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Drive Testing and Calculate Vehicle Speed Off eRPM#504

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dchansen06 merged 38 commits into
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eRPM-to-speed
Jul 5, 2026
Merged

Drive Testing and Calculate Vehicle Speed Off eRPM#504
dchansen06 merged 38 commits into
mainfrom
eRPM-to-speed

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@kzwicker

@kzwicker kzwicker commented Jun 2, 2026 •
edited by dchansen06
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ECU Calculate Vehicle Speed

Problem and Scope

At the moment, we don't do that. Now, we will do that.

Description

Pulls eRPM data from the DTI inverter and calculates speed from there. Also uses the "is still" data to determine if the car is moving.

Also, fixes inverter disabling logic by using the correct offsets.

Lots of other fixes to finalize firmware

Also fixes dash panel lights to not trigger red car

Gotchas and Limitations

No regen yet

Testing

  • HOOTL testing
  • HITL testing
  • Human tested

Testing Details

Passes tech and ran in endurance

Larger Impact

Winning Gaucho Racing

Additional Context and Ticket

Finishes ECU

@kzwicker kzwicker requested a review from dchansen06 as a code owner June 2, 2026 04:43
@dchansen06 dchansen06 changed the title Calculate vehicle speed Calculate Vehicle Speed Off eRPM Jun 2, 2026
@dchansen06 dchansen06 added Enhancement New feature or request 2 PRIORITY Important and a priority, but less than URGENT Small Fry Something that is small, could include bug fixes or smaller changes Peripheral Related to or involving a peripheral including abstractions Boards Related to or involving any physical boards Bug Something is doing a thing but doing it wrong or otherwise incorrectly labels Jun 2, 2026
@dchansen06 dchansen06 added this to the GR26 milestone Jun 2, 2026
@dchansen06 dchansen06 added 1 URGENT Urgent issue that needs a quick action and resolution and removed 2 PRIORITY Important and a priority, but less than URGENT labels Jun 2, 2026
dchansen06
dchansen06 reviewed Jun 3, 2026
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@dchansen06 dchansen06 left a comment

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Lgtm, but lets test on car before merging

@SlowThomas

SlowThomas commented Jun 5, 2026 •
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Note that the pr description is changed.

@dchansen06 dchansen06 force-pushed the eRPM-to-speed branch 2 times, most recently from 089bde1 to f1b213a Compare June 6, 2026 19:41
@dchansen06 dchansen06 changed the title Calculate Vehicle Speed Off eRPM Calculate Vehicle Speed Off eRPM and Regen Jun 7, 2026
@dchansen06 dchansen06 changed the title Calculate Vehicle Speed Off eRPM and Regen Regen Testing and Calculate Vehicle Speed Off eRPM Jun 7, 2026
@dchansen06 dchansen06 force-pushed the eRPM-to-speed branch 3 times, most recently from 065a817 to d669ab2 Compare June 7, 2026 07:51
@dchansen06 dchansen06 mentioned this pull request Jun 9, 2026
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dchansen06
dchansen06 requested changes Jun 22, 2026
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@dchansen06 dchansen06 left a comment •
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  • Fix PR description/title
  • Pass CI/CD for the unit tests
  • Brief documentation Yeah...
  • Go back to power levels instead of universal 325 A by git revert

kzwicker and others added 2 commits June 30, 2026 02:55
@kzwicker @SlowThomas @dchansen06
Initial commit
b88b247 
Co-authored-by: Thomas Xu <thomasxu070224@gmail.com>
@kzwicker @dchansen06
current gear ratio
d4718dd
github-actions Bot and others added 23 commits June 30, 2026 02:55
@github-actions @dchansen06
Automatic Clang-Format: Standardized formatting automatically
7e7f1a2
@dchansen06
Use more explicit math for WHEEL_RPM_TO_MPH_RATIO
6d88e87 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Cleanup actual calc
136e5c2 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Never print buzz
6884d0e 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Pi floats!
3f178c9 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Ensure the brake lights stay on at least 100ms
ffd0865 
Copied from `dfb8fbc9f0e1928c02f05b7379796cb03bb8190f`

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06 @kzwicker
Run brake and dash lights during startup delay
bc696e2 
Co-authored-by: kzwicker <kzwicker@users.noreply.github.com>
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Move driving critical decisions from brake f and brake r to just bse/f
e04322a 
https://discord.com/channels/756738476887638107/1457989718741618788/1513853014874521680
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Send analog data (eg pedals) every 30 ms
acbbbb5 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Have hootl tests use bse instead of brake f
7fbd756 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
More power!
0669512 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@github-actions @dchansen06
Automatic CANfigurator: Updated CAN files automatically
7c56baa
@dchansen06
Adjust hard coded absolute non-configurable maximum
7858fd5 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Incorporate brake pressure fix
424609c 
```c
float pressure_psi = ((float)adc_counts - 654.09f) * 5000.0f / 2614.73f;
```

https://discord.com/channels/@me/1339848701379612764/1514824425336340532
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Temp disable regen
113c1b9 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06
Battery max reverse current at 30A
145ff2a 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@kzwicker @dchansen06
The Unwronging of the Dash Panel Lights
1502eda
@github-actions @dchansen06
Automatic Clang-Format: Standardized formatting automatically
e7ae6bc
@kzwicker @dchansen06
Revised scaling of TS voltage
b0acb84
@dchansen06
Switch to 10x scaling of the ACU Status 1 field for TS Voltage
e6919a4 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@github-actions @dchansen06
Automatic CANfigurator: Updated CAN files automatically
b70f030
@kzwicker @dchansen06
fix ccu anyway
d7c83d8
@dchansen06
Make everything 325 A regardless of brightness
d1bd0f7 
Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06 dchansen06 changed the title Regen Testing and Calculate Vehicle Speed Off eRPM Drive Testing and Calculate Vehicle Speed Off eRPM Jul 5, 2026
dchansen06 added 2 commits July 5, 2026 02:16
@dchansen06
Revert "Make everything 325 A regardless of brightness"
f46ade7 
This reverts commit d1bd0f7.
@dchansen06
NO CAR CHANGE -- Change state test to use IMD/BMS and not TSSI directly
e86f061 
To be honest the state ticks test needs to be nuked and rewritten for next year

Signed-off-by: Daniel Hansen <dchansen06@gmail.com>
@dchansen06 dchansen06 merged commit d5cb13c into main Jul 5, 2026
33 checks passed
@dchansen06 dchansen06 deleted the eRPM-to-speed branch July 5, 2026 09:31
@dchansen06 dchansen06 mentioned this pull request Jul 5, 2026
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Reviewers

@dchansen06 dchansen06 dchansen06 requested changes

Assignees

@SlowThomas SlowThomas

@kzwicker kzwicker

Labels

1 URGENT Urgent issue that needs a quick action and resolution Boards Related to or involving any physical boards Bug Something is doing a thing but doing it wrong or otherwise incorrectly Enhancement New feature or request Peripheral Related to or involving a peripheral including abstractions Small Fry Something that is small, could include bug fixes or smaller changes

Projects

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Milestone

GR26

Development

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3 participants

@kzwicker @SlowThomas @dchansen06