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power limiting initial run #1734

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power limiting initial run #1734

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1 change: 1 addition & 0 deletions firmware/boot/bootloader.h
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Original file line number Diff line number Diff line change
@@ -1,5 +1,6 @@
#pragma once
#include <stdint.h>
#include <stdnoreturn.h>
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@Lucien950 Lucien950 Oct 2, 2025

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damn I didn't even know about that


// Keep CAN protocol in sync with:
// canup/bootloader.py
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2 changes: 2 additions & 0 deletions firmware/quintuna/VC/src/app/states/app_driveState.c
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Expand Up @@ -11,6 +11,7 @@
#include "app_regen.h"
#include "app_vehicleDynamicsConstants.h"
#include "app_torqueVectoring.h"
#include "app_powerLimiting.h"
#include "app_vehicleDynamics.h"
#include "app_torqueDistribution.h"
#include "app_driveHandling.h"
Expand Down Expand Up @@ -160,6 +161,7 @@ static void driveStateRunOnEntry()
app_enable_inv();
app_switchInit();
app_reset_torqueToMotors(&torqueOutputToMotors);
app_pwer_limiting_TestRun_OverCurrent_Timer_Init();
app_torqueVectoring_init();
}

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5 changes: 2 additions & 3 deletions firmware/quintuna/VC/src/app/vehicle_dynamics/app_driveHandling.c
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Expand Up @@ -84,7 +84,7 @@ void app_driveMode_run(const float apps_pedal_percentage, TorqueAllocationOutput
}
case DRIVE_MODE_POWER_AND_ACTIVE:
{
if (!sensor_status.steeringOk)
if (!sensor_status.steeringOk) // TODO: NEED TO CHANGE THIS TO JUST TORQUE 0
{
app_canAlerts_VC_Info_DriveModeOverride_set(true);
app_vanillaDrive_run(apps_pedal_percentage, torqueOutputToMotors);
Expand All @@ -106,8 +106,7 @@ void app_driveMode_run(const float apps_pedal_percentage, TorqueAllocationOutput
powerLimitingInputs.power_limit = power_limit;
powerLimitingInputs.torqueToMotors = torqueOutputToMotors;
powerLimitingInputs.total_requestedPower = app_totalPower(torqueOutputToMotors);
app_powerLimiting_torqueReduction(&powerLimitingInputs);
/// dont use torque allocation here
app_power_limiting_TestRun_Torque_Reduction(&powerLimitingInputs); /// dont use torque allocation here
app_canTx_VC_VcDriveMode_set(DRIVE_MODE_POWER_AND_ACTIVE);
LOG_INFO("DriveHandling: Active Diff Power Limit Mode Active");
break;
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41 changes: 41 additions & 0 deletions firmware/quintuna/VC/src/app/vehicle_dynamics/app_powerLimiting.c
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Expand Up @@ -5,7 +5,18 @@
#include "app_canRx.h"
#include "app_vehicleDynamics.h"
#include "app_utils.h"
#include "app_timer.h"

//--------------Defines-----------------//
#define MAX_CURRENT_LIMIT_A 175.0f
#define CONTINOUS_CURRENT_LIMIT_A 75.0f
#define POWER_CALC(tractive_voltage, current) ((tractive_voltage) * (current) / 1000.0f)
#define OVER_CURRENT_TIME_OUT_MS 3000

//--------------Static Variables-----------------//
static TimerChannel quintuna_test_run_pl_timer;

//--------------Function Definitions-----------------//
float app_totalPower(TorqueAllocationOutputs *torques)
{
return (float)(TORQUE_TO_POWER(torques->front_left_torque, fabsf((float)app_canRx_INVFL_ActualVelocity_get())) +
Expand Down Expand Up @@ -94,3 +105,33 @@ void app_powerLimiting_torqueReduction(PowerLimitingInputs *inputs)
inputs->torqueToMotors->rear_right_torque =
(float)CLAMP(inputs->torqueToMotors->rear_right_torque, MAX_REGEN_Nm, MAX_TORQUE_REQUEST_NM);
}

// I know this doesn't look the prettiest but I was unsure where to put this

void app_pwer_limiting_TestRun_OverCurrent_Timer_Init(void)
{
app_timer_init(&quintuna_test_run_pl_timer, OVER_CURRENT_TIME_OUT_MS);
}

void app_power_limiting_TestRun_Torque_Reduction(PowerLimitingInputs *inputs)
{
// Fatima mentioned the max voltage is 120 * 3 thus even with our max current draw of 175 A, we are well below our rules requirement of 80kw
// thus the check is not done here
static float prev_curr_req = 0.0f;
const float current_req = app_canRx_BMS_TractiveSystemCurrent_get();
const bool run_over_current_timer = prev_curr_req >= MAX_CURRENT_LIMIT_A && current_req >= MAX_CURRENT_LIMIT_A;

const bool over_current_warning = app_timer_runIfCondition(&quintuna_test_run_pl_timer, run_over_current_timer) == TIMER_STATE_EXPIRED;

// if we are hitting slow blow fuse req then bring current draw down to continous draw limit
if(true == over_current_warning)
{
const float avg_torque_reduction = (inputs->total_requestedPower - POWER_CALC(app_canRx_BMS_TractiveSystemVoltage_get(), CONTINOUS_CURRENT_LIMIT_A)) / app_totalWheelSpeed();
inputs->torqueToMotors->front_left_torque -= avg_torque_reduction;
inputs->torqueToMotors->front_right_torque -= avg_torque_reduction;
inputs->torqueToMotors->rear_left_torque -= avg_torque_reduction;
inputs->torqueToMotors->rear_right_torque -= avg_torque_reduction;
}

prev_curr_req = current_req; // for debouncing
}
3 changes: 3 additions & 0 deletions firmware/quintuna/VC/src/app/vehicle_dynamics/app_powerLimiting.h
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Expand Up @@ -13,4 +13,7 @@ float getMaxMotorTemp(void);

void app_powerLimiting_torqueReduction(PowerLimitingInputs *inputs);

void app_power_limiting_TestRun_Torque_Reduction(PowerLimitingInputs *inputs);
app_pwer_limiting_TestRun_OverCurrent_Timer_Init(void);
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@Lucien950 Lucien950 Oct 2, 2025

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what

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@Lucien950 Lucien950 Oct 2, 2025

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return value pls?

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@shayana18 shayana18 Oct 3, 2025

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my bad big bro


float app_totalPower(TorqueAllocationOutputs *torques);
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