TV Interface

Input

xVCU

• type: xVCU_struct

Inputs:

• VCU_MODE_REQ
  • Requested VCU mode from dashboard
  • 0 = accel; 1 = skidpad; 2 = autocross; 3 = endurance; 4 = testing/tuning
• REGEN_REQ
  • Regen enabled
  • 0 = off, 1 = enabled
• THROT_RAW
  • Throttle sensor
  • Unit: [unitless] Size: [1 1]
  • Max Torque = 1, No Torque = 0
• BRAKE_RAW
  • Brake Sensor
  • Unit: [unitless] Size: [1 1]
  • 0 = start of mech brake, 1 = full mech brake
• REGEN_RAW
  • Regen part of brake sensor
  • Unit: [unitless] Size: [1 1]
  • 0 = no brake, 1 = end of regen only section of brake pedal
• ST_RAW
  • Steering angle sensor
  • Unit: [degree] Size: [1 1]
  • Right turn = positive value, Left turn = negative value
• VB_RAW
  • Battery voltage
  • Unit: [V] Size: [1 1]
• WM_RAW
  • Motor shaft angular velocity, measured by AMK sensor
  • Unit: [rad/s] Size: [1 4] Order: [FL FR RL RR]
  • Moving forward = positive
• GS_RAW
  • Vehicle ground speed (from GPS/IMU Kalman)
  • Unit: [m/s] Size: [1 1]
  • Moving forward = positive, Not moving = 0
• AV_RAW
  • Chassis angular velocity
  • Unit: [rad/s] Size: [1 3] Order: [x y z]
  • Axis: Sensor XYZ
    • X = forward, Y = left, Z = up
• IB_RAW
  • Battery current
  • Unit: [A] Size: [1 1]
  • Positive torque = Positive current, No torque = 0, Regen = negative current
• MT_RAW
  • Max motor temperature
  • Unit: [C] Size: [1 1]
  • Temperature for each motor is measured, only max is sent
• IGBT_T_RAW
  • Max inverter IGBT temperature
  • Unit: [C] Size: [1 1]
• INV_T_RAW
  • Max inverter cold plate temperature
  • Unit: [C] Size: [1 1]
• BT_RAW
  • Max battery cell temperature
  • Unit: [C] Size: [1 1]
• TO_RAW (never used, don't send)
  • Applied motor torque
  • Unit: [Nm] Size: [1 4] Order: [FL FR RL RR]
  • Torque to move forward = positive value, No torque = 0, regen = negative
• OV_MOT (don't need yet)
  • Motor overload value
  • Unit: [%] Size: [1 4] Order: [FL FR RL RR]
  • AMK ‘0x2263 'Display overload motor’ -OV_INV(don't need yet)
  • Inverter overload value
  • Unit: \[\%] Size: \[1 4] Order: \[FL FR RL RR]
  • AMK0x2262 'Display overload inverter' -RG_split_FR
  • Regen FR split (EBB)
  • Unit: \[0-1] Size: \[1 1]
  • 0 = All torque rear, 1 = all torque front -SK_LR_gain_RAW
  • skidpad mode TV gain (left-right)
  • Unit: \[0-100] Size: \[1 1]
  • 0 = no TV, 100 = full TV -SK_FR_split_RAW
  • skidpad mode FR split
  • Unit: \[0-100] Size: \[1 1]
  • 0 = no front, 100 = all front -AX_LR_control_force_RAW
  • auto-x mode TV control force (left-right)
  • Unit: \[0-100] Size: \[1 1]
  • 0 = no TV, 100 = full TV -AX_FR_split_RAW
  • auto-x mode FR split
  • Unit: \[0-100] Size: \[1 1]
  • 0 = no front, 100 = all front @subsubsection autotoc_md44 Driver Inputs:
• Accel Mode
  • nothing yet, may want to control wheter front or rear derates more @ 80kW limit
• Skidpad Mode
  • Longitudinal gain ->
  SK_FR_split_RAW
  • Lateral gain ->
  SK_LR_gain_RAW
• Autocross Mode
  • Longitudinal gain ->
  SK_FR_split_RAW
  • Lateral gain ->
  AX_LR_control_force_RAW
• Testing/Tuning Mode
  • Longitudinal gain ->
  TS_FR_split_RAW
  • Lateral gain ->
  TS_LR_split_RAW`

Output

yVCU

• type: yVCU_struct

Outputs:

• TORQUE_LIM_NEG
  • Negative (lower) torque limit
  • Unit: [Nm] Size: [1 4] Order: [FL FR RL RR]
  • Used to set AMK_TorqueLimitNegativ -TORQUE_LIM_POS
  • Positive (upper) torque limit
  • Unit: \[Nm] Size: \[1 4] Order: \[FL FR RL RR]
  • Used to setAMK_TorqueLimitPositiv -SPEED_OUT
  • Speed control setpoints
  • Unit: \[rad/s] Size: \[1 4] Order: \[FL FR RL RR]
  • Used to setAMK_TargetVelocity -TORQUE_OUT`
  • Torque control setpoint (when no speed control)
  • Unit: [Nm] Size: [1 4] Order: [FL FR RL RR]