Added limiter cruise mode

jsphuebner · Apr 5, 2024 · 0d8d3fc · 0d8d3fc
1 parent dfb02b5
commit 0d8d3fc
Show file tree

Hide file tree

Showing 2 changed files with 23 additions and 6 deletions.
diff --git a/include/param_prj.h b/include/param_prj.h
@@ -142,7 +142,7 @@
     PARAM_ENTRY(CAT_AUTOM,   holdkp,      "",        -100,   0,     -0.25,   138 ) \
     PARAM_ENTRY(CAT_AUTOM,   speedkp,     "",        0,      100,    0.25,   53  ) \
     PARAM_ENTRY(CAT_AUTOM,   speedflt,    "",        0,      16,     5,      57  ) \
-    PARAM_ENTRY(CAT_AUTOM,   cruisemode,  CRUISEMODS,0,      3,      0,      62  ) \
+    PARAM_ENTRY(CAT_AUTOM,   cruisemode,  CRUISEMODS,0,      4,      0,      62  ) \
     PARAM_ENTRY(CAT_AUTOM,   cruisethrotlim,"%",     0,      100,    50,     155 ) \
     PARAM_ENTRY(CAT_CONTACT, udcsw,       "V",       0,      1000,   330,    20  ) \
     PARAM_ENTRY(CAT_CONTACT, udcswbuck,   "V",       0,      1000,   540,    80  ) \
@@ -263,7 +263,7 @@
 #define SNS_M        "12=KTY83-110, 13=KTY84-130, 14=Leaf, 15=KTY81-110, 16=Toyota, 21=OutlanderFront, 22=EpcosB57861-S, 23=ToyotaGen2"
 #define PWMFUNCS     "0=tmpm, 1=tmphs, 2=speed, 3=speedfrq"
 #define SINECURVES   "0=VoltageSlip, 1=Simultaneous"
-#define CRUISEMODS   "0=Off, 1=Switch, 2=CAN, 3=ThrottlePot"
+#define CRUISEMODS   "0=Off, 1=Switch, 2=CAN, 3=ThrottlePot, 4=Limiter"
 #define DIRMODES     "0=Button, 1=Switch, 2=ButtonReversed, 3=SwitchReversed, 4=DefaultForward"
 #define IDLEMODS     "0=Always, 1=NoBrake, 2=Cruise, 3=Off, 4=HillHold"
 #define ONOFF        "0=Off, 1=On, 2=na"
@@ -306,7 +306,8 @@ enum cruisemodes
    CRUISE_OFF = 0,
    CRUISE_SWITCH = 1,
    CRUISE_CAN = 2,
-   CRUISE_POT = 3
+   CRUISE_POT = 3,
+   CRUISE_LIMITER = 4
 };
 
 enum _potmodes

diff --git a/src/vehiclecontrol.cpp b/src/vehiclecontrol.cpp
@@ -113,6 +113,7 @@ bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2], uint8_t)
    }
 
    seqCounter = ctr1;
+   int cruiseMode = Param::GetInt(Param::cruisemode);
 
    //once we've reached maxerrors we cannot recover, inverter needs restarting.
    if (canErrors < maxErrors)
@@ -129,7 +130,7 @@ bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2], uint8_t)
          Param::SetInt(Param::pot2, pot2);
       }
 
-      if (Param::GetInt(Param::cruisemode) == CRUISE_CAN)
+      if (CRUISE_CAN == cruiseMode || CRUISE_LIMITER == cruiseMode)
       {
          Param::SetInt(Param::cruisespeed, cruisespeed);
       }
@@ -138,7 +139,7 @@ bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2], uint8_t)
    {
       Param::SetInt(Param::regenpreset, 0);
 
-      if (Param::GetInt(Param::cruisemode) == CRUISE_CAN)
+      if (CRUISE_CAN == cruiseMode || CRUISE_LIMITER == cruiseMode)
       {
          Param::SetInt(Param::cruisespeed, 0);
       }
@@ -160,6 +161,19 @@ void VehicleControl::CruiseControl()
 {
    int cruisemode = Param::GetInt(Param::cruisemode);
 
+   //Special handling for limiter
+   if (CRUISE_LIMITER == cruisemode)
+   {
+      //Limiter never commands acceleration on its own so we can leave it running
+      //even if the brake pedal is pressed.
+      //We disable the limiter if cruise pin is low
+      if (Param::GetBool(Param::din_cruise))
+         Throttle::cruiseSpeed = Param::GetInt(Param::cruisespeed);
+      else
+         Throttle::cruiseSpeed = -1;
+      return;
+   }
+
    //Always disable cruise control when brake pedal is pressed or forward signal goes away
    if (Param::GetBool(Param::din_brake) || !Param::GetBool(Param::din_forward))
    {
@@ -790,7 +804,9 @@ bool VehicleControl::GetCruiseCreepCommand(float& finalSpnt, float throtSpnt)
 
    if (Throttle::cruiseSpeed > 0 && Throttle::cruiseSpeed > Throttle::idleSpeed)
    {
-      if (throtSpnt <= 0)
+      if (Param::GetInt(Param::cruisemode) == CRUISE_LIMITER)
+         finalSpnt = MIN(cruiseSpnt, throtSpnt);
+      else if (throtSpnt <= 0)
          finalSpnt = cruiseSpnt;
       else if (throtSpnt > 0)
          finalSpnt = MAX(cruiseSpnt, throtSpnt);