Made e-car run

KSU-MS · Sep 1, 2024 · 071ec4b · 071ec4b
1 parent 7fc7ede
commit 071ec4b
Showing 1 changed file with 61 additions and 52 deletions.
diff --git a/include/inverter.hpp b/include/inverter.hpp
@@ -4,66 +4,75 @@
 #include <Arduino.h>
 #include <Metro.h>
 
-#include "parameters.hpp"
+#include "FlexCAN_util.hpp"
+#include "dashboard.hpp"
+#include "inverter/mc_command_message.hpp"
+#include "inverter/mc_current_info.hpp"
 #include "inverter/mc_fault_codes.hpp"
 #include "inverter/mc_internal_states.hpp"
 #include "inverter/mc_motor_position_information.hpp"
 #include "inverter/mc_temperatures.hpp"
 #include "inverter/mc_voltage_information.hpp"
-#include "inverter/mc_command_message.hpp"
-#include "inverter/mc_current_info.hpp"
-#include "dashboard.hpp"
-#include "FlexCAN_util.hpp"
-class Inverter
-{
+#include "parameters.hpp"
+class Inverter {
 
 private:
-    bool spinForward = true;
-    Metro *mc_kick_tim;
-    Metro *timer_inverter_enable;
-    Metro *timer_motor_controller_send;
-    Metro *timer_current_limit;
-    Dashboard *dash;
-    void writeControldisableWithZeros();
-    void writeEnableNoTorque();
-    uint8_t disableWithZeros[8] = {0, 0, 0, 0, 0, 0, 0, 0}; // The message to disable the controller/cancel lockout
-    uint8_t enableNoTorque[8] = {0, 0, 0, 0, spinForward, 1, 0, 0};   // The message to enable the motor with zero torque
-    MC_command_message pm100Msg{};
-    MC_internal_states pm100State{};
-    MC_motor_position_information pm100Speed{};
-    MC_voltage_information pm100Voltage{};
-    MC_temperatures_1 pm100temp1{};
-    MC_temperatures_2 pm100temp2{};
-    MC_temperatures_3 pm100temp3{};
-    MC_fault_codes pm100Faults{};
-    MC_current_information pm100CurrentInfo{};
+  bool spinForward = false;
+  Metro *mc_kick_tim;
+  Metro *timer_inverter_enable;
+  Metro *timer_motor_controller_send;
+  Metro *timer_current_limit;
+  Dashboard *dash;
+  void writeControldisableWithZeros();
+  void writeEnableNoTorque();
+  uint8_t disableWithZeros[8] = {
+      0, 0, 0, 0,
+      0, 0, 0, 0}; // The message to disable the controller/cancel lockout
+  uint8_t enableNoTorque[8] = {
+      0,           0, 0, 0,
+      spinForward, 1, 0, 0}; // The message to enable the motor with zero torque
+  MC_command_message pm100Msg{};
+  MC_internal_states pm100State{};
+  MC_motor_position_information pm100Speed{};
+  MC_voltage_information pm100Voltage{};
+  MC_temperatures_1 pm100temp1{};
+  MC_temperatures_2 pm100temp2{};
+  MC_temperatures_3 pm100temp3{};
+  MC_fault_codes pm100Faults{};
+  MC_current_information pm100CurrentInfo{};
 
 public:
-    // this is a member init list: https://www.youtube.com/watch?v=1nfuYMXjZsA
-    Inverter(Metro *mc_kick_timer, Metro *en_tim, Metro *comm_timer, Metro *current_lim_tim, Dashboard *dash_) : mc_kick_tim(mc_kick_timer), timer_inverter_enable(en_tim), timer_motor_controller_send(comm_timer), timer_current_limit(current_lim_tim), dash(dash_){};
-    uint32_t discharge_power_lim = DISCHARGE_POWER_LIM;
-    uint32_t current_power = 0;
-    void doStartup();
-    void inverter_kick(bool enable);
-    void forceMCdischarge();
-    void updateInverterCAN();
-    int getmcBusVoltage();
-    int getmcMotorRPM();
-    bool check_TS_active();
-    bool check_inverter_disabled();
-    bool command_torque(int16_t torque);
-    void tryToClearMcFault();
-    void enable_inverter();
-    bool check_inverter_ready();
-    bool check_inverter_enable_timeout();
-    void debug_print();
-    void update_power()
-    {
-        current_power = pm100CurrentInfo.get_dc_bus_current()/10 * pm100Voltage.get_dc_bus_voltage()/10;
-    }
-    bool calc_and_send_current_limit(uint16_t pack_voltage, uint32_t discharge_power_limit, uint32_t charge_power_limit);
-    bool speedMode = false;
-    uint16_t angularVelocityTarget = 2000;
+  // this is a member init list: https://www.youtube.com/watch?v=1nfuYMXjZsA
+  Inverter(Metro *mc_kick_timer, Metro *en_tim, Metro *comm_timer,
+           Metro *current_lim_tim, Dashboard *dash_)
+      : mc_kick_tim(mc_kick_timer), timer_inverter_enable(en_tim),
+        timer_motor_controller_send(comm_timer),
+        timer_current_limit(current_lim_tim), dash(dash_){};
+  uint32_t discharge_power_lim = DISCHARGE_POWER_LIM;
+  uint32_t current_power = 0;
+  void doStartup();
+  void inverter_kick(bool enable);
+  void forceMCdischarge();
+  void updateInverterCAN();
+  int getmcBusVoltage();
+  int getmcMotorRPM();
+  bool check_TS_active();
+  bool check_inverter_disabled();
+  bool command_torque(int16_t torque);
+  void tryToClearMcFault();
+  void enable_inverter();
+  bool check_inverter_ready();
+  bool check_inverter_enable_timeout();
+  void debug_print();
+  void update_power() {
+    current_power = pm100CurrentInfo.get_dc_bus_current() / 10 *
+                    pm100Voltage.get_dc_bus_voltage() / 10;
+  }
+  bool calc_and_send_current_limit(uint16_t pack_voltage,
+                                   uint32_t discharge_power_limit,
+                                   uint32_t charge_power_limit);
+  bool speedMode = false;
+  uint16_t angularVelocityTarget = 2000;
 };
 
-#endif
+#endif