Dynamic SDC Voltages

ECU/Application/Inc/CANutils.h

@@ -13,5 +13,6 @@
 void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID messageID, void *data, uint32_t size);
 void ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, void *data, uint32_t size);
 void SendECUStateDataOverCAN(ECU_StateData *stateData);
+void SendECUAnalogDataOverCAN(ECU_StateData *stateData);
 
 #endif

ECU/Application/Inc/StateData.h

@@ -54,6 +54,7 @@ typedef volatile struct ECU_StateData {
 
 	float min_amk_heat_cap_throttle_percent;
 	float ts_voltage;
+	float glv_voltage_20V;
 	float max_cell_temp_c; /** Temperature of hottest cell, celsius */
 
 	float vehicle_speed_mph; /** Vehicle speed, MPH */
@@ -62,9 +63,7 @@ typedef volatile struct ECU_StateData {
 	float rr_wheel_rpm;	 /** RRv wheel, RPM */
 	float rl_wheel_rpm;	 /** RL wheel, RPM */
 
-	// 0.5V when things go to shit (X_OK low) (BAD)
-	// 3V when things almost poggers (X_OK high but SDC not reset) (BAD)
-	// 2.4V when things are actually poggers (X_OK high and SDC is not triggered)
+
 	float ams_sense;
 	float imd_sense;
 	float bspd_sense;
@@ -87,7 +86,9 @@ typedef volatile struct ECU_StateData {
 	uint8_t glv_soc;
 	uint8_t acu_error_warning_bits;
 	uint8_t inverter_fault_map;
+	bool ts_active_button_press_interrupt;
 	bool ts_active_button_pressed;
+	bool rtd_button_press_interrupt;
 	bool rtd_button_pressed;
 	bool ir_plus;
 	bool ir_minus;

ECU/Application/Inc/StateUtils.h

@@ -15,10 +15,10 @@ uint32_t MillisecondsSinceBoot(void);
 #define BRAKE_F_MAX 4095    // TODO: need to be determined FIXME: Rename better
 #define BRAKE_R_MIN 0	    // TODO: need to be determined FIXME: Rename better
 #define BRAKE_R_MAX 4095    // TODO: need to be determined FIXME: Rename better
-#define THROTTLE_MIN_1 0    // TODO: need to be determined
-#define THROTTLE_MAX_1 4095 // TODO: need to be determined
-#define THROTTLE_MIN_2 0    // TODO: need to be determined
-#define THROTTLE_MAX_2 4095 // TODO: need to be determined
+#define THROTTLE_MIN_1 306  // TODO: need to be determined
+#define THROTTLE_MAX_1 3704 // TODO: need to be determined
+#define THROTTLE_MIN_2 336  // TODO: need to be determined
+#define THROTTLE_MAX_2 3794 // TODO: need to be determined
 #define BSE_MAX 4096.0f
 #define BSE_DEADZONE 1.2f
 #define MAX_BSE_FAILURE_TIME 100
@@ -42,8 +42,17 @@ uint32_t MillisecondsSinceBoot(void);
 #define RATE_LIMIT_100_HZ(x, y) (x - y > 10)
 #define RATE_LIMIT_10_HZ(x, y) (x - y > 100)
 
+typedef enum {
+    SDC_OK,
+    SDC_ONGOING_FAILURE,
+    SDC_LATCHED_FAILURE
+} SDC_Level;
+
 // Checks stateData for critical errors
 bool CriticalError(volatile const ECU_StateData *stateData);
+SDC_Level bmsLevel(volatile const ECU_StateData *stateData);
+SDC_Level imdLevel(volatile const ECU_StateData *stateData);
+SDC_Level bspdLevel(volatile const ECU_StateData *stateData);
 bool bmsFailure(volatile const ECU_StateData *stateData);
 bool imdFailure(volatile const ECU_StateData *stateData);
 bool bspdFailure(volatile const ECU_StateData *stateData);
@@ -54,5 +63,7 @@ float CalcAccPedalTravel(volatile const ECU_StateData *stateData);
 bool APPS_Plausible(volatile const ECU_StateData *stateData);
 bool BSE_Plausible(volatile const ECU_StateData *stateData);
 bool vehicle_is_moving(volatile const ECU_StateData *stateData);
+/* Disable inverter for both DTI and Custom */
+void disable_inverter(void);
 
 #endif

ECU/Application/Src/CANdler.c

@@ -80,6 +80,7 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 			state_data->ir_minus = GETBIT(acu_status_2->precharge_latch_flags, 4);
 			state_data->ir_plus = GETBIT(acu_status_2->precharge_latch_flags, 5);
 			state_data->acu_software_latch = GETBIT(acu_status_2->precharge_latch_flags, 6);
+			state_data->glv_voltage_20V = acu_status_2->_20v_voltage * 0.1f;
 			break;
 
 		case GRCAN_INVERTER_STATUS_1:
@@ -110,17 +111,15 @@ void ECU_CAN_MessageHandler(ECU_StateData *state_data, GRCAN_BUS_ID bus_id, GRCA
 
 			// LET IT BE KNOWN: these things are LSB FIRST, TODO: I'll get it right later
 			if (state_data->ecu_state == GR_GLV_ON) {
-				state_data->ts_active_button_pressed = dash_data->button_flags & 1;
+				state_data->ts_active_button_press_interrupt = dash_data->button_flags & 1;
 			} else {
-				state_data->ts_active_button_pressed = (dash_data->button_flags >> 2) & 1;
+				state_data->ts_active_button_press_interrupt = (dash_data->button_flags >> 2) & 1;
 			}
 
 			if (state_data->ecu_state == GR_PRECHARGE_COMPLETE) {
-				state_data->rtd_button_pressed = (dash_data->button_flags >> 1) & 1;
+				state_data->rtd_button_press_interrupt = (dash_data->button_flags >> 1) & 1;
 			} else if (state_data->ecu_state == GR_DRIVE_ACTIVE) {
-				state_data->rtd_button_pressed = (dash_data->button_flags >> 3) & 1;
-			} else {
-				state_data->rtd_button_pressed = false;
+				state_data->rtd_button_press_interrupt = (dash_data->button_flags >> 3) & 1;
 			}
 
 			break;

ECU/Application/Src/CANutils.c

@@ -33,7 +33,7 @@ void ECU_CAN_Send(GRCAN_BUS_ID bus, GRCAN_NODE_ID destNode, GRCAN_MSG_ID message
 	    .IdType = FDCAN_EXTENDED_ID,
 	    .TxFrameType = FDCAN_DATA_FRAME,
 	    .ErrorStateIndicator = FDCAN_ESI_ACTIVE,
-	    .DataLength = size,
+	    .DataLength = BytesToCANDLC(size),
 	    .BitRateSwitch = FDCAN_BRS_OFF,
 	    .TxEventFifoControl = FDCAN_NO_TX_EVENTS,
 	    .MessageMarker = 0,
@@ -78,17 +78,20 @@ void ECU_CAN_Send_DTI(GRCAN_CUSTOM_ID msgID, void *data, uint32_t size)
 	TxHeader.Identifier = msgID;
 	TxHeader.DataLength = size;
 
-	TxHeader.IdType = FDCAN_EXTENDED_ID;
-
 	TxHeader.FDFormat = FDCAN_CLASSIC_CAN;
 
 	FDCANTxMessage msg = {0};
 	msg.tx_header = TxHeader;
 
-	for (uint32_t i = 0; i < size; i++) {
-		msg.data[size - i - 1] = ((uint8_t *)data)[i];
+	uint8_t temp;
+	for (uint16_t i = 0; i < size / 2; ++i) {
+		temp = ((uint8_t *)data)[i];
+		((uint8_t *)data)[i] = ((uint8_t *)data)[size - i - 1];
+		((uint8_t *)data)[size - i - 1] = temp;
 	}
 
+	memcpy(&(msg.data), data, size);
+
 	// can_send(primary_can, &msg);
 	can_enqueue(stateLump.primary_can, &msg);
 }
@@ -116,9 +119,27 @@ void SendECUStateDataOverCAN(ECU_StateData *stateData)
 					.RRWheelRPM = (uint16_t)(stateData->rr_wheel_rpm * 10 + 32768),
 					.RLWheelRPM = (uint16_t)(stateData->rl_wheel_rpm * 10 + 32768)};
 
-	// LOGOMATIC("Sending ECU State Data over CAN\n");
-
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_1, (void *)&messages.ECUStatusMsgOne, sizeof(messages.ECUStatusMsgOne));
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_2, (void *)&messages.ECUStatusMsgTwo, sizeof(messages.ECUStatusMsgTwo));
 	ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ALL, GRCAN_ECU_STATUS_3, (void *)&messages.ECUStatusMsgThree, sizeof(messages.ECUStatusMsgThree));
 }
+
+void SendECUAnalogDataOverCAN(ECU_StateData *stateData)
+{
+	uint32_t millis_since_boot = MillisecondsSinceBoot();
+
+	static uint32_t last_can_tcm_request_millis = 0;
+
+	if (millis_since_boot - last_can_tcm_request_millis > 100) {
+		GRCAN_ECU_ANALOG_DATA_MSG message = {.bspd_signal = stateData->bspd_signal,
+						     .bse_signal = stateData->bse_signal,
+						     .apps_1_signal = stateData->APPS1_Signal,
+						     .apps_2_signal = stateData->APPS2_Signal,
+						     .brakeline_f_signal = stateData->Brake_F_Signal,
+						     .brakeline_r_signal = stateData->Brake_R_Signal,
+						     .steering_angle_signal = stateData->steering_angle_signal,
+						     .aux_signal = stateData->aux_signal};
+		ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_ANALOG_DATA, &message, sizeof(message));
+		last_can_tcm_request_millis = millis_since_boot;
+	}
+}

ECU/Application/Src/StateTicks.c

@@ -25,7 +25,7 @@
  * @remark Intentionally not a globally accessible variable
  */
 
-ECU_StateData stateLump = {.ecu_state = GR_GLV_ON, .acu_software_latch = 1};
+ECU_StateData stateLump = {.ecu_state = GR_GLV_ON, .acu_software_latch = 1, .glv_voltage_20V = 20.0f};
 
 static uint32_t millis_since_boot;
 void ECU_State_Tick(void)
@@ -53,13 +53,30 @@ void ECU_State_Tick(void)
 	// stateLump.bms_light &= (bmsFailure(&stateLump));
 	// stateLump.imd_light &= (imdFailure(&stateLump));
 
-	stateLump.bms_light = (stateLump.ams_sense <= 0.5f) || (stateLump.bms_light && bmsFailure(&stateLump));
-	stateLump.imd_light = (stateLump.ams_sense <= 0.5f) || (stateLump.imd_light && imdFailure(&stateLump));
+	SDC_Level bms_level = bmsLevel(&stateLump);
+	SDC_Level imd_level = imdLevel(&stateLump);
+
+	stateLump.bms_light = (bms_level == SDC_ONGOING_FAILURE) || (stateLump.bms_light && bmsFailure(&stateLump));
+	stateLump.imd_light = (imd_level == SDC_ONGOING_FAILURE) || (stateLump.imd_light && imdFailure(&stateLump));
 
 	stateLump.tssi_fault = stateLump.bms_light || stateLump.imd_light;
 
 	// bmsFailure(&stateLump) || imdFailure(&stateLump);
 
+	if (stateLump.ts_active_button_press_interrupt) {
+		stateLump.ts_active_button_press_interrupt = false;
+		stateLump.ts_active_button_pressed = true;
+	} else {
+		stateLump.ts_active_button_pressed = false;
+	}
+
+	if (stateLump.rtd_button_press_interrupt) {
+		stateLump.rtd_button_press_interrupt = false;
+		stateLump.rtd_button_pressed = true;
+	} else {
+		stateLump.rtd_button_pressed = false;
+	}
+
 	switch (stateLump.ecu_state) {
 		case GR_GLV_OFF:
 			ECU_GLV_Off(&stateLump);
@@ -89,13 +106,16 @@ void ECU_State_Tick(void)
 
 void ECU_GLV_Off(ECU_StateData *stateData)
 {
+	disable_inverter();
 	UNUSED(stateData);
 	LOGOMATIC("ECU_GLV_Off state reached... this should never happen!\n");
 	// TODO ERROR --> GLV_OFF should never be reached
 }
 
 void ECU_GLV_On(ECU_StateData *stateData)
 {
+	disable_inverter();
+
 	if (stateData->ts_voltage >= SAFE_VOLTAGE_LIMIT) {
 		LOGOMATIC("Error: TS Voltage >= %d!\n", SAFE_VOLTAGE_LIMIT);
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
@@ -106,7 +126,6 @@ void ECU_GLV_On(ECU_StateData *stateData)
 	if (stateData->ts_active_button_pressed /* && stateData->ir_plus*/) { // TODO: Talk to Owen if this is correct for precharge start confirmation
 		LOGOMATIC("GLV ON to PRECHARGE START!\n");
 		ECU_Transition_To_Precharge_Engaged(stateData);
-		stateData->ts_active_button_pressed = false;
 		return;
 	}
 }
@@ -126,6 +145,8 @@ void ECU_Transition_To_Precharge_Engaged(ECU_StateData *stateData)
 
 void ECU_Precharge_Engaged(ECU_StateData *stateData)
 {
+	disable_inverter();
+
 	if (stateData->ir_plus) {
 		stateData->ecu_state = GR_PRECHARGE_COMPLETE;
 		LOGOMATIC("PRECHARGE ENGAGED to PRECHARGE COMPLETE!\n");
@@ -142,18 +163,18 @@ void ECU_Precharge_Engaged(ECU_StateData *stateData)
 		LOGOMATIC("ERROR: ts_active PRESSED! PRECHARGE ENGAGED to TS DISCHARGE START!\n");
 		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "TS-P-ITR", 8);
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
-		stateData->ts_active_button_pressed = false;
 		return;
 	}
 }
 
 // TODO: change for CAN button messenging
 void ECU_Precharge_Complete(ECU_StateData *stateData)
 {
+	disable_inverter();
+
 	if (stateData->ts_active_button_pressed) {
 		LOGOMATIC("TS Active Toggled Off. Discharging Tractive System.\n");
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
-		stateData->ts_active_button_pressed = false;
 		return;
 	}
 	if (CriticalError(stateData)) {
@@ -166,19 +187,8 @@ void ECU_Precharge_Complete(ECU_StateData *stateData)
 	if (PressingBrake(stateData) && stateData->rtd_button_pressed) {
 		GRCAN_INVERTER_CONFIG_MSG inverter_message = {.max_ac_current = 0xFFFF, .max_dc_current = 0xFFFF, .absolute_max_rpm_limit = 0xFFFF, .motor_direction = 0};
 		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inverter, GRCAN_INVERTER_CONFIG, &inverter_message, sizeof(inverter_message));
-		GRCAN_ECU_ANALOG_DATA_MSG pedals_message = {.bspd_signal = stateData->bspd_signal,
-							    .bse_signal = stateData->bse_signal,
-							    .apps_1_signal = stateData->APPS1_Signal,
-							    .apps_2_signal = stateData->APPS2_Signal,
-							    .brakeline_f_signal = stateData->Brake_F_Signal,
-							    .brakeline_r_signal = stateData->Brake_R_Signal,
-							    .steering_angle_signal = stateData->steering_angle_signal,
-							    .aux_signal = stateData->aux_signal};
-		ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_ANALOG_DATA, &pedals_message, sizeof(pedals_message));
 		LOGOMATIC("PRECHARGE COMPLETE to DRIVE START/ACTIVE!\n");
 		ECU_Transition_To_Drive_Active(stateData);
-		stateData->rtd_button_pressed = false;
-		return;
 	}
 }
 
@@ -202,7 +212,6 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		LOGOMATIC("Error: TS active button pressed in Drive Active state. Discharging Tractive System.\n");
 		ECU_Transition_To_Tractive_System_Discharge(stateData);
 		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_Debugger, GRCAN_DEBUG_2_0, "DA-CritE", 8);
-		stateData->ts_active_button_pressed = false;
 		return;
 	}
 
@@ -218,7 +227,6 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		if (vehicle_is_moving(stateData)) {
 			LOGOMATIC("Warning: Vehicle is moving during state transition.\n");
 		}
-		stateData->rtd_button_pressed = false;
 		return;
 	}
 
@@ -247,32 +255,15 @@ void ECU_Drive_Active(ECU_StateData *stateData)
 		torque_request = 0;
 	}
 
-	static uint32_t last_can_inverter_request_millis;
+	static uint32_t last_can_inverter_request_millis = 0;
 	if (RATE_LIMIT_100_HZ(millis_since_boot, last_can_inverter_request_millis)) {
 		GRCAN_INVERTER_COMMAND_MSG message = {.set_ac_current = torque_request * 100 + 32768, .set_dc_current = torque_request * 100 + 32768, .drive_enable = 1, .rpm_limit = 0};
 		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inverter, GRCAN_INVERTER_COMMAND, &message, sizeof(message));
-		ECU_CAN_Send_DTI(DTI_CONTROL_12_CAN_ID, &message.drive_enable, 2);
+		ECU_CAN_Send_DTI(DTI_CONTROL_12_CAN_ID, &message.drive_enable, 1);
+		message.set_ac_current = torque_request * 10;
 		ECU_CAN_Send_DTI(DTI_CONTROL_1_CAN_ID, &message.set_ac_current, 2);
 		last_can_inverter_request_millis = millis_since_boot;
 	}
-
-	// placeholder for pedal data
-	// TODO: determine send time (15, 20 ms?)
-
-	static uint32_t last_can_tcm_request_millis;
-	if (RATE_LIMIT_100_HZ(millis_since_boot, last_can_tcm_request_millis)) {
-		GRCAN_ECU_ANALOG_DATA_MSG message = {.bspd_signal = stateData->bspd_signal,
-						     .bse_signal = stateData->bse_signal,
-						     .apps_1_signal = stateData->APPS1_Signal,
-						     .apps_2_signal = stateData->APPS2_Signal,
-						     .brakeline_f_signal = stateData->Brake_F_Signal,
-						     .brakeline_r_signal = stateData->Brake_R_Signal,
-						     .steering_angle_signal = stateData->steering_angle_signal,
-						     .aux_signal = stateData->aux_signal};
-		UNUSED(message); // FIXME Eventually figure out what to do with this message here
-		// ECU_CAN_Send(GRCAN_BUS_DATA, GRCAN_TCM, GRCAN_ECU_ANALOG_DATA, &message, sizeof(message));	// FIXME
-		last_can_inverter_request_millis = millis_since_boot;
-	}
 }
 
 static uint32_t discharge_start_millis;
@@ -287,6 +278,8 @@ void ECU_Transition_To_Tractive_System_Discharge(ECU_StateData *stateData)
 
 void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 {
+	disable_inverter();
+
 	/*
 		Discharge the tractive system to below 60(SAFE_VOLTAGE_LIMIT) volts
 	*/
@@ -312,4 +305,4 @@ void ECU_Tractive_System_Discharge(ECU_StateData *stateData)
 		ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_ACU, GRCAN_ACU_PRECHARGE, &message, sizeof(message));
 		last_discharge_request_millis = millis_since_boot;
 	}
-} // init
+}