updated pedal constants and added in new drivebrain interface updates

include/MCU_rev15_defs.h

@@ -52,17 +52,17 @@ const unsigned long TELEM_CAN_BAUDRATE  = 500000;
 // All of these values are the PEDAL min/max
 // the sensor min/max that trip implaus are calculated
 // in the PedalsSystem constructor
-const int ACCEL1_PEDAL_MAX = 3490;  
-const int ACCEL2_PEDAL_MAX = 189;   
+const int ACCEL1_PEDAL_MAX = 3476;
+const int ACCEL2_PEDAL_MAX = 213;
 
-const int ACCEL1_PEDAL_MIN = 2646;
-const int ACCEL2_PEDAL_MIN = 1030;
+const int ACCEL1_PEDAL_MIN = 2726;
+const int ACCEL2_PEDAL_MIN = 950;
 
-const int BRAKE1_PEDAL_MAX = 2022;  
-const int BRAKE2_PEDAL_MAX = 1668;  
+const int BRAKE1_PEDAL_MAX = 1796;  
+const int BRAKE2_PEDAL_MAX = 1867;  
 
-const int BRAKE1_PEDAL_MIN = 1192;  
-const int BRAKE2_PEDAL_MIN = 2476;
+const int BRAKE1_PEDAL_MIN = 1149;  
+const int BRAKE2_PEDAL_MIN = 2517;
 
 const int ACCEL1_PEDAL_OOR_MIN = 90;
 const int ACCEL2_PEDAL_OOR_MIN = 90;
@@ -76,7 +76,7 @@ const int BRAKE2_PEDAL_OOR_MIN = 90;
 const int BRAKE1_PEDAL_OOR_MAX = 4000;
 const int BRAKE2_PEDAL_OOR_MAX = 4000;
 
-const float DEFAULT_PEDAL_DEADZONE = 0.05f;
+const float DEFAULT_PEDAL_DEADZONE = 0.08f;
 const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.12f;
 
 const float APPS_ACTIVATION_PERCENTAGE = 0.1f;

lib/interfaces/src/DrivebrainETHInterface.cpp

@@ -9,10 +9,12 @@ hytech_msgs_MCUOutputData DrivebrainETHInterface::make_db_msg(const SharedCarSta
     out.brake_percent = shared_state.pedals_data.regenPercent;
 
     out.has_rpm_data = true;
+
     out.rpm_data.FL = shared_state.drivetrain_data.measuredSpeeds[0];
     out.rpm_data.FR = shared_state.drivetrain_data.measuredSpeeds[1];
     out.rpm_data.RL = shared_state.drivetrain_data.measuredSpeeds[2];
     out.rpm_data.RR = shared_state.drivetrain_data.measuredSpeeds[3];
+
     out.steering_angle_deg = shared_state.steering_data.angle;
     out.MCU_recv_millis = _latest_data.last_receive_time_millis;
     out.load_cell_data = {shared_state.raw_loadcell_data.raw_load_cell_data.FL,
@@ -22,6 +24,7 @@ hytech_msgs_MCUOutputData DrivebrainETHInterface::make_db_msg(const SharedCarSta
     out.has_load_cell_data = true;
 
     out.timing_failure_active = shared_state.drivebrain_timing_failure;
+    out.round_trip_time_millis = shared_state.systick.millis - _latest_data.DB_prev_MCU_recv_millis;
     return out;
 }
 

lib/shared_data/include/DrivebrainData.h

@@ -9,6 +9,7 @@ struct DrivebrainData_s
     int64_t last_receive_time_millis = -1;
     /// @brief the latest MCU last_receive_time_millis that the drivebrain received
     int64_t DB_prev_MCU_recv_millis = -1;
+    int32_t round_trip_time_millis = -1;
     veh_vec<float> torque_limits_nm;
     veh_vec<float> speed_setpoints_rpm;
 };

platformio.ini

@@ -4,7 +4,7 @@ lib_deps_shared =
   git+ssh://[email protected]/hytech-racing/CASE_lib.git#v49
   https://github.com/hytech-racing/shared_firmware_types.git#feb3b83
   https://github.com/hytech-racing/shared_firmware_systems.git#af96a63
-  https://github.com/hytech-racing/HT_proto/releases/download/2024-10-20T18_54_37/hytech_msgs_pb_lib.tar.gz
+  https://github.com/hytech-racing/HT_proto/releases/download/2024-11-08T01_13_42/hytech_msgs_pb_lib.tar.gz
 
 [env:test_env]
 platform = native