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packetinterface.cpp
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packetinterface.cpp
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/*
Copyright 2012-2014 Benjamin Vedder [email protected]
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "packetinterface.h"
#include "utility.h"
#include <QDebug>
#include <math.h>
namespace {
// CRC Table
const unsigned short crc16_tab[] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084,
0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad,
0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7,
0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719,
0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7,
0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948,
0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50,
0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b,
0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe,
0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca,
0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d,
0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214,
0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c,
0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d,
0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806,
0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e,
0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1,
0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0,
0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
}
PacketInterface::PacketInterface(QObject *parent) :
QObject(parent)
{
mSendBuffer = new quint8[mMaxBufferLen + 20];
mRxState = 0;
mRxTimer = 0;
mSendCan = false;
mCanId = 0;
mIsLimitedMode = false;
// Packet state
mPayloadLength = 0;
mRxDataPtr = 0;
mCrcLow = 0;
mCrcHigh = 0;
// Firmware state
mFirmwareIsUploading = false;
mFirmwareState = 0;
mFimwarePtr = 0;
mFirmwareTimer = 0;
mFirmwareRetries = 0;
mFirmwareUploadStatus = "FW Upload Status";
mTimer = new QTimer(this);
mTimer->setInterval(10);
mTimer->start();
mHostAddress = QHostAddress("0.0.0.0");
mUdpPort = 0;
mUdpSocket = new QUdpSocket(this);
connect(mUdpSocket, SIGNAL(readyRead()),
this, SLOT(readPendingDatagrams()));
connect(mTimer, SIGNAL(timeout()), this, SLOT(timerSlot()));
}
PacketInterface::~PacketInterface()
{
delete mSendBuffer;
}
void PacketInterface::processData(QByteArray &data)
{
unsigned char rx_data;
const int rx_timeout = 50;
for(int i = 0;i < data.length();i++) {
rx_data = data[i];
switch (mRxState) {
case 0:
if (rx_data == 2) {
mRxState += 2;
mRxTimer = rx_timeout;
mRxDataPtr = 0;
mPayloadLength = 0;
} else if (rx_data == 3) {
mRxState++;
mRxTimer = rx_timeout;
mRxDataPtr = 0;
mPayloadLength = 0;
} else {
mRxState = 0;
}
break;
case 1:
mPayloadLength = (unsigned int)rx_data << 8;
mRxState++;
mRxTimer = rx_timeout;
break;
case 2:
mPayloadLength |= (unsigned int)rx_data;
if (mPayloadLength <= mMaxBufferLen && mPayloadLength > 0) {
mRxState++;
mRxTimer = rx_timeout;
} else {
mRxState = 0;
}
break;
case 3:
mRxBuffer[mRxDataPtr++] = rx_data;
if (mRxDataPtr == mPayloadLength) {
mRxState++;
}
mRxTimer = rx_timeout;
break;
case 4:
mCrcHigh = rx_data;
mRxState++;
mRxTimer = rx_timeout;
break;
case 5:
mCrcLow = rx_data;
mRxState++;
mRxTimer = rx_timeout;
break;
case 6:
if (rx_data == 3) {
if (crc16(mRxBuffer, mPayloadLength) ==
((unsigned short)mCrcHigh << 8 | (unsigned short)mCrcLow)) {
// Packet received!
processPacket(mRxBuffer, mPayloadLength);
}
}
mRxState = 0;
break;
default:
mRxState = 0;
break;
}
}
}
void PacketInterface::setLimitedMode(bool is_limited)
{
mIsLimitedMode = is_limited;
}
bool PacketInterface::isLimitedMode()
{
return mIsLimitedMode;
}
void PacketInterface::timerSlot()
{
if (mRxTimer) {
mRxTimer--;
} else {
mRxState = 0;
}
if (mFirmwareIsUploading) {
if (mFirmwareTimer) {
mFirmwareTimer--;
} else {
firmwareUploadUpdate(true);
}
}
}
void PacketInterface::readPendingDatagrams()
{
while (mUdpSocket->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(mUdpSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
mUdpSocket->readDatagram(datagram.data(), datagram.size(),
&sender, &senderPort);
processPacket((unsigned char*)datagram.data(), datagram.length());
}
}
unsigned short PacketInterface::crc16(const unsigned char *buf, unsigned int len)
{
unsigned int i;
unsigned short cksum = 0;
for (i = 0; i < len; i++) {
cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8);
}
return cksum;
}
bool PacketInterface::sendPacket(const unsigned char *data, unsigned int len_packet)
{
// Only allow firmware commands in limited mode
if (mIsLimitedMode && data[0] > COMM_WRITE_NEW_APP_DATA) {
return false;
}
static unsigned char buffer[mMaxBufferLen];
unsigned int ind = 0;
// If the IP is valid, send the packet over UDP
if (QString::compare(mHostAddress.toString(), "0.0.0.0") != 0) {
if (mSendCan) {
buffer[ind++] = COMM_FORWARD_CAN;
buffer[ind++] = mCanId;
}
memcpy(buffer + ind, data, len_packet);
ind += len_packet;
mUdpSocket->writeDatagram(QByteArray::fromRawData((const char*)buffer, ind), mHostAddress, mUdpPort);
return true;
}
int len_tot = len_packet;
if (mSendCan) {
len_tot += 2;
}
unsigned int data_offs = 0;
if (len_tot <= 256) {
buffer[ind++] = 2;
buffer[ind++] = len_tot;
data_offs = 2;
} else {
buffer[ind++] = 3;
buffer[ind++] = len_tot >> 8;
buffer[ind++] = len_tot & 0xFF;
data_offs = 3;
}
if (mSendCan) {
buffer[ind++] = COMM_FORWARD_CAN;
buffer[ind++] = mCanId;
}
memcpy(buffer + ind, data, len_packet);
ind += len_packet;
unsigned short crc = crc16(buffer + data_offs, len_tot);
buffer[ind++] = crc >> 8;
buffer[ind++] = crc;
buffer[ind++] = 3;
QByteArray sendData = QByteArray::fromRawData((char*)buffer, ind);
emit dataToSend(sendData);
return true;
}
bool PacketInterface::sendPacket(QByteArray data)
{
return sendPacket((const unsigned char*)data.data(), data.size());
}
void PacketInterface::processPacket(const unsigned char *data, int len)
{
int32_t ind = 0;
MC_VALUES values;
QByteArray bytes;
QByteArray tmpArray;
QVector<double> samples;
mc_configuration mcconf;
app_configuration appconf;
double detect_cycle_int_limit;
double detect_coupling_k;
QVector<int> detect_hall_table;
int detect_hall_res;
double dec_ppm;
double ppm_last_len;
double dec_adc;
double dec_adc_voltage;
double dec_adc2;
double dec_adc_voltage2;
int fw_major;
int fw_minor;
unsigned char id = data[0];
data++;
len--;
switch (id) {
case COMM_FW_VERSION:
if (len == 2) {
ind = 0;
fw_major = data[ind++];
fw_minor = data[ind++];
} else {
fw_major = -1;
fw_minor = -1;
}
emit fwVersionReceived(fw_major, fw_minor);
break;
case COMM_ERASE_NEW_APP:
case COMM_WRITE_NEW_APP_DATA:
firmwareUploadUpdate(!data[0]);
break;
case COMM_GET_VALUES:
ind = 0;
values.temp_mos1 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos2 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos3 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos4 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos5 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_mos6 = utility::buffer_get_double16(data, 10.0, &ind);
values.temp_pcb = utility::buffer_get_double16(data, 10.0, &ind);
values.current_motor = utility::buffer_get_double32(data, 100.0, &ind);
values.current_in = utility::buffer_get_double32(data, 100.0, &ind);
values.duty_now = utility::buffer_get_double16(data, 1000.0, &ind);
values.rpm = utility::buffer_get_double32(data, 1.0, &ind);
values.v_in = utility::buffer_get_double16(data, 10.0, &ind);
values.amp_hours = utility::buffer_get_double32(data, 10000.0, &ind);
values.amp_hours_charged = utility::buffer_get_double32(data, 10000.0, &ind);
values.watt_hours = utility::buffer_get_double32(data, 10000.0, &ind);
values.watt_hours_charged = utility::buffer_get_double32(data, 10000.0, &ind);
values.tachometer = utility::buffer_get_int32(data, &ind);
values.tachometer_abs = utility::buffer_get_int32(data, &ind);
values.fault_code = (mc_fault_code)data[ind++];
values.fault_str = faultToStr(values.fault_code);
emit valuesReceived(values);
break;
case COMM_PRINT:
tmpArray = QByteArray::fromRawData((char*)data, len);
tmpArray[len] = '\0';
emit printReceived(QString::fromLatin1(tmpArray));
break;
case COMM_SAMPLE_PRINT:
bytes.clear();
for (int i = 0;i < len;i++) {
bytes.append(data[i]);
}
emit samplesReceived(bytes);
break;
case COMM_ROTOR_POSITION:
ind = 0;
emit rotorPosReceived(utility::buffer_get_double32(data, 100000.0, &ind));
break;
case COMM_EXPERIMENT_SAMPLE:
samples.clear();
ind = 0;
while (ind < len) {
samples.append(utility::buffer_get_double32(data, 10000.0, &ind));
}
emit experimentSamplesReceived(samples);
break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT:
ind = 0;
mcconf.pwm_mode = (mc_pwm_mode)data[ind++];
mcconf.comm_mode = (mc_comm_mode)data[ind++];
mcconf.motor_type = (mc_motor_type)data[ind++];
mcconf.sensor_mode = (mc_sensor_mode)data[ind++];
mcconf.l_current_max = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_current_min = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_in_current_max = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_in_current_min = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_abs_current_max = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_min_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake_cc = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_min_vin = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_max_vin = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_battery_cut_start = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_battery_cut_end = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_rpm_lim_neg_torque = data[ind++];
mcconf.l_temp_fet_start = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_temp_fet_end = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_temp_motor_start = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_temp_motor_end = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.l_min_duty = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.l_max_duty = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.sl_min_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_min_erpm_cycle_int_limit = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_max_fullbreak_current_dir_change = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_cycle_int_limit = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_phase_advance_at_br = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_cycle_int_rpm_br = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.sl_bemf_coupling_k = utility::buffer_get_double32(data, 1000.0, &ind);
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.foc_current_kp = utility::buffer_get_double32(data, 1e5, &ind);
mcconf.foc_current_ki = utility::buffer_get_double32(data, 1e5, &ind);
mcconf.foc_f_sw = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_dt_us = utility::buffer_get_double32(data, 1e6, &ind);
mcconf.foc_encoder_inverted = data[ind++];
mcconf.foc_encoder_offset = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_encoder_ratio = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_sensor_mode = (mc_foc_sensor_mode)data[ind++];
mcconf.foc_pll_kp = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_pll_ki = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_motor_l = utility::buffer_get_double32(data, 1e8, &ind);
mcconf.foc_motor_r = utility::buffer_get_double32(data, 1e5, &ind);
mcconf.foc_motor_flux_linkage = utility::buffer_get_double32(data, 1e5, &ind);
mcconf.foc_observer_gain = utility::buffer_get_double32(data, 1e0, &ind);
mcconf.foc_duty_dowmramp_kp = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_duty_dowmramp_ki = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_openloop_rpm = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_sl_openloop_hyst = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_sl_openloop_time = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_sl_d_current_duty = utility::buffer_get_double32(data, 1e3, &ind);
mcconf.foc_sl_d_current_factor = utility::buffer_get_double32(data, 1e3, &ind);
memcpy(mcconf.foc_hall_table, data + ind, 8);
ind += 8;
mcconf.foc_hall_sl_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.s_pid_kp = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.s_pid_ki = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.s_pid_kd = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.s_pid_min_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.p_pid_kp = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.p_pid_ki = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.p_pid_kd = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.p_pid_ang_div = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.cc_startup_boost_duty = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.cc_min_current = utility::buffer_get_double32(data, 1000.0, &ind);
mcconf.cc_gain = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.cc_ramp_step_max = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_fault_stop_time_ms = utility::buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_duty_ramp_step_rpm_lim = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_current_backoff_gain = utility::buffer_get_double32(data, 1000000.0, &ind);
mcconf.m_encoder_counts = utility::buffer_get_uint32(data, &ind);
mcconf.meta_description = "Configuration loaded from the motor controller.";
emit mcconfReceived(mcconf);
break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT:
ind = 0;
appconf.controller_id = data[ind++];
appconf.timeout_msec = utility::buffer_get_uint32(data, &ind);
appconf.timeout_brake_current = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = utility::buffer_get_uint16(data, &ind);
appconf.app_to_use = (app_use)data[ind++];
appconf.app_ppm_conf.ctrl_type = (ppm_control_type)data[ind++];
appconf.app_ppm_conf.pid_max_erpm = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.hyst = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.pulse_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.pulse_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.rpm_lim_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.rpm_lim_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.ctrl_type = (adc_control_type)data[ind++];
appconf.app_adc_conf.hyst = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.voltage_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.voltage_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.use_filter = data[ind++];
appconf.app_adc_conf.safe_start = data[ind++];
appconf.app_adc_conf.cc_button_inverted = data[ind++];
appconf.app_adc_conf.rev_button_inverted = data[ind++];
appconf.app_adc_conf.voltage_inverted = data[ind++];
appconf.app_adc_conf.rpm_lim_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.rpm_lim_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_adc_conf.update_rate_hz = utility::buffer_get_uint16(data, &ind);
appconf.app_uart_baudrate = utility::buffer_get_uint32(data, &ind);
appconf.app_chuk_conf.ctrl_type = (chuk_control_type)data[ind++];
appconf.app_chuk_conf.hyst = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_start = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_end = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_pos = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_neg = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.stick_erpm_per_s_in_cc = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_chuk_conf.multi_esc = data[ind++];
appconf.app_chuk_conf.tc = data[ind++];
appconf.app_chuk_conf.tc_max_diff = utility::buffer_get_double32(data, 1000.0, &ind);
appconf.app_nrf_conf.speed = (NRF_SPEED)data[ind++];
appconf.app_nrf_conf.power = (NRF_POWER)data[ind++];
appconf.app_nrf_conf.crc_type = (NRF_CRC)data[ind++];
appconf.app_nrf_conf.retry_delay = (NRF_RETR_DELAY)data[ind++];
appconf.app_nrf_conf.retries = data[ind++];
appconf.app_nrf_conf.channel = data[ind++];
memcpy(appconf.app_nrf_conf.address, data + ind, 3);
ind += 3;
appconf.app_nrf_conf.send_crc_ack = data[ind++];
emit appconfReceived(appconf);
break;
case COMM_DETECT_MOTOR_PARAM:
ind = 0;
detect_cycle_int_limit = utility::buffer_get_double32(data, 1000.0, &ind);
detect_coupling_k = utility::buffer_get_double32(data, 1000.0, &ind);
for (int i = 0;i < 8;i++) {
detect_hall_table.append((const signed char)(data[ind++]));
}
detect_hall_res = (const signed char)(data[ind++]);
emit motorParamReceived(detect_cycle_int_limit, detect_coupling_k, detect_hall_table, detect_hall_res);
break;
case COMM_DETECT_MOTOR_R_L: {
ind = 0;
double r = utility::buffer_get_double32(data, 1e6, &ind);
double l = utility::buffer_get_double32(data, 1e3, &ind);
emit motorRLReceived(r, l);
}
break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE: {
ind = 0;
double linkage = utility::buffer_get_double32(data, 1e7, &ind);
emit motorLinkageReceived(linkage);
}
break;
case COMM_DETECT_ENCODER: {
ind = 0;
double offset = utility::buffer_get_double32(data, 1e6, &ind);
double ratio = utility::buffer_get_double32(data, 1e6, &ind);
bool inverted = data[ind++];
emit encoderParamReceived(offset, ratio, inverted);
}
break;
case COMM_DETECT_HALL_FOC: {
ind = 0;
for (int i = 0;i < 8;i++) {
detect_hall_table.append((const unsigned char)(data[ind++]));
}
int res = (const unsigned char)(data[ind++]);
emit focHallTableReceived(detect_hall_table, res);
}
break;
case COMM_GET_DECODED_PPM:
ind = 0;
dec_ppm = utility::buffer_get_double32(data, 1000000.0, &ind);
ppm_last_len = utility::buffer_get_double32(data, 1000000.0, &ind);
emit decodedPpmReceived(dec_ppm, ppm_last_len);
break;
case COMM_GET_DECODED_ADC:
ind = 0;
dec_adc = utility::buffer_get_double32(data, 1000000.0, &ind);
dec_adc_voltage = utility::buffer_get_double32(data, 1000000.0, &ind);
dec_adc2 = utility::buffer_get_double32(data, 1000000.0, &ind);
dec_adc_voltage2 = utility::buffer_get_double32(data, 1000000.0, &ind);
emit decodedAdcReceived(dec_adc, dec_adc_voltage, dec_adc2, dec_adc_voltage2);
break;
case COMM_GET_DECODED_CHUK:
ind = 0;
dec_ppm = utility::buffer_get_double32(data, 1000000.0, &ind);
emit decodedChukReceived(dec_ppm);
break;
case COMM_SET_MCCONF:
emit ackReceived("MCCONF Write OK");
break;
case COMM_SET_APPCONF:
emit ackReceived("APPCONF Write OK");
break;
case COMM_CUSTOM_APP_DATA:
bytes.clear();
for (int i = 0;i < len;i++) {
bytes.append(data[i]);
}
emit customAppDataReceived(bytes);
break;
default:
break;
}
}
QString PacketInterface::faultToStr(mc_fault_code fault)
{
switch (fault) {
case FAULT_CODE_NONE: return "FAULT_CODE_NONE";
case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE";
case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE";
case FAULT_CODE_DRV8302: return "FAULT_CODE_DRV8302";
case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT";
case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET";
case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR";
default: return "Unknown fault";
}
}
void PacketInterface::firmwareUploadUpdate(bool isTimeout)
{
if (!mFirmwareIsUploading) {
return;
}
const int app_packet_size = 200;
const int retries = 5;
const int timeout = 350;
if (mFirmwareState == 0) {
mFirmwareUploadStatus = "Buffer Erase";
if (isTimeout) {
// Erase timed out, abort.
mFirmwareIsUploading = false;
mFimwarePtr = 0;
mFirmwareUploadStatus = "Buffer Erase Timeout";
} else {
mFirmwareState++;
mFirmwareRetries = retries;
mFirmwareTimer = timeout;
firmwareUploadUpdate(true);
}
} else if (mFirmwareState == 1) {
mFirmwareUploadStatus = "CRC/Size Write";
if (isTimeout) {
if (mFirmwareRetries > 0) {
mFirmwareRetries--;
mFirmwareTimer = timeout;
} else {
mFirmwareIsUploading = false;
mFimwarePtr = 0;
mFirmwareState = 0;
mFirmwareUploadStatus = "CRC/Size Write Timeout";
return;
}
quint16 crc = crc16((const unsigned char*)mNewFirmware.constData(), mNewFirmware.size());
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_WRITE_NEW_APP_DATA;
utility::buffer_append_uint32(mSendBuffer, 0, &send_index);
utility::buffer_append_uint32(mSendBuffer, mNewFirmware.size(), &send_index);
utility::buffer_append_uint16(mSendBuffer, crc, &send_index);
sendPacket(mSendBuffer, send_index);
} else {
mFirmwareState++;
mFirmwareRetries = retries;
mFirmwareTimer = timeout;
firmwareUploadUpdate(true);
}
} else if (mFirmwareState == 2) {
mFirmwareUploadStatus = "FW Data Write";
if (isTimeout) {
if (mFirmwareRetries > 0) {
mFirmwareRetries--;
mFirmwareTimer = timeout;
} else {
mFirmwareIsUploading = false;
mFimwarePtr = 0;
mFirmwareState = 0;
mFirmwareUploadStatus = "FW Data Write Timeout";
return;
}
int fw_size_left = mNewFirmware.size() - mFimwarePtr;
int send_size = fw_size_left > app_packet_size ? app_packet_size : fw_size_left;
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_WRITE_NEW_APP_DATA;
utility::buffer_append_uint32(mSendBuffer, mFimwarePtr + 6, &send_index);
memcpy(mSendBuffer + send_index, mNewFirmware.constData() + mFimwarePtr, send_size);
send_index += send_size;
sendPacket(mSendBuffer, send_index);
} else {
mFirmwareRetries = retries;
mFirmwareTimer = timeout;
mFimwarePtr += app_packet_size;
if (mFimwarePtr >= mNewFirmware.size()) {
mFirmwareIsUploading = false;
mFimwarePtr = 0;
mFirmwareState = 0;
mFirmwareUploadStatus = "FW Upload Done";
// Upload done. Enter bootloader!
QByteArray buffer;
buffer.append((char)COMM_JUMP_TO_BOOTLOADER);
sendPacket(buffer);
} else {
firmwareUploadUpdate(true);
}
}
}
}
bool PacketInterface::getFwVersion()
{
QByteArray buffer;
buffer.clear();
buffer.append((char)COMM_FW_VERSION);
return sendPacket(buffer);
}
bool PacketInterface::startFirmwareUpload(QByteArray &newFirmware)
{
mFirmwareIsUploading = true;
mFirmwareState = 0;
mFimwarePtr = 0;
mFirmwareTimer = 500;
mNewFirmware.clear();
mNewFirmware.append(newFirmware);
mFirmwareUploadStatus = "Buffer Erase";
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_ERASE_NEW_APP;
utility::buffer_append_uint32(mSendBuffer, mNewFirmware.size(), &send_index);
return sendPacket(mSendBuffer, send_index);
}
double PacketInterface::getFirmwareUploadProgress()
{
if (mFirmwareIsUploading) {
return (double)mFimwarePtr / (double)mNewFirmware.size();
} else {
return -1.0;
}
}
QString PacketInterface::getFirmwareUploadStatus()
{
return mFirmwareUploadStatus;
}
void PacketInterface::cancelFirmwareUpload()
{
if (mFirmwareIsUploading) {
mFirmwareIsUploading = false;
mFimwarePtr = 0;
mFirmwareState = 0;
mFirmwareUploadStatus = "Cancelled";
}
}
bool PacketInterface::getValues()
{
QByteArray buffer;
buffer.clear();
buffer.append((char)COMM_GET_VALUES);
return sendPacket(buffer);
}
bool PacketInterface::sendTerminalCmd(QString cmd)
{
QByteArray buffer;
buffer.clear();
buffer.append((char)COMM_TERMINAL_CMD);
buffer.append(cmd.toLatin1());
return sendPacket(buffer);
}
bool PacketInterface::setDutyCycle(double dutyCycle)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SET_DUTY;
utility::buffer_append_double32(mSendBuffer, dutyCycle, 100000.0, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::setCurrent(double current)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SET_CURRENT;
utility::buffer_append_double32(mSendBuffer, current, 1000.0, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::setCurrentBrake(double current)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SET_CURRENT_BRAKE;
utility::buffer_append_double32(mSendBuffer, current, 1000.0, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::setRpm(int rpm)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SET_RPM;
utility::buffer_append_int32(mSendBuffer, rpm, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::setPos(double pos)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SET_POS;
utility::buffer_append_double32(mSendBuffer, pos, 1000000.0, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::setDetect(disp_pos_mode mode)
{
QByteArray buffer;
buffer.clear();
buffer.append((char)COMM_SET_DETECT);
buffer.append((char)mode);
return sendPacket(buffer);
}
bool PacketInterface::samplePrint(bool at_start, int sample_len, int dec)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SAMPLE_PRINT;
mSendBuffer[send_index++] = at_start;
utility::buffer_append_uint16(mSendBuffer, sample_len, &send_index);
mSendBuffer[send_index++] = dec;
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::getMcconf()
{
QByteArray buffer;
buffer.clear();
buffer.append((char)COMM_GET_MCCONF);
return sendPacket(buffer);
}
bool PacketInterface::getMcconfDefault()
{
QByteArray buffer;
buffer.clear();
buffer.append((char)COMM_GET_MCCONF_DEFAULT);
return sendPacket(buffer);
}
bool PacketInterface::setMcconf(const mc_configuration &mcconf)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_SET_MCCONF;
mSendBuffer[send_index++] = mcconf.pwm_mode;
mSendBuffer[send_index++] = mcconf.comm_mode;
mSendBuffer[send_index++] = mcconf.motor_type;
mSendBuffer[send_index++] = mcconf.sensor_mode;
utility::buffer_append_double32(mSendBuffer, mcconf.l_current_max, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_current_min, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_in_current_max, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_in_current_min, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_abs_current_max, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_min_erpm, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_max_erpm, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_max_erpm_fbrake, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_max_erpm_fbrake_cc, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_min_vin, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_max_vin, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_battery_cut_start, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_battery_cut_end, 1000, &send_index);
mSendBuffer[send_index++] = mcconf.l_slow_abs_current;
mSendBuffer[send_index++] = mcconf.l_rpm_lim_neg_torque;
utility::buffer_append_double32(mSendBuffer,mcconf.l_temp_fet_start, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_temp_fet_end, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_temp_motor_start, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_temp_motor_end, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_min_duty, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.l_max_duty, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_min_erpm, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_min_erpm_cycle_int_limit, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_max_fullbreak_current_dir_change, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_cycle_int_limit, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_phase_advance_at_br, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_cycle_int_rpm_br, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.sl_bemf_coupling_k, 1000, &send_index);
memcpy(mSendBuffer + send_index, mcconf.hall_table, 8);
send_index += 8;
utility::buffer_append_double32(mSendBuffer,mcconf.hall_sl_erpm, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_current_kp, 1e5, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_current_ki, 1e5, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_f_sw, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_dt_us, 1e6, &send_index);
mSendBuffer[send_index++] = mcconf.foc_encoder_inverted;
utility::buffer_append_double32(mSendBuffer, mcconf.foc_encoder_offset, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_encoder_ratio, 1e3, &send_index);
mSendBuffer[send_index++] = mcconf.foc_sensor_mode;
utility::buffer_append_double32(mSendBuffer, mcconf.foc_pll_kp, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_pll_ki, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_motor_l, 1e8, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_motor_r, 1e5, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_motor_flux_linkage, 1e5, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_observer_gain, 1e0, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_duty_dowmramp_kp, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_duty_dowmramp_ki, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_openloop_rpm, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_sl_openloop_hyst, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_sl_openloop_time, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_sl_d_current_duty, 1e3, &send_index);
utility::buffer_append_double32(mSendBuffer, mcconf.foc_sl_d_current_factor, 1e3, &send_index);
memcpy(mSendBuffer + send_index, mcconf.foc_hall_table, 8);
send_index += 8;
utility::buffer_append_double32(mSendBuffer,mcconf.foc_hall_sl_erpm, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.s_pid_kp, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.s_pid_ki, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.s_pid_kd, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.s_pid_min_erpm, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.p_pid_kp, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.p_pid_ki, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.p_pid_kd, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.p_pid_ang_div, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.cc_startup_boost_duty, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.cc_min_current, 1000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.cc_gain, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.cc_ramp_step_max, 1000000, &send_index);
utility::buffer_append_int32(mSendBuffer, mcconf.m_fault_stop_time_ms, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.m_duty_ramp_step, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.m_duty_ramp_step_rpm_lim, 1000000, &send_index);
utility::buffer_append_double32(mSendBuffer,mcconf.m_current_backoff_gain, 1000000, &send_index);
utility::buffer_append_uint32(mSendBuffer, mcconf.m_encoder_counts, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::detectMotorParam(double current, double min_rpm, double low_duty)
{
qint32 send_index = 0;
mSendBuffer[send_index++] = COMM_DETECT_MOTOR_PARAM;
utility::buffer_append_double32(mSendBuffer, current, 1000.0, &send_index);
utility::buffer_append_double32(mSendBuffer, min_rpm, 1000.0, &send_index);
utility::buffer_append_double32(mSendBuffer, low_duty, 1000.0, &send_index);
return sendPacket(mSendBuffer, send_index);
}
bool PacketInterface::getAppConf()