EGS51. Freeze driver torque before request

rnd-ash · Aug 16, 2024 · 684f5f3 · 684f5f3
1 parent d83399c
commit 684f5f3
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/src/canbus/can_egs51.cpp b/src/canbus/can_egs51.cpp
@@ -126,7 +126,16 @@ int Egs51Can::get_static_engine_torque(const uint32_t expire_time_ms) {
 
 int Egs51Can::get_driver_engine_torque(const uint32_t expire_time_ms) {
     // Don't think EGS51 supports this so just run with static torque for now
-    return this->get_static_engine_torque(expire_time_ms);
+    int tmp;
+    if (this->gs218.TORQUE_REQ_EN) { // Active torque request (Frozen value for now)
+        tmp = this->torque_before_request;
+    } else { // No torque request (Unfreeze the torque value)
+        tmp = this->get_static_engine_torque(expire_time_ms);
+        this->torque_before_request = tmp;
+    }
+
+
+    return tmp;
 }
 
 int Egs51Can::get_maximum_engine_torque(const uint32_t expire_time_ms) {

diff --git a/src/canbus/can_egs51.h b/src/canbus/can_egs51.h
@@ -98,6 +98,7 @@ class Egs51Can: public EgsBaseCan {
         void tx_frames() override;
         void on_rx_frame(uint32_t id,  uint8_t dlc, uint64_t data, uint32_t timestamp) override;
     private:
+        int16_t torque_before_request=0;
         // CAN Frames to Tx
         GS_218_EGS51 gs218 = {0};
         ECU_MS51 ms51 = ECU_MS51();