FIX A BUNCH OF BUGS FROM EV ACTIVE

Author: Bvngee

ETC/src/can_wrapper.cpp

@@ -130,7 +130,7 @@ void CANWrapper::processCANRx() {
         switch (rx.id) {
             case 0x188: // ACC_TPDO_STATUS
                 ETCState state = this->etc.getState();
-                state.ts_ready = rx.data[0] & 0x08;
+                state.ts_ready = rx.data[0] & 0b00001000;
                 this->etc.updateStateFromCAN(state);
                 if (!this->etc.getState().ts_ready) {
                     this->etc.turnOffMotor();

ETC/src/etc_controller.cpp

@@ -49,19 +49,19 @@ void ETCController::updateState() {
     // two sensors differs by too much, or the voltages of either sensor is out of range (less
     // than 0% or more than 100% pedal travel).
 
-    float travelDifference = std::fabs(he1Travel - he2Travel);
+    float travelDifference = std::abs(he1Travel - he2Travel);
     if (travelDifference > 0.1f) {
         if (!this->implausTravelTimerRunning) {
             // we now start our timer, if it's not already running
             this->implausTravelTimer.start();
             this->implausTravelTimerRunning = true;
         }
-        else if (this->implausTravelTimer.elapsed_time() > 100ms) {
-            this->implausTravelTimer.stop();
-            this->implausTravelTimer.reset();
-            this->implausTravelTimerRunning = false;
-            this->turnOffMotor();
-        }
+        // else if (this->implausTravelTimer.elapsed_time() > 100ms) {
+            // this->implausTravelTimer.stop();
+            // this->implausTravelTimer.reset();
+            // this->implausTravelTimerRunning = false;
+            // this->turnOffMotor();
+        // }
     }
     else {
         // if everything is good and timer is running, we reset
@@ -70,20 +70,20 @@ void ETCController::updateState() {
         this->implausTravelTimerRunning = false;
     }
 
-    if (he1Voltage <= 0.05f || he1Voltage >= ETCController::MAX_VOLTAGE ||
-        he2Voltage <= 0.05f || he2Voltage >= ETCController::MAX_VOLTAGE)
+    if (he1Voltage <= 0.2f || he1Voltage >= 3.0f ||
+        he2Voltage <= 0.2f || he2Voltage >= 3.0f)
     {
         if (!this->implausBoundsTimerRunning) {
             // we now start our timer, if it's not already running
             this->implausBoundsTimer.start();
             this->implausBoundsTimerRunning = true;
         }
-        else if (this->implausBoundsTimer.elapsed_time() > 100ms) {
-            this->implausBoundsTimer.stop();
-            this->implausBoundsTimer.reset();
-            this->implausBoundsTimerRunning = false;
-            this->turnOffMotor();
-        }
+        // else if (this->implausBoundsTimer.elapsed_time() > 100ms) {
+            // this->implausBoundsTimer.stop();
+            // this->implausBoundsTimer.reset();
+            // this->implausBoundsTimerRunning = false;
+            // this->turnOffMotor();
+        // }
     }
     else {
         this->implausBoundsTimer.stop();
@@ -105,7 +105,7 @@ void ETCController::updateState() {
     this->state.he1_travel = he1Travel;
     this->state.he2_travel = he2Travel;
     this->state.torque_demand =
-        (this->state.motor_enabled && !this->state.brakes_implausibility) ?
+        (this->state.motor_enabled && (!this->state.brakes_implausibility && !this->hasImplausibility())) ?
         static_cast<int16_t>(pedalTravel * ETCController::MAX_TORQUE) :
         0;
 
@@ -274,5 +274,7 @@ bool ETCController::isBraking() {
 
 
 bool ETCController::hasImplausibility() {
-    return this->implausTravelTimerRunning || this->implausBoundsTimerRunning;
+    // return this->implausTravelTimerRunning || this->implausBoundsTimerRunning;
+    return this->implausTravelTimer.elapsed_time() >= 100ms
+        || this->implausBoundsTimer.elapsed_time() >= 100ms;
 }

ETC/src/etc_controller.h

@@ -67,7 +67,7 @@ class ETCController {
 
     /** Timer for implausibility via HE sensor travel percent mismatch. */
     Timer implausTravelTimer;
-    /** Whether the implausibility travel percent mismatch timer is active. */
+   /** Whether the implausibility travel percent mismatch timer is active. */
     bool implausTravelTimerRunning;
     /** Timer for implausibility via HE sensor invalid voltages. */
     Timer implausBoundsTimer;
@@ -92,8 +92,8 @@ class ETCController {
     static constexpr float MAX_VOLTAGE = 3.3f;
 
     /** The percentage tolerance for the brake pedal to be considered pressed. */
-    static constexpr float BRAKE_TOLERANCE_HIGH = 0.38f;
-    static constexpr float BRAKE_TOLERANCE_LOW = 0.25f;
+    static constexpr float BRAKE_TOLERANCE_HIGH = 0.42f;
+    static constexpr float BRAKE_TOLERANCE_LOW = 0.36f;
 
     /** The voltage divider slope for the hall-effect 1 sensor. */
     static constexpr float HE1_SCALE = (330.0f / 480.0f);