int main(int argc, char* argv[])
{
MotorController motorController;
motorController.connect("\\\\.\\COM10", CBR_115200);
ImageProcessor imageProcessor(motorController);
//motorController.setUltraSonicSensor("\\\\.\\COM17", CBR_9600);
//motorController.initializeUltraSonicSensor();
Application::EnableVisualStyles();
Application::SetCompatibleTextRenderingDefault(false);
TennisBallCollection::RobotControlUI form(motorController, imageProcessor);
Application::Run(%form);
/*
MotorController mC;
mC.start("\\\\.\\COM17");
ImageProcessor ip(mC);
ip.process();
*/
return 0;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "motor_controller");
MotorController controller;
controller.init();
//----COMMENT OUT ONE FUNCTION TO GET PARAMETERS -----
// GET KP,KI,KD from launch file
controller.GetTuningParameters();
//GET Ku,Tu to calculate KP,KI,KD (Ziegler-Nihcols)
//controller.GetZieglerNichlosParam();
// ---------------------------------------------------
// This calls a linear velocity and angular velocity from launch file
//controller.GetVelocities();
ros::Rate loop_rate(10);
while (controller.n.ok())
{
ros::spinOnce();
controller.controllerVelocities();
loop_rate.sleep();
}
return 0;
}
/*
* 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);
}
}
}
int main(int argc, char **argv)
{
/* initialize ros usage */
ros::init(argc, argv, "motor_controller");
/* parameters */
std::string motor_power_pub_topic;
std::string navigation_speed_sub_topic;
std::string wii_speed_sub_topic;
std::string warhorse_state_topic;
std::string left_odometry_sub_topic;
std::string right_odometry_sub_topic;
double max_speed, p_left, i_left, d_left, p_right, i_right, d_right, max_acceleration, max_deacceleration, windup_left, windup_right;
/* private nodehandlers */
ros::NodeHandle nh;
ros::NodeHandle n("~");
/* read parameters from ros parameter server if available otherwise use default values */
n.param<std::string> ("motor_power_topic", motor_power_pub_topic, "motor_power"); //Specify the publisher name
n.param<std::string> ("navigation_speed_subscriber_topic", navigation_speed_sub_topic, "/navigation_vel"); //Specify the publisher name
n.param<std::string> ("wii_speed_subscriber_topic", wii_speed_sub_topic, "/fmHMI/wii_vel_cmd"); //Specify the publisher name
n.param<std::string> ("warhorse_state_topic", warhorse_state_topic, "/state"); //Specify the publisher name
n.param<std::string> ("left_odo_subscriber_topic", left_odometry_sub_topic, "/fmSensors/left_odometry"); //Specify the publisher name
n.param<std::string> ("right_odo_subscriber_topic", right_odometry_sub_topic, "/fmSensors/right_odometry"); //Specify the publisher name
n.param<double> ("maximum_speed", max_speed, 1); //Specify the maximum speed in m/s
n.param<double> ("maximum_acceleration", max_acceleration, 0); //Specify the maximum acceleration in m/s² (0 = inf acceleration)
n.param<double> ("maximum_deacceleration", max_deacceleration, 0); //Specify the maximum deacceleration in m/s² (0 = inf deacceleration)
n.param<double> ("p_left", p_left, 1);
n.param<double> ("i_left", i_left, 0);
n.param<double> ("d_left", d_left, 0);
n.param<double> ("p_right", p_right, 1);
n.param<double> ("i_right", i_right, 0);
n.param<double> ("d_right", d_right, 0);
n.param<double> ("windup_left", windup_left, 1000);
n.param<double> ("windup_right", windup_right, 1000);
MotorController mc = MotorController(p_left,i_left,d_left,p_right,i_right,d_right);
mc.setMaxSpeed(max_speed);
mc.setMaxAcceleration(max_acceleration);
mc.setMaxDeacceleration(max_deacceleration);
mc.setIWindupLimitLeft(windup_left);
mc.setIWindupLimitRight(windup_right);
mc.navigation_speed_sub = n.subscribe<geometry_msgs::TwistStamped>(navigation_speed_sub_topic.c_str(),1,&MotorController::navigationSpeedHandler,&mc);
mc.wii_speed_sub = n.subscribe<geometry_msgs::TwistStamped>(wii_speed_sub_topic.c_str(),1,&MotorController::wiiSpeedHandler,&mc);
mc.warhorse_state_sub = n.subscribe<fmMsgs::warhorse_state>(warhorse_state_topic.c_str(),1,&MotorController::stateHandler,&mc);
mc.left_odo_sub = n.subscribe(left_odometry_sub_topic.c_str(), 1, &MotorController::leftMotorHandler,&mc);
mc.right_odo_sub = n.subscribe(right_odometry_sub_topic.c_str(), 1, &MotorController::rightMotorHandler,&mc);
mc.motor_power_pub = n.advertise<fmMsgs::motor_power>(motor_power_pub_topic.c_str(), 1);
ros::spin(); // wait for callbacks
return 0;
}
/*
* 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
}
//Process SAE standard PID requests. Function returns whether it handled the request or not.
bool CanPIDListener::processShowData(CAN_FRAME* inFrame, CAN_FRAME& outFrame)
{
MotorController* motorController = deviceManager.getMotorController();
int temp;
switch (inFrame->data.bytes[2]) {
case 0: //pids 1-0x20 that we support - bitfield
//returns 4 bytes so immediately indicate that.
outFrame.data.bytes[0] += 4;
outFrame.data.bytes[3] = 0b11011000; //pids 1 - 8 - starting with pid 1 in the MSB and going from there
outFrame.data.bytes[4] = 0b00010000; //pids 9 - 0x10
outFrame.data.bytes[5] = 0b10000000; //pids 0x11 - 0x18
outFrame.data.bytes[6] = 0b00010011; //pids 0x19 - 0x20
return true;
break;
case 1: //Returns 32 bits but we really can only support the first byte which has bit 7 = Malfunction? Bits 0-6 = # of DTCs
outFrame.data.bytes[0] += 4;
outFrame.data.bytes[3] = 0; //TODO: We aren't properly keeping track of faults yet but when we do fix this.
outFrame.data.bytes[3] = 0; //these next three are really related to ICE diagnostics
outFrame.data.bytes[3] = 0; //so ignore them.
outFrame.data.bytes[3] = 0;
return true;
break;
case 2: //Freeze DTC
return false; //don't support freeze framing yet. Might be useful in the future.
break;
case 4: //Calculated engine load (A * 100 / 255) - Percentage
temp = (255 * motorController->getTorqueActual()) / motorController->getTorqueAvailable();
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = (uint8_t)(temp & 0xFF);
return true;
break;
case 5: //Engine Coolant Temp (A - 40) = Degrees Centigrade
//our code stores temperatures as a signed integer for tenths of a degree so translate
temp = motorController->getTemperatureController() / 10;
if (temp < -40) {
temp = -40;
}
if (temp > 215) {
temp = 215;
}
temp += 40;
outFrame.data.bytes[0] += 1; //returning only one byte
outFrame.data.bytes[3] = (uint8_t)(temp);
return true;
break;
case 0xC: //Engine RPM (A * 256 + B) / 4
temp = motorController->getSpeedActual() * 4; //we store in RPM while the PID code wants quarter rpms
outFrame.data.bytes[0] += 2;
outFrame.data.bytes[3] = (uint8_t)(temp / 256);
outFrame.data.bytes[4] = (uint8_t)(temp);
return true;
break;
case 0x11: //Throttle position (A * 100 / 255) - Percentage
temp = motorController->getThrottleLevel() / 10; //getThrottle returns in 10ths of a percent
if (temp < 0) {
temp = 0; //negative throttle can't be shown for OBDII
}
temp = (255 * temp) / 100;
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = (uint8_t)(temp);
return true;
break;
case 0x1C: //Standard supported (We return 1 = OBDII)
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = 1;
return true;
break;
case 0x1F: //runtime since engine start (A*256 + B)
outFrame.data.bytes[0] += 2;
outFrame.data.bytes[3] = 0; //TODO: Get the actual runtime.
outFrame.data.bytes[4] = 0;
return true;
break;
case 0x20: //pids supported (next 32 pids - formatted just like PID 0)
outFrame.data.bytes[0] += 4;
outFrame.data.bytes[3] = 0b00000000; //pids 0x21 - 0x28 - starting with pid 0x21 in the MSB and going from there
outFrame.data.bytes[4] = 0b00000000; //pids 0x29 - 0x30
outFrame.data.bytes[5] = 0b00000000; //pids 0x31 - 0x38
outFrame.data.bytes[6] = 0b00000001; //pids 0x39 - 0x40
return true;
break;
case 0x21: //Distance traveled with fault light lit (A*256 + B) - In km
outFrame.data.bytes[0] += 2;
outFrame.data.bytes[3] = 0; //TODO: Can we get this information?
outFrame.data.bytes[4] = 0;
return true;
break;
case 0x2F: //Fuel level (A * 100 / 255) - Percentage
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = 0; //TODO: finish BMS interface and get this value
return true;
break;
case 0x40: //PIDs supported, next 32
outFrame.data.bytes[0] += 4;
outFrame.data.bytes[3] = 0b00000000; //pids 0x41 - 0x48 - starting with pid 0x41 in the MSB and going from there
outFrame.data.bytes[4] = 0b00000000; //pids 0x49 - 0x50
outFrame.data.bytes[5] = 0b10000000; //pids 0x51 - 0x58
outFrame.data.bytes[6] = 0b00000001; //pids 0x59 - 0x60
return true;
break;
case 0x51: //What type of fuel do we use? (We use 8 = electric, presumably.)
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = 8;
return true;
break;
case 0x60: //PIDs supported, next 32
outFrame.data.bytes[0] += 4;
outFrame.data.bytes[3] = 0b11100000; //pids 0x61 - 0x68 - starting with pid 0x61 in the MSB and going from there
outFrame.data.bytes[4] = 0b00000000; //pids 0x69 - 0x70
outFrame.data.bytes[5] = 0b00000000; //pids 0x71 - 0x78
outFrame.data.bytes[6] = 0b00000000; //pids 0x79 - 0x80
return true;
break;
case 0x61: //Driver requested torque (A-125) - Percentage
temp = (100 * motorController->getTorqueRequested()) / motorController->getTorqueAvailable();
temp += 125;
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = (uint8_t) temp;
return true;
break;
case 0x62: //Actual Torque delivered (A-125) - Percentage
temp = (100 * motorController->getTorqueActual()) / motorController->getTorqueAvailable();
temp += 125;
outFrame.data.bytes[0] += 1;
outFrame.data.bytes[3] = (uint8_t) temp;
return true;
break;
case 0x63: //Reference torque for engine - presumably max torque - A*256 + B - Nm
temp = motorController->getTorqueAvailable();
outFrame.data.bytes[0] += 2;
outFrame.data.bytes[3] = (uint8_t)(temp / 256);
outFrame.data.bytes[4] = (uint8_t)(temp & 0xFF);
return true;
break;
}
return false;
}
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.");
}
}
/*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);
}
INT MotorControllerTestApplication::Main()
{
Trace0Enter("");
MotorController M;
M.Initialize(m_DeviceName, m_BaudRate);
StdOut.WriteLine("Commands are:");
StdOut.WriteLine("EXIT");
StdOut.WriteLine("QUIT");
StdOut.WriteLine("STOP [LEFT|RIGHT]");
StdOut.WriteLine("LEFT <Speed>");
StdOut.WriteLine("RIGHT <Speed>");
StdOut.WriteLine("DRIVE <Speed>");
StdOut.WriteLine("TURN <Speed>");
while (TRUE)
{
StdOut.Write((LPCTSTR) "Current Speed: %f / %f\n>", M.GetSpeed(0), M.GetSpeed(1) );
String Command = StdIn.ReadLine();
Command.ToUpper();
Array<String> Commands = Command.Split(String::IsWhitespace);
if (Commands.Length() < 1)
continue;
if (Commands[0] == "EXIT" || Commands[0] == "QUIT")
break;
if (Commands[0] == "HELP")
{
StdOut.WriteLine("Commands are:");
StdOut.WriteLine("EXIT");
StdOut.WriteLine("QUIT");
StdOut.WriteLine("STOP [LEFT|RIGHT]");
StdOut.WriteLine("LEFT <Speed>");
StdOut.WriteLine("RIGHT <Speed>");
StdOut.WriteLine("DRIVE <Speed>");
StdOut.WriteLine("TURN <Speed>");
}
if (Commands[0] == "STOP")
{
if (Commands.Length() == 1)
{
M.Stop();
}
else
{
if (Commands[1] == "LEFT")
M.SetTrackSpeed(0,0);
if (Commands[1] == "RIGHT")
M.SetTrackSpeed(1,0);
}
}
if (Commands[0] == "DRIVE")
{
FLOAT Speed = Parse<FLOAT>(Commands[1]);
M.SetTrackSpeed(0, Speed);
M.SetTrackSpeed(1, Speed);
}
if (Commands[0] == "LEFT")
{
FLOAT Speed = Parse<FLOAT>(Commands[1]);
M.SetTrackSpeed(0, Speed);
}
if (Commands[0] == "RIGHT")
{
FLOAT Speed = Parse<FLOAT>(Commands[1]);
M.SetTrackSpeed(1, Speed);
}
if (Commands[0] == "TURN")
{
FLOAT Speed = Parse<FLOAT>(Commands[1]);
M.SetTrackSpeed(0, -Speed);
M.SetTrackSpeed(1, +Speed);
}
}
M.Stop();
return 0;
}
// DEFINE : MAIN LOOP >>
int main(int argc, char ** argv) {
// SETUP : ROS >>
ros::init(argc, argv, "ground_node");
ros::NodeHandle nh;
// SETUP : Rotary Encoder >>
int en0_ticks = -1;
int en1_ticks = -1;
// SETUP : Rotary Encoders >>
GPIO_IN en0_pin(30, "both", 0);
GPIO_IN en1_pin(60, "both", 0);
en0_pin.epoll_setup();
en1_pin.epoll_setup();
// SETUP : Motor Controller & Service Server >>
// GPIO_31, GPIO_48, pwmchip2, 2000Hz
MotorController* mc = new MotorController(31, 48, 2, PERIOD);
ServiceController* sc = new ServiceController(&nh);
ros::ServiceServer service = nh.advertiseService("ground/set", &ServiceController::callback, sc);
// SETUP : Threads >>
thread spin_thread(spin_td);
thread ticks0_thread(ticks_td, &en0_pin, &en0_ticks, &mc->dir[0]);
thread ticks1_thread(ticks_td, &en1_pin, &en1_ticks, &mc->dir[1]);
// SETUP : Loop Variables >>
int error, kp, loop_freq;
int spd_0, spd_1;
int t0_old, t0_new;
int t1_old, t1_new;
int ticks_speedup[5];
SpeedCalc spd_calc;
// SETUP : ROS Parameters >>
ros::param::param<int>("~error", error, 0);
ros::param::param<int>("~kp", kp, 500);
ros::param::param<int>("~loop_freq", loop_freq, 10);
ROS_INFO(
"Set Parameters : error[%d], kp[%d], loop_freq[%d]",
error, kp, loop_freq
);
// SETUP : Waiters >>
ros::Rate waiter(10); // 10Hz = 0.1s
ros::Rate mode0_waiter(loop_freq); // 10Hz = 0.1s
// SETUP : Binder >>
auto move_to_pos = std::bind(
move_to_pos_raw,
sc,
mc,
placeholders::_2,
&spd_0,
&spd_1,
&error,
&kp,
&t0_old,
&t0_new,
&t1_old,
&t1_new,
&en0_ticks,
&en1_ticks,
placeholders::_1,
placeholders::_3
);
// LOOP : Main Algorithm >>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>
while (ros::ok()) {
// Wait for new service call :
while (ros::ok() && !sc->is_new()) {waiter.sleep();}
ROS_INFO("Request Recieved : OK");
sc->set_incomplete();
mc->stop();
// Reset Variables :
en0_ticks = en1_ticks = 0; /* for encoder */
error = t0_old = t0_new = t1_old = t1_new = 0; /* for feedback */
// Begin Movement :
switch (sc->mode) {
case '0': // MODE '0' : No Speedup or Speeddown >>>>>>>>>>>>>>>>>>>>>>>>>>>>>
spd_0 = spd_1 = PERIOD * sc->speed/100;
if (move_to_pos(sc->distance, &mode0_waiter, -1)) {
sc->set_complete();
}
break;
case '1': // MODE '1' : Set Speedup & Speeddown with duration 2s >>>>>>>>>>>>
// Initialise speeds :
spd_calc.init(PERIOD * 1/2, PERIOD * sc->speed/100, 3);
// Speedup section :
spd_0 = spd_1 = spd_calc.get(0);
if (move_to_pos(sc->distance, &mode0_waiter, 0.7)) {sc->set_complete(); break;}
ticks_speedup[0] = (en0_ticks + en1_ticks)/2;
ROS_INFO("Request Processing : TICKS[%d, %d]", en0_ticks, en1_ticks);
spd_0 = spd_1 = spd_calc.get(1);
if (move_to_pos(sc->distance, &mode0_waiter, 0.7)) {sc->set_complete(); break;}
ticks_speedup[1] = (en0_ticks + en1_ticks)/2;
ROS_INFO("Request Processing : TICKS[%d, %d]", en0_ticks, en1_ticks);
spd_0 = spd_1 = spd_calc.get(2);
if (move_to_pos(sc->distance, &mode0_waiter, 0.7)) {sc->set_complete(); break;}
ticks_speedup[2] = (en0_ticks + en1_ticks)/2;
ROS_INFO("Request Processing : TICKS[%d, %d]", en0_ticks, en1_ticks);
// Max speed section :
spd_0 = spd_1 = spd_calc.get(3);
if (move_to_pos(sc->distance - ticks_speedup[2], &mode0_waiter, -1.0)) {sc->set_complete();}
ROS_INFO("Request Processing : TICKS[%d, %d]", en0_ticks, en1_ticks);
// Speeddown section :
spd_0 = spd_1 = spd_calc.get(2);
if (move_to_pos(sc->distance - ticks_speedup[1], &mode0_waiter, 0.7)) {sc->set_complete();}
ROS_INFO("Request Processing : TICKS[%d, %d]", en0_ticks, en1_ticks);
spd_0 = spd_1 = spd_calc.get(1);
if (move_to_pos(sc->distance - ticks_speedup[0], &mode0_waiter, 0.7)) {sc->set_complete();}
ROS_INFO("Request Processing : TICKS[%d, %d]", en0_ticks, en1_ticks);
spd_0 = spd_1 = spd_calc.get(0);
if (move_to_pos(sc->distance, &mode0_waiter, 1)) {sc->set_complete();}
ROS_INFO("Request Completed : TICKS[%d, %d]", en0_ticks, en1_ticks);
break;
}
// Complete Service :
mc->stop();
ROS_INFO("Request Ended : TICKS[%d, %d]", en0_ticks, en1_ticks);
}
// CLOSURE >>
spin_thread.join();
ticks0_thread.join();
ticks1_thread.join();
delete sc, mc;
return 0;
}
/*
* 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();
}
}
//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
}
/*
* 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();
}
