//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;
}
/*
* 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--;
}
}
}
//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
}
