Feature/dgulewicz/throttle map squash (#114)

* throttle map 2 * remove car.c faults
PurdueElectricRacing · Apr 5, 2024 · fd3c7d5 · fd3c7d5
1 parent 9af8219
commit fd3c7d5
Show file tree

Hide file tree

Showing 14 changed files with 102 additions and 155 deletions.
diff --git a/common/daq/can_config.json b/common/daq/can_config.json
@@ -182,7 +182,6 @@
                         {"msg_name": "max_cell_temp"},
                         {"msg_name": "LWS_Standard"},
                         {"msg_name": "main_module_bl_cmd" , "callback": true},
-                        {"msg_name": "throttle_remapped"},
                         {"msg_name": "orion_currents_volts"},
                         {"msg_name": "throttle_vcu"}
                     ]
@@ -425,8 +424,7 @@
                             "signals":[
                                 {"sig_name":"gps_vel_n","type":"int16_t","unit": "m/s", "scale": 0.01},
                                 {"sig_name":"gps_vel_e", "type":"int16_t","unit": "m/s", "scale": 0.01},
-                                {"sig_name":"gps_vel_d", "type":"int16_t","unit": "m/s", "scale": 0.01},
-                                {"sig_name":"gps_vel_total", "type":"int16_t", "unit": "m/s","scale": 0.01}
+                                {"sig_name":"gps_vel_d", "type":"int16_t","unit": "m/s", "scale": 0.01}
                             ],
                             "msg_period":40,
                             "msg_hlp":3,
@@ -435,9 +433,6 @@
                         {   "msg_name":"gps_position",
                             "msg_desc":"gps position",
                             "signals":[
-                                {"sig_name":"gps_pos_x","type":"int16_t","unit": "m", "scale": 0.01},
-                                {"sig_name":"gps_pos_y", "type":"int16_t","unit": "m", "scale": 0.01},
-                                {"sig_name":"gps_pos_z", "type":"int16_t","unit": "m", "scale": 0.01},
                                 {"sig_name":"height", "type":"int16_t", "unit": "m", "scale": 0.01}
                             ],
                             "msg_period":40,
@@ -546,23 +541,13 @@
                         {
                             "msg_name": "throttle_vcu",
                             "msg_desc": "throttle vcu",
-                            "signals":[
-                                {"sig_name": "vcu_r_rl", "type": "int16_t", "unit": "none", "scale": 1},
-                                {"sig_name": "vcu_r_rr", "type": "int16_t", "unit": "none", "scale": 1}
-                            ],
-                            "msg_period": 15,
-                            "msg_hlp": 1,
-                            "msg_pgn": 151
-                        },
-                        {
-                            "msg_name": "throttle_remapped",
-                            "msg_desc": "throttle remapped",
                             "signals":[
                                 {"sig_name": "vcu_k_rl", "type": "int16_t", "unit": "none", "scale": 1},
-                                {"sig_name": "vcu_k_rr", "type": "int16_t", "unit": "none", "scale": 1}
+                                {"sig_name": "vcu_k_rr", "type": "int16_t", "unit": "none", "scale": 1},
+                                {"sig_name": "vcu_r_max", "type": "int16_t", "unit": "none", "scale": 1}
                             ],
                             "msg_period": 15,
-                            "msg_hlp": 1,
+                            "msg_hlp": 3,
                             "msg_pgn": 150
                         },
                         {
@@ -579,7 +564,7 @@
                             "msg_name": "vehHead",
                             "msg_desc": "Vehicle Heading",
                             "signals":[
-                                {"sig_name": "vehHead", "type": "int16_t", "unit": "none", "scale": 1}
+                                {"sig_name": "vehHead", "type": "int16_t", "unit": "none", "scale": 0.1}
                             ],
                             "msg_period": 15,
                             "msg_hlp": 3,

diff --git a/common/daq/per_dbc.dbc b/common/daq/per_dbc.dbc
@@ -242,17 +242,13 @@ BO_ 2348812088 orion_errors: 4 OrionBMS
  SG_ charger_safety_relay : 1|1@1+ (1,0) [0|0] "" Vector__XXX
  SG_ discharge_limit_enforce : 0|1@1+ (1,0) [0|0] "" Vector__XXX
 
-BO_ 2348810935 gps_velocity: 8 torque_vector
- SG_ gps_vel_total : 48|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
+BO_ 2348810935 gps_velocity: 6 torque_vector
  SG_ gps_vel_d : 32|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ gps_vel_e : 16|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
  SG_ gps_vel_n : 0|16@1- (0.01,0) [0|0] "m/s" Vector__XXX
 
-BO_ 2348819255 gps_position: 8 torque_vector
- SG_ height : 48|16@1- (0.01,0) [0|0] "m" Vector__XXX
- SG_ gps_pos_z : 32|16@1- (0.01,0) [0|0] "m" Vector__XXX
- SG_ gps_pos_y : 16|16@1- (0.01,0) [0|0] "m" Vector__XXX
- SG_ gps_pos_x : 0|16@1- (0.01,0) [0|0] "m" Vector__XXX
+BO_ 2348819255 gps_position: 2 torque_vector
+ SG_ height : 0|16@1- (0.01,0) [0|0] "m" Vector__XXX
 
 BO_ 2348819319 gps_coordinates: 8 torque_vector
  SG_ longitude : 32|32@1- (1,0) [0|0] "deg" Vector__XXX
@@ -299,19 +295,16 @@ BO_ 2348902967 sfs_ang_vel: 6 torque_vector
  SG_ sfs_ang_vel_y : 16|16@1- (0.0001,0) [0|0] "" Vector__XXX
  SG_ sfs_ang_vel_x : 0|16@1- (0.0001,0) [0|0] "" Vector__XXX
 
-BO_ 2214602231 throttle_vcu: 4 torque_vector
- SG_ vcu_r_rr : 16|16@1- (1,0) [0|0] "none" Vector__XXX
- SG_ vcu_r_rl : 0|16@1- (1,0) [0|0] "none" Vector__XXX
-
-BO_ 2214602167 throttle_remapped: 4 torque_vector
+BO_ 2348819895 throttle_vcu: 6 torque_vector
+ SG_ vcu_r_max : 32|16@1- (1,0) [0|0] "none" Vector__XXX
  SG_ vcu_k_rr : 16|16@1- (1,0) [0|0] "none" Vector__XXX
  SG_ vcu_k_rl : 0|16@1- (1,0) [0|0] "none" Vector__XXX
 
 BO_ 2348820023 maxR: 2 torque_vector
  SG_ vcu_max_r : 0|16@1- (1,0) [0|0] "none" Vector__XXX
 
 BO_ 2348820087 vehHead: 2 torque_vector
- SG_ vehHead : 0|16@1- (1,0) [0|0] "none" Vector__XXX
+ SG_ vehHead : 0|16@1- (0.1,0) [0|0] "none" Vector__XXX
 
 BO_ 2416010039 tv_can_stats: 4 torque_vector
  SG_ can_rx_overrun : 24|8@1+ (1,0) [0|0] "" Vector__XXX
@@ -801,15 +794,11 @@ CM_ SG_ 2348812088 internal_hardware "";
 CM_ SG_ 2348812088 charger_safety_relay "";
 CM_ SG_ 2348812088 discharge_limit_enforce "";
 CM_ BO_ 2348810935 "gps velocity";
-CM_ SG_ 2348810935 gps_vel_total "";
 CM_ SG_ 2348810935 gps_vel_d "";
 CM_ SG_ 2348810935 gps_vel_e "";
 CM_ SG_ 2348810935 gps_vel_n "";
 CM_ BO_ 2348819255 "gps position";
 CM_ SG_ 2348819255 height "";
-CM_ SG_ 2348819255 gps_pos_z "";
-CM_ SG_ 2348819255 gps_pos_y "";
-CM_ SG_ 2348819255 gps_pos_x "";
 CM_ BO_ 2348819319 "gps coordinates";
 CM_ SG_ 2348819319 longitude "";
 CM_ SG_ 2348819319 latitude "";
@@ -846,12 +835,10 @@ CM_ BO_ 2348902967 "orientation vel from sfs";
 CM_ SG_ 2348902967 sfs_ang_vel_z "";
 CM_ SG_ 2348902967 sfs_ang_vel_y "";
 CM_ SG_ 2348902967 sfs_ang_vel_x "";
-CM_ BO_ 2214602231 "throttle vcu";
-CM_ SG_ 2214602231 vcu_r_rr "";
-CM_ SG_ 2214602231 vcu_r_rl "";
-CM_ BO_ 2214602167 "throttle remapped";
-CM_ SG_ 2214602167 vcu_k_rr "";
-CM_ SG_ 2214602167 vcu_k_rl "";
+CM_ BO_ 2348819895 "throttle vcu";
+CM_ SG_ 2348819895 vcu_r_max "";
+CM_ SG_ 2348819895 vcu_k_rr "";
+CM_ SG_ 2348819895 vcu_k_rl "";
 CM_ BO_ 2348820023 "Maximum Allowed Throttle";
 CM_ SG_ 2348820023 vcu_max_r "";
 CM_ BO_ 2348820087 "Vehicle Heading";

diff --git a/source/main_module/can/can_parse.c b/source/main_module/can/can_parse.c
@@ -89,21 +89,16 @@ void canRxUpdate(void)
                 can_data.main_module_bl_cmd.data = msg_data_a->main_module_bl_cmd.data;
                 main_module_bl_cmd_CALLBACK(msg_data_a);
                 break;
-            case ID_THROTTLE_REMAPPED:
-                can_data.throttle_remapped.vcu_k_rl = (int16_t) msg_data_a->throttle_remapped.vcu_k_rl;
-                can_data.throttle_remapped.vcu_k_rr = (int16_t) msg_data_a->throttle_remapped.vcu_k_rr;
-                can_data.throttle_remapped.stale = 0;
-                can_data.throttle_remapped.last_rx = sched.os_ticks;
-                break;
             case ID_ORION_CURRENTS_VOLTS:
                 can_data.orion_currents_volts.pack_current = (int16_t) msg_data_a->orion_currents_volts.pack_current;
                 can_data.orion_currents_volts.pack_voltage = msg_data_a->orion_currents_volts.pack_voltage;
                 can_data.orion_currents_volts.stale = 0;
                 can_data.orion_currents_volts.last_rx = sched.os_ticks;
                 break;
             case ID_THROTTLE_VCU:
-                can_data.throttle_vcu.vcu_r_rl = (int16_t) msg_data_a->throttle_vcu.vcu_r_rl;
-                can_data.throttle_vcu.vcu_r_rr = (int16_t) msg_data_a->throttle_vcu.vcu_r_rr;
+                can_data.throttle_vcu.vcu_k_rl = (int16_t) msg_data_a->throttle_vcu.vcu_k_rl;
+                can_data.throttle_vcu.vcu_k_rr = (int16_t) msg_data_a->throttle_vcu.vcu_k_rr;
+                can_data.throttle_vcu.vcu_r_max = (int16_t) msg_data_a->throttle_vcu.vcu_r_max;
                 can_data.throttle_vcu.stale = 0;
                 can_data.throttle_vcu.last_rx = sched.os_ticks;
                 break;
@@ -165,9 +160,6 @@ void canRxUpdate(void)
     CHECK_STALE(can_data.LWS_Standard.stale,
                 sched.os_ticks, can_data.LWS_Standard.last_rx,
                 UP_LWS_STANDARD);
-    CHECK_STALE(can_data.throttle_remapped.stale,
-                sched.os_ticks, can_data.throttle_remapped.last_rx,
-                UP_THROTTLE_REMAPPED);
     CHECK_STALE(can_data.orion_currents_volts.stale,
                 sched.os_ticks, can_data.orion_currents_volts.last_rx,
                 UP_ORION_CURRENTS_VOLTS);
@@ -201,22 +193,20 @@ bool initCANFilter()
     CAN1->sFilterRegister[2].FR1 = (ID_LWS_STANDARD << 3) | 4;
     CAN1->sFilterRegister[2].FR2 = (ID_MAIN_MODULE_BL_CMD << 3) | 4;
     CAN1->FA1R |= (1 << 3);    // configure bank 3
-    CAN1->sFilterRegister[3].FR1 = (ID_THROTTLE_REMAPPED << 3) | 4;
-    CAN1->sFilterRegister[3].FR2 = (ID_ORION_CURRENTS_VOLTS << 3) | 4;
+    CAN1->sFilterRegister[3].FR1 = (ID_ORION_CURRENTS_VOLTS << 3) | 4;
+    CAN1->sFilterRegister[3].FR2 = (ID_THROTTLE_VCU << 3) | 4;
     CAN1->FA1R |= (1 << 4);    // configure bank 4
-    CAN1->sFilterRegister[4].FR1 = (ID_THROTTLE_VCU << 3) | 4;
-    CAN1->sFilterRegister[4].FR2 = (ID_FAULT_SYNC_PDU << 3) | 4;
+    CAN1->sFilterRegister[4].FR1 = (ID_FAULT_SYNC_PDU << 3) | 4;
+    CAN1->sFilterRegister[4].FR2 = (ID_FAULT_SYNC_DASHBOARD << 3) | 4;
     CAN1->FA1R |= (1 << 5);    // configure bank 5
-    CAN1->sFilterRegister[5].FR1 = (ID_FAULT_SYNC_DASHBOARD << 3) | 4;
-    CAN1->sFilterRegister[5].FR2 = (ID_FAULT_SYNC_A_BOX << 3) | 4;
+    CAN1->sFilterRegister[5].FR1 = (ID_FAULT_SYNC_A_BOX << 3) | 4;
+    CAN1->sFilterRegister[5].FR2 = (ID_FAULT_SYNC_TORQUE_VECTOR << 3) | 4;
     CAN1->FA1R |= (1 << 6);    // configure bank 6
-    CAN1->sFilterRegister[6].FR1 = (ID_FAULT_SYNC_TORQUE_VECTOR << 3) | 4;
-    CAN1->sFilterRegister[6].FR2 = (ID_FAULT_SYNC_TEST_NODE << 3) | 4;
+    CAN1->sFilterRegister[6].FR1 = (ID_FAULT_SYNC_TEST_NODE << 3) | 4;
+    CAN1->sFilterRegister[6].FR2 = (ID_SET_FAULT << 3) | 4;
     CAN1->FA1R |= (1 << 7);    // configure bank 7
-    CAN1->sFilterRegister[7].FR1 = (ID_SET_FAULT << 3) | 4;
-    CAN1->sFilterRegister[7].FR2 = (ID_RETURN_FAULT_CONTROL << 3) | 4;
-    CAN1->FA1R |= (1 << 8);    // configure bank 8
-    CAN1->sFilterRegister[8].FR1 = (ID_DAQ_COMMAND_MAIN_MODULE << 3) | 4;
+    CAN1->sFilterRegister[7].FR1 = (ID_RETURN_FAULT_CONTROL << 3) | 4;
+    CAN1->sFilterRegister[7].FR2 = (ID_DAQ_COMMAND_MAIN_MODULE << 3) | 4;
     /* END AUTO FILTER */
     CAN1->FA1R |= (1 << 6);    // configure bank 6
     CAN1->sFilterRegister[6].FR1 = (ID_LWS_STANDARD << 21);

diff --git a/source/main_module/can/can_parse.h b/source/main_module/can/can_parse.h
@@ -41,9 +41,8 @@
 #define ID_MAX_CELL_TEMP 0xc04e604
 #define ID_LWS_STANDARD 0x2b0
 #define ID_MAIN_MODULE_BL_CMD 0x409c43e
-#define ID_THROTTLE_REMAPPED 0x40025b7
 #define ID_ORION_CURRENTS_VOLTS 0x140006f8
-#define ID_THROTTLE_VCU 0x40025f7
+#define ID_THROTTLE_VCU 0xc0025b7
 #define ID_FAULT_SYNC_PDU 0x8cb1f
 #define ID_FAULT_SYNC_DASHBOARD 0x8cac5
 #define ID_FAULT_SYNC_A_BOX 0x8ca44
@@ -76,9 +75,8 @@
 #define DLC_MAX_CELL_TEMP 2
 #define DLC_LWS_STANDARD 5
 #define DLC_MAIN_MODULE_BL_CMD 5
-#define DLC_THROTTLE_REMAPPED 4
 #define DLC_ORION_CURRENTS_VOLTS 4
-#define DLC_THROTTLE_VCU 4
+#define DLC_THROTTLE_VCU 6
 #define DLC_FAULT_SYNC_PDU 3
 #define DLC_FAULT_SYNC_DASHBOARD 3
 #define DLC_FAULT_SYNC_A_BOX 3
@@ -224,7 +222,6 @@
 #define UP_FILT_THROTTLE_BRAKE 15
 #define UP_MAX_CELL_TEMP 500
 #define UP_LWS_STANDARD 15
-#define UP_THROTTLE_REMAPPED 15
 #define UP_ORION_CURRENTS_VOLTS 32
 #define UP_THROTTLE_VCU 15
 /* END AUTO UP DEFS */
@@ -409,17 +406,14 @@ typedef union {
         uint64_t cmd: 8;
         uint64_t data: 32;
     } main_module_bl_cmd;
-    struct {
-        uint64_t vcu_k_rl: 16;
-        uint64_t vcu_k_rr: 16;
-    } throttle_remapped;
     struct {
         uint64_t pack_current: 16;
         uint64_t pack_voltage: 16;
     } orion_currents_volts;
     struct {
-        uint64_t vcu_r_rl: 16;
-        uint64_t vcu_r_rr: 16;
+        uint64_t vcu_k_rl: 16;
+        uint64_t vcu_k_rr: 16;
+        uint64_t vcu_r_max: 16;
     } throttle_vcu;
     struct {
         uint64_t idx: 16;
@@ -497,21 +491,16 @@ typedef struct {
         uint8_t cmd;
         uint32_t data;
     } main_module_bl_cmd;
-    struct {
-        int16_t vcu_k_rl;
-        int16_t vcu_k_rr;
-        uint8_t stale;
-        uint32_t last_rx;
-    } throttle_remapped;
     struct {
         int16_t pack_current;
         uint16_t pack_voltage;
         uint8_t stale;
         uint32_t last_rx;
     } orion_currents_volts;
     struct {
-        int16_t vcu_r_rl;
-        int16_t vcu_r_rr;
+        int16_t vcu_k_rl;
+        int16_t vcu_k_rr;
+        int16_t vcu_r_max;
         uint8_t stale;
         uint32_t last_rx;
     } throttle_vcu;

diff --git a/source/main_module/car/car.c b/source/main_module/car/car.c
@@ -241,10 +241,10 @@ void carPeriodic()
             float t_req_pedal_r = 0;
             if (!can_data.filt_throttle_brake.stale)
                 t_req_pedal = (float) CLAMP(can_data.filt_throttle_brake.throttle, 0, 4095);
-            if (!can_data.throttle_remapped.stale)
-                t_req_pedal_l = (float) CLAMP(can_data.throttle_remapped.vcu_k_rl, 0, 4095);
-            if (!can_data.throttle_remapped.stale)
-                t_req_pedal_r = (float) CLAMP(can_data.throttle_remapped.vcu_k_rr, 0, 4095);
+            if (!can_data.throttle_vcu.stale)
+                t_req_pedal_l = (float) CLAMP(can_data.throttle_vcu.vcu_k_rl, 0, 4095);
+            if (!can_data.throttle_vcu.stale)
+                t_req_pedal_r = (float) CLAMP(can_data.throttle_vcu.vcu_k_rr, 0, 4095);
 
             t_req_pedal = t_req_pedal * 100.0f / 4095.0f;
             t_req_pedal_l = t_req_pedal_l * 100.0f / 4095.0f;

diff --git a/source/torque_vector/ac/ac_ext.h b/source/torque_vector/ac/ac_ext.h
@@ -1,7 +1,10 @@
+#ifndef _AC_EXT_H_
+#define _AC_EXT_H_
 #define NUM_ELEM_ACC_CALIBRATION 151
 
 typedef struct  {
     float ax[151];
     float ay[151];
     float az[151];
-} vec_accumulator;
+} vec_accumulator;
+#endif