Bugfix in emergency speed limiter

Limit regenpreset to 100%
New SDO CAN mapping

Makefile

@@ -31,20 +31,20 @@ OBJDUMP		= $(PREFIX)-objdump
 MKDIR_P     = mkdir -p
 TERMINAL_DEBUG ?= 0
 CFLAGS		= -Os -ggdb3 -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \
-             -fno-common -fno-builtin -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
-             -DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
-				 -mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections
+              -fno-common -fno-builtin -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
+              -DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
+              -mcpu=cortex-m3 -mthumb -std=gnu99 -ffunction-sections -fdata-sections
 CPPFLAGS    = -Os -ggdb3 -Wall -Wextra -Iinclude/ -Ilibopeninv/include -Ilibopencm3/include \
-            -fno-common -std=c++11 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
-             -DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
-				-ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb
+              -fno-common -std=c++11 -pedantic -DSTM32F1 -DT_DEBUG=$(TERMINAL_DEBUG) \
+              -DCONTROL=CTRL_$(CONTROL) -DCTRL_SINE=0 -DCTRL_FOC=1 \
+              -ffunction-sections -fdata-sections -fno-builtin -fno-rtti -fno-exceptions -fno-unwind-tables -mcpu=cortex-m3 -mthumb
 LDSCRIPT	= stm32_sine.ld
 LDFLAGS  = -Llibopencm3/lib -ggdb3 -T$(LDSCRIPT) -march=armv7 -nostartfiles -Wl,--gc-sections,-Map,linker.map
 OBJSL		= stm32_sine.o hwinit.o stm32scheduler.o params.o terminal.o terminal_prj.o \
            my_string.o digio.o sine_core.o my_fp.o fu.o inc_encoder.o printf.o anain.o \
            temp_meas.o param_save.o throttle.o errormessage.o pwmgeneration.o \
            picontroller.o terminalcommands.o vehiclecontrol.o \
-           stm32_can.o canmap.o canhardware.o
+           stm32_can.o canmap.o canhardware.o cansdo.o
 
 ifeq ($(CONTROL), SINE)
 	OBJSL += pwmgeneration-sine.o

include/param_prj.h

@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 5.29.R
+#define VER 5.32.R
 
 /* Entries should be ordered as follows:
    1. Saveable parameters

sinus.cbp

@@ -77,6 +77,7 @@
 		<Unit filename="libopeninv/include/anain.h" />
 		<Unit filename="libopeninv/include/canhardware.h" />
 		<Unit filename="libopeninv/include/canmap.h" />
+		<Unit filename="libopeninv/include/cansdo.h" />
 		<Unit filename="libopeninv/include/crc8.h" />
 		<Unit filename="libopeninv/include/delay.h" />
 		<Unit filename="libopeninv/include/digio.h" />
@@ -100,6 +101,7 @@
 		<Unit filename="libopeninv/src/anain.cpp" />
 		<Unit filename="libopeninv/src/canhardware.cpp" />
 		<Unit filename="libopeninv/src/canmap.cpp" />
+		<Unit filename="libopeninv/src/cansdo.cpp" />
 		<Unit filename="libopeninv/src/crc8.cpp" />
 		<Unit filename="libopeninv/src/digio.cpp" />
 		<Unit filename="libopeninv/src/errormessage.cpp" />

src/stm32_sine.cpp

@@ -45,6 +45,7 @@
 #include "vehiclecontrol.h"
 #include "stm32_can.h"
 #include "canmap.h"
+#include "cansdo.h"
 
 #define PRINT_JSON 0
 
@@ -53,6 +54,7 @@ HWREV hwRev; //Hardware variant of board we are running on
 static Stm32Scheduler* scheduler;
 static CanHardware* can;
 static CanMap* canMap;
+static CanSdo* canSdo;
 static Terminal* terminal;
 static bool seenBrakePedal = false;
 
@@ -289,7 +291,7 @@ void Param::Change(Param::PARAM_NUM paramNum)
          Throttle::brkmax = Param::GetFloat(Param::offthrotregen);
          break;
       case Param::nodeid:
-         canMap->SetNodeId(Param::GetInt(Param::nodeid));
+         canSdo->SetNodeId(Param::GetInt(Param::nodeid));
          //terminal->SetNodeId(Param::GetInt(Param::nodeid));
          break;
       default:
@@ -397,8 +399,10 @@ extern "C" int main(void)
    scheduler = &s;
    Stm32Can c(CAN1, (CanHardware::baudrates)Param::GetInt(Param::canspeed));
    CanMap cm(&c);
+   CanSdo sdo(&c, &cm);
    can = &c;
    canMap = &cm;
+   canSdo = &sdo;
    VehicleControl::SetCan(can);
    TerminalCommands::SetCanMap(canMap);
 
@@ -423,10 +427,10 @@ extern "C" int main(void)
    {
       char c = 0;
       t.Run();
-      if (canMap->GetPrintRequest() == PRINT_JSON)
+      if (canSdo->GetPrintRequest() == PRINT_JSON)
       {
-         TerminalCommands::PrintParamsJson(canMap, &c);
-         canMap->SignalPrintComplete();
+         TerminalCommands::PrintParamsJson(canSdo, &c);
+         canSdo->SignalPrintComplete();
       }
    }
 

src/vehiclecontrol.cpp

@@ -58,7 +58,7 @@ void VehicleControl::SetCan(CanHardware* canHw)
    seqCounter = 0; //Mainly useful for unit tests
    canErrors = 0;
    can = canHw;
-   can->AddReceiveCallback(&callback);
+   can->AddCallback(&callback);
    CanClear();
 }
 
@@ -116,7 +116,7 @@ bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2])
       lastCanRxTime = rtc_get_counter_val();
 
       Param::SetInt(Param::canio, canio);
-      Param::SetInt(Param::regenpreset, regenpreset);
+      Param::SetInt(Param::regenpreset, MIN(100, regenpreset));
 
       if ((Param::GetInt(Param::potmode) & POTMODE_CAN) > 0)
       {
@@ -315,11 +315,11 @@ float VehicleControl::ProcessThrottle()
       else //inconsistency here: in slip control negative always means regen
          finalSpnt *= Param::GetInt(Param::dir);
 
-      //At 110% fmax start derating field weakening current just in case it has a torque producing current
+      //At 110% fmax start derating field weakening current just in case it has a torque producing component
       Throttle::fmax = Param::GetFloat(Param::fmax) * 1.1f;
       float fwPercent = 100;
       Throttle::FrequencyLimitCommand(fwPercent, fstat);
-      PwmGeneration::SetFwCurMax(fwPercent * Param::GetFloat(Param::fwcurmax));
+      PwmGeneration::SetFwCurMax(fwPercent * Param::GetFloat(Param::fwcurmax) / 100.0f);
 #endif // CONTROL
    }