min viable

include/KS2eCAN.hpp

@@ -45,6 +45,7 @@
 #define ID_VCU_COULOMB_COUNT                                        0xD3
 #define ID_VCU_CALCULATED_SLIP                                      0xD4
 #define ID_VCU_POWER_LIM_UPDATE                                     0xD5
+#define ID_VCU_SPEED_LIM_UPDATE                                     0xD6
 #define ID_BMS_CURRENT_LIMIT_INFO     0x6B1
 #define ID_BMS_PACK_VOLTAGE_INFO      0x6B2
 #define ID_ACU_RELAY    0x258

include/inverter.hpp

@@ -61,6 +61,8 @@ class Inverter
         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

include/parameters.hpp

@@ -61,7 +61,7 @@ const float accumulator_cell_maximum_voltage = 4.2;
 const float bspd_trip_power = 5000;
 const float bspd_current_high_threshold = bspd_trip_power/(accumulator_cell_count * accumulator_cell_nominal_voltage); // Current value where BSPD current detection should be high (5kw at nominal voltage)
 const int MIN_HV_VOLTAGE = 600; // apparently this is divided by ten? yes maybe, bc getmcbusvoltage returns a can packet which is the bus voltage*10? idk
-const int DISCHARGE_POWER_LIM  = 40000;
+const int DISCHARGE_POWER_LIM  = 80000;
 const int CHARGE_POWER_LIM = 9000;
 
 const float cutoff_10hz = 10; // Hz

src/inverter.cpp

@@ -116,13 +116,22 @@ bool Inverter::command_torque(int16_t torque)
     {
         torque = 0;
     }
-    uint8_t angularVelocity1 = 0, angularVelocity2 = 0;
+    uint16_t angularVelocity = angularVelocityTarget;
     bool emraxDirection = true; // true for forward, false for reverse
-    bool inverterEnable = true; // go brrr
+    byte inverterEnable = 0x01; // go brrr
+    if (speedMode)
+    {
+        // This will force speed mode operation :/
+        inverterEnable |= 0x04;
+    }
 
     uint8_t torqueCommand[] = {
-        0, 0, angularVelocity1, angularVelocity2, emraxDirection, inverterEnable, 0, 0};
+        0, 0, 0, 0, emraxDirection, inverterEnable, 0, 0};
     memcpy(&torqueCommand[0], &torque, sizeof(torque));
+    if (speedMode)
+    {
+        memcpy(&torqueCommand[2], &angularVelocity,sizeof(angularVelocity));
+    }
     // Send torque command if timer has fired
     if (timer_motor_controller_send->check())
     {

src/state_machine.cpp

@@ -443,6 +443,11 @@ void StateMachine::handle_state_machine(MCU_status &mcu_status)
       break;
     }
     // #endif
+    // Toggle speed mode if RTD button held for 1 second
+    if (dash_->get_button_held_duration(3,1000))
+    {
+      pm100->speedMode = !(pm100->speedMode);
+    }
     // Torque calc always runs in the superloop
     // Toggle launch control if button 5 held for 1 second, while brake is pressed
     if (dash_->get_button_held_duration(LAUNCH_CONTROL_BUTTON, 1000))
@@ -643,6 +648,12 @@ void StateMachine::update_daq_can()
     unpack_flexcan_message(ksu_can, rxMsg);
     switch (rxMsg.id)
     {
+    case CAN_ID_M193_READ_WRITE_PARAM_COMMAND:
+    {
+      // Forward incoming param writes so it can be done with telemetry
+      WriteCANToJUSTInverter(rxMsg);
+      break;
+    }
     case CAN_ID_EVELOGGER_VECTORNAV_ACCELERATION:
     {
       decode_can_0x1f9_evelogger_vectornav_accelX(ksu_can, &vectornav_data.accel_x);
@@ -662,6 +673,7 @@ void StateMachine::update_daq_can()
     case ID_VCU_POWER_LIM_UPDATE:
     {
       uint32_t new_lim = 80000;
+      // expect first 4 bytes to be the new limit
       memcpy(&new_lim, rxMsg.buf, sizeof(new_lim));
       if (new_lim > 80000)
       {
@@ -674,6 +686,22 @@ void StateMachine::update_daq_can()
       pm100->discharge_power_lim = new_lim;
       break;
     }
+    case ID_VCU_SPEED_LIM_UPDATE:
+    {
+      uint16_t new_lim = 4000;
+      // expect first 2 bytes to be the new limit
+      memcpy(&new_lim, rxMsg.buf, sizeof(new_lim));
+      if (new_lim > 4000)
+      {
+        new_lim = 4000;
+      }
+      else if (new_lim == 0)
+      {
+        new_lim = 1000;
+      }
+      pm100->angularVelocityTarget = new_lim;
+      break;
+    }
     }
   }
 }