remove garbage and merge garbage, change send_regen_braking function …

…signature, add docs

Core/Inc/cerberus_conf.h

@@ -32,9 +32,7 @@
 #define PEDAL_BRAKE_THRESH  650
 
 /* Torque Tuning */
-#define MAX_TORQUE	   220 /* Nm, divded by 10 of torque of car */
-#define MAX_BRAKE_PRESSURE 1800 // psi
-#define REGEN_RAMP_TIME	   500 // regen ramp time (in ms)
+#define MAX_TORQUE 220 /* Nm */
 
 // DEBUGGING: Start with a high debounce period, lower it if it is too slow
 // NOTE: SteeringIOMonitor updates every 25 ms. Previous value of 25 ms doesn't

Core/Inc/dti.h

@@ -74,17 +74,18 @@ dti_t *dti_init();
 void dti_set_torque(int16_t torque);
 
 /**
- * @brief Set the brake AC current target for regenerative braking.
+ * @brief Set the brake AC current target for regenerative braking. Only positive values are accepted by the DTI.
  * 
- * @param current_target The desired AC current to do regenerative braking at.
+ * @param current_target The desired AC current to do regenerative braking at. Must be positive.
  */
 void dti_set_regen(int16_t current_target);
 
-/*
- * SCALE: 10
- * UNITS: Amps
+/**
+ * @brief Send a CAN message containing the AC current target for regenerative braking.
+ * 
+ * @param brake_current AC current target for regenerative braking. The motor controler has a maximum resolution of the tenths place.
  */
-void dti_set_brake_current(int16_t brake_current);
+void dti_send_brake_current(float brake_current);
 
 /*
  * SCALE: 10

Core/Src/bms.c

@@ -56,15 +56,8 @@ void vBMSCANMonitor(void *pv_params)
 		if (osOK == osMessageQueueGet(bms_monitor_queue,
 					      &msg_from_queue, NULL,
 					      osWaitForever)) {
-			/*TO-DO: fix duration (ticks)*/
 			osTimerStart(bms->bms_monitor_timer,
 				     BMS_CAN_MONITOR_DELAY);
-			//serial_print("BMS DCL %d", bms->dcl);
-			if (msg_from_queue.id == BMS_CURR_LIMIT_MSG) {
-				/* Message is big endian, STM32 is *byte* little endian */
-				bms->ccl = (msg_from_queue.data[0] << 8) |
-					   msg_from_queue.data[1];
-			}
 		}
 	}
 }

Core/Src/dti.c

@@ -23,7 +23,6 @@
 
 #define CAN_QUEUE_SIZE 5 /* messages */
 #define SAMPLES	       20
-#define SAMPLES	       20
 static osMutexAttr_t dti_mutex_attributes;
 
 dti_t *dti_init()
@@ -95,7 +94,7 @@ void dti_set_regen(int16_t current_target)
 	}
 
 	/* DTI CAN manual page 18, scale = 10 */
-	dti_set_brake_current(average * 10);
+	dti_send_brake_current(average);
 }
 
 void dti_set_current(int16_t current)
@@ -115,14 +114,15 @@ void dti_set_current(int16_t current)
 	queue_can_msg(msg);
 }
 
-void dti_set_brake_current(int16_t brake_current)
+void dti_send_brake_current(float brake_current)
 {
 	can_msg_t msg = { .id = 0x056,
 			  .len = 8,
 			  .data = { 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0 } };
-	// serial_print("Sending regen current: %i", brake_current);0x0
+	/* Motor controller expects int value * 10 */
+	int16_t adjusted_brake_current = brake_current * 10;
 	/* convert to big endian */
-	endian_swap(&brake_current, sizeof(brake_current));
+	endian_swap(&adjusted_brake_current, sizeof(adjusted_brake_current));
 	/* Send CAN message */
 	memcpy(&msg.data, &brake_current, 2);
 	queue_can_msg(msg);
@@ -280,23 +280,6 @@ static void dti_record_rpm(dti_t *mc, can_msg_t msg)
 	osMutexRelease(*mc->mutex);
 }
 
-uint16_t dti_get_input_voltage(dti_t *mc)
-{
-	uint16_t voltage;
-	osMutexAcquire(*mc->mutex, osWaitForever);
-	voltage = mc->input_voltage;
-	osMutexRelease(*mc->mutex);
-
-	return voltage;
-}
-
-static void dti_set_input_voltage(dti_t *mc, can_msg_t msg)
-{
-	osMutexAcquire(*mc->mutex, osWaitForever);
-	mc->input_voltage = (msg.data[8] << 8) | msg.data[7];
-	osMutexRelease(*mc->mutex);
-}
-
 void vDTIRouter(void *pv_params)
 {
 	can_msg_t message;
@@ -313,7 +296,6 @@ void vDTIRouter(void *pv_params)
 			switch (message.id) {
 			case DTI_CANID_ERPM:
 				dti_record_rpm(mc, message);
-				dti_set_input_voltage(mc, message);
 				break;
 			case DTI_CANID_CURRENTS:
 				break;

Core/Src/torque.c

@@ -25,7 +25,6 @@
 
 /* DO NOT ATTEMPT TO SEND TORQUE COMMANDS LOWER THAN THIS VALUE */
 #define MIN_COMMAND_FREQ  60 /* Hz */
-#define MIN_COMMAND_FREQ  60 /* Hz */
 #define MAX_COMMAND_DELAY 1000 / MIN_COMMAND_FREQ /* ms */
 
 static float torque_limit_percentage = 1.0;