add check for accel pedal

Author: joe-1-smith

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/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;
 
@@ -71,15 +72,15 @@ 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.
-#define MAX_TORQUE              220 // (Nm). Maximum torque output
+#define MAX_TORQUE              40 // (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.
 
@@ -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;
+	}
+
 	/* Make sure wheels are not spinning before changing modes */
 	bool brake_state;
 	rtds_stopReverseSound();

Core/Src/u_threads.c

@@ -273,12 +273,16 @@ static thread_t statemachine_thread = {
     };
 void vStatemachine(ULONG thread_input) {
 
+    const uint32_t telem_timeout = 50;
+
     while(1) {
         state_req_t new_state_req;
-        while(queue_receive(&state_transition_queue, &new_state_req, TX_WAIT_FOREVER) == U_SUCCESS) {
+        while(queue_receive(&state_transition_queue, &new_state_req, telem_timeout) == U_SUCCESS) {
             statemachine_process(new_state_req);
 	    }
 
+        send_carstate_msg();
+
         /* No sleep. Thread timing is controlled completely by the queue timeout. */
     }
 }