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9 18 2025 latest #2

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273c275
Merge pull request #1 from uconnformulasae/testing
manthan-acharya Jul 13, 2025
8e37e42
Latest Version of Code
kash851 Sep 19, 2025
5d1ab8f
Latest Code
kash851 Mar 25, 2026
a713045
Direction Change and Inverter Enable
kash851 Mar 28, 2026
061f9be
(techincally) Latest LVCU code
kash851 Apr 11, 2026
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4 changes: 2 additions & 2 deletions .settings/language.settings.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1387160651857723620" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-161652224296973949" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
Expand All @@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1387160651857723620" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-161652224296973949" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
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89 changes: 89 additions & 0 deletions Core/Inc/launch_control.h
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Original file line number Diff line number Diff line change
@@ -0,0 +1,89 @@
/**
* @file launch_control.h
* @brief Launch control system for FSAE EV acceleration event
*/

#ifndef LAUNCH_CONTROL_H
#define LAUNCH_CONTROL_H

#include <stdint.h>



// Overall gear ratio: motor RPM / wheel RPM
#define LC_GEAR_RATIO 0.2750275f

// tire radius in meters
#define LC_TIRE_RADIUS_M 49.0f

// CAN ID for front wheel speed broadcast
#define LC_AIM_WHEEL_SPEED_CAN_ID 0x300

// LC debug CAN message ID
#define LC_DEBUG_CAN_ID 0x557

#define LC_SLIP_TARGET 0.10f
#define LC_CROSSOVER_SPEED_MS 49.0f
#define LC_EXIT_SPEED_MS 49.0f

// Minimum throttle position to trigger launch. Driver gotta be rlly bout it
#define LC_THROTTLE_TRIGGER 0.30f

#define LC_KP 49.0f
#define LC_KI 49.0f

#define LC_SLIP_RATE_MAX 49.0f
#define LC_SLIP_RATE_CUT_MULT 0.3f

#define LC_SLIP_FILTER_ALPHA 0.3f

// AiM front wheel speed CAN message timeout (ms).
#define LC_SENSOR_TIMEOUT_MS 100

// Assumed control loop period
#define LC_DT_S 0.010f

// Precomputed conversion: RPM → m/s = RPM * (2π/60) * tire_radius / gear_ratio
#define LC_RPM_TO_MS ((2.0f * 3.14159265f / 60.0f) * LC_TIRE_RADIUS_M / LC_GEAR_RATIO)
// Precomputed inverse: m/s → RPM
#define LC_MS_TO_RPM (LC_GEAR_RATIO * 60.0f / (2.0f * 3.14159265f * LC_TIRE_RADIUS_M))
// Precomputed: km/h×10 → m/s = val / 36.0
#define LC_KMH10_TO_MS (1.0f / 36.0f)

typedef enum {
LC_STATE_IDLE,
LC_STATE_ARMED,
LC_STATE_LAUNCHING_OPENLOOP,
LC_STATE_LAUNCHING_CLOSEDLOOP
} lc_state_t;


typedef struct {
lc_state_t state;
float slip_ratio; // Current filtered slip ratio
float slip_ratio_raw; // Unfiltered slip ratio
float slip_rate; // dλ/dt (slip rate of change)
float pi_p_term; // Proportional term output
float pi_i_term; // Integral term (accumulated)
float pi_output; // Combined PI output (correction)
uint32_t lc_torque; // Torque limit from LC (×10 units)
uint32_t map_torque; // Open-loop map torque (×10 units)
float vehicle_speed; // Estimated vehicle speed (m/s)
float rear_wheel_speed; // Rear wheel speed from motor (m/s)
uint8_t sensor_healthy; // 1 = front wheel speed CAN is live
uint8_t slip_rate_cut; // 1 = emergency slip rate cut active
} lc_debug_t;



void lc_init(void);


uint32_t lc_update(uint32_t driver_torque, uint32_t motor_speed_rpm, float tps_combined);
void lc_feed_wheel_speed(uint16_t front_left_speed_x10, uint16_t front_right_speed_x10);
void lc_feed_tick(uint32_t tick_ms);
const lc_debug_t* lc_get_debug(void);
lc_state_t lc_get_state(void);
extern volatile uint8_t launch_control_enable;

#endif /* LAUNCH_CONTROL_H */
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