TorquePolice.h File Reference

#include "../MonitorSystem.h"
#include "../Controller/BrakeSystemControl.h"
#include "../Controller/TorqueControl.h"
#include "../Controller/RTD.h"

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Classes
struct	TorquePolice

Macros
#define	TORQUE_ERROR_MARGIN   0.05

Functions
void	initTorquePolice (TorquePolice *tp, TorqueControl *tc, BrakeSystemControl *bsc, RTD *rtd, int hz, float maxTorque)
int	startTorquePolice (TorquePolice *tp)
int	checkTorquePolice (void *tp)

Macro Definition Documentation

TORQUE_ERROR_MARGIN

#define TORQUE_ERROR_MARGIN   0.05

Definition at line 9 of file TorquePolice.h.

Function Documentation

checkTorquePolice()

int checkTorquePolice

(

void *

tp

)

Definition at line 25 of file TorquePolice.c.

                                {
    TorquePolice* tpPtr = (TorquePolice*)tp;
    TorqueControl* tc = tpPtr->torqueControl;
    BrakeSystemControl* bsc = tpPtr->brakeSystemControl;
    RTD* rtd = tpPtr->rtd;
 
    if (rtd->readyToDrive == 0) {
        tpPtr->status = TORQUE_RTD;
        tc->desiredTorque = 0;
        #ifdef DEBUGn
        printf("RTD is not ready to drive, reducing torque to zero\r\n");
        #endif
        return _FAILURE;
    } 
    if (tc->desiredTorque > tpPtr->maxAllowedTorque) {
        tpPtr->status = TORQUE_OVER_LIMIT;
        return _FAILURE;
    } else if (tc->status == TORQUE_SENSOR_ERROR) {
        tpPtr->status = TORQUE_SENSOR_ERROR;
        return _FAILURE;
    }
 
    if (bsc->base.state=c_validated && bsc->heavyBraking == 1) {
        tpPtr->status = TORQUE_BRAKE_FIGHT;
        printf("Brake System is in heavy braking, reducing torque to zero\r\n");
        tc->desiredTorque = 0;
        // Brake fight, reduce torque to zero. Not a system failure, but a safety measure.
        // Thus, return _SUCCESS.s
        return _SUCCESS;
    }
 
    if (tc->desiredTorque < TORQUE_LOW_MARGIN) {
        tpPtr->status = TORQUE_LOW;
        printf("Desired torque (%f) is too low, reducing to zero\r\n", tc->desiredTorque);
        tc->desiredTorque = 0;
    } else {
        tpPtr->status = TORQUE_OK;
    }
 
    #ifdef DEBUGn
    printf("Actual Torque: %f\r\n", tc->desiredTorque);
    #endif
    return _SUCCESS;
}

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initTorquePolice()

void initTorquePolice	(	TorquePolice *	tp,
		TorqueControl *	tc,
		BrakeSystemControl *	bsc,
		RTD *	rtd,
		int	hz,
		float	maxTorque
	)

Definition at line 5 of file TorquePolice.c.

                                                                                                                       {
    initMonitorSystem(&tp->base, "Torque Police", hz, m_TORQUE, VEHICLE_SHUTDOWN, checkTorquePolice);
    tp->maxAllowedTorque = maxTorque;
    tp->status = TORQUE_OK;
    tp->torqueControl = tc;
    tp->brakeSystemControl = bsc;
    tp->rtd = rtd;
}

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startTorquePolice()

int startTorquePolice

(

TorquePolice *

tp

)

Definition at line 15 of file TorquePolice.c.

                                        {
    if (tp->base.runMonitor == NULL) {
        printf("Monitor function not set for TorquePolice\n");
        return _FAILURE;
    }
    ENABLE(tp->base.system);
    return _SUCCESS;
}

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