Comp

MPU/include/cascadiamc.h

@@ -33,6 +33,8 @@ class CascadiaMC
  int16_t motorSpeed = 0;
  uint16_t radiatorTemp = 0;
  int16_t feedback_torque = 0;
+ uint16_t prevVsmState = 0;
+ uint16_t vsmState = 0;
 
  Timer motorCommand_wait;
 
@@ -110,12 +112,6 @@ class CascadiaMC
  */
  uint16_t getTorque();
 
- /**
- * @brief Raises the Fault for Failing to Generate High Voltage
- * 
- */
- void raiseFault();
-
  /**
  * @brief Checks for the Fault for Failing to Generate High Voltage
  * 
@@ -175,6 +171,9 @@ class CascadiaMC
 
  int16_t getFeedbackTorque();
 
+ void setVSMState(uint16_t p_vsmState);
+
+ uint16_t getVSMState();
 };
 
 #endif

MPU/include/driverio.h

@@ -48,6 +48,7 @@ class DriverIO
  Button regenButton;
  Button torqueIncreasePaddle;
  Button torqueDecreasePaddle;
+ Button bmsFaultButton;
  uint8_t prev_state = OFF;
 
  bool isCharging = false;
@@ -59,6 +60,7 @@ class DriverIO
  Timer changeStateTimer;
  Timer changeTorqueLimitTimer;
  Timer changeRegenTimer;
+ Timer changebms;
 
  bool canTransitionToOff();
 

MPU/include/gpio.h

@@ -25,6 +25,8 @@ class GPIO
  PDU *pdu;
  float radiatorFanSpeedPercentage = 1.0;
 
+ bool bms_prefault = true;
+
  public:
  GPIO();
 
@@ -61,6 +63,10 @@ class GPIO
  * @return int representing the percentage of the motor fan dial
  */
  uint8_t getMotorFanDialPercentage();
+
+ void toggleBMSPreFault();
+
+ uint8_t getBMSPreFault();
 };
 
 #endif

MPU/include/mpu.h

@@ -28,6 +28,7 @@ extern bool tsms_status;
 
 extern Timer canTest_wait;
 extern Timer spinningCheck_wait;
+extern Timer bms_fault_timer;
 
 /**
  * @brief Writes the fault latch whichever condition you pass (see above enumerator)

MPU/include/mpuConfig.h

@@ -23,7 +23,7 @@
 #define CAN_CMD_DELAY 5 // ms
 
 // motor torque constants
-#define MAXIMUM_TORQUE 2220 // in Nm x 10 (ex: 123 = 12.3Nm)
+#define MAXIMUM_TORQUE 2275 // in Nm x 10 (ex: 123 = 12.3Nm)
 #define CONT_TORQUE 1020 // ' '
 #define POT_LOWER_BOUND 35 // a pot value from 0 to 1023
 #define POT_UPPER_BOUND MAX_ADC_VALUE // a pot value from 0 to 1023
@@ -79,6 +79,15 @@ enum mpu_states
 };
 extern enum mpu_states mpu_state;
 
+enum precharge_states
+{
+ GLV_ON,
+ TSMS_ON,
+ PRECHARGING,
+ READY,
+ MC_FAULTED
+};
+
 enum Regen_Level_t
 {
  ZILCH,

MPU/src/cascadiamc.cpp

@@ -92,16 +92,6 @@ uint16_t CascadiaMC::getTorque()
 }
 
 
-void CascadiaMC::raiseFault()
-{
- if (isFaulted == false) {
- Serial.println("CUCK");
- delay(1000);
- }
- isFaulted = true;
-}
-
-
 bool CascadiaMC::checkFault()
 {
  return isFaulted;
@@ -156,4 +146,17 @@ void CascadiaMC::setFeedbackTorque(int16_t fb_torque)
 int16_t CascadiaMC::getFeedbackTorque()
 {
  return feedback_torque;
+}
+
+void CascadiaMC::setVSMState(uint16_t p_vsmState) {
+ if (vsmState > 20) {
+ vsmState = prevVsmState;
+ return;
+ }
+ prevVsmState = vsmState;
+ vsmState = p_vsmState;
+}
+
+uint16_t CascadiaMC::getVSMState() {
+ return vsmState;
 }

MPU/src/driverio.cpp

@@ -37,6 +37,7 @@ void DriverIO::handleButtonState(bool tsms_status)
  torqueDecreasePaddle.checkButtonPin();
  torqueIncreasePaddle.checkButtonPin();
  regenButton.checkButtonPin();
+ bmsFaultButton.checkButtonPin();
 
  if (tsms_status == false)
  {
@@ -125,6 +126,11 @@ void DriverIO::handleButtonState(bool tsms_status)
  changeRegenTimer.startTimer(CHANGE_REGEN_TIME);
  pedals->incrRegenLevel();
  }
+
+ if(bmsFaultButton.isButtonPressed() && changebms.isTimerExpired())
+ {
+ gpio->toggleBMSPreFault();
+ }
  }
 
  if(drive_state == SPEED) {
@@ -187,6 +193,7 @@ void DriverIO::wheelIO_cb(const CAN_message_t &msg)
  decrButton.setButtonState(wheelio.io.button2);
  incrButton.setButtonState(wheelio.io.button4);
  regenButton.setButtonState(wheelio.io.button5);
+ bmsFaultButton.setButtonState(wheelio.io.button6);
  torqueIncreasePaddle.setButtonState(wheelio.io.paddle_r);
  torqueDecreasePaddle.setButtonState(wheelio.io.paddle_l);
  accumulatorFanDial.setDialValue(wheelio.io.pot_l);

MPU/src/gpio.cpp

@@ -54,4 +54,14 @@ void GPIO::setRadiatorFanPercentage(float speed)
 uint8_t GPIO::getMotorFanDialPercentage()
 {
  return radiatorFanSpeedPercentage * 100;
+}
+
+void GPIO::toggleBMSPreFault()
+{
+ bms_prefault = !bms_prefault;
+}
+
+uint8_t GPIO::getBMSPreFault()
+{
+ return bms_prefault;
 }

MPU/src/mpu.cpp

@@ -11,6 +11,7 @@ bool ssReady = false;
 bool tsms_status = false;
 Timer canTest_wait;
 Timer spinningCheck_wait;
+Timer bms_fault_timer;
 
 void driverioProcess()
 {
@@ -32,13 +33,11 @@ void pedalsProcess()
  FaultStatus_t pedalFault = NOT_FAULTED;
  pedalFault = pedals.readBrake();
  pedalFault = pedals.readAccel();
- /*
  if(pedalFault == FAULTED)
  {
  Serial.println("ACCEL FAULT");
  isShutdown = true;
  }
- */
 }
 
 
@@ -50,6 +49,15 @@ void gpioProcess()
 
  isShutdown = isShutdown ? true : !isCANLineOK();
  if(!isCANLineOK()){Serial.println("CAN FAULT");}
+
+ if(!bms_fault_timer.isTimerExpired() && gpio.getBMSPreFault())
+ {
+ writeFaultLatch(FAULTED);
+ }
+ else
+ {
+ writeFaultLatch(NOT_FAULTED);
+ }
 }
 
 bool isCANLineOK()
@@ -119,7 +127,7 @@ void sendMPUStatus()
 {
  union
  {
- uint8_t msg[6] = {0};
+ uint8_t msg[8] = {0};
 
  struct
  {
@@ -129,6 +137,8 @@ void sendMPUStatus()
  uint8_t torquePercentage;
  uint8_t regenStrength;
  uint8_t tractionControl;
+ uint8_t prechargeState;
+ uint8_t prefault;
  } info;
  } mpu_msg;
 
@@ -167,11 +177,29 @@ void sendMPUStatus()
  break;
  };
 
+ uint16_t vsm_state = motorController.getVSMState();
+ uint8_t precharge_state = 0;
+ //Serial.print("VSM State: ");
+ //Serial.println(vsm_state);
+ if (vsm_state >= 1 && vsm_state <= 3) {
+ precharge_state = PRECHARGING;
+ } else if (vsm_state == 5) {
+ precharge_state = READY;
+ } else if (vsm_state == 7) {
+ precharge_state = MC_FAULTED;
+ } else if (gpio.getTSMS()){
+ precharge_state = TSMS_ON;
+ } else {
+ precharge_state = GLV_ON;
+ }
+
  mpu_msg.info.accumulatorFanPercentage = driverio.getAccumulatorFanDialPercentage();
  mpu_msg.info.radiatorFanPercentage = gpio.getMotorFanDialPercentage();
  mpu_msg.info.torquePercentage = pedals.getTorqueLimitPercentage();
  mpu_msg.info.regenStrength = pedals.getRegenLevel();
  mpu_msg.info.tractionControl = pedals.getControlLaunch();
+ mpu_msg.info.prechargeState = precharge_state;
+ mpu_msg.info.prefault = gpio.getBMSPreFault();
 
- sendMessageCAN1(MPU_STATUS_ID, 6, mpu_msg.msg);
+ sendMessageCAN1(MPU_STATUS_ID, 8, mpu_msg.msg);
 }

MPU/src/mpuCanHandlers.cpp

@@ -8,6 +8,8 @@
 #define CANMSG_WHEELIO 0x400
 #define CANMSG_BMSSTATUS 0x002
 #define CANMSG_MC_TORQUE_N_TIMER 0x0AC
+#define CANMSG_MC_VSM_STATES 0xAA
+#define CANMSG_BMS_PREFAULT 0x500
 
 /***************************************************************************/
 /**
@@ -55,6 +57,10 @@ void bmsCurrentLimits_cb(const CAN_message_t &msg)
  bms.setChargeCurrentLimit(chargeCurrentLimit);
 }
 
+void vsmState_cb(const CAN_message_t &msg) {
+ uint16_t vsm_state = (int16_t)(msg.buf[1] << 8) | msg.buf[0];
+ motorController.setVSMState(vsm_state);
+ }
 
 void motorMotion_cb(const CAN_message_t &msg)
 {
@@ -98,6 +104,11 @@ void motorFeedbackTorque_cb(const CAN_message_t &msg)
  //Serial.println(torque);
 }
 
+void bsmPrefault_cb(const CAN_message_t &msg)
+{
+ bms_fault_timer.startTimer(2000);
+}
+
 void mpuCanCallback(const CAN_message_t &msg)
 {
  switch(msg.id)
@@ -125,8 +136,16 @@ void mpuCanCallback(const CAN_message_t &msg)
  break;
  case CANMSG_WHEELIO:
  driverio.wheelIO_cb(msg);
+ break;
  case CANMSG_MC_TORQUE_N_TIMER:
  motorFeedbackTorque_cb(msg);
+ break;
+ case CANMSG_MC_VSM_STATES:
+ vsmState_cb(msg);
+ break;
+ case CANMSG_BMS_PREFAULT:
+ bsmPrefault_cb(msg);
+ break;
  default:
  break;
  }

MPU/src/pedals.cpp

@@ -74,6 +74,12 @@ FaultStatus_t Pedals::readAccel()
 
 FaultStatus_t Pedals::readBrake()
 {
+ static uint16_t avg = 0;
+ static const uint8_t num_samples = 10;
+
+ // compare min and max
+ // signficant dip or absolute min to enter not pressed
+
  //Begin or continue the pedal reading process
  uint16_t pedalVal = brakes.readValue();
 
@@ -82,13 +88,14 @@ FaultStatus_t Pedals::readBrake()
  sendMessageCAN1(0xB1, 2, canBuf);
 
  //If the pedal reading process is NOT finished, return NOT_FAULTED because it hasn't finished collecting data
- if(pedalVal == NOT_DONE_READING) return NOT_FAULTED;
+ if (pedalVal == NOT_DONE_READING) return NOT_FAULTED;
 
  //If the pedal reading process has detected a FAULT, return FAULT
- if(brakes.isFaulted() == FAULTED) return FAULTED;
+ if (brakes.isFaulted() == FAULTED) return FAULTED;
+
+ avg = (avg * (num_samples - 1) + pedalVal) / num_samples;
 
- //Set brakePressed to whether or not the brake value is greater than the braking threshold
- brakePressed = pedalVal > ANALOG_BRAKE_THRESH ? HIGH : LOW;
+ brakePressed = avg > ANALOG_BRAKE_THRESH;
 
  pdu->enableBrakeLight(brakePressed);
 
@@ -313,7 +320,7 @@ void Pedals::controlLaunch(int16_t *torque, const float mph)
  /* Avg calc */
  avg_err = (avg_err + error) / num_err_samples;
 
- Serial.println(avg_err);
+ //Serial.println(avg_err);
 
  if (avg_err > REGAIN_TRACTION_ERR) return;
 
@@ -322,7 +329,7 @@ void Pedals::controlLaunch(int16_t *torque, const float mph)
  /* Cleansing values */
  if (control_torque < *torque) *torque = control_torque;
  if (*torque <= 0) *torque = 0;
- if (*torque > MAXIMUM_TORQUE) *torque = MAXIMUM_TORQUE; //change ceiling
+ if (*torque > (MAXIMUM_TORQUE)) *torque = MAXIMUM_TORQUE; //change ceiling
 
 }