motor_controller Firmware More...

Classes
struct	Mcp2515Errors

struct	Mcp2515Settings

struct	Mcp2515Storage

struct	OnePedalStorage
	One pedal drive storage. More...

struct	PrechargeSettings
	Precharge settings. More...

Macros
#define	MCP2515_CMD_RESET 0xC0

#define	MCP2515_CMD_READ 0x03

#define	MCP2515_CMD_READ_RX 0x90

#define	MCP2515_CMD_WRITE 0x02

#define	MCP2515_CMD_LOAD_TX 0x40

#define	MCP2515_CMD_RTS 0x80

#define	MCP2515_CMD_READ_STATUS 0xA0

#define	MCP2515_CMD_RX_STATUS 0xB0

#define	MCP2515_CMD_BIT_MODIFY 0x05

#define	MCP2515_READ_RXB0SIDH 0x00

#define	MCP2515_READ_RXB0D0 0x02

#define	MCP2515_READ_RXB1SIDH 0x04

#define	MCP2515_READ_RXB1D0 0x06

#define	MCP2515_LOAD_TXB0SIDH 0x00

#define	MCP2515_LOAD_TXB0D0 0x01

#define	MCP2515_LOAD_TXB1SIDH 0x02

#define	MCP2515_LOAD_TXB1D0 0x03

#define	MCP2515_LOAD_TXB2SIDH 0x04

#define	MCP2515_LOAD_TXB2D0 0x05

#define	MCP2515_RTS_TXB0 0x01

#define	MCP2515_RTS_TXB1 0x02

#define	MCP2515_RTS_TXB2 0x04

#define	MCP2515_STATUS_RX0IF 0x01

#define	MCP2515_STATUS_RX1IF 0x02

#define	MCP2515_STATUS_TX0REQ 0x04

#define	MCP2515_STATUS_TX0IF 0x08

#define	MCP2515_STATUS_TX1REQ 0x10

#define	MCP2515_STATUS_TX1IF 0x20

#define	MCP2515_STATUS_TX2REQ 0x40

#define	MCP2515_STATUS_TX2IF 0x80

#define	MCP2515_CTRL_REG_BFPCTRL 0x0C

#define	MCP2515_CTRL_REG_TXRTSCTRL 0x0D

#define	MCP2515_CTRL_REG_CANSTAT 0x0E

#define	MCP2515_CTRL_REG_CANCTRL 0x0F

#define	MCP2515_CTRL_REG_TEC 0x1C

#define	MCP2515_CTRL_REG_REC 0x1D

#define	MCP2515_CTRL_REG_CNF3 0x28

#define	MCP2515_CTRL_REG_CNF2 0x29

#define	MCP2515_CTRL_REG_CNF1 0x2A

#define	MCP2515_CTRL_REG_CANINTE 0x2B

#define	MCP2515_CTRL_REG_CANINTF 0x2C

#define	MCP2515_CTRL_REG_EFLG 0x2D

#define	MCP2515_CTRL_REG_TXB0CTRL 0x30

#define	MCP2515_CTRL_REG_TXB1CTRL 0x40

#define	MCP2515_CTRL_REG_TXB2CTRL 0x50

#define	MCP2515_CTRL_REG_RXB0CTRL 0x60

#define	MCP2515_CTRL_REG_RXB1CTRL 0x70

#define	MCP2515_TX_CTRL_BIT_ABTF (1 << 6)

#define	MCP2515_TX_CTRL_BIT_MLOA (1 << 5)

#define	MCP2515_TX_CTRL_BIT_TXERR (1 << 4)

#define	MCP2515_REG_RXF0SIDH 0x00

#define	MCP2515_REG_RXF1SIDH 0x04

#define	MCP2515_REG_RXF2SIDH 0x08

#define	MCP2515_REG_RXF3SIDH 0x10

#define	MCP2515_REG_RXF4SIDH 0x14

#define	MCP2515_REG_RXF5SIDH 0x18

#define	MCP2515_REG_RXM0SIDH 0x20

#define	MCP2515_REG_RXM1SIDH 0x24

#define	MCP2515_CANCTRL_OPMODE_MASK 0xE0

#define	MCP2515_CANCTRL_OPMODE_NORMAL 0x00

#define	MCP2515_CANCTRL_OPMODE_SLEEP 0x20

#define	MCP2515_CANCTRL_OPMODE_LOOPBACK 0x40

#define	MCP2515_CANCTRL_OPMODE_LISTEN 0x60

#define	MCP2515_CANCTRL_OPMODE_CONFIG 0x80

#define	MCP2515_CANCTRL_CLKOUT_MASK 0x07

#define	MCP2515_CANCTRL_CLKOUT_CLKPRE_1 0x04

#define	MCP2515_CANCTRL_CLKOUT_CLKPRE_2 0x05

#define	MCP2515_CANCTRL_CLKOUT_CLKPRE_4 0x06

#define	MCP2515_CANCTRL_CLKOUT_CLKPRE_8 0x07

#define	MCP2515_CNF3_PHSEG2_MASK 0x07

#define	MCP2515_CNF2_BTLMODE_MASK 0x80

#define	MCP2515_CNF2_BTLMODE_CNF3 0x80

#define	MCP2515_CNF2_SAMPLE_MASK 0x40

#define	MCP2515_CNF2_SAMPLE_3X 0x40

#define	MCP2515_CNF2_PHSEG1_MASK 0x38

#define	MCP2515_CNF2_PRSEG_MASK 0x07

#define	MCP2515_CNF1_BRP_MASK 0x3F

#define	MCP2515_CANINT_MSG_ERROR 0x80

#define	MCP2515_CANINT_WAKEUP 0x40

#define	MCP2515_CANINT_EFLAG 0x20

#define	MCP2515_CANINT_TX2IE 0x10

#define	MCP2515_CANINT_TX1IE 0x08

#define	MCP2515_CANINT_TX0IE 0x04

#define	MCP2515_CANINT_RX1IE 0x02

#define	MCP2515_CANINT_RX0IE 0x01

#define	MCP2515_EFLG_RX1_OVERFLOW 0x80

#define	MCP2515_EFLG_RX0_OVERFLOW 0x40

#define	MCP2515_EFLG_TX_BUS_OFF 0x20

#define	MCP2515_EFLG_TX_EP_FLAG 0x10

#define	MCP2515_EFLG_RX_EP_FLAG 0x08

#define	MCP2515_EFLG_TX_WARNING 0x04

#define	MCP2515_EFLG_RX_WARNING 0x02

#define	MCP2515_EFLG_ERROR_WARNING 0x01

#define	MCP2515_TXBNDLC_RTR_SHIFT 6

#define	MCP2515_TXBNDLC_RTR_FRAME 0x40

#define	MCP2515_TXBNDLC_DLC_MASK 0x0F

#define	MCP2515_RXB0CTRL_BUKT 0x4

#define	MCP2515_MAX_WRITE_BUFFER_LEN 10

#define	MCP2515_STANDARD_ID_LEN 11

#define	MCP2515_EXTENDED_ID_LEN 18

#define	MCP2515_CAN_BRP_125KBPS 3

#define	MCP2515_CAN_BRP_250KBPS 1

#define	MCP2515_CAN_BRP_500KBPS 0

#define	MCP2515_NUM_MASK_REGISTERS_STANDARD 2

#define	MCP2515_NUM_MASK_REGISTERS_EXTENDED 4

#define	MCP2515_BFPCTRL_B1BFS 0x20

#define	MCP2515_BFPCTRL_B2BFS 0x10

#define	MCP2515_BFPCTRL_B1BFE 0x08

#define	MCP2515_BFPCTRL_B2BFE 0x04

#define	MCP2515_BFPCTRL_B1BFM 0x02

#define	MCP2515_BFPCTRL_B2BFM 0x01

#define	CURRENT_SCALE 100

#define	VOLTAGE_SCALE 100

#define	VELOCITY_SCALE 100

#define	TEMP_SCALE 100

#define	ACCERLATION_FORCE 1

#define	CRUISE_THROTTLE_THRESHOLD 0

#define	TORQUE_CONTROL_VEL 20000

#define	MATH_PI 3.14

#define	WHEEL_DIAMETER 0.57147

#define	VEL_TO_RPM_RATIO (60 / (2 * MATH_PI) * WHEEL_DIAMETER)

#define	CONVERT_VELOCITY_TO_KPH 13234

#define	DRIVER_CONTROL_BASE 0x500

#define	MOTOR_CONTROLLER_BASE_L 0x400

#define	MOTOR_CONTROLLER_BASE_R 0x80

#define	MAX_COASTING_THRESHOLD 0.4f
	Max pedal threshold when coasting at speeds > 8 km/h.

#define	MAX_OPD_SPEED 16.0f
	Max car speed in km/h before one pedal drive threshold maxes out.

#define	COASTING_THRESHOLD_SCALE 0.025f
	Scaling value to determine the coasting threshold based on speed.

#define	PRECHARGE_EVENT_IT 0U
	Precharge interrupt notification.

Typedefs
typedef struct Mcp2515Errors	Mcp2515Errors

typedef struct Mcp2515Settings	Mcp2515Settings

typedef struct Mcp2515Storage	Mcp2515Storage

typedef enum MotorControllerMessageIds	MotorControllerMessageIds

Enumerations
enum	MotorControllerMessageIds { IDENTIFICATION = 0 , STATUS , BUS_MEASUREMENT , VEL_MEASUREMENT , PHASE_CURRENT , MOTOR_VOLTAGE , MOTOR_CURRENT , MOTOR_BACK_EMF , RAIL_15V , RAIL_3V_9V , RESERVED , HEAT_SINK_MOTOR_TEMP , DSP_BOARD_TEMP , RESERVED_2 , ODOMETER_BUS_AMPHOUR , SLIP_SPEED = 0x17 }

Functions
StatusCode	mcp2515_init (Mcp2515Storage storage, const Mcp2515Settings settings)

StatusCode	mcp2515_set_filter (CanMessageId *filters, bool loopback)

StatusCode	mcp2515_transmit (const CanMessage *msg)

StatusCode	mcp2515_receive (const CanMessage *msg)

StatusCode	run_mcp2515_rx_cycle ()

StatusCode	run_mcp2515_tx_cycle ()

StatusCode	mcp2515_hw_init (Mcp2515Storage rx_queue, const Mcp2515Settings settings)

StatusCode	mcp2515_hw_set_filter (CanMessageId *filters, bool loopback)

CanHwBusStatus	mcp2515_hw_bus_status (void)

StatusCode	mcp2515_hw_transmit (uint32_t id, bool extended, uint8_t *data, size_t len)

void	init_motor_controller_can ()

float	prv_get_float (uint32_t u)

float	clamp_float (float value)

void	prv_update_target_current_velocity ()

float	opd_threshold (float car_velocity_kmh)
	Calclulate the one pedal drive threshold. More...

float	opd_current (float throttle_percent, float threshold, DriveState *drive_state)
	Calculate the motor current based on the pedal position, threshold and drive state. More...

StatusCode	precharge_init (BmsStorage storage, Event event, const Task task)
	Initialize precharge settings. More...

Variables
void(*	mcp2515_rx_all )()

void(*	mcp2515_tx_all )()

Detailed Description

motor_controller Firmware

Function Documentation

◆ opd_current()

float opd_current	(	float	throttle_percent,
		float	threshold,
		DriveState *	drive_state
	)

Calculate the motor current based on the pedal position, threshold and drive state.

Returns: Motor current value between 1.0 and 0.0

◆ opd_threshold()

float opd_threshold ( float car_velocity_kmh )

Calclulate the one pedal drive threshold.

Parameters

car_velocity_kmh Vehicle velocity in kilometers per hour

Returns: Threshold value between 1.0 and 0.0

◆ precharge_init()

StatusCode precharge_init	(	BmsStorage *	storage,
		Event	event,
		const Task *	task
	)

Initialize precharge settings.

If precharge has already occurred during startup, an interrupt shall not be registered If precharge has not occurred, an interrupt shall be registered

Parameters

storage Pointer to the BMS storage

Returns: STATUS_CODE_OK

Classes

Macros

Typedefs

Enumerations

Functions

Variables

Detailed Description

Function Documentation

◆ opd_current()

◆ opd_threshold()

◆ precharge_init()