Added a test throttle and test inverter that can be used to test the …

…new BLE system without actual hardware or can be used for testing. Fixed up some BLE bugs.

BLE_Characteristics.txt

@@ -0,0 +1,92 @@
+Outline of how to handle bluetooth:
+
+Scan for BLE devices immediately when starting up. Get a list of them and then scan each one
+ to see if it implements the 0x3100 service. If not then ignore it. Otherwise, pick
+the first one to implement the service and start using it to get the characteristics.
+
+Characteristics are:
+0x3101 - TimeRunning (in seconds)
+	4 bytes unsigned - number of seconds since GEVCU has started.
+
+0x3102 - TrqReqAct
+    2 bytes signed - Requested Torque in 0.1Nm increments
+    2 bytes signed - Actual torque in 0.1Nm inc
+
+0x3103 - ThrBrkLevels
+    2 bytes unsigned - Raw Throttle value (from ADC)
+    2 bytes unsigned - Raw brake value (from ADC)
+
+0x3104 - Speed
+    2 bytes unsigned - Requested RPM (always positive even for reverse)
+    2 bytes unsigned - Actual RPM (always positive)
+
+0x3105 - Modes (Writable)
+    1 byte - Power Mode (0 = Torque, 1 = Direct RPM control)
+    1 byte - Gear (0 = Neutral, 1 = Drive, 2 = Reverse, 3 = Error) - Writes to this are ignored.
+    1 byte - IsRunning (True if we're currently drive enabled) - Writes are ignored
+    1 Byte - IsFaulted (obviously, true if there is a fault) - Writes ignored
+    1 Byte - IsWarning (True is there is currently a warning in effect) - Writes Ignored
+    1 Byte - LogLevel (0 = Debugging, 1 = Info, 2 = Warn 3 = Error 4 = Off)
+
+0x3106 - PowerStatus
+    2 bytes unsigned - Bus Voltage in tenths of a volt
+    2 bytes signed - Bus Current in tenths of an amp
+    2 bytes signed - Motor Current in tenths of an amp
+    2 bytes unsigned - Kilowatt hours left in the battery pack (in full kwh)
+    2 bytes signed - Mechanical power in 0.1 kw increments
+
+0x3107 - Bitfields
+    4 Bytes unsigned - Bitfield 1 - All these bitfields are set by the motor controller code
+    4 Bytes unsigned - bitfield 2 - There doesn't seem to be any standardization here. 
+    4 Bytes unsigned - bitfield 3 - And, only the Brusa controller code even touches these.
+    4 Bytes unsigned - bitfield 4
+
+0x3108 - Temperature
+    2 bytes signed - Motor temperature in 0.1C increment
+    2 bytes signed - Inverter temperature in 0.1C increment
+    2 bytes signed - System temperature in 0.1C increment
+
+0x3109 - DigitalIO (Writable)
+    2 bytes unsigned - Precharge resistance in ohms (used to figure out how long the timing should be)
+    1 byte - Which digital output to use for precharge
+    1 byte - Which digital output to use for the main contactor
+    1 byte - which digital output to use to actuate cooling fans
+    1 byte - Temperature in C at which to turn on the cooling fans
+    1 byte - Temperature in C at which to turn them off again
+    1 byte - Which digital output to use for brake lights
+    1 byte - Which digital output to use for reverse lights
+    1 byte - Which digital input to use for enabling motor controller drive
+    1 byte - which digital input to use for going into reverse (instead of drive)
+
+
+0x310A - ThrottleIO (Writable)
+    1 Byte - Number of throttle inputs (only really relevant to POT based throttles). 1-3 inputs on ADC ports
+    1 Byte - Throttle type (1 = Standard Pot, 2 = Inverse Pot)
+    2 Bytes Unsigned - Throttle 1 Minimum Value
+    2 Bytes Unsigned - Throttle 2 Minimum Value
+    2 Bytes Unsigned - Throttle 1 Maximum Value
+    2 Bytes Unsigned - Throttle 2 Maximum Value
+
+0x310B - ThrottleMap (Writable)
+    2 Bytes unsigned - Pedal position (1/10 of a %) where regen is at its maximum
+    2 bytes unsigned - Pedal position where regen is at its minimum
+    2 bytes unsigned - Pedal position where forward motion starts
+    2 bytes unsigned - Pedal position where 50% power is applied
+    1 byte - Percentage of full torque to use for minimum regen
+    1 byte - Percentage of full torque to use for maximum regen
+    1 byte - percentage of full torque to use for creep
+
+0x310C - BrakeParam (Writable)
+    2 bytes unsigned - ADC value for minimum brake signal
+    2 bytes unsigned - ADC value for maximum brake signal
+    1 byte - Percentage of full torque to use for minimum brake regen
+    1 byte - Percentage of full torque to use for maximum brake regen
+
+
+0x310D - MaxParams (Writable)
+    2 bytes unsigned - Nominal battery pack voltage (1/10 of a volt)
+    2 bytes unsigned - Maximum RPM to allow
+    2 bytes unsigned - Maximum torque to allow
+
+0x31D0 - Update counter (just for debugging)
+    4 bytes unsigned - counter that increments as other updates happen. Probably shouldn't subscribe to this as a notification. But, useful for debugging

DeviceTypes.h

@@ -45,6 +45,7 @@ enum DeviceId { //unique device ID for every piece of hardware possible
     BRUSA_DMC5 = 0x1001,
     CODAUQM = 0x1002,
 	CKINVERTER = 0x1003,
+    TESTINVERTER =0x100F,
     BRUSACHARGE = 0x1010,
     TCCHCHARGE = 0x1011,
     LEAR=0x1012,
@@ -53,6 +54,7 @@ enum DeviceId { //unique device ID for every piece of hardware possible
     POTBRAKEPEDAL = 0x1032,
     CANACCELPEDAL = 0x1033,
     CANBRAKEPEDAL = 0x1034,
+    TESTACCEL = 0x104F,
     EVICTUS = 0x4400,
     ICHIP2128 = 0x1040,
     ADABLUE = 0x1041,

GEVCU.h

@@ -34,13 +34,15 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #include "CanThrottle.h"
 #include "CanBrake.h"
 #include "PotThrottle.h"
+#include "TestThrottle.h"
 #include "PotBrake.h"
 #include "BatteryManager.h"
 #include "ThinkBatteryManager.h"
 #include "MotorController.h"
 #include "DmocMotorController.h"
 #include "BrusaMotorController.h"
 #include "CKMotorController.h"
+#include "TestMotorController.h"
 #include "Heartbeat.h"
 #include "sys_io.h"
 #include "CanHandler.h"

GEVCU.ino

@@ -215,10 +215,12 @@ void createObjects() {
 	PotThrottle *paccelerator = new PotThrottle();
 	CanThrottle *caccelerator = new CanThrottle();
 	PotBrake *pbrake = new PotBrake();
+    TestThrottle *testAccel = new TestThrottle();
 	CanBrake *cbrake = new CanBrake();
 	DmocMotorController *dmotorController = new DmocMotorController();
     CodaMotorController *cmotorController = new CodaMotorController();
 	CKMotorController *ckMotorController = new CKMotorController();
+    TestMotorController *testMotorController = new TestMotorController();
     DCDCController *dcdcController = new DCDCController();
 	BrusaMotorController *bmotorController = new BrusaMotorController();
 	ThinkBatteryManager *BMS = new ThinkBatteryManager();
@@ -227,7 +229,8 @@ void createObjects() {
     ADAFRUITBLE *ble = new ADAFRUITBLE();
     EVIC *eVIC = new EVIC();
 }
-     void initializeDevices() {
+
+void initializeDevices() {
 	DeviceManager *deviceManager = DeviceManager::getInstance();
 
 	//heartbeat is always enabled now
@@ -259,12 +262,12 @@ void createObjects() {
 void setup() {
 	sys_boot_setup(); //sets digital outputs to "off" right as soon as the sketch gets control.
 
-        //delay(5000);  //This delay lets you see startup.  But it breaks DMOC645 really badly.  You have to have comm way before 5 seconds.
+    //delay(5000);  //This delay lets you see startup.  But it breaks DMOC645 really badly.  You have to have comm way before 5 seconds.
 
-        //initWiReach();
+    //initWiReach();
 	pinMode(BLINK_LED, OUTPUT);
 	digitalWrite(BLINK_LED, LOW);
-        SerialUSB.begin(CFG_SERIAL_SPEED);
+    SerialUSB.begin(CFG_SERIAL_SPEED);
 	SerialUSB.println(CFG_VERSION);
 	SerialUSB.print("Build number: ");
 	SerialUSB.println(CFG_BUILD_NUM);
@@ -285,7 +288,7 @@ void setup() {
 	uint8_t loglevel;
 	sysPrefs->read(EESYS_LOG_LEVEL, &loglevel);
 	//Logger::setLoglevel((Logger::LogLevel)loglevel);
-	Logger::setLoglevel((Logger::LogLevel)1);
+	Logger::setLoglevel((Logger::LogLevel)0);
 	sys_early_setup();     
 	tickHandler = TickHandler::getInstance();
 	canHandlerEV = CanHandler::getInstanceEV();

TestMotorController.cpp

@@ -0,0 +1,156 @@
+/*
+ * TestMotorController.cpp
+ *
+ * Fake motor controller that takes throttle input and pretends like it's driving a motor.
+ * Used just for testing surrounding code (throttle input, status output, etc)
+ *
+Copyright (c) 2016 Collin Kidder, Michael Neuweiler, Charles Galpin
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be included
+in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY
+CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
+SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ */
+
+#include "TestMotorController.h"
+
+TestMotorController::TestMotorController() : MotorController() {
+    prefsHandler = new PrefHandler(TESTINVERTER);
+
+    selectedGear = DRIVE;
+    commonName = "Test Inverter";
+}
+
+void TestMotorController::setup() {
+    TickHandler::getInstance()->detach(this);
+
+    Logger::info("add device: Test Inverter (id:%X, %X)", TESTINVERTER, this);
+
+    loadConfiguration();
+    MotorController::setup(); // run the parent class version of this function
+
+    running = true;
+    setPowerMode(modeTorque);
+    setSelectedGear(DRIVE);
+    setOpState(ENABLE);
+
+    TickHandler::getInstance()->attach(this, CFG_TICK_INTERVAL_MOTOR_CONTROLLER_DMOC);
+}
+
+void TestMotorController::handleTick() {
+    TestMotorControllerConfiguration *config = (TestMotorControllerConfiguration *)getConfiguration();
+
+    MotorController::handleTick(); //kick the ball up to papa
+
+    dcVoltage = 3600; //360v nominal voltage scaled up 10x
+
+    //use throttleRequested to produce some motor like output.
+    //throttleRequested ranges +/- 1000 so regen is possible here if the throttle has it set up.
+
+    if (powerMode == modeSpeed)
+    {
+        torqueRequested = 0;
+        if (throttleRequested > 0 && operationState == ENABLE && selectedGear != NEUTRAL)
+            speedRequested = (((long) throttleRequested * (long) config->speedMax) / 1000);
+        else
+            speedRequested = 0;
+
+        speedActual = ((speedActual * 8) + (speedRequested * 2)) / 10;
+        torqueActual = speedActual / 20;
+
+        //generate some baseline holding current to maintain the speed.
+        dcCurrent = speedRequested / 66;
+        //Then add some accelerating current for the difference between target and actual
+        dcCurrent += (speedRequested - speedActual) / 10;
+    }
+    else
+    {
+        if (selectedGear == DRIVE)
+            torqueRequested = (((long) throttleRequested * (long) config->torqueMax) / 1000L);
+        if (selectedGear == REVERSE)
+            torqueRequested = (((long) throttleRequested * -1 *(long) config->torqueMax) / 1000L);
+
+        torqueActual = ((torqueActual * 7) + (torqueRequested * 3)) / 10;
+        speedActual = torqueActual * 2;
+        if (speedActual < 0) speedActual = 0;
+
+        speedRequested = 0;
+
+        //generate some baseline holding current to maintain the speed.
+        dcCurrent = torqueRequested / 3;
+        //Then add some accelerating current for the difference between target and actual
+        dcCurrent += (torqueRequested - torqueActual) * 2;        
+
+    }
+
+    acCurrent = (dcCurrent * 40) / 30; //A bit more current than DC bus    
+
+    //Both dc current and dc voltage are scaled up 10, mech power should be in 0.1kw increments
+    //current*voltage = watts but there is inefficiency to deal with. and it's watts but we're scaled up 100x
+    //because of multipliers so need to scale down 100x to get to watts then by 100x again to get to 0.1kw
+    //100x100 = 10000 but inefficiency should make it even worse
+    mechanicalPower = (dcCurrent * dcVoltage) / 12000;
+
+    //Heat up or cool motor and inverter based on mechanical power being used.
+    //Assume ambient temperature is 18C
+    //These numbers are horrifically off from realistic physics at this point
+    //but we're trying to aid debugging, not making a perfect physics model.
+    temperatureMotor = 180 + abs(mechanicalPower);
+    temperatureInverter = 190 + abs(mechanicalPower);
+    temperatureSystem = (temperatureInverter + temperatureMotor) / 2;
+
+    Logger::debug(TESTINVERTER, "PowerMode: %i, Gear: %i", powerMode, selectedGear);
+    Logger::debug(TESTINVERTER, "TorqueReq: %i, SpeedReq: %i", torqueRequested, speedRequested);
+    Logger::debug(TESTINVERTER, "dcCurrent: %i, mechPower: %i", dcCurrent, mechanicalPower);
+
+}
+
+void TestMotorController::setGear(Gears gear) {
+    selectedGear = gear;
+    //if the gear was just set to drive or reverse and the DMOC is not currently in enabled
+    //op state then ask for it by name
+    if (selectedGear != NEUTRAL) {
+        operationState = ENABLE;
+    }
+    //should it be set to standby when selecting neutral? I don't know. Doing that prevents regen
+    //when in neutral and I don't think people will like that.
+}
+
+DeviceId TestMotorController::getId() {
+    return (TESTINVERTER);
+}
+
+uint32_t TestMotorController::getTickInterval()
+{
+    return CFG_TICK_INTERVAL_MOTOR_CONTROLLER_DMOC;
+}
+
+void TestMotorController::loadConfiguration() {
+    TestMotorControllerConfiguration *config = (TestMotorControllerConfiguration *)getConfiguration();
+
+    if (!config) {
+        config = new TestMotorControllerConfiguration();
+        setConfiguration(config);
+    }
+
+    MotorController::loadConfiguration(); // call parent
+}
+
+void TestMotorController::saveConfiguration() {
+    MotorController::saveConfiguration();
+}