No Accel Pressed To Enter Drive Mode (#199)

Co-authored-by: Joe <joe@smith.com>
Co-authored-by: bjackson312006 <blakejackson312006@gmail.com>

Author: 3 people

Core/Inc/u_pedals.h

@@ -30,6 +30,8 @@ void pedals_process(void); // Pedal Processing Function. Meant to be called by
                            // the pedals thread.
 bool pedals_getBrakeState(void); // Returns the brake state (true=brake pressed,
                                  // false=brake not pressed).
+bool pedals_getAccelState(void); // Returns the accel state (true=accel pressed,
+                                 // false=accel not pressed).
 float pedals_getTorqueLimitPercentage(
     void); // Returns the torque limit percentage.
 void pedals_setTorqueLimitPercentage(

Core/Inc/u_threads.h

@@ -30,7 +30,7 @@ void vEFuses(ULONG thread_input);
 void vMux(ULONG thread_input);
 void vPeripherals(ULONG thread_input);
 void vTest(ULONG thread_input);
-void vRTDS(ULONG thread_input);
+void vTelemetry(ULONG thread_input);
 
 
 #endif /* u_threads.h */

Core/Src/u_pedals.c

@@ -37,6 +37,7 @@ typedef enum {
 static uint8_t drive_lock_map = 0;
 
 static _Atomic bool brake_pressed = false;
+static _Atomic bool accel_pressed = false;
 static _Atomic bool launch_control_enabled = false;
 static float torque_limit_percentage = 1.0f;
 
@@ -71,11 +72,11 @@ static pedal_data_t pedal_data = { 0 };
 
 /* Pedal Tuning */
 #define MAX_APPS1_VOLTS		    3.50 // (Volts). Upper bound on APPS1 voltage range.
-#define MIN_APPS1_VOLTS		    2.00 // (Volts). Lower bound on APPS1 voltage range.
+#define MIN_APPS1_VOLTS		    2.15 // (Volts). Lower bound on APPS1 voltage range.
 #define MAX_APPS2_VOLTS		    2.50 // (Volts). Upper bound on APPS2 voltage range.
-#define MIN_APPS2_VOLTS		    1.00 // (Volts). Lower bound on APPS2 voltage range.
-#define PEDAL_BRAKE_THRESH	    0.20 // (Percantage). Pedal position above which the system registers the brake pedal as "pressed".
-#define PEDAL_HARD_BRAKE_THRESH 0.50 // (Percentage). Pedal position above which a "hard brake" is detected.
+#define MIN_APPS2_VOLTS		    1.15 // (Volts). Lower bound on APPS2 voltage range.
+#define PEDAL_BRAKE_THRESH	    0.15 // (Percantage). Pedal position above which the system registers the brake pedal as "pressed".
+#define PEDAL_HARD_BRAKE_THRESH 0.22 // (Percentage). Pedal position above which a "hard brake" is detected.
 
 /* Performance Limits */
 #define PIT_MAX_SPEED           5.0 // (mph). Speed limit in pit mode.
@@ -539,9 +540,11 @@ int pedals_init(void) {
 /* Returns the brake state (true=brake pressed, false=brake not pressed). */
 bool pedals_getBrakeState(void) {
     return brake_pressed;
+}
 
-	/* TEMPORARY OVERRIDE FOR TSMS! should be commented out normally! */
-	//return true;
+/* Returns the accel state (true=accel pressed, false= accel not pressed)*/
+bool pedals_getAccelState(void) {
+	return accel_pressed;
 }
 
 /* Returns the torque limit percentgae. */
@@ -693,6 +696,12 @@ void pedals_process(void) {
 		}
     }
 
+	if (pedal_data.percentage_accel >= 0.05) {
+		accel_pressed = true;
+	} else {
+		accel_pressed = false;
+	}
+
 	uint16_t dc_current = dti_get_dc_current();
     float mph = dti_get_mph();
 

Core/Src/u_statemachine.c

@@ -104,6 +104,11 @@ static int transition_functional_state(func_state_t new_state)
 		printf("FAULTED\r\n");
 	}
 
+	if (pedals_getAccelState()) {
+		PRINTLN_WARNING("Accelerator should not be pressed when entering a state");
+		return 3;
+	}
+
 	/* Make sure wheels are not spinning before changing modes */
 	bool brake_state;
 	rtds_stopReverseSound();

Core/Src/u_threads.c

@@ -41,7 +41,7 @@
 #define PRIO_vShutdown         2
 #define PRIO_vEFuses           3
 #define PRIO_vMux              3
-#define PRIO_vRTDS             3
+#define PRIO_vTelemetry        3
 #define PRIO_vTest             3
 #define PRIO_vPeripherals      3
 
@@ -875,24 +875,23 @@ void vPeripherals(ULONG thread_input) {
     }
 }
 
-/* RTDS Telemetry Thread.
-   This thread is for RTDS telemetry. The actual state of the RTDS is managed by the statemachine. */
-static thread_t rtds_telemetry_thread = {
-        .name       = "RTDS Telemetry Thread", /* Name */
+/* Misc. Telemetry Thread.
+   This thread periodically reports the RTDS and statemachine state data. The actual states of these things are managed by the statemachine thread. This is specifically for telemetry. */
+static thread_t misc_telemetry_thread = {
+        .name       = "Misc Telemetry Thread", /* Name */
         .size       = 2048,                    /* Stack Size (in bytes) */
-        .priority   = PRIO_vRTDS,              /* Priority */
+        .priority   = PRIO_vTelemetry,         /* Priority */
         .threshold  = 0,                       /* Preemption Threshold */
         .time_slice = TX_NO_TIME_SLICE,        /* Time Slice */
         .auto_start = TX_AUTO_START,           /* Auto Start */
         .sleep      = 100,                     /* Sleep (in ticks) */
-        .function   = vRTDS                    /* Thread Function */
+        .function   = vTelemetry               /* Thread Function */
     };
-void vRTDS(ULONG thread_input) {
+void vTelemetry(ULONG thread_input) {
 
     while(1) {
 
-        PRINTLN_INFO("thread ran");
-
+        /* Send RTDS State Telemetry. */
         bool rtds_pin_state = rtds_readRTDS();
         bool rtds_sounding_state = false;
         bool rtds_reverse_state = false;
@@ -910,8 +909,11 @@ void vRTDS(ULONG thread_input) {
 
         send_rtds_state_message(rtds_pin_state, rtds_sounding_state, rtds_reverse_state, error_state);
 
+        /* Send Carstate message. */
+        send_carstate_msg();
+
         /* Sleep Thread for specified number of ticks. */
-        tx_thread_sleep(rtds_telemetry_thread.sleep);
+        tx_thread_sleep(misc_telemetry_thread.sleep);
     }
 }
 
@@ -933,7 +935,7 @@ uint8_t threads_init(TX_BYTE_POOL *byte_pool) {
     CATCH_ERROR(create_thread(byte_pool, &mux_thread), U_SUCCESS);               // Create Mux thread.
     CATCH_ERROR(create_thread(byte_pool, &peripherals_thread), U_SUCCESS);       // Create Peripherals thread.
     // CATCH_ERROR(create_thread(byte_pool, &test_thread), U_SUCCESS);                // Create Test thread.
-    CATCH_ERROR(create_thread(byte_pool, &rtds_telemetry_thread), U_SUCCESS);      // Create RTDS Telemetry thread.
+    CATCH_ERROR(create_thread(byte_pool, &misc_telemetry_thread), U_SUCCESS);      // Create RTDS Telemetry thread.
 
     // add more threads here if need