void MainWnd::OnOptionsFrameskipThrottleOther()
{
Throttle dlg;
int v = dlg.DoModal();
if(v)
theApp.throttle = v;
}
void MainWnd::OnOptionsFrameskipThrottleOther()
{
Throttle dlg;
unsigned short v = (unsigned short)dlg.DoModal();
if( v ) {
theApp.updateThrottle( v );
theApp.autoFrameSkip = false;
}
}
void MainWnd::OnOptionsFrameskipThrottleOther()
{
Throttle dlg;
int v = (int)dlg.DoModal();
if( v ) {
theApp.throttle = v;
theApp.autoFrameSkip = false;
}
}
void MotorController::handleTick() {
uint8_t forwardSwitch, reverseSwitch;
gearSwitch = GS_FORWARD;
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
if (accelerator)
throttleRequested = accelerator->getLevel();
if (brake && brake->getLevel() < -10 && brake->getLevel() < accelerator->getLevel()) //if the brake has been pressed it overrides the accelerator.
throttleRequested = brake->getLevel();
if (prechargeTime == 0) donePrecharge = true;
if (!donePrecharge)
{
if (prechargeSoFar < prechargeTime)
{
prechargeSoFar += (getTickInterval() / 1000);
}
else {
Logger::info("Done with precharge.");
setOutput(mainContactorRelay, true);
setOutput(prechargeRelay, false);
donePrecharge = true;
}
}
//Logger::debug("Throttle: %d", throttleRequested);
}
/*
* Get parameters from devices and forward them to ichip.
* This is required to initially set-up the
*/
void ICHIPWIFI::loadParameters() {
MotorController *motorController = DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
PotThrottleConfiguration *acceleratorConfig = NULL;
PotThrottleConfiguration *brakeConfig = NULL;
MotorControllerConfiguration *motorConfig = NULL;
Logger::info("loading config params to ichip/wifi");
if (accelerator)
acceleratorConfig = (PotThrottleConfiguration *)accelerator->getConfiguration();
if (brake)
brakeConfig = (PotThrottleConfiguration *)brake->getConfiguration();
if (motorController)
motorConfig = (MotorControllerConfiguration *)motorController->getConfiguration();
if (acceleratorConfig) {
setParam("numThrottlePots", acceleratorConfig->numberPotMeters);
setParam("throttleSubType", acceleratorConfig->throttleSubType);
setParam("throttleMin1", acceleratorConfig->minimumLevel1);
setParam("throttleMin2", acceleratorConfig->minimumLevel2);
setParam("throttleMax1", acceleratorConfig->maximumLevel1);
setParam("throttleMax2", acceleratorConfig->maximumLevel2);
setParam("throttleRegenMax", (uint16_t)(acceleratorConfig->positionRegenMaximum / 10));
setParam("throttleRegenMin", (uint16_t)(acceleratorConfig->positionRegenMinimum / 10));
setParam("throttleFwd", (uint16_t)(acceleratorConfig->positionForwardMotionStart / 10));
setParam("throttleMap", (uint16_t)(acceleratorConfig->positionHalfPower / 10));
setParam("throttleMinRegen", acceleratorConfig->minimumRegen);
setParam("throttleMaxRegen", acceleratorConfig->maximumRegen);
setParam("throttleCreep", acceleratorConfig->creep);
}
if (brakeConfig) {
setParam("brakeMin", brakeConfig->minimumLevel1);
setParam("brakeMax", brakeConfig->maximumLevel1);
setParam("brakeMinRegen", brakeConfig->minimumRegen);
setParam("brakeMaxRegen", brakeConfig->maximumRegen);
}
if (motorConfig) {
setParam("speedMax", motorConfig->speedMax);
setParam("torqueMax", (uint16_t)(motorConfig->torqueMax / 10)); // skip the tenth's
}
}
void Heartbeat::handleTick() {
// Print a dot if no other output has been made since the last tick
if (Logger::getLastLogTime() < lastTickTime) {
SerialUSB.print('.');
if ((++dotCount % 80) == 0) {
SerialUSB.println();
}
}
lastTickTime = millis();
if (led) {
digitalWrite(BLINK_LED, HIGH);
} else {
digitalWrite(BLINK_LED, LOW);
}
led = !led;
if (throttleDebug) {
MotorController *motorController = DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
Logger::console("");
if (motorController) {
Logger::console("Motor Controller Status: isRunning: %T isFaulted: %T", motorController->isRunning(), motorController->isFaulted());
}
Logger::console("AIN0: %d, AIN1: %d, AIN2: %d, AIN3: %d", getAnalog(0), getAnalog(1), getAnalog(2), getAnalog(3));
Logger::console("DIN0: %d, DIN1: %d, DIN2: %d, DIN3: %d", getDigital(0), getDigital(1), getDigital(2), getDigital(3));
Logger::console("DOUT0: %d, DOUT1: %d, DOUT2: %d, DOUT3: %d,DOUT4: %d, DOUT5: %d, DOUT6: %d, DOUT7: %d", getOutput(0), getOutput(1), getOutput(2), getOutput(3),getOutput(4), getOutput(5), getOutput(6), getOutput(7));
if (accelerator) {
Logger::console("Throttle Status: isFaulted: %T level: %i", accelerator->isFaulted(), accelerator->getLevel());
RawSignalData *rawSignal = accelerator->acquireRawSignal();
Logger::console("Throttle rawSignal1: %d, rawSignal2: %d", rawSignal->input1, rawSignal->input2);
}
if (brake) {
Logger::console("Brake Output: %i", brake->getLevel());
RawSignalData *rawSignal = brake->acquireRawSignal();
Logger::console("Brake rawSignal1: %d", rawSignal->input1);
}
}
}
/*
* 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
}
void SerialConsole::printMenu() {
MotorController* motorController = (MotorController*) DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
ICHIPWIFI *wifi = (ICHIPWIFI*) DeviceManager::getInstance()->getDeviceByType(DEVICE_WIFI);
//Show build # here as well in case people are using the native port and don't get to see the start up messages
SerialUSB.print("Build number: ");
SerialUSB.println(CFG_BUILD_NUM);
if (motorController) {
SerialUSB.println(
"Motor Controller Status: isRunning: " + String(motorController->isRunning()) + " isFaulted: " + String(motorController->isFaulted()));
}
SerialUSB.println("System Menu:");
SerialUSB.println();
SerialUSB.println("Enable line endings of some sort (LF, CR, CRLF)");
SerialUSB.println();
SerialUSB.println("Short Commands:");
SerialUSB.println("h = help (displays this message)");
if (heartbeat != NULL) {
SerialUSB.println("L = show raw analog/digital input/output values (toggle)");
}
SerialUSB.println("K = set all outputs high");
SerialUSB.println("J = set all outputs low");
//SerialUSB.println("U,I = test EEPROM routines");
SerialUSB.println("E = dump system eeprom values");
SerialUSB.println("z = detect throttle min/max, num throttles and subtype");
SerialUSB.println("Z = save throttle values");
SerialUSB.println("b = detect brake min/max");
SerialUSB.println("B = save brake values");
SerialUSB.println("p = enable wifi passthrough (reboot required to resume normal operation)");
SerialUSB.println("S = show possible device IDs");
SerialUSB.println("w = GEVCU 4.2 reset wifi to factory defaults, setup GEVCU ad-hoc network");
SerialUSB.println("W = GEVCU 5.2 reset wifi to factory defaults, setup GEVCU as 10.0.0.1 Access Point");
SerialUSB.println("s = Scan WiFi for nearby access points");
SerialUSB.println();
SerialUSB.println("Config Commands (enter command=newvalue). Current values shown in parenthesis:");
SerialUSB.println();
Logger::console("LOGLEVEL=%i - set log level (0=debug, 1=info, 2=warn, 3=error, 4=off)", Logger::getLogLevel());
uint8_t systype;
sysPrefs->read(EESYS_SYSTEM_TYPE, &systype);
Logger::console("SYSTYPE=%i - Set board revision (Dued=2, GEVCU3=3, GEVCU4=4)", systype);
DeviceManager::getInstance()->printDeviceList();
if (motorController && motorController->getConfiguration()) {
MotorControllerConfiguration *config = (MotorControllerConfiguration *) motorController->getConfiguration();
SerialUSB.println();
SerialUSB.println("MOTOR CONTROLS");
SerialUSB.println();
Logger::console("TORQ=%i - Set torque upper limit (tenths of a Nm)", config->torqueMax);
Logger::console("RPM=%i - Set maximum RPM", config->speedMax);
Logger::console("REVLIM=%i - How much torque to allow in reverse (Tenths of a percent)", config->reversePercent);
Logger::console("COOLFAN=%i - Digital output to turn on cooling fan(0-7, 255 for none)", config->coolFan);
Logger::console("COOLON=%i - Inverter temperature C to turn cooling on", config->coolOn);
Logger::console("COOLOFF=%i - Inverter temperature C to turn cooling off", config->coolOff);
Logger::console("BRAKELT = %i - Digital output to turn on brakelight (0-7, 255 for none)", config->brakeLight);
Logger::console("REVLT=%i - Digital output to turn on reverse light (0-7, 255 for none)", config->revLight);
Logger::console("ENABLEIN=%i - Digital input to enable motor controller (0-3, 255 for none)", config->enableIn);
Logger::console("REVIN=%i - Digital input to reverse motor rotation (0-3, 255 for none)", config->reverseIn);
}
if (accelerator && accelerator->getConfiguration()) {
PotThrottleConfiguration *config = (PotThrottleConfiguration *) accelerator->getConfiguration();
SerialUSB.println();
SerialUSB.println("THROTTLE CONTROLS");
SerialUSB.println();
Logger::console("TPOT=%i - Number of pots to use (1 or 2)", config->numberPotMeters);
Logger::console("TTYPE=%i - Set throttle subtype (1=std linear, 2=inverse)", config->throttleSubType);
Logger::console("T1ADC=%i - Set throttle 1 ADC pin", config->AdcPin1);
Logger::console("T1MN=%i - Set throttle 1 min value", config->minimumLevel1);
Logger::console("T1MX=%i - Set throttle 1 max value", config->maximumLevel1);
Logger::console("T2ADC=%i - Set throttle 2 ADC pin", config->AdcPin2);
Logger::console("T2MN=%i - Set throttle 2 min value", config->minimumLevel2);
Logger::console("T2MX=%i - Set throttle 2 max value", config->maximumLevel2);
Logger::console("TRGNMAX=%i - Tenths of a percent of pedal where regen is at max", config->positionRegenMaximum);
Logger::console("TRGNMIN=%i - Tenths of a percent of pedal where regen is at min", config->positionRegenMinimum);
Logger::console("TFWD=%i - Tenths of a percent of pedal where forward motion starts", config->positionForwardMotionStart);
Logger::console("TMAP=%i - Tenths of a percent of pedal where 50% throttle will be", config->positionHalfPower);
Logger::console("TMINRN=%i - Percent of full torque to use for min throttle regen", config->minimumRegen);
Logger::console("TMAXRN=%i - Percent of full torque to use for max throttle regen", config->maximumRegen);
Logger::console("TCREEP=%i - Percent of full torque to use for creep (0=disable)", config->creep);
}
if (brake && brake->getConfiguration()) {
PotThrottleConfiguration *config = (PotThrottleConfiguration *) brake->getConfiguration();
SerialUSB.println();
SerialUSB.println("BRAKE CONTROLS");
SerialUSB.println();
Logger::console("B1ADC=%i - Set brake ADC pin", config->AdcPin1);
Logger::console("B1MN=%i - Set brake min value", config->minimumLevel1);
Logger::console("B1MX=%i - Set brake max value", config->maximumLevel1);
Logger::console("BMINR=%i - Percent of full torque for start of brake regen", config->minimumRegen);
Logger::console("BMAXR=%i - Percent of full torque for maximum brake regen", config->maximumRegen);
}
if (motorController && motorController->getConfiguration()) {
MotorControllerConfiguration *config = (MotorControllerConfiguration *) motorController->getConfiguration();
SerialUSB.println();
SerialUSB.println("PRECHARGE CONTROLS");
SerialUSB.println();
Logger::console("PREDELAY=%i - Precharge delay time in milliseconds ", config->prechargeR);
Logger::console("PRELAY=%i - Which output to use for precharge contactor (255 to disable)", config->prechargeRelay);
Logger::console("MRELAY=%i - Which output to use for main contactor (255 to disable)", config->mainContactorRelay);
SerialUSB.println();
SerialUSB.println("WIRELESS LAN COMMANDS");
SerialUSB.println();
Logger::console("WIREACH=anycommand - sends ATi+anycommand to WiReach Module");
Logger::console("SSID=anyname - sets broadcast ID to anyname");
Logger::console("IP=192.168.3.10 - sets IP of website to whatever IP is entered");
Logger::console("PWD=secret - sets website configuration password to entered string");
Logger::console("CHANNEL=4 - sets website wireless channel - 1 to 11");
Logger::console("SECURITY=password - sets website wireless connection security for WPA2-AES and password");
SerialUSB.println();
SerialUSB.println("OTHER");
SerialUSB.println();
Logger::console("NOMV=%i - Fully charged pack voltage that automatically resets kWh counter", config->nominalVolt/10);
Logger::console("kWh=%d - kiloWatt Hours of energy used", config->kilowattHrs/3600000);
Logger::console("OUTPUT=<0-7> - toggles state of specified digital output");
Logger::console("NUKE=1 - Resets all device settings in EEPROM. You have been warned.");
}
}
void SerialConsole::handleShortCmd() {
uint8_t val;
MotorController* motorController = (MotorController*) DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
DeviceManager *deviceManager = DeviceManager::getInstance();
switch (cmdBuffer[0]) {
case 'h':
case '?':
case 'H':
printMenu();
break;
case 'L':
if (heartbeat != NULL) {
heartbeat->setThrottleDebug(!heartbeat->getThrottleDebug());
if (heartbeat->getThrottleDebug()) {
Logger::console("Output raw throttle");
} else {
Logger::console("Cease raw throttle output");
}
}
break;
case 'U':
Logger::console("Adding a sequence of values from 0 to 255 into eeprom");
for (int i = 0; i < 256; i++) {
memCache->Write(1000 + i, (uint8_t) i);
}
Logger::info("Flushing cache");
memCache->FlushAllPages(); //write everything to eeprom
memCache->InvalidateAll(); //remove all data from cache
Logger::console("Operation complete.");
break;
case 'I':
Logger::console("Retrieving data previously saved");
for (int i = 0; i < 256; i++) {
memCache->Read(1000 + i, &val);
Logger::console("%d: %d", i, val);
}
break;
case 'E':
Logger::console("Reading System EEPROM values");
for (int i = 0; i < 256; i++) {
memCache->Read(EE_SYSTEM_START + i, &val);
Logger::console("%d: %d", i, val);
}
break;
case 'K': //set all outputs high
for (int tout = 0; tout < NUM_OUTPUT; tout++) setOutput(tout, true);
Logger::console("all outputs: ON");
break;
case 'J': //set the four outputs low
for (int tout = 0; tout < NUM_OUTPUT; tout++) setOutput(tout, false);
Logger::console("all outputs: OFF");
break;
case 'z': // detect throttle min/max & other details
if (accelerator) {
ThrottleDetector *detector = new ThrottleDetector(accelerator);
detector->detect();
}
break;
case 'Z': // save throttle settings
if (accelerator) {
accelerator->saveConfiguration();
}
break;
case 'b':
if (brake) {
ThrottleDetector *detector = new ThrottleDetector(brake);
detector->detect();
}
break;
case 'B':
if (brake != NULL) {
brake->saveConfiguration();
}
break;
case 'p':
Logger::console("PASSTHROUGH MODE - All traffic Serial3 <-> SerialUSB");
//this never stops so basically everything dies. you will have to reboot.
int inSerialUSB, inSerial3;
while (1 == 1) {
inSerialUSB = SerialUSB.read();
inSerial3 = Serial3.read();
if (inSerialUSB > -1) {
Serial3.write((char) inSerialUSB);
}
if (inSerial3 > -1) {
SerialUSB.write((char) inSerial3);
}
}
break;
case 'S':
//there is not really any good way (currently) to auto generate this list
//the information just isn't stored anywhere in code. Perhaps we might
//think to change that. Otherwise you must remember to update here or
//nobody will know your device exists. Additionally, these values are
//decoded into decimal from their hex specification in DeviceTypes.h
Logger::console("DMOC645 = %X", DMOC645);
Logger::console("Brusa DMC5 = %X", BRUSA_DMC5);
Logger::console("Brusa Charger = %X", BRUSACHARGE);
Logger::console("TCCH Charger = %X", TCCHCHARGE);
Logger::console("Pot based accelerator = %X", POTACCELPEDAL);
Logger::console("Pot based brake = %X", POTBRAKEPEDAL);
Logger::console("CANBus accelerator = %X", CANACCELPEDAL);
Logger::console("CANBus brake = %X", CANBRAKEPEDAL);
Logger::console("WIFI (iChip2128) = %X", ICHIP2128);
Logger::console("Th!nk City BMS = %X", THINKBMS);
break;
case 's':
Logger::console("Finding and listing all nearby WiFi access points");
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"RP20");
break;
case 'W':
Logger::console("Setting Wifi Adapter to WPS mode (make sure you press the WPS button on your router)");
// restore factory defaults and give it some time
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"AWPS");
break;
case 'w':
Logger::console("Resetting wifi to factory defaults and setting up GEVCU4.2 Ad Hoc network");
// restore factory defaults and give it some time
// pinMode(43,OUTPUT);
// digitalWrite(43, LOW); //Pin 43 held low for 5 seconds puts Version 4.2 in Recovery mode
// delay(6000);
// digitalWrite(43, HIGH);
// delay(3000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"FD");//Reset
delay(2000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"HIF=1"); //Set for RS-232 serial.
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"BDRA");//Auto baud rate selection
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"WLCH=9"); //use whichever channel an AP wants to use
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"WLSI=!GEVCU"); //set for GEVCU aS AP.
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DIP=192.168.3.10"); //enable IP
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DPSZ=8"); //set DHCP server for 8
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"RPG=secret"); // set the configuration password for /ichip
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"WPWD=secret"); // set the password to update config params
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"AWS=1"); //turn on web server
delay(1000);
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN"); //cause a reset to allow it to come up with the settings
delay(5000); // a 5 second delay is required for the chip to come back up ! Otherwise commands will be lost
deviceManager->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_CONFIG_CHANGE, NULL); // reload configuration params as they were lost
Logger::console("Wifi 4.2 initialized");
break;
case 'X':
setup(); //this is probably a bad idea. Do not do this while connected to anything you care about - only for debugging in safety!
break;
}
}
//TODO: See the processing function below for a more detailed explanation - can't send so many setParam commands in a row
void ADAFRUITBLE::handleTick() {
MotorController* motorController = DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
BatteryManager *bms = reinterpret_cast<BatteryManager *>(DeviceManager::getInstance()->getDeviceByType(DEVICE_BMS));
uint32_t ms = millis();
uint32_t IOTemp = 0;
uint8_t brklt;
tickCounter++;
if (ms < 1000) return; //wait 1 seconds for things to settle before doing a thing
// Do a delayed parameter load once about a second after startup
if (!didParamLoad && ms > 5000) {
loadParameters();
Logger::console("BLE characteristics loaded...");
bleBitFields.bitfield1 = motorController->getStatusBitfield1();
bleBitFields.bitfield2 = motorController->getStatusBitfield2();
bleBitFields.doUpdate = 1;
// DeviceManager::getInstance()->updateWifiByID(BRUSA_DMC5);
didParamLoad = true;
}
if (paramCache.timeRunning != (ms / 1000))
{
paramCache.timeRunning = ms / 1000;
if (!gatt.setChar(MeasureCharId[0], (uint8_t*)¶mCache.timeRunning, 4))
{
Logger::error("Could not update timeRunning");
}
else Logger::debug(ADABLUE, "Updated timeRunning");
dumpRawData((uint8_t *)¶mCache.timeRunning, 4);
}
//every other time - 80ms by default
if (tickCounter & 1)
{
if (motorController) {
if ( bleTrqReqAct.torqueRequested != motorController->getTorqueRequested() ) {
bleTrqReqAct.torqueRequested = motorController->getTorqueRequested();
bleTrqReqAct.doUpdate = 1;
}
if ( bleTrqReqAct.torqueActual != motorController->getTorqueActual() ) {
bleTrqReqAct.torqueActual = motorController->getTorqueActual();
bleTrqReqAct.doUpdate = 1;
}
if ( bleSpeeds.speedRequested != motorController->getSpeedRequested() ) {
bleSpeeds.speedRequested = motorController->getSpeedRequested();
bleSpeeds.doUpdate = 1;
}
if ( bleSpeeds.speedActual != motorController->getSpeedActual() ) {
bleSpeeds.speedActual = motorController->getSpeedActual();
bleSpeeds.doUpdate = 1;
}
}
if (accelerator) {
RawSignalData *rawSignal = accelerator->acquireRawSignal();
if ( bleThrBrkLevels.throttleRawLevel1 != rawSignal->input1)
{
bleThrBrkLevels.throttleRawLevel1 = rawSignal->input1;
bleThrBrkLevels.doUpdate = 1;
}
if ( bleThrBrkLevels.throttleRawLevel2 != rawSignal->input2)
{
bleThrBrkLevels.throttleRawLevel2 = rawSignal->input2;
bleThrBrkLevels.doUpdate = 1;
}
if (bleThrBrkLevels.throttlePercentage != accelerator->getLevel() / 10)
{
bleThrBrkLevels.throttlePercentage = accelerator->getLevel() / 10;
bleThrBrkLevels.doUpdate = 1;
}
}
if (brake) {
RawSignalData *rawSignal = brake->acquireRawSignal();
if (bleThrBrkLevels.brakeRawLevel != rawSignal->input1) {
bleThrBrkLevels.brakeRawLevel = rawSignal->input1;
paramCache.brakeNotAvailable = false;
bleThrBrkLevels.doUpdate = 1;
}
if (bleThrBrkLevels.brakePercentage != brake->getLevel() / 10) {
bleThrBrkLevels.brakePercentage = brake->getLevel() / 10;
bleThrBrkLevels.doUpdate = 1;
}
} else {
if ( paramCache.brakeNotAvailable == true ) {
paramCache.brakeNotAvailable = false; // no need to keep sending this
bleThrBrkLevels.brakeRawLevel = 0;
bleThrBrkLevels.doUpdate = 1;
}
}
}
if (tickCounter == 2) {
if (bms)
{
if (blePowerStatus.SOC != bms->getSOC())
{
blePowerStatus.SOC = bms->getSOC();
blePowerStatus.doUpdate = 1;
}
}
if (motorController) {
//Logger::console("Wifi tick counter 2...");
if ( blePowerStatus.busVoltage != motorController->getDcVoltage() ) {
blePowerStatus.busVoltage = motorController->getDcVoltage();
if(blePowerStatus.busVoltage<0) blePowerStatus.busVoltage=0;
//if(blePowerStatus.busVoltage>4500) blePowerStatus.busVoltage=4500;
blePowerStatus.doUpdate = 1;
}
if ( blePowerStatus.busCurrent != motorController->getDcCurrent() ) {
blePowerStatus.busCurrent = motorController->getDcCurrent();
blePowerStatus.doUpdate = 1;
}
if ( blePowerStatus.motorCurrent != motorController->getAcCurrent() ) {
blePowerStatus.motorCurrent = motorController->getAcCurrent();
blePowerStatus.doUpdate = 1;
}
if ( blePowerStatus.kwHours != motorController->getKiloWattHours()/3600000 ) {
blePowerStatus.kwHours = motorController->getKiloWattHours()/3600000;
if(blePowerStatus.kwHours<0)blePowerStatus.kwHours = 0;
if(blePowerStatus.kwHours>300)blePowerStatus.kwHours = 300;
blePowerStatus.doUpdate = 1;
}
if ( blePowerStatus.mechPower != motorController->getMechanicalPower() ) {
blePowerStatus.mechPower = motorController->getMechanicalPower();
if (blePowerStatus.mechPower<-250)blePowerStatus.mechPower=-250;
if (blePowerStatus.mechPower>1500)blePowerStatus.mechPower=1500;
blePowerStatus.doUpdate = 1;
}
//DeviceManager::getInstance()->updateWifi();
}
} else if (tickCounter == 3) {
if (motorController) {
//Logger::console("Wifi tick counter 3...");
if ( bleMaxParams.nomVoltage != motorController->getnominalVolt() ) {
bleMaxParams.nomVoltage = motorController->getnominalVolt();
bleMaxParams.doUpdate = 1;
}
if ( bleBitFields.bitfield1 != motorController->getStatusBitfield1() ) {
bleBitFields.bitfield1 = motorController->getStatusBitfield1();
bleBitFields.doUpdate = 1;
}
if ( bleBitFields.bitfield2 != motorController->getStatusBitfield2() ) {
bleBitFields.bitfield2 = motorController->getStatusBitfield2();
bleBitFields.doUpdate = 1;
}
IOTemp = 0;
for (int i = 0; i < 4; i++)
{
if (getDigital(i)) bleBitFields.digitalInputs |= 1 << i;
}
if ( bleBitFields.digitalInputs != IOTemp ) {
bleBitFields.digitalInputs = IOTemp;
bleBitFields.doUpdate = 1;
}
IOTemp = 0;
for (int i = 0; i < 8; i++)
{
if (getOutput(i)) bleBitFields.digitalOutputs |= 1 << i;
}
if ( bleBitFields.digitalOutputs != IOTemp ) {
bleBitFields.digitalOutputs = IOTemp;
bleBitFields.doUpdate = 1;
}
if ( bleModes.isRunning != motorController->isRunning() ) {
bleModes.isRunning = motorController->isRunning();
bleModes.doUpdate = 1;
}
if ( bleModes.isFaulted != motorController->isFaulted() ) {
bleModes.isFaulted = motorController->isFaulted();
bleModes.doUpdate = 1;
}
if ( bleModes.isWarning != motorController->isWarning() ) {
bleModes.isWarning = motorController->isWarning();
bleModes.doUpdate = 1;
}
if ( bleModes.gear != motorController->getSelectedGear() ) {
bleModes.gear = motorController->getSelectedGear();
bleModes.doUpdate = 1;
}
if ( bleModes.powerMode != motorController->getPowerMode() ) {
bleModes.powerMode = motorController->getPowerMode();
bleModes.doUpdate = 1;
}
}
} else if (tickCounter == 4) {
if (motorController) {
//Logger::console("Wifi tick counter 4...");
if ( bleDigIO.prechargeDuration != motorController->getprechargeR() ) {
bleDigIO.prechargeDuration = motorController->getprechargeR();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.prechargeRelay != motorController->getprechargeRelay() ) {
bleDigIO.prechargeRelay = motorController->getprechargeRelay();
bleDigIO.doUpdate = 1;
//Logger::console("Precharge Relay %i", paramCache.prechargeRelay);
//Logger::console("motorController:prechargeRelay:%d, paramCache.prechargeRelay:%d, Constants:prechargeRelay:%s", motorController->getprechargeRelay(),paramCache.prechargeRelay, Constants::prechargeRelay);
}
if ( bleDigIO.mainContRelay != motorController->getmainContactorRelay() ) {
bleDigIO.mainContRelay = motorController->getmainContactorRelay();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.coolingRelay != motorController->getCoolFan() ) {
bleDigIO.coolingRelay = motorController->getCoolFan();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.coolOnTemp != motorController->getCoolOn() ) {
bleDigIO.coolOnTemp = motorController->getCoolOn();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.coolOffTemp != motorController->getCoolOff() ) {
bleDigIO.coolOffTemp = motorController->getCoolOff();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.brakeLightOut != motorController->getBrakeLight() ) {
bleDigIO.brakeLightOut = motorController->getBrakeLight();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.reverseLightOut != motorController->getRevLight() ) {
bleDigIO.reverseLightOut = motorController->getRevLight();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.enableIn != motorController->getEnableIn() ) {
bleDigIO.enableIn = motorController->getEnableIn();
bleDigIO.doUpdate = 1;
}
if ( bleDigIO.reverseIn != motorController->getReverseIn() ) {
bleDigIO.reverseIn = motorController->getReverseIn();
bleDigIO.doUpdate = 1;
}
}
} else if (tickCounter > 4) {
if (motorController) {
//Logger::console("Wifi tick counter 5...");
if ( bleTemperatures.motorTemperature != motorController->getTemperatureMotor() ) {
bleTemperatures.motorTemperature = motorController->getTemperatureMotor();
bleTemperatures.doUpdate = 1;
}
if ( bleTemperatures.inverterTemperature != motorController->getTemperatureInverter() ) {
bleTemperatures.inverterTemperature = motorController->getTemperatureInverter();
bleTemperatures.doUpdate = 1;
}
if ( bleTemperatures.systemTemperature != motorController->getTemperatureSystem() ) {
bleTemperatures.systemTemperature = motorController->getTemperatureSystem();
bleTemperatures.doUpdate = 1;
}
}
tickCounter = 0;
}
transferUpdates(); //send out any updates required
}
CXXCAPI int unittestThrottle(void) {
Print printf(Platform::instance().output());
Print errorf(Platform::instance().error());
int errors = 0;
Throttle throttle;
Throttle save1 = throttle;
Throttle save2;
ticks_t delay;
bool alarmed;
bool ok;
printf("%s[%d]: begin\n", __FILE__, __LINE__);
::staticThrottle.show();
printf("%s[%d]: constructors\n", __FILE__, __LINE__);
throttle.show();
save1.show();
save2 = throttle;
save2.show();
printf("%s[%d]: initial\n", __FILE__, __LINE__);
throttle.show();
printf("%s[%d]: time\n", __FILE__, __LINE__);
if ((delay = throttle.frequency()) != 0) {
errorf("%s[%d]: (%lu!=%lu)!\n",
__FILE__, __LINE__, delay, 0);
throttle.show();
++errors;
}
printf("%s[%d]: admissibility\n", __FILE__, __LINE__);
if ((alarmed = throttle.isAlarmed())) {
errorf("%s[%d]: (%d!=%d)!\n",
__FILE__, __LINE__, alarmed, false);
throttle.show();
++errors;
}
for (int ii = 1; ii <= 5; ++ii) {
if ((delay = throttle.admissible()) != 0) {
errorf("%s[%d]: (%lu!=%lu)!\n",
__FILE__, __LINE__, delay, 0);
throttle.show();
++errors;
}
if (!(ok = throttle.commit())) {
errorf("%s[%d]: (%d!=%d)!\n",
__FILE__, __LINE__, ok, true);
throttle.show();
++errors;
}
if ((alarmed = throttle.isAlarmed())) {
errorf("%s[%d]: (%d!=%d)!\n",
__FILE__, __LINE__, alarmed, false);
throttle.show();
++errors;
}
}
printf("%s[%d]: final\n", __FILE__, __LINE__);
throttle.show();
printf("%s[%d]: reset\n", __FILE__, __LINE__);
throttle.reset();
throttle.show();
printf("%s[%d]: end errors=%d\n", __FILE__, __LINE__, errors);
return errors;
}
int main(int argc, char **argv) {
Tossim* t = new Tossim(NULL);
SerialForwarder *sf = new SerialForwarder(9001);
map<int, int> motes;
map<int, int>::const_iterator iter;
Throttle *throttle = new Throttle(t, 1);
t->init();
FILE *tables = fopen("table.txt", "w");
FILE *flows = fopen("flows.txt", "w");
//FILE *am = fopen("am.txt", "w");
//t->addChannel("Scheduler", fdopen(1, "w"));
//t->addChannel("TossimPacketModelC", fdopen(1, "w"));
//t->addChannel("LedsC", fdopen(1, "w"));
//t->addChannel("AM", am);
/* t->addChannel("Acks", stdout); */
//t->addChannel("Boot", stdout);
/* t->addChannel("base", stdout); */
/* t->addChannel("printf", stdout); */
/* t->addChannel("Debug", stdout); */
/* t->addChannel("Unique", stdout); */
/* t->addChannel("SNRLoss", stdout); */
//t->addChannel("CpmModelC", stdout);
//t->addChannel("PacketLink", stdout);
//t->addChannel("Lqi", stdout);
/* t->addChannel("Footer", stdout); */
t->addChannel("Drops", stdout);
t->addChannel("Evictions", stdout);
t->addChannel("Install", stdout);
t->addChannel("Table", tables);
t->addChannel("Flows", flows);
t->addChannel("Test", stdout);
/* t->addChannel("Status", stdout); */
Radio* r = t->radio();
FILE *fp = fopen(argv[1], "r");
int from, to, noise;
float gain;
int maxNode;
while (fscanf(fp, "gain\t%i\t%i\t%f\n", &from, &to, &gain) != EOF) {
r->add(from, to, gain);
motes[from] = 1;
motes[to] = 1;
}
fclose(fp);
throttle->initialize();
// fp = fopen("casino-lab.txt", "r");
fp = fopen("meyer-heavy.txt", "r");
int i = 0;
while(fscanf(fp,"%i\n", &noise) != EOF && i++ < 1000) {
for (iter = motes.begin(); iter != motes.end(); ++iter ) {
t->getNode(iter->first)->addNoiseTraceReading(noise);
}
}
fclose(fp);
for (iter = motes.begin(); iter != motes.end(); ++iter ) {
printf("creating noise model for %i\n", iter->first);
t->getNode(iter->first)->createNoiseModel();
}
for (iter = motes.begin(); iter != motes.end(); ++iter ) {
printf("booting mote %i\n", iter->first);
t->getNode(iter->first)->bootAtTime((31 + t->ticksPerSecond() / 10) * iter->first + 1);
}
sf->process();
for (;;) {
//throttle->checkThrottle();
t->runNextEvent();
sf->process();
}
}
/*
* 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 ADAFRUITBLE::processParameterChange(char *key) {
PotThrottleConfiguration *acceleratorConfig = NULL;
PotThrottleConfiguration *brakeConfig = NULL;
MotorControllerConfiguration *motorConfig = NULL;
bool parameterFound = true;
char *value = strchr(key, '=');
if (!value)
return;
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();
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, Constants::numThrottlePots) && acceleratorConfig) {
acceleratorConfig->numberPotMeters = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleSubType) && acceleratorConfig) {
acceleratorConfig->throttleSubType = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMin1) && acceleratorConfig) {
acceleratorConfig->minimumLevel1 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMin2) && acceleratorConfig) {
acceleratorConfig->minimumLevel2 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMax1) && acceleratorConfig) {
acceleratorConfig->maximumLevel1 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMax2) && acceleratorConfig) {
acceleratorConfig->maximumLevel2 = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleRegenMax) && acceleratorConfig) {
acceleratorConfig->positionRegenMaximum = atol(value) * 10;
} else if (!strcmp(key, Constants::throttleRegenMin) && acceleratorConfig) {
acceleratorConfig->positionRegenMinimum = atol(value) * 10;
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleFwd) && acceleratorConfig) {
acceleratorConfig->positionForwardMotionStart = atol(value) * 10;
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMap) && acceleratorConfig) {
acceleratorConfig->positionHalfPower = atol(value) * 10;
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMinRegen) && acceleratorConfig) {
acceleratorConfig->minimumRegen = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleMaxRegen) && acceleratorConfig) {
acceleratorConfig->maximumRegen = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::throttleCreep) && acceleratorConfig) {
acceleratorConfig->creep = atol(value);
accelerator->saveConfiguration();
} else if (!strcmp(key, Constants::brakeMin) && brakeConfig) {
brakeConfig->minimumLevel1 = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, Constants::brakeMax) && brakeConfig) {
brakeConfig->maximumLevel1 = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, Constants::brakeMinRegen) && brakeConfig) {
brakeConfig->minimumRegen = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, Constants::brakeMaxRegen) && brakeConfig) {
brakeConfig->maximumRegen = atol(value);
brake->saveConfiguration();
} else if (!strcmp(key, Constants::speedMax) && motorConfig) {
motorConfig->speedMax = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::torqueMax) && motorConfig) {
motorConfig->torqueMax = atol(value) * 10;
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::coolFan) && motorConfig) {
motorConfig->coolFan = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::coolOn) && motorConfig) {
motorConfig->coolOn = (atol(value));
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::coolOff) && motorConfig) {
motorConfig->coolOff = (atol(value));
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::prechargeR) && motorConfig) {
motorConfig->prechargeR = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::prechargeRelay) && motorConfig) {
motorConfig->prechargeRelay = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::nominalVolt) && motorConfig) {
motorConfig->nominalVolt = (atol(value))*10;
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::mainContactorRelay) && motorConfig) {
motorConfig->mainContactorRelay = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::brakeLight) && motorConfig) {
motorConfig->brakeLight = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::revLight) && motorConfig) {
motorConfig->revLight = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::enableIn) && motorConfig) {
motorConfig->enableIn = atol(value);
motorController->saveConfiguration();
} else if (!strcmp(key, Constants::reverseIn) && motorConfig) {
motorConfig->reverseIn = atol(value);
motorController->saveConfiguration();
/* } else if (!strcmp(key, Constants::motorMode) && motorConfig) {
motorConfig->motorMode = (MotorController::PowerMode)atoi(value);
motorController->saveConfiguration();
*/
} else if (!strcmp(key, "x1000")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16),true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1001")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16),true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1002")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16),true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1031")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1032")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1033")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1034")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1010")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1011")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1012")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
//sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1020")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1040")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x1050")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x2000")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x4400")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x6000")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, "x650")) {
if (255==atol(value)) {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), true);
}
else {
sysPrefs->setDeviceStatus(strtol(key+1, 0, 16), false);
}
// sysPrefs->forceCacheWrite();
} else if (!strcmp(key, Constants::logLevel)) {
extern PrefHandler *sysPrefs;
uint8_t loglevel = atoi(value);
Logger::setLoglevel((Logger::LogLevel)loglevel);
sysPrefs->write(EESYS_LOG_LEVEL, loglevel);
} else {
parameterFound = false;
}
if (parameterFound) {
Logger::info(ADABLUE, "parameter change: %s", key);
}
else {
sysPrefs->forceCacheWrite();
DeviceManager::getInstance()->updateWifi();
}
}
void MotorController::handleTick() {
uint8_t forwardSwitch, reverseSwitch;
MotorControllerConfiguration *config = (MotorControllerConfiguration *)getConfiguration();
gearSwitch = GS_FORWARD;
if(ready) statusBitfield1 |=1 << 15;else statusBitfield1 &= ~(1 <<15);
if(running) statusBitfield1 |=1 << 14;else statusBitfield1 &= ~(1 <<14);
if(warning) statusBitfield1 |=1 << 10;else statusBitfield1 &= ~(1 <<10);
if(faulted) statusBitfield1 |=1 << 9;else statusBitfield1 &= ~(1 <<9);
mechanicalPower=dcVoltage*dcCurrent/10000; //In kilowatts. DC voltage is x10
efficiency=(speedActual*torqueActual*0.1045)/(mechanicalPower*100000);
if (dcVoltage>nominalVolts && torqueActual>-10) {kiloWattHours=1;} //If our voltage is higher than fully charged with no regen, zero our kwh meter
if (milliStamp>millis()) {milliStamp=0;} //In case millis rolls over to zero while running
kiloWattHours+=(millis()-milliStamp)*mechanicalPower;//We assume here that power is at current level since last tick and accrue in kilowattmilliseconds.
milliStamp=millis();//reset our kwms timer for next check
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
if (accelerator)
throttleRequested = accelerator->getLevel();
if (brake && brake->getLevel() < -10 && brake->getLevel() < accelerator->getLevel()) //if the brake has been pressed it overrides the accelerator.
throttleRequested = brake->getLevel();
if (!donePrecharge && config->prechargeR>0)
{
if (millis()> config->prechargeR) //Check milliseconds since startup against our entered delay in milliseconds
{
donePrecharge=1; //Time's up. Let's don't do ANY of this on future ticks.
if (config->mainContactorRelay!=255) //If we HAVE a main contactor, turn it on.
{
setOutput(config->mainContactorRelay, 1); //Main contactor on
statusBitfield2 |=1 << 17; //set bit to turn on MAIN CONTACTOR annunciator
statusBitfield1 |=1 << config->mainContactorRelay;//setbit to Turn on main contactor output annunciator
//I've commented the below out to leave the precharge relay ON after precharge..see user guide for why.
//setOutput(config->prechargeRelay, 0); //ok. Turn off precharge output
// statusBitfield2 &= ~(1 << 19); //clearbit to turn off PRECHARGE annunciator
//statusBitfield1 &= ~(1<< config->prechargeRelay); //clear bit to turn off PRECHARGE output annunciator
Logger::console("Precharge sequence complete after %i milliseconds", config->prechargeR);
Logger::console("MAIN CONTACTOR ENABLED...DOUT0:%d, DOUT1:%d, DOUT2:%d, DOUT3:%d,DOUT4:%d, DOUT5:%d, DOUT6:%d, DOUT7:%d", getOutput(0), getOutput(1), getOutput(2), getOutput(3),getOutput(4), getOutput(5), getOutput(6), getOutput(7));
}
}
else //If time is not up and maybe this is our first tick, let's set the precharge relay IF we have one
//and clear the main contactor IF we have one.We'll set PRELAY so we only have to do this once.
{
if (config->prechargeRelay==255 || config->mainContactorRelay==255){donePrecharge=1;}
if(!prelay)
{
if (config->prechargeRelay!=255)
{
setOutput(config->prechargeRelay, 1); //ok. Turn on precharge
statusBitfield2 |=1 << 19; //set bit to turn on PRECHARGE RELAY annunciator
statusBitfield1 |=1 << config->prechargeRelay; //set bit to turn ON precharge OUTPUT annunciator
throttleRequested = 0; //Keep throttle at zero during precharge
prelay=true;
}
if (config->mainContactorRelay!=255)
{
setOutput(config->mainContactorRelay, 0); //Main contactor off
statusBitfield2 &= ~(1 << 17); //clear bitTurn off MAIN CONTACTOR annunciator
statusBitfield1 &= ~(1 << config->mainContactorRelay);//clear bitTurn off main contactor output annunciator
prelay=true;
}
}
}
}
if(skipcounter++ > 30) //As how fast we turn on cooling is very low priority, we only check cooling every 24th lap or about once per second
{
if(config->prechargeR==12345)
{
dcVoltage--;
temperatureInverter++;
temperatureMotor++;
if (torqueActual < -500)
{torqueActual=20;}
else {torqueActual=-650;}
}
coolingcheck();
prefsHandler->write(EEMC_KILOWATTHRS, kiloWattHours); //store kilowatt hours to EEPROM
prefsHandler->saveChecksum();
// memCache->Write(63000,kiloWattHours);
}
}
/*For simplicity the configuration setting code uses four characters for each configuration choice. This makes things easier for
comparison purposes.
*/
void SerialConsole::handleConfigCmd() {
PotThrottleConfiguration *acceleratorConfig = NULL;
PotThrottleConfiguration *brakeConfig = NULL;
MotorControllerConfiguration *motorConfig = NULL;
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
MotorController *motorController = DeviceManager::getInstance()->getMotorController();
int i;
int newValue;
bool updateWifi = true;
//Logger::debug("Cmd size: %i", ptrBuffer);
if (ptrBuffer < 6)
return; //4 digit command, =, value is at least 6 characters
cmdBuffer[ptrBuffer] = 0; //make sure to null terminate
String cmdString = String();
unsigned char whichEntry = '0';
i = 0;
while (cmdBuffer[i] != '=' && i < ptrBuffer) {
cmdString.concat(String(cmdBuffer[i++]));
}
i++; //skip the =
if (i >= ptrBuffer)
{
Logger::console("Command needs a value..ie TORQ=3000");
Logger::console("");
return; //or, we could use this to display the parameter instead of setting
}
if (accelerator)
acceleratorConfig = (PotThrottleConfiguration *) accelerator->getConfiguration();
if (brake)
brakeConfig = (PotThrottleConfiguration *) brake->getConfiguration();
if (motorController)
motorConfig = (MotorControllerConfiguration *) motorController->getConfiguration();
// strtol() is able to parse also hex values (e.g. a string "0xCAFE"), useful for enable/disable by device id
newValue = strtol((char *) (cmdBuffer + i), NULL, 0);
cmdString.toUpperCase();
if (cmdString == String("TORQ") && motorConfig) {
Logger::console("Setting Torque Limit to %i", newValue);
motorConfig->torqueMax = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("RPM") && motorConfig) {
Logger::console("Setting RPM Limit to %i", newValue);
motorConfig->speedMax = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("REVLIM") && motorConfig) {
Logger::console("Setting Reverse Limit to %i", newValue);
motorConfig->reversePercent = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("TPOT") && acceleratorConfig) {
Logger::console("Setting # of Throttle Pots to %i", newValue);
acceleratorConfig->numberPotMeters = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TTYPE") && acceleratorConfig) {
Logger::console("Setting Throttle Subtype to %i", newValue);
acceleratorConfig->throttleSubType = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("T1ADC") && acceleratorConfig) {
Logger::console("Setting Throttle1 ADC pin to %i", newValue);
acceleratorConfig->AdcPin1 = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("T1MN") && acceleratorConfig) {
Logger::console("Setting Throttle1 Min to %i", newValue);
acceleratorConfig->minimumLevel1 = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("T1MX") && acceleratorConfig) {
Logger::console("Setting Throttle1 Max to %i", newValue);
acceleratorConfig->maximumLevel1 = newValue;
accelerator->saveConfiguration();
}
else if (cmdString == String("T2ADC") && acceleratorConfig) {
Logger::console("Setting Throttle2 ADC pin to %i", newValue);
acceleratorConfig->AdcPin2 = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("T2MN") && acceleratorConfig) {
Logger::console("Setting Throttle2 Min to %i", newValue);
acceleratorConfig->minimumLevel2 = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("T2MX") && acceleratorConfig) {
Logger::console("Setting Throttle2 Max to %i", newValue);
acceleratorConfig->maximumLevel2 = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TRGNMAX") && acceleratorConfig) {
Logger::console("Setting Throttle Regen maximum to %i", newValue);
acceleratorConfig->positionRegenMaximum = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TRGNMIN") && acceleratorConfig) {
Logger::console("Setting Throttle Regen minimum to %i", newValue);
acceleratorConfig->positionRegenMinimum = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TFWD") && acceleratorConfig) {
Logger::console("Setting Throttle Forward Start to %i", newValue);
acceleratorConfig->positionForwardMotionStart = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TMAP") && acceleratorConfig) {
Logger::console("Setting Throttle MAP Point to %i", newValue);
acceleratorConfig->positionHalfPower = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TMINRN") && acceleratorConfig) {
Logger::console("Setting Throttle Regen Minimum Strength to %i", newValue);
acceleratorConfig->minimumRegen = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TMAXRN") && acceleratorConfig) {
Logger::console("Setting Throttle Regen Maximum Strength to %i", newValue);
acceleratorConfig->maximumRegen = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("TCREEP") && acceleratorConfig) {
Logger::console("Setting Throttle Creep Strength to %i", newValue);
acceleratorConfig->creep = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("BMAXR") && brakeConfig) {
Logger::console("Setting Max Brake Regen to %i", newValue);
brakeConfig->maximumRegen = newValue;
brake->saveConfiguration();
} else if (cmdString == String("BMINR") && brakeConfig) {
Logger::console("Setting Min Brake Regen to %i", newValue);
brakeConfig->minimumRegen = newValue;
brake->saveConfiguration();
}
else if (cmdString == String("B1ADC") && acceleratorConfig) {
Logger::console("Setting Brake ADC pin to %i", newValue);
brakeConfig->AdcPin1 = newValue;
accelerator->saveConfiguration();
} else if (cmdString == String("B1MX") && brakeConfig) {
Logger::console("Setting Brake Max to %i", newValue);
brakeConfig->maximumLevel1 = newValue;
brake->saveConfiguration();
} else if (cmdString == String("B1MN") && brakeConfig) {
Logger::console("Setting Brake Min to %i", newValue);
brakeConfig->minimumLevel1 = newValue;
brake->saveConfiguration();
} else if (cmdString == String("PREC") && motorConfig) {
Logger::console("Setting Precharge Capacitance to %i", newValue);
motorConfig->kilowattHrs = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("PREDELAY") && motorConfig) {
Logger::console("Setting Precharge Time Delay to %i milliseconds", newValue);
motorConfig->prechargeR = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("NOMV") && motorConfig) {
Logger::console("Setting fully charged voltage to %d vdc", newValue);
motorConfig->nominalVolt = newValue * 10;
motorController->saveConfiguration();
} else if (cmdString == String("BRAKELT") && motorConfig) {
motorConfig->brakeLight = newValue;
motorController->saveConfiguration();
Logger::console("Brake light output set to DOUT%i.",newValue);
} else if (cmdString == String("REVLT") && motorConfig) {
motorConfig->revLight = newValue;
motorController->saveConfiguration();
Logger::console("Reverse light output set to DOUT%i.",newValue);
} else if (cmdString == String("ENABLEIN") && motorConfig) {
motorConfig->enableIn = newValue;
motorController->saveConfiguration();
Logger::console("Motor Enable input set to DIN%i.",newValue);
} else if (cmdString == String("REVIN") && motorConfig) {
motorConfig->reverseIn = newValue;
motorController->saveConfiguration();
Logger::console("Motor Reverse input set to DIN%i.",newValue);
} else if (cmdString == String("MRELAY") && motorConfig) {
Logger::console("Setting Main Contactor relay output to DOUT%i", newValue);
motorConfig->mainContactorRelay = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("PRELAY") && motorConfig) {
Logger::console("Setting Precharge Relay output to DOUT%i", newValue);
motorConfig->prechargeRelay = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("ENABLE")) {
if (PrefHandler::setDeviceStatus(newValue, true)) {
sysPrefs->forceCacheWrite(); //just in case someone takes us literally and power cycles quickly
Logger::console("Successfully enabled device.(%X, %d) Power cycle to activate.", newValue, newValue);
}
else {
Logger::console("Invalid device ID (%X, %d)", newValue, newValue);
}
} else if (cmdString == String("DISABLE")) {
if (PrefHandler::setDeviceStatus(newValue, false)) {
sysPrefs->forceCacheWrite(); //just in case someone takes us literally and power cycles quickly
Logger::console("Successfully disabled device. Power cycle to deactivate.");
}
else {
Logger::console("Invalid device ID (%X, %d)", newValue, newValue);
}
} else if (cmdString == String("SYSTYPE")) {
if (newValue < 5 && newValue > 0) {
sysPrefs->write(EESYS_SYSTEM_TYPE, (uint8_t)(newValue));
sysPrefs->saveChecksum();
sysPrefs->forceCacheWrite(); //just in case someone takes us literally and power cycles quickly
Logger::console("System type updated. Power cycle to apply.");
}
else Logger::console("Invalid system type. Please enter a value 1 - 4");
} else if (cmdString == String("LOGLEVEL")) {
switch (newValue) {
case 0:
Logger::setLoglevel(Logger::Debug);
Logger::console("setting loglevel to 'debug'");
break;
case 1:
Logger::setLoglevel(Logger::Info);
Logger::console("setting loglevel to 'info'");
break;
case 2:
Logger::console("setting loglevel to 'warning'");
Logger::setLoglevel(Logger::Warn);
break;
case 3:
Logger::console("setting loglevel to 'error'");
Logger::setLoglevel(Logger::Error);
break;
case 4:
Logger::console("setting loglevel to 'off'");
Logger::setLoglevel(Logger::Off);
break;
}
sysPrefs->write(EESYS_LOG_LEVEL, (uint8_t)newValue);
sysPrefs->saveChecksum();
} else if (cmdString == String("WIREACH")) {
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)(cmdBuffer + i));
Logger::info("sent \"AT+i%s\" to WiReach wireless LAN device", (cmdBuffer + i));
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN");
updateWifi = false;
} else if (cmdString == String("SSID")) {
String cmdString = String();
cmdString.concat("WLSI");
cmdString.concat('=');
cmdString.concat((char *)(cmdBuffer + i));
Logger::info("Sent \"%s\" to WiReach wireless LAN device", (cmdString.c_str()));
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)cmdString.c_str());
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN");
updateWifi = false;
} else if (cmdString == String("IP")) {
String cmdString = String();
cmdString.concat("DIP");
cmdString.concat('=');
cmdString.concat((char *)(cmdBuffer + i));
Logger::info("Sent \"%s\" to WiReach wireless LAN device", (cmdString.c_str()));
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)cmdString.c_str());
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN");
updateWifi = false;
} else if (cmdString == String("CHANNEL")) {
String cmdString = String();
cmdString.concat("WLCH");
cmdString.concat('=');
cmdString.concat((char *)(cmdBuffer + i));
Logger::info("Sent \"%s\" to WiReach wireless LAN device", (cmdString.c_str()));
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)cmdString.c_str());
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN");
updateWifi = false;
} else if (cmdString == String("SECURITY")) {
String cmdString = String();
cmdString.concat("WLPP");
cmdString.concat('=');
cmdString.concat((char *)(cmdBuffer + i));
Logger::info("Sent \"%s\" to WiReach wireless LAN device", (cmdString.c_str()));
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)cmdString.c_str());
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN");
updateWifi = false;
} else if (cmdString == String("PWD")) {
String cmdString = String();
cmdString.concat("WPWD");
cmdString.concat('=');
cmdString.concat((char *)(cmdBuffer + i));
Logger::info("Sent \"%s\" to WiReach wireless LAN device", (cmdString.c_str()));
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)cmdString.c_str());
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_COMMAND, (void *)"DOWN");
updateWifi = false;
} else if (cmdString == String("COOLFAN") && motorConfig) {
Logger::console("Cooling fan output updated to: %i", newValue);
motorConfig->coolFan = newValue;
motorController->saveConfiguration();
} else if (cmdString == String("COOLON")&& motorConfig) {
if (newValue <= 200 && newValue >= 0) {
Logger::console("Cooling fan ON temperature updated to: %i degrees", newValue);
motorConfig->coolOn = newValue;
motorController->saveConfiguration();
}
else Logger::console("Invalid cooling ON temperature. Please enter a value 0 - 200F");
} else if (cmdString == String("COOLOFF")&& motorConfig) {
if (newValue <= 200 && newValue >= 0) {
Logger::console("Cooling fan OFF temperature updated to: %i degrees", newValue);
motorConfig->coolOff = newValue;
motorController->saveConfiguration();
}
else Logger::console("Invalid cooling OFF temperature. Please enter a value 0 - 200F");
} else if (cmdString == String("OUTPUT") && newValue<8) {
int outie = getOutput(newValue);
Logger::console("DOUT%d, STATE: %d",newValue, outie);
if(outie)
{
setOutput(newValue,0);
motorController->statusBitfield1 &= ~(1 << newValue);//Clear
}
else
{
setOutput(newValue,1);
motorController->statusBitfield1 |=1 << newValue;//setbit to Turn on annunciator
}
Logger::console("DOUT0:%d, DOUT1:%d, DOUT2:%d, DOUT3:%d, DOUT4:%d, DOUT5:%d, DOUT6:%d, DOUT7:%d", getOutput(0), getOutput(1), getOutput(2), getOutput(3), getOutput(4), getOutput(5), getOutput(6), getOutput(7));
} else if (cmdString == String("NUKE")) {
if (newValue == 1)
{ //write zero to the checksum location of every device in the table.
//Logger::console("Start of EEPROM Nuke");
uint8_t zeroVal = 0;
for (int j = 0; j < 64; j++)
{
memCache->Write(EE_DEVICES_BASE + (EE_DEVICE_SIZE * j), zeroVal);
memCache->FlushAllPages();
}
Logger::console("Device settings have been nuked. Reboot to reload default settings");
}
} else {
Logger::console("Unknown command");
updateWifi = false;
}
// send updates to ichip wifi
if (updateWifi)
DeviceManager::getInstance()->sendMessage(DEVICE_WIFI, ICHIP2128, MSG_CONFIG_CHANGE, NULL);
}
void MotorController::handleTick() {
MotorControllerConfiguration *config = (MotorControllerConfiguration *)getConfiguration();
//Set status annunciators
if(ready) statusBitfield1 |=1 << 15;else statusBitfield1 &= ~(1 <<15);
if(running) statusBitfield1 |=1 << 14;else statusBitfield1 &= ~(1 <<14);
if(warning) statusBitfield1 |=1 << 10;else statusBitfield1 &= ~(1 <<10);
if(faulted) statusBitfield1 |=1 << 9;else statusBitfield1 &= ~(1 <<9);
//Calculate killowatts and kilowatt hours
mechanicalPower=dcVoltage*dcCurrent/10000; //In kilowatts. DC voltage is x10
if (dcVoltage>nominalVolts && torqueActual>0) {kiloWattHours=1;} //If our voltage is higher than fully charged with no regen, zero our kwh meter
if (milliStamp>millis()) {milliStamp=0;} //In case millis rolls over to zero while running
kiloWattHours+=(millis()-milliStamp)*mechanicalPower;//We assume here that power is at current level since last tick and accrue in kilowattmilliseconds.
milliStamp=millis(); //reset our kwms timer for next check
//Throttle check
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
if (accelerator)
throttleRequested = accelerator->getLevel();
if (brake && brake->getLevel() < -10 && brake->getLevel() < accelerator->getLevel()) //if the brake has been pressed it overrides the accelerator.
throttleRequested = brake->getLevel();
//Logger::debug("Throttle: %d", throttleRequested);
if (!donePrecharge)checkPrecharge();
if(skipcounter++ > 30) //A very low priority loop for checks that only need to be done once per second.
{
skipcounter=0; //Reset our laptimer
//Some test simulations if precharge time is set to 12345
if(config->prechargeR==12345)
{
dcVoltage--;
if (torqueActual < -500)
{
torqueActual=20;
}
else
{
torqueActual=-650;
}
if (dcCurrent < 0)
{
dcCurrent=120;
}
else
{
dcCurrent=-65;
}
if (temperatureInverter < config->coolOn*10)
{
temperatureInverter=(config->coolOn+2)*10;
}
else
{
temperatureInverter=(config->coolOff-2)*10;
}
if (throttleRequested < 500)
{
throttleRequested=500;
}
else
{
throttleRequested=0;
}
if(testenableinput)
{
testenableinput=false;
}
else
{
testenableinput=true;
}
if(testreverseinput)
{
testreverseinput=false;
}
else
{
testreverseinput=true;
}
}
coolingcheck();
checkBrakeLight();
checkEnableInput();
checkReverseInput();
checkReverseLight();
//Store kilowatt hours, but only once in awhile.
prefsHandler->write(EEMC_KILOWATTHRS, kiloWattHours);
prefsHandler->saveChecksum();
}
}
/*
* Get parameters from devices and forward them to ichip.
* This is required to initially set-up the ichip
*/
void ADAFRUITBLE::loadParameters() {
MotorController *motorController = DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
PotThrottleConfiguration *acceleratorConfig = NULL;
PotThrottleConfiguration *brakeConfig = NULL;
MotorControllerConfiguration *motorConfig = NULL;
Logger::info("loading config params to adafruit ble");
//DeviceManager::getInstance()->updateWifi();
if (accelerator)
acceleratorConfig = (PotThrottleConfiguration *)accelerator->getConfiguration();
if (brake)
brakeConfig = (PotThrottleConfiguration *)brake->getConfiguration();
if (motorController)
motorConfig = (MotorControllerConfiguration *)motorController->getConfiguration();
if (acceleratorConfig) {
bleThrottleIO.numThrottlePots = acceleratorConfig->numberPotMeters;
bleThrottleIO.throttleType = acceleratorConfig->throttleSubType;
bleThrottleIO.throttle1Min = acceleratorConfig->minimumLevel1;
bleThrottleIO.throttle2Min = acceleratorConfig->minimumLevel2;
bleThrottleIO.throttle1Max = acceleratorConfig->maximumLevel1;
bleThrottleIO.throttle2Max = acceleratorConfig->maximumLevel2;
bleThrottleIO.doUpdate = 1;
bleThrottleMap.throttleRegenMax = acceleratorConfig->positionRegenMaximum;
bleThrottleMap.throttleRegenMin = acceleratorConfig->positionRegenMinimum;
bleThrottleMap.throttleFwd = acceleratorConfig->positionForwardMotionStart;
bleThrottleMap.throttleMap = acceleratorConfig->positionHalfPower;
bleThrottleMap.throttleLowestRegen = acceleratorConfig->minimumRegen;
bleThrottleMap.throttleHighestRegen = acceleratorConfig->maximumRegen;
bleThrottleMap.throttleCreep = acceleratorConfig->creep;
bleThrottleMap.doUpdate = 1;
}
if (brakeConfig) {
bleBrakeParam.brakeMin = brakeConfig->minimumLevel1;
bleBrakeParam.brakeMax = brakeConfig->maximumLevel1;
bleBrakeParam.brakeRegenMin = brakeConfig->minimumRegen;
bleBrakeParam.brakeRegenMax = brakeConfig->maximumRegen;
bleBrakeParam.doUpdate = 1;
}
if (motorConfig) {
bleDigIO.coolingRelay = motorConfig->coolFan;
bleDigIO.coolOnTemp = motorConfig->coolOn;
bleDigIO.coolOffTemp = motorConfig->coolOff;
bleDigIO.brakeLightOut = motorConfig->brakeLight;
bleDigIO.reverseLightOut = motorConfig->revLight;
bleDigIO.enableIn = motorConfig->enableIn;
bleDigIO.reverseIn = motorConfig->reverseIn;
bleDigIO.prechargeDuration = motorConfig->prechargeR;
bleDigIO.prechargeRelay = motorConfig->prechargeRelay;
bleDigIO.mainContRelay = motorConfig->mainContactorRelay;
bleDigIO.doUpdate = 1;
bleMaxParams.nomVoltage = motorConfig->nominalVolt;
bleMaxParams.maxTorque = motorConfig->torqueMax;
bleMaxParams.maxRPM = motorConfig->speedMax;
bleMaxParams.doUpdate = 1;
}
bleModes.logLevel = (uint8_t)Logger::getLogLevel();
bleModes.doUpdate = 1;
transferUpdates();
}
