Front Controller Board Firmware. More...

Classes
struct	AccelPedalCalibrationData

struct	AccelPedalStorage

struct	BrakePedalCalibrationData

struct	BrakePedalStorage

struct	CruiseControlStorage

struct	FrontControllerConfig
	Front Controller configuration data. More...

struct	FrontControllerStorage
	Front Controller storage. More...

struct	OpdStorage

struct	PowerManagerStorage

struct	OutputGroupDef

struct	Ws22MotorControlData
	Motor control command data structure. More...

struct	Ws22MotorTelemetryData
	Motor status and telemetry data structure. More...

struct	Ws22MotorCanStorage
	WS22 motor CAN interface storage structure. More...

Macros
#define	CC_MIN_THRESHOLD 0.5f

#define	CC_KP 0.00000005

#define	ACCELERATION_LIMIT_M_S2 1

#define	ACCELERATION_LIMIT_KM_HS ACCELERATION_LIMIT_M_S2 * 3.6

#define	ACCELERATION_LIMIT_PER_1000HZ_CYCLE ACCELERATION_LIMIT_KM_HS / 1000

#define	CURRENT_STEP_LIMIT 0.0001

#define	FRONT_CONTROLLER_ACCEL_INPUT_DEADZONE 0.02f
	Front controller pedal set to 2% deadzone

#define	FRONT_CONTROLLER_ACCEL_REMAP_MIN 0.10f
	Front controller pedal is remapped from 0 - 1 to 0.1 to 1.

#define	FRONT_CONTROLLER_ACCEL_CURVE_EXPONENT 2.0f
	Front controller pedal exponent for non-linear feel.

#define	FRONT_CONTROLLER_ACCEL_LPF_ALPHA 0.25f
	Front controller accel pedal alpha value for low-pass filtering.

#define	FRONT_CONTROLLER_BRAKE_LPF_ALPHA 0.50f
	Front controller brake pedal alpha value for low-pass filtering.

#define	FRONT_CONTROLLER_BRAKE_INPUT_DEADZONE 0.01f
	Front controller brake pedal set to 1% deadzone

#define	WS22_CONTROLLER_MAX_VELOCITY 12000
	Max velocity value used for ws22 motor controllers.

#define	MAX_VEHICLE_SPEED_KPH 50
	Max speed of vehicle in KPH.

#define	FRONT_CONTROLLER_GPIO_DEF(PORT, PIN) { .port = GPIO_PORT_##PORT, .pin = PIN }

#define	GPIO_FRONT_CONTROLLER_CAN_RX FRONT_CONTROLLER_GPIO_DEF(B, 8)
	Front Controller CAN RX Port.

#define	GPIO_FRONT_CONTROLLER_CAN_TX FRONT_CONTROLLER_GPIO_DEF(B, 9)
	Front Controller CAN TX Port.

#define	GPIO_FRONT_CONTROLLER_LEFT_SIG_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(B, 12)
	Front Controller left signal load switch enable.

#define	GPIO_FRONT_CONTROLLER_RIGHT_SIG_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(B, 13)
	Front Controller right signal load switch enable.

#define	GPIO_FRONT_CONTROLLER_BRAKE_LIGHT_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(A, 10)
	Front Controller brake light load switch enable.

#define	GPIO_FRONT_CONTROLLER_BPS_LIGHT_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(A, 9)
	Front Controller battery-protection-system light load switch enable.

#define	GPIO_FRONT_CONTROLLER_DRIVER_FAN_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(B, 14)
	Front Controller driver fan load switch enable.

#define	GPIO_FRONT_CONTROLLER_REV_CAM_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(B, 15)
	Front Controller reverse camera load switch enable.

#define	GPIO_FRONT_CONTROLLER_TELEM_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(A, 8)
	Front Controller telemetry load switch enable.

#define	GPIO_FRONT_CONTROLLER_STEERING_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(B, 11)
	Front Controller steering load switch enable.

#define	GPIO_FRONT_CONTROLLER_HORN_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(A, 11)
	Front Controller horn load switch enable.

#define	GPIO_FRONT_CONTROLLER_SPARE_1_LS_ENABLE FRONT_CONTROLLER_GPIO_DEF(A, 12)
	Front Controller spare 12V load switch enable.

#define	GPIO_FRONT_CONTROLLER_MUX_SEL_2 FRONT_CONTROLLER_GPIO_DEF(A, 6)
	Front Controller current sense mux select 0.

#define	GPIO_FRONT_CONTROLLER_MUX_SEL_3 FRONT_CONTROLLER_GPIO_DEF(A, 7)
	Front Controller current sense mux select 1.

#define	GPIO_FRONT_CONTROLLER_MUX_SEL_0 FRONT_CONTROLLER_GPIO_DEF(B, 1)
	Front Controller current sense mux select 2.

#define	GPIO_FRONT_CONTROLLER_MUX_SEL_1 FRONT_CONTROLLER_GPIO_DEF(B, 2)
	Front Controller current sense mux select 3.

#define	GPIO_FRONT_CONTROLLER_MUX_OUTPUT FRONT_CONTROLLER_GPIO_DEF(B, 0)
	Front Controller current sense mux input.

#define	GPIO_FRONT_CONTROLLER_ACCEL_PEDAL FRONT_CONTROLLER_GPIO_DEF(A, 3)
	Front Controller accelerator pedal input.

#define	GPIO_FRONT_CONTROLLER_BRAKE_PEDAL FRONT_CONTROLLER_GPIO_DEF(A, 5)
	Front Controller brake pedal input.

#define	GPIO_FRONT_CONTROLLER_BOARD_LED FRONT_CONTROLLER_GPIO_DEF(B, 10)
	Front Controller board LED.

#define	VEL_TO_RPM_RATIO 0.57147

#define	WS22_CAN_BASE_CONTROL 0x500U

#define	WS22_CAN_BASE_STATUS 0x80U

#define	WS22_CAN_ID_DRIVE_CMD (WS22_CAN_BASE_CONTROL + 0x01U)

#define	WS22_CAN_ID_STATUS_INFO (WS22_CAN_BASE_STATUS + 0x01U)

#define	WS22_CAN_ID_BUS_MEASUREMENT (WS22_CAN_BASE_STATUS + 0x02U)

#define	WS22_CAN_ID_VELOCITY_MEASUREMENT (WS22_CAN_BASE_STATUS + 0x03U)

#define	WS22_CAN_ID_PHASE_CURRENT (WS22_CAN_BASE_STATUS + 0x04U)

#define	WS22_CAN_ID_MOTOR_VOLTAGE (WS22_CAN_BASE_STATUS + 0x05U)

#define	WS22_CAN_ID_MOTOR_CURRENT (WS22_CAN_BASE_STATUS + 0x06U)

#define	WS22_CAN_ID_MOTOR_BACK_EMF (WS22_CAN_BASE_STATUS + 0x07U)

#define	WS22_CAN_ID_RAIL_15V (WS22_CAN_BASE_STATUS + 0x08U)

#define	WS22_CAN_ID_TEMPERATURE (WS22_CAN_BASE_STATUS + 0x0BU)

Typedefs
typedef struct AccelPedalStorage	AccelPedalStorage

typedef struct BrakePedalStorage	BrakePedalStorage

typedef struct CruiseControlStorage	CruiseControlStorage

typedef struct OpdStorage	OpdStorage

typedef enum PtsRelationType	PtsRelationType

typedef enum CurveType	CurveType

typedef struct PowerManagerStorage	PowerManagerStorage

typedef struct Ws22MotorCanStorage	Ws22MotorCanStorage
	WS22 motor CAN interface storage structure.

Enumerations
enum	FrontControllerState { FRONT_CONTROLLER_STATE_IDLE = 0 , FRONT_CONTROLLER_STATE_ENGAGED , FRONT_CONTROLLER_STATE_FAULT , NUM_FRONT_CONTROLLER_STATES }

enum	FrontControllerEvent { FRONT_CONTROLLER_EVENT_NONE = 0 , FRONT_CONTROLLER_EVENT_IDLE_REQUEST , FRONT_CONTROLLER_EVENT_DRIVE_REQUEST , FRONT_CONTROLLER_EVENT_FAULT , FRONT_CONTROLLER_EVENT_RESET }

enum	PtsRelationType { PTS_TYPE_LINEAR , PTS_TYPE_EXPONENTIAL , PTS_TYPE_QUADRATIC }

enum	CurveType { CURVE_TYPE_LINEAR , CURVE_TYPE_EXPONENTIAL , CURVE_TYPE_QUADRATIC }

enum	OutputId { HORN = 0 , SPARE_1 , BRAKE_LIGHT , BPS_LIGHT , TELEM , REV_CAM , DRIVER_FAN , RIGHT_SIG , STEERING , LEFT_SIG , NUM_OUTPUTS }
	Power outputs. More...

enum	OutputGroup { OUTPUT_GROUP_ALL = 0 , OUTPUT_GROUP_ACTIVE , OUTPUT_GROUP_LEFT_LIGHTS , OUTPUT_GROUP_RIGHT_LIGHTS , OUTPUT_GROUP_HAZARD_LIGHTS , OUTPUT_GROUP_BPS_LIGHTS , OUTPUT_GROUP_BRAKE_LIGHTS , OUTPUT_GROUP_HORN , NUM_OUTPUT_GROUPS }
	Power output groups.

Functions
StatusCode	accel_pedal_run ()
	Reads the pedal percentage and applies deadzone and filtering before updating the storage. More...

StatusCode	accel_pedal_init (FrontControllerStorage *storage)
	Initializes the acceleration pedal hardware interface loads calibration data from memory. More...

StatusCode	brake_pedal_run ()
	Reads the pedal percentage and applies deadzone and filtering before updating the brake state. More...

StatusCode	brake_pedal_init (FrontControllerStorage *storage)
	Initializes the brake pedal hardware interface loads calibration data from memory. More...

StatusCode	cruise_control_run ()
	Runs one cruise control calculation cycle. Called within motor_can.c when cruise control mode is on. More...

StatusCode	cruise_control_init (FrontControllerStorage *storage)
	Initializes the cruise control module. More...

StatusCode	front_controller_init (FrontControllerStorage storage, FrontControllerConfig config)
	Initialize the front controller interface. More...

StatusCode	front_controller_state_manager_init (FrontControllerStorage *storage)
	Initialize the state machine. More...

StatusCode	front_controller_state_manager_step (FrontControllerEvent event)
	Advance the state machine based on inputs/events. More...

FrontControllerState	front_controller_state_manager_get_state (void)
	Get current state. More...

StatusCode	front_controller_update_state_manager_medium_cycle ()
	Update the state/set load switches based on information recieved from CAN (medium cycle). More...

StatusCode	horn_init ()
	Initializes the horn pin. More...

StatusCode	motor_can_update_target_current_velocity ()
	Updates target current and velocity of motors based on drive state. More...

StatusCode	motor_can_init (FrontControllerStorage *storage)
	Initializes the motor can, loads front controller storage data. More...

StatusCode	motor_can_get_current_state (VehicleDriveState *current_state)
	retrieve current vehicle drive state

char *	motor_can_get_current_state_str ()
	print a state as a string

StatusCode	opd_calculate_handler (float pedal_percentage, PtsRelationType relation_type, float *calculated_reading, CurveType curve_type)
	handler for opd_calculate command, runs either linear or quadratic calculation based on CurveType enum

StatusCode	opd_linear_calculate (float pedal_percentage, PtsRelationType relation_type, float *calculated_reading)
	Perform linear OPD calculation. More...

StatusCode	opd_quadratic_calculate (float pedal_percentage, PtsRelationType relation_type, float *calculated_reading)
	Perform quadratic OPD calculation.

StatusCode	opd_run ()
	Reads the pedal percentage from AccelPedalStorage and saves an adjusted acceleration percentage to front controller based on OPD algorithm. More...

StatusCode	opd_init (FrontControllerStorage *storage)
	Initializes the opd, loads front controller storage. More...

StatusCode	pedal_calib_read (FrontControllerStorage *storage)
	Reads pedal calibration data. More...

StatusCode	power_manager_init (FrontControllerStorage *storage)
	Initialize all the GPIO pins. More...

StatusCode	power_manager_set_output_group (OutputGroup group, bool enable)
	Set an output group as active or inactive.

StatusCode	power_manager_toggle_output_group (OutputGroup group)
	Toggle an output group.

StatusCode	power_manager_run_current_sense (OutputGroup group)
	Run current sensing.

StatusCode	ws22_motor_can_init (FrontControllerStorage *storage)
	Initialize the WS22 motor CAN interface. More...

StatusCode	ws22_motor_can_set_current (float current)
	Set motor control current command. More...

StatusCode	ws22_motor_can_set_velocity (float velocity)
	Set motor control velocity command. More...

StatusCode	ws22_motor_can_transmit_drive_command (void)
	Build and transmit motor drive command. More...

StatusCode	ws22_motor_can_process_rx (CanMessage *msg)
	Process received CAN message for motor controller. More...

Ws22MotorControlData *	ws22_motor_can_get_control_data (void)
	Get current motor control data. More...

Ws22MotorTelemetryData *	ws22_motor_can_get_telemetry_data (void)
	Get current motor telemetry data. More...

Detailed Description

Front Controller Board Firmware.

Macro Definition Documentation

◆ WS22_CAN_BASE_CONTROL

#define WS22_CAN_BASE_CONTROL 0x500U

Base address for control messages

◆ WS22_CAN_BASE_STATUS

#define WS22_CAN_BASE_STATUS 0x80U

Base address for status messages

Enumeration Type Documentation

◆ FrontControllerState

enum FrontControllerState

Enumerator
FRONT_CONTROLLER_STATE_IDLE	Ready but not driving or charging, cars in neutral
FRONT_CONTROLLER_STATE_ENGAGED	Driving: motor relays closed, LV enabled
FRONT_CONTROLLER_STATE_FAULT	Faulted: relays open, latched until reset

◆ OutputId

enum OutputId

Power outputs.

The order of this enum matters. It matches the schematic mux indices

Function Documentation

◆ accel_pedal_init()

StatusCode accel_pedal_init ( FrontControllerStorage * storage )

Initializes the acceleration pedal hardware interface loads calibration data from memory.

Returns: STATUS_CODE_OK if pedal is initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is provided

◆ accel_pedal_run()

StatusCode accel_pedal_run ( )

Reads the pedal percentage and applies deadzone and filtering before updating the storage.

Returns: STATUS_CODE_OK if pedal is read successfully STATUS_CODE_UNINITIALIZED if pedal is not initialized STATUS_CODE_INTERNAL_ERROR if ADC fails

Convert ADC Reading to readable voltage by normalizing with calibration data and dividing to get percentage press. Negatives and > 100 values will be clamped

◆ brake_pedal_init()

StatusCode brake_pedal_init ( FrontControllerStorage * storage )

Initializes the brake pedal hardware interface loads calibration data from memory.

Returns: STATUS_CODE_OK if pedal is initialized successfully STATUS_CODE_INVALID_ARGS if an invalid parameter is provided

◆ brake_pedal_run()

StatusCode brake_pedal_run ( )

Reads the pedal percentage and applies deadzone and filtering before updating the brake state.

Returns: STATUS_CODE_OK if pedal is read successfully STATUS_CODE_UNINITIALIZED if pedal is not initialized STATUS_CODE_INTERNAL_ERROR if ADC fails

◆ cruise_control_init()

StatusCode cruise_control_init ( FrontControllerStorage * storage )

Initializes the cruise control module.

Returns: STATUS_CODE_OK if initialization is successful STATUS_CODE_INVALID_ARGS if storage is null

◆ cruise_control_run()

StatusCode cruise_control_run ( )

Runs one cruise control calculation cycle. Called within motor_can.c when cruise control mode is on.

Returns: STATUS_CODE_OK if successful STATUS_CODE_INVALID_ARGS if cruise control is not initialized

Perform PID calculations on current and target motor velocity...

calculate eP 1.1. if eP < min_threshold, set current directly
calculate eI, eD 2.1. bound eI if needed
calculate result kP * eP + ...
compare result to previous set_motor_velocity -> acceleration limiting

Notes: eI must be reset on any pedal action

◆ front_controller_init()

StatusCode front_controller_init	(	FrontControllerStorage *	storage,
		FrontControllerConfig *	config
	)

Initialize the front controller interface.

Parameters

storage	Pointer to the front controller storage
config	Pointer to the front controller config

Returns: STATUS_CODE_OK if front controller initialization succeeded STATUS_CODE_INVALID_ARGS if one of the parameters are incorrect

◆ front_controller_state_manager_get_state()

FrontControllerState front_controller_state_manager_get_state ( void )

Get current state.

Returns: Current front controller state (see FrontControllerState)

◆ front_controller_state_manager_init()

StatusCode front_controller_state_manager_init ( FrontControllerStorage * storage )

Initialize the state machine.

Parameters

storage Pointer to the front controller storage

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_RESOURCE_EXHAUSTED if initialized already

◆ front_controller_state_manager_step()

StatusCode front_controller_state_manager_step ( FrontControllerEvent event )

Advance the state machine based on inputs/events.

Parameters

event The triggering event

Returns: STATUS_CODE_OK if initialized successfully STATUS_CODE_UNINITIALIZED if uninitialized

◆ front_controller_update_state_manager_medium_cycle()

StatusCode front_controller_update_state_manager_medium_cycle ( )

Update the state/set load switches based on information recieved from CAN (medium cycle).

Returns: STATUS_CODE_OK if udpated successfully

◆ horn_init()

StatusCode horn_init ( )

Initializes the horn pin.

Returns: STATUS_CODE_OK if horn is initialized successfully

◆ motor_can_init()

StatusCode motor_can_init ( FrontControllerStorage * storage )

Initializes the motor can, loads front controller storage data.

Returns: STATUS_CODE_OK if front controller is initialized successfully STATUS_CODE_INVALID_ARGS if storage pointer is invalid

◆ motor_can_update_target_current_velocity()

StatusCode motor_can_update_target_current_velocity ( )

Updates target current and velocity of motors based on drive state.

Returns: STATUS_CODE_OK if values are set successfully STATUS_CODE_INVALID_ARGS if drive state is invalid STATUS_CODE_UNINITIALIZED if motor can is uninitialized

◆ opd_init()

StatusCode opd_init ( FrontControllerStorage * storage )

Initializes the opd, loads front controller storage.

Returns: STATUS_CODE_OK if opd is initialized successfully STATUS_CODE_INVALID_ARGS if storage pointer is invalid

◆ opd_linear_calculate()

StatusCode opd_linear_calculate	(	float	pedal_percentage,
		PtsRelationType	relation_type,
		float *	calculated_reading
	)

Perform linear OPD calculation.

Linearly reduce regenerative braking when it's within a certain delta of the max cell voltage

◆ opd_run()

StatusCode opd_run ( )

Reads the pedal percentage from AccelPedalStorage and saves an adjusted acceleration percentage to front controller based on OPD algorithm.

Returns: STATUS_CODE_OK if acceleration percentage is successfully stored STATUS_CODE_UNINITIALIZED if front controller storage is uninitialized

◆ pedal_calib_read()

StatusCode pedal_calib_read ( FrontControllerStorage * storage )

Reads pedal calibration data.

Parameters

storage Pointer to the front controller storage

Returns: STATUS_CODE_OK if calibration data is read successfully STATUS_CODE_INVALID_ARGS if storage is NULL

◆ power_manager_init()

StatusCode power_manager_init ( FrontControllerStorage * storage )

Initialize all the GPIO pins.

Parameters

storage Pointer to the front controller storage

Returns: STATUS_CODE_OK if initialized succesfully STATUS_CODE_INVALID_ARGS if an invalid argument is passed in

◆ ws22_motor_can_get_control_data()

Ws22MotorControlData * ws22_motor_can_get_control_data ( void )

Get current motor control data.

Returns: Pointer to motor control data (read-only)

◆ ws22_motor_can_get_telemetry_data()

Ws22MotorTelemetryData * ws22_motor_can_get_telemetry_data ( void )

Get current motor telemetry data.

Returns: Pointer to motor telemetry data (read-only)

◆ ws22_motor_can_init()

StatusCode ws22_motor_can_init ( FrontControllerStorage * storage )

Initialize the WS22 motor CAN interface.

Parameters

storage Pointer to Front controller storage structure

Returns: STATUS_CODE_OK on success, error code otherwise

◆ ws22_motor_can_process_rx()

StatusCode ws22_motor_can_process_rx ( CanMessage * msg )

Process received CAN message for motor controller.

Parameters

msg	Pointer to received CAN message

Returns: STATUS_CODE_OK on success, STATUS_CODE_UNIMPLEMENTED for unknown message IDs

◆ ws22_motor_can_set_current()

StatusCode ws22_motor_can_set_current ( float current )

Set motor control current command.

Parameters

current Motor current command (0.0 to 1.0)

Returns: STATUS_CODE_OK on success, STATUS_CODE_INVALID_ARGS if out of range

◆ ws22_motor_can_set_velocity()

StatusCode ws22_motor_can_set_velocity ( float velocity )

Set motor control velocity command.

Parameters

velocity Motor velocity command (rpm)

Returns: STATUS_CODE_OK on success, STATUS_CODE_INVALID_ARGS if out of range

◆ ws22_motor_can_transmit_drive_command()

StatusCode ws22_motor_can_transmit_drive_command ( void )

Build and transmit motor drive command.

Returns: STATUS_CODE_OK on success, error code otherwise

Classes

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ WS22_CAN_BASE_CONTROL

◆ WS22_CAN_BASE_STATUS

Enumeration Type Documentation

◆ FrontControllerState

◆ OutputId

Function Documentation

◆ accel_pedal_init()

◆ accel_pedal_run()

◆ brake_pedal_init()

◆ brake_pedal_run()

◆ cruise_control_init()

◆ cruise_control_run()

◆ front_controller_init()

◆ front_controller_state_manager_get_state()

◆ front_controller_state_manager_init()

◆ front_controller_state_manager_step()

◆ front_controller_update_state_manager_medium_cycle()

◆ horn_init()

◆ motor_can_init()

◆ motor_can_update_target_current_velocity()

◆ opd_init()

◆ opd_linear_calculate()

◆ opd_run()

◆ pedal_calib_read()

◆ power_manager_init()

◆ ws22_motor_can_get_control_data()

◆ ws22_motor_can_get_telemetry_data()

◆ ws22_motor_can_init()

◆ ws22_motor_can_process_rx()

◆ ws22_motor_can_set_current()

◆ ws22_motor_can_set_velocity()

◆ ws22_motor_can_transmit_drive_command()