Merge branch 'testing' into feature/launchcontroller

include/distance_tracker.h

@@ -1,6 +1,7 @@
 #ifndef DISTANCE_TRACKER_H
 #define DISTANCE_TRACKER_H
 #include <stdint.h>
+#include <deque>
 #ifdef ARDUINO
 #include <Arduino.h>
 #endif
@@ -19,6 +20,28 @@ struct energy_data_t
     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) {}
 };
 
+struct RollingAverage {
+    std::deque<float> buffer;
+    float sum = 0.0;
+    int maxSize;
+
+    RollingAverage(int maxBufferSize) : maxSize(maxBufferSize) {}
+
+    void addValue(float value) {
+        buffer.push_back(value);
+        sum += value;
+        if (buffer.size() > maxSize) {
+            sum -= buffer.front();
+            buffer.pop_front();
+        }
+    }
+
+    float getAverage() const {
+        return buffer.empty() ? 0.0 : sum / buffer.size();
+    }
+};
+
+
 class distance_tracker_s
 {
 public:
@@ -45,6 +68,7 @@ class distance_tracker_s
         // update efficiencies
         efficiency_kmkwh = distance_km/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
         power_kw.oldval = power_kw.newval;
         current_amps.oldval = current_amps.newval;
@@ -59,7 +83,7 @@ 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>(efficiency_instantaneous*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<int16_t>(avgEff.getAverage()*1000), static_cast<int16_t>(distance_km), static_cast<int16_t>(efficiency_kmkwh*1000));
         return data;
     }
     float capacity_ah=0;
@@ -72,6 +96,7 @@ class distance_tracker_s
     old_new_t current_amps;
     old_new_t velocity_ms;
     unsigned long time;
+    RollingAverage avgEff = RollingAverage(200);
 };
 
 #endif

include/parameters.hpp

@@ -28,6 +28,9 @@
 const unsigned long LAUNCHCONTROL_RELEASE_DELAY = 1500;
 #define WHEELSPEED_TOOTH_COUNT 18 // Wheel Speed sensor tooth coutn
 const float WHEEL_CIRCUMFERENCE  = 0.229*PI*2;
+const float FRONT_SPROCKET_TEETH = 10;
+const float REAR_SPROCKET_TEETH = 30;
+const float FINAL_DRIVE = FRONT_SPROCKET_TEETH/REAR_SPROCKET_TEETH; 
 #define RPM_TIMEOUT 1000 // Timeout for wheel speed RPM to reset to 0
 #define MIN_BRAKE_PEDAL 400           // ~0.5v, set on 2-29-2024
 #define START_BRAKE_PEDAL 970       // 1.58V, set on 2-29-2024

src/FlexCAN_handle.cpp

@@ -4,6 +4,10 @@ FlexCAN_T4<CAN3, RX_SIZE_1024, TX_SIZE_1024> DaqCAN_;
 FlexCAN_T4<CAN2, RX_SIZE_1024, TX_SIZE_1024> Inverter_CAN_;
 FlexCAN_T4<CAN1, RX_SIZE_1024, TX_SIZE_1024> AccumulatorCAN_;
 
+// number of rx and tx mailboxes
+#define NUM_TX_MAILBOXES 32
+#define NUM_RX_MAILBOXES 32
+
 void InitCAN()
 {
     // Daqcan only needs to send, but fast

src/inverter.cpp

@@ -120,6 +120,9 @@ bool Inverter::command_torque(int16_t torque)
     {
         return false;
     }
+    else{
+        return false;
+    }
 }
 
 //

src/state_machine.cpp

@@ -148,7 +148,7 @@ void StateMachine::handle_state_machine(MCU_status &mcu_status)
   // if (mcu_status.get_state() == MCU_STATE::READY_TO_DRIVE)
   if (true)
   {
-    distance_tracker.update(accumulator->get_acc_current(), accumulator->get_acc_voltage(), pedals->get_wsfl(), WHEEL_CIRCUMFERENCE, millis());
+    distance_tracker.update(accumulator->get_acc_current(), accumulator->get_acc_voltage(), pm100->getmcMotorRPM() * FINAL_DRIVE, WHEEL_CIRCUMFERENCE, micros());
     mcu_status.set_distance_travelled(distance_tracker.get_data().distance_m);
   }
   bool _20hz_send = can_20hz_timer.check();