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RCMast3rjhwang04
RCMast3r
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jhwang04
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Feature/drivetrain system pre inverter interface (#7)
* adding in linter w/ rules and step * added in check steps * updating clang / ide stuff * adding in linter w/ rules and step * added in check steps * updating clang / ide stuff * WIP: Fixing linter errors * WIP: Fixing Linter errors * Updated code to abide by clangtidy rules * (feat) changed some more linting rules * adding in v2 for now * progress on drivetrain system * added reqs / todos * working through more of the state machine * added current docs for drivetrain state machine * new adds to drivetrain system * added more design docs to the drivetrain system * added description for the inverter command messages * updated system and interface docs for inverter / drivetrain * updated inverter messaging * adding in feedback types for the inverter interface * working through state machine * adding in drivetrain system * addressing linter errors * fixing due to upstream --------- Co-authored-by: Justin Hwang <justin@goliath.org>
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‎getcompilecommands.sh‎

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#!/bin/bash
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set -o pipefail
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pio run -e teensy41
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pio run -t compiledb -e teensy41

‎include/VCR_Tasks.h‎

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@@ -48,7 +48,7 @@ bool run_tick_state_machine_task(const unsigned long& sysMicros, const HT_TASK::
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extern HT_TASK::Task tick_state_machine_task;
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/**
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* The read_adc0 task will command adc0 to sample all eight channels, convert the outputs, and
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* store them in structs defined in shared_firmware_types. This function relies on adc_0 being

‎lib/interfaces/README.md‎

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## Inverter Interface
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### GPIO connections
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### CAN parameter / message descriptions
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#### VCR output / control messages:
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below is the description of the control messages that will be configured within the free CAN configuration of the AMKs. these are subject to change, however it is primarily a modification of the "fixed CAN commnicaiton" protocol that the AMK kit ships with / is documented
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- Control Word (will be sent every 50ms, monitored by the inverter to be expected at least every 75ms)
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- `bool inverter_enable`
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- AKA (`AMK_bInverterOn`)
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- `bool hv_enable`
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- AKA (`AMK_bDcOn`)
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- `bool driver_enable`
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- AKA (`AMK_bEnable`)
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- `bool remove_error`
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- AKA (`AMK_bErrorReset`)
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- Control Input Message (will be attempted to be sent every 5ms, monitored by the inverter to be expected at least every 20ms)
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- `int16_t speed_setpoint`
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- __NOTE: active only when in speed control mode__
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- AKA (`AMK_TargetVelocity`) / Special Signal index 6 / AKA 16-bit version of SERCOS parameter ID36 (unknown why this is 16 bit vs the 32 bit SERCOS parameter in manual)
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- the RPM setpoint for the inverter in units of RPM.
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- `int16_t positive_torque_limit`
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- AKA (`AMK_TorqueLimitPositiv`) / SERCOS parameter ID82 / Special Signal index 13
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- positive torque limit for reaching the desired rpm in units of 0.1% of the nominal torque (=9.8Nm)(known as Mn in docs).
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EXAMPLE: `positive_torque_limit=1000` means that the positive torque limit is set to 100% of the nominal torque, so the actual torque limit being set by this is equal to 9.8Nm, and 200% would be equal to 19.6Nm.
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- `int16_t negative_torque_limit`
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- AKA (`AMK_TorqueLimitNegativ`) / SERCOS parameter ID83 / Special Signal index 14
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- `positive_torque_limit` with a negative sign.
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- `int16_t torque_setpoint`
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- __NOTE: active only when in torque control mode.__
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- AKA SERCOS parameter ID80 / Special Signal index 17
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- the torque setpoint for the inverter in units of percentage as described in the `positive_torque_limit` message member above
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- Control parameter message (will be sent intermitently, not monitored by the inverter to be expected at any regular period)
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- `uint16_t speed_control_kp`
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- P for the speed control mode
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- AKA SERCOS parameter ID100
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- `uint16_t speed_control_ki`
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- I parameter to be set internally on the inverter
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- AKA SERCOS parameter ID101
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- `uint16_t speed_control_kd`
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- D parameter to be set internally on the inverter
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- AKA SERCOS parameter ID102
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#### inverter messages
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- inverter status / ( `AMK_Status` (16 bit) + + DC bus voltage (16 bit) + `AMK_ErrorInfo` (16 bit kinda(?))) (will be periodically sent from the inverter every 20ms)
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- `bool system_ready`
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- AKA (`AMK_bSystemReady`) / bit 9 within Special Signal Status word formula student (System Ready (SBM)) /
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- displays when the system is error free / ready to be initialized
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- `bool error`
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- AKA (`AMK_bError`) / bit 10 within Special Signal Status word formula student
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- displays that an error is present
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- `bool warning`
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- AKA (`AMK_bWarn`) / bit 11
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- warning present (such as if derating is on)
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- `bool quit_dc_on`
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- AKA (`AMK_bQuitDcOn`) / bit 12
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- HV activation acknowledgment / verification (says whether or not HV is ACTUALLY present to the inverter)
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- `bool dc_on`
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- AKA (`AMK_bDcOn`) / bit 13
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- mirrors / is feedback of what is set by the VCR for its `hv_enable`
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- `bool quit_inverter_on`
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- AKA (`AMK_bQuitInverterOn`) / bit 14
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- controller is enabled
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- `bool inverter_on`
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- AKA (`AMK_bInverterOn`) / bit 15
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- mirror / feedback of `inverter_enable` set by the control word
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- `bool derating_on`
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- AKA (`AMK_bDerating`) / bit 16
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- says whether or not derating is active (torque derating)
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- `uint16_t dc_bus_voltage`
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- AKA SERCOS Paramter ID32836
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- actual DC bus voltage
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- `uint16_t diagnostic_number`
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- AKA (`AMK_ErrorInfo`)
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- inverter temps (will be periodically sent from the inverter every 20ms)
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- `int16_t motor_temp`
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- temperature of the motor in units of 0.1 degrees celcius
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- AKA (`AMK_TempMotor`) / Special Signal index 7 / SERCOS parameter ID33117
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- `int16_t inverter_temp`
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- temp of the inverter cold plate in units of 0.1 degrees celcius
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- AKA (`AMK_TempInverter`) / Special Signal index 8 / SERCOS parameter ID33116
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- details: "ID33116 shows the temperature of the cold plate (heat sink of the IGBT and at the same time of the rear wall of the device).
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The triggering thresholds are device-specific, are set in the SEEP (Device-internal memory, serial EEPROM) at the factory and cannot be changed by the user.
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If critical temperatures occur for the devices, the warning 2350 'Device temperature warning' is generated as well as the error
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message 2346 'Converter temperature error' after the warning time1) (ID32943) has expired."
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- `int16_t igbt_temp`
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- temp of the IGBTs in units of 0.1 degrees celcius
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- AKA (`AMK_TempIGBT`) / Special Signal index 27 / SERCOS parameter ID34215
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- inverter dynamics data (will be periodically sent from the inverter every 5ms)
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- `uint32_t actual_power_w`
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- mechanical motor power in watts (from actual torque and actual speed)
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- AKA SERCOS parameter ID33100
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- `int16_t actual_torque_nm`
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- actual torque value in the same units as `positive_torque_limit`
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- AKA Special Signal index 19 / SERCOS parameter ID84
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- `int16_t actual_speed_rpm`
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- motor speed in units of rpm
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- AKA Special Signal value index 6
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- inverter electrical power data (will be periodically sent from the inverter every 5ms)
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- `int32_t active_power_w`
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- electrical power (use / creation) in watts of the inverter
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- can be negative when in regen / positive when driving motor
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- AKA SERCOS parameter ID33171
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- `int32_t reactive_power_var`
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- electrical reactive power (inductive or capacitive)
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- positive value = inductive consumer, negative value = capacitive consumer
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- AKA SERCOS parameter ID33172
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- inverter parameter feedback (inverter's speed PID vals) (will be sent periodically from the inverter every 20ms)
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- `uint16_t speed_control_kp`
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- inverter's internal value of kp
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- AKA SERCOS parameter ID100
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- `uint16_t speed_control_ki`
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- inverter's internal value of (TN) ki
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- AKA SERCOS parameter ID101
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- `uint16_t speed_control_kd`
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- inverter's internal value of (TD) kd
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- AKA SERCOS parameter ID102

‎lib/interfaces/include/InverterInterface.h‎

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#ifndef INVERTERINTERFACE_H
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#define INVERTERINTERFACE_H
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#include <stdint.h>
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namespace HTUnits
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{
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using celcius = float;
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using watts = float;
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using var = float;
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using torque_nm = float;
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using speed_rpm = float;
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using volts = float;
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};
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// for the most part these are mirrors of the lower-level CAN struct data, except with already fully float-ized data
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struct InverterStatus_s
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{
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bool system_ready : 1;
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bool error : 1;
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bool warning : 1;
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bool quit_dc_on : 1;
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bool dc_on : 1;
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bool quit_inverter_on : 1;
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bool inverter_on : 1;
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bool derating_on : 1;
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HTUnits::volts dc_bus_voltage;
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uint16_t diagnostic_number;
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};
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struct InverterTemps_s
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{
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HTUnits::celcius motor_temp;
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HTUnits::celcius inverter_temp;
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HTUnits::celcius igbt_temp;
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};
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struct InverterPower_s
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{
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HTUnits::watts active_power;
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HTUnits::var reactive_power;
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};
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struct MotorMechanics_s
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{
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HTUnits::watts actual_power;
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HTUnits::torque_nm actual_torque;
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HTUnits::speed_rpm actual_speed;
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};
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struct InverterControlParams_s
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{
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uint16_t speed_control_kp;
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uint16_t speed_control_ki;
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uint16_t speed_control_kd;
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};
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struct InverterFeedbackData_s
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{
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InverterStatus_s status;
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InverterTemps_s temps;
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InverterPower_s power;
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MotorMechanics_s motor_mechanics;
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InverterControlParams_s control_params;
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};
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// struct InverterMotorControl_s
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// {
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// }
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class InverterInterface
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{
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};
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#endif // __INVERTERINTERFACE_H__

‎lib/state_machine/include/VehicleStateMachine.h‎

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class VehicleStateMachine
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{
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public:
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static VehicleStateMachine& getInstance()
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{
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static VehicleStateMachine instance;
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return instance;
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}
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VehicleStateMachine(DrivetrainSystem & drivetrain_system) :
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_current_state(CAR_STATE::STARTUP),
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_drivetrain(drivetrain_system),
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_buzzer(BuzzerController::getInstance()) {};
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* This tick() function handles all the update logic for traversing states, and calls the functions
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CAR_STATE get_state() { return _current_state; }
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private:
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VehicleStateMachine() :
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_current_state(CAR_STATE::STARTUP),
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_drivetrain(DrivetrainSystem<uint32_t>::getInstance()),
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_buzzer(BuzzerController::getInstance()) {};
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void set_state_(CAR_STATE new_state, unsigned long curr_time);
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CAR_STATE _current_state;
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/* System references to show dependence on systems library */
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DrivetrainSystem<uint32_t> &_drivetrain; //TODO: Make this InverterInterface instead of uint32_t
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DrivetrainSystem &_drivetrain; //TODO: Make this InverterInterface instead of uint32_t
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BuzzerController &_buzzer;
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// AMSSystem &_ams_system;
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};

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