debugging, changing more func signatures

Northeastern-Electric-Racing · Jul 31, 2024 · 98b427e · 98b427e
1 parent 88a53af
commit 98b427e
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Showing 4 changed files with 8 additions and 14 deletions.
diff --git a/Core/Inc/dti.h b/Core/Inc/dti.h
@@ -78,7 +78,7 @@ void dti_set_torque(int16_t torque);
  * 
  * @param current_target The desired AC current to do regenerative braking at. Must be positive.
  */
-void dti_set_regen(uint16_t current_target);
+void dti_set_regen(float current_target);
 
 /**
  * @brief Send a CAN message containing the AC current target for regenerative braking.

diff --git a/Core/Src/dti.c b/Core/Src/dti.c
@@ -68,12 +68,12 @@ void dti_set_torque(int16_t torque)
 	dti_set_current(ac_current);
 }
 
-void dti_set_regen(uint16_t current_target)
+void dti_set_regen(float current_target)
 {
 	/* Simple moving average to smooth change in braking target */
 
 	// Static variables for the buffer and index
-	static int16_t buffer[SAMPLES] = { 0 };
+	static float buffer[SAMPLES] = { 0 };
 	static int index = 0;
 
 	// Add the new value to the buffer
@@ -89,10 +89,6 @@ void dti_set_regen(uint16_t current_target)
 	}
 	float average = sum / SAMPLES;
 
-	if (current_target == 0) {
-		average = 0;
-	}
-
 	dti_send_brake_current(average);
 }
 
@@ -119,7 +115,7 @@ void dti_send_brake_current(float brake_current)
 			  .len = 8,
 			  .data = { 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0 } };
 	/* Motor controller expects int value * 10 */
-	int16_t adjusted_brake_current = brake_current * 10;
+	uint16_t adjusted_brake_current = (uint16_t)(brake_current * 10);
 	/* convert to big endian */
 	endian_swap(&adjusted_brake_current, sizeof(adjusted_brake_current));
 	/* Send CAN message */

diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
@@ -255,7 +255,8 @@ void vPedalsMonitor(void *pv_params)
 
 		uint16_t accel_val = (uint16_t)(accel_val1 + accel_val2) / 2;
 
-		is_braking = (adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) / 2;
+		is_braking = ((adc_data[BRAKEPIN_1] + adc_data[BRAKEPIN_2]) /
+			      2) > PEDAL_BRAKE_THRESH;
 		brake_state = is_braking;
 
 		osMessageQueuePut(brakelight_signal, &is_braking, 0U, 0U);
@@ -400,8 +401,6 @@ void vTsmsMonitor(void *pv_params)
 	for (;;) {
 		/* If we got a reliable TSMS reading, handle transition to and out of ACTIVE*/
 		if (!read_tsms_sense(pdu, &tsms_status)) {
-			printf("Checking pdu");
-
 			// Timer has not been started, and there is a change in TSMS, so start the timer
 			if (tsms != tsms_status &&
 			    !is_timer_active(&tsms_debounce_timer)) {

diff --git a/Core/Src/torque.c b/Core/Src/torque.c
@@ -152,12 +152,11 @@ void handle_endurance(dti_t *mc, float mph, float accel_val, float brake_val)
 		}
 
 		dti_set_torque(torque);
-	} else if (mph * mph_to_kmh > 2 && accel_val < regen_thresh) {
+	} else if (mph * mph_to_kmh > 2 && accel_val <= regen_thresh) {
 		float regen_current =
 			(max_curr / regen_thresh) * (regen_thresh - accel_val);
-
 		/* Send regen current to motor controller */
-		dti_set_regen((uint16_t)regen_current);
+		dti_set_regen(regen_current);
 	} else {
 		/* Pedal travel is between thresholds, so there should not be acceleration or braking */
 		dti_set_torque(0);