FaSTTUBe/steering-wheel
51
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update param config

Browse Source
This commit is contained in:
Leonard Gies
2025-08-01 03:17:16 +02:00
parent a3279514d0
commit daf6cbc255
35 changed files with 4587 additions and 161 deletions
Download Patch File Download Diff File Expand all files Collapse all files

39
Core/Inc/params.h
View File

@ -10,20 +10,39 @@ extern "C" {
#include "util.h"
CountedEnum(ParamType, size_t, PF_PLIM, PF_TLIM, PF_SLIM, PF_TVEC, PF_PG, PF_REKU);
typedef enum {
DC_0 = 0,
DC_1 = 1,
DC_2 = 2,
DC_3 = 3,
} Discipline;
typedef struct {
unsigned plim; //< Power limit
unsigned tlim; //< Torque limit
unsigned slim; //< Speed limit
unsigned tvec; //< Torque vectoring
unsigned pg; //< Power ground
unsigned reku; //< Rekuperation
} Params;
uint32_t value;
uint32_t min_value;
uint32_t max_value;
uint32_t step_value;
float display_factor;
} ParamConfig;
extern Params params;
// clang-format off
CountedEnum(ParamType, size_t,
PF_SpeedLimit,
PF_TorqueLimit,
PF_PowerLimit,
PF_Discipline,
PF_TorqueVectoringOn,
PF_TractionControlOn,
PF_Rekuperation,
PF_TractionControlP,
PF_TractionControlI,
PF_TractionControlMuMax,
PF_TractionControlSlipRef,
);
// clang-format on
extern ParamConfig params[];
void params_init();
void params_inc(ParamType param);
void params_dec(ParamType param);
void params_broadcast(ParamType param);

1
Core/Src/main.c
View File

@ -146,7 +146,6 @@ int main(void)
if (HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4) != HAL_OK) {
Error_Handler();
}
params_init();
shorttimer_init(htim_us);
led_init(&hspi3, &htim1);

121
Core/Src/params.c
View File

@ -2,102 +2,43 @@
#include "can-halal.h"
#include "vehicle.h"
/**
* Decrements the given value if it is above the minimum allowed value
*/
// TODO these functions take into account that the parameters are unsigned, it's definitely better to have them
// signed but would need to be tested with the autobox
#define DEC_IF_ABOVE(param_val, min_val, decr_amt) ((param_val) = (((int)(param_val) - (int)(decr_amt)) > (int)(min_val)) ? ((param_val) - (decr_amt)) : (min_val))
#define INC_IF_BELOW(param_val, max_val, incr_amt) ((param_val) = (((param_val) + (incr_amt)) < (max_val)) ? ((param_val) + (incr_amt)) : (max_val))
ParamConfig params[] = {
[PF_SpeedLimit] = {.value = 70, .min_value = 0, .max_value = 100, .step_value = 1, .display_factor = 1.0},
[PF_TorqueLimit] = {.value = 1400, .min_value = 0, .max_value = 1500, .step_value = 50, .display_factor = 1.0},
[PF_PowerLimit] = {.value = 20, .min_value = 0, .max_value = 80, .step_value = 1, .display_factor = 1.0},
[PF_Discipline] = {.value = 0, .min_value = 0, .max_value = 3, .step_value = 1, .display_factor = 1.0}, // TODO text
[PF_TorqueVectoringOn] = {.value = 1, .min_value = 0, .max_value = 1, .step_value = 1, .display_factor = 1.0},
[PF_TractionControlOn] = {.value = 1, .min_value = 0, .max_value = 1, .step_value = 1, .display_factor = 1.0},
[PF_Rekuperation] = {.value = 1, .min_value = 0, .max_value = 1, .step_value = 1, .display_factor = 1.0},
[PF_TractionControlP] = {.value = 20, .min_value = 0, .max_value = 50, .step_value = 1, .display_factor = 0.1},
[PF_TractionControlI] = {.value = 20, .min_value = 0, .max_value = 50, .step_value = 1, .display_factor = 0.1},
[PF_TractionControlMuMax] = {.value = 16, .min_value = 0, .max_value = 30, .step_value = 1, .display_factor = 0.1},
[PF_TractionControlSlipRef] = {.value = 4, .min_value = 0, .max_value = 10, .step_value = 1, .display_factor = 0.1},
};
Params params = {0};
void params_inc(ParamType param) {
uint32_t inc_value = params[param].value + params[param].step_value;
void params_init()
{
// Default values
params.plim = 20;
params.tlim = 1400;
params.slim = 70;
params.tvec = 50;
params.pg = 0;
params.reku = 0;
}
void params_inc(ParamType param)
{
switch (param)
{
case PF_PLIM:
INC_IF_BELOW(params.plim, 80, 1);
break;
case PF_TLIM:
INC_IF_BELOW(params.tlim, 1500, 100);
break;
case PF_SLIM:
INC_IF_BELOW(params.slim, 100, 1);
break;
case PF_TVEC:
INC_IF_BELOW(params.tvec, 100, 1);
break;
case PF_PG:
INC_IF_BELOW(params.pg, 100, 1);
break;
case PF_REKU:
INC_IF_BELOW(params.reku, 100, 1);
break;
if (inc_value > params[param].max_value) {
params[param].value = params[param].max_value;
} else {
params[param].value = inc_value;
}
}
void params_dec(ParamType param)
{
switch (param)
{
case PF_PLIM:
DEC_IF_ABOVE(params.plim, 0, 1);
break;
case PF_TLIM:
DEC_IF_ABOVE(params.tlim, 0, 100);
break;
case PF_SLIM:
DEC_IF_ABOVE(params.slim, 0, 1);
break;
case PF_TVEC:
DEC_IF_ABOVE(params.tvec, 0, 1);
break;
case PF_PG:
DEC_IF_ABOVE(params.pg, 0, 1);
break;
case PF_REKU:
DEC_IF_ABOVE(params.reku, 0, 1);
break;
void params_dec(ParamType param) {
uint32_t dec_value = 0;
if (params[param].value > params[param].step_value) { // check for potential underflow
dec_value = params[param].value - params[param].step_value;
}
if (dec_value < params[param].min_value) {
params[param].value = params[param].min_value;
} else {
params[param].value = dec_value;
}
}
void params_broadcast(ParamType param)
{
int32_t value;
switch (param)
{
case PF_PLIM:
value = params.plim;
break;
case PF_TLIM:
value = params.tlim;
break;
case PF_SLIM:
value = params.slim;
break;
case PF_TVEC:
value = params.tvec;
break;
case PF_PG:
value = params.pg;
break;
case PF_REKU:
value = params.reku;
break;
default:
return;
}
vehicle_broadcast_param(param, value);
void params_broadcast(ParamType param) { //
vehicle_broadcast_param(param, params[param].value);
}

9
Core/Src/vehicle.c
View File

@ -163,11 +163,10 @@ void vehicle_select_mission(Mission mission) {
}
void vehicle_broadcast_param(ParamType param, int32_t value) {
uint8_t data[5];
uint8_t *ptr = data;
ptr = ftcan_marshal_unsigned(ptr, param, 1);
ptr = ftcan_marshal_signed(ptr, value, 4);
ftcan_transmit(CAN_ID_STW_PARAM_SET, data, 5);
uint8_t data[6];
*((uint16_t *)data) = param;
*((uint32_t *)(data + 2)) = value;
ftcan_transmit(CAN_ID_STW_PARAM_SET, data, 6);
}
void vehicle_broadcast_buttons(GPIO_PinState *button_states) {