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Pedal to torque #254

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Pedal to torque #254

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083f6e8
torque debug ifdef
Myers-Ty Jan 10, 2025
46da9de
formatting
Myers-Ty Jan 10, 2025
4a52856
formatting
Myers-Ty Jan 10, 2025
d93c27a
tsms override
Myers-Ty Jan 12, 2025
66d9a5c
fixed tsms override
Myers-Ty Jan 12, 2025
20677ff
formatting
Myers-Ty Jan 12, 2025
9fc35f9
Default off
Myers-Ty Jan 13, 2025
9b571af
new pedal torque transfer option
Myers-Ty Jan 13, 2025
dc394db
Merge branch 'develop' into pedal-to-torque
Myers-Ty Jan 13, 2025
f716b4c
removed option for break regen
Myers-Ty Jan 13, 2025
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2 changes: 1 addition & 1 deletion Core/Inc/dti.h
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@
0x496 /* Throttle signal, Brake signal, IO, Drive enable */

#define TIRE_DIAMETER 16 /* inches */
#define GEAR_RATIO 47 / 13.0 /* unitless */
#define GEAR_RATIO 35 / 13.0 /* unitless */
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where did you find this?

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I messaged Abby directly

#define POLE_PAIRS 10 /* unitless */

typedef struct {
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2 changes: 1 addition & 1 deletion Core/Inc/emrax.h
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Expand Up @@ -18,7 +18,7 @@
#define EMRAX_NOMINAL_VOLTAGE 520 /* V */
#define EMRAX_PEAK_EFFICIENCY 90 /* % */
#define EMRAX_PEAK_POWER 124 /* kW, at 5500 RPM */
#define EMRAX_PEAK_TORQUE 230 /* Nm */
#define EMRAX_PEAK_TORQUE 220 /* Nm */
#define EMRAX_CONT_TORQUE 112 /* Nm */
#define EMRAX_LIMITING_SPEED 6500 /* RPM */
#define EMRAX_KV 15.53
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29 changes: 28 additions & 1 deletion Core/Src/pedals.c
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Expand Up @@ -37,6 +37,9 @@ float torque_limit_percentage = 1.0;
#define PEDAL_DIFF_THRESH 30
#define PEDAL_FAULT_TIME 500 /* ms */

/* Alterante pedal mode */
//#define POWER_REGRESSION_PEDAL_TORQUE_TRANSFER

static bool brake_state = false;
osMutexId_t brake_mutex;

Expand Down Expand Up @@ -216,6 +219,7 @@ bool calc_bspd_prefault(float accel_val, float brake_val)
return motor_disabled;
}

#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
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static void linear_accel_to_torque(float accel)
{
/* Sometimes, the pedal travel jumps to 1% even if it is not pressed. */
Expand All @@ -228,6 +232,21 @@ static void linear_accel_to_torque(float accel)
dti_set_torque(torque);
}

#else
static void power_regression_accel_to_torque(float accel)
{
/* Sometimes, the pedal travel jumps to 1% even if it is not pressed. */
if (fabs(accel - 0.01) < 0.001) {
accel = 0;
}
/* map acceleration to torque */
int16_t torque =
(int16_t)(0.137609 * powf(accel, 1.43068) * MAX_TORQUE);
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dti_set_torque(torque);
}
#endif

/**
* @brief Derate torque target to keep car below the maximum pit/reverse mode speed.
*
Expand Down Expand Up @@ -371,8 +390,12 @@ void handle_endurance(dti_t *mc, float mph, float accel_val, float brake_val)
if (brake_val > 650 && (mph * 1.609) > 5) {
brake_pedal_regen(brake_val);
} else {
// accelerating, limit torque
// accelerating, limit torque
#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
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We don't want this for brake regen, just for linear accel -> torque

linear_accel_to_torque(accel_val, torque);
#else
power_regression_accel_to_torque(accel_val, torque);
#endif
}
#else
/* Factor for converting MPH to KMH */
Expand Down Expand Up @@ -459,7 +482,11 @@ void vProcessPedals(void *pv_params)
handle_endurance(mc, mph, accelerator_value, brake_val);
break;
case F_PERFORMANCE:
#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
linear_accel_to_torque(accelerator_value);
#else
power_regression_accel_to_torque(accelerator_value);
#endif
break;
case F_PIT:
handle_pit(mph, accelerator_value);
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