Test Car (#203)

Author: bjackson312006

Core/Inc/u_dti.h

@@ -16,7 +16,7 @@
 
 /* Config. */
 #define TIRE_DIAMETER 16 /* inches */
-#define GEAR_RATIO    (41.0f / 13.0f) /* unitless */
+#define GEAR_RATIO    (39.0f / 13.0f) /* unitless */
 #define POLE_PAIRS    10 /* unitless */
 
 /**

Core/Src/u_can.c

@@ -246,10 +246,13 @@ void can_inbox(can_msg_t *message) {
         receive_shutdown_as_read_by_bms(message, &bms);
         update_bms_shutdown(bms.shutdown_state);
 
-        /* If shutdown is active, cancel the RTDS sound if it's active. */
-        if(bms.shutdown_state == true) {
+        /* If shutdown is open, cancel RTDS. */
+        if(bms.shutdown_state == false) {
             rtds_cancelRTDS();
             rtds_stopReverseSound();
+            if(get_active()) {
+                set_home_mode();
+            }
         }
         break;
     default:

Core/Src/u_pedals.c

@@ -80,7 +80,7 @@ static pedal_data_t pedal_data = { 0 };
 
 /* Performance Limits */
 #define PIT_MAX_SPEED           5.0 // (mph). Speed limit in pit mode.
-#define MAX_TORQUE              40 // (Nm). Maximum torque output
+#define MAX_TORQUE              160 // (Nm). Maximum torque output
 #define TORQUE_ACCUMULATOR_SIZE 10  // (Number). Size of the moving average filter for torque stuff.
 #define MAX_REGEN_CURRENT       250 // (AC Amps). Maximum regenerative braking current.
 
@@ -683,18 +683,20 @@ void pedals_process(void) {
 	// serial_monitor("pedals", "psi brake2", "%f", pedal_data.psi_brake2);
 
     /* Set brake state, and turn brakelight on/off. */
+	const float PEDAL_BRAKE_TURNOFF_TRESH = 0.004f; // Amount below PEDAL_BRAKE_TRESH to register the brake as 'off'. This is needed so the state doesn't flicker super quickly.
     if(pedal_data.percentage_brake > PEDAL_BRAKE_THRESH) {
         brake_pressed = true;
 		if(efuse_get_state(EFUSE_BRAKE) == EF_AUTO) {
 			efuse_enable(EFUSE_BRAKE);
 		}
     }
-    else {
+    else if(pedal_data.percentage_brake < (PEDAL_BRAKE_THRESH - PEDAL_BRAKE_TURNOFF_TRESH)){
         brake_pressed = false;
 		if(efuse_get_state(EFUSE_BRAKE) == EF_AUTO) {
 			efuse_disable(EFUSE_BRAKE);
 		}
     }
+	// The brakelight was turning on and off super fast, so there's now a 0.05f lower threshold. This way, the brake's turn off point is lower than the turn on point, so the pedal needs to travel lower to turn off than it did to turn on.
 
 	if (pedal_data.percentage_accel >= 0.05) {
 		accel_pressed = true;

Core/Src/u_threads.c

@@ -445,14 +445,26 @@ void vEFuses(ULONG thread_input) {
         /* Determine pump1 eFuse state. */
         static const uint16_t PUMP1_UPPERBOUND = 45;
         static const uint16_t PUMP1_LOWERBOUND = 35;
+        static const int PUMP1_SWITCHING_TIMEOUT = 5000;
+        static nertimer_t pump1_switching_timer = { 0 };
         switch(data.control_state[EFUSE_PUMP1]) {
             case EF_ON: efuse_enable(EFUSE_PUMP1); break;
             case EF_OFF: efuse_disable(EFUSE_PUMP1); break;
             case EF_AUTO:
-                if(motor_temp >= PUMP1_UPPERBOUND) {
+                if(controller_temp >= PUMP1_UPPERBOUND) {
+                    /* If timer is still active, break early. */
+                    if(!is_timer_expired(&pump1_switching_timer) && is_timer_active(&pump1_switching_timer)) { break; }
+
+                    /* Otherwise, make the state change but restart the timer. */
                     efuse_enable(EFUSE_PUMP1);
-                } else if (motor_temp <= PUMP1_LOWERBOUND) {
+                    start_timer(&pump1_switching_timer, PUMP1_SWITCHING_TIMEOUT);
+                } else if (controller_temp <= PUMP1_LOWERBOUND) {
+                    /* If timer is still active, break early. */
+                    if(!is_timer_expired(&pump1_switching_timer) && is_timer_active(&pump1_switching_timer)) { break; }
+
+                    /* Otherwise, make the state change but restart the timer. */
                     efuse_disable(EFUSE_PUMP1);
+                    start_timer(&pump1_switching_timer, PUMP1_SWITCHING_TIMEOUT);
                 }
                 break;
             default: efuse_enable(EFUSE_PUMP1); break;
@@ -461,14 +473,26 @@ void vEFuses(ULONG thread_input) {
         /* Determine pump2 eFuse state. */
         static const uint16_t PUMP2_UPPERBOUND = 45;
         static const uint16_t PUMP2_LOWERBOUND = 35;
+        static const int PUMP2_SWITCHING_TIMEOUT = 5000;
+        static nertimer_t pump2_switching_timer = { 0 };
         switch(data.control_state[EFUSE_PUMP2]) {
             case EF_ON: efuse_enable(EFUSE_PUMP2); break;
             case EF_OFF: efuse_disable(EFUSE_PUMP2); break;
             case EF_AUTO:
-                if(controller_temp >= PUMP2_UPPERBOUND) {
+                if(motor_temp >= PUMP2_UPPERBOUND) {
+                    /* If timer is still active, break early. */
+                    if(!is_timer_expired(&pump2_switching_timer) && is_timer_active(&pump2_switching_timer)) { break; }
+                    
+                    /* Otherwise, make the state change but restart the timer. */
                     efuse_enable(EFUSE_PUMP2);
-                } else if (controller_temp <= PUMP2_LOWERBOUND) {
+                    start_timer(&pump2_switching_timer, PUMP2_SWITCHING_TIMEOUT);
+                } else if (motor_temp <= PUMP2_LOWERBOUND) {
+                    /* If timer is still active, break early. */
+                    if(!is_timer_expired(&pump2_switching_timer) && is_timer_active(&pump2_switching_timer)) { break; }
+                    
+                    /* Otherwise, make the state change but restart the timer. */
                     efuse_disable(EFUSE_PUMP2);
+                    start_timer(&pump2_switching_timer, PUMP2_SWITCHING_TIMEOUT);
                 }
                 break;
             default: efuse_enable(EFUSE_PUMP2); break;
@@ -700,6 +724,7 @@ void vEFuses(ULONG thread_input) {
     }
 }
 
+
 /* Mux Thread (for the ADC multiplexer). */
 static thread_t mux_thread = {
         .name       = "Mux Thread",           /* Name */