er updates

Author: vedderb

applications/er/ErConfig.qml

@@ -27,6 +27,7 @@ Item {
         er_msg.ER_MSG_GET_IO = 2
         er_msg.ER_MSG_RESTORE_SETTINGS = 3
         er_msg.ER_MSG_SET_MOTORS_ENABLED = 4
+        er_msg.ER_MSG_SET_PEDAL_TEST_MODE = 5
 
         er_set.p_throttle_hyst = 0.04
         er_set.p_pedal_current = 20.0
@@ -98,6 +99,12 @@ Item {
                 } else {
                     VescIf.emitStatusMessage("ER Motors Disabled", true)
                 }
+            } else if (cmd == er_msg.ER_MSG_SET_PEDAL_TEST_MODE) {
+                if (dv.getUint8(ind++)) {
+                    VescIf.emitStatusMessage("Pedal Test Enabled", true)
+                } else {
+                    VescIf.emitStatusMessage("Pedal Test Disabled", true)
+                }
             }
         }
     }
@@ -156,6 +163,15 @@ Item {
         mCommands.sendCustomAppData(buffer)
     }
 
+    function setPedalTestMode(enabled) {
+        var buffer = new ArrayBuffer(2)
+        var dv = new DataView(buffer)
+        var ind = 0
+        dv.setUint8(ind++, er_msg.ER_MSG_SET_PEDAL_TEST_MODE)
+        dv.setUint8(ind++, enabled)
+        mCommands.sendCustomAppData(buffer)
+    }
+    
     function updateSliders() {
         repSliders.itemAt(0).value = er_set.p_pedal_current
         repSliders.itemAt(1).value = er_set.p_start_gain
@@ -305,6 +321,17 @@ Item {
                             readSettings()
                         }
                     }
+                    
+                    CheckBox {
+                        Layout.fillWidth: true
+                        Layout.preferredWidth: 500
+                        Layout.preferredHeight: 80
+                        text: "Pedal Test"
+                        
+                        onToggled: {
+                            setPedalTestMode(checked)
+                        }
+                    }
                 }
             }
 
@@ -487,7 +514,7 @@ Item {
                 return
             }
 
-            mMcConf.updateParamDouble("si_gear_ratio", 5.6, null)
+            mMcConf.updateParamDouble("si_gear_ratio", 112 / 18, null)
             mMcConf.updateParamInt("si_motor_poles", 8, null)
             mMcConf.updateParamDouble("si_wheel_diameter", 0.58, null)
 

applications/er/app_erockit_v2.c

@@ -87,7 +87,8 @@ typedef enum {
 	ER_MSG_GET_MODE_PARAMS,
 	ER_MSG_GET_IO,
 	ER_MSG_RESTORE_SETTINGS,
-	ER_MSG_SET_MOTORS_ENABLED
+	ER_MSG_SET_MOTORS_ENABLED,
+	ER_MSG_SET_PEDAL_TEST_MODE
 } ER_MSG;
 
 typedef struct {
@@ -108,6 +109,7 @@ static volatile SETTINGS_T m_set_sport;
 static volatile SETTINGS_T *m_set_now = &m_set_normal;
 static volatile int m_set_now_offset = 0;
 static volatile bool m_motors_enabled = true;
+static volatile bool m_pedal_test_mode = false;
 
 // Private functions
 static void process_custom_app_data(unsigned char *data, unsigned int len);
@@ -406,6 +408,10 @@ static THD_FUNCTION(my_thread, arg) {
 			pedal_current_target = utils_map(erpm_motor, 0.0, erpm_ramp_in, 0.0, pedal_current_target);
 		}
 
+		if ((!m_kill_sw || m_brake_front || m_brake_rear) && !m_pedal_test_mode) {
+			running = false;
+		}
+
 		if (running) {
 			mc_interface_set_pid_speed(erpm_now);
 
@@ -547,7 +553,9 @@ static THD_FUNCTION(my_thread, arg) {
 				}
 			}
 
-			if (!m_kill_sw || brake > 0.0001) {
+			if (!m_kill_sw || m_pedal_test_mode) {
+				comm_can_set_current_brake_rel(255, 0.0);
+			} else if (brake > 0.0001) {
 				comm_can_set_current_brake_rel(255, brake);
 			} else {
 				comm_can_set_current_rel(255, pwr_out * m_set_now->p_output_power);
@@ -662,6 +670,17 @@ static void process_custom_app_data(unsigned char *data, unsigned int len) {
 		commands_send_app_data(dataTx, ind);
 	} break;
 
+	case ER_MSG_SET_PEDAL_TEST_MODE: {
+		m_pedal_test_mode = data[ind++];
+
+		// Send ack
+		uint8_t dataTx[50];
+		ind = 0;
+		dataTx[ind++] = msg;
+		dataTx[ind++] = m_pedal_test_mode;
+		commands_send_app_data(dataTx, ind);
+	} break;
+
 	default:
 		break;
 	}