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DeviceGEVCU.cpp
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DeviceGEVCU.cpp
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/*
* Copyright (C) 2015 Michal Podhradsky
* michal.podhradsky@pdx.edu
*
* This file is part of Viking Motorsports Arduino_eVCU.
*
* Viking Motorsports Arduino_eVCU is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* Viking Motorsports Arduino_eVCU is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Viking Motorsports Arduino_eVCU; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
/**
* @file DeviceGEVCU.cpp
*
* Vehicle Control Unit
*/
#include "DeviceGEVCU.h"
#include <stdio.h>
/**
* Initialize variables in the constructor
*/
DeviceGEVCU::DeviceGEVCU() {
sys_time = 0;
bus = &CAN2;//because we want CAN1 now
timer = 0;
phase_temp[0] = 0;//3x i
phase_temp[1] = 0;
phase_temp[2] = 0;
gate_temp = 0;// i
board_temp = 0;// i
rtd_temp[0] = 0;// 5x i
rtd_temp[1] = 0;// 5x i
rtd_temp[2] = 0;// 5x i
rtd_temp[3] = 0;// 5x i
rtd_temp[4] = 0;// 5x i
motor_temp = 0;// i
// Torque
torque_shud = 0;// i
torque_cmd = 0;// i
torque_fb = 0;// i
// Analog inputs
analog_in[0] = 0;//4x i
analog_in[1] = 0;//4x i
analog_in[2] = 0;//4x i
analog_in[3] = 0;//4x i
// Digital inputs
digital_in[0] = 0;//6x u
digital_in[1] = 0;//6x u
digital_in[2] = 0;//6x u
digital_in[3] = 0;//6x u
digital_in[4] = 0;//6x u
digital_in[5] = 0;//6x u
// Motor info
motor_angle = 0; //i
motor_speed = 0;// i
inv_freq = 0;// i
resolver_angle = 0;// i
// Current
phase_current[0] = 0; // Phase A, B, C 3xi
phase_current[1] = 0; // Phase A, B, C 3xi
phase_current[2] = 0; // Phase A, B, C 3xi
dc_current = 0;// i
// Voltage
dc_voltage = 0;// i
output_volt = 0;// i
p_ab_volt = 0;// i
p_bc_volt = 0;// i
// Flux
flux_cmd = 0;//i
flux_fb = 0;// i
id_fb = 0;// i
iq_fb = 0;// i
id_cmd = 0;// i
iq_cmd = 0;// i
// Internal Voltages
ref_1_5 = 0;// i
ref_2_5 = 0;// i
ref_5_0 = 0;// i
sys_12v = 0;// i
// Internal State
enum VSMstate vsm_state = VSM_start;// u
enum VSMstate last_state = vsm_state;
enum InverterState inv_state = Inv_power_on;// u
relay_state = 0;// u
enum InvRunMode inv_mode = InvRun_Torque_Mode;// u
enum InvCmdMode inv_cmd = InvCmd_CAN;// u
inv_enable = 0;// u
motor_direction = 0;// u
faults[0] = 0;// u
faults[1] = 0;// u
faults[2] = 0;// u
faults[3] = 0;// u
faults[4] = 0;// u
faults[5] = 0;// u
faults[6] = 0;// u
faults[7] = 0;// u
// Various
modulation_index = 0;// i
flux_reg_out = 0;// i
// Firmware data
eeprom_version = 0;
sw_version = 0;
// Cell data
max_cell_temp = 0;
min_cell_temp = 0;
max_cell_volt = 0;
min_cell_volt = 0;
// print header
#if PRINT_DATA
#if PRINT_STRING
SerialUSB.print("f_timer,f_sys_time,phase_temp_A,phase_temp_B,phase_temp_C,gate_temp,board_temp,rtd_temp_1,rtd_temp_2"
",rtd_temp_3,rtd_temp_4,rtd_temp_5,motor_temp,torque_shud,torque_cmd,torque_fb,analog_in_1,analog_in_2,analog_in_3,"
"analog_in_4,digital_in_1,digital_in_2,digital_in_3,digital_in_4,digital_in_5,digital_in_6,motor_angle,motor_speed,"
"inv_freq,resolver_angle,phase_current_A,phase_current_B,phase_current_C,dc_current,dc_voltage,output_volt,p_ab_volt,"
"p_bc_volt,flux_cmd,flux_fb,id_fb,iq_fb,id_cmd,iq_cmd,ref_1_5,ref_2_5,ref_5_0,sys_12v,vsm_state,inv_state,relay_state,"
"inv_mode,inv_cmd,inv_enable,motor_direction,faults_1,faults_2,faults_3,faults_4,faults_5,faults_6,faults_7,faults_8,"
"modulation_index,flux_reg_out,min_cell_temp,max_cell_temp,min_cell_volt,max_cell_volt\r\n");
#endif /* PRINT_STRING */
#endif
}
/**
* Calculate checksum for datalogging packets
* @param data to be checksumed
* @param data_len lenght of data
* @return checksum
*/
uint16_t DeviceGEVCU::calculate_checksum(uint8_t* data, uint16_t data_len)
{
uint8_t byte1 = 0;
uint8_t byte2 = 0;
for(int x=0; x<data_len; ++x)
{
byte1 += data[x];
byte2 += byte1;
}
return (byte1<<8)+byte2;
}
/**
* Periodic function
*/
void DeviceGEVCU::console_periodic(){
float f_timer = (float)timer*0.003;
float f_sys_time = (float)sys_time/100;
#if PRINT_STRING
char buffer[1024];
sprintf(buffer, "%f, %f,"
// phase temp
"%i, %i, %i,"
// temps rtd temp motor temp
"%i, %i, %i, %i, %i, %i, %i, %i,"
// torque
"%i, %i, %i,"
// analog in
"%i, %i, %i, %i,"
// digitalin
"%u, %u, %u, %u, %u, %u,"
//motor info
"%i, %i, %i, %i,"
//current
"%i, %i, %i, %i,"
// Voltage
"%i, %i, %i, %i,"
// Flux
"%i, %i, %i, %i, %i, %i,"
// Internal Voltages
"%i, %i, %i, %i,"
//States
"%u, %u, %u, %u, %u, %u, %u,"
// Faults (8bytes)
"%u, %u, %u, %u, %u, %u, %u, %u,"
//Various
"%i, %i,"
// min cell temp, max cell temp, min cell volt
"%i, %i, %u, %u\r\n",
f_timer, f_sys_time,
phase_temp[0],phase_temp[1],phase_temp[2],
gate_temp, board_temp, rtd_temp[0],rtd_temp[1],rtd_temp[2],rtd_temp[3],rtd_temp[4],motor_temp,
torque_shud, torque_cmd,torque_fb,
analog_in[0], analog_in[1], analog_in[2], analog_in[3],
digital_in[0], digital_in[1], digital_in[2], digital_in[3], digital_in[4], digital_in[5],
motor_angle, motor_speed, inv_freq, resolver_angle,
phase_current[0], phase_current[1], phase_current[2], dc_current,
dc_voltage, output_volt, p_ab_volt, p_bc_volt,
flux_cmd, flux_fb, id_fb, iq_fb, id_cmd, iq_cmd,
ref_1_5, ref_2_5, ref_5_0, sys_12v,
vsm_state, inv_state, relay_state, inv_mode, inv_cmd, inv_enable, motor_direction,
faults[0],faults[1],faults[2],faults[3],faults[4],faults[5],faults[6],faults[7],
modulation_index, flux_reg_out,
min_cell_temp, max_cell_temp, min_cell_volt, max_cell_volt);
#else /* PRINT_BINARY */
uint8_t buf[1024];
// header
buf[0] = 0xBE;
buf[1] = 0xEF;
uint16_t idx = 2;
uint16_t payload_lenght = 119;
uint16_t packet_length = 125;
// datalenght
memcpy(&buf[idx], &payload_lenght, sizeof(uint16_t));
idx += sizeof(uint16_t);
// payload
//f_timer 4 float 4 sec RMS time
memcpy(&buf[idx], &f_timer, sizeof(float));
idx += sizeof(float);
//f_sys_time 4 float 8 sec system time
memcpy(&buf[idx], &f_sys_time, sizeof(float));
idx += sizeof(float);
//phase_temp 6 int16 x3 14
memcpy(&buf[idx], &phase_temp, sizeof(int16_t)*3);
idx += sizeof(int16_t)*3;
//gate_temp 2 int16 16
memcpy(&buf[idx], &gate_temp, sizeof(int16_t));
idx += sizeof(int16_t);
//board_temp 2 int16 18
memcpy(&buf[idx], &board_temp, sizeof(int16_t));
idx += sizeof(int16_t);
//rtd_temp 10 int16 x5 28
memcpy(&buf[idx], &rtd_temp, sizeof(int16_t)*5);
idx += sizeof(int16_t)*5;
//motor_temp 2 int16 30
memcpy(&buf[idx], &motor_temp, sizeof(int16_t));
idx += sizeof(int16_t);
//torque_shud 2 int16 32
memcpy(&buf[idx], &torque_shud, sizeof(int16_t));
idx += sizeof(int16_t);
//torque_cmd 2 int16 34
memcpy(&buf[idx], &torque_cmd, sizeof(int16_t));
idx += sizeof(int16_t);
//torque_fb 2 int16 36
memcpy(&buf[idx], &torque_fb, sizeof(int16_t));
idx += sizeof(int16_t);
//analog_in 8 int16 x 4 44
memcpy(&buf[idx], &analog_in, sizeof(int16_t)*4);
idx += sizeof(int16_t)*4;
//digital_in 6 uint8 x 6 50
memcpy(&buf[idx], &digital_in, sizeof(int8_t)*6);
idx += sizeof(int8_t)*6;
//motor_angle 2 int16 52
memcpy(&buf[idx], &motor_angle, sizeof(int16_t));
idx += sizeof(int16_t);
//motor_speed 2 int16 54
memcpy(&buf[idx], &motor_speed, sizeof(int16_t));
idx += sizeof(int16_t);
//inv_freq 2 int16 56
memcpy(&buf[idx], &inv_freq, sizeof(int16_t));
idx += sizeof(int16_t);
//resolver_angle 2 int16 58
memcpy(&buf[idx], &resolver_angle, sizeof(int16_t));
idx += sizeof(int16_t);
//phase_current 6 int16 x 3 64
memcpy(&buf[idx], &phase_current, sizeof(int16_t)*3);
idx += sizeof(int16_t)*3;
//dc_current 2 int16 66
memcpy(&buf[idx], &dc_current, sizeof(int16_t));
idx += sizeof(int16_t);
//dc_voltage 2 int16 68
memcpy(&buf[idx], &dc_voltage, sizeof(int16_t));
idx += sizeof(int16_t);
//output_volt 2 int16 70
memcpy(&buf[idx], &output_volt, sizeof(int16_t));
idx += sizeof(int16_t);
//p_ab_volt 2 int16 72
memcpy(&buf[idx], &p_ab_volt, sizeof(int16_t));
idx += sizeof(int16_t);
//p_bc_volt 2 int16 74
memcpy(&buf[idx], &p_bc_volt, sizeof(int16_t));
idx += sizeof(int16_t);
//flux_cmd 2 int16 76
memcpy(&buf[idx], &flux_cmd, sizeof(int16_t));
idx += sizeof(int16_t);
//flux_fb 2 int16 78
memcpy(&buf[idx], &flux_fb, sizeof(int16_t));
idx += sizeof(int16_t);
//id_fb 2 int16 80
memcpy(&buf[idx], &id_fb, sizeof(int16_t));
idx += sizeof(int16_t);
//iq_fb 2 int16 82
memcpy(&buf[idx], &iq_fb, sizeof(int16_t));
idx += sizeof(int16_t);
//id_cmd 2 int16 84
memcpy(&buf[idx], &id_cmd, sizeof(int16_t));
idx += sizeof(int16_t);
//iq_cmd 2 int16 86
memcpy(&buf[idx], &iq_cmd, sizeof(int16_t));
idx += sizeof(int16_t);
//ref_1_5 2 int16 88
memcpy(&buf[idx], &ref_1_5, sizeof(int16_t));
idx += sizeof(int16_t);
//ref_2_5 2 int16 90
memcpy(&buf[idx], &ref_2_5, sizeof(int16_t));
idx += sizeof(int16_t);
//ref_5_0 2 int16 92
memcpy(&buf[idx], &ref_5_0, sizeof(int16_t));
idx += sizeof(int16_t);
//sys_12v 2 int16 94
memcpy(&buf[idx], &sys_12v, sizeof(int16_t));
idx += sizeof(int16_t);
//vsm_state 1 uint8 95
memcpy(&buf[idx], &vsm_state, sizeof(uint8_t));
idx += sizeof(uint8_t);
//inv_state 1 uint8 96
memcpy(&buf[idx], &inv_state, sizeof(uint8_t));
idx += sizeof(uint8_t);
//relay_state 1 uint8 97
memcpy(&buf[idx], &relay_state, sizeof(uint8_t));
idx += sizeof(uint8_t);
//inv_mode 1 uint8 98
memcpy(&buf[idx], &inv_mode, sizeof(uint8_t));
idx += sizeof(uint8_t);
//inv_cmd 1 uint8 99
memcpy(&buf[idx], &inv_cmd, sizeof(uint8_t));
idx += sizeof(uint8_t);
//inv_enable 1 uint8 100
memcpy(&buf[idx], &inv_enable, sizeof(uint8_t));
idx += sizeof(uint8_t);
//motor_direction 1 uint8 101
memcpy(&buf[idx], &motor_direction, sizeof(uint8_t));
idx += sizeof(uint8_t);
//faults 8 uint8 x 8 109
memcpy(&buf[idx], &faults, sizeof(uint8_t)*8);
idx += sizeof(uint8_t)*8;
//modulation_index 2 int16 111
memcpy(&buf[idx], &modulation_index, sizeof(int16_t));
idx += sizeof(int16_t);
//flux_reg_out 2 int16 113
memcpy(&buf[idx], &flux_reg_out, sizeof(int16_t));
idx += sizeof(int16_t);
//min_cell_temp 1 int8 114
memcpy(&buf[idx], &min_cell_temp, sizeof(int8_t));
idx += sizeof(int8_t);
//max_cell_temp 1 int8 115
memcpy(&buf[idx], &max_cell_temp, sizeof(int8_t));
idx += sizeof(int8_t);
//min_cell_volt 2 uint16 117
memcpy(&buf[idx], &min_cell_volt, sizeof(uint16_t));
idx += sizeof(uint16_t);
//max_cell_volt 2 uint16 119
memcpy(&buf[idx], &max_cell_volt, sizeof(uint16_t));
idx += sizeof(uint16_t);
// Payload Checksum
static uint16_t dta_chksum;
dta_chksum = calculate_checksum(&buf[4], payload_lenght);
memcpy(&buf[idx], &dta_chksum, sizeof(uint16_t));
idx += sizeof(uint16_t);
#endif /* PRINT_STRING */
#if PRINT_DATA
#if PRINT_STRING
SerialUSB.print(buffer);
#else /* print binary */
Serial.write(buf, packet_length);
#endif /* PRINT_STRING */
#endif
#if PRINT_DEBUG
SerialUSB.print("Up time: " + String(((float)sys_time)/100) + "\r\n");
SerialUSB.print("Timer: " + String(timer*0.003) + "\r\n");
SerialUSB.print("max_cell_temp: " + String(max_cell_temp) + "\r\n");
SerialUSB.print("vsm_state: " + String(vsm_state) + "\r\n");
SerialUSB.print("sys_12v: " + String(sys_12v) + "\r\n");
SerialUSB.print("DC_voltage: " + String(dc_voltage) + "\r\n");
static int throttle_1, throttle_2;
throttle_1 = analogRead(THROTTLE_IN_1);
throttle_2 = analogRead(THROTTLE_IN_2);
// min: 150
// max: 800
// scale it to 0-255
static float a_out;
a_out = ((throttle_1 - 150.0)/650.0)*254.0;
analogWrite(RMS_THROTTLE, (int)a_out);
SerialUSB.print("Throttle1: " + String(throttle_1) + "\r\n");
SerialUSB.print("Throttle2: " + String(throttle_2) + "\r\n");
SerialUSB.print("ThrottleOut: " + String((int)a_out) + "\r\n");
#endif
}
/**
* Handle the response of the ECU and calculate the throttle value
*/
void DeviceGEVCU::handleCanFrame(CAN_FRAME *frame) {
switch(frame->id){
case 0xA0: // Temperatures #1
phase_temp[0] = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
phase_temp[1] = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
phase_temp[2] = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
gate_temp = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA1: // Temperatures #2
board_temp = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
rtd_temp[0] = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
rtd_temp[1] = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
rtd_temp[2] = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA2: // Temperatures #3
rtd_temp[3] = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
rtd_temp[4] = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
motor_temp = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
torque_shud = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA3: // Analog Input Voltages
analog_in[0] = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
analog_in[1] = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
analog_in[2] = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
analog_in[3] = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA4: // Digital Input Status
digital_in[0] = frame->data.bytes[0];
digital_in[1] = frame->data.bytes[1];
digital_in[2] = frame->data.bytes[2];
digital_in[3] = frame->data.bytes[3];
digital_in[4] = frame->data.bytes[4];
digital_in[5] = frame->data.bytes[5];
break;
case 0xA5: // Motor Position Information
motor_angle = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
motor_speed = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
inv_freq = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
resolver_angle = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA6: // Current Information
phase_current[0] = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
phase_current[1] = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
phase_current[2] = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
dc_current = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA7: // Voltage Information
dc_voltage = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
output_volt = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
p_ab_volt = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
p_bc_volt = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA8: // Flux Information
flux_cmd = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
flux_fb = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
id_fb = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
iq_fb = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xA9: // Internal Voltages
ref_1_5 = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
ref_2_5 = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
ref_5_0 = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
sys_12v = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xAA: // Internal States
vsm_state = (VSMstate)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
inv_state = (InverterState)frame->data.bytes[2];
relay_state = frame->data.bytes[3];
inv_mode = (InvRunMode)frame->data.bytes[4];
inv_cmd = (InvCmdMode)frame->data.bytes[5];
inv_enable = frame->data.bytes[6];
motor_direction = frame->data.bytes[7];
break;
case 0xAB: // Fault Codes
faults[0] = frame->data.bytes[0];
faults[1] = frame->data.bytes[1];
faults[2] = frame->data.bytes[2];
faults[3] = frame->data.bytes[3];
faults[4] = frame->data.bytes[4];
faults[5] = frame->data.bytes[5];
faults[6] = frame->data.bytes[6];
faults[7] = frame->data.bytes[7];
break;
case 0xAC: // Torque & Timer Info
torque_cmd = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
torque_fb = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
timer = (uint32_t)(frame->data.bytes[7] << 24 | frame->data.bytes[6] << 16 | frame->data.bytes[5] << 8 | frame->data.bytes[4] );
break;
case 0xAD: // Modulation Index & Flux Weakening Output Information
modulation_index = (int16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
flux_reg_out = (int16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
id_cmd = (int16_t)(frame->data.bytes[5] << 8 | frame->data.bytes[4]);
iq_cmd = (int16_t)(frame->data.bytes[7] << 8 | frame->data.bytes[6]);
break;
case 0xAE: // Firmware Information
eeprom_version = (uint16_t)(frame->data.bytes[1] << 8 | frame->data.bytes[0]);
sw_version = (uint16_t)(frame->data.bytes[3] << 8 | frame->data.bytes[2]);
break;
case 0xAF: // Diagnostic Data
// Ignore
break;
default:
break;
}
}
/**
* If a message is available, read it and forward it to registered observers.
*/
void DeviceGEVCU::process() {
static CAN_FRAME frame;
if (bus->rx_avail()) {
bus->get_rx_buff(frame);
handleCanFrame(&frame);
}
}