Dumbed down dynamic regen travel for now and turn it off by default

include/param_prj.h

@@ -132,7 +132,7 @@
     PARAM_ENTRY(CAT_REGEN,   offthrotregen,"%",      -100,   0,      -30,    49  ) \
     PARAM_ENTRY(CAT_REGEN,   cruiseregen, "%",       -100,   0,      -30,    124 ) \
     PARAM_ENTRY(CAT_REGEN,   regenrampstr,"Hz",      0,      400,    10,     39  ) \
-    PARAM_ENTRY(CAT_REGEN,   maxregentravelhz,"Hz",  0,      1000,   90,     158 ) \
+    PARAM_ENTRY(CAT_REGEN,   maxregentravelhz,"Hz",  0,      1000,   0,      158 ) \
     PARAM_ENTRY(CAT_REGEN,   brklightout, "%",       -100,   -1,     -50,    67  )
 
 #define AUTOMATION_CONTACT_PWM_COMM_PARAMETERS \

include/throttle.h

@@ -27,7 +27,7 @@ class Throttle
    public:
       static bool CheckAndLimitRange(int* potval, uint8_t potIdx);
       static float DigitsToPercent(int potval, int potidx);
-      static float CalcThrottle(float potval, float pot2val, bool brkpedal, float rotorHz);
+      static float CalcThrottle(float potval, float pot2val, bool brkpedal);
       static float CalcThrottleBiDir(float potval, bool brkpedal);
       static float CalcIdleSpeed(int speed);
       static float CalcCruiseSpeed(int speed);
@@ -39,6 +39,7 @@ class Throttle
       static void AccelerationLimitCommand(float& finalSpnt, int speed);
       static void FrequencyLimitCommand(float& finalSpnt, float frequency);
       static float RampThrottle(float finalSpnt);
+      static void UpdateDynamicRegenTravel(float regenTravelMax, float frequency);
       static int potmin[2];
       static int potmax[2];
       static float brknom;
@@ -55,7 +56,6 @@ class Throttle
       static float idleThrotLim;
       static float cruiseThrotLim;
       static float regenRamp;
-      static float regenrampstr;
       static float throttleRamp;
       static int bmslimhigh;
       static int bmslimlow;

include/vehiclecontrol.h

@@ -57,7 +57,7 @@ class VehicleControl
       static bool GetCruiseCreepCommand(float& finalSpnt, float throtSpnt);
       static void BmwAdcAcquire();
       static void CanClear();
-      static bool CanReceive(uint32_t id, uint32_t data[2]);
+      static bool CanReceive(uint32_t id, uint32_t data[2], uint8_t);
 };
 
 #endif // VCU_H

src/stm32_sine.cpp

@@ -147,7 +147,7 @@ static void Ms10Task(void)
       RunCharger(udc);
    }
 
-   stt |= DigIo::emcystop_in.Get() ? STAT_NONE : STAT_EMCYSTOP;
+   stt |= DigIo::emcystop_in.Get() || hwRev == HW_REV3 ? STAT_NONE : STAT_EMCYSTOP;
    stt |= DigIo::mprot_in.Get() ? STAT_NONE : STAT_MPROT;
    stt |= Param::GetInt(Param::potnom) <= 0 ? STAT_NONE : STAT_POTPRESSED;
    stt |= udc >= Param::GetFloat(Param::udcsw) ? STAT_NONE : STAT_UDCBELOWUDCSW;
@@ -303,7 +303,6 @@ void Param::Change(Param::PARAM_NUM paramNum)
          Throttle::brknom = Param::GetFloat(Param::regentravel);
          Throttle::brknompedal = Param::GetFloat(Param::brakeregen);
          Throttle::regenRamp = Param::GetFloat(Param::regenramp);
-         Throttle::regenrampstr = Param::GetFloat(Param::regenrampstr);
          Throttle::maxregentravelhz = Param::GetFloat(Param::maxregentravelhz);
          Throttle::brkmax = Param::GetFloat(Param::offthrotregen);
          Throttle::brkcruise = Param::GetFloat(Param::cruiseregen);

src/throttle.cpp

@@ -53,7 +53,6 @@ float Throttle::fmax;
 int Throttle::accelmax;
 int Throttle::accelflt;
 float Throttle::maxregentravelhz;
-float Throttle::regenrampstr;
 
 bool Throttle::CheckAndLimitRange(int* potval, uint8_t potIdx)
 {
@@ -85,87 +84,44 @@ float Throttle::DigitsToPercent(int potval, int potidx)
    return (100 * (potval - potmin[potidx])) / (potmax[potidx] - potmin[potidx]);
 }
 
-
-/**
- * Calculate throttle and regen.
- * - Increase regentravel when lifting accelerator using historical pedal values.
- * - Decrease regentravel when speed goes below regenrampstr.
- *
- * Parameters:
- * potnom = accelerator pedal pressed percentage
- * pot2nom = optional potentiometer for adjusting regen braking
- * brkpedal = is brake pedal pressed
- * rotorfreq = rotor rotation freqyency in hz
- *
- * Used variables:
- * brkmax = regen percentage to apply, when brake is pressed
- * brknompedal = regen percentage to apply, when accelerator is lifted
- * brknom = percentage of how much of accelerator is assigned for adjusting regen
- * regenrampstr = rotor hz where regen strenght start to decrease linearly
-*/
-float Throttle::CalcThrottle(float potnom, float pot2nom, bool brkpedal, float rotorfreq)
+void Throttle::UpdateDynamicRegenTravel(float regenTravelMax, float frequency)
 {
-   // variables for rolling average calculation
-   static const int history = 20;         // 20 events, 10ms delta = 200ms of history to calculate
-   static int currentArrayIndex = 0;      // pointer where to pu the next value
-   static float prevPotnom[history] = {}; // array holding previous potnom value
-   static float potnomSums = 0;           // sum of values in array
-
-   // current dynamic regentravel
-   static float currentRegentravel = 0.0;
-
-   float scaledBrkMax = brkpedal ? brknompedal : brkmax;
-   // Never reach 0, because that can spin up the motor
-   scaledBrkMax = -0.1 + (scaledBrkMax * pot2nom) / 100.0f;
+   if (maxregentravelhz == 0) //dynamic travel turned off
+   {
+      brknom = regenTravelMax;
+      return;
+   }
 
    // increase speedBasedRegenTravel linearly until rotorfreq reaches maxregentravelhz, then stay at max.
-   // Don't go over max regentravel (brknom).
-   float speedBasedRegenTravel = MIN(brknom * rotorfreq / maxregentravelhz, brknom);
+   // Don't go over max regentravel
+   float speedBasedRegenTravel = 3 + regenTravelMax * frequency / maxregentravelhz;
+   speedBasedRegenTravel = MIN(regenTravelMax, speedBasedRegenTravel);
 
-   // decreasing regentravel when rotor hz is goes below "regen ramp start"
-   if (rotorfreq < regenrampstr)
-   {
-      float decreasingRegenTravel = brknom * rotorfreq / regenrampstr;
-      // decrease only if it's been higher before (don't start to increase on low speeds to keep linear curve)
-      if (currentRegentravel > decreasingRegenTravel)
-      {
-         currentRegentravel = decreasingRegenTravel;
-      }
-   }
+   brknom = speedBasedRegenTravel;
+}
 
-   // increase currentRegenTravel when lifting accelerator
-   if (currentRegentravel < speedBasedRegenTravel) // if currentregentravel is smaller than speedBaseRegenTravel
-   {
-      // current pedal position delta compared against average of last 200ms
-      float acceleratorDelta = potnom - potnomSums / history;
-      if (acceleratorDelta < 0) // accelerator is being lifted (acceleratorDelta is negative)
-      {
-        currentRegentravel = RAMPUP(currentRegentravel, speedBasedRegenTravel, -acceleratorDelta);
-      }
-   }
+float Throttle::CalcThrottle(float potnom, float pot2nom, bool brkpedal)
+{
+   float scaledBrkMax = brkpedal ? brknompedal : brkmax;
+
+   //Never reach 0, because that can spin up the motor
+   scaledBrkMax = -0.1 + (scaledBrkMax * pot2nom) / 100.0f;
 
-   if (brkpedal) // give max brake regen
+   if (brkpedal)
    {
       potnom = scaledBrkMax;
    }
-   else if (potnom < currentRegentravel) // calculate regen
+   else if (potnom < brknom)
    {
-      potnom -= currentRegentravel;
-      potnom = -(potnom * scaledBrkMax / currentRegentravel);
+      potnom -= brknom;
+      potnom = -(potnom * scaledBrkMax / brknom);
    }
-   else // calculate thorttle
+   else
    {
-      potnom -= currentRegentravel;
-      potnom = 100.0f * potnom / (100.0f - currentRegentravel);
+      potnom -= brknom;
+      potnom = 100.0f * potnom / (100.0f - brknom);
    }
 
-   // there next 4 lines are for calculating rolling average for historical pedal (potnom) position
-   // and saving current potnom
-   potnomSums -= prevPotnom[currentArrayIndex];           // remove old potnom value from average calculation sums
-   potnomSums += potnom;                                  // replace it with new potnom value
-   prevPotnom[currentArrayIndex] = potnom;                // put current potnom to array
-   currentArrayIndex = (currentArrayIndex + 1) % history; // loop array index from 0 - history, start again from 0
-
    return potnom;
 }
 

src/vehiclecontrol.cpp

@@ -67,7 +67,7 @@ void VehicleControl::CanClear()
    can->RegisterUserMessage(Param::GetInt(Param::controlid));
 }
 
-bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2])
+bool VehicleControl::CanReceive(uint32_t canId, uint32_t data[2], uint8_t)
 {
    const int maxErrors = 5;
 
@@ -659,6 +659,8 @@ float VehicleControl::GetUserThrottleCommand()
    bool inRange1 = Throttle::CheckAndLimitRange(&potval, 0);
    bool inRange2 = Throttle::CheckAndLimitRange(&pot2val, 1);
 
+   Throttle::UpdateDynamicRegenTravel(Param::GetFloat(Param::regentravel), FP_TOFLOAT(Encoder::GetRotorFrequency()));
+
    if (!inRange1)
    {
       DigIo::err_out.Set();
@@ -733,7 +735,7 @@ float VehicleControl::GetUserThrottleCommand()
       return 0;
    }
 
-   return Throttle::CalcThrottle(potnom1, regenPreset, brake, FP_TOFLOAT(Encoder::GetRotorFrequency()));
+   return Throttle::CalcThrottle(potnom1, regenPreset, brake);
 }
 
 bool VehicleControl::GetCruiseCreepCommand(float& finalSpnt, float throtSpnt)