int setOrder(matrix *mat) {
char param[BUFSIZE + 1];
int order;
if (!getNextParam(param)) return 0; /* Parameter auslesen */
if ((order = atol(param)) < 1) return 0;
freeMat(mat);
mat = allocMat(order, order); /* Neue Matrix mit eingegebenen Rang erstellen */
return 1;
}
int setBValues(matrix *mat) {
int i;
char param[BUFSIZE + 1];
double value;
for (i = 0; i < (int)(mat->col); i++) {
if (!getNextParam(param)) return 0; /* Für jeden der n Werte einen Parameter einlesen */
value = atof(param);
mat->vec[i] = value;
}
return 1;
}
/*
* Periodic updates of parameters to ichip RAM.
* Also query for changed parameters of the config page.
*/
void ICHIPWIFI::handleTick() {
MotorController* motorController = DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
tickCounter++;
// make small slices so the main loop is not blocked for too long
if (tickCounter == 1) {
if (motorController) {
setParam("timeRunning", getTimeRunning());
setParam("torqueRequested", motorController->getTorqueRequested() / 10.0f, 1);
setParam("torqueActual", motorController->getTorqueActual() / 10.0f, 1);
}
if (accelerator)
setParam("throttle", accelerator->getLevel() / 10.0f, 1);
if (brake)
setParam("brake", brake->getLevel() / 10.0f, 1);
else
setParam("brake", "n/a");
} else if (tickCounter == 2) {
if (motorController) {
setParam("speedRequested", motorController->getSpeedRequested());
setParam("speedActual", motorController->getSpeedActual());
setParam("dcVoltage", motorController->getDcVoltage() / 10.0f, 1);
setParam("dcCurrent", motorController->getDcCurrent() / 10.0f, 1);
}
} else if (tickCounter == 3) {
if (motorController) {
setParam("acCurrent", motorController->getAcCurrent() / 10.0f, 1);
setParam("bitfield1", motorController->getStatusBitfield1());
setParam("bitfield2", motorController->getStatusBitfield2());
setParam("bitfield3", motorController->getStatusBitfield3());
setParam("bitfield4", motorController->getStatusBitfield4());
}
} else if (tickCounter == 4) {
if (motorController) {
setParam("running", (motorController->isRunning() ? "true" : "false"));
setParam("faulted", (motorController->isFaulted() ? "true" : "false"));
setParam("warning", (motorController->isWarning() ? "true" : "false"));
setParam("gear", (uint16_t) motorController->getGearSwitch());
}
} else if (tickCounter > 4) {
if (motorController) {
setParam("tempMotor", motorController->getTemperatureMotor() / 10.0f, 1);
setParam("tempInverter", motorController->getTemperatureInverter() / 10.0f, 1);
setParam("tempSystem", motorController->getTemperatureSystem() / 10.0f, 1);
setParam("mechPower", motorController->getMechanicalPower() / 10.0f, 1);
tickCounter = 0;
}
getNextParam();
// wait "loadParams" cycles of tickCounter > 4 before sending config parameters
// sending them too early after a soft-reset of ichip results in lost data.
if (loadParams > 0) {
if (loadParams == 1)
loadParameters();
loadParams--;
}
}
}
/*
* Process the parameter update from ichip we received as a response to AT+iWNXT.
* The response usually looks like this : key="value", so the key can be isolated
* by looking for the '=' sign and the leading/trailing '"' have to be ignored.
*/
void ICHIPWIFI::processParameterChange(char *key) {
PotThrottleConfiguration *acceleratorConfig = NULL;
PotThrottleConfiguration *brakeConfig = NULL;
MotorControllerConfiguration *motorConfig = NULL;
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
MotorController *motorController = DeviceManager::getInstance()->getMotorController();
if (accelerator)
acceleratorConfig = (PotThrottleConfiguration *)accelerator->getConfiguration();
if (brake)
brakeConfig = (PotThrottleConfiguration *)brake->getConfiguration();
if(motorController)
motorConfig = (MotorControllerConfiguration *)motorController->getConfiguration();
char *value = strchr(key, '=');
if (value) {
value[0] = 0; // replace the '=' sign with a 0
value++;
if (value[0] == '"')
value++; // if the value starts with a '"', advance one character
if (value[strlen(value) - 1] == '"')
value[strlen(value) - 1] = 0; // if the value ends with a '"' character, replace it with 0
if (!strcmp(key, "numThrottlePots") && acceleratorConfig) {
acceleratorConfig->numberPotMeters = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleSubType") && acceleratorConfig) {
acceleratorConfig->throttleSubType = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMin1") && acceleratorConfig) {
acceleratorConfig->minimumLevel1 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMin2") && acceleratorConfig) {
acceleratorConfig->minimumLevel2 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMax1") && acceleratorConfig) {
acceleratorConfig->maximumLevel1 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMax2") && acceleratorConfig) {
acceleratorConfig->maximumLevel2 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleRegenMax") && acceleratorConfig) {
acceleratorConfig->positionRegenMaximum = atol(value) * 10;
} else if (!strcmp(key, "throttleRegenMin") && acceleratorConfig) {
acceleratorConfig->positionRegenMinimum = atol(value) * 10;
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleFwd") && acceleratorConfig) {
acceleratorConfig->positionForwardMotionStart = atol(value) * 10;
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMap") && acceleratorConfig) {
acceleratorConfig->positionHalfPower = atol(value) * 10;
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMinRegen") && acceleratorConfig) {
acceleratorConfig->minimumRegen = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleMaxRegen") && acceleratorConfig) {
acceleratorConfig->maximumRegen = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "throttleCreep") && acceleratorConfig) {
acceleratorConfig->creep = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, "brakeMin") && brakeConfig) {
brakeConfig->minimumLevel1 = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, "brakeMax") && brakeConfig) {
brakeConfig->maximumLevel1 = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, "brakeMinRegen") && brakeConfig) {
brakeConfig->minimumRegen = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, "brakeMaxRegen") && brakeConfig) {
brakeConfig->maximumRegen = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, "speedMax") && motorConfig) {
motorConfig->speedMax = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, "torqueMax") && motorConfig) {
motorConfig->torqueMax = atol(value) * 10;
motorController->saveConfiguration();
}
}
getNextParam(); // try to get another one immediately
}
