#include <DrivetrainSystem.h>

Collaboration diagram for DrivetrainSystem< InverterType >:

Public Member Functions
	DrivetrainSystem (const std::array< InverterType , 4 > &inverters, MCUInterface mcu_interface, int init_time_limit_ms, uint16_t min_hv_voltage=60, int min_cmd_period_ms=1, float max_torque_setpoint_nm=21.42)
	order of array: 0: FL, 1: FR, 2: RL, 3: RR More...

void	tick (const SysTick_s &tick)

void	setup_retry ()

bool	handle_inverter_startup (unsigned long curr_time)

void	command_drivetrain_no_torque ()

void	command_drivetrain_debug ()

bool	inverter_init_timeout (unsigned long curr_time)

bool	hv_over_threshold_on_drivetrain ()

void	disable ()

void	disable_no_pins ()

bool	drivetrain_error_occured ()

void	reset_drivetrain ()

void	command_drivetrain (const DrivetrainCommand_s &data)

void	enable_drivetrain_reset ()

void	check_reset_condition ()

DrivetrainDynamicReport_s	get_dynamic_data ()

Private Member Functions
void	enable_drivetrain_hv_ (unsigned long curr_time)

void	request_enable_ ()

bool	drivetrain_ready_ ()

bool	check_drivetrain_quit_dc_on_ ()

bool	drivetrain_enabled_ ()

Private Attributes
std::array< InverterType *, 4 >	inverters_

MCUInterface *	mcu_interface_

int	init_time_limit_ms_

uint16_t	min_hv_voltage_

int	motor_pole_pairs_

float	lambda_magnetic_flux_wb_

float	L_d_inductance_H_

bool	hv_en_requested_

bool	enable_requested_

bool	reset_requested_

unsigned long	last_reset_pressed_time_

unsigned long	reset_interval_

unsigned long	curr_system_millis_

unsigned int	min_cmd_period_

unsigned long	last_no_torque_cmd_time_

unsigned long	last_reset_cmd_time_

unsigned long	last_disable_cmd_time_

unsigned long	last_general_cmd_time_

unsigned long	drivetrain_initialization_phase_start_time_

DrivetrainCommand_s	current_drivetrain_command_

DrivetrainDynamicReport_s	dynamic_data_

float	max_torque_setpoint_nm_

Detailed Description

template<typename InverterType>
class DrivetrainSystem< InverterType >

Definition at line 13 of file DrivetrainSystem.h.

Constructor & Destructor Documentation

◆ DrivetrainSystem()

template<typename InverterType >

DrivetrainSystem< InverterType >::DrivetrainSystem	(	const std::array< InverterType *, 4 > &	inverters,
		MCUInterface *	mcu_interface,
		int	init_time_limit_ms,
		uint16_t	min_hv_voltage = `60`,
		int	min_cmd_period_ms = `1`,
		float	max_torque_setpoint_nm = `21.42`
	)

inline

order of array: 0: FL, 1: FR, 2: RL, 3: RR

Parameters

inverters inverter pointers

Definition at line 18 of file DrivetrainSystem.h.

        : inverters_(inverters), init_time_limit_ms_(init_time_limit_ms), min_hv_voltage_(min_hv_voltage), min_cmd_period_(min_cmd_period_ms), max_torque_setpoint_nm_(max_torque_setpoint_nm)
    {
        // values from: https://www.amk-motion.com/amk-dokucd/dokucd/en/content/resources/pdf-dateien/fse/motor_data_sheet_a2370dd_dd5.pdf
        motor_pole_pairs_ = 5;
        lambda_magnetic_flux_wb_ = 1.0;
        hv_en_requested_ = false;
        enable_requested_ = false;
        reset_requested_ = false;
        last_reset_pressed_time_ = 0;
        reset_interval_ = 5000;     // ms
        curr_system_millis_ = 0;
        last_no_torque_cmd_time_ = 0;
        last_reset_cmd_time_ = 0;
        last_disable_cmd_time_ = 0;
        last_general_cmd_time_ = 0; // ms
        mcu_interface_ = mcu_interface;
        dynamic_data_ = {};
    }

Member Function Documentation

◆ check_drivetrain_quit_dc_on_()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::check_drivetrain_quit_dc_on_ ( )

private

◆ check_reset_condition()

template<typename InverterType >

void DrivetrainSystem< InverterType >::check_reset_condition ( )

◆ command_drivetrain()

template<typename InverterType >

void DrivetrainSystem< InverterType >::command_drivetrain ( const DrivetrainCommand_s & data )

◆ command_drivetrain_debug()

template<typename InverterType >

void DrivetrainSystem< InverterType >::command_drivetrain_debug ( )

◆ command_drivetrain_no_torque()

template<typename InverterType >

void DrivetrainSystem< InverterType >::command_drivetrain_no_torque ( )

◆ disable()

template<typename InverterType >

void DrivetrainSystem< InverterType >::disable ( )

◆ disable_no_pins()

template<typename InverterType >

void DrivetrainSystem< InverterType >::disable_no_pins ( )

◆ drivetrain_enabled_()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::drivetrain_enabled_ ( )

private

◆ drivetrain_error_occured()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::drivetrain_error_occured ( )

◆ drivetrain_ready_()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::drivetrain_ready_ ( )

private

◆ enable_drivetrain_hv_()

template<typename InverterType >

void DrivetrainSystem< InverterType >::enable_drivetrain_hv_ ( unsigned long curr_time )

private

Parameters

curr_time current system tick time (millis()) that sets the init phase start time

◆ enable_drivetrain_reset()

template<typename InverterType >

void DrivetrainSystem< InverterType >::enable_drivetrain_reset ( )

◆ get_dynamic_data()

template<typename InverterType >

DrivetrainDynamicReport_s DrivetrainSystem< InverterType >::get_dynamic_data ( )

◆ handle_inverter_startup()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::handle_inverter_startup ( unsigned long curr_time )

◆ hv_over_threshold_on_drivetrain()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::hv_over_threshold_on_drivetrain ( )

◆ inverter_init_timeout()

template<typename InverterType >

bool DrivetrainSystem< InverterType >::inverter_init_timeout ( unsigned long curr_time )

◆ request_enable_()

template<typename InverterType >

void DrivetrainSystem< InverterType >::request_enable_ ( )

private

◆ reset_drivetrain()

template<typename InverterType >

void DrivetrainSystem< InverterType >::reset_drivetrain ( )

◆ setup_retry()

template<typename InverterType >

void DrivetrainSystem< InverterType >::setup_retry ( )

inline

Definition at line 39 of file DrivetrainSystem.h.

    {
        reset_drivetrain();
        hv_en_requested_ = false;
        enable_requested_ = false;
    }

◆ tick()

template<typename InverterType >

void DrivetrainSystem< InverterType >::tick ( const SysTick_s & tick )

Member Data Documentation

◆ curr_system_millis_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::curr_system_millis_

private

Definition at line 90 of file DrivetrainSystem.h.

◆ current_drivetrain_command_

template<typename InverterType >

DrivetrainCommand_s DrivetrainSystem< InverterType >::current_drivetrain_command_

private

Definition at line 95 of file DrivetrainSystem.h.

◆ drivetrain_initialization_phase_start_time_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::drivetrain_initialization_phase_start_time_

private

Definition at line 94 of file DrivetrainSystem.h.

◆ dynamic_data_

template<typename InverterType >

DrivetrainDynamicReport_s DrivetrainSystem< InverterType >::dynamic_data_

private

Definition at line 96 of file DrivetrainSystem.h.

◆ enable_requested_

template<typename InverterType >

bool DrivetrainSystem< InverterType >::enable_requested_

private

Definition at line 73 of file DrivetrainSystem.h.

◆ hv_en_requested_

template<typename InverterType >

bool DrivetrainSystem< InverterType >::hv_en_requested_

private

Definition at line 73 of file DrivetrainSystem.h.

◆ init_time_limit_ms_

template<typename InverterType >

int DrivetrainSystem< InverterType >::init_time_limit_ms_

private

Definition at line 68 of file DrivetrainSystem.h.

◆ inverters_

template<typename InverterType >

std::array<InverterType *, 4> DrivetrainSystem< InverterType >::inverters_

private

Definition at line 66 of file DrivetrainSystem.h.

◆ L_d_inductance_H_

template<typename InverterType >

float DrivetrainSystem< InverterType >::L_d_inductance_H_

private

Definition at line 71 of file DrivetrainSystem.h.

◆ lambda_magnetic_flux_wb_

template<typename InverterType >

float DrivetrainSystem< InverterType >::lambda_magnetic_flux_wb_

private

Definition at line 71 of file DrivetrainSystem.h.

◆ last_disable_cmd_time_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::last_disable_cmd_time_

private

Definition at line 92 of file DrivetrainSystem.h.

◆ last_general_cmd_time_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::last_general_cmd_time_

private

Definition at line 92 of file DrivetrainSystem.h.

◆ last_no_torque_cmd_time_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::last_no_torque_cmd_time_

private

Definition at line 92 of file DrivetrainSystem.h.

◆ last_reset_cmd_time_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::last_reset_cmd_time_

private

Definition at line 92 of file DrivetrainSystem.h.

◆ last_reset_pressed_time_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::last_reset_pressed_time_

private

Definition at line 76 of file DrivetrainSystem.h.

◆ max_torque_setpoint_nm_

template<typename InverterType >

float DrivetrainSystem< InverterType >::max_torque_setpoint_nm_

private

Definition at line 97 of file DrivetrainSystem.h.

◆ mcu_interface_

template<typename InverterType >

MCUInterface* DrivetrainSystem< InverterType >::mcu_interface_

private

Definition at line 67 of file DrivetrainSystem.h.

◆ min_cmd_period_

template<typename InverterType >

unsigned int DrivetrainSystem< InverterType >::min_cmd_period_

private

Definition at line 91 of file DrivetrainSystem.h.

◆ min_hv_voltage_

template<typename InverterType >

uint16_t DrivetrainSystem< InverterType >::min_hv_voltage_

private

Definition at line 69 of file DrivetrainSystem.h.

◆ motor_pole_pairs_

template<typename InverterType >

int DrivetrainSystem< InverterType >::motor_pole_pairs_

private

Definition at line 70 of file DrivetrainSystem.h.

◆ reset_interval_

template<typename InverterType >

unsigned long DrivetrainSystem< InverterType >::reset_interval_

private

Definition at line 77 of file DrivetrainSystem.h.

◆ reset_requested_

template<typename InverterType >

bool DrivetrainSystem< InverterType >::reset_requested_

private

Definition at line 75 of file DrivetrainSystem.h.

The documentation for this class was generated from the following file:

lib/systems/include/DrivetrainSystem.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DrivetrainSystem()

Member Function Documentation

◆ check_drivetrain_quit_dc_on_()

◆ check_reset_condition()

◆ command_drivetrain()

◆ command_drivetrain_debug()

◆ command_drivetrain_no_torque()

◆ disable()

◆ disable_no_pins()

◆ drivetrain_enabled_()

◆ drivetrain_error_occured()

◆ drivetrain_ready_()

◆ enable_drivetrain_hv_()

◆ enable_drivetrain_reset()

◆ get_dynamic_data()

◆ handle_inverter_startup()

◆ hv_over_threshold_on_drivetrain()

◆ inverter_init_timeout()

◆ request_enable_()

◆ reset_drivetrain()

◆ setup_retry()

◆ tick()

Member Data Documentation

◆ curr_system_millis_

◆ current_drivetrain_command_

◆ drivetrain_initialization_phase_start_time_

◆ dynamic_data_

◆ enable_requested_

◆ hv_en_requested_

◆ init_time_limit_ms_

◆ inverters_

◆ L_d_inductance_H_

◆ lambda_magnetic_flux_wb_

◆ last_disable_cmd_time_

◆ last_general_cmd_time_

◆ last_no_torque_cmd_time_

◆ last_reset_cmd_time_

◆ last_reset_pressed_time_

◆ max_torque_setpoint_nm_

◆ mcu_interface_

◆ min_cmd_period_

◆ min_hv_voltage_

◆ motor_pole_pairs_

◆ reset_interval_

◆ reset_requested_