void CodaMotorController::handleCanFrame(CAN_FRAME *frame)
{
int RotorTemp, invTemp, StatorTemp;
int temp;
online = 1; //if a frame got to here then it passed the filter and must come from UQM
running=true;
Logger::debug("UQM inverter msg: %X %X %X %X %X %X %X %X %X", frame->id, frame->data.bytes[0],
frame->data.bytes[1],frame->data.bytes[2],frame->data.bytes[3],frame->data.bytes[4],
frame->data.bytes[5],frame->data.bytes[6],frame->data.bytes[7]);
switch (frame->id)
{
case 0x209: //Accurate Feedback Message
torqueActual = ((((frame->data.bytes[1] * 256) + frame->data.bytes[0])-32128)) ;
dcVoltage = (((frame->data.bytes[3] * 256) + frame->data.bytes[2])-32128);
if(dcVoltage<1000){dcVoltage=1000;}//Lowest value we can display on dashboard
dcCurrent = (((frame->data.bytes[5] * 256) + frame->data.bytes[4])-32128);
speedActual = abs((((frame->data.bytes[7] * 256) + frame->data.bytes[6])-32128)/2);
Logger::debug("UQM Actual Torque: %d DC Voltage: %d Amps: %d RPM: %d", torqueActual/10,dcVoltage/10,dcCurrent/10,speedActual);
break;
case 0x20A: //System Status Message
Logger::debug("UQM inverter 20A System Status Message Received");
break;
case 0x20B: //Emergency Fuel Cutback Message
Logger::debug("UQM inverter 20B Emergency Fuel Cutback Message Received");
break;
case 0x20C: //Reserved Message
Logger::debug("UQM inverter 20C Reserved Message Received");
break;
case 0x20D: //Limited Torque Percentage Message
Logger::debug("UQM inverter 20D Limited Torque Percentage Message Received");
break;
case 0x20E: //Temperature Feedback Message
invTemp = frame->data.bytes[2];
RotorTemp = frame->data.bytes[3];
StatorTemp = frame->data.bytes[4];
temperatureInverter = (invTemp-40)*10;
if (RotorTemp > StatorTemp) {temperatureMotor = (RotorTemp-40)*10;}
else {temperatureMotor = (StatorTemp-40)*10;}
Logger::debug("UQM 20E Inverter temp: %d Motor temp: %d", temperatureInverter,temperatureMotor);
break;
case 0x20F: //CAN Watchdog Status Message
Logger::debug("UQM 20F CAN Watchdog status error");
warning=true;
running=false;
sendCmd2(); //If we get a Watchdog status, we need to respond with Watchdog reset
break;
}
}
uint32_t
identifyCard( void )
{
// NOTE: see OMAP35x.pdf page 3164, starterware and sd_spec 2.0
uint8_t hcsFlag = 0;
memset( &cardInfo, 0, sizeof( CARD_INFO ) );
// send GO_IDLE_STATE
if ( sendCmd0() )
{
// an error occured sending CMD0
return 1;
}
// cmd5 is reserved for I/O cards: SDIO. will return 0 if it is SDIO
if ( 0 == sendCmd5() )
{
return 1;
}
// send GO_IDLE_STATE again
if ( sendCmd0() )
{
// an error occured sending CMD0
return 1;
}
// send SEND_IF_COND
if ( 0 == sendCmd8() )
{
// NOTE: it is an SD card compliant with standard 2.0 or later
uint32_t rsp0 = MMCHS_RSP10 & 0x0000FFFF;
uint32_t supportedVoltage = rsp0 & 0xFFF;
if ( supportedVoltage != 0x1AA )
{
// NOT supported:
return 1;
}
hcsFlag = TRUE;
}
while ( 1 )
{
// send SD_SEND_OP_COND
// NOTE: sd_spec 2.0 page 26: While repeating ACMD41, the host shall not issue another command except CMD0. => other sources say repeat CMD55 too
if ( 0 == sendACmd41( hcsFlag ) )
{
// if card is busy, repeat again, otherwise card is identified
if ( ! isCardBusy() )
{
// NOTE: it is a SD card compliant with standard 1.x
// store ocr in card-info
cardInfo.ocr = MMCHS_RSP10;
// check if card is high-capacity or not (HCR-bit in OCR at position 30)
cardInfo.highCap = ( cardInfo.ocr & ( 1 << 30 ) ) ? 1 : 0;
goto cardIdentified;
}
}
// no response => its no SD meory card
else
{
break;
}
}
// NOTE: at this point we are a MMC card - we don't support them
return 1;
cardIdentified:
// send ALL_SEND_CID
if ( sendCmd2() )
{
return 1;
}
// store card-info just returned by CMD2 in RSP10-76
cardInfo.raw_cid[ 0 ] = MMCHS_RSP10;
cardInfo.raw_cid[ 1 ] = MMCHS_RSP32;
cardInfo.raw_cid[ 2 ] = MMCHS_RSP54;
cardInfo.raw_cid[ 3 ] = MMCHS_RSP76;
// send SEND_RELATIVE_ADDR to ask card to publish new realtive address
if ( sendCmd3() )
{
return 1;
}
// store RCA just returned by CMD3
cardInfo.rca = ( MMCHS_RSP10 & 0xFFFF0000 ) >> 16;
// send SEND_CSD: request card-specific data
if ( sendCmd9() )
{
return 1;
}
// store card-specific data just returned by CMD9 in RSP10-76
cardInfo.raw_csd[ 0 ] = MMCHS_RSP10;
cardInfo.raw_csd[ 1 ] = MMCHS_RSP32;
cardInfo.raw_csd[ 2 ] = MMCHS_RSP54;
cardInfo.raw_csd[ 3 ] = MMCHS_RSP76;
if ( SD_CARD_CSD_VERSION( cardInfo ) )
{
cardInfo.tranSpeed = SD_CARD1_TRANSPEED(cardInfo);
cardInfo.blkLen = 1 << (SD_CARD1_RDBLKLEN(cardInfo));
cardInfo.size = SD_CARD1_SIZE(cardInfo);
cardInfo.nBlks = cardInfo.size / cardInfo.blkLen;
}
else
{
cardInfo.tranSpeed = SD_CARD0_TRANSPEED(cardInfo);
cardInfo.blkLen = 1 << (SD_CARD0_RDBLKLEN(cardInfo));
cardInfo.nBlks = SD_CARD0_NUMBLK(cardInfo);
cardInfo.size = SD_CARD0_SIZE(cardInfo);
}
// send SELECT/DESELECT_CARD to select card - now in transfer mode
if ( sendCmd7() )
{
return 1;
}
// NOTE: at this point the card is initialized, identified and ready to be used
// send block length only in case of standard capacity-card, send it ONCE after selection
if ( ! cardInfo.highCap )
{
// send block length
if ( sendCmd16() )
{
// an error occured during sending the command, return immediately
return 1;
}
}
// request SCR - will be transmitted throug a data-read!
if ( sendACmd51() )
{
return 1;
}
uint8_t scrBuffer[ 8 ];
memset( scrBuffer, 0, 8 );
// SCR is transmitted in 8 bytes through a data-read
if ( readTransferBuffer( 8, scrBuffer ) )
{
return 1;
}
cardInfo.raw_scr[ 0 ] = ( scrBuffer[ 3 ] << 24 ) | ( scrBuffer[ 2 ] << 16 ) | ( scrBuffer[ 1 ] << 8 ) | ( scrBuffer[ 0 ] );
cardInfo.raw_scr[ 1 ] = ( scrBuffer[ 7 ] << 24 ) | ( scrBuffer[ 6 ] << 16 ) | ( scrBuffer[ 5 ] << 8 ) | ( scrBuffer[ 4 ] );
cardInfo.sd_ver = SD_CARD_VERSION( cardInfo );
cardInfo.busWidth = SD_CARD_BUSWIDTH( cardInfo );
return 0;
}