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Setup ECU Regen Testing For Summer 2026 #529

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Setup ECU Regen Testing For Summer 2026 #529

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a7aa975
Change regen strength to be a percentage-like quantity
dchansen06 Jul 5, 2026
3d05c65
Flat regen while brakes are pressed
dchansen06 Jul 5, 2026
17cafac
Revert previous change to regen strength
dchansen06 Jul 20, 2026
8dd43ad
Add a caveat for throttle not being pressed rather than just brakes b…
dchansen06 Jul 20, 2026
c7ee4fb
Actually enable regen
dchansen06 Jul 20, 2026
50f001f
Revise header safe max forward/reverse current limits
dchansen06 Aug 4, 2026
b1d0963
Setup for 300A forward current default
dchansen06 Aug 4, 2026
3627c84
Setup reverse current as 60/120/150/180/210/240 Amps
dchansen06 Aug 4, 2026
70784cd
Using an explicitly TBD torque mapping (see CANdo)
dchansen06 Aug 4, 2026
665cb5c
Use the already made constants in the gear ratio formula
dchansen06 Aug 4, 2026
5738535
Remap to have somewhat linear regen mappings
dchansen06 Aug 5, 2026
b17d936
Very important fix to not have crazy motor action
dchansen06 Aug 8, 2026
eac6424
Fix rtd button lights
dchansen06 Aug 8, 2026
c1b1d60
Reduce max reverse current significantly (tested 8/5/26)
dchansen06 Aug 8, 2026
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4 changes: 2 additions & 2 deletions ECU/Application/Inc/StateUtils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@ uint32_t MillisecondsSinceBoot(void);

#define REGEN_MIN_SPEED_MPH 3.106856f // 5 KPH

#define MAX_CURRENT_AMPS 375.0f // Determined by Ryan
#define MAX_REVERSE_CURRENT_AMPS 30.0f // TODO: Change as appropriate
#define MAX_FORWARD_CURRENT_AMPS 325.0f
#define MAX_REVERSE_CURRENT_AMPS 300.0f

#define ECU_STATUS_MSG_PERIOD_MILLIS (1000)
#define TRACTIVE_SYSTEM_MAX_PERMITTED_DISCHARGE_TIME_MILLIS (5000)
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2 changes: 1 addition & 1 deletion ECU/Application/Src/CANdler.c
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
#define NUM_MOTOR_POLE_PAIRS 10
#define DRIVEN_SPROCKET_TEETH 51.0f
#define DRIVING_SPROCKET_TEETH 19.0f
#define GEAR_RATIO (51.0f / 19.0f)
#define GEAR_RATIO (DRIVEN_SPROCKET_TEETH / DRIVING_SPROCKET_TEETH)

void ReportBadMessageLength(GRCAN_BUS_ID bus_id, GRCAN_MSG_ID msg_id, GRCAN_NODE_ID sender_id)
{
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114 changes: 81 additions & 33 deletions ECU/Application/Src/StateTicks.c
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Expand Up @@ -58,8 +58,8 @@ ECU_StateData stateLump = {
.apps_1_max = 1897,
.apps_2_max = 1926,
// Regen
.regen_strength = 2,
.enable_regen = false,
.regen_strength = 2, // Not used
.enable_regen = true,
.SDC_startup_condition = true};

static uint32_t millis_since_boot;
Expand Down Expand Up @@ -258,38 +258,79 @@ void ECU_Drive_Active(ECU_StateData *stateData)
float torque_request;
bool apps_plausible = (millis_since_boot - last_apps_plausible_frame_millis) <= MAX_APPS_IMPLAUSIBLE_TIME_MS;

float pedal = CalcAccPedalTravel(stateData);

uint16_t max_rev_current = 0;
switch (stateData->powerlevel) {
case 0:
max_rev_current = 20;
break;
case 1:
max_rev_current = 40;
break;
case 2:
max_rev_current = 60;
break;
case 3:
max_rev_current = 80;
break;
case 4:
max_rev_current = 100;
break;
case 5:
max_rev_current = 120;
break;
default:
LOGOMATIC("Invalid power level: %d. Defaulting to no regen.\n", stateData->powerlevel);
max_rev_current = 0;
break;
}

uint16_t max_fwd_current = 0;
switch (stateData->powerlevel) {
case 0:
max_fwd_current = 300;
break;
case 1:
max_fwd_current = 300;
break;
case 2:
max_fwd_current = 300;
break;
case 3:
max_fwd_current = 300;
break;
case 4:
max_fwd_current = 300;
break;
case 5:
max_fwd_current = 300;
break;
default:
LOGOMATIC("Invalid power level: %d. Defaulting to no forward torque.\n", stateData->powerlevel);
max_fwd_current = 0;
break;
}

if (pedal < 0.05f) {
torque_request = -max_rev_current;
} else if (pedal < 0.1f) {
torque_request = -max_rev_current * (1.0f - (pedal - 0.05f) / 0.05f);
} else if (pedal < 0.2f) {
torque_request = 0.0f;
} else {
torque_request = max_fwd_current * ((pedal - 0.2f) / 0.8f);
}

if (!stateData->enable_regen || stateData->vehicle_speed_mph <= REGEN_MIN_SPEED_MPH) {
torque_request = fmaxf(torque_request, 0);
}

torque_request = fminf(torque_request, MAX_FORWARD_CURRENT_AMPS);
torque_request = fmaxf(torque_request, -MAX_REVERSE_CURRENT_AMPS);

if (stateData->apps_bse_violation || !apps_plausible) {
torque_request = 0;
} else if (stateData->enable_regen && PressingBrake(stateData) && stateData->vehicle_speed_mph > REGEN_MIN_SPEED_MPH) {
torque_request = -MIN_WITH_TYPES(CalcBrakePressure(stateData) / 5000.0f * stateData->regen_strength, 1.0f) * MAX_REVERSE_CURRENT_AMPS;
} else {
uint16_t max_current = 0;
// Chosen max current for different power level / torque maps
switch (stateData->powerlevel) {
case 0:
max_current = 100;
break;
case 1:
max_current = 200;
break;
case 2:
max_current = 250;
break;
case 3:
max_current = 300;
break;
case 4:
max_current = 325;
break;
case 5:
max_current = 350;
break;
default:
LOGOMATIC("Invalid power level: %d. Defaulting to no current.\n", stateData->powerlevel);
max_current = 0;
break;
}
torque_request = fminf(CalcAccPedalTravel(stateData) * max_current, MAX_CURRENT_AMPS);
}

static uint32_t last_can_inverter_request_millis = 0;
Expand All @@ -298,7 +339,14 @@ void ECU_Drive_Active(ECU_StateData *stateData)
ECU_CAN_Send(GRCAN_BUS_PRIMARY, GRCAN_GR_Inv, GRCAN_INV_CMD, &message, sizeof(message));
ECU_CAN_Send_DTI(DTI_CONTROL_12_CAN_ID, &message.drive_enable, 1);
message.set_ac_current = torque_request * 10;
ECU_CAN_Send_DTI(DTI_CONTROL_1_CAN_ID, &message.set_ac_current, 2);
LOGOMATIC("%f\t\t%f\n", stateData->vehicle_speed_mph, torque_request);

if (torque_request < 0) {
message.set_ac_current = torque_request * -10;
ECU_CAN_Send_DTI(DTI_CONTROL_2_CAN_ID, &message.set_ac_current, 2);
} else {
ECU_CAN_Send_DTI(DTI_CONTROL_1_CAN_ID, &message.set_ac_current, 2);
}
last_can_inverter_request_millis = millis_since_boot;
}
}
Expand Down
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