From bd4b68dd8326e5e49c7ae5ae3efcbcb8c5a4df72 Mon Sep 17 00:00:00 2001 From: Dani White Date: Wed, 5 Sep 2018 09:19:58 -0400 Subject: [PATCH 01/13] Revert "Remove launch control" This reverts commit 4ed266bb1614938db0cfd3bbe79f9740a81966b1. --- can_spec_my18.yml | 20 ++--- src/dashboard/src/page_manager.c | 32 +++++++ src/vcu/inc/controls.h | 22 +++++ src/vcu/inc/state_vcu.h | 1 - src/vcu/src/can_handles.c | 5 ++ src/vcu/src/controls.c | 139 +++++++++++++++++++++++++++---- src/vcu/src/main.c | 2 +- src/vcu/src/state_error.c | 2 + src/vcu/src/state_vcu_driving.c | 3 +- 9 files changed, 197 insertions(+), 29 deletions(-) diff --git a/can_spec_my18.yml b/can_spec_my18.yml index 664967c..bd306e5 100644 --- a/can_spec_my18.yml +++ b/can_spec_my18.yml @@ -334,16 +334,6 @@ buses: position: 6 length: 1 c_type: bool - lc_state: - position: 7 - length: 3 - c_type: enum - enum: - BEFORE: 0 - SPEEDING_UP: 1 - SPEED_CONTROLLER: 2 - ZERO_TORQUE: 3 - DONE: 4 VCUErrors: can_id: 0x0F4 period: 111ms @@ -581,8 +571,16 @@ buses: length: 16 c_type: uint16_t signed: false - limp_factor: # Ranges from 0 to 100 + using_launch_ctrl: position: 17 + length: 1 + c_type: bool + launch_ctrl_slip_ratio: # Ranges from 105 to 115 + position: 18 + length: 16 + c_type: uint16_t + limp_factor: # Ranges from 0 to 100 + position: 34 length: 16 c_type: uint16_t ButtonRequest: diff --git a/src/dashboard/src/page_manager.c b/src/dashboard/src/page_manager.c index 99f7809..b59ecda 100644 --- a/src/dashboard/src/page_manager.c +++ b/src/dashboard/src/page_manager.c @@ -74,6 +74,7 @@ void draw_nav_line(page_manager_t *pm, NHD_US2066_OLED *oled) { void draw_critical_page(page_manager_t *pm, NHD_US2066_OLED *oled); void draw_regen_page(page_manager_t *pm, NHD_US2066_OLED *oled); +void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled); void draw_traction_page(page_manager_t *pm, NHD_US2066_OLED *oled); void draw_wheel_speed_page(page_manager_t *pm, NHD_US2066_OLED *oled); void draw_fault_page(page_manager_t *pm, NHD_US2066_OLED *oled); @@ -89,6 +90,9 @@ void page_manager_update(page_manager_t *pm, NHD_US2066_OLED *oled) { case DASH_PAGE_REGEN: draw_regen_page(pm, oled); break; + case DASH_PAGE_LAUNCH_CONTROL: + draw_launch_control_page(pm, oled); + break; case DASH_PAGE_TRACTION: draw_traction_page(pm, oled); break; @@ -250,6 +254,34 @@ void draw_regen_page(page_manager_t *pm, NHD_US2066_OLED *oled) { } } +void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) { + carstats_t *stats = pm->stats; + + oled_clearline(oled, 1); + oled_set_pos(oled, 1, 0); + + if (stats->buttons.right.rising_edge) { + stats->controls.launch_ctrl_slip_ratio += 1; + } + + stats->controls.launch_ctrl_slip_ratio = LOOPOVER(stats->controls.launch_ctrl_slip_ratio, 101, 120); + + if (stats->buttons.B.rising_edge) stats->controls.using_launch_ctrl ^= 1; // NOT + + oled_print(oled, "LAUNCH CONTROL "); + + oled_print(oled, (stats->controls.using_launch_ctrl) ? "ON" : "OFF"); + + oled_rprint_pad(oled, "SLIP RATIO ", 4); + + if (stats->controls.launch_ctrl_slip_ratio != -1) { + oled_print_num(oled, stats->controls.launch_ctrl_slip_ratio); + } + else { + oled_print(oled, DATA_UNKNOWN); + } +} + void draw_fault_page(page_manager_t *pm, NHD_US2066_OLED *oled) { carstats_t *stats = pm->stats; diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index 676720f..83165a0 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -13,6 +13,15 @@ #define MAX_ACCEL_VAL 1000 #define MIN_ACCEL_VAL 0 +// Launch control contants +// After wheel speed crosses this threshold, start using slip controller +#define LC_WS_THRESH 45000 +#define LC_cGR 347 // Gear ratio times 100 +#define LC_ACCEL_BEGIN 950 // 95% +#define LC_ACCEL_RELEASE 50 // 5% +#define LC_BRAKE_BEGIN 100 // We want a lower threshold +#define LC_BACKWARDS_CUTOFF 10 + // RG = regen #define RG_MOTOR_SPEED_THRESH 250 // RPM #define RG_CAR_SPEED_THRESH 5 // kph @@ -32,20 +41,33 @@ typedef struct { bool using_regen; + bool using_launch_control; uint16_t cBB_ef; // Electric front brake bias * 100 + uint16_t slip_ratio; // Slip ratio * 100 uint16_t limp_factor; // Limp facotr * 100 } Controls_Settings_T; +typedef enum { + BEFORE, + SPEEDING_UP, + SPEED_CONTROLLER, + ZERO_TORQUE, + DONE, +} Launch_Control_State_T; + extern Controls_Settings_T control_settings; // PRIVATE FUNCTIONS static int16_t get_torque(void); static int32_t get_regen_torque(void); +static int32_t get_launch_control_speed(uint32_t front_wheel_speed); // INTERACTION FUNCTIONS void enable_controls(void); void disable_controls(void); bool get_controls_enabled(void); void execute_controls(void); +void set_lc_done(void); +void set_lc_state_before(); #endif // ifndef __TORQUE_CALC diff --git a/src/vcu/inc/state_vcu.h b/src/vcu/inc/state_vcu.h index 56eaecc..dc33730 100644 --- a/src/vcu/inc/state_vcu.h +++ b/src/vcu/inc/state_vcu.h @@ -26,7 +26,6 @@ typedef struct { Voltage_T bus; Voltage_T pack; Voltage_T precharge_target; - uint16_t cell_min_mV; } Voltages_T; typedef struct { diff --git a/src/vcu/src/can_handles.c b/src/vcu/src/can_handles.c index 5614a58..5b7b433 100644 --- a/src/vcu/src/can_handles.c +++ b/src/vcu/src/can_handles.c @@ -234,6 +234,11 @@ void handleDashControls(Frame *msg) { control_settings.using_regen = unpacked_msg.using_regen; } + if (unpacked_msg.launch_ctrl_slip_ratio != 65535) { + control_settings.slip_ratio = unpacked_msg.launch_ctrl_slip_ratio; + control_settings.using_launch_control = unpacked_msg.using_launch_ctrl; + } + if (unpacked_msg.limp_factor != 65535) { control_settings.limp_factor = unpacked_msg.limp_factor; } diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index 0ae9676..d38e1ea 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -4,11 +4,16 @@ static bool enabled = false; static int16_t torque_command = 0; static int16_t speed_command = 0; Controls_Settings_T control_settings = {}; +static Launch_Control_State_T lc_state = BEFORE; +static uint32_t get_front_wheel_speed(void); +static bool any_lc_faults(); void init_controls_defaults(void) { control_settings.using_regen = false; + control_settings.using_launch_control = false; control_settings.cBB_ef = 56; + control_settings.slip_ratio = 112; control_settings.limp_factor = 100; } @@ -24,6 +29,7 @@ void disable_controls(void) { enabled = false; torque_command = 0; speed_command = 0; + lc_state = DONE; set_brake_valve(false); lock_brake_valve(); @@ -38,24 +44,75 @@ void execute_controls(void) { torque_command = get_torque(); + if (control_settings.using_launch_control && lc_state != DONE) { + // We shouldn't be braking in launch control, so don't worry about regen + set_brake_valve(false); + uint32_t front_wheel_speed = get_front_wheel_speed(); + + // Mini FSM + switch (lc_state) { + case BEFORE: + sendSpeedCmdMsg(0, 0); + + // Transition + if (pedalbox_min(accel) > LC_ACCEL_BEGIN) { + lc_state = SPEEDING_UP; + printf("[LAUNCH CONTROL] SPEEDING UP STATE ENTERED\r\n"); + } + break; + case SPEEDING_UP: + if (1000 > torque_command) sendSpeedCmdMsg(500, torque_command); + else sendSpeedCmdMsg(300, 1000); + + // Transition + if (any_lc_faults()) { + lc_state = ZERO_TORQUE; + printf("[LAUNCH CONTROL] ZERO TORQUE STATE ENTERED\r\n"); + } else if (front_wheel_speed > LC_WS_THRESH) { + lc_state = SPEED_CONTROLLER; + printf("[LAUNCH CONTROL] SPEED CONTROLLER STATE ENTERED\r\n"); + } + break; + case SPEED_CONTROLLER: + speed_command = get_launch_control_speed(front_wheel_speed); + sendSpeedCmdMsg(speed_command, torque_command); + + // Transition + if (any_lc_faults()) { + lc_state = ZERO_TORQUE; + printf("[LAUNCH CONTROL] ZERO TORQUE STATE ENTERED\r\n"); + } + case ZERO_TORQUE: + sendTorqueCmdMsg(0); + + if (pedalbox_max(accel) < LC_ACCEL_RELEASE) { + lc_state = DONE; + printf("[LAUNCH CONTROL] DONE STATE ENTERED\r\n"); + } + break; + default: + printf("ERROR: NO STATE!\r\n"); + } - // Control regen brake valve: - bool brake_valve_state = control_settings.using_regen && get_pascals(pedalbox.REAR_BRAKE) < RG_REAR_BRAKE_THRESH; - set_brake_valve(brake_valve_state); - - int32_t regen_torque; - if (brake_valve_state) { - regen_torque = get_regen_torque(); } else { - regen_torque = 0; - } + // Control regen brake valve: + bool brake_valve_state = control_settings.using_regen && get_pascals(pedalbox.REAR_BRAKE) < RG_REAR_BRAKE_THRESH; + set_brake_valve(brake_valve_state); + + int32_t regen_torque; + if (brake_valve_state) { + regen_torque = get_regen_torque(); + } else { + regen_torque = 0; + } - // Extra check to ensure we are only sending regen torque when allowed - if (torque_command == 0) { - torque_command = regen_torque; - } + // Extra check to ensure we are only sending regen torque when allowed + if (torque_command == 0) { + torque_command = regen_torque; + } - sendTorqueCmdMsg(torque_command); + sendTorqueCmdMsg(torque_command); + } } static int16_t get_torque(void) { @@ -93,6 +150,58 @@ static int32_t get_regen_torque() { } } - // Regen is negative torque, and we've calculated a positive number so far return -1 * regen_torque; } + +static int32_t get_launch_control_speed(uint32_t front_wheel_speed) { +uint32_t front_wheel_speedRPM = front_wheel_speed / 1000; + // Divide 100 because slip ratio is times 100, divide by 100 again because + // gear ratio is also multiplied by 100 + int32_t target_speed = front_wheel_speedRPM * control_settings.slip_ratio * LC_cGR / (100 * 100); + return target_speed; +} + +static uint32_t get_front_wheel_speed() { + uint32_t left_front_speed; + uint32_t right_front_speed; + + // If the 32 bit wheel speed is zero, then it's disconnect (in which case we should + // use the 16 bit one), or the wheels are actually not moving, so the 16 bit one will + // be zero as well + if (wheel_speeds.front_left_32b_wheel_speed == 0) { + left_front_speed = wheel_speeds.front_left_16b_wheel_speed; + } else { + left_front_speed = wheel_speeds.front_left_32b_wheel_speed; + } + + if (wheel_speeds.front_right_32b_wheel_speed == 0) { + right_front_speed = wheel_speeds.front_right_16b_wheel_speed; + } else { + right_front_speed = wheel_speeds.front_right_32b_wheel_speed; + } + + uint32_t avg_wheel_speed = left_front_speed/2 + right_front_speed/2; + return avg_wheel_speed; +} + +static bool any_lc_faults() { + if (pedalbox_min(accel) < LC_ACCEL_BEGIN) { + printf("[LAUNCH CONTROL ERROR] Accel min (%d) too low\r\n", pedalbox_min(accel)); + return true; + } else if (pedalbox.brake_2 > LC_BRAKE_BEGIN) { + printf("[LAUNCH CONTROL ERROR] Brake min (%d) too low\r\n", pedalbox.brake_2); + return true; + } else if (mc_readings.speed > LC_BACKWARDS_CUTOFF) { + printf("[LAUNCH CONTROL ERROR] MC reading (%d) is great than cutoff (%d)\r\n", mc_readings.speed, LC_BACKWARDS_CUTOFF); + return true; + } + return false; +} + +void set_lc_state_before() { + lc_state = BEFORE; +} + +void set_lc_zero_torque() { + lc_state = ZERO_TORQUE; +} diff --git a/src/vcu/src/main.c b/src/vcu/src/main.c index a18ecdd..c0034be 100755 --- a/src/vcu/src/main.c +++ b/src/vcu/src/main.c @@ -76,7 +76,7 @@ int main(void) { if (HAL_GetTick() - lastt > 1000) { HAL_GPIO_TogglePin(GPIO(LED)); - printf("CONTROLS PARAMS:\r\n USING REGEN: %d\r\n cBB_ef: %d\r\n LIMP FACTOR: %d\r\n", control_settings.using_regen, control_settings.cBB_ef, control_settings.limp_factor); + printf("CONTROLS PARAMS:\r\n USING REGEN: %d\r\n USING LAUNCH CONTROL: %d\r\n cBB_ef: %d\r\n SLIP RATIO: %d\r\n LIMP FACTOR: %d\r\n", control_settings.using_regen, control_settings.using_launch_control, control_settings.cBB_ef, control_settings.slip_ratio, control_settings.limp_factor); lastt = HAL_GetTick(); } diff --git a/src/vcu/src/state_error.c b/src/vcu/src/state_error.c index 2d66a73..bed518f 100644 --- a/src/vcu/src/state_error.c +++ b/src/vcu/src/state_error.c @@ -59,6 +59,7 @@ void update_no_error_state(void) { } void enter_recoverable_error_state(void) { + set_lc_zero_torque(); printf("[ERROR FSM : RECOVERABLE_ERROR_STATE] ENTERED!\r\n"); } @@ -85,6 +86,7 @@ void update_recoverable_error_state(void) { void enter_fatal_error_state(void) { printf("[ERROR FSM : FATAL_ERROR_STATE] ENTERED!\r\n"); + set_lc_zero_torque(); } void update_fatal_error_state(void) { diff --git a/src/vcu/src/state_vcu_driving.c b/src/vcu/src/state_vcu_driving.c index 9f7a9ca..58ca1e6 100644 --- a/src/vcu/src/state_vcu_driving.c +++ b/src/vcu/src/state_vcu_driving.c @@ -18,8 +18,9 @@ void enter_vcu_state_driving() { rtd_started = false; rtd_last = 0; - printf("CONTROLS PARAMS:\r\n USING REGEN: %d\r\n cBB_ef: %d\r\n LIMP FACTOR: %d\r\n", control_settings.using_regen, control_settings.cBB_ef, control_settings.limp_factor); + printf("CONTROLS PARAMS:\r\n USING REGEN: %d\r\n USING LAUNCH CONTROL: %d\r\n cBB_ef: %d\r\n SLIP RATIO: %d\r\n LIMP FACTOR: %d\r\n", control_settings.using_regen, control_settings.using_launch_control, control_settings.cBB_ef, control_settings.slip_ratio, control_settings.limp_factor); + set_lc_state_before(); enable_controls(); } From ffca8857912d1d5097cc8ee2b0638320bec9aa85 Mon Sep 17 00:00:00 2001 From: Dani White Date: Wed, 5 Sep 2018 16:43:01 -0400 Subject: [PATCH 02/13] Fix compilation errors --- can_spec_my18.yml | 2 +- src/vcu/inc/controls.h | 2 +- src/vcu/src/can_handles.c | 6 ++---- src/vcu/src/controls.c | 11 +++++++---- 4 files changed, 11 insertions(+), 10 deletions(-) diff --git a/can_spec_my18.yml b/can_spec_my18.yml index c3495dd..44bbb43 100644 --- a/can_spec_my18.yml +++ b/can_spec_my18.yml @@ -748,7 +748,7 @@ buses: position: 0 length: 1 c_type: bool - launch_ctrl_slip_ratio: # Ranges from 105 to 115 + slip_ratio: # Ranges from 105 to 115 position: 16 length: 16 c_type: uint16_t diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index 5826ad2..fefa70e 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -65,6 +65,6 @@ void disable_controls(void); bool get_controls_enabled(void); void execute_controls(void); void set_lc_done(void); -void set_lc_state_before(); +void set_lc_state_before(void); #endif // ifndef __TORQUE_CALC diff --git a/src/vcu/src/can_handles.c b/src/vcu/src/can_handles.c index 4baaaa4..ba267d0 100644 --- a/src/vcu/src/can_handles.c +++ b/src/vcu/src/can_handles.c @@ -294,13 +294,13 @@ void handleDashRequest(Frame *msg) { } void handle_DashRequestLC(Frame *msg) { - can0_DashRequestLC unpacked_msg; + can0_DashRequestLC_T unpacked_msg; unpack_can0_DashRequestLC(msg, &unpacked_msg); if (unpacked_msg.launch_ctrl_slip_ratio != 65535) { lc_settings.slip_ratio = unpacked_msg.launch_ctrl_slip_ratio; - lc_settings.using_launch_control = unpacked_msg.using_launch_ctrl; + lc_settings.using_launch_ctrl = unpacked_msg.using_launch_ctrl; } } @@ -345,8 +345,6 @@ void send_VCUControlsParams(void) { can0_VCUControlsParams_Write(&control_settings); } -void send_VCU - void send_VCUControlsMonitoring(void) { LIMIT(can0_VCUControlsMonitoring); diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index bd83b36..e8581c0 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -4,6 +4,7 @@ static bool enabled = false; static int32_t torque_command = 0; static int32_t speed_command = 0; can0_VCUControlsParams_T control_settings = {}; +can0_VCUParamsLC_T lc_settings = {}; static Launch_Control_State_T lc_state = BEFORE; static uint32_t get_front_wheel_speed(void); @@ -29,7 +30,7 @@ void init_controls_defaults(void) { control_settings.torque_temp_limited = false; lc_settings.using_launch_ctrl = false; - lc_settings.launch_ctrl_slip_ratio = 112; + lc_settings.slip_ratio = 112; } void enable_controls(void) { @@ -101,7 +102,7 @@ void execute_controls(void) { // } if (!control_settings.using_temp_limiting) temp_limited_torque = torque_command; - torque_temp_limited = temp_limited_torque < torque_command; + uint32_t torque_temp_limited = temp_limited_torque < torque_command; // Whether torque is temp limited needs to be sent out over CAN so the dash knows not to allow regen control_settings.torque_temp_limited = temp_limited_torque < torque_command; @@ -124,7 +125,7 @@ void execute_controls(void) { torque_command = limited_torque; bool torque_limited = limited_torque < controls_monitoring.raw_torque; - if (control_settings.using_launch_control && lc_state != DONE && !torque_limited) { + if (lc_settings.using_launch_ctrl && lc_state != DONE && !torque_limited) { launch_ctrl_entered = true; // We shouldn't be braking in launch control, so reset regen valve @@ -226,7 +227,7 @@ static int32_t get_launch_control_speed(uint32_t front_wheel_speed) { uint32_t front_wheel_speedRPM = front_wheel_speed / 1000; // Divide 100 because slip ratio is times 100, divide by 100 again because // gear ratio is also multiplied by 100 - int32_t target_speed = front_wheel_speedRPM * control_settings.slip_ratio * LC_cGR / (100 * 100); + int32_t target_speed = front_wheel_speedRPM * lc_settings.slip_ratio * LC_cGR / (100 * 100); return target_speed; } @@ -273,6 +274,8 @@ void set_lc_state_before() { void set_lc_zero_torque() { lc_state = ZERO_TORQUE; +} + static int32_t get_temp_limited_torque(int32_t pedal_torque) { uint32_t temp_sum = 0; for (uint32_t i = 0; i < TEMP_LOG_LENGTH; i++) { From db2936ffa68ca4e9cca099a80f941ef5315e41e6 Mon Sep 17 00:00:00 2001 From: Sebastian Lopez-Cot Date: Fri, 7 Sep 2018 01:16:28 -0400 Subject: [PATCH 03/13] Removing annoyance with pngs tricking git to notice changes for wrong file formats --- .gitignore | 2 ++ test/controls/plotting_old/log_delay.png | Bin 24736 -> 0 bytes test/controls/plotting_old/log_no_serial.png | Bin 73595 -> 0 bytes test/controls/plotting_old/log_serial.png | Bin 108674 -> 0 bytes 4 files changed, 2 insertions(+) delete mode 100644 test/controls/plotting_old/log_delay.png delete mode 100644 test/controls/plotting_old/log_no_serial.png delete mode 100644 test/controls/plotting_old/log_serial.png diff --git 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z*#3;rs{((jEW)wx>qCS*eJtWh0Q8hY05bA3_)A+5#E6?~IGu5P^LAz#aM?E@U$L2% zjU@u%!Zb(Zw_V2+xd3x;Pz8Yw0dxx+Jp<)~p1wY-!&FZgGc$7vEc8XoOb{zG z!=Fted@~%V;oQ zd7oHyelUZZ8+S%Kwf4%JYYc~P#a5~{UFW^;8<(={VY}{Gff%1)tptWr!J9Wl?UWw0 zw`;ZbQ$6n1MTAW|OPPp>yBHk@2vdA}Ca$=o#La12VD+JrwQ_B_qN1W%C*1HIC8YpH zKHUTW52ihZwA-s$^mctpfWa%M`33U`ni1`~Zp-`w219S6vJc4f`vNP0nmmWPLj zdU$zB30g8*8Qh7JmagTPRE>)g5)vl$gEL3CxT?h)YimzNHwN>eHB?k$z?n$N$x#at zz_hO{O((a0vO2H&?tKpTx>r8Olp8QGFo;2nr`_#ViT$#m} zItqzuPo^yG?KJ=rJv7|2SI)-9rfQ^{!oEt{^&lW%3|7EhekU$GoEf{iJQFg13O}dw;>uk%Dc9#_f@!6t;-D`fc0CH1y*vT% z6g=GfYG9Vlr+t1^N8@>xo1edd{NY*cP%}6dPnD9d<#ryH_cE;OC|#QF6RA*)mU4s4 zeBkbFn>pk;I5>)(7SguT&DskxCK8N(=78^7#@rSsI+@wo z8&iUwLO*}H0>l9#nlI1X*8AzFpVCrOk6Uiqv`OmOwB_|eG%tZh(8NP2AS8Kq=(n6c6fhC1m5_oq9MVn6*k(0%zKVO(=Ror)++LyAqu zi!(O8rTETV)1XV748Ahok zgv+u@jj+Vkfc*RM|{w72#4X5J9xtvDul>{twp z1UMRWQSqqCr+mQ2!u_8!16Ndms7oh0&#vUXm>Z?^;3FRhAF+wwj@iYfRM+t=R^@5v#6=!DOwjuKrTp zRb-b8cp>S^v6O* Date: Sat, 8 Sep 2018 14:52:36 -0400 Subject: [PATCH 04/13] Bug fixes --- src/vcu/src/can_handles.c | 31 ++++++++++--------------------- src/vcu/src/controls.c | 15 +++++++-------- 2 files changed, 17 insertions(+), 29 deletions(-) diff --git a/src/vcu/src/can_handles.c b/src/vcu/src/can_handles.c index ba267d0..7b5af31 100644 --- a/src/vcu/src/can_handles.c +++ b/src/vcu/src/can_handles.c @@ -70,8 +70,8 @@ void handleCAN(CAN_HandleTypeDef *hcan) { handleCurrentSensor_Power(&frame); break; - case can0_MCMotor_Position_Info: - handleMCMotor_Position_Info(&frame); + case can0_MCMotorPositionInfo: + handleMCMotorPositionInfo(&frame); break; case can0_SBG_EKF_Velocity: @@ -86,8 +86,8 @@ void handleCAN(CAN_HandleTypeDef *hcan) { handleFrontCanNodeLeftWheelSpeed(&frame); break; - case can0_MCTorque_Timer_Info: - handleMCTorque_Timer_Info(&frame); + case can0_MCTorqueTimerInfo: + handleMCTorqueTimerInfo(&frame); break; case can0_DashRequest: @@ -210,10 +210,10 @@ void handleCurrentSensor_Power(Frame *msg) { cs_readings.power = unpacked_msg.result; } -void handleMCMotor_Position_Info(Frame *msg) { - can0_MCMotor_Position_Info_T unpacked_msg; +void handleMCMotorPositionInfo(Frame *msg) { + can0_MCMotorPositionInfo_T unpacked_msg; - unpack_can0_MCMotor_Position_Info(msg, &unpacked_msg); + unpack_can0_MCMotorPositionInfo(msg, &unpacked_msg); mc_readings.speed = unpacked_msg.motor_speed; } @@ -245,10 +245,10 @@ void handleFrontCanNodeRightWheelSpeed(Frame *msg) { wheel_speeds.front_right_16b_wheel_speed = unpacked_msg.right_16b; } -void handleMCTorque_Timer_Info(Frame *msg) { - can0_MCTorque_Timer_Info_T unpacked_msg; +void handleMCTorqueTimerInfo(Frame *msg) { + can0_MCTorqueTimerInfo_T unpacked_msg; - unpack_can0_MCTorque_Timer_Info(msg, &unpacked_msg); + unpack_can0_MCTorqueTimerInfo(msg, &unpacked_msg); mc_readings.torque_feedback = unpacked_msg.torque_feedback; } @@ -293,17 +293,6 @@ void handleDashRequest(Frame *msg) { control_settings.active_aero_enabled = unpacked_msg.active_aero_enabled; } -void handle_DashRequestLC(Frame *msg) { - can0_DashRequestLC_T unpacked_msg; - - unpack_can0_DashRequestLC(msg, &unpacked_msg); - - if (unpacked_msg.launch_ctrl_slip_ratio != 65535) { - lc_settings.slip_ratio = unpacked_msg.launch_ctrl_slip_ratio; - lc_settings.using_launch_ctrl = unpacked_msg.using_launch_ctrl; - } -} - void send_VCUHeartbeat(void) { LIMIT(can0_VCUHeartbeat); diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index e8581c0..7b093ff 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -37,6 +37,7 @@ void enable_controls(void) { enabled = true; torque_command = 0; speed_command = 0; + lc_state = BEFORE; unlock_brake_valve(); } @@ -81,7 +82,7 @@ void execute_controls(void) { if (torque_command == 0) { torque_command = regen_torque; } else { // Only use limits and launch control when we're not doing regen - // Even if we are doing launch control, calculate limits for loggind also so that we are not doing + // Even if we are doing launch control, calculate limits for loggind also so that we are not doing // launch control when we're supposed to be limiting int32_t voltage_limited_torque = get_voltage_limited_torque(torque_command); @@ -124,10 +125,8 @@ void execute_controls(void) { torque_command = limited_torque; bool torque_limited = limited_torque < controls_monitoring.raw_torque; - - if (lc_settings.using_launch_ctrl && lc_state != DONE && !torque_limited) { - launch_ctrl_entered = true; + if (launch_ctrl_entered = (lc_settings.using_launch_ctrl && lc_state != DONE && !torque_limited)) { // We shouldn't be braking in launch control, so reset regen valve set_brake_valve(false); uint32_t front_wheel_speed = get_front_wheel_speed(); @@ -144,7 +143,7 @@ void execute_controls(void) { } break; case SPEEDING_UP: - if (1000 > torque_command) sendSpeedCmdMsg(500, torque_command); + if (torque_command < 1000) sendSpeedCmdMsg(500, torque_command); else sendSpeedCmdMsg(300, 1000); // Transition @@ -165,6 +164,7 @@ void execute_controls(void) { lc_state = ZERO_TORQUE; printf("[LAUNCH CONTROL] ZERO TORQUE STATE ENTERED\r\n"); } + break; case ZERO_TORQUE: sendTorqueCmdMsg(0); @@ -175,12 +175,11 @@ void execute_controls(void) { break; default: printf("ERROR: NO STATE!\r\n"); + break; } - } else { - launch_ctrl_entered = false; } } - if (launch_ctrl_entered) { + if (!launch_ctrl_entered) { // In LC we already sent our command above sendTorqueCmdMsg(torque_command); } From 69bf3ff4c9087adddddfb03ec92fc3abd8b27860 Mon Sep 17 00:00:00 2001 From: Sebastian Lopez-Cot Date: Sat, 8 Sep 2018 16:39:25 -0400 Subject: [PATCH 05/13] Fixing constants, unused function, and comments --- src/vcu/inc/controls.h | 6 +++--- src/vcu/src/controls.c | 40 ++++++++-------------------------------- 2 files changed, 11 insertions(+), 35 deletions(-) diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index fefa70e..288c2e4 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -14,7 +14,7 @@ #define MAX_ACCEL_VAL 1000 #define MIN_ACCEL_VAL 0 -// Launch control contants +// Launch control constants // After wheel speed crosses this threshold, start using slip controller #define LC_WS_THRESH 45000 #define LC_cGR 347 // Gear ratio times 100 @@ -22,6 +22,7 @@ #define LC_ACCEL_RELEASE 50 // 5% #define LC_BRAKE_BEGIN 100 // We want a lower threshold #define LC_BACKWARDS_CUTOFF 10 +#define LC_DEFAULT_SLIP_RATIO 112 // RG = regen #define RG_MOTOR_SPEED_THRESH 250 // RPM @@ -64,7 +65,6 @@ void enable_controls(void); void disable_controls(void); bool get_controls_enabled(void); void execute_controls(void); -void set_lc_done(void); -void set_lc_state_before(void); +void set_lc_zero_torque(void); #endif // ifndef __TORQUE_CALC diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index 7b093ff..d9a643e 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -30,7 +30,7 @@ void init_controls_defaults(void) { control_settings.torque_temp_limited = false; lc_settings.using_launch_ctrl = false; - lc_settings.slip_ratio = 112; + lc_settings.slip_ratio = LC_DEFAULT_SLIP_RATIO; } void enable_controls(void) { @@ -82,25 +82,15 @@ void execute_controls(void) { if (torque_command == 0) { torque_command = regen_torque; } else { // Only use limits and launch control when we're not doing regen - // Even if we are doing launch control, calculate limits for loggind also so that we are not doing + // Even if we are doing launch control, calculate limits for logging also so that we are not doing // launch control when we're supposed to be limiting int32_t voltage_limited_torque = get_voltage_limited_torque(torque_command); - // static uint32_t last_vt = 0; - // if (HAL_GetTick() - last_vt > 10) { - // printf("VT: %d\r\n", voltage_limited_torque); - // - // last_vt = HAL_GetTick(); - // } + if (!control_settings.using_voltage_limiting) voltage_limited_torque = torque_command; int32_t temp_limited_torque = get_temp_limited_torque(torque_command); - // static uint32_t last_tt = 0; - // if (HAL_GetTick() - last_tt > 10) { - // printf("TT: %d\r\n", temp_limited_torque); - // - // last_tt = HAL_GetTick(); - // } + if (!control_settings.using_temp_limiting) temp_limited_torque = torque_command; uint32_t torque_temp_limited = temp_limited_torque < torque_command; @@ -174,6 +164,8 @@ void execute_controls(void) { } break; default: + sendTorqueCmdMsg(0); + printf("ERROR: NO STATE!\r\n"); break; } @@ -258,6 +250,8 @@ static bool any_lc_faults() { printf("[LAUNCH CONTROL ERROR] Accel min (%d) too low\r\n", pedalbox_min(accel)); return true; } else if (pedalbox.brake_2 > LC_BRAKE_BEGIN) { + // In this test, we only need to check brake_2 because it is the only brake line + // that is indicative of driver braking intent. The other brake is for regen. printf("[LAUNCH CONTROL ERROR] Brake min (%d) too low\r\n", pedalbox.brake_2); return true; } else if (mc_readings.speed > LC_BACKWARDS_CUTOFF) { @@ -267,10 +261,6 @@ static bool any_lc_faults() { return false; } -void set_lc_state_before() { - lc_state = BEFORE; -} - void set_lc_zero_torque() { lc_state = ZERO_TORQUE; } @@ -288,13 +278,6 @@ static int32_t get_temp_limited_torque(int32_t pedal_torque) { // Thresh was in degrees, so multiply it by 100 int32_t thresh_cC = control_settings.temp_lim_thresh_temp * 100; - // static uint32_t lastt = 0; - // if (HAL_GetTick() - lastt > 100) { - // printf("Filtered Temp: %d\tTemp threshold: %d\r\n", temp_cC, thresh_cC); - // - // lastt = HAL_GetTick(); - // } - int32_t gain = hinge_limiter(temp_cC, control_settings.temp_lim_min_gain, thresh_cC, MAX_TEMP); controls_monitoring.tl_gain = gain; @@ -308,13 +291,6 @@ static int32_t get_voltage_limited_torque(int32_t pedal_torque) { int32_t cell_voltage = (cs_readings.V_bus - 72) / 720; controls_monitoring.voltage_used = cell_voltage; - // static uint32_t lastt = 0; - // if (HAL_GetTick() - lastt > 100) { - // printf("Voltage: %d\tVoltage threshold: %d\r\n", cell_voltage, control_settings.volt_lim_min_voltage); - // - // lastt = HAL_GetTick(); - // } - int32_t gain = hinge_limiter(cell_voltage, control_settings.volt_lim_min_gain, control_settings.volt_lim_min_voltage, MIN_VOLTAGE); controls_monitoring.vl_gain = gain; From 0554ab53a52fd1ca7ce9c6acc14068f995f257f0 Mon Sep 17 00:00:00 2001 From: Dani White Date: Sat, 8 Sep 2018 18:50:53 -0400 Subject: [PATCH 06/13] Pull out constants, other style fixes In response to review --- src/vcu/inc/controls.h | 6 ++++-- src/vcu/src/controls.c | 17 +++++++++++------ 2 files changed, 15 insertions(+), 8 deletions(-) diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index 288c2e4..512a73a 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -17,12 +17,14 @@ // Launch control constants // After wheel speed crosses this threshold, start using slip controller #define LC_WS_THRESH 45000 -#define LC_cGR 347 // Gear ratio times 100 +#define LC_GR 347 // Gear ratio times 100 #define LC_ACCEL_BEGIN 950 // 95% #define LC_ACCEL_RELEASE 50 // 5% -#define LC_BRAKE_BEGIN 100 // We want a lower threshold +#define LC_BRAKE_BEGIN 100 // We want a lower threshold than normal to make it super easy to exit LC #define LC_BACKWARDS_CUTOFF 10 #define LC_DEFAULT_SLIP_RATIO 112 +#define LC_SPEEDING_UP_TORQUE 1000 +#define LC_SPEEDING_UP_SPEED 500 // RG = regen #define RG_MOTOR_SPEED_THRESH 250 // RPM diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index d9a643e..69963f4 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -95,7 +95,7 @@ void execute_controls(void) { uint32_t torque_temp_limited = temp_limited_torque < torque_command; // Whether torque is temp limited needs to be sent out over CAN so the dash knows not to allow regen - control_settings.torque_temp_limited = temp_limited_torque < torque_command; + control_settings.torque_temp_limited = torque_temp_limited; int32_t min_sensor_torque; if (voltage_limited_torque < temp_limited_torque) { @@ -133,8 +133,9 @@ void execute_controls(void) { } break; case SPEEDING_UP: - if (torque_command < 1000) sendSpeedCmdMsg(500, torque_command); - else sendSpeedCmdMsg(300, 1000); + // Command max(torque_command, LC_SPEEDING_UP_TORQUE) + if (torque_command < LC_SPEEDING_UP_TORQUE) sendSpeedCmdMsg(LC_SPEEDING_UP_SPEED, torque_command); + else sendSpeedCmdMsg(LC_SPEEDING_UP_SPEED, LC_SPEEDING_UP_TORQUE); // Transition if (any_lc_faults()) { @@ -218,7 +219,7 @@ static int32_t get_launch_control_speed(uint32_t front_wheel_speed) { uint32_t front_wheel_speedRPM = front_wheel_speed / 1000; // Divide 100 because slip ratio is times 100, divide by 100 again because // gear ratio is also multiplied by 100 - int32_t target_speed = front_wheel_speedRPM * lc_settings.slip_ratio * LC_cGR / (100 * 100); + int32_t target_speed = front_wheel_speedRPM * lc_settings.slip_ratio * LC_GR / (100 * 100); return target_speed; } @@ -245,7 +246,7 @@ static uint32_t get_front_wheel_speed() { return avg_wheel_speed; } -static bool any_lc_faults() { +static bool any_lc_faults(void) { if (pedalbox_min(accel) < LC_ACCEL_BEGIN) { printf("[LAUNCH CONTROL ERROR] Accel min (%d) too low\r\n", pedalbox_min(accel)); return true; @@ -261,7 +262,11 @@ static bool any_lc_faults() { return false; } -void set_lc_zero_torque() { +void set_lc_state_before(void) { + lc_state = BEFORE; +} + +void set_lc_zero_torque(void) { lc_state = ZERO_TORQUE; } From e037a983d26e7c2f8a087a90c0b27826d694cf36 Mon Sep 17 00:00:00 2001 From: Dani White Date: Sat, 8 Sep 2018 19:04:09 -0400 Subject: [PATCH 07/13] Move fault checks outside switch statement --- src/vcu/src/controls.c | 15 +++++---------- 1 file changed, 5 insertions(+), 10 deletions(-) diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index 69963f4..a5ac600 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -122,6 +122,10 @@ void execute_controls(void) { uint32_t front_wheel_speed = get_front_wheel_speed(); // Mini FSM + if (any_lc_faults() && lc_state != DONE && lc_state != BEFORE) { + lc_state = ZERO_TORQUE; + printf("[LAUNCH CONTROL] ZERO TORQUE STATE ENTERED\r\n"); + } switch (lc_state) { case BEFORE: sendSpeedCmdMsg(0, 0); @@ -138,10 +142,7 @@ void execute_controls(void) { else sendSpeedCmdMsg(LC_SPEEDING_UP_SPEED, LC_SPEEDING_UP_TORQUE); // Transition - if (any_lc_faults()) { - lc_state = ZERO_TORQUE; - printf("[LAUNCH CONTROL] ZERO TORQUE STATE ENTERED\r\n"); - } else if (front_wheel_speed > LC_WS_THRESH) { + if (front_wheel_speed > LC_WS_THRESH) { lc_state = SPEED_CONTROLLER; printf("[LAUNCH CONTROL] SPEED CONTROLLER STATE ENTERED\r\n"); } @@ -149,12 +150,6 @@ void execute_controls(void) { case SPEED_CONTROLLER: speed_command = get_launch_control_speed(front_wheel_speed); sendSpeedCmdMsg(speed_command, torque_command); - - // Transition - if (any_lc_faults()) { - lc_state = ZERO_TORQUE; - printf("[LAUNCH CONTROL] ZERO TORQUE STATE ENTERED\r\n"); - } break; case ZERO_TORQUE: sendTorqueCmdMsg(0); From f302216418cf4613a1aecd360e899b05a2f3eafe Mon Sep 17 00:00:00 2001 From: Dani White Date: Sat, 8 Sep 2018 23:23:11 -0400 Subject: [PATCH 08/13] Update launch control dash page --- can_spec_my18.yml | 22 ++++++-- src/dashboard/inc/carstats.h | 3 ++ src/dashboard/inc/page_manager.h | 1 + src/dashboard/src/carstats.c | 19 +++++-- src/dashboard/src/dispatch.c | 8 +++ src/dashboard/src/page_manager.c | 90 ++++++++++++++++++++++++++++---- 6 files changed, 122 insertions(+), 21 deletions(-) diff --git a/can_spec_my18.yml b/can_spec_my18.yml index 700e4bf..821f37d 100644 --- a/can_spec_my18.yml +++ b/can_spec_my18.yml @@ -681,14 +681,26 @@ buses: is_big_endian: true period: 69ms segments: - using_launch_ctrl: + speeding_up_torque: position: 0 - length: 1 - c_type: bool - launch_ctrl_slip_ratio: # Ranges from 105 to 115 + length: 16 + c_type: uint16_t + speeding_up_speed: position: 16 length: 16 c_type: uint16_t + ws_thresh: + position: 32 + length: 16 + c_type: uint16_t + launch_ctrl_slip_ratio: # Ranges from 105 to 115 + position: 48 + length: 8 + c_type: uint16_t + using_launch_ctrl: + position: 56 + length: 1 + c_type: bool VCUControlsParams: can_id: 0x0D4 is_big_endian: true @@ -738,7 +750,7 @@ buses: position: 60 length: 1 c_type: bool - VCUParamsLC: + VCUControlsParamsLC: can_id: 0x0D6 is_big_endian: true period: 200ms diff --git a/src/dashboard/inc/carstats.h b/src/dashboard/inc/carstats.h index 23ee4fb..629e4df 100644 --- a/src/dashboard/inc/carstats.h +++ b/src/dashboard/inc/carstats.h @@ -58,9 +58,12 @@ typedef struct { // Controls values can0_DashRequest_T controls; + can0_DashRequestLC_T lc_controls; can0_VCUControlsParams_T vcu_controls; + can0_VCUControlsParamsLC_T vcu_lc_controls; bool vcu_controls_received; + bool vcu_lc_controls_received; Buttons_T buttons; } carstats_t; diff --git a/src/dashboard/inc/page_manager.h b/src/dashboard/inc/page_manager.h index eb2f1c5..3420519 100644 --- a/src/dashboard/inc/page_manager.h +++ b/src/dashboard/inc/page_manager.h @@ -9,6 +9,7 @@ typedef enum { DASH_PAGE_CRITICAL = 0, DASH_PAGE_TRACTION, DASH_PAGE_REGEN, + DASH_PAGE_LAUNCH_CONTROL, DASH_PAGE_TEMP_LIM, DASH_PAGE_VOLT_LIM, DASH_PAGE_FAULT, diff --git a/src/dashboard/src/carstats.c b/src/dashboard/src/carstats.c index e2fd9f7..d229315 100644 --- a/src/dashboard/src/carstats.c +++ b/src/dashboard/src/carstats.c @@ -78,9 +78,9 @@ void can_handle_bms_heartbeat(carstats_t *cs) { cs->soc = msg.soc; } -void can_handle_mc_temperature1(carstats_t *cs) { - can0_MCTemperature1_T msg; - unpack_can0_MCTemperature1(&frame, &msg); +void can_handle_mc_temperature(carstats_t *cs) { + can0_MCTemperature_T msg; + unpack_can0_MCTemperature(&frame, &msg); int16_t max = msg.module_a_temp; if (msg.module_b_temp > max) @@ -117,6 +117,11 @@ void can_handle_vcu_controls(carstats_t *cs) { cs->vcu_controls_received = true; } +void can_handle_vcu_lc_controls(carstats_t *cs) { + unpack_can0_VCUControlsParamsLC(&frame, &cs->vcu_lc_controls); + cs->vcu_lc_controls_received = true; +} + void can_update_carstats(carstats_t *cs) { handle_can_error(Can_RawRead(&frame)); @@ -151,8 +156,8 @@ void can_update_carstats(carstats_t *cs) { case can0_VCUHeartbeat: can_handle_vcu_heartbeat(cs); break; - case can0_MCTemperature1: - can_handle_mc_temperature1(cs); + case can0_MCTemperature: + can_handle_mc_temperature(cs); break; case can0_ButtonRequest: can_handle_button_request(cs); @@ -162,6 +167,10 @@ void can_update_carstats(carstats_t *cs) { break; case can0_VCUControlsParams: can_handle_vcu_controls(cs); + break; + case can0_VCUControlsParamsLC: + can_handle_vcu_controls(cs); + break; default: // do nothing break; diff --git a/src/dashboard/src/dispatch.c b/src/dashboard/src/dispatch.c index 67c1abe..13e5312 100644 --- a/src/dashboard/src/dispatch.c +++ b/src/dashboard/src/dispatch.c @@ -99,7 +99,14 @@ void dispatch_init() { carstats.controls.using_voltage_limiting = false; carstats.controls.active_aero_enabled = false; + carstats.lc_controls.speeding_up_torque = -1; + carstats.lc_controls.speeding_up_speed = -1; + carstats.lc_controls.ws_thresh = -1; + carstats.lc_controls.launch_ctrl_slip_ratio = -1; + carstats.lc_controls.using_launch_ctrl = false; + carstats.vcu_controls_received = false; + carstats.vcu_lc_controls_received = false; init_button_state(&carstats.buttons.left); init_button_state(&carstats.buttons.right); @@ -169,6 +176,7 @@ void update_lights(void) { void send_dash_controls(void) { LIMIT(can0_DashRequest_period); handle_can_error(can0_DashRequest_Write(&carstats.controls)); + handle_can_error(can0_DashRequestLC_Write(&carstats.lc_controls)); } void vcu_controls_update(void) { diff --git a/src/dashboard/src/page_manager.c b/src/dashboard/src/page_manager.c index 1ce048c..a8b397e 100644 --- a/src/dashboard/src/page_manager.c +++ b/src/dashboard/src/page_manager.c @@ -436,28 +436,96 @@ void draw_volt_lim_page(page_manager_t *pm, NHD_US2066_OLED *oled) { void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) { carstats_t *stats = pm->stats; + static int var_toggled = 0; + + // Process contextual actions + if (stats->buttons.B.rising_edge) var_toggled++; + var_toggled = LOOPOVER(var_toggled, 1, 5); + + if (stats->buttons.left.action == BUTTON_ACTION_TAP) { + switch (var_toggled) { + case 1: + stats->lc_controls.using_launch_ctrl ^= 1; + break; + case 2: + stats->lc_controls.launch_ctrl_slip_ratio -= 1; + break; + case 3: + stats->lc_controls.speeding_up_torque -= 100; + break; + case 4: + stats->lc_controls.speeding_up_speed -= 100; + break; + case 5: + stats->lc_controls.ws_thresh -= 100; + break; + } + } + + if (stats->buttons.right.action == BUTTON_ACTION_TAP) { + switch (var_toggled) { + case 1: + stats->lc_controls.using_launch_ctrl ^= 1; + break; + case 2: + stats->lc_controls.launch_ctrl_slip_ratio += 1; + break; + case 3: + stats->lc_controls.speeding_up_torque += 100; + break; + case 4: + stats->lc_controls.speeding_up_speed += 500; + break; + case 5: + stats->lc_controls.ws_thresh += 100; + break; + } + } oled_clearline(oled, 1); oled_set_pos(oled, 1, 0); - if (stats->buttons.right.rising_edge) { - stats->controls.launch_ctrl_slip_ratio += 1; - } + stats->lc_controls.launch_ctrl_slip_ratio = LOOPOVER(stats->lc_controls.launch_ctrl_slip_ratio, 101, 120); + stats->lc_controls.speeding_up_torque = LOOPOVER(stats->lc_controls.speeding_up_torque, 0, 2400); + stats->lc_controls.speeding_up_speed = LOOPOVER(stats->lc_controls.speeding_up_speed, 0, 5000); + stats->lc_controls.ws_thresh = LOOPOVER(stats->lc_controls.ws_thresh, 0, 2500); - stats->controls.launch_ctrl_slip_ratio = LOOPOVER(stats->controls.launch_ctrl_slip_ratio, 101, 120); + oled_print(oled, "LCTRL "); - if (stats->buttons.B.rising_edge) stats->controls.using_launch_ctrl ^= 1; // NOT + oled_print(oled, (stats->lc_controls.using_launch_ctrl) ? "ON" : "OFF"); - oled_print(oled, "LAUNCH CONTROL "); + oled_rprint_pad(oled, "SR ", 4); - oled_print(oled, (stats->controls.using_launch_ctrl) ? "ON" : "OFF"); + if (stats->lc_controls.launch_ctrl_slip_ratio != 255) { + oled_print_num(oled, stats->lc_controls.launch_ctrl_slip_ratio); + } else { + oled_print(oled, DATA_UNKNOWN); + } - oled_rprint_pad(oled, "SLIP RATIO ", 4); + oled_clearline(oled, 2); + oled_set_pos(oled, 2, 0); + + oled_print(oled, "TORQ "); + if (stats->lc_controls.speeding_up_torque != 65535) { + oled_print_num(oled, stats->lc_controls.speeding_up_torque); + } else { + oled_print(oled, DATA_UNKNOWN); + } - if (stats->controls.launch_ctrl_slip_ratio != -1) { - oled_print_num(oled, stats->controls.launch_ctrl_slip_ratio); + oled_rprint_pad(oled, "SPD ", 4); + if (stats->lc_controls.speeding_up_speed != 65535) { + oled_print_num(oled, stats->lc_controls.speeding_up_speed); + } else { + oled_print(oled, DATA_UNKNOWN); } - else { + + oled_clearline(oled, 3); + oled_set_pos(oled, 3, 0); + + oled_print(oled, "WS THRESH "); + if (stats->lc_controls.ws_thresh != 65535) { + oled_print_num(oled, stats->lc_controls.ws_thresh); + } else { oled_print(oled, DATA_UNKNOWN); } } From 4a4fa971a7b6cd4f2a80c03dee2eaf167e0d7b32 Mon Sep 17 00:00:00 2001 From: Dani White Date: Sat, 8 Sep 2018 23:50:28 -0400 Subject: [PATCH 09/13] Fix launch control page --- can_spec_my18.yml | 20 +++++++++++++++---- src/vcu/inc/controls.h | 2 +- src/vcu/src/can_handles.c | 41 +++++++++++++++++++++++++++++++++++++++ src/vcu/src/controls.c | 9 ++++++--- src/vcu/src/main.c | 4 ++-- 5 files changed, 66 insertions(+), 10 deletions(-) diff --git a/can_spec_my18.yml b/can_spec_my18.yml index 821f37d..f650466 100644 --- a/can_spec_my18.yml +++ b/can_spec_my18.yml @@ -755,14 +755,26 @@ buses: is_big_endian: true period: 200ms segments: - using_launch_ctrl: + speeding_up_torque: position: 0 - length: 1 - c_type: bool - slip_ratio: # Ranges from 105 to 115 + length: 16 + c_type: uint16_t + speeding_up_speed: position: 16 length: 16 c_type: uint16_t + ws_thresh: + position: 32 + length: 16 + c_type: uint16_t + launch_ctrl_slip_ratio: # Ranges from 105 to 115 + position: 48 + length: 8 + c_type: uint16_t + using_launch_ctrl: + position: 56 + length: 1 + c_type: bool ButtonRequest: can_id: 0x0D8 period: 73ms diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index 512a73a..ea8babd 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -60,7 +60,7 @@ typedef enum { #define TEMP_LOG_LENGTH 200 extern can0_VCUControlsParams_T control_settings; -extern can0_VCUParamsLC_T lc_settings; +extern can0_VCUControlsParamsLC_T lc_settings; // INTERACTION FUNCTIONS void enable_controls(void); diff --git a/src/vcu/src/can_handles.c b/src/vcu/src/can_handles.c index 7b5af31..0b4e800 100644 --- a/src/vcu/src/can_handles.c +++ b/src/vcu/src/can_handles.c @@ -93,6 +93,9 @@ void handleCAN(CAN_HandleTypeDef *hcan) { case can0_DashRequest: handleDashRequest(&frame); break; + + case can0_DashRequestLC: + handleDashRequestLC(&frame); default: break; @@ -293,6 +296,37 @@ void handleDashRequest(Frame *msg) { control_settings.active_aero_enabled = unpacked_msg.active_aero_enabled; } +void handleDashRequestLC(Frame *msg) { + can0_DashRequestLC_T unpacked_msg; + + unpack_can0_DashRequestLC(msg, &unpacked_msg); + + // printf("speeding_up_torque: %d\r\n", unpacked_msg.speeding_up_torque); + // printf("speeding_up_speed: %d\r\n", unpacked_msg.speeding_up_speed); + // printf("ws_thresh: %d\r\n", unpacked_msg.ws_thresh); + // printf("launch_ctrl_slip_ratio: %d\r\n", unpacked_msg.launch_ctrl_slip_ratio); + // printf("using_launch_ctrl: %d\r\n", unpacked_msg.using_launch_ctrl); + + lc_settings.using_launch_ctrl = unpacked_msg.using_launch_ctrl; + + + if (unpacked_msg.speeding_up_torque != 65535) { + lc_settings.speeding_up_torque = unpacked_msg.speeding_up_torque; + } + + if (unpacked_msg.speeding_up_speed != 65535) { + lc_settings.speeding_up_speed = unpacked_msg.speeding_up_speed; + } + + if (unpacked_msg.ws_thresh != 65535) { + lc_settings.ws_thresh = unpacked_msg.ws_thresh; + } + + if (unpacked_msg.launch_ctrl_slip_ratio != 255) { + lc_settings.launch_ctrl_slip_ratio = unpacked_msg.launch_ctrl_slip_ratio; + } +} + void send_VCUHeartbeat(void) { LIMIT(can0_VCUHeartbeat); @@ -334,6 +368,12 @@ void send_VCUControlsParams(void) { can0_VCUControlsParams_Write(&control_settings); } +void send_VCUControlsParamsLC(void) { + LIMIT(can0_VCUControlsParamsLC); + + can0_VCUControlsParamsLC_Write(&control_settings); +} + void send_VCUControlsMonitoring(void) { LIMIT(can0_VCUControlsMonitoring); @@ -344,6 +384,7 @@ void send_VCU(void) { send_VCUHeartbeat(); send_VCUErrors(); send_VCUControlsParams(); + send_VCUControlsParamsLC(); send_VCUControlsMonitoring(); } diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index a5ac600..c41a4f6 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -4,7 +4,7 @@ static bool enabled = false; static int32_t torque_command = 0; static int32_t speed_command = 0; can0_VCUControlsParams_T control_settings = {}; -can0_VCUParamsLC_T lc_settings = {}; +can0_VCUControlsParamsLC_T lc_settings = {}; static Launch_Control_State_T lc_state = BEFORE; static uint32_t get_front_wheel_speed(void); @@ -30,7 +30,10 @@ void init_controls_defaults(void) { control_settings.torque_temp_limited = false; lc_settings.using_launch_ctrl = false; - lc_settings.slip_ratio = LC_DEFAULT_SLIP_RATIO; + lc_settings.launch_ctrl_slip_ratio = LC_DEFAULT_SLIP_RATIO; + lc_settings.speeding_up_torque = 1000; + lc_settings.speeding_up_speed = 2000; + lc_settings.ws_thresh = 300; } void enable_controls(void) { @@ -214,7 +217,7 @@ static int32_t get_launch_control_speed(uint32_t front_wheel_speed) { uint32_t front_wheel_speedRPM = front_wheel_speed / 1000; // Divide 100 because slip ratio is times 100, divide by 100 again because // gear ratio is also multiplied by 100 - int32_t target_speed = front_wheel_speedRPM * lc_settings.slip_ratio * LC_GR / (100 * 100); + int32_t target_speed = front_wheel_speedRPM * lc_settings.launch_ctrl_slip_ratio * LC_GR / (100 * 100); return target_speed; } diff --git a/src/vcu/src/main.c b/src/vcu/src/main.c index ca714dd..9bf7db9 100755 --- a/src/vcu/src/main.c +++ b/src/vcu/src/main.c @@ -84,8 +84,8 @@ int main(void) { send_mc_fault_clear(); } - // printf("CONTROLS PARAMS:\r\n using_regen: %d\r\n using_voltage_limiting: %d\r\n using_temp_limiting: %d\r\n regen_bias: %d\r\n limp_factor: %d\r\n temp_lim_min_gain: %d\r\n temp_lim_thresh_temp: %d\r\n temp_abs_thesh: %d\r\n volt_lim_min_gain: %d\r\n volt_lim_min_voltage: %d\r\n volt_abs_thresh: %d\r\n\r\n", - // control_settings.using_regen, control_settings.using_voltage_limiting, control_settings.using_temp_limiting, control_settings.regen_bias, control_settings.limp_factor, control_settings.temp_lim_min_gain, control_settings.temp_lim_thresh_temp, MAX_TEMP, control_settings.volt_lim_min_gain, control_settings.volt_lim_min_voltage, MIN_VOLTAGE); + // printf("CONTROLS PARAMS:\r\n speeding_up_torque: %d\r\n speeding_up_speed: %d\r\n ws_thresh: %d\r\n launch_ctrl_slip_ratio: %d\r\n using_launch_ctrl: %d\r\n\r\n", + // lc_settings.speeding_up_torque, lc_settings.speeding_up_speed, lc_settings.ws_thresh, lc_settings.launch_ctrl_slip_ratio, lc_settings.using_launch_ctrl); lastt = HAL_GetTick(); From 73f6043b678391d4c865c0f47f2ad9fd327c0f0a Mon Sep 17 00:00:00 2001 From: Dani White Date: Sun, 9 Sep 2018 02:49:51 -0400 Subject: [PATCH 10/13] Use dash values properly --- can_spec_my18.yml | 10 ++++++++++ src/dashboard/src/carstats.c | 4 ++-- src/dashboard/src/page_manager.c | 24 ++++++++++++++++++++++-- src/frontCANnode/src/output.c | 10 ++++++++++ src/vcu/inc/controls.h | 6 +++--- src/vcu/src/can_handles.c | 3 ++- src/vcu/src/controls.c | 26 +++++++++++++++----------- src/vcu/src/main.c | 28 ++++++++++++++++++++++++---- 8 files changed, 88 insertions(+), 23 deletions(-) diff --git a/can_spec_my18.yml b/can_spec_my18.yml index f650466..a3d7853 100644 --- a/can_spec_my18.yml +++ b/can_spec_my18.yml @@ -775,6 +775,16 @@ buses: position: 56 length: 1 c_type: bool + lc_state: + position: 57 + length: 3 + c_type: enum + enum: + BEFORE: 0 + SPEEDING_UP: 1 + SPEED_CONTROLLER: 2 + ZERO_TORQUE: 3 + DONE: 4 ButtonRequest: can_id: 0x0D8 period: 73ms diff --git a/src/dashboard/src/carstats.c b/src/dashboard/src/carstats.c index d229315..3159c5f 100644 --- a/src/dashboard/src/carstats.c +++ b/src/dashboard/src/carstats.c @@ -117,7 +117,7 @@ void can_handle_vcu_controls(carstats_t *cs) { cs->vcu_controls_received = true; } -void can_handle_vcu_lc_controls(carstats_t *cs) { +void can_handle_vcu_controls_lc(carstats_t *cs) { unpack_can0_VCUControlsParamsLC(&frame, &cs->vcu_lc_controls); cs->vcu_lc_controls_received = true; } @@ -169,7 +169,7 @@ void can_update_carstats(carstats_t *cs) { can_handle_vcu_controls(cs); break; case can0_VCUControlsParamsLC: - can_handle_vcu_controls(cs); + can_handle_vcu_controls_lc(cs); break; default: // do nothing diff --git a/src/dashboard/src/page_manager.c b/src/dashboard/src/page_manager.c index a8b397e..850f38e 100644 --- a/src/dashboard/src/page_manager.c +++ b/src/dashboard/src/page_manager.c @@ -454,7 +454,7 @@ void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) { stats->lc_controls.speeding_up_torque -= 100; break; case 4: - stats->lc_controls.speeding_up_speed -= 100; + stats->lc_controls.speeding_up_speed -= 200; break; case 5: stats->lc_controls.ws_thresh -= 100; @@ -474,7 +474,7 @@ void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) { stats->lc_controls.speeding_up_torque += 100; break; case 4: - stats->lc_controls.speeding_up_speed += 500; + stats->lc_controls.speeding_up_speed += 200; break; case 5: stats->lc_controls.ws_thresh += 100; @@ -482,6 +482,26 @@ void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) { } } + oled_clearline(oled, 0); + oled_set_pos(oled, 0, 0); + switch (stats->vcu_lc_controls.lc_state) { + case 0: + oled_print(oled, "BEFORE"); + break; + case 1: + oled_print(oled, "SPEEDING UP"); + break; + case 2: + oled_print(oled, "SPEED CONTROLLER"); + break; + case 3: + oled_print(oled, "ZERO TORQUE"); + break; + case 4: + oled_print(oled, "DONE"); + break; + } + oled_clearline(oled, 1); oled_set_pos(oled, 1, 0); diff --git a/src/frontCANnode/src/output.c b/src/frontCANnode/src/output.c index d1af2f5..d26aa77 100644 --- a/src/frontCANnode/src/output.c +++ b/src/frontCANnode/src/output.c @@ -50,6 +50,11 @@ void write_can_left_wheel_speed_msg() { msg.left_32b = input.speed->can_node_left_32b_wheel_speed; msg.left_16b = input.speed->can_node_left_16b_wheel_speed; + /*Serial_Print("32l: "); + Serial_PrintNumber(msg.left_32b, 10); + Serial_Print(", 16l: "); + Serial_PrintlnNumber(msg.left_16b, 10);*/ + handle_can_error(can0_FrontCanNodeLeftWheelSpeed_Write(&msg)); } @@ -61,6 +66,11 @@ void write_can_right_wheel_speed_msg() { msg.right_32b = input.speed->can_node_right_32b_wheel_speed; msg.right_16b = input.speed->can_node_right_16b_wheel_speed; + /*Serial_Print("32r: "); + Serial_PrintNumber(msg.right_32b, 10); + Serial_Print(", 16r: "); + Serial_PrintlnNumber(msg.right_16b, 10);*/ + handle_can_error(can0_FrontCanNodeRightWheelSpeed_Write(&msg)); } void handle_can_error(Can_ErrorID_T error) { diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index ea8babd..85215f8 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -16,15 +16,15 @@ // Launch control constants // After wheel speed crosses this threshold, start using slip controller -#define LC_WS_THRESH 45000 +#define LC_DEFAULT_WS_THRESH 45 // rpm #define LC_GR 347 // Gear ratio times 100 #define LC_ACCEL_BEGIN 950 // 95% #define LC_ACCEL_RELEASE 50 // 5% #define LC_BRAKE_BEGIN 100 // We want a lower threshold than normal to make it super easy to exit LC #define LC_BACKWARDS_CUTOFF 10 #define LC_DEFAULT_SLIP_RATIO 112 -#define LC_SPEEDING_UP_TORQUE 1000 -#define LC_SPEEDING_UP_SPEED 500 +#define LC_DEFAULT_SPEEDING_UP_TORQUE 1000 +#define LC_DEFAULT_SPEEDING_UP_SPEED 500 // RG = regen #define RG_MOTOR_SPEED_THRESH 250 // RPM diff --git a/src/vcu/src/can_handles.c b/src/vcu/src/can_handles.c index 0b4e800..4b054ca 100644 --- a/src/vcu/src/can_handles.c +++ b/src/vcu/src/can_handles.c @@ -370,8 +370,9 @@ void send_VCUControlsParams(void) { void send_VCUControlsParamsLC(void) { LIMIT(can0_VCUControlsParamsLC); + lc_settings.lc_state = get_lc_state(); - can0_VCUControlsParamsLC_Write(&control_settings); + can0_VCUControlsParamsLC_Write(&lc_settings); } void send_VCUControlsMonitoring(void) { diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index c41a4f6..02e733c 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -7,7 +7,7 @@ can0_VCUControlsParams_T control_settings = {}; can0_VCUControlsParamsLC_T lc_settings = {}; static Launch_Control_State_T lc_state = BEFORE; -static uint32_t get_front_wheel_speed(void); +uint32_t get_front_wheel_speed(void); static bool any_lc_faults(); static int32_t hinge_limiter(int32_t x, int32_t m, int32_t e, int32_t c); @@ -31,9 +31,9 @@ void init_controls_defaults(void) { lc_settings.using_launch_ctrl = false; lc_settings.launch_ctrl_slip_ratio = LC_DEFAULT_SLIP_RATIO; - lc_settings.speeding_up_torque = 1000; - lc_settings.speeding_up_speed = 2000; - lc_settings.ws_thresh = 300; + lc_settings.speeding_up_torque = LC_DEFAULT_SPEEDING_UP_TORQUE; + lc_settings.speeding_up_speed = LC_DEFAULT_SPEEDING_UP_SPEED; + lc_settings.ws_thresh = LC_DEFAULT_WS_THRESH; } void enable_controls(void) { @@ -140,12 +140,12 @@ void execute_controls(void) { } break; case SPEEDING_UP: - // Command max(torque_command, LC_SPEEDING_UP_TORQUE) - if (torque_command < LC_SPEEDING_UP_TORQUE) sendSpeedCmdMsg(LC_SPEEDING_UP_SPEED, torque_command); - else sendSpeedCmdMsg(LC_SPEEDING_UP_SPEED, LC_SPEEDING_UP_TORQUE); + // Command max(torque_command, lc_settings.speeding_up_torque) + if (torque_command < lc_settings.speeding_up_torque) sendSpeedCmdMsg(lc_settings.speeding_up_speed, torque_command); + else sendSpeedCmdMsg(lc_settings.speeding_up_speed, lc_settings.speeding_up_torque); // Transition - if (front_wheel_speed > LC_WS_THRESH) { + if (front_wheel_speed > lc_settings.ws_thresh * 1000) { // lc_state = SPEED_CONTROLLER; printf("[LAUNCH CONTROL] SPEED CONTROLLER STATE ENTERED\r\n"); } @@ -221,7 +221,7 @@ uint32_t front_wheel_speedRPM = front_wheel_speed / 1000; return target_speed; } -static uint32_t get_front_wheel_speed() { +uint32_t get_front_wheel_speed() { uint32_t left_front_speed; uint32_t right_front_speed; @@ -241,7 +241,7 @@ static uint32_t get_front_wheel_speed() { } uint32_t avg_wheel_speed = left_front_speed/2 + right_front_speed/2; - return avg_wheel_speed; + return left_front_speed; } static bool any_lc_faults(void) { @@ -251,7 +251,7 @@ static bool any_lc_faults(void) { } else if (pedalbox.brake_2 > LC_BRAKE_BEGIN) { // In this test, we only need to check brake_2 because it is the only brake line // that is indicative of driver braking intent. The other brake is for regen. - printf("[LAUNCH CONTROL ERROR] Brake min (%d) too low\r\n", pedalbox.brake_2); + printf("[LAUNCH CONTROL ERROR] Brake (%d) too high\r\n", pedalbox.brake_2); return true; } else if (mc_readings.speed > LC_BACKWARDS_CUTOFF) { printf("[LAUNCH CONTROL ERROR] MC reading (%d) is great than cutoff (%d)\r\n", mc_readings.speed, LC_BACKWARDS_CUTOFF); @@ -268,6 +268,10 @@ void set_lc_zero_torque(void) { lc_state = ZERO_TORQUE; } +Launch_Control_State_T get_lc_state() { + return lc_state; +} + static int32_t get_temp_limited_torque(int32_t pedal_torque) { uint32_t temp_sum = 0; for (uint32_t i = 0; i < TEMP_LOG_LENGTH; i++) { diff --git a/src/vcu/src/main.c b/src/vcu/src/main.c index 9bf7db9..73149cb 100755 --- a/src/vcu/src/main.c +++ b/src/vcu/src/main.c @@ -75,6 +75,7 @@ int main(void) { HAL_GPIO_WritePin(GPIO(ACTIVE_AERO), control_settings.active_aero_enabled); static uint32_t lastt = 0; + static uint32_t lastt2 = 0; print_gate_faults(false); if (HAL_GetTick() - lastt > 100) { @@ -84,12 +85,31 @@ int main(void) { send_mc_fault_clear(); } - // printf("CONTROLS PARAMS:\r\n speeding_up_torque: %d\r\n speeding_up_speed: %d\r\n ws_thresh: %d\r\n launch_ctrl_slip_ratio: %d\r\n using_launch_ctrl: %d\r\n\r\n", - // lc_settings.speeding_up_torque, lc_settings.speeding_up_speed, lc_settings.ws_thresh, lc_settings.launch_ctrl_slip_ratio, lc_settings.using_launch_ctrl); - - lastt = HAL_GetTick(); } + if (HAL_GetTick() - lastt2 > 100) { + // printf("CONTROLS PARAMS:\r\n speeding_up_torque: %d\r\n speeding_up_speed: %d\r\n ws_thresh: %d\r\n launch_ctrl_slip_ratio: %d\r\n using_launch_ctrl: %d\r\n accel: %d\r\n wheel speed: %d\r\n", + // lc_settings.speeding_up_torque, lc_settings.speeding_up_speed, lc_settings.ws_thresh, lc_settings.launch_ctrl_slip_ratio, lc_settings.using_launch_ctrl, pedalbox_min(accel), get_front_wheel_speed()); + // switch (get_lc_state()) { + // case BEFORE: + // printf("BEFORE\r\n"); + // break; + // case SPEEDING_UP: + // printf("SPEEDING_UP\r\n"); + // break; + // case SPEED_CONTROLLER: + // printf("SPEED_CONTROLLER\r\n"); + // break; + // case ZERO_TORQUE: + // printf("SPEEDING_UP\r\n"); + // break; + // case DONE: + // printf("DONE\r\n"); + // break; + // } + // printf("\r\n"); + lastt2 = HAL_GetTick(); + } } } From 5e853b2c6b8fa5f8b8e92e61ed9df4ebf4af8347 Mon Sep 17 00:00:00 2001 From: Dani White Date: Wed, 12 Sep 2018 01:23:47 -0400 Subject: [PATCH 11/13] Remove first speed commands, up allowed slip ratio --- src/dashboard/src/page_manager.c | 2 +- src/vcu/src/controls.c | 9 +++++---- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/src/dashboard/src/page_manager.c b/src/dashboard/src/page_manager.c index 850f38e..7e8e18c 100644 --- a/src/dashboard/src/page_manager.c +++ b/src/dashboard/src/page_manager.c @@ -505,7 +505,7 @@ void draw_launch_control_page(page_manager_t *pm, NHD_US2066_OLED *oled) { oled_clearline(oled, 1); oled_set_pos(oled, 1, 0); - stats->lc_controls.launch_ctrl_slip_ratio = LOOPOVER(stats->lc_controls.launch_ctrl_slip_ratio, 101, 120); + stats->lc_controls.launch_ctrl_slip_ratio = LOOPOVER(stats->lc_controls.launch_ctrl_slip_ratio, 101, 130); stats->lc_controls.speeding_up_torque = LOOPOVER(stats->lc_controls.speeding_up_torque, 0, 2400); stats->lc_controls.speeding_up_speed = LOOPOVER(stats->lc_controls.speeding_up_speed, 0, 5000); stats->lc_controls.ws_thresh = LOOPOVER(stats->lc_controls.ws_thresh, 0, 2500); diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index 02e733c..22bd732 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -131,7 +131,7 @@ void execute_controls(void) { } switch (lc_state) { case BEFORE: - sendSpeedCmdMsg(0, 0); + sendTorqueCmdMsg(0); // Transition if (pedalbox_min(accel) > LC_ACCEL_BEGIN) { @@ -140,9 +140,10 @@ void execute_controls(void) { } break; case SPEEDING_UP: - // Command max(torque_command, lc_settings.speeding_up_torque) - if (torque_command < lc_settings.speeding_up_torque) sendSpeedCmdMsg(lc_settings.speeding_up_speed, torque_command); - else sendSpeedCmdMsg(lc_settings.speeding_up_speed, lc_settings.speeding_up_torque); + // Command max(torque_command, lc_settings.speeding_up_torque) + // if (torque_command < lc_settings.speeding_up_torque) sendSpeedCmdMsg(lc_settings.speeding_up_speed, torque_command); + // else sendSpeedCmdMsg(lc_settings.speeding_up_speed, lc_settings.speeding_up_torque); + sendTorqueCmdMsg(lc_settings.speeding_up_torque); // Transition if (front_wheel_speed > lc_settings.ws_thresh * 1000) { // From 528d33b19ea33767ffe10941f2d96830fd48bd6c Mon Sep 17 00:00:00 2001 From: Dani White Date: Sat, 22 Sep 2018 20:01:16 -0400 Subject: [PATCH 12/13] Up brake threshold --- src/vcu/inc/controls.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/vcu/inc/controls.h b/src/vcu/inc/controls.h index 85215f8..fd3c3dd 100644 --- a/src/vcu/inc/controls.h +++ b/src/vcu/inc/controls.h @@ -20,7 +20,7 @@ #define LC_GR 347 // Gear ratio times 100 #define LC_ACCEL_BEGIN 950 // 95% #define LC_ACCEL_RELEASE 50 // 5% -#define LC_BRAKE_BEGIN 100 // We want a lower threshold than normal to make it super easy to exit LC +#define LC_BRAKE_BEGIN 150 // We want a lower threshold than normal to make it super easy to exit LC #define LC_BACKWARDS_CUTOFF 10 #define LC_DEFAULT_SLIP_RATIO 112 #define LC_DEFAULT_SPEEDING_UP_TORQUE 1000 From 903e520e0e54dfaaf9125357cc07ce264834eed9 Mon Sep 17 00:00:00 2001 From: Dani White Date: Sun, 23 Sep 2018 13:40:11 -0400 Subject: [PATCH 13/13] Constant speed, no backwards check --- src/vcu/src/controls.c | 18 +++--------------- 1 file changed, 3 insertions(+), 15 deletions(-) diff --git a/src/vcu/src/controls.c b/src/vcu/src/controls.c index 22bd732..ab9e67c 100644 --- a/src/vcu/src/controls.c +++ b/src/vcu/src/controls.c @@ -135,24 +135,12 @@ void execute_controls(void) { // Transition if (pedalbox_min(accel) > LC_ACCEL_BEGIN) { - lc_state = SPEEDING_UP; - printf("[LAUNCH CONTROL] SPEEDING UP STATE ENTERED\r\n"); - } - break; - case SPEEDING_UP: - // Command max(torque_command, lc_settings.speeding_up_torque) - // if (torque_command < lc_settings.speeding_up_torque) sendSpeedCmdMsg(lc_settings.speeding_up_speed, torque_command); - // else sendSpeedCmdMsg(lc_settings.speeding_up_speed, lc_settings.speeding_up_torque); - sendTorqueCmdMsg(lc_settings.speeding_up_torque); - - // Transition - if (front_wheel_speed > lc_settings.ws_thresh * 1000) { // lc_state = SPEED_CONTROLLER; printf("[LAUNCH CONTROL] SPEED CONTROLLER STATE ENTERED\r\n"); } break; case SPEED_CONTROLLER: - speed_command = get_launch_control_speed(front_wheel_speed); + speed_command = 500; // get_launch_control_speed(front_wheel_speed); sendSpeedCmdMsg(speed_command, torque_command); break; case ZERO_TORQUE: @@ -254,10 +242,10 @@ static bool any_lc_faults(void) { // that is indicative of driver braking intent. The other brake is for regen. printf("[LAUNCH CONTROL ERROR] Brake (%d) too high\r\n", pedalbox.brake_2); return true; - } else if (mc_readings.speed > LC_BACKWARDS_CUTOFF) { + } else /*else if (mc_readings.speed > LC_BACKWARDS_CUTOFF) {m printf("[LAUNCH CONTROL ERROR] MC reading (%d) is great than cutoff (%d)\r\n", mc_readings.speed, LC_BACKWARDS_CUTOFF); return true; - } + }*/ return false; }