /dev/null +++ b/structETHInterfaces-members.html @@ -0,0 +1,85 @@ + + + + + + + +MCU: Member List + + + + + + + + + +
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                                                                                                                    This is the complete list of members for ETHInterfaces, including all inherited members.

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                                                                                                                    param_interfaceETHInterfaces
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                                                                                                                    +Generated by doxygen 1.9.5 +
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                                                                                                                    +Public Attributes | +List of all members
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                                                                                                                    ETHInterfaces Struct Reference
                                                                                                                    +
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                                                                                                                    #include <ProtobufMsgInterface.h>

                                                                                                                    + + + + +

                                                                                                                    +Public Attributes

                                                                                                                    ParameterInterface * param_interface
                                                                                                                     
                                                                                                                    +

                                                                                                                    Detailed Description

                                                                                                                    +
                                                                                                                    +

                                                                                                                    Definition at line 14 of file ProtobufMsgInterface.h.

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                                                                                                                    Member Data Documentation

                                                                                                                    + +

                                                                                                                    ◆ param_interface

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                                                                                                                    ParameterInterface* ETHInterfaces::param_interface
                                                                                                                    +
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                                                                                                                    Definition at line 16 of file ProtobufMsgInterface.h.

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                                                                                                                    The documentation for this struct was generated from the following file: +
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                                                                                                                    +Generated by doxygen 1.9.5 +
                                                                                                                    + + diff --git a/structSteeringSystemData__s.html b/structSteeringSystemData__s.html index dc3bd0f2b..e0e827226 100644 --- a/structSteeringSystemData__s.html +++ b/structSteeringSystemData__s.html @@ -87,7 +87,7 @@

                                                                                                                    Detailed Description

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                                                                                                                    Definition at line 31 of file SteeringSystem.h.

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                                                                                                                    Definition at line 34 of file SteeringSystem.h.

                                                                                                                    Member Data Documentation

                                                                                                                    ◆ angle

                                                                                                                    @@ -101,7 +101,7 @@

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                                                                                                                    Definition at line 33 of file SteeringSystem.h.

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                                                                                                                    Definition at line 36 of file SteeringSystem.h.

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                                                                                                                    Definition at line 34 of file SteeringSystem.h.

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                                                                                                                    Definition at line 37 of file SteeringSystem.h.

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                                                                                                                    Detailed Description

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                                                                                                                    Definition at line 25 of file SteeringSystem.h.

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                                                                                                                    Definition at line 28 of file SteeringSystem.h.

                                                                                                                    Member Data Documentation

                                                                                                                    ◆ secondaryConversion

                                                                                                                    @@ -101,7 +101,7 @@

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                                                                                                                    Definition at line 28 of file SteeringSystem.h.

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                                                                                                                    Definition at line 31 of file SteeringSystem.h.

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                                                                                                                    Definition at line 27 of file SteeringSystem.h.

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                                                                                                                    Definition at line 30 of file SteeringSystem.h.

                                                                                                                    diff --git a/structTelemetryInterfaceReadChannels-members.html b/structTelemetryInterfaceReadChannels-members.html index 6efdcaa77..98799941d 100644 --- a/structTelemetryInterfaceReadChannels-members.html +++ b/structTelemetryInterfaceReadChannels-members.html @@ -87,6 +87,8 @@ loadcell_fr_channelTelemetryInterfaceReadChannels pots_fl_channelTelemetryInterfaceReadChannels pots_fr_channelTelemetryInterfaceReadChannels + therm_fl_channelTelemetryInterfaceReadChannels + therm_fr_channelTelemetryInterfaceReadChannels
                                                                                                                    diff --git a/structTelemetryInterfaceReadChannels.html b/structTelemetryInterfaceReadChannels.html index c66ba8c93..3893db38c 100644 --- a/structTelemetryInterfaceReadChannels.html +++ b/structTelemetryInterfaceReadChannels.html @@ -104,6 +104,10 @@   int glv_sense_channel   +int therm_fl_channel +  +int therm_fr_channel + 

                                                                                                                    Detailed Description

                                                                                                                    @@ -299,6 +303,38 @@

                                                                                                                    Definition at line 25 of file TelemetryInterface.h.

                                                                                                                    +

                                                                                                                    + + +

                                                                                                                    ◆ therm_fl_channel

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    int TelemetryInterfaceReadChannels::therm_fl_channel
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 32 of file TelemetryInterface.h.

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    ◆ therm_fr_channel

                                                                                                                    + +
                                                                                                                    +
                                                                                                                    + + + + +
                                                                                                                    int TelemetryInterfaceReadChannels::therm_fr_channel
                                                                                                                    +
                                                                                                                    + +

                                                                                                                    Definition at line 33 of file TelemetryInterface.h.

                                                                                                                    +
                                                                                                                    The documentation for this struct was generated from the following file: