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Added a few more data items to BLE data comm. Added state of charge
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to BatteryManager - no idea why it wasn't already there.
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@collin80
collin80 committed Jul 31, 2016
1 parent 252d436 commit b8d8c9e
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Showing 4 changed files with 84 additions and 38 deletions.
5 changes: 5 additions & 0 deletions BatteryManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ BatteryManager::BatteryManager() : Device()
{
packVoltage = 0;
packCurrent = 0;
SOC = 0;
}

BatteryManager::~BatteryManager()
Expand Down Expand Up @@ -70,5 +71,9 @@ signed int BatteryManager::getPackCurrent()
return packCurrent;
}

int BatteryManager::getSOC()
{
return SOC;
}


1 change: 1 addition & 0 deletions BatteryManager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ class BatteryManager : public Device {
~BatteryManager();
int getPackVoltage(); //in tenths of a volt
signed int getPackCurrent(); //in tenths of an amp
int getSOC();
//bool allowCharging();
//bool allowDischarging();
DeviceType getType();
Expand Down
100 changes: 67 additions & 33 deletions adafruitBLE.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,9 +36,6 @@ uint8_t BLETYPE=1; //Type 1 is SPI type 2 is UART

/*
* Extra things that should be sent but perhaps aren't:
* current state of digital inputs and outputs
* Battery SOC
* Current throttle application (where is the pedal being depressed to? +/- 100%
* Enabled/Disabled device drivers
*/

Expand All @@ -53,40 +50,40 @@ Characteristic characteristics[] =
{BLE_DATATYPE_INTEGER, 4, 4, 0x12, "TimeRunning", {GATT_PRESENT_FORMAT_UINT32, 0, GATT_PRESENT_UNIT_TIME_SECOND, 1, 0}}, //MeasureCharId[0]

//Requested torque followed by actual torque, both signed 16 bit
{BLE_DATATYPE_BYTEARRAY, 4, 4, 0x12, "TrqReqAct", {GATT_PRESENT_FORMAT_STRUCT, -1, GATT_PRESENT_UNIT_MOMENT_OF_FORCE_NEWTON_METRE, 1, 0}}, //1
{BLE_DATATYPE_BYTEARRAY, sizeof(BLETrqReqAct) - 1, sizeof(BLETrqReqAct) - 1, 0x12, "TrqReqAct", {GATT_PRESENT_FORMAT_STRUCT, -1, GATT_PRESENT_UNIT_MOMENT_OF_FORCE_NEWTON_METRE, 1, 0}}, //1

//First the throttle level, then the brake level, both 16 bit values
{BLE_DATATYPE_BYTEARRAY, 4, 4, 0x12, "ThrBrkLevels", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //2
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEThrBrkLevels) - 1, sizeof(BLEThrBrkLevels) - 1, 0x12, "ThrBrkLevels", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //2

//First requested speed then actual speed, both 16 bit
{BLE_DATATYPE_BYTEARRAY, 4, 4, 0x12, "Speed", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_ANGULAR_VELOCITY_REVOLUTION_PER_MINUTE, 1, 0}}, //3
{BLE_DATATYPE_BYTEARRAY, sizeof(BLESpeeds) - 1, sizeof(BLESpeeds) - 1, 0x12, "Speed", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_ANGULAR_VELOCITY_REVOLUTION_PER_MINUTE, 1, 0}}, //3

//PowerMode, then Gear, then IsRunning then isFaulted, then IsWarning, lastly LogLevel all 1 byte each
{BLE_DATATYPE_BYTEARRAY, 6, 6, 0x1A, "Modes", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //MeasureCharId[4]
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEModes) - 1, sizeof(BLEModes) - 1, 0x1A, "Modes", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //MeasureCharId[4]

//Bus Voltage then Bus Current, then motor current, then kwhours, then mechanical power all 16 bit with currents being signed.
{BLE_DATATYPE_BYTEARRAY, 10, 10, 0x12, "PowerStatus", {GATT_PRESENT_FORMAT_STRUCT, -1, GATT_PRESENT_UNIT_NONE, 1, 0}}, //5
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEPowerStatus) - 1, sizeof(BLEPowerStatus) - 1, 0x12, "PowerStatus", {GATT_PRESENT_FORMAT_STRUCT, -1, GATT_PRESENT_UNIT_NONE, 1, 0}}, //5

//Bitfield 1 through 4 all in the same characteristic. All 32 bit
{BLE_DATATYPE_BYTEARRAY, 16, 16, 0x12, "Bitfields", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //MeasureCharId[6]
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEBitfields) - 1, sizeof(BLEBitfields) - 1, 0x12, "Bitfields", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //MeasureCharId[6]

//Temperatures - Motor, Inverter, System. All 16 bit
{BLE_DATATYPE_BYTEARRAY, 6, 6, 0x12, "Temperatures", {GATT_PRESENT_FORMAT_STRUCT, -1, GATT_PRESENT_UNIT_THERMODYNAMIC_TEMPERATURE_DEGREE_CELSIUS, 1, 0}}, //7
{BLE_DATATYPE_BYTEARRAY, sizeof(BLETemperatures) - 1, sizeof(BLETemperatures) - 1, 0x12, "Temperatures", {GATT_PRESENT_FORMAT_STRUCT, -1, GATT_PRESENT_UNIT_THERMODYNAMIC_TEMPERATURE_DEGREE_CELSIUS, 1, 0}}, //7

//PrechargeResist(2), PrechargeRelay(1), MainContRelay(1), CoolFanRelay(1), CoolOnTemp(1), coolOffTemp(1), BrakeLightOut(1), ReverseLightOut(1), EnableIn(1), ReverseIn(1)
{BLE_DATATYPE_BYTEARRAY, 11, 11, 0x1A, "DigIO", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //8
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEDigIO) - 1, sizeof(BLEDigIO) - 1, 0x1A, "DigIO", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //8

//NumThrPots(1), ThrottleType(1), T1Min(2), T2Min(2), T1Max(2), T2Max(2)
{BLE_DATATYPE_BYTEARRAY, 10, 10, 0x1A, "ThrottleIO", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //9
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEThrottleIO) - 1, sizeof(BLEThrottleIO) - 1, 0x1A, "ThrottleIO", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //9

//ThrottleRegenMax(2), ThrRegenMin(2), ThrottleFwd(2), ThrottleMap(2), TRegenMin(1), TRegenMax(1), TCreep(1)
{BLE_DATATYPE_BYTEARRAY, 11, 11, 0x1A, "ThrottleMap", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //10
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEThrottleMap) - 1, sizeof(BLEThrottleMap) - 1, 0x1A, "ThrottleMap", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //10

//BrakeMin(2), BrakeMax(2), BRegenMin(1), BRegenMax(1)
{BLE_DATATYPE_BYTEARRAY, 6, 6, 0x1A, "BrakeParam", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //11
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEBrakeParam) - 1, sizeof(BLEBrakeParam) - 1, 0x1A, "BrakeParam", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //11

//NominalVoltage(2), MaxRPM(2), MaxTorque(2)
{BLE_DATATYPE_BYTEARRAY, 6, 6, 0x1A, "MaxParams", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //12
{BLE_DATATYPE_BYTEARRAY, sizeof(BLEMaxParams) - 1, sizeof(BLEMaxParams) - 1, 0x1A, "MaxParams", {GATT_PRESENT_FORMAT_STRUCT, 0, GATT_PRESENT_UNIT_NONE, 1, 0}}, //12

{BLE_DATATYPE_INTEGER, 0, 0, 0, "END", {GATT_PRESENT_FORMAT_UINT8, 0, GATT_PRESENT_UNIT_NONE, 1, 0}} //leave this at the end - null terminator
};
Expand Down Expand Up @@ -380,10 +377,10 @@ void ADAFRUITBLE::handleTick() {
MotorController* motorController = DeviceManager::getInstance()->getMotorController();
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
static int pollListening = 0;
static int pollSocket = 0;
BatteryManager *bms = reinterpret_cast<BatteryManager *>(DeviceManager::getInstance()->getDeviceByType(DEVICE_BMS));

uint32_t ms = millis();
char buff[6];
uint32_t IOTemp = 0;
uint8_t brklt;
tickCounter++;

Expand All @@ -406,7 +403,7 @@ void ADAFRUITBLE::handleTick() {
//Logger::console("Wifi tick counter 1...");

paramCache.timeRunning = ms / 1000;
gatt.setChar(MeasureCharId[0], getTimeRunning());
gatt.setChar(MeasureCharId[0], (uint8_t *)&paramCache.timeRunning, 4);

if ( bleTrqReqAct.torqueRequested != motorController->getTorqueRequested() ) {
bleTrqReqAct.torqueRequested = motorController->getTorqueRequested();
Expand All @@ -419,26 +416,49 @@ void ADAFRUITBLE::handleTick() {
}
if (accelerator) {
RawSignalData *rawSignal = accelerator->acquireRawSignal();
if ( bleThrBrkLevels.throttleLevel != rawSignal->input1) {
bleThrBrkLevels.throttleLevel = rawSignal->input1;
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())
{
bleThrBrkLevels.throttlePercentage = accelerator->getLevel();
bleThrBrkLevels.doUpdate = 1;
}
}
if (brake) {
RawSignalData *rawSignal = brake->acquireRawSignal();
if (bleThrBrkLevels.brakeLevel != rawSignal->input1) {
bleThrBrkLevels.brakeLevel = rawSignal->input1;
if (bleThrBrkLevels.brakeRawLevel != rawSignal->input1) {
bleThrBrkLevels.brakeRawLevel = rawSignal->input1;
paramCache.brakeNotAvailable = false;
bleThrBrkLevels.doUpdate = 1;
}
if (bleThrBrkLevels.brakePercentage != brake->getLevel()) {
bleThrBrkLevels.brakePercentage = brake->getLevel();
bleThrBrkLevels.doUpdate = 1;
}
} else {
if ( paramCache.brakeNotAvailable == true ) {
paramCache.brakeNotAvailable = false; // no need to keep sending this
bleThrBrkLevels.brakeLevel = 0;
bleThrBrkLevels.brakeRawLevel = 0;
bleThrBrkLevels.doUpdate = 1;
}
}
} else 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 ( bleSpeeds.speedRequested != motorController->getSpeedRequested() ) {
Expand All @@ -453,8 +473,8 @@ void ADAFRUITBLE::handleTick() {

if ( blePowerStatus.busVoltage != motorController->getDcVoltage() ) {
blePowerStatus.busVoltage = motorController->getDcVoltage();
if(blePowerStatus.busVoltage<1000) blePowerStatus.busVoltage=1000; //Limits of the gage display
if(blePowerStatus.busVoltage>4500) blePowerStatus.busVoltage=4500;
if(blePowerStatus.busVoltage<0) blePowerStatus.busVoltage=0;
//if(blePowerStatus.busVoltage>4500) blePowerStatus.busVoltage=4500;
blePowerStatus.doUpdate = 1;
}

Expand Down Expand Up @@ -501,12 +521,26 @@ void ADAFRUITBLE::handleTick() {
bleBitFields.bitfield2 = motorController->getStatusBitfield2();
bleBitFields.doUpdate = 1;
}
if ( bleBitFields.bitfield3 != motorController->getStatusBitfield3() ) {
bleBitFields.bitfield3 = motorController->getStatusBitfield3();

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;
}
if ( bleBitFields.bitfield4 != motorController->getStatusBitfield4() ) {
bleBitFields.bitfield4 = motorController->getStatusBitfield4();

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;
}

Expand Down Expand Up @@ -537,8 +571,8 @@ void ADAFRUITBLE::handleTick() {
if (motorController) {
//Logger::console("Wifi tick counter 4...");

if ( bleDigIO.prechargeR != motorController->getprechargeR() ) {
bleDigIO.prechargeR = motorController->getprechargeR();
if ( bleDigIO.prechargeDuration != motorController->getprechargeR() ) {
bleDigIO.prechargeDuration = motorController->getprechargeR();
bleDigIO.doUpdate = 1;
}

Expand Down Expand Up @@ -1007,7 +1041,7 @@ void ADAFRUITBLE::loadParameters() {
bleDigIO.reverseLightOut = motorConfig->revLight;
bleDigIO.enableIn = motorConfig->enableIn;
bleDigIO.reverseIn = motorConfig->reverseIn;
bleDigIO.prechargeR = motorConfig->prechargeR;
bleDigIO.prechargeDuration = motorConfig->prechargeR;
bleDigIO.prechargeRelay = motorConfig->prechargeRelay;
bleDigIO.mainContRelay = motorConfig->mainContactorRelay;
bleDigIO.doUpdate = 1;
Expand Down
16 changes: 11 additions & 5 deletions adafruitBLE.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,9 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include "config.h"
#include "constants.h"
#include "DeviceManager.h"
#include "sys_io.h"
#include "PotThrottle.h"
#include "BatteryManager.h"
#include "Sys_Messages.h"
#include "Logger.h"
#include "DeviceTypes.h"
Expand Down Expand Up @@ -81,8 +83,11 @@ struct BLETrqReqAct

struct BLEThrBrkLevels
{
uint16_t throttleLevel;
uint16_t brakeLevel;
uint16_t throttleRawLevel1;
uint16_t throttleRawLevel2;
uint16_t brakeRawLevel;
int8_t throttlePercentage; // -100 to 100 with regen being negative
int8_t brakePercentage; //always regen
uint8_t doUpdate;
};

Expand Down Expand Up @@ -111,15 +116,16 @@ struct BLEPowerStatus
int16_t motorCurrent;
uint16_t kwHours;
int16_t mechPower;
uint8_t SOC;
uint8_t doUpdate;
};

struct BLEBitfields
{
uint32_t bitfield1;
uint32_t bitfield2;
uint32_t bitfield3;
uint32_t bitfield4;
uint32_t digitalInputs;
uint32_t digitalOutputs;
uint8_t doUpdate;
};

Expand All @@ -134,7 +140,7 @@ struct BLETemperatures

struct BLEDigIO
{
uint16_t prechargeR;
uint16_t prechargeDuration;
uint8_t prechargeRelay;
uint8_t mainContRelay;
uint8_t coolingRelay;
Expand Down

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