control_loop.c File Reference

Main torque vectoring control loop. More...

#include <stdint.h>
#include "can_library/generated/TORQUE_VECTOR.h"
#include "common/utils/max.h"
#include "sensors.h"
#include "vcu.h"

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Functions
void	control_init (void)
static void	report_vcu_settings ()
void	vcu_driver_request_CALLBACK (void)
static bool	is_any_crit_stale ()
void	control_loop ()

Variables
static pVCU_struct	pVCU
static xVCU_struct	xVCU
static yVCU_struct	yVCU
volatile vcu_mode_t	vcu_mode = VCU_MODE_TUNING
volatile bool	is_tv_enabled = true
volatile bool	is_regen_enabled = true
volatile vcu_settings_data_t	vcu_settings [5]
volatile uint32_t	last_vcu_settings_tx = 0

Detailed Description

Main torque vectoring control loop.

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Trevor Koessler (tkoes.nosp@m.sle@.nosp@m.purdu.nosp@m.e.ed.nosp@m.u)

Function Documentation

control_init()

void control_init

(

void

)

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control_loop()

void control_loop

(

void

)

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is_any_crit_stale()

static bool is_any_crit_stale ( )

inlinestatic

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report_vcu_settings()

static void report_vcu_settings ( )

inlinestatic

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vcu_driver_request_CALLBACK()

void vcu_driver_request_CALLBACK

(

void

)

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Variable Documentation

is_regen_enabled

volatile bool is_regen_enabled = true

is_tv_enabled

volatile bool is_tv_enabled = true

last_vcu_settings_tx

volatile uint32_t last_vcu_settings_tx = 0

pVCU

pVCU_struct pVCU

static

vcu_mode

volatile vcu_mode_t vcu_mode = VCU_MODE_TUNING

vcu_settings

volatile vcu_settings_data_t vcu_settings[5]

Initial value:

= {
    [VCU_MODE_ACCEL] = {
        .lateral_gain = 50,
        .longitudinal_gain = 50,
        .electronic_brake_bias = 50
    },
    [VCU_MODE_SKIDPAD] = {
        .lateral_gain = 50,
        .longitudinal_gain = 50,
        .electronic_brake_bias = 50
    },
    [VCU_MODE_AUTOCROSS] = {
        .lateral_gain = 50,
        .longitudinal_gain = 50,
        .electronic_brake_bias = 50
    },
    [VCU_MODE_ENDURANCE] = {
        .lateral_gain = 50,
        .longitudinal_gain = 50,
        .electronic_brake_bias = 50
    },
    [VCU_MODE_TUNING] = {
        .lateral_gain = 50,
        .longitudinal_gain = 50,
        .electronic_brake_bias = 50
    }
}

xVCU

xVCU_struct xVCU

static

yVCU

yVCU_struct yVCU

static