Merge branch 'WIP' of https://github.com/jrickard/GEVCU into WIP

Conflicts:
	CodaMotorController.cpp
	DmocMotorController.cpp
	GEVCU.h
	GEVCU.ino
	SerialConsole.cpp

BatteryManager.cpp

@@ -70,3 +70,5 @@ signed int BatteryManager::getPackCurrent()
 	return packCurrent;
 }
 
+
+

BatteryManager.h

@@ -66,3 +66,5 @@ class BatteryManager : public Device {
 };
 
 #endif
+
+

BrusaMotorController.cpp

@@ -376,3 +376,5 @@ void BrusaMotorController::saveConfiguration() {
 //	prefsHandler->write(EEMC_, config->enableOscillationLimiter);
 	prefsHandler->saveChecksum();
 }
+
+

BrusaMotorController.h

@@ -185,3 +185,5 @@ class BrusaMotorController: public MotorController, CanObserver {
 };
 
 #endif /* BRUSAMOTORCONTROLLER_H_ */
+
+

CanBrake.cpp

@@ -224,3 +224,5 @@ void CanBrake::saveConfiguration() {
 	prefsHandler->write(EETH_CAR_TYPE, config->carType);
 	prefsHandler->saveChecksum();
 }
+
+

CanBrake.h

@@ -69,3 +69,5 @@ class CanBrake: public Throttle, CanObserver {
 };
 
 #endif /* CAN_BRAKE_H_ */
+
+

CanHandler.cpp

@@ -146,14 +146,15 @@ void CanHandler::detach(CanObserver* observer, uint32_t id, uint32_t mask) {
  * \param frame - the received can frame to log
  */
 void CanHandler::logFrame(CAN_FRAME& frame) {
-	if (Logger::isDebug()) {
-		Logger::debug("CAN: dlc=%X fid=%X id=%X ide=%X rtr=%X data=%X,%X,%X,%X,%X,%X,%X,%X",
-				frame.length, frame.fid, frame.id, frame.extended, frame.rtr,
-				frame.data.bytes[0], frame.data.bytes[1], frame.data.bytes[2], frame.data.bytes[3],
-				frame.data.bytes[4], frame.data.bytes[5], frame.data.bytes[6], frame.data.bytes[7]);
-	}
+  if (Logger::isDebug()) {
+   Logger::debug("CAN: dlc=%X fid=%X id=%X ide=%X rtr=%X data=%X,%X,%X,%X,%X,%X,%X,%X",
+       frame.length, frame.fid, frame.id, frame.extended, frame.rtr,
+       frame.data.bytes[0], frame.data.bytes[1], frame.data.bytes[2], frame.data.bytes[3],
+       frame.data.bytes[4], frame.data.bytes[5], frame.data.bytes[6], frame.data.bytes[7]);
+ }
 }
 
+
 /*
  * Find a observerData entry which is not in use.
  *
@@ -194,14 +195,17 @@ void CanHandler::process() {
 
 	if (bus->rx_avail()) {
 		bus->get_rx_buff(frame);
-		logFrame(frame);
+		//logFrame(frame);
 
 		for (int i = 0; i < CFG_CAN_NUM_OBSERVERS; i++) {
 			if (observerData[i].observer != NULL) {
 				// Apply mask to frame.id and observer.id. If they match, forward the frame to the observer
 				if ((frame.id & observerData[i].mask) == (observerData[i].id & observerData[i].mask))
 					observerData[i].observer->handleCanFrame(&frame);
 			}
+
+    if(frame.id==CAN_SWITCH)CANIO(frame);
+
 		}
 	}
 }
@@ -210,6 +214,7 @@ void CanHandler::process() {
 //(whatever happens to be open) or queue it to send (if nothing is open)
 void CanHandler::sendFrame(CAN_FRAME& frame) {
 	bus->sendFrame(frame);
+       // logFrame(frame);
 }
 
 /*
@@ -219,3 +224,54 @@ void CanHandler::sendFrame(CAN_FRAME& frame) {
 void CanObserver::handleCanFrame(CAN_FRAME *frame) {
 	Logger::error("CanObserver does not implement handleCanFrame(), frame.id=%d", frame->id);
 }
+
+
+void CanHandler::CANIO(CAN_FRAME& frame) {
+
+  static CAN_FRAME CANioFrame;
+
+  CANioFrame.id = CAN_OUTPUTS;
+  CANioFrame.length = 8;
+  CANioFrame.extended = 0; //standard frame
+  CANioFrame.rtr = 0;  
+
+  for(int i=0;i==8;i++)
+    {
+      if(frame.data.bytes[i]==0x88)setOutput(i,true);
+      if(frame.data.bytes[i]==0xFF)setOutput(i,false);
+    }
+
+  for(int i=0;i==8;i++)
+    {
+      if(getOutput(i))CANioFrame.data.bytes[i]=0x88;
+        else CANioFrame.data.bytes[i]=0xFF;
+    }
+
+  sendFrame(CANioFrame);
+
+
+  CANioFrame.id = CAN_ANALOG_INPUTS;
+  int i=0;
+  uint16_t anaVal;
+
+  for(int j=0;j>6;j+=2)
+    {
+     anaVal=getAnalog(i++);
+     CANioFrame.data.bytes[j]=highByte (anaVal);
+     CANioFrame.data.bytes[j+1]=lowByte(anaVal);
+    }
+
+  sendFrame(CANioFrame);
+
+  CANioFrame.id = CAN_DIGITAL_INPUTS;
+  CANioFrame.length = 4;
+
+  for(int i=0;i==4;i++)
+    {
+     if (getDigital(i))CANioFrame.data.bytes[i]=0x88;
+       else CANioFrame.data.bytes[i]=0xff;
+    }
+
+  sendFrame(CANioFrame);
+}
+

CanHandler.h

@@ -34,6 +34,7 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #include <DueTimer.h>
 #include "Logger.h"
 #include "DeviceManager.h"
+#include "sys_io.h"
 
 class Device;
 
@@ -54,6 +55,7 @@ class CanHandler {
 	void detach(CanObserver *observer, uint32_t id, uint32_t mask);
 	void process();
 	void sendFrame(CAN_FRAME& frame);
+  void CANIO(CAN_FRAME& frame); 
 	static CanHandler *getInstanceCar();
 	static CanHandler *getInstanceEV();
 protected:
@@ -80,3 +82,5 @@ class CanHandler {
 };
 
 #endif /* CAN_HANDLER_H_ */
+
+

CanPIDListener.cpp

@@ -332,3 +332,5 @@ void CanPIDListener::saveConfiguration() {
 	//prefsHandler->saveChecksum();
 }
 
+
+

CanPIDListener.h

@@ -64,4 +64,6 @@ class CanPIDListener: public Device, CanObserver {
 	bool processShowCustomData(CAN_FRAME* inFrame, CAN_FRAME& outFrame);
 };
 
-#endif //CAN_PID_H_
+#endif //CAN_PID_H_
+
+

CanThrottle.cpp

@@ -195,3 +195,5 @@ void CanThrottle::saveConfiguration() {
 	prefsHandler->write(EETH_CAR_TYPE, config->carType);
 	prefsHandler->saveChecksum();
 }
+
+

CanThrottle.h

@@ -73,3 +73,5 @@ class CanThrottle: public Throttle, CanObserver {
 };
 
 #endif /* CAN_THROTTLE_H_ */
+
+

CodaMotorController.cpp

@@ -146,16 +146,21 @@ void CodaMotorController::handleCanFrame(CAN_FRAME *frame)
 
 
 void CodaMotorController::handleTick() {
-
+  
 	MotorController::handleTick(); //kick the ball up to papa
         sendCmd1();   //Send our lone torque command
-        if (millis()-mss>2000 && online==0)
-          {
-            running=false; // We haven't received any UQM frames for over 2 seconds.  Otherwise online would be 1.
-            mss=millis();   //So we've lost communications.  Let's turn off the running light.
-			faultHandler.raiseFault(CODAUQM, FAULT_MOTORCTRL_COMM, true);
-          }
-        online=0;//This flag will be set to 1 by received frames.
+
+          if(!online)  //This routine checks to see if we have received any frames from the inverter.  If so, ONLINE would be true and
+            {          //we set the RUNNING light on.  If no frames are received for 2 seconds, we set running OFF.
+              if (millis()-mss>2000)  
+                {
+                  running=false; // We haven't received any frames for over 2 seconds.  Otherwise online would be true.
+                  mss=millis();   //Reset our 2 second timer
+                }
+             }
+             else running=true;
+          online=false;//This flag will be set to true by received frames      
+
 }
 
 
@@ -330,3 +335,5 @@ void CodaMotorController::timestamp()
    // Serial<<buffer<<"\n";
 }
 
+
+

CodaMotorController.h

@@ -75,3 +75,5 @@ class CodaMotorController: public MotorController, CanObserver {
 
 #endif /* CODA_H_ */
 
+
+

DCDCController.cpp

@@ -0,0 +1,145 @@
+/*
+ * Delphi DC-DC Converter Controller.cpp
+ *
+ * CAN Interface to the Delphi DC-DC converter - Handles sending of commands and reception of status frames to drive the DC-DC converter and set its output voltage.  SB following.
+ *
+Copyright (c) 2014 Jack Rickard
+
+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 "DCDCController.h"
+template<class T> inline Print &operator <<(Print &obj, T arg) { obj.print(arg); return obj; } 
+
+
+
+DCDCController::DCDCController() : Device()
+{
+    prefsHandler = new PrefHandler(DCDC);
+    //prefsHandler->setEnabledStatus(true);
+
+    commonName = "Delphi DC-DC Converter";
+
+}
+
+
+
+void DCDCController::handleCanFrame(CAN_FRAME *frame) 
+{
+        Logger::debug("DCDC msg: %X", frame->id);
+        Logger::debug("DCDC data: %X%X%X%X%X%X%X%X", frame->data.bytes[0],frame->data.bytes[1],frame->data.bytes[2],frame->data.bytes[3],frame->data.bytes[4],frame->data.bytes[5],frame->data.bytes[6],frame->data.bytes[7]);	
+}
+
+
+
+void DCDCController::setup()
+{
+	TickHandler::getInstance()->detach(this);
+
+	loadConfiguration();
+	Device::setup(); // run the parent class version of this function
+
+	     CanHandler::getInstanceCar()->attach(this, 0x1D5, 0x7ff, false);
+        //Watch for 0x1D5 messages from Delphi converter
+	TickHandler::getInstance()->attach(this, CFG_TICK_INTERVAL_DCDC);
+}
+
+
+void DCDCController::handleTick() {
+
+	Device::handleTick(); //kick the ball up to papa
+
+        sendCmd();   //Send our Delphi voltage control command
+
+}
+
+
+/*
+1D7 08 80 77 00 00 00 00 00 00
+For 13.0 vdc output.
+
+1D7 08 80 8E 00 00 00 00 00 00
+For 13.5 vdc output.
+
+To request 14.0 vdc, the message was:
+1D7 08 80 A5 00 00 00 00 00 00
+*/
+
+void DCDCController::sendCmd()
+{
+	DCDCConfiguration *config = (DCDCConfiguration *)getConfiguration();
+
+	CAN_FRAME output;
+	output.length = 8;
+	output.id = 0x1D7;
+	output.extended = 0; //standard frame
+	output.rtr = 0;  
+        output.fid = 0; 
+        output.data.bytes[0] = 0x80;
+        output.data.bytes[1] = 0x8E;
+        output.data.bytes[2] = 0;
+        output.data.bytes[3] = 0;
+        output.data.bytes[4] = 0;
+        output.data.bytes[5] = 0;
+        output.data.bytes[6] = 0;
+        output.data.bytes[7] = 0x00;       
+
+	CanHandler::getInstanceCar()->sendFrame(output);
+        timestamp();
+        Logger::debug("Delphi DC-DC cmd: %X %X %X %X %X %X %X %X %X  %d:%d:%d.%d",output.id, output.data.bytes[0],
+        output.data.bytes[1],output.data.bytes[2],output.data.bytes[3],output.data.bytes[4],output.data.bytes[5],output.data.bytes[6],output.data.bytes[7], hours, minutes, seconds, milliseconds);           
+}
+
+DeviceId DCDCController::getId() {
+	return (DCDC);
+}
+
+uint32_t DCDCController::getTickInterval()
+{
+	return CFG_TICK_INTERVAL_DCDC;
+}
+
+void DCDCController::loadConfiguration() {
+	DCDCConfiguration *config = (DCDCConfiguration *)getConfiguration();
+
+	if (!config) {
+		config = new DCDCConfiguration();
+		setConfiguration(config);
+	}
+
+	Device::loadConfiguration(); // call parent
+}
+
+void DCDCController::saveConfiguration() {
+	Device::saveConfiguration();
+}
+
+void DCDCController::timestamp()
+{
+   milliseconds = (int) (millis()/1) %1000 ;
+   seconds = (int) (millis() / 1000) % 60 ;
+    minutes = (int) ((millis() / (1000*60)) % 60);
+    hours   = (int) ((millis() / (1000*60*60)) % 24);  
+}
+
+