schizo

include/KS2eCAN.hpp

@@ -37,7 +37,9 @@
 #define ID_DASH_FW_VERSION                                          0xEC
 #define ID_MC_CURRENT_LIMIT_COMMAND                                 0x202
 #define ID_BMS_SOC                                                  0x6B3 //made this real!
-
+#define ID_VCU_DISTANCE_TRACKER_MOTOR                               0xCE
+#define ID_VCU_DISTANCE_TRACKER_WHEELSPEED                          0xCF
+#define ID_VCU_LIFETIME_DATA                                        0xD0
 
 #define ID_BMS_CURRENT_LIMIT_INFO     0x6B1
 #define ID_BMS_PACK_VOLTAGE_INFO      0x6B2

include/common_structs.h

@@ -15,4 +15,10 @@ typedef struct lc_countdown_t
     unsigned long release_countdown;
     const unsigned long release_delay = LAUNCHCONTROL_RELEASE_DELAY;
 } lc_countdown_t;
+
+typedef struct time_and_distance_tracker_t
+{
+    unsigned long vcu_lifetime_ontime;
+    unsigned long vcu_lifetime_distance;
+} time_and_distance_tracker_t;
 #endif

include/distance_tracker.h

@@ -14,29 +14,31 @@ struct old_new_t
 struct energy_data_t
 {
     uint16_t energy_wh;
-    int16_t eff_inst;
+    uint16_t eff_inst;
     uint16_t distance_m;
-    int16_t efficiency_kmkwh;
-    energy_data_t(uint16_t wh, int16_t eff, uint16_t m, int16_t kmkwh) : energy_wh(wh), eff_inst(eff), distance_m(m), efficiency_kmkwh(kmkwh) {}
+    uint16_t efficiency_kmkwh;
+    energy_data_t(uint16_t wh, uint16_t eff, uint16_t m, uint16_t kmkwh) : energy_wh(wh), eff_inst(eff), distance_m(m), efficiency_kmkwh(kmkwh) {}
 };
 
 struct RollingAverage {
     std::deque<float> buffer;
-    float sum = 0.0;
+    float sum;
     int maxSize;
 
     RollingAverage(int maxBufferSize) : maxSize(maxBufferSize) {}
 
     void addValue(float value) {
         buffer.push_back(value);
-        sum += value;
+        sum = sum + value;
+        printf("%f",sum);
         if (buffer.size() > maxSize) {
             sum -= buffer.front();
             buffer.pop_front();
         }
     }
 
     float getAverage() const {
+        printf("%d, %f",buffer.empty(),buffer.front());
         return buffer.empty() ? 0.0 : sum / buffer.size();
     }
 };
@@ -57,7 +59,7 @@ class distance_tracker_s
         // update time
         this->time = newtime;
         // calculate distance travelled during the last update time
-        distance_km += elapsed_time_seconds * velocity_ms.oldval;
+        distance_m += elapsed_time_seconds * velocity_ms.oldval;
         // calculate power used during the last update time
         float kwh = (elapsed_time_seconds / 3600) * power_kw.oldval;
         energy_wh += kwh;
@@ -66,7 +68,7 @@ class distance_tracker_s
         capacity_ah += (elapsed_time_seconds / 3600) * current_amps.oldval;
 
         // update efficiencies
-        efficiency_kmkwh = distance_km/energy_wh;
+        efficiency_kmkwh = distance_m/energy_wh;
         efficiency_instantaneous = (elapsed_time_seconds * velocity_ms.oldval) / (elapsed_time_seconds / 3600 * power_kw.oldval);
         avgEff.addValue(efficiency_instantaneous);
         // set old vals to the previous new one
@@ -83,20 +85,20 @@ class distance_tracker_s
     }
     energy_data_t get_data()
     {
-        energy_data_t data = energy_data_t(static_cast<uint16_t>(energy_wh*10), static_cast<int16_t>(avgEff.getAverage()*1000), static_cast<int16_t>(distance_km), static_cast<int16_t>(efficiency_kmkwh*1000));
+        energy_data_t data = energy_data_t(static_cast<uint16_t>(energy_wh*10), static_cast<uint16_t>(avgEff.getAverage()*1000), static_cast<uint16_t>(distance_m), static_cast<uint16_t>(efficiency_kmkwh*1000));
         return data;
     }
     float capacity_ah=0;
     float energy_wh = 0;
-    float distance_km = 0;
+    float distance_m = 0;
     float efficiency_kmkwh = 0;
     float efficiency_instantaneous = 0;
 private:
     old_new_t power_kw;
     old_new_t current_amps;
     old_new_t velocity_ms;
     unsigned long time;
-    RollingAverage avgEff = RollingAverage(200);
+    RollingAverage avgEff = RollingAverage(100);
 };
 
 #endif

include/state_machine.hpp

@@ -2,6 +2,7 @@
 #define STATE_MACHINE_HPP
 #include <Arduino.h>
 #include <Metro.h>
+#include <EEPROM.h>
 #include "MCU_status.hpp"
 #include "inverter.hpp"
 #include "accumulator.hpp"
@@ -11,6 +12,7 @@
 #include "launch_system.h"
 #include <distance_tracker.h>
 
+#define ODOMETER_EEPROM_ADDR 0
 class StateMachine
 {
 private:
@@ -22,16 +24,29 @@ class StateMachine
     PedalHandler *pedals;
     launchControlSystem *lcSystem;
     Metro *pedal_check_;
-    distance_tracker_s distance_tracker;
+    distance_tracker_s distance_tracker_motor;
+    distance_tracker_s distance_tracker_fl;
+    // To hold initial values from eeprom:
+    unsigned long _lifetime_distance = 0;
+    unsigned long _lifetime_on_time = 0;
+    time_and_distance_tracker_t time_and_distance_t;
     void set_state(MCU_status &mcu_status, MCU_STATE new_state);
     void send_state_msg(MCU_status &mcu_status);
-    Metro can_20hz_timer = Metro(10,1);
+    Metro can_100hz_timer = Metro(10,1);
+    Metro can_20hz_timer = Metro(50,1);
+    Metro can_10hz_timer = Metro(100,1);
+    Metro _log_distance_timer_10s = Metro(10000,1);
 public:
     StateMachine(Inverter *inv, Accumulator *acc, Metro *rs_tim, Dashboard *dash, Metro *debug, PedalHandler *pedals, launchControlSystem *lcSys,Metro *ped_t)
         : pm100(inv), accumulator(acc), timer_ready_sound(rs_tim), dash_(dash), debug_(debug), pedals(pedals), lcSystem(lcSys),pedal_check_(ped_t){};
 
     void init_state_machine(MCU_status &mcu_status);
     void handle_state_machine(MCU_status &mcu_status);
+    void handle_distance_trackers(MCU_status &mcu_status);
+    time_and_distance_tracker_t get_lifetime_data()
+    {
+        return time_and_distance_t;
+    }
 // void joe_mock_lc(MCU_status* mcu_status, int torq, bool implaus);
 
 };

src/main.cpp

@@ -146,6 +146,8 @@ void loop()
         memcpy(fw_hash_msg.buf, &vcu_status_t, sizeof(vcu_status_t));
         WriteCANToInverter(fw_hash_msg);
 
+        sendStructOnCan(state_machine.get_lifetime_data(),ID_VCU_LIFETIME_DATA);
+
         // broadcast pedal thresholds information
         pedal_thresholds_msg.id = ID_VCU_PEDAL_THRESHOLD_SETTINGS;
         pedal_thresholds_msg.len = 7;