MS12 -> MS14 MCI

High level (MSXII)

• The MCI is connected to both the main CAN bus and an isolated motor controller CAN bus which contains the two WaveSculptors and the MCI board.
• The MCI reads DRIVE_OUTPUT CAN messages from driver controls and caches the desired settings (pedal, direction, cruise, mech_brake). The settings are periodically transmitted to both WaveSculptors.
• The user manual can be found at WaveSculptor 22 Motor Drive User's Manual

DRIVE_OUTPUT message (MSXII)

• The DRIVE_OUTPUT message contains parameters, handled currently as:
• Pedal: the throttle value (can be for both accelerating and braking)
• Direction: Neutral, forward, or reverse
• Cruise: if 0 update speed; if > 0, get pedal value and set a target speed
• Mech_brake: force coast/neutral if mech_brake is on (0 throttle)

How it currently (MSXII) works (starting at main)

1. Set settings
2. motor_controller_init
1. setup handlers for velocity and bus measurement readings from wavesculptor
2. Init periodic transmission of controller settings
1. Periodically (200 ms, motor_controller.h) send a CAN message to both wave sculptors with the current controller settings
3. drive_can_init
1. Set callback function pointers for speed and bus measurements
2. Register a handler for receiving DRIVE_OUTPUT messages from driver controls
4. set relay init settings (order, delays)
5. Sequenced_relay_init (handled by relay sequencer)
1. Precharge handled here by hardware
6. register powertrain heartbeat handler
7. Loop

• We currently listen for velocity and bus measurements (voltage, current) and transmits them back to driver controls
• We don’t currently send the reset message ever
• We don’t currently have any precharge checks, we just wait for it in the relay sequencer

Things we can send WaveSculptor (section 18 of manual)

• Motor Drive (required every 250 ms)
• Set motor current (%), motor velocity (rpm)
• Motor Power
• Set bus current (% of absolute bus current limit)
• “...setting it to less than 100%...may compromise your vehicle performance”
• Reset
• “Reset the software in the WaveSculptor”

Things we can listen for from WaveSculptor (section 18 of manual)

Note: any of these can be requested at any time with an immediate response (manual pg. 30)

• ID info (1 second)
• Serial number and identifier
• Status info (200 ms)
• Receive and transmit error count, active motor index, error flags, limit flags
• Bus measurement (200 ms)
• Bus current and voltage
• Velocity measurement (200 ms)
• Vehicle velocity (m/s) and motor velocity (rpm)
• Phase current measurement (200 ms)
• Motor voltage vector measurement (200 ms)
• Motor current vector measurement (200 ms)
• Motor BackEMF measurement / prediction (200 ms)
• 15V voltage rail measurement (1 second)
• 3.3V and 1.9V voltage rail measurements
• Heat-sink and motor temperature measurement (1 second)
• DSP board temperature measurement (1 second)
• Odometer and Bus AmpHours measurement (1 second)

Faults

18.4.2 in manual