Add support for custom motor controller board driving DMOC645 power s…

…ection, add firmware receiver but commented out for now,

updated version number, add GEVCU6.2 board files and BOM

CKMotorController.cpp

@@ -0,0 +1,255 @@
+/*
+ * CKMotorController.cpp
+ *
+ * Created: 7/7/2016 2:47:16 PM
+ *  Author: collin
+ 
+  * Interface to the CK Motor Controller - Handles sending of commands and reception of status frames
+  *
+  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 "CKMotorController.h"
+
+uint32_t CK_milli;
+
+CKMotorController::CKMotorController() : MotorController() {
+    prefsHandler = new PrefHandler(CKINVERTER);
+
+    selectedGear = NEUTRAL;
+    operationState = DISABLED;
+    actualState = DISABLED;
+    online = 0;
+	aliveCounter = 0;
+    commonName = "CK Inverter Ctrl Board";
+}
+
+void CKMotorController::setup() {
+    TickHandler::getInstance()->detach(this);
+
+    Logger::info("add device: CKINVCTRL (id:%X, %X)", CKINVERTER, this);
+
+    loadConfiguration();
+    MotorController::setup(); // run the parent class version of this function
+
+    // register ourselves as observer of 0x23x and 0x65x can frames
+    CanHandler::getInstanceEV()->attach(this, 0x410, 0x7f0, false);
+
+    running = false;
+    setSelectedGear(NEUTRAL);
+    setOpState(DISABLED );
+    CK_milli = millis();
+
+    TickHandler::getInstance()->attach(this, CFG_TICK_INTERVAL_MOTOR_CONTROLLER_DMOC);
+}
+
+/*
+ Finally, the firmware actually processes some of the status messages from the DmocMotorController
+ However, currently the alive and checksum bytes aren't checked for validity.
+ To be valid a frame has to have a different alive value than the last value we saw
+ and also the checksum must match the one we calculate. Right now we'll just assume
+ everything has gone according to plan.
+ */
+
+void CKMotorController::handleCanFrame(CAN_FRAME *frame) {
+    int RotorTemp, invTemp, StatorTemp;
+    int temp;
+    online = true; //if a frame got to here then it passed the filter and must have been from the DMOC
+
+    //Logger::debug("CKInverter CAN received: %X  %X  %X  %X  %X  %X  %X  %X  %X", frame->id,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]);
+
+    switch (frame->id) {
+    case 0x410: //Debugging output 1
+        activityCount++;
+        break;
+    case 0x411: //debugging 2
+        activityCount++;
+        break;
+
+    case 0x412: //debugging 3
+        activityCount++;
+        break;
+    }
+}
+
+void CKMotorController::handleTick() {
+
+    MotorController::handleTick(); //kick the ball up to papa
+
+    if (activityCount > 0)
+    {
+        activityCount--;
+        if (activityCount > 60) activityCount = 60;
+        if (activityCount > 40) //If we are receiving regular CAN messages from the controller, this will very quickly get to over 40. We'll limit
+            // it to 60 so if we lose communications, within 20 ticks we will decrement below this value.
+        {
+            //Logger::debug("EnableIn=%i and ReverseIn = %i" ,getEnableIn(),getReverseIn());
+            /*if(getEnableIn()<0)*/setOpState(ENABLE); //If we HAVE an enableinput 0-3, we'll let that handle opstate. Otherwise set it to ENABLE
+            /*if(getReverseIn()<0)*/setSelectedGear(DRIVE); //If we HAVE a reverse input, we'll let that determine forward/reverse.  Otherwise set it to DRIVE
+        }
+    }
+    else {
+        setSelectedGear(NEUTRAL); //We will stay in NEUTRAL until we get at least 40 frames ahead indicating continous communications.
+    }
+
+
+    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()-CK_milli)>2000)
+        {
+            running=false; // We haven't received any frames for over 2 seconds.  Otherwise online would be true.
+            CK_milli=millis();   //Reset our 2 second timer
+        }
+    }
+    else running=true;
+    online=false;//This flag will be set to 1 by received frames.
+
+    sendPowerCmd();
+}
+
+//Commanded RPM plus state of key and gear selector
+void CKMotorController::sendPowerCmd() {
+    CKMotorControllerConfiguration *config = (CKMotorControllerConfiguration *)getConfiguration();
+    CAN_FRAME output;
+    OperationState newstate;
+    output.length = 7;
+    output.id = 0x232;
+    output.extended = 0; //standard frame
+    output.rtr = 0;
+
+	aliveCounter++;
+
+	//obviously just for debugging during development. Do not leave these next lines here for long!
+	operationState = MotorController::ENABLE;
+	selectedGear = MotorController::DRIVE;
+	powerMode = MotorController::modeSpeed;
+	actualState = MotorController::ENABLE;
+
+	if (operationState == ENABLE && selectedGear != NEUTRAL)
+	{
+		if (powerMode == modeSpeed)
+		{
+			torqueRequested = 0;
+			if (throttleRequested > 0)
+			{
+		        speedRequested = (((long) throttleRequested * (long) config->speedMax) / 1000);			
+			}
+			else speedRequested = 0;
+		}	
+		else if (powerMode == modeTorque)
+		{
+			speedRequested = 0;
+			torqueRequested = (long)throttleRequested * (long)config->torqueMax / 1000l;	
+		}
+	}
+	else
+	{
+		speedRequested = 0;
+		torqueRequested = 0;
+	}
+
+	output.data.bytes[0] = (speedRequested & 0x00FF);
+    output.data.bytes[1] = (speedRequested >> 8) & 0xFF;
+	output.data.bytes[2] = (torqueRequested & 0x00FF);
+	output.data.bytes[3] = (torqueRequested >> 8) & 0xFF;    
+
+    if (actualState == ENABLE) {
+		output.data.bytes[4] = 1;
+		if (selectedGear == MotorController::DRIVE) output.data.bytes[4] += 2;
+		if (selectedGear == MotorController::REVERSE) output.data.bytes[4] += 4;
+    }
+    else { //force neutral gear until the system is enabled.
+        output.data.bytes[4] = 0;
+    }
+
+	output.data.bytes[5] = aliveCounter;
+
+    output.data.bytes[6] = calcChecksum(output);
+
+	Logger::debug("CKInverter Sent Frame: %X  %X  %X  %X  %X  %X  %X  %X  %X", 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]);
+
+    CanHandler::getInstanceEV()->sendFrame(output);
+}
+
+//just a bog standard CRC8 calculation with custom generator byte. Good enough.
+//The point isn't obfuscation - just to prove to the other end that we're not insane and sending junk
+//Obfuscation doesn't work well in open source projects anyway. ;)
+byte CKMotorController::calcChecksum(CAN_FRAME& thisFrame)
+{
+    const uint8_t generator = 0xAD;
+    uint8_t crc = 0;
+
+    for (int byt = 0; byt < 6; byt++)
+    {
+	    crc ^= thisFrame.data.bytes[byt];
+
+	    for (int i = 0; i < 8; i++)
+	    {
+		    if ((crc & 0x80) != 0)
+		    {
+			    crc = (uint8_t)((crc << 1) ^ generator);
+		    }
+		    else
+		    {
+			    crc <<= 1;
+		    }
+	    }
+    }
+
+    return crc;
+}
+
+void CKMotorController::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 CKMotorController::getId() {
+    return (CKINVERTER);
+}
+
+uint32_t CKMotorController::getTickInterval()
+{
+    return CFG_TICK_INTERVAL_MOTOR_CONTROLLER_DMOC;
+}
+
+void CKMotorController::loadConfiguration() {
+    CKMotorControllerConfiguration *config = (CKMotorControllerConfiguration *)getConfiguration();
+
+    if (!config) {
+        config = new CKMotorControllerConfiguration();
+        setConfiguration(config);
+    }
+
+    MotorController::loadConfiguration(); // call parent
+}
+
+void CKMotorController::saveConfiguration() {
+    MotorController::saveConfiguration();
+}

CKMotorController.h

@@ -0,0 +1,77 @@
+/*
+ * CKMotorController.h
+ *
+ * Created: 7/7/2016 2:47:31 PM
+ *  Author: collin
+ 
+  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.
+
+ */ 
+
+
+#ifndef CKMOTORCONTROLLER_H_
+#define CKMOTORCONTROLLER_H_
+
+#include <Arduino.h>
+#include "config.h"
+#include "MotorController.h"
+#include "sys_io.h"
+#include "TickHandler.h"
+#include "CanHandler.h"
+
+/*
+ * Class for controller specific configuration parameters
+ */
+class CKMotorControllerConfiguration : public MotorControllerConfiguration {
+public:
+};
+
+class CKMotorController: public MotorController, CanObserver {
+public:
+
+public:
+    virtual void handleTick();
+    virtual void handleCanFrame(CAN_FRAME *frame);
+    virtual void setup();
+    void setGear(Gears gear);
+
+    CKMotorController();
+    DeviceId getId();
+    uint32_t getTickInterval();
+
+    virtual void loadConfiguration();
+    virtual void saveConfiguration();
+
+private:
+
+    OperationState actualState; //what the controller is reporting it is    
+    byte online; //counter for whether controller appears to be operating
+    int activityCount;
+	uint8_t aliveCounter;
+    void timestamp();
+	byte calcChecksum(CAN_FRAME& thisFrame);
+    void sendPowerCmd();
+    //byte calcChecksum(CAN_FRAME thisFrame);
+
+};
+
+#endif /* CKMOTORCONTROLLER_H_ */

CanHandler.cpp

@@ -28,6 +28,7 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  */
 
 #include "CanHandler.h"
+#include "FirmwareReceiver.h"
 
 CanHandler *CanHandler::canHandlerEV = NULL;
 CanHandler *CanHandler::canHandlerCar = NULL;
@@ -83,6 +84,8 @@ void CanHandler::initialize() {
 
     //Mailboxes are default set up initialized with one MB for TX and the rest for RX
     //That's OK with us so no need to initialize those things there.
+
+	//bus->setRXFilter(0x100, 0x7C0, false); //filter to allow firmware upgrade frames to come in.
 
     Logger::info("CAN%d init ok", (canBusNode == CAN_BUS_EV ? 0 : 1));
 }
@@ -205,7 +208,7 @@ void CanHandler::process() {
             }
 
             if(frame.id==CAN_SWITCH)CANIO(frame);
-
+			//fwGotFrame(&frame);
         }
     }
 }

DeviceTypes.h

@@ -44,6 +44,7 @@ enum DeviceId { //unique device ID for every piece of hardware possible
     DMOC645 = 0x1000,
     BRUSA_DMC5 = 0x1001,
     CODAUQM = 0x1002,
+	CKINVERTER = 0x1003,
     BRUSACHARGE = 0x1010,
     TCCHCHARGE = 0x1011,
     LEAR=0x1012,

GEVCU.h

@@ -40,6 +40,7 @@ SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #include "MotorController.h"
 #include "DmocMotorController.h"
 #include "BrusaMotorController.h"
+#include "CKMotorController.h"
 #include "Heartbeat.h"
 #include "sys_io.h"
 #include "CanHandler.h"