Front Controller Board Firmware. More...

Classes
struct	AccelPedalCalibrationData

struct	AccelPedalStorage

struct	BrakePedalCalibrationData

struct	BrakePedalStorage

struct	FrontControllerConfig
	Front Controller configuration data. More...

struct	FrontControllerStorage
	Front Controller storage. More...

struct	OpdCalibrationStorage

struct	OpdStorage

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	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 pedal alpha value for low-pass filtering.

#define	FRONT_CONTROLLER_CAN_RX { .port = GPIO_PORT_B, .pin = 8 }
	Front Controller CAN RX Port.

#define	FRONT_CONTROLLER_CAN_TX { .port = GPIO_PORT_B, .pin = 9 }
	Front Controller CAN TX Port.

#define	FRONT_CONTROLLER_HEADLIGHT_LS_ENABLE { .port = GPIO_PORT_A, .pin = 1 }
	Front Controller headlight load switch enable.

#define	FRONT_CONTROLLER_LEFT_SIG_LS_ENABLE { .port = GPIO_PORT_A, .pin = 8 }
	Front Controller left signal load switch enable.

#define	FRONT_CONTROLLER_RIGHT_SIG_LS_ENABLE { .port = GPIO_PORT_A, .pin = 9 }
	Front Controller right signal load switch enable.

#define	FRONT_CONTROLLER_BRAKE_LIGHT_LS_ENABLE { .port = GPIO_PORT_A, .pin = 10 }
	Front Controller brake light load switch enable.

#define	FRONT_CONTROLLER_BPS_LIGHT_LS_ENABLE { .port = GPIO_PORT_A, .pin = 11 }
	Front Controller battery-protection-system light load switch enable.

#define	FRONT_CONTROLLER_DRIVER_FAN_LS_ENABLE { .port = GPIO_PORT_A, .pin = 12 }
	Front Controller driver fan load switch enable.

#define	FRONT_CONTROLLER_REV_CAM_LS_ENABLE { .port = GPIO_PORT_A, .pin = 15 }
	Front Controller reverse camera load switch enable.

#define	FRONT_CONTROLLER_TELEM_LS_ENABLE { .port = GPIO_PORT_B, .pin = 2 }
	Front Controller telemetry load switch enable.

#define	FRONT_CONTROLLER_STEERING_LS_ENABLE { .port = GPIO_PORT_B, .pin = 3 }
	Front Controller steering load switch enable.

#define	FRONT_CONTROLLER_HORN_LS_ENABLE { .port = GPIO_PORT_B, .pin = 4 }
	Front Controller horn load switch enable.

#define	FRONT_CONTROLLER_SPARE_1_LS_ENABLE { .port = GPIO_PORT_B, .pin = 10 }
	Front Controller spare 12V load switch enable.

#define	FRONT_CONTROLLER_SPARE_2_LS_ENABLE { .port = GPIO_PORT_B, .pin = 11 }
	Front Controller spare 12V load switch enable.

#define	FRONT_CONTROLLER_MUX_SEL_0 { .port = GPIO_PORT_B, .pin = 12 }
	Front Controller current sense mux select 0.

#define	FRONT_CONTROLLER_MUX_SEL_1 { .port = GPIO_PORT_B, .pin = 13 }
	Front Controller current sense mux select 1.

#define	FRONT_CONTROLLER_MUX_SEL_2 { .port = GPIO_PORT_B, .pin = 14 }
	Front Controller current sense mux select 2.

#define	FRONT_CONTROLLER_MUX_SEL_3 { .port = GPIO_PORT_B, .pin = 15 }
	Front Controller current sense mux select 3.

#define	FRONT_CONTROLLER_MUX_OUTPUT { .port = GPIO_PORT_A, .pin = 2 }
	Front Controller current sense mux input.

#define	FRONT_CONTROLLER_ACCEL_PEDAL { .port = GPIO_PORT_A, .pin = 3 }
	Front Controller accelerator pedal input.

#define	FRONT_CONTROLLER_BRAKE_PEDAL { .port = GPIO_PORT_A, .pin = 5 }
	Front Controller brake pedal input.

#define	WS22_CAN_BASE_CONTROL 0x500U

#define	WS22_CAN_BASE_STATUS 0x400U

#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 OpdStorage	OpdStorage

typedef struct Ws22MotorCanStorage	Ws22MotorCanStorage
	WS22 motor CAN interface storage structure.

Enumerations
enum	AccelState { ACCEL_STATE_DRIVING , ACCEL_STATE_BRAKING }

enum	PtsRelationType { PTS_TYPE_LINEAR , PTS_TYPE_EXPONENTIAL , PTS_TYPE_QUADRATIC }

enum	curveType { CURVE_TYPE_LINEAR , CURVE_TYPE_EXPONENTIAL , CURVE_TYPE_QUADRATIC }

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

StatusCode	opd_run ()

StatusCode	opd_init (FrontControllerStorage *storage)

StatusCode	opd_calculate_handler (float pedal_percentage, PtsRelationType relation_type, float *calculated_reading, curveType curve_type)

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

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

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 (uint32_t 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 0x400U

Base address for status messages

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

◆ 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

◆ 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 ( uint32_t 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

Function Documentation

◆ accel_pedal_init()

◆ accel_pedal_run()

◆ brake_pedal_init()

◆ brake_pedal_run()

◆ front_controller_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()