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fix/pedal_system_constants #48

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73c1e4e
moved pedal system constants to VCFSystemConstants
AlexBailey11 Mar 9, 2026
da86416
added support for both brake pressure sensors
AlexBailey11 Mar 9, 2026
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13 changes: 7 additions & 6 deletions include/VCF_Constants.h
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,12 @@ namespace VCFInterfaceConstants {
constexpr float BRAKE_PRESSURE_REAR_SCALE = 1.0;
constexpr float BRAKE_PRESSURE_REAR_OFFSET = 0;

}

// calibration and processing constants
namespace VCFSystemConstants {
constexpr float LBS_TO_NEWTONS = 4.4482216153;

// EEPROM addresses for min and max calibration values
constexpr uint32_t ACCEL_1_MIN_ADDR = 0;
constexpr uint32_t ACCEL_2_MIN_ADDR = 4;
Expand All @@ -113,7 +119,7 @@ namespace VCFInterfaceConstants {
constexpr uint32_t ACCEL_MAX_SENSOR_PEDAL_2 = 4000;
constexpr float ACCEL_DEADZONE_MARGIN = 0.03f;
constexpr float ACCEL_MECHANICAL_ACTIVATION_PERCENTAGE = 0.05f;

constexpr uint32_t BRAKE_1_MIN_ADDR = 16;
constexpr uint32_t BRAKE_2_MIN_ADDR = 20;
constexpr uint32_t BRAKE_1_MAX_ADDR = 24;
Expand All @@ -127,11 +133,6 @@ namespace VCFInterfaceConstants {
constexpr float BRAKE_MECHANICAL_ACTIVATION_PERCENTAGE = 0.5f;
}

// calibration and processing constants
namespace VCFSystemConstants {
constexpr float LBS_TO_NEWTONS = 4.4482216153;
}

// software configuration constants
namespace VCFTaskConstants {
const size_t SERIAL_BAUDRATE = 115200;
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3 changes: 2 additions & 1 deletion lib/systems/include/PedalsSystem.h
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Expand Up @@ -65,7 +65,8 @@ class PedalsSystem
_sensorData.accel_2 = pedal_data.accel_2;
_sensorData.brake_1 = pedal_data.brake_1;
_sensorData.brake_2 = pedal_data.brake_2;
_sensorData.pedal_pressure = pedal_data.pedal_pressure; //TODO: change this to use brake pressure front and rear
_sensorData.brake_pressure_front = pedal_data.brake_pressure_front;
_sensorData.brake_pressure_rear = pedal_data.brake_pressure_rear;
}

const PedalsSystemData_s &get_pedals_system_data()
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3 changes: 2 additions & 1 deletion lib/systems/src/PedalsSystem.cpp
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Expand Up @@ -55,9 +55,10 @@ void PedalsSystem::evaluate_pedals(PedalSensorData_s pedals_data, unsigned long

bool accel_pressed = accel_percent > _accelParams.activation_percentage;
bool brake_pressed = brake_percent > _brakeParams.activation_percentage;
bool mech_brake_pressed = brake_percent >= _brakeParams.mechanical_activation_percentage;
_systemData.accel_is_pressed = accel_pressed;
_systemData.brake_is_pressed = brake_pressed;
bool mech_brake_pressed = brake_percent >= _brakeParams.mechanical_activation_percentage;
_systemData.mech_brake_is_active = mech_brake_pressed;

_systemData.brake_and_accel_pressed_implausibility_high = accel_pressed && _systemData.brake_is_pressed;

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66 changes: 34 additions & 32 deletions src/VCF_Tasks.cpp
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Expand Up @@ -32,7 +32,8 @@ HT_TASK::TaskResponse run_read_adc0_task(const unsigned long& sysMicros, const H
.accel_2 = static_cast<uint32_t>(ADCInterfaceInstance::instance().acceleration_2().conversion),
.brake_1 = static_cast<uint32_t>(ADCInterfaceInstance::instance().brake_1().conversion),
.brake_2 = static_cast<uint32_t>(ADCInterfaceInstance::instance().brake_2().conversion),
.pedal_pressure = 0 // TODO: Need changes to support both brake pressure sensors
.brake_pressure_front = static_cast<uint32_t>(ADCInterfaceInstance::instance().brake_pressure_front().conversion),
.brake_pressure_rear = static_cast<uint32_t>(ADCInterfaceInstance::instance().brake_pressure_rear().conversion)
});
return HT_TASK::TaskResponse::YIELD;
}
Expand Down Expand Up @@ -69,14 +70,14 @@ HT_TASK::TaskResponse update_pedals_calibration_task(const unsigned long& sysMic
{
// PedalsSystemInstance::instance().recalibrate_min_max(VCFData_sInstance::instance().interface_data.pedal_sensor_data);
PedalsSystemInstance::instance().recalibrate_min_max(PedalsSystemInstance::instance().get_pedals_sensor_data());
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::ACCEL_1_MIN_ADDR, PedalsSystemInstance::instance().get_accel_params().min_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::ACCEL_1_MAX_ADDR, PedalsSystemInstance::instance().get_accel_params().max_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::ACCEL_2_MIN_ADDR, PedalsSystemInstance::instance().get_accel_params().min_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::ACCEL_2_MAX_ADDR, PedalsSystemInstance::instance().get_accel_params().max_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::BRAKE_1_MIN_ADDR, PedalsSystemInstance::instance().get_brake_params().min_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::BRAKE_1_MAX_ADDR, PedalsSystemInstance::instance().get_brake_params().max_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::BRAKE_2_MIN_ADDR, PedalsSystemInstance::instance().get_brake_params().min_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFInterfaceConstants::BRAKE_2_MAX_ADDR, PedalsSystemInstance::instance().get_brake_params().max_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::ACCEL_1_MIN_ADDR, PedalsSystemInstance::instance().get_accel_params().min_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::ACCEL_1_MAX_ADDR, PedalsSystemInstance::instance().get_accel_params().max_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::ACCEL_2_MIN_ADDR, PedalsSystemInstance::instance().get_accel_params().min_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::ACCEL_2_MAX_ADDR, PedalsSystemInstance::instance().get_accel_params().max_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::BRAKE_1_MIN_ADDR, PedalsSystemInstance::instance().get_brake_params().min_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::BRAKE_1_MAX_ADDR, PedalsSystemInstance::instance().get_brake_params().max_pedal_1);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::BRAKE_2_MIN_ADDR, PedalsSystemInstance::instance().get_brake_params().min_pedal_2);
EEPROMUtilities::write_eeprom_32bit(VCFSystemConstants::BRAKE_2_MAX_ADDR, PedalsSystemInstance::instance().get_brake_params().max_pedal_2);
}

return HT_TASK::TaskResponse::YIELD;
Expand Down Expand Up @@ -239,12 +240,13 @@ HT_TASK::TaskResponse enqueue_pedals_data(const unsigned long &sys_micros, const
pedals_data.brake_pedal_active = PedalsSystemInstance::instance().get_pedals_system_data().brake_is_pressed;
pedals_data.mechanical_brake_active = PedalsSystemInstance::instance().get_pedals_system_data().mech_brake_is_active;
pedals_data.implaus_exceeded_max_duration = PedalsSystemInstance::instance().get_pedals_system_data().implausibility_has_exceeded_max_duration;


pedals_data.accel_pedal_ro = HYTECH_accel_pedal_ro_toS(PedalsSystemInstance::instance().get_pedals_system_data().accel_percent);
pedals_data.brake_pedal_ro = HYTECH_brake_pedal_ro_toS(PedalsSystemInstance::instance().get_pedals_system_data().brake_percent);
// Serial.println(pedals_data.brake_pedal_ro);
// Serial.println(pedals_data.accel_pedal_ro);

// TODO: Need to add brake pressure data to CAN msg
CAN_util::enqueue_msg(&pedals_data, &Pack_PEDALS_SYSTEM_DATA_hytech, VCFCANInterfaceImpl::VCFCANInterfaceObjectsInstance::instance().main_can_tx_buffer);
return HT_TASK::TaskResponse::YIELD;
}
Expand Down Expand Up @@ -535,33 +537,33 @@ void setup_all_interfaces() {

// Create pedals singleton
PedalsParams accel_params = {
.min_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::ACCEL_1_MIN_ADDR),
.min_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::ACCEL_2_MIN_ADDR),
.max_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::ACCEL_1_MAX_ADDR),
.max_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::ACCEL_2_MAX_ADDR),
.activation_percentage = VCFInterfaceConstants::ACCEL_ACTIVATION_PERCENTAGE,
.min_sensor_pedal_1 = VCFInterfaceConstants::ACCEL_MIN_SENSOR_PEDAL_1,
.min_sensor_pedal_2 = VCFInterfaceConstants::ACCEL_MIN_SENSOR_PEDAL_2,
.max_sensor_pedal_1 = VCFInterfaceConstants::ACCEL_MAX_SENSOR_PEDAL_1,
.max_sensor_pedal_2 = VCFInterfaceConstants::ACCEL_MAX_SENSOR_PEDAL_2,
.deadzone_margin = VCFInterfaceConstants::ACCEL_DEADZONE_MARGIN,
.min_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::ACCEL_1_MIN_ADDR),
.min_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::ACCEL_2_MIN_ADDR),
.max_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::ACCEL_1_MAX_ADDR),
.max_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::ACCEL_2_MAX_ADDR),
.activation_percentage = VCFSystemConstants::ACCEL_ACTIVATION_PERCENTAGE,
.min_sensor_pedal_1 = VCFSystemConstants::ACCEL_MIN_SENSOR_PEDAL_1,
.min_sensor_pedal_2 = VCFSystemConstants::ACCEL_MIN_SENSOR_PEDAL_2,
.max_sensor_pedal_1 = VCFSystemConstants::ACCEL_MAX_SENSOR_PEDAL_1,
.max_sensor_pedal_2 = VCFSystemConstants::ACCEL_MAX_SENSOR_PEDAL_2,
.deadzone_margin = VCFSystemConstants::ACCEL_DEADZONE_MARGIN,
.implausibility_margin = IMPLAUSIBILITY_PERCENT,
.mechanical_activation_percentage = VCFInterfaceConstants::ACCEL_MECHANICAL_ACTIVATION_PERCENTAGE
.mechanical_activation_percentage = VCFSystemConstants::ACCEL_MECHANICAL_ACTIVATION_PERCENTAGE
};

PedalsParams brake_params = {
.min_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::BRAKE_1_MIN_ADDR),
.min_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::BRAKE_2_MIN_ADDR),
.max_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::BRAKE_1_MAX_ADDR),
.max_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFInterfaceConstants::BRAKE_2_MAX_ADDR),
.activation_percentage = VCFInterfaceConstants::BRAKE_ACTIVATION_PERCENTAGE,
.min_sensor_pedal_1 = VCFInterfaceConstants::BRAKE_MIN_SENSOR_PEDAL_1,
.min_sensor_pedal_2 = VCFInterfaceConstants::BRAKE_MIN_SENSOR_PEDAL_2,
.max_sensor_pedal_1 = VCFInterfaceConstants::BRAKE_MAX_SENSOR_PEDAL_1,
.max_sensor_pedal_2 = VCFInterfaceConstants::BRAKE_MAX_SENSOR_PEDAL_2,
.deadzone_margin = VCFInterfaceConstants::BRAKE_DEADZONE_MARGIN,
.min_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::BRAKE_1_MIN_ADDR),
.min_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::BRAKE_2_MIN_ADDR),
.max_pedal_1 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::BRAKE_1_MAX_ADDR),
.max_pedal_2 = EEPROMUtilities::read_eeprom_32bit(VCFSystemConstants::BRAKE_2_MAX_ADDR),
.activation_percentage = VCFSystemConstants::BRAKE_ACTIVATION_PERCENTAGE,
.min_sensor_pedal_1 = VCFSystemConstants::BRAKE_MIN_SENSOR_PEDAL_1,
.min_sensor_pedal_2 = VCFSystemConstants::BRAKE_MIN_SENSOR_PEDAL_2,
.max_sensor_pedal_1 = VCFSystemConstants::BRAKE_MAX_SENSOR_PEDAL_1,
.max_sensor_pedal_2 = VCFSystemConstants::BRAKE_MAX_SENSOR_PEDAL_2,
.deadzone_margin = VCFSystemConstants::BRAKE_DEADZONE_MARGIN,
.implausibility_margin = IMPLAUSIBILITY_PERCENT,
.mechanical_activation_percentage = VCFInterfaceConstants::BRAKE_MECHANICAL_ACTIVATION_PERCENTAGE
.mechanical_activation_percentage = VCFSystemConstants::BRAKE_MECHANICAL_ACTIVATION_PERCENTAGE
};

PedalsSystemInstance::create(accel_params, brake_params); //pass in the two different params
Expand Down