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Disable inverter+speed limit #263

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Disable inverter+speed limit #263

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cfd1106
feat: disable inverter when speed is low and no torque requested
r-kirkbride Jul 12, 2025
eae5ce4
Feat/high speed torque limit (#261)
r-kirkbride Jul 12, 2025
5e5066e
style: run trunk
r-kirkbride Jul 12, 2025
efcfb7f
feat: add SOC, BMS temp and pump can-defs
r-kirkbride Jul 12, 2025
f497eea
feat: add canrx service
r-kirkbride Jul 12, 2025
f2a052b
feat: linear torque limiting when bms temp is high
r-kirkbride Jul 12, 2025
e82fbe6
feat: add vcu power save mode to can-defs
r-kirkbride Jul 12, 2025
3ca0e87
fix: torque request above max temp
r-kirkbride Jul 12, 2025
abca4e2
feat: add power saving mode
r-kirkbride Jul 12, 2025
61f7bb9
Merge branch 'feat/temperature-torque-limiting' into disable-inverter…
r-kirkbride Jul 12, 2025
19d4b76
Revert "Merge branch 'feat/temperature-torque-limiting' into disable-…
r-kirkbride Jul 13, 2025
0aeacbc
fix: judder from start
r-kirkbride Jul 13, 2025
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6 changes: 5 additions & 1 deletion src/SUFST/Inc/Functions/torque_map.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,13 +24,17 @@ typedef struct _torque_map_t
uint16_t deadzone_end; // end of deadzone
float deadzone_scale; // scale factor for inputs
const config_torque_map_t* config_ptr; // configuration
uint16_t output_max;
uint16_t speed_min; // minimum Torque request at max speed (Nm *10)
uint16_t speed_start; // speed to start limiting torque (rpm)
uint16_t speed_end; // speed for max torque limiting (rpm)
} torque_map_t;

/*
* public functions
*/
status_t torque_map_init(torque_map_t* map_ptr,
const config_torque_map_t* config_ptr);
uint16_t torque_map_apply(torque_map_t* map_ptr, uint16_t input);
uint16_t torque_map_apply(torque_map_t* map_ptr, uint16_t input, int16_t speed);

#endif
3 changes: 3 additions & 0 deletions src/SUFST/Inc/config.h
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Expand Up @@ -116,6 +116,9 @@ typedef struct {
uint16_t input_max; // maximum input value (range must be zero to max)
uint16_t output_max; // maximum output value (Nm * 10)
float deadzone_fraction; // fraction of input range for deadzone
uint16_t speed_min; // minimum Torque request at max speed (Nm *10)
uint16_t speed_start; // speed to start limiting torque (rpm)
uint16_t speed_end; // speed for max torque limiting (rpm)
} config_torque_map_t;

/**
Expand Down
81 changes: 65 additions & 16 deletions src/SUFST/Src/Functions/torque_map.c
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,11 @@
/*
* internal function prototypes
*/
static inline uint16_t apply_deadzone(torque_map_t *map_ptr, uint16_t input);
static uint16_t null_torque_map(torque_map_t *map_ptr, uint16_t input);
static uint16_t linear_torque_map(torque_map_t *map_ptr, uint16_t input);
static inline uint16_t apply_deadzone(torque_map_t* map_ptr, uint16_t input);
static uint16_t null_torque_map(torque_map_t* map_ptr, uint16_t input);
static uint16_t linear_torque_map(torque_map_t* map_ptr, uint16_t input);
static inline uint16_t
apply_speed_limit(torque_map_t* map_ptr, uint16_t input, int16_t speed);

/**
* @brief Initialises the torque map
Expand All @@ -16,15 +18,18 @@ static uint16_t linear_torque_map(torque_map_t *map_ptr, uint16_t input);
* @param[in] map_ptr Torque map
* @param[in] config_ptr Configuration
*/
status_t torque_map_init(torque_map_t *map_ptr,
const config_torque_map_t *config_ptr)
status_t torque_map_init(torque_map_t* map_ptr,
const config_torque_map_t* config_ptr)
{
map_ptr->config_ptr = config_ptr;

// pre-compute deadzone parameters
map_ptr->deadzone_end = config_ptr->deadzone_fraction * config_ptr->input_max;
map_ptr->deadzone_end
= config_ptr->deadzone_fraction * config_ptr->input_max;

map_ptr->deadzone_scale = ((float)config_ptr->input_max) / ((float)(config_ptr->input_max - map_ptr->deadzone_end));
map_ptr->deadzone_scale
= ((float) config_ptr->input_max)
/ ((float) (config_ptr->input_max - map_ptr->deadzone_end));

// load mapping function
status_t status = STATUS_OK;
Expand All @@ -43,6 +48,10 @@ status_t torque_map_init(torque_map_t *map_ptr,
break;
};

map_ptr->speed_min = config_ptr->speed_min;
map_ptr->speed_start = config_ptr->speed_start;
map_ptr->speed_end = config_ptr->speed_end;

return status;
}

Expand All @@ -52,12 +61,12 @@ status_t torque_map_init(torque_map_t *map_ptr,
* @param[in] map_ptr Torque map
* @param[in] input Input value
*/
uint16_t torque_map_apply(torque_map_t *map_ptr, uint16_t input)
uint16_t torque_map_apply(torque_map_t* map_ptr, uint16_t input, int16_t speed)
{
const uint16_t input_deadzone = apply_deadzone(map_ptr, input);
const uint16_t torque = map_ptr->map_func(map_ptr, input_deadzone);

return torque;
const uint16_t limited_torque = apply_speed_limit(map_ptr, torque, speed);
return limited_torque;
}

/**
Expand All @@ -67,7 +76,7 @@ uint16_t torque_map_apply(torque_map_t *map_ptr, uint16_t input)
* @param[in] map_ptr Torque map
* @param[in] input Input value
*/
uint16_t apply_deadzone(torque_map_t *map_ptr, uint16_t input)
uint16_t apply_deadzone(torque_map_t* map_ptr, uint16_t input)
{
uint16_t result = 0;

Expand All @@ -78,7 +87,7 @@ uint16_t apply_deadzone(torque_map_t *map_ptr, uint16_t input)
else
{
const uint16_t shifted_input = input - map_ptr->deadzone_end;
result = (uint16_t)(shifted_input * map_ptr->deadzone_scale);
result = (uint16_t) (shifted_input * map_ptr->deadzone_scale);
}

return result;
Expand All @@ -87,7 +96,7 @@ uint16_t apply_deadzone(torque_map_t *map_ptr, uint16_t input)
/**
* @brief A torque map that returns zero
*/
uint16_t null_torque_map(torque_map_t *map_ptr, uint16_t input)
uint16_t null_torque_map(torque_map_t* map_ptr, uint16_t input)
{
UNUSED(map_ptr);
UNUSED(input);
Expand All @@ -97,13 +106,53 @@ uint16_t null_torque_map(torque_map_t *map_ptr, uint16_t input)
/**
* @brief A linear torque map
*/
uint16_t linear_torque_map(torque_map_t *map_ptr, uint16_t input)
uint16_t linear_torque_map(torque_map_t* map_ptr, uint16_t input)
{
const float scale_factor = map_ptr->config_ptr->output_max / (float)map_ptr->config_ptr->input_max;
const float scale_factor = map_ptr->config_ptr->output_max
/ (float) map_ptr->config_ptr->input_max;

const uint16_t torque = (uint16_t)(input * scale_factor);
const uint16_t torque = (uint16_t) (input * scale_factor);

// TODO: clip to range

return torque;
}

uint16_t apply_speed_limit(torque_map_t* map_ptr, uint16_t input, int16_t speed)
{
uint16_t result = 0;
if (speed < map_ptr->speed_start)
{
result = input;
}
else if (speed > map_ptr->speed_end)
{
if (input < map_ptr->speed_min)
{
result = input;
}
else
{
result = map_ptr->speed_min;
}
}
else
{
uint16_t max_torque
= map_ptr->config_ptr->output_max
- (map_ptr->config_ptr->output_max - map_ptr->speed_min)
* (speed - map_ptr->speed_start)
/ (map_ptr->speed_end - map_ptr->speed_start);

if (input < max_torque)
{
result = input;
}
else
{
result = max_torque;
}
}

return result;
}
12 changes: 7 additions & 5 deletions src/SUFST/Src/Interfaces/bps.c
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Original file line number Diff line number Diff line change
Expand Up @@ -6,16 +6,18 @@
* @param[in] bps_ptr BPS context
* @param[in] config_ptr Configuration
*/
status_t bps_init(bps_context_t *bps_ptr, const config_bps_t *config_ptr)
status_t bps_init(bps_context_t* bps_ptr, const config_bps_t* config_ptr)
{
bps_ptr->config_ptr = config_ptr;

// compute pressure thresholds
const uint16_t range = config_ptr->scs.max_mapped - config_ptr->scs.min_mapped;
const uint16_t range
= config_ptr->scs.max_mapped - config_ptr->scs.min_mapped;

const uint16_t offset = config_ptr->scs.min_mapped;

bps_ptr->fully_pressed_threshold = (config_ptr->fully_pressed_fraction * range) + offset;
bps_ptr->fully_pressed_threshold
= (config_ptr->fully_pressed_fraction * range) + offset;

// create the SCS instance
status_t status = scs_create(&bps_ptr->signal, &config_ptr->scs);
Expand All @@ -29,7 +31,7 @@ status_t bps_init(bps_context_t *bps_ptr, const config_bps_t *config_ptr)
* @param[in] bps_ptr
* @param[out] reading_ptr
*/
status_t bps_read(bps_context_t *bps_ptr, uint16_t *reading_ptr)
status_t bps_read(bps_context_t* bps_ptr, uint16_t* reading_ptr)
{
status_t status = scs_read(&bps_ptr->signal, reading_ptr);
scs_status_t status_verbose = bps_ptr->signal.status_verbose;
Expand Down Expand Up @@ -64,7 +66,7 @@ status_t bps_read(bps_context_t *bps_ptr, uint16_t *reading_ptr)
* @retval true BPS is fully pressed
* @retval false BPS not fully pressed, or SCS fault
*/
bool bps_fully_pressed(bps_context_t *bps_ptr)
bool bps_fully_pressed(bps_context_t* bps_ptr)
{
uint16_t reading = 0;
status_t status = bps_read(bps_ptr, &reading);
Expand Down
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