Merge pull request #12 from rnd-ash/dev

Update new features + Loads of fixes!

src/adaptation/adapt_map.cpp

@@ -300,18 +300,18 @@ void AdaptationMap::perform_adaptation(SensorData* sensors, ProfileGearChange ch
     bool accel_shift = sensors->d_output_rpm > 0;
     bool idle_shift = sensors->static_torque > 0;
 
-    if (response.spc_map_start - response.spc_change_start > 20) { // SPC is taking too long to bite so reduce it || Gearbox flared so needs more SPC
+    if (response.spc_map_start - response.spc_change_start > 50) { // SPC is taking too long to bite so reduce it || Gearbox flared so needs more SPC
         if (idle_shift) {
             if (accel_shift) {
-                this->adapt_data[adaptation_idx].offset_accel_idle -= 10; // +1% pressure
+                this->adapt_data[adaptation_idx].offset_accel_idle -= 5; // +1% pressure
             } else {
-                this->adapt_data[adaptation_idx].offset_decel_idle -= 10; // +1% pressure
+                this->adapt_data[adaptation_idx].offset_decel_idle -= 5; // +1% pressure
             }
         } else {
             if (accel_shift) {
-                this->adapt_data[adaptation_idx].offset_accel_load -= 5; // +1% pressure
+                this->adapt_data[adaptation_idx].offset_accel_load -= 10; // +1% pressure
             } else {
-                this->adapt_data[adaptation_idx].offset_decel_load -= 5; // +1% pressure
+                this->adapt_data[adaptation_idx].offset_decel_load -= 7; // +1% pressure
             }
         }
     } else if (response.spc_map_start - response.spc_change_start < 10) { // SPC tolorance is too tight, decrease initial SPC pressure

src/canbus/can_egs52.cpp

@@ -270,11 +270,13 @@ PaddlePosition Egs52Can::get_paddle_position(uint64_t now, uint64_t expire_time_
                 return PaddlePosition::Plus;
             case SBW_232h_LRT_PM3::MINUS:
                 return PaddlePosition::Minus;
+            case SBW_232h_LRT_PM3::SNV:
+                return PaddlePosition::SNV;
             default:
                 return PaddlePosition::None;
         }
     } else {
-        return PaddlePosition::None;
+        return PaddlePosition::SNV;
     }
 }
 

src/canbus/can_hal.h

@@ -17,7 +17,7 @@ enum class WheelDirection {
     Forward, // Wheel going forwards
     Reverse, // Wheel going backwards
     Stationary, // Stationary (Not forward or backwards)
-    SignalNotAvaliable // SNV
+    SignalNotAvaliable = 0xFF // SNV
 };
 
 struct WheelData {
@@ -44,7 +44,7 @@ enum class SystemStatusCheck {
 enum class EngineType {
     Diesel,
     Petrol,
-    Unknown
+    Unknown = 0xFF
 };
 
 enum class TorqueRequest {
@@ -63,14 +63,15 @@ enum class GearboxGear {
     Neutral = 9,
     Reverse_First = 10,
     Reverse_Second = 11,
-    SignalNotAvaliable = 12,
+    SignalNotAvaliable = 0xFF,
 };
 
 enum class PaddlePosition {
     None,
     Plus,
     Minus,
-    PlusAndMinus
+    PlusAndMinus,
+    SNV = 0xFF
 };
 
 enum class ClutchStatus {
@@ -106,7 +107,7 @@ enum class ShifterPosition {
     D,
     PLUS,
     MINUS,
-    SignalNotAvaliable // SNV
+    SignalNotAvaliable = 0xFF // SNV
 };
 
 enum class SolenoidName {
@@ -130,7 +131,7 @@ enum class GearboxDisplayGear {
     Four,
     Five,
     Failure,
-    SNA,
+    SNA = 0xFF,
 };
 
 enum class GearboxMessage {

src/common_structs.h

@@ -101,13 +101,16 @@ enum class ProfileGearChange {
 typedef struct {
     /// The initial SPC PWM value to start the shift off. This should be the 'biting point' of the clutch packs
     uint16_t initial_spc_pwm;
-    /// The intial MPC PWM value to start the shift off. This should allow for easy SPC movement, but not
-    /// too little otherwise the gearbox will slip too much
-    uint16_t mpc_pwm;
-    /// Target time in milliseconds for the shift to complete
-    uint16_t targ_d_rpm;
-    // Shift speed factor. Valid range = 1 - 10 (Auto clamped if value is outside this range) - Higher = faster shift
-    float shift_speed;
+    /// The intial MPC PWM value to start the shift off.
+    /// This must ALWAYS be more or equal to initial_spc_pwm, otherwise the box will hydralically
+    /// perform an ABORT shift
+    uint16_t initial_mpc_pwm;
+    /// SPC Ramp speed, denotes the speed of which SPC pressure will increase during the shift
+    float spc_dec_speed;
+    /// MPC Ramp speed, denotes the speed of which MPC pressure will increase during the shift
+    /// IMPORTANT: This value must ALWAYS be less than spc_dec_speed, otherwise the box will
+    /// fail to shift!
+    float mpc_dec_speed;
     /// The shift solenoid required to change gears
     Solenoid* shift_solenoid;
     /// Current gear the gearbox is in as an integer
@@ -117,7 +120,7 @@ typedef struct {
 } ShiftData;
 
 #pragma GCC diagnostic ignored "-Wmissing-field-initializers" // This is ALWAYS correctly initialized in pressure_manager.cpp
-const ShiftData DEFAULT_SHIFT_DATA = { .initial_spc_pwm = 100, .mpc_pwm = 100, .targ_d_rpm = 50, .shift_speed = 5.0};
+const ShiftData DEFAULT_SHIFT_DATA = { .initial_spc_pwm = 100, .initial_mpc_pwm = 100, .spc_dec_speed = 5.0, .mpc_dec_speed = 3.0};
 
 typedef struct {
     /**

src/diag/diag_data.cpp

@@ -1,5 +1,6 @@
 #include "diag_data.h"
 #include "sensors.h"
+#include "solenoids/solenoids.h"
 
 DATA_GEARBOX_SENSORS get_gearbox_sensors() {
     DATA_GEARBOX_SENSORS ret = {};
@@ -8,11 +9,11 @@ DATA_GEARBOX_SENSORS get_gearbox_sensors() {
     if (!Sensors::read_input_rpm(&d, false)) {
         ret.n2_rpm = 0xFFFF;
         ret.n3_rpm = 0xFFFF;
-        ret.calc_rpm = 0xFFFF;
+        ret.calculated_rpm = 0xFFFF;
     } else {
         ret.n2_rpm = d.n2_raw;
         ret.n3_rpm = d.n3_raw;
-        ret.calc_rpm = d.calc_rpm;
+        ret.calculated_rpm = d.calc_rpm;
     }
     if(!Sensors::read_atf_temp(&ret.atf_temp_c)) {
         ret.atf_temp_c = 0xFFFF;
@@ -25,6 +26,49 @@ DATA_GEARBOX_SENSORS get_gearbox_sensors() {
     } else {
         ret.parking_lock = 0xFF;
     }
-    ret.rli = RLI_GEARBOX_SENSORS;
+    return ret;
+}
+
+DATA_SOLENOIDS get_solenoid_data() {
+    DATA_SOLENOIDS ret = {};
+
+    ret.mpc_current = sol_mpc->get_current_estimate();
+    ret.spc_current = sol_spc->get_current_estimate();
+    ret.tcc_current = sol_tcc->get_current_estimate();
+    ret.y3_current = sol_y3->get_current_estimate();
+    ret.y4_current = sol_y4->get_current_estimate();
+    ret.y5_current = sol_y5->get_current_estimate();
+
+    ret.mpc_pwm = sol_mpc->get_pwm();
+    ret.spc_pwm = sol_spc->get_pwm();
+    ret.tcc_pwm = sol_tcc->get_pwm();
+    ret.y3_pwm = sol_y3->get_pwm();
+    ret.y4_pwm = sol_y4->get_pwm();
+    ret.y5_pwm = sol_y5->get_pwm();
+
+    return ret;
+}
+
+DATA_CANBUS_RX get_rx_can_data(AbstractCan* can_layer) {
+    DATA_CANBUS_RX ret = {};
+    uint64_t now = esp_timer_get_time() / 1000;
+
+    WheelData t = can_layer->get_rear_left_wheel(now, 250);
+    ret.left_rear_rpm = t.current_dir == WheelDirection::SignalNotAvaliable ? 0xFFFF : t.double_rpm;
+    t = can_layer->get_rear_right_wheel(now, 250);
+    ret.right_rear_rpm = t.current_dir == WheelDirection::SignalNotAvaliable ? 0xFFFF : t.double_rpm;
+
+    ret.paddle_position = can_layer->get_paddle_position(now, 250);
+    ret.pedal_pos = can_layer->get_pedal_value(now, 250);
+
+    int torque = 0xFFFF;
+    torque = can_layer->get_maximum_engine_torque(now, 250);
+    ret.max_torque = torque == INT_MAX ? 0xFFFF : (torque + 500)*4;
+    torque = can_layer->get_minimum_engine_torque(now, 250);
+    ret.min_torque = torque == INT_MAX ? 0xFFFF : (torque + 500)*4;
+    torque = can_layer->get_static_engine_torque(now, 250);
+    ret.static_torque = torque == INT_MAX ? 0xFFFF : (torque + 500)*4;
+    ret.shift_button_pressed = can_layer->get_profile_btn_press(now, 250);
+    ret.shifter_position = can_layer->get_shifter_position_ewm(now, 250);
     return ret;
 }

src/diag/diag_data.h

@@ -2,6 +2,7 @@
 #define __DIAG_DATA_H__
 
 #include <stdint.h>
+#include "canbus/can_hal.h"
 
 // Diagnostic data IDs and data structures
 // used by the KWP2000 server on the TCM
@@ -12,19 +13,52 @@
 // The following IDs are already taken by the OEM EGS52/53 module
 // 0F,30-60,7A,A0,B0,B1,C0-C4,D1
 
-#define RLI_GEARBOX_SENSORS 0x20
+#define RLI_GEARBOX_SENSORS 0x20 // Sensor data status
+#define RLI_SOLENOID_STATUS 0x21 // Solenoid data status
+#define RLI_CAN_DATA_DUMP   0x22 // Gearbox brain logic status
 
 // Gearbox sensor struct
 typedef struct {
-    uint8_t rli; // MUST FOR KWP DEF
     uint16_t n2_rpm; // Raw N2 RPM
     uint16_t n3_rpm; // Raw N3 RPM
-    uint16_t calc_rpm; // Calculated input RPM (From N2 and N3)
+    uint16_t calculated_rpm; // Calculated input RPM (From N2 and N3)
     uint16_t v_batt; // Battery voltage (mV)
     int atf_temp_c; // ATF Temp (Celcius)
     uint8_t parking_lock; // Parking lock (1 for Engaged, 0 for disengaged)
 } __attribute__ ((packed)) DATA_GEARBOX_SENSORS;
 
+// Solenoid command struct
+typedef struct {
+    uint16_t spc_pwm;
+    uint16_t mpc_pwm;
+    uint16_t tcc_pwm;
+    uint16_t y3_pwm;
+    uint16_t y4_pwm;
+    uint16_t y5_pwm;
+    uint16_t spc_current;
+    uint16_t mpc_current;
+    uint16_t tcc_current;
+    uint16_t y3_current;
+    uint16_t y4_current;
+    uint16_t y5_current;
+}  __attribute__ ((packed)) DATA_SOLENOIDS;
+
+// Solenoid command struct
+typedef struct {
+    uint8_t pedal_pos;
+    uint16_t min_torque;
+    uint16_t max_torque;
+    uint16_t static_torque;
+    uint16_t left_rear_rpm;
+    uint16_t right_rear_rpm;
+    uint8_t shift_button_pressed;
+    ShifterPosition shifter_position;
+    PaddlePosition paddle_position;
+} __attribute__ ((packed)) DATA_CANBUS_RX;
+
 DATA_GEARBOX_SENSORS get_gearbox_sensors();
+DATA_SOLENOIDS get_solenoid_data();
+DATA_CANBUS_RX get_rx_can_data(AbstractCan* can_layer);
+
 
 #endif // __DIAG_DATA_H__