MCU_rev15_defs.h

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#ifndef __MCU15_H__
#define __MCU15_H__
 
#include "PedalsSystem.h"
 
 
 
// pindefs
const int ADC1_CS = 34;     // Main ECU
const int ADC2_CS = 33;     // FL corner board
const int ADC3_CS = 29;     // FR corner board
const int SOFTWARE_OK       = 8;
const int WATCHDOG_INPUT    = 32;
 
 
// ADC1 channel defs
const int MCU15_ACCEL1_CHANNEL          = 2;
const int MCU15_ACCEL2_CHANNEL          = 1;
const int MCU15_BRAKE1_CHANNEL          = 5;
const int MCU15_BRAKE2_CHANNEL          = 3;
const int MCU15_GLV_SENSE_CHANNEL       = 4;
const int MCU15_STEERING_CHANNEL        = 7;
const int MCU15_CUR_POS_SENSE_CHANNEL   = 6;
const int MCU15_CUR_NEG_SENSE_CHANNEL   = 0;
// ADC2 channel defs
const int MCU15_FL_POTS_CHANNEL         = 1;
const int MCU15_FR_POTS_CHANNEL         = 1;
const int MCU15_FL_LOADCELL_CHANNEL     = 2;
const int MCU15_FR_LOADCELL_CHANNEL     = 2;
 
//MCU teensy analog channels
const int MCU15_TEENSY_ADC_CHANNELS = 2;
// const int MCU15_NUM_THERMISTORS = 2;
const int MCU15_THERM_FL = 38;
const int MCU15_THERM_FR = 41;
// const int MCU15_THERM_FL_CHANNEL = 0;
// const int MCU15_THERM_FR_CHANNEL = 1;
 
const int DEFAULT_ANALOG_PINS[MCU15_TEENSY_ADC_CHANNELS] = {MCU15_THERM_FL, MCU15_THERM_FR};
// Time intervals
const unsigned long SETUP_PRESENT_ACTION_INTERVAL       = 1000;
const unsigned long BUZZER_ON_INTERVAL                  = 2000;
const unsigned long INVERTER_ENABLING_TIMEOUT_INTERVAL  = 5000;
 
//glv sense conversion
const float GLV_SENSE_SCALE = .0073 * 4.0865;
// Communication speeds
const unsigned long INV_CAN_BAUDRATE    = 500000;
const unsigned long TELEM_CAN_BAUDRATE  = 500000;
 
// APPS/Brake pedal parameters
// All of these values are the PEDAL min/max
// the sensor min/max that trip implaus are calculated
// in the PedalsSystem constructor
const int ACCEL1_PEDAL_MAX = 3490;  
const int ACCEL2_PEDAL_MAX = 189;   
 
const int ACCEL1_PEDAL_MIN = 2646;
const int ACCEL2_PEDAL_MIN = 1030;
 
const int BRAKE1_PEDAL_MAX = 2022;  
const int BRAKE2_PEDAL_MAX = 1668;  
 
const int BRAKE1_PEDAL_MIN = 1192;  
const int BRAKE2_PEDAL_MIN = 2476;
 
const int ACCEL1_PEDAL_OOR_MIN = 90;
const int ACCEL2_PEDAL_OOR_MIN = 90;
 
const int ACCEL1_PEDAL_OOR_MAX = 4000;
const int ACCEL2_PEDAL_OOR_MAX = 4000;
 
const int BRAKE1_PEDAL_OOR_MIN = 90;
const int BRAKE2_PEDAL_OOR_MIN = 90;
 
const int BRAKE1_PEDAL_OOR_MAX = 4000;
const int BRAKE2_PEDAL_OOR_MAX = 4000;
 
const float DEFAULT_PEDAL_DEADZONE = 0.05f;
const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.12f;
 
const float APPS_ACTIVATION_PERCENTAGE = 0.1f;
const float BRAKE_ACTIVATION_PERCENTAGE = 0.05f;
const float BRAKE_MECH_THRESH = 0.46f;
 
// Load Cell Defs to convert raw to lbs
// lbs = (raw + offset) * scale
 
const float LOADCELL_FL_SCALE = 0.1053;
const float LOADCELL_FL_OFFSET = 19.674 / LOADCELL_FL_SCALE;
 
const float LOADCELL_FR_SCALE = 0.097;
const float LOADCELL_FR_OFFSET = 21.183 / LOADCELL_FR_SCALE;
 
const float LOADCELL_RL_SCALE = 0.1149;
const float LOADCELL_RL_OFFSET = 13.526 / LOADCELL_RL_SCALE;
 
const float LOADCELL_RR_SCALE = 0.118;
const float LOADCELL_RR_OFFSET = 25.721 / LOADCELL_RR_SCALE;
 
// Steering parameters
const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 790;    // 785;    // 794    // 812    // 130 deg    // 128.95
const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3133;  // 3087;    // 3075    // 3179    // 134 deg    // 132.79
const int SECONDARY_STEERING_SENSE_CENTER = 1985;   // 1945    // 1960    // 1970
const float STEERING_RANGE_DEGREES = 254.74;    //257.0f    // 253.0f    // 256.05f   // 134+130-7(slop)
const float STEERING_IIR_ALPHA = 0.7f;  // shaves off around 1 deg of max discrepancy
 
// TC parameters
const float SIMPLE_TC_REAR_TORQUE_SCALE  = 1.0;
// percent front wheels
const float SIMPLE_TC_REGEN_TORQUE_SCALE = 0.6;
 
#endif /* __MCU15_H__ */