diff --git a/.cproject b/.cproject index ba1fd85f..82873701 100644 --- a/.cproject +++ b/.cproject @@ -1,11 +1,8 @@ - - - - - + + @@ -17,25 +14,30 @@ - - - - - - + + @@ -134,94 +135,102 @@ - - - - @@ -229,12 +238,12 @@ - + - + @@ -245,4 +254,4 @@ - + \ No newline at end of file diff --git a/.cproject_org b/.cproject_org new file mode 100644 index 00000000..ba1fd85f --- /dev/null +++ b/.cproject_org @@ -0,0 +1,248 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/.project b/.project index c5202eac..55e85593 100644 --- a/.project +++ b/.project @@ -1,7 +1,7 @@ LishuiFOC_01 - + @@ -20,11 +20,8 @@ org.eclipse.cdt.core.cnature - org.eclipse.cdt.managedbuilder.core.managedBuildNature org.eclipse.cdt.managedbuilder.core.ScannerConfigNature - fr.ac6.mcu.ide.core.MCUProjectNature + com.st.stm32cube.ide.mcu.MCUSW4STM32ConvertedProjectNature + org.eclipse.cdt.managedbuilder.core.managedBuildNature - - - diff --git a/.project_org b/.project_org new file mode 100644 index 00000000..6e9dd54f --- /dev/null +++ b/.project_org @@ -0,0 +1,30 @@ + + + LishuiFOC_01 + + + + + + org.eclipse.cdt.managedbuilder.core.genmakebuilder + clean,full,incremental, + + + + + org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder + full,incremental, + + + + + + org.eclipse.cdt.core.cnature + org.eclipse.cdt.managedbuilder.core.managedBuildNature + org.eclipse.cdt.managedbuilder.core.ScannerConfigNature + fr.ac6.mcu.ide.core.MCUProjectNature + + + + + diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml index dbfddf5f..13c76f97 100644 --- a/.settings/language.settings.xml +++ b/.settings/language.settings.xml @@ -1,25 +1,25 @@ - + - + - + - + - + \ No newline at end of file diff --git a/LishuiFOC_01 Debug.launch b/LishuiFOC_01 Debug.launch index 153440fe..391b8026 100644 --- a/LishuiFOC_01 Debug.launch +++ b/LishuiFOC_01 Debug.launch @@ -1,60 +1,96 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/LishuiFOC_01_converter.log b/LishuiFOC_01_converter.log new file mode 100644 index 00000000..b6cebc60 --- /dev/null +++ b/LishuiFOC_01_converter.log @@ -0,0 +1,21 @@ +Project: LishuiFOC_01 +Converter: ST System Workbench for STM32 project converter +Date: 20240715 + +Unknown value type "" for id gnu.c.link.option.other on tool fr.ac6.managedbuild.tool.gnu.cross.c.linker +Unknown value type "" for id gnu.c.link.option.userobjs on tool fr.ac6.managedbuild.tool.gnu.cross.c.linker +Unknown value type "" for id gnu.cpp.link.option.libs on tool fr.ac6.managedbuild.tool.gnu.cross.cpp.linker +Unknown value type "" for id gnu.cpp.link.option.paths on tool fr.ac6.managedbuild.tool.gnu.cross.cpp.linker +Option fr.ac6.managedbuild.tool.gnu.cross.cpp.linker.noexceptions is no longer supported +Option fr.ac6.managedbuild.tool.gnu.cross.cpp.linker.nortti is no longer supported +Value type err, id: gnu.cpp.link.option.flags +Unknown value type "" for id gnu.both.asm.option.include.paths on tool fr.ac6.managedbuild.tool.gnu.cross.assembler +No map found for id: gnu.cpp.debugging.level.max +No map found for id: gnu.cpp.compiler.option.preprocessor.def.symbols +Unknown value type "" for id gnu.c.link.option.libs on tool fr.ac6.managedbuild.tool.gnu.cross.c.linker +Unknown value type "" for id gnu.c.link.option.paths on tool fr.ac6.managedbuild.tool.gnu.cross.c.linker +Unknown value type "" for id gnu.cpp.link.option.libs on tool fr.ac6.managedbuild.tool.gnu.cross.cpp.linker +Unknown value type "" for id gnu.cpp.link.option.paths on tool fr.ac6.managedbuild.tool.gnu.cross.cpp.linker +Option fr.ac6.managedbuild.tool.gnu.cross.cpp.linker.noexceptions is no longer supported +Option fr.ac6.managedbuild.tool.gnu.cross.cpp.linker.nortti is no longer supported +Unknown value type "" for id gnu.both.asm.option.include.paths on tool fr.ac6.managedbuild.tool.gnu.cross.assembler.exe.release diff --git a/Src/FOC.c b/Src/FOC.c index 6da95501..6d655157 100644 --- a/Src/FOC.c +++ b/Src/FOC.c @@ -39,7 +39,7 @@ char PI_flag=0; //const q31_t _T = 2048; -TIM_HandleTypeDef htim1; +extern TIM_HandleTypeDef htim1; void FOC_calculation(int16_t int16_i_as, int16_t int16_i_bs, q31_t q31_teta, int16_t int16_i_q_target, MotorState_t* MS_FOC); diff --git a/Src/display_kunteng.c b/Src/display_kunteng.c index 2d92b1a0..0a5a8327 100644 --- a/Src/display_kunteng.c +++ b/Src/display_kunteng.c @@ -30,221 +30,223 @@ uint8_t ui8_gear_ratio = GEAR_RATIO; volatile struc_lcd_configuration_variables lcd_configuration_variables; -UART_HandleTypeDef huart1; +extern UART_HandleTypeDef huart1; + void check_recent(void); void kunteng_init() { - if (HAL_UART_Receive_DMA(&huart1, (uint8_t *)ui8_rx_buffer, 13) != HAL_OK) - { - Error_Handler(); - } - - EE_ReadVariable(EEPROM_KT_B0_B3, &i16_eeprom_temp); - ui8_rx_buffer[0] = i16_eeprom_temp>>8; - ui8_rx_initial_buffer[0] = i16_eeprom_temp>>8; - ui8_rx_buffer[3] = i16_eeprom_temp &0xFF; - ui8_rx_initial_buffer[3] = i16_eeprom_temp &0xFF; - - EE_ReadVariable(EEPROM_KT_B2_B4, &i16_eeprom_temp); - ui8_rx_buffer[2] = i16_eeprom_temp>>8; - ui8_rx_initial_buffer[2] = i16_eeprom_temp>>8; - ui8_rx_buffer[4] = i16_eeprom_temp &0xFF; - ui8_rx_initial_buffer[4] = i16_eeprom_temp &0xFF; - - EE_ReadVariable(EEPROM_KT_B6_B7, &i16_eeprom_temp); - ui8_rx_buffer[6] = i16_eeprom_temp>>8; - ui8_rx_initial_buffer[6] = i16_eeprom_temp>>8; - ui8_rx_buffer[7] = i16_eeprom_temp &0xFF; - ui8_rx_initial_buffer[7] = i16_eeprom_temp &0xFF; - - EE_ReadVariable(EEPROM_KT_B8_B9, &i16_eeprom_temp); - ui8_rx_buffer[8] = i16_eeprom_temp>>8; - ui8_rx_initial_buffer[8] = i16_eeprom_temp>>8; - ui8_rx_buffer[9] = i16_eeprom_temp &0xFF; - ui8_rx_initial_buffer[9] = i16_eeprom_temp &0xFF; - - EE_ReadVariable(EEPROM_KT_B1_B10, &i16_eeprom_temp); - ui8_rx_buffer[1] = i16_eeprom_temp>>8; - ui8_rx_initial_buffer[1] = i16_eeprom_temp>>8; - ui8_rx_buffer[10] = i16_eeprom_temp &0xFF; - ui8_rx_initial_buffer[10] = i16_eeprom_temp &0xFF; - - ui8_crc = 0; - - for (ui8_j = 0; ui8_j <= 12; ui8_j++) - { - if (ui8_j == 5) continue; // don't xor B5 (B7 in our case) - ui8_crc ^= ui8_rx_buffer[ui8_j]; - } - ui8_crc ^=10; //right XOR must be pasted here!!! - ui8_rx_buffer [5]=ui8_crc; - ui8_rx_buffer[11]=0x37; - ui8_rx_buffer[12]=0x0E; + if (HAL_UART_Receive_DMA(&huart1, (uint8_t *)ui8_rx_buffer, 13) != HAL_OK) + { + Error_Handler(); + } + + EE_ReadVariable(EEPROM_KT_B0_B3, &i16_eeprom_temp); + ui8_rx_buffer[0] = i16_eeprom_temp>>8; + ui8_rx_initial_buffer[0] = i16_eeprom_temp>>8; + ui8_rx_buffer[3] = i16_eeprom_temp &0xFF; + ui8_rx_initial_buffer[3] = i16_eeprom_temp &0xFF; + + EE_ReadVariable(EEPROM_KT_B2_B4, &i16_eeprom_temp); + ui8_rx_buffer[2] = i16_eeprom_temp>>8; + ui8_rx_initial_buffer[2] = i16_eeprom_temp>>8; + ui8_rx_buffer[4] = i16_eeprom_temp &0xFF; + ui8_rx_initial_buffer[4] = i16_eeprom_temp &0xFF; + + EE_ReadVariable(EEPROM_KT_B6_B7, &i16_eeprom_temp); + ui8_rx_buffer[6] = i16_eeprom_temp>>8; + ui8_rx_initial_buffer[6] = i16_eeprom_temp>>8; + ui8_rx_buffer[7] = i16_eeprom_temp &0xFF; + ui8_rx_initial_buffer[7] = i16_eeprom_temp &0xFF; + + EE_ReadVariable(EEPROM_KT_B8_B9, &i16_eeprom_temp); + ui8_rx_buffer[8] = i16_eeprom_temp>>8; + ui8_rx_initial_buffer[8] = i16_eeprom_temp>>8; + ui8_rx_buffer[9] = i16_eeprom_temp &0xFF; + ui8_rx_initial_buffer[9] = i16_eeprom_temp &0xFF; + + EE_ReadVariable(EEPROM_KT_B1_B10, &i16_eeprom_temp); + ui8_rx_buffer[1] = i16_eeprom_temp>>8; + ui8_rx_initial_buffer[1] = i16_eeprom_temp>>8; + ui8_rx_buffer[10] = i16_eeprom_temp &0xFF; + ui8_rx_initial_buffer[10] = i16_eeprom_temp &0xFF; + + ui8_crc = 0; + + for (ui8_j = 0; ui8_j <= 12; ui8_j++) + { + if (ui8_j == 5) continue; // don't xor B5 (B7 in our case) + ui8_crc ^= ui8_rx_buffer[ui8_j]; + } + ui8_crc ^=10; //right XOR must be pasted here!!! + ui8_rx_buffer [5]=ui8_crc; + ui8_rx_buffer[11]=0x37; + ui8_rx_buffer[12]=0x0E; } void display_update(MotorState_t* MS_U) { - // prepare moving indication info - ui8_moving_indication = 0; -if (!HAL_GPIO_ReadPin(Brake_GPIO_Port, Brake_Pin)) { ui8_moving_indication |= (1 << 5); } - //if (ebike_app_cruise_control_is_set ()) { ui8_moving_indication |= (1 << 3); } - if (throttle_is_set ()) { ui8_moving_indication |= (1 << 1); } - //if (pas_is_set ()) { ui8_moving_indication |= (1 << 4); } - - - // calc battery pack state of charge (SOC) - ui32_battery_volts = (MS_U->Voltage*CAL_BAT_V*256)/10000; //hier noch die richtige Kalibrierung einbauen (*256 für bessere Auflösung) - if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_80)) { ui8_battery_soc = 16; } // 4 bars | full - else if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_60)) { ui8_battery_soc = 12; } // 3 bars - else if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_40)) { ui8_battery_soc = 8; } // 2 bars - else if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_20)) { ui8_battery_soc = 4; } // 1 bar - else { ui8_battery_soc = 3; } // empty - //ui16_wheel_period_ms = (MS_U->Speed*PULSES_PER_REVOLUTION)>>3; //for External speedsensor - ui16_wheel_period_ms= ((MS_U->Speed)*6*(ui8_gear_ratio/2)/500); - //ui16_wheel_period_ms= ((MS_U->Speed)*6*GEAR_RATIO/500); //*6 because 6 hall interrupts per revolution, /500 because of 500 kHz timer setting - ui8_tx_buffer [0] = 65; - // B1: battery level - ui8_tx_buffer [1] = ui8_battery_soc; - // B2: 24V controller - ui8_tx_buffer [2] = (uint8_t) COMMUNICATIONS_BATTERY_VOLTAGE; - // B3: speed, wheel rotation period, ms; period(ms)=B3*256+B4; - ui8_tx_buffer [3] = (ui16_wheel_period_ms >> 8) & 0xff; - ui8_tx_buffer [4] = (ui16_wheel_period_ms) & 0xff; - - - - // B5: error info display - ui8_tx_buffer [5] = ui16_error; - // B6: CRC: xor B1,B2,B3,B4,B5,B7,B8,B9,B10,B11 - // 0 value so no effect on xor operation for now - ui8_tx_buffer [6] = 0; - // B7: moving mode indication, bit - // throttle: 2 - ui8_tx_buffer [7] = ui8_moving_indication; - // B8: 4x controller current - // Vbat = 30V: - // - B8 = 255, LCD shows 1912 watts - // - B8 = 250, LCD shows 1875 watts - // - B8 = 100, LCD shows 750 watts - // each unit of B8 = 0.25A - - - //ui8_tx_buffer [8] = (uint8_t)(((ui16_BatteryCurrent-ui16_current_cal_b+1)<<2)/current_cal_a); - ui8_tx_buffer [8] = (uint8_t)(MS_U->Battery_Current*MS_U->Voltage*CAL_BAT_V/82010000); //Kalibrierung nach Binatone, empririsch ermittelt. Strom und Spannung in Milli, 13W pro digit - // B9: motor temperature - ui8_tx_buffer [9] = MS_U->Temperature-15; //according to documentation at endless sphere - // B10 and B11: 0 - ui8_tx_buffer [10] = 0; - ui8_tx_buffer [11] = 0; - - // calculate CRC xor - ui8_crc = 0; - for (ui8_j = 1; ui8_j <= 11; ui8_j++) - { - ui8_crc ^= ui8_tx_buffer[ui8_j]; - } - ui8_tx_buffer [6] = ui8_crc; - - // send the package over UART - HAL_UART_Transmit_DMA(&huart1, (uint8_t *)&ui8_tx_buffer, 12); + // prepare moving indication info + ui8_moving_indication = 0; + if (!HAL_GPIO_ReadPin(Brake_GPIO_Port, Brake_Pin)) { ui8_moving_indication |= (1 << 5); } + //if (ebike_app_cruise_control_is_set ()) { ui8_moving_indication |= (1 << 3); } + if (throttle_is_set ()) { ui8_moving_indication |= (1 << 1); } + //if (pas_is_set ()) { ui8_moving_indication |= (1 << 4); } + + + // calc battery pack state of charge (SOC) + ui32_battery_volts = (MS_U->Voltage*CAL_BAT_V*256)/10000; //hier noch die richtige Kalibrierung einbauen (*256 für bessere Auflösung) + if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_80)) { ui8_battery_soc = 16; } // 4 bars | full + else if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_60)) { ui8_battery_soc = 12; } // 3 bars + else if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_40)) { ui8_battery_soc = 8; } // 2 bars + else if (ui32_battery_volts > ((uint16_t) BATTERY_PACK_VOLTS_20)) { ui8_battery_soc = 4; } // 1 bar + else { ui8_battery_soc = 3; } // empty + ui16_wheel_period_ms = (MS_U->Speed*PULSES_PER_REVOLUTION)>>3; //for External speedsensor + //ui16_wheel_period_ms= ((MS_U->Speed)*6*(ui8_gear_ratio/2)/500); + //ui16_wheel_period_ms= ((MS_U->Speed)*6*GEAR_RATIO/500); //*6 because 6 hall interrupts per revolution, /500 because of 500 kHz timer setting + ui8_tx_buffer [0] = 65; + // B1: battery level + ui8_tx_buffer [1] = ui8_battery_soc; + // B2: 24V controller + ui8_tx_buffer [2] = (uint8_t) COMMUNICATIONS_BATTERY_VOLTAGE; + // B3: speed, wheel rotation period, ms; period(ms)=B3*256+B4; + ui8_tx_buffer [3] = (ui16_wheel_period_ms >> 8) & 0xff; + ui8_tx_buffer [4] = (ui16_wheel_period_ms) & 0xff; + + + + // B5: error info display + ui8_tx_buffer [5] = ui16_error; + // B6: CRC: xor B1,B2,B3,B4,B5,B7,B8,B9,B10,B11 + // 0 value so no effect on xor operation for now + ui8_tx_buffer [6] = 0; + // B7: moving mode indication, bit + // throttle: 2 + ui8_tx_buffer [7] = ui8_moving_indication; + // B8: 4x controller current + // Vbat = 30V: + // - B8 = 255, LCD shows 1912 watts + // - B8 = 250, LCD shows 1875 watts + // - B8 = 100, LCD shows 750 watts + // each unit of B8 = 0.25A + + + //ui8_tx_buffer [8] = (uint8_t)(((ui16_BatteryCurrent-ui16_current_cal_b+1)<<2)/current_cal_a); + ui8_tx_buffer [8] = (uint8_t)(MS_U->Battery_Current*MS_U->Voltage*CAL_BAT_V/82010000); //Kalibrierung nach Binatone, empririsch ermittelt. Strom und Spannung in Milli, 13W pro digit + //ui8_tx_buffer [8] = MS_U->debug; + // B9: motor temperature + ui8_tx_buffer [9] = MS_U->Temperature-15; //according to documentation at endless sphere + // B10 and B11: 0 + ui8_tx_buffer [10] = 0; + ui8_tx_buffer [11] = 0; + + // calculate CRC xor + ui8_crc = 0; + for (ui8_j = 1; ui8_j <= 11; ui8_j++) + { + ui8_crc ^= ui8_tx_buffer[ui8_j]; + } + ui8_tx_buffer [6] = ui8_crc; + + // send the package over UART + HAL_UART_Transmit_DMA(&huart1, (uint8_t *)&ui8_tx_buffer, 12); } /********************************************************************************************/ - // Process received package from the LCD - // +// Process received package from the LCD +// - // see if we have a received package to be processed +// see if we have a received package to be processed void check_message(MotorState_t* MS_D, MotorParams_t* MP_D) - { - //printf("Byte recieved \r\n"); - // validation of the package data - ui8_crc = 0; - - for (ui8_j = 0; ui8_j <= 12; ui8_j++) - { - if (ui8_j == 5) continue; // don't xor B5 (B7 in our case) - ui8_crc ^= ui8_rx_buffer[ui8_j]; - } - - // check if end of message is OK - if((ui8_rx_buffer[11]==0x32||ui8_rx_buffer[11]==0x37) && ui8_rx_buffer[12]==0x0E ){ - // check if CRC is ok - if (((ui8_crc ^ 10) == ui8_rx_buffer [5]) || // some versions of CRC LCD5 (??) - ((ui8_crc ^ ui8_last_XOR) == ui8_rx_buffer [5]) - ) - { //printf("message valid \r\n"); - lcd_configuration_variables.ui8_assist_level = ui8_rx_buffer [1] & 7; - lcd_configuration_variables.ui8_light = ui8_rx_buffer [1]>>7 & 1; - lcd_configuration_variables.ui8_motor_characteristic = ui8_rx_buffer [3]; - lcd_configuration_variables.ui8_wheel_size = ((ui8_rx_buffer [4] & 192) >> 6) | ((ui8_rx_buffer [2] & 7) << 2); - lcd_configuration_variables.ui8_max_speed = (10 + ((ui8_rx_buffer [2] & 248) >> 3)) | (ui8_rx_buffer [4] & 32); - lcd_configuration_variables.ui8_power_assist_control_mode = ui8_rx_buffer [4] & 8; - lcd_configuration_variables.ui8_controller_max_current = (ui8_rx_buffer [7] & 15); - MS_D->assist_level = lcd_configuration_variables.ui8_assist_level; - MP_D->speedLimit = lcd_configuration_variables.ui8_max_speed; - - lcd_configuration_variables.ui8_p1 = ui8_rx_buffer[3]; - lcd_configuration_variables.ui8_p2 = ui8_rx_buffer[4] & 0x07; - lcd_configuration_variables.ui8_p3 = ui8_rx_buffer[4] & 0x08; - lcd_configuration_variables.ui8_p4 = ui8_rx_buffer[4] & 0x10; - lcd_configuration_variables.ui8_p5 = ui8_rx_buffer[0]; - - lcd_configuration_variables.ui8_c1 = (ui8_rx_buffer[6] & 0x38) >> 3; - lcd_configuration_variables.ui8_c2 = (ui8_rx_buffer[6] & 0x37); - lcd_configuration_variables.ui8_c4 = (ui8_rx_buffer[8] & 0xE0) >> 5; - lcd_configuration_variables.ui8_c5 = (ui8_rx_buffer[7] & 0x0F); - lcd_configuration_variables.ui8_c12 = (ui8_rx_buffer[9] & 0x0F); - lcd_configuration_variables.ui8_c13 = (ui8_rx_buffer[10] & 0x1C) >> 2; - lcd_configuration_variables.ui8_c14 = (ui8_rx_buffer[7] & 0x60) >> 5; - if(lcd_configuration_variables.ui8_p1 != ui8_gear_ratio){ - ui8_gear_ratio=lcd_configuration_variables.ui8_p1; - } - - if(lcd_configuration_variables.ui8_light){ - HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin, GPIO_PIN_SET); - HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); - } - else{ - HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin, GPIO_PIN_RESET); - HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); - } - - display_update(MS_D); - check_recent(); //byte 1 contains the PAS level, that may be changed quite often. Better run only at system shutdown, due to limited possible write cycles to flash - }//end CRC OK - else{ //search for right last XOR - - ui8_crc = 0; - - for (ui8_j = 0; ui8_j <= 12; ui8_j++) - { - if (ui8_j == 5) continue; // don't xor B5 (B7 in our case) - ui8_crc ^= ui8_rx_buffer[ui8_j]; - } - for (ui8_j = 0; ui8_j <= 50; ui8_j++) - { - if((ui8_crc ^ ui8_j) == ui8_rx_buffer [5]) ui8_last_XOR = ui8_j; - } - } - }// end EOT OK - else{ - //resyncronize the communication - CLEAR_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); - DMA1_Channel5->CNDTR=2; - SET_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); - - if((ui8_rx_buffer[0]==0x32||ui8_rx_buffer[0]==0x37) && ui8_rx_buffer[1]==0x0E ){ - CLEAR_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); - DMA1_Channel5->CNDTR=13; - SET_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); - } - - } - } +{ + //printf("Byte recieved \r\n"); + // validation of the package data + ui8_crc = 0; + + for (ui8_j = 0; ui8_j <= 12; ui8_j++) + { + if (ui8_j == 5) continue; // don't xor B5 (B7 in our case) + ui8_crc ^= ui8_rx_buffer[ui8_j]; + } + + // check if end of message is OK + if((ui8_rx_buffer[11]==0x32||ui8_rx_buffer[11]==0x37) && ui8_rx_buffer[12]==0x0E ){ + // check if CRC is ok + if (((ui8_crc ^ 10) == ui8_rx_buffer [5]) || // some versions of CRC LCD5 (??) + ((ui8_crc ^ ui8_last_XOR) == ui8_rx_buffer [5]) + ) + { //printf("message valid \r\n"); + lcd_configuration_variables.ui8_assist_level = ui8_rx_buffer [1] & 7; + lcd_configuration_variables.ui8_light = ui8_rx_buffer [1]>>7 & 1; + lcd_configuration_variables.ui8_motor_characteristic = ui8_rx_buffer [3]; + lcd_configuration_variables.ui8_wheel_size = ((ui8_rx_buffer [4] & 192) >> 6) | ((ui8_rx_buffer [2] & 7) << 2); + lcd_configuration_variables.ui8_max_speed = (10 + ((ui8_rx_buffer [2] & 248) >> 3)) | (ui8_rx_buffer [4] & 32); + lcd_configuration_variables.ui8_power_assist_control_mode = ui8_rx_buffer [4] & 8; + lcd_configuration_variables.ui8_controller_max_current = (ui8_rx_buffer [7] & 15); + MS_D->assist_level = lcd_configuration_variables.ui8_assist_level; + MP_D->speedLimit = lcd_configuration_variables.ui8_max_speed; + + lcd_configuration_variables.ui8_p1 = ui8_rx_buffer[3]; + lcd_configuration_variables.ui8_p2 = ui8_rx_buffer[4] & 0x07; + lcd_configuration_variables.ui8_p3 = ui8_rx_buffer[4] & 0x08; + lcd_configuration_variables.ui8_p4 = ui8_rx_buffer[4] & 0x10; + lcd_configuration_variables.ui8_p5 = ui8_rx_buffer[0]; + + lcd_configuration_variables.ui8_c1 = (ui8_rx_buffer[6] & 0x38) >> 3; + lcd_configuration_variables.ui8_c2 = (ui8_rx_buffer[6] & 0x37); + lcd_configuration_variables.ui8_c4 = (ui8_rx_buffer[8] & 0xE0) >> 5; + lcd_configuration_variables.ui8_c5 = (ui8_rx_buffer[7] & 0x0F); + lcd_configuration_variables.ui8_c12 = (ui8_rx_buffer[9] & 0x0F); + lcd_configuration_variables.ui8_c13 = (ui8_rx_buffer[10] & 0x1C) >> 2; + lcd_configuration_variables.ui8_c14 = (ui8_rx_buffer[7] & 0x60) >> 5; + if(lcd_configuration_variables.ui8_p1 != ui8_gear_ratio){ + ui8_gear_ratio=lcd_configuration_variables.ui8_p1; + } + + if(lcd_configuration_variables.ui8_light){ + HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin, GPIO_PIN_SET); + HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET); + } + else{ + HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin, GPIO_PIN_RESET); + HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); + } + + display_update(MS_D); + check_recent(); //byte 1 contains the PAS level, that may be changed quite often. Better run only at system shutdown, due to limited possible write cycles to flash + }//end CRC OK + else{ //search for right last XOR + + ui8_crc = 0; + + for (ui8_j = 0; ui8_j <= 12; ui8_j++) + { + if (ui8_j == 5) continue; // don't xor B5 (B7 in our case) + ui8_crc ^= ui8_rx_buffer[ui8_j]; + } + for (ui8_j = 0; ui8_j <= 50; ui8_j++) + { + if((ui8_crc ^ ui8_j) == ui8_rx_buffer [5]) ui8_last_XOR = ui8_j; + } + } + }// end EOT OK + else{ + //resyncronize the communication + CLEAR_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); + DMA1_Channel5->CNDTR=2; + SET_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); + + if((ui8_rx_buffer[0]==0x32||ui8_rx_buffer[0]==0x37) && ui8_rx_buffer[1]==0x0E ){ + CLEAR_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); + DMA1_Channel5->CNDTR=13; + SET_BIT(DMA1_Channel5->CCR, DMA_CCR_EN); + } + + } +} //check if differences between initial values and recent values, store to emulated EEPROM if necessary /* @@ -253,48 +255,48 @@ EEPROM_KT_B2_B4 EEPROM_KT_B6_B7 EEPROM_KT_B8_B9 EEPROM_KT_B1_B10 -*/ + */ //byte 1 contains the PAS level, that may be changed quite often. Better run only at system shutdown. void check_recent(void){ if(ui8_rx_buffer[0]!=ui8_rx_initial_buffer[0] || ui8_rx_buffer[3]!=ui8_rx_initial_buffer[3] ){ - HAL_FLASH_Unlock(); - EE_WriteVariable(EEPROM_KT_B0_B3,ui8_rx_buffer[0]<<8 | ui8_rx_buffer[3] ); - HAL_FLASH_Lock(); - ui8_rx_initial_buffer[0]=ui8_rx_buffer[0]; - ui8_rx_initial_buffer[3]=ui8_rx_buffer[3]; + HAL_FLASH_Unlock(); + EE_WriteVariable(EEPROM_KT_B0_B3,ui8_rx_buffer[0]<<8 | ui8_rx_buffer[3] ); + HAL_FLASH_Lock(); + ui8_rx_initial_buffer[0]=ui8_rx_buffer[0]; + ui8_rx_initial_buffer[3]=ui8_rx_buffer[3]; } if(ui8_rx_buffer[2]!=ui8_rx_initial_buffer[2] || ui8_rx_buffer[4]!=ui8_rx_initial_buffer[4] ){ - HAL_FLASH_Unlock(); - EE_WriteVariable(EEPROM_KT_B2_B4,ui8_rx_buffer[2]<<8 | ui8_rx_buffer[4] ); - HAL_FLASH_Lock(); - ui8_rx_initial_buffer[2]=ui8_rx_buffer[2]; - ui8_rx_initial_buffer[4]=ui8_rx_buffer[4]; + HAL_FLASH_Unlock(); + EE_WriteVariable(EEPROM_KT_B2_B4,ui8_rx_buffer[2]<<8 | ui8_rx_buffer[4] ); + HAL_FLASH_Lock(); + ui8_rx_initial_buffer[2]=ui8_rx_buffer[2]; + ui8_rx_initial_buffer[4]=ui8_rx_buffer[4]; } if(ui8_rx_buffer[6]!=ui8_rx_initial_buffer[6] || ui8_rx_buffer[7]!=ui8_rx_initial_buffer[7] ){ - HAL_FLASH_Unlock(); - EE_WriteVariable(EEPROM_KT_B6_B7,ui8_rx_buffer[6]<<8 | ui8_rx_buffer[7] ); - HAL_FLASH_Lock(); - ui8_rx_initial_buffer[6]=ui8_rx_buffer[6]; - ui8_rx_initial_buffer[7]=ui8_rx_buffer[7]; + HAL_FLASH_Unlock(); + EE_WriteVariable(EEPROM_KT_B6_B7,ui8_rx_buffer[6]<<8 | ui8_rx_buffer[7] ); + HAL_FLASH_Lock(); + ui8_rx_initial_buffer[6]=ui8_rx_buffer[6]; + ui8_rx_initial_buffer[7]=ui8_rx_buffer[7]; } if(ui8_rx_buffer[8]!=ui8_rx_initial_buffer[8] || ui8_rx_buffer[9]!=ui8_rx_initial_buffer[9] ){ - HAL_FLASH_Unlock(); - EE_WriteVariable(EEPROM_KT_B8_B9,ui8_rx_buffer[8]<<8 | ui8_rx_buffer[9] ); - HAL_FLASH_Lock(); - ui8_rx_initial_buffer[8]=ui8_rx_buffer[8]; - ui8_rx_initial_buffer[9]=ui8_rx_buffer[9]; + HAL_FLASH_Unlock(); + EE_WriteVariable(EEPROM_KT_B8_B9,ui8_rx_buffer[8]<<8 | ui8_rx_buffer[9] ); + HAL_FLASH_Lock(); + ui8_rx_initial_buffer[8]=ui8_rx_buffer[8]; + ui8_rx_initial_buffer[9]=ui8_rx_buffer[9]; } -//only check Byte 10 + //only check Byte 10 if( ui8_rx_buffer[10]!=ui8_rx_initial_buffer[10] ){ - HAL_FLASH_Unlock(); - EE_WriteVariable(EEPROM_KT_B1_B10,ui8_rx_buffer[1]<<8 | ui8_rx_buffer[10] ); - HAL_FLASH_Lock(); - ui8_rx_initial_buffer[1]=ui8_rx_buffer[1]; - ui8_rx_initial_buffer[10]=ui8_rx_buffer[10]; + HAL_FLASH_Unlock(); + EE_WriteVariable(EEPROM_KT_B1_B10,ui8_rx_buffer[1]<<8 | ui8_rx_buffer[10] ); + HAL_FLASH_Lock(); + ui8_rx_initial_buffer[1]=ui8_rx_buffer[1]; + ui8_rx_initial_buffer[10]=ui8_rx_buffer[10]; }