main.cpp File Reference

#include <Arduino.h>
#include "FlexCAN_T4.h"
#include "HyTech_CAN.h"
#include "MCU_rev15_defs.h"
#include "pb.h"
#include "DrivebrainETHInterface.h"
#include "ProtobufMsgInterface.h"
#include "HytechCANInterface.h"
#include "ThermistorInterface.h"
#include "Teensy_ADC.h"
#include "MCP_ADC.h"
#include "ORBIS_BR10.h"
#include "MCUInterface.h"
#include "AMSInterface.h"
#include "WatchdogInterface.h"
#include "DashboardInterface.h"
#include "InverterInterface.h"
#include "TelemetryInterface.h"
#include "SABInterface.h"
#include "VectornavInterface.h"
#include "LoadCellInterface.h"
#include "SysClock.h"
#include "Buzzer.h"
#include "SafetySystem.h"
#include "DrivetrainSystem.h"
#include "PedalsSystem.h"
#include "DrivebrainController.h"
#include "TorqueControllerMux.h"
#include "TorqueControllers.h"
#include "CASESystem.h"
#include "MCUStateMachine.h"
#include "HT08_CASE.h"
#include "InterfaceParams.h"
#include "PrintLogger.h"
#include "hytech_msgs.pb.h"

Include dependency graph for main.cpp:

Go to the source code of this file.

Classes
struct	inverters

Macros
#define	DEBUG_PRINTS   false

Typedefs
using	CircularBufferType = CANBufferType
using	InvInt_t = InverterInterface< CircularBufferType >
using	DriveSys_t = DrivetrainSystem< InvInt_t >

Functions
void	init_all_CAN_devices ()
void	tick_all_interfaces (const SysTick_s &current_system_tick)
void	tick_all_systems (const SysTick_s &current_system_tick)
void	drivetrain_reset ()
void	handle_ethernet_interface_comms (const SysTick_s &systick, const hytech_msgs_MCUOutputData &out_msg)
void	setup ()
void	loop ()

Variables
const TelemetryInterfaceReadChannels	telem_read_channels
const PedalsParams	accel1_only_params
const PedalsParams	accel2_only_params
const PedalsParams	accel_params
const PedalsParams	brake1_only_params
const PedalsParams	brake2_only_params
const PedalsParams	brake_params
EthernetUDP	protobuf_send_socket
EthernetUDP	protobuf_recv_socket
FlexCAN_T4< CAN2, RX_SIZE_256, TX_SIZE_16 >	INV_CAN
FlexCAN_T4< CAN3, RX_SIZE_256, TX_SIZE_16 >	TELEM_CAN
MCP_ADC< 8 >	a1 = MCP_ADC<8>(ADC1_CS)
MCP_ADC< 4 >	a2 = MCP_ADC<4>(ADC2_CS, 1000000)
MCP_ADC< 4 >	a3 = MCP_ADC<4>(ADC3_CS, 1000000)
Teensy_ADC< 2 >	mcu_adc = Teensy_ADC<2>(DEFAULT_ANALOG_PINS)
OrbisBR10 steering1 &	Serial5
ETHInterfaces	ethernet_interfaces = {}
VNInterface< CircularBufferType > vn_interface &	CAN3_txBuffer
WatchdogInterface	wd_interface (WATCHDOG_INPUT)
SABInterface	sab_interface (LOADCELL_RL_SCALE, LOADCELL_RL_OFFSET, LOADCELL_RR_SCALE, LOADCELL_RR_OFFSET)
LoadCellInterface	load_cell_interface
struct inverters	inv
SysClock	sys_clock
SteeringSystem steering_system &	steering1
BuzzerController	buzzer (BUZZER_ON_INTERVAL)
SafetySystem safety_system &	ams_interface
PedalsSystem	pedals_system (accel_params, brake_params)
DriveSys_t	drivetrain = DriveSys_t({&inv.fl, &inv.fr, &inv.rl, &inv.rr}, &main_ecu, INVERTER_ENABLING_TIMEOUT_INTERVAL)
CASEConfiguration	case_config
RateLimitedLogger	logger
TorqueControllerSimple	tc_simple (1.0f, 1.0f)
TorqueControllerLoadCellVectoring	tc_vec
TorqueControllerCASEWrapper< CircularBufferType > case_wrapper &	case_system
TorqueControllerSimpleLaunch	simple_launch
DrivebrainController	db_controller (210)
TCMuxType	torque_controller_mux ({static_cast< Controller * >(&tc_simple), static_cast< Controller * >(&tc_vec), static_cast< Controller * >(&case_wrapper), static_cast< Controller * >(&simple_launch), static_cast< Controller * >(&db_controller)}, {false, false, true, false, true})
DrivebrainETHInterface	db_eth_interface
CANInterfaces< CircularBufferType >	CAN_receive_interfaces = {&inv.fl, &inv.fr, &inv.rl, &inv.rr, &vn_interface, &dashboard, &ams_interface, &sab_interface}

Macro Definition Documentation

DEBUG_PRINTS

#define DEBUG_PRINTS   false

Definition at line 4 of file main.cpp.

Typedef Documentation

CircularBufferType

using CircularBufferType = CANBufferType

Definition at line 173 of file main.cpp.

DriveSys_t

using DriveSys_t = DrivetrainSystem<InvInt_t>

Definition at line 222 of file main.cpp.

InvInt_t

using InvInt_t = InverterInterface<CircularBufferType>

Definition at line 202 of file main.cpp.

Function Documentation

drivetrain_reset()

void drivetrain_reset

(

)

handle_ethernet_interface_comms()

void handle_ethernet_interface_comms	(	const SysTick_s &	systick,
		const hytech_msgs_MCUOutputData &	out_msg
	)

Definition at line 667 of file main.cpp.

{
    // function that will handle receiving and distributing of all messages to all ethernet interfaces
    // via the union message. this is a little bit cursed ngl.
 
    std::function<void(unsigned long, const uint8_t *, size_t, DrivebrainETHInterface &, const pb_msgdesc_t *)> recv_boi = &recv_pb_stream_msg<hytech_msgs_MCUCommandData, DrivebrainETHInterface>;
    handle_ethernet_socket_receive<1024, hytech_msgs_MCUCommandData>(systick, &protobuf_recv_socket, recv_boi, db_eth_interface, hytech_msgs_MCUCommandData_fields);
 
    if (systick.triggers.trigger1000)
    {
        handle_ethernet_socket_send_pb<hytech_msgs_MCUOutputData, 1024>(EthParams::default_TCU_ip, EthParams::default_protobuf_send_port, &protobuf_send_socket, out_msg, hytech_msgs_MCUOutputData_fields);
    }
}

init_all_CAN_devices()

void init_all_CAN_devices

(

)

Definition at line 521 of file main.cpp.

{
    // Inverter CAN line
    INV_CAN.begin();
    INV_CAN.setBaudRate(INV_CAN_BAUDRATE);
    INV_CAN.setMaxMB(16);
    INV_CAN.enableFIFO();
    INV_CAN.enableFIFOInterrupt();
    INV_CAN.onReceive(on_can2_receive);
    INV_CAN.mailboxStatus();
 
    // Telemetry CAN line
    TELEM_CAN.begin();
    TELEM_CAN.setBaudRate(TELEM_CAN_BAUDRATE);
    TELEM_CAN.setMaxMB(16);
    TELEM_CAN.enableFIFO();
    TELEM_CAN.enableFIFOInterrupt();
    TELEM_CAN.onReceive(on_can3_receive);
    TELEM_CAN.mailboxStatus();
}

loop()

void loop

(

)

Definition at line 417 of file main.cpp.

{
    // get latest tick from sys clock
    SysTick_s curr_tick = sys_clock.tick(micros());
 
    // process received CAN messages
    process_ring_buffer(CAN2_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
    process_ring_buffer(CAN3_rxBuffer, CAN_receive_interfaces, curr_tick.millis);
 
    // tick interfaces
    tick_all_interfaces(curr_tick);
 
    // tick systems
 
    // single source of truth for the state of the car.
    // no systems or interfaces should write directly to this.
    SharedCarState_s car_state_inst(curr_tick,
                                    steering_system.getSteeringSystemData(),
                                    drivetrain.get_dynamic_data(),
                                    load_cell_interface.getLoadCellForces(),
                                    load_cell_interface.get_latest_raw_data(),
                                    pedals_system.getPedalsSystemData(),
                                    vn_interface.get_vn_struct(),
                                    db_eth_interface.get_latest_data(),
                                    torque_controller_mux.get_tc_mux_status(),
                                    db_controller.get_timing_failure_status());
 
    car_state_inst.drivebrain_timing_failure = db_controller.get_timing_failure_status();
    hytech_msgs_MCUOutputData out_eth_msg = db_eth_interface.make_db_msg(car_state_inst);
 
    handle_ethernet_interface_comms(curr_tick, out_eth_msg);
 
    tick_all_systems(curr_tick);
 
    // inverter procedure before entering state machine
    // reset inverters
    if (dashboard.inverterResetButtonPressed() && drivetrain.drivetrain_error_occured())
    {
        drivetrain.reset_drivetrain();
    }
    // tick state machine
 
    fsm.tick_state_machine(curr_tick.millis, car_state_inst);
 
    // tick safety system
    safety_system.software_shutdown(curr_tick);
 
    // send CAN
    send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
    send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
 
    // Basic debug prints
    // if (curr_tick.triggers.trigger5)
    if (DEBUG_PRINTS)
    {
        Serial.print("Steering system reported angle (deg): ");
        Serial.println(steering_system.getSteeringSystemData().angle);
        Serial.print("Steering system status: ");
        Serial.println(static_cast<uint8_t>(steering_system.getSteeringSystemData().status));
        Serial.print("Primary sensor angle: ");
        Serial.println(steering1.convert().angle);
        Serial.print("Secondary sensor angle: ");
        Serial.print(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
        Serial.print("  raw: ");
        Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].raw);
        Serial.print("Sensor divergence: ");
        Serial.println(steering1.convert().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
        Serial.println();
        Serial.println("Pedal outputs:");
        Serial.print("Accel 1 raw: ");
        Serial.println(a1.get().conversions[MCU15_ACCEL1_CHANNEL].raw);
        Serial.print("Accel 2 raw: ");
        Serial.println(a1.get().conversions[MCU15_ACCEL2_CHANNEL].raw);
        Serial.print("Accel percent: ");
        Serial.println(pedals_system.getPedalsSystemDataCopy().accelPercent);
        Serial.print("Brake 1 raw: ");
        Serial.println(a1.get().conversions[MCU15_BRAKE1_CHANNEL].raw);
        Serial.print("Brake 2 raw: ");
        Serial.println(a1.get().conversions[MCU15_BRAKE2_CHANNEL].raw);
        Serial.print("Brake percent: ");
        Serial.println(pedals_system.getPedalsSystemDataCopy().brakePercent);
        Serial.println();
        Serial.print("Derating factor: ");
        Serial.println(ams_interface.get_acc_derate_factor());
        Serial.print("Filtered min cell voltage: ");
        Serial.println(ams_interface.get_filtered_min_cell_voltage());
        Serial.print("Filtered max cell temp: ");
        Serial.println(ams_interface.get_filtered_max_cell_temp());
        Serial.print("Current TC index: ");
        Serial.println(static_cast<int>(torque_controller_mux.get_tc_mux_status().active_controller_mode));
        Serial.print("Current TC error: ");
        Serial.println(static_cast<int>(torque_controller_mux.get_tc_mux_status().active_error));
        Serial.println();
        Serial.print("dial state: ");
        Serial.println(static_cast<int>(dashboard.getDialMode()));
        Serial.println();
        Serial.println();
    }
}

setup()

void setup

(

void

)

Definition at line 353 of file main.cpp.

{
    // initialize CAN communication
    init_all_CAN_devices();
 
    Ethernet.begin(EthParams::default_MCU_MAC_address, EthParams::default_MCU_ip);
    protobuf_send_socket.begin(EthParams::default_protobuf_send_port);
    protobuf_recv_socket.begin(EthParams::default_protobuf_recv_port);
 
    SPI.begin();
    a1.init();
    a2.init();
    a3.init();
    mcu_adc.init();
 
    a1.setChannelScale(MCU15_ACCEL1_CHANNEL, (1.0 / (float)(ACCEL1_PEDAL_MAX - ACCEL1_PEDAL_MIN)));
    a1.setChannelScale(MCU15_ACCEL2_CHANNEL, (1.0 / (float)(ACCEL2_PEDAL_MAX - ACCEL2_PEDAL_MIN)));
    a1.setChannelScale(MCU15_BRAKE1_CHANNEL, (1.0 / (float)(BRAKE1_PEDAL_MAX - BRAKE1_PEDAL_MIN)));
    a1.setChannelScale(MCU15_BRAKE2_CHANNEL, (1.0 / (float)(BRAKE2_PEDAL_MAX - BRAKE2_PEDAL_MIN)));
    a1.setChannelOffset(MCU15_ACCEL1_CHANNEL, -ACCEL1_PEDAL_MIN);
    a1.setChannelOffset(MCU15_ACCEL2_CHANNEL, -ACCEL2_PEDAL_MIN);
    a1.setChannelOffset(MCU15_BRAKE1_CHANNEL, -BRAKE1_PEDAL_MIN);
    a1.setChannelOffset(MCU15_BRAKE2_CHANNEL, -BRAKE2_PEDAL_MIN);
    a1.setChannelOffset(MCU15_STEERING_CHANNEL, -1 * SECONDARY_STEERING_SENSE_CENTER);
    a1.setChannelScale(MCU15_STEERING_CHANNEL, STEERING_RANGE_DEGREES / ((float)SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND - (float)SECONDARY_STEERING_SENSE_LEFTMOST_BOUND));
    a1.setChannelClamp(MCU15_STEERING_CHANNEL, -STEERING_RANGE_DEGREES / 0.5 * 1.15, STEERING_RANGE_DEGREES / 0.5 * 1.15); // 15% tolerance on each end of the steering sensor
    a1.setChannelScale(MCU15_GLV_SENSE_CHANNEL, GLV_SENSE_SCALE);
    a2.setChannelScale(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_SCALE /*Todo*/);
    a3.setChannelScale(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_SCALE /*Todo*/);
 
    a2.setChannelOffset(MCU15_FL_LOADCELL_CHANNEL, LOADCELL_FL_OFFSET /*Todo*/);
    a3.setChannelOffset(MCU15_FR_LOADCELL_CHANNEL, LOADCELL_FR_OFFSET /*Todo*/);
 
    mcu_adc.setAlphas(MCU15_THERM_FL, 0.95);
    mcu_adc.setAlphas(MCU15_THERM_FR, 0.95);
    // get latest tick from sys clock
    SysTick_s curr_tick = sys_clock.tick(micros());
 
    /*
        Init Interfaces
    */
 
    main_ecu.init();                     // initial shutdown circuit readings,
    wd_interface.init(curr_tick.millis); // initialize wd kick time
    ams_interface.init(curr_tick);       // initialize last heartbeat time
    steering1.init();
    steering1.setOffset(PRIMARY_STEERING_SENSE_OFFSET);
 
    Serial.begin(115200);
 
    /*
        Init Systems
    */
    safety_system.init();
 
    // Drivetrain set all inverters disabled
    drivetrain.disable(); // write inv_en and inv_24V_en low: writing high in previous code though, should double check
    // would an error list be good for debugging? i.e. which inverter has error
 
    // ControllerMux set max torque to 20 NM, torque mode to whatever makes most sense
    // Preventing drivers from forgetting to toggle torque mode and end up self-derating at comp
    // Not strictly necessary at the moment, just don't forget
}

tick_all_interfaces()

void tick_all_interfaces

(

const SysTick_s &

current_system_tick

)

Definition at line 546 of file main.cpp.

{
 
    TriggerBits_s t = current_system_tick.triggers;
    if (t.trigger10) // 10Hz
    {
        dashboard.tick10(
            &main_ecu,
            int(fsm.get_state()),
            buzzer.buzzer_is_on(),
            drivetrain.drivetrain_error_occured(),
            torque_controller_mux.get_tc_mux_status().active_torque_limit_enum,
            ams_interface.get_filtered_min_cell_voltage(),
            a1.get().conversions[MCU15_GLV_SENSE_CHANNEL],
            static_cast<int>(torque_controller_mux.get_tc_mux_status().active_controller_mode),
            dashboard.getDialMode());
 
        main_ecu.tick(
            static_cast<int>(fsm.get_state()),
            drivetrain.drivetrain_error_occured(),
            safety_system.get_software_is_ok(),
            torque_controller_mux.get_tc_mux_status(),
            buzzer.buzzer_is_on(),
            pedals_system.getPedalsSystemData(),
            ams_interface.pack_charge_is_critical(),
            dashboard.launchControlButtonPressed());
 
        PedalsSystemData_s data2 = pedals_system.getPedalsSystemDataCopy();
        front_thermistors_interface.tick(mcu_adc.get().conversions[MCU15_THERM_FL_CHANNEL], mcu_adc.get().conversions[MCU15_THERM_FR_CHANNEL]);
        // TODO pass in the shared state instead
        telem_interface.tick(
            a1.get(),
            a2.get(),
            a3.get(),
            steering1.convert(),
            &inv.fl,
            &inv.fr,
            &inv.rl,
            &inv.rr,
            data2.accelImplausible,
            data2.brakeImplausible,
            data2.accelPercent,
            data2.brakePercent,
            a1.get().conversions[MCU15_ACCEL1_CHANNEL],
            a1.get().conversions[MCU15_ACCEL2_CHANNEL],
            a1.get().conversions[MCU15_BRAKE1_CHANNEL],
            a1.get().conversions[MCU15_BRAKE2_CHANNEL],
            pedals_system.getMechBrakeActiveThreshold(),
            torque_controller_mux.get_tc_mux_status().active_error);
 
        ams_interface.tick(current_system_tick);
 
    }
 
    if (t.trigger50) // 50Hz
    {
        steering1.sample();
    }
 
    if (t.trigger100) // 100Hz
    {
 
        a1.tick();
        a2.tick();
        a3.tick();
        mcu_adc.tick();
        load_cell_interface.tick(
            (LoadCellInterfaceTick_s){
                .FLConversion = a2.get().conversions[MCU15_FL_LOADCELL_CHANNEL],
                .FRConversion = a3.get().conversions[MCU15_FR_LOADCELL_CHANNEL],
                .RLConversion = sab_interface.rlLoadCell.convert(),
                .RRConversion = sab_interface.rrLoadCell.convert()});
    }
    load_cell_interface.update_raw_data((LoadCellInterfaceTick_s){
        .FLConversion = a2.get().conversions[MCU15_FL_LOADCELL_CHANNEL],
        .FRConversion = a3.get().conversions[MCU15_FR_LOADCELL_CHANNEL],
        .RLConversion = sab_interface.rlLoadCell.convert(),
        .RRConversion = sab_interface.rrLoadCell.convert()});
    // // Untriggered
    main_ecu.read_mcu_status(); // should be executed at the same rate as state machine
                                // DO NOT call in main_ecu.tick()
}

tick_all_systems()

void tick_all_systems

(

const SysTick_s &

current_system_tick

)

Definition at line 633 of file main.cpp.

{
    // tick pedals system
 
    pedals_system.tick(
        current_system_tick,
        a1.get().conversions[MCU15_ACCEL1_CHANNEL],
        a1.get().conversions[MCU15_ACCEL2_CHANNEL],
        a1.get().conversions[MCU15_BRAKE1_CHANNEL],
        a1.get().conversions[MCU15_BRAKE2_CHANNEL]);
 
    // tick steering system
    steering_system.tick(
        (SteeringSystemTick_s){
            .tick = current_system_tick,
            .secondaryConversion = a1.get().conversions[MCU15_STEERING_CHANNEL]});
 
    // tick drivetrain system
    drivetrain.tick(current_system_tick);
    // // tick torque controller mux
 
    auto __attribute__((unused)) case_status = case_system.evaluate(
        current_system_tick,
        vn_interface.get_vn_struct(),
        steering_system.getSteeringSystemData(),
        drivetrain.get_dynamic_data(),
        load_cell_interface.getLoadCellForces().loadCellConversions, // should CASE use filtered load cells?
        pedals_system.getPedalsSystemData(),
        0,
        fsm.get_state(),
        dashboard.startButtonPressed(),
        vn_interface.get_vn_struct().vn_status);
}

Variable Documentation

a1

MCP_ADC<8> a1 = MCP_ADC<8>(ADC1_CS)

Definition at line 176 of file main.cpp.

a2

MCP_ADC<4> a2 = MCP_ADC<4>(ADC2_CS, 1000000)

Definition at line 177 of file main.cpp.

a3

MCP_ADC<4> a3 = MCP_ADC<4>(ADC3_CS, 1000000)

Definition at line 178 of file main.cpp.

accel1_only_params

const PedalsParams accel1_only_params

Initial value:

= {
    .min_pedal_1 = ACCEL1_PEDAL_MIN,
    .min_pedal_2 = ACCEL1_PEDAL_MIN,
    .max_pedal_1 = ACCEL1_PEDAL_MAX,
    .max_pedal_2 = ACCEL1_PEDAL_MAX,
    .min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN,
    .min_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MIN,
    .max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX,
    .max_sensor_pedal_2 = ACCEL1_PEDAL_OOR_MAX,
    .activation_percentage = APPS_ACTIVATION_PERCENTAGE,
    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
    .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE}

Definition at line 73 of file main.cpp.

accel2_only_params

const PedalsParams accel2_only_params

Initial value:

= {
    .min_pedal_1 = ACCEL2_PEDAL_MIN,
    .min_pedal_2 = ACCEL2_PEDAL_MIN,
    .max_pedal_1 = ACCEL2_PEDAL_MAX,
    .max_pedal_2 = ACCEL2_PEDAL_MAX,
    .min_sensor_pedal_1 = ACCEL2_PEDAL_OOR_MIN,
    .min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN,
    .max_sensor_pedal_1 = ACCEL2_PEDAL_OOR_MAX,
    .max_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MAX,
    .activation_percentage = APPS_ACTIVATION_PERCENTAGE,
    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
    .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE}

Definition at line 87 of file main.cpp.

accel_params

const PedalsParams accel_params

Initial value:

= {
    .min_pedal_1 = ACCEL1_PEDAL_MIN,
    .min_pedal_2 = ACCEL2_PEDAL_MIN,
    .max_pedal_1 = ACCEL1_PEDAL_MAX,
    .max_pedal_2 = ACCEL2_PEDAL_MAX,
    .min_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MIN,
    .min_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MIN,
    .max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX,
    .max_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MAX,
    .activation_percentage = APPS_ACTIVATION_PERCENTAGE,
    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
    .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE}

Definition at line 101 of file main.cpp.

ams_interface

SafetySystem safety_system& ams_interface

Definition at line 219 of file main.cpp.

brake1_only_params

const PedalsParams brake1_only_params

Initial value:

= {
    .min_pedal_1 = BRAKE1_PEDAL_MIN,
    .min_pedal_2 = BRAKE1_PEDAL_MIN,
    .max_pedal_1 = BRAKE1_PEDAL_MAX,
    .max_pedal_2 = BRAKE1_PEDAL_MAX,
    .min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN,
    .min_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MIN,
    .max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX,
    .max_sensor_pedal_2 = BRAKE1_PEDAL_OOR_MAX,
    .activation_percentage = BRAKE_ACTIVATION_PERCENTAGE,
    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
    .mechanical_activation_percentage = BRAKE_MECH_THRESH,
}

Definition at line 115 of file main.cpp.

brake2_only_params

const PedalsParams brake2_only_params

Initial value:

= {
    .min_pedal_1 = BRAKE2_PEDAL_MIN,
    .min_pedal_2 = BRAKE2_PEDAL_MIN,
    .max_pedal_1 = BRAKE2_PEDAL_MAX,
    .max_pedal_2 = BRAKE2_PEDAL_MAX,
    .min_sensor_pedal_1 = BRAKE2_PEDAL_OOR_MIN,
    .min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN,
    .max_sensor_pedal_1 = BRAKE2_PEDAL_OOR_MAX,
    .max_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MAX,
    .activation_percentage = BRAKE_ACTIVATION_PERCENTAGE,
    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
    .mechanical_activation_percentage = BRAKE_MECH_THRESH,
}

Definition at line 130 of file main.cpp.

brake_params

const PedalsParams brake_params

Initial value:

= {
    .min_pedal_1 = BRAKE1_PEDAL_MIN,
    .min_pedal_2 = BRAKE2_PEDAL_MIN,
    .max_pedal_1 = BRAKE1_PEDAL_MAX,
    .max_pedal_2 = BRAKE2_PEDAL_MAX,
    .min_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MIN,
    .min_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MIN,
    .max_sensor_pedal_1 = BRAKE1_PEDAL_OOR_MAX,
    .max_sensor_pedal_2 = BRAKE2_PEDAL_OOR_MAX,
    .activation_percentage = BRAKE_ACTIVATION_PERCENTAGE,
    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
    .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
    .mechanical_activation_percentage = BRAKE_MECH_THRESH,
}

Definition at line 145 of file main.cpp.

buzzer

MCUStateMachine< DriveSys_t > fsm & buzzer

(

BUZZER_ON_INTERVAL

)

Definition at line 325 of file main.cpp.

CAN3_txBuffer

CASESystem<CircularBufferType> case_system& CAN3_txBuffer

Definition at line 186 of file main.cpp.

CAN_receive_interfaces

CANInterfaces<CircularBufferType> CAN_receive_interfaces = {&inv.fl, &inv.fr, &inv.rl, &inv.rr, &vn_interface, &dashboard, &ams_interface, &sab_interface}

Definition at line 332 of file main.cpp.

case_config

CASEConfiguration case_config

Definition at line 225 of file main.cpp.

case_system

TorqueControllerCASEWrapper<CircularBufferType> case_wrapper& case_system

Definition at line 310 of file main.cpp.

db_controller

DrivebrainController db_controller(210)

(

210

)

db_eth_interface

DrivebrainETHInterface db_eth_interface

Definition at line 331 of file main.cpp.

drivetrain

DriveSys_t drivetrain = DriveSys_t({&inv.fl, &inv.fr, &inv.rl, &inv.rr}, &main_ecu, INVERTER_ENABLING_TIMEOUT_INTERVAL)

Definition at line 223 of file main.cpp.

ethernet_interfaces

ETHInterfaces ethernet_interfaces = {}

Definition at line 185 of file main.cpp.

inv

struct inverters inv

INV_CAN

FlexCAN_T4<CAN2, RX_SIZE_256, TX_SIZE_16> INV_CAN

Definition at line 168 of file main.cpp.

load_cell_interface

LoadCellInterface load_cell_interface

Definition at line 199 of file main.cpp.

logger

RateLimitedLogger logger

Definition at line 302 of file main.cpp.

mcu_adc

Teensy_ADC<2> mcu_adc = Teensy_ADC<2>(DEFAULT_ANALOG_PINS)

Definition at line 179 of file main.cpp.

pedals_system

PedalsSystem pedals_system(accel_params, brake_params)	(	accel_params	,
		brake_params
	)

protobuf_recv_socket

EthernetUDP protobuf_recv_socket

Definition at line 165 of file main.cpp.

protobuf_send_socket

EthernetUDP protobuf_send_socket

Definition at line 164 of file main.cpp.

sab_interface

SABInterface sab_interface(LOADCELL_RL_SCALE, LOADCELL_RL_OFFSET, LOADCELL_RR_SCALE, LOADCELL_RR_OFFSET)	(	LOADCELL_RL_SCALE	,
		LOADCELL_RL_OFFSET	,
		LOADCELL_RR_SCALE	,
		LOADCELL_RR_OFFSET
	)

Serial5

OrbisBR10 steering1& Serial5

Definition at line 180 of file main.cpp.

simple_launch

TorqueControllerSimpleLaunch simple_launch

Definition at line 313 of file main.cpp.

steering1

SteeringSystem steering_system& steering1

Definition at line 216 of file main.cpp.

sys_clock

SysClock sys_clock

Definition at line 215 of file main.cpp.

tc_simple

TorqueControllerSimple tc_simple(1.0f, 1.0f)	(	1.	0f,
		1.	0f
	)

tc_vec

TorqueControllerLoadCellVectoring tc_vec

Definition at line 308 of file main.cpp.

TELEM_CAN

FlexCAN_T4<CAN3, RX_SIZE_256, TX_SIZE_16> TELEM_CAN

Definition at line 169 of file main.cpp.

telem_read_channels

const TelemetryInterfaceReadChannels telem_read_channels

Initial value:

= {
    .accel1_channel = MCU15_ACCEL1_CHANNEL,
    .accel2_channel = MCU15_ACCEL2_CHANNEL,
    .brake1_channel = MCU15_BRAKE1_CHANNEL,
    .brake2_channel = MCU15_BRAKE2_CHANNEL,
    .pots_fl_channel = MCU15_FL_POTS_CHANNEL,
    .pots_fr_channel = MCU15_FR_POTS_CHANNEL,
    .loadcell_fl_channel = MCU15_FL_LOADCELL_CHANNEL,
    .loadcell_fr_channel = MCU15_FR_LOADCELL_CHANNEL,
    .analog_steering_channel = MCU15_STEERING_CHANNEL,
    .current_channel = MCU15_CUR_POS_SENSE_CHANNEL,
    .current_ref_channel = MCU15_CUR_NEG_SENSE_CHANNEL,
    .glv_sense_channel = MCU15_GLV_SENSE_CHANNEL,
    .therm_fl_channel = MCU15_THERM_FL_CHANNEL,
    .therm_fr_channel = MCU15_THERM_FR_CHANNEL}

Definition at line 57 of file main.cpp.

torque_controller_mux

TCMuxType torque_controller_mux({static_cast< Controller * >(&tc_simple), static_cast< Controller * >(&tc_vec), static_cast< Controller * >(&case_wrapper), static_cast< Controller * >(&simple_launch), static_cast< Controller * >(&db_controller)}, {false, false, true, false, true})	(	{static_cast< Controller * >(&tc_simple), static_cast< Controller * >(&tc_vec), static_cast< Controller * >(&case_wrapper), static_cast< Controller * >(&simple_launch), static_cast< Controller * >(&db_controller)}	,
		{false, false, true, false, true}
	)

wd_interface

WatchdogInterface wd_interface(WATCHDOG_INPUT)

(

WATCHDOG_INPUT

)