From b1c5707ab4cfeebab9115d277a4ee313c016241c Mon Sep 17 00:00:00 2001 From: pietrea2 Date: Sat, 20 Mar 2021 22:33:28 -0400 Subject: [PATCH 01/35] First version of tests. --- .../Serial_CAN_Module_2.cpp | 408 ++++++++++++++++++ .../Serial_CAN_Module_2.h | 57 +++ recv_basic_test.ino | 56 +++ recv_mask_filt_test_2.ino | 75 ++++ send_basic_test.ino | 37 ++ send_mask_filt_test_2.ino | 37 ++ 6 files changed, 670 insertions(+) create mode 100644 Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp create mode 100644 Serial CAN Bus Module Library/Serial_CAN_Module_2.h create mode 100644 recv_basic_test.ino create mode 100644 recv_mask_filt_test_2.ino create mode 100644 send_basic_test.ino create mode 100644 send_mask_filt_test_2.ino diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp b/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp new file mode 100644 index 0000000..bdb8d75 --- /dev/null +++ b/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp @@ -0,0 +1,408 @@ +// ID3 ID2 ID1 ID0 EXT RTR DTA0 DTA1 DTA2 DTA3 DTA4 DTA5 DTA6 DTA7 + +#include +#include + +SoftwareSerial *canSerial = NULL; + +void Serial_CAN::begin(int can_tx, int can_rx, unsigned long baud) +{ + canSerial = new SoftwareSerial(can_tx, can_rx); + //Serial.println("Hello, we are inside begin()"); + canSerial->begin(baud); +} + +unsigned char Serial_CAN::send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf) +{ + unsigned char dta[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}; + + dta[0] = id>>24; // id3 + dta[1] = id>>16&0xff; // id2 + dta[2] = id>>8&0xff; // id1 + dta[3] = id&0xff; // id0 + + dta[4] = ext; + dta[5] = rtrBit; + + + for(int i=0; iwrite(dta[i]); + } + + for(int i=0; i<14; i++) + { + //Serial.print( "Sending data frame:" ); + //Serial.println( dta[i] ); + } + + +} + + +// 0: no data +// 1: get data +unsigned char Serial_CAN::recv(unsigned long *id, uchar *buf) +{ + if(canSerial->available()) + { + unsigned long timer_s = millis(); + + int len = 0; + uchar dta[20]; + + while(1) + { + while(canSerial->available()) + { + dta[len++] = canSerial->read(); + if(len == 12) + break; + + if((millis()-timer_s) > 10) + { + canSerial->flush(); + return 0; // Reading 12 bytes should be faster than 10ms, abort if it takes longer, we loose the partial message in this case + } + } + + if(len == 12) // Just to be sure, must be 12 here + { + unsigned long __id = 0; + + for(int i=0; i<4; i++) // Store the id of the sender + { + __id <<= 8; + __id += dta[i]; + } + + *id = __id; + + for(int i=0; i<8; i++) // Store the message in the buffer + { + buf[i] = dta[i+4]; + } + return 1; + } + + if((millis()-timer_s) > 10) + { + canSerial->flush(); + return 0; // Reading 12 bytes should be faster than 10ms, abort if it takes longer, we loose the partial message in this case + } + + } + } + + return 0; +} + +unsigned char Serial_CAN::cmdOk(char *cmd) +{ + + unsigned long timer_s = millis(); + unsigned char len = 0; + + canSerial->println(cmd); + + //Serial.println(cmd); + //Serial.println("Printing cmd above."); + + while(1) + { + if(millis()-timer_s > 500) + { + return 0; + } + + while(canSerial->available()) + { + + str_tmp[len++] = canSerial->read(); + timer_s = millis(); + } + + if(len >= 4 && str_tmp[len-1] == '\n' && str_tmp[len-2] == '\r' && str_tmp[len-3] == 'K' && str_tmp[len-4] == 'O') + { + clear(); + return 1; + } + + } +} + +/* +value 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 +rate(kb/s) 5 10 20 25 31.2 33 40 50 80 83.3 95 100 125 200 250 500 666 1000 +*/ +unsigned char Serial_CAN::canRate(unsigned char rate) +{ + double rates[18] = {5, 10, 20, 25, 31.2, 33, 40, 50, 80, 83.3, 95, 100, 125, 200, 250, 500, 666, 1000}; + + enterSettingMode(); + if(rate < 10) + sprintf(str_tmp, "AT+C=0%d\r\n", rate); + else + sprintf(str_tmp, "AT+C=%d\r\n", rate); + + int ret = cmdOk(str_tmp); + + Serial.print("Serial CAN Rate set to: "); + Serial.println(rates[rate-1]); + + exitSettingMode(); + return ret; +} + +/* +value 0 1 2 3 4 +baud rate(b/s) 9600 19200 38400 57600 115200 +*/ + +unsigned char Serial_CAN::baudRate(unsigned char rate) +{ + unsigned long baud[5] = {9600, 19200, 38400, 57600, 115200}; + int baudNow = 0; + + for(int i=0; i<5; i++) + { + canSerial->begin(baud[i]); + canSerial->print("+++"); + delay(100); + + if(cmdOk( (char*)"AT\r\n" )) + { + //Serial.print("SERIAL BAUD RATE IS: "); + //Serial.println(baud[i]); + baudNow = i; + break; + } + } + + sprintf(str_tmp, "AT+S=%d\r\n", rate); + cmdOk(str_tmp); + + canSerial->begin(baud[rate]); + + int ret = cmdOk( (char*)"AT\r\n" ); + + if(ret) + { + Serial.print("Serial Baud Rate set to: "); + Serial.println(baud[rate]); + } + + exitSettingMode(); + return ret; +} + + +void Serial_CAN::clear() +{ + unsigned long timer_s = millis(); + while(1) + { + if(millis()-timer_s > 50)return; + while(canSerial->available()) + { + canSerial->read(); + timer_s = millis(); + } + } +} + +unsigned char Serial_CAN::enterSettingMode() +{ + canSerial->print("+++"); + clear(); + + //Serial.println("Inside enterSettingMode()"); + + return 1; +} + +unsigned char Serial_CAN::exitSettingMode() +{ + clear(); + int ret = cmdOk((char*)"AT+Q\r\n"); + clear(); + return ret; +} + +void make8zerochar(int n, char *str, unsigned long num) +{ + for(int i=0; i>= 4; + } + str[n] = '\0'; +} + +/* ++++ Switch from Normal mode to Config mode +AT+S=[value] Set serial baud rate +AT+C=[value] Set CAN Bus baud rate +AT+M=[N][EXT][value] Set mask,AT+M=[1][0][000003DF] +AT+F=[N][EXT][value] Set filter,AT+F=[1][0][000003DF] +AT+Q Switch to Normal Mode +*/ +unsigned char Serial_CAN::setMask(unsigned long *dta) +{ + enterSettingMode(); + char __str[10]; + + + for(int i=0; i<2; i++) + { + make8zerochar(8, __str, dta[1+2*i]); + //Serial.println(__str); + sprintf(str_tmp, "AT+M=[%d][%d][", i, dta[2*i]); + for(int i=0; i<8; i++) + { + str_tmp[12+i] = __str[i]; + } + str_tmp[20] = ']'; + str_tmp[21] = '\r'; + str_tmp[22] = '\n'; + str_tmp[23] = '\0'; + + //Serial.println(str_tmp); + + if(!cmdOk(str_tmp)) + { + Serial.print("mask fail - "); + Serial.println(i); + exitSettingMode(); + return 0; + } + clear(); + delay(10); + // + } + exitSettingMode(); + return 1; + +} + +unsigned char Serial_CAN::setFilt(unsigned long *dta) +{ + enterSettingMode(); + + char __str[10]; + + for(int i=0; i<6; i++) + { + make8zerochar(8, __str, dta[1+2*i]); + //Serial.println(__str); + sprintf(str_tmp, "AT+F=[%d][%d][", i, dta[2*i]); + for(int i=0; i<8; i++) + { + str_tmp[12+i] = __str[i]; + } + str_tmp[20] = ']'; + str_tmp[21] = '\r'; + str_tmp[22] = '\n'; + str_tmp[23] = '\0'; + + //Serial.println(str_tmp); + + clear(); + if(!cmdOk(str_tmp)) + { + //Serial.print("filt fail at - "); + //Serial.println(i); + exitSettingMode(); + return 0; + } + clear(); + delay(10); + // + } + exitSettingMode(); + return 1; +} + +/* +value 0 1 2 3 4 +baud rate(b/s) 9600 19200 38400 57600 115200 +*/ +unsigned char Serial_CAN::factorySetting() +{ + // check baudrate + unsigned long baud[5] = {9600, 19200, 38400, 57600, 115200}; + + for(int i=0; i<5; i++) + { + canSerial->begin(baud[i]); + canSerial->print("+++"); + delay(100); + + if(cmdOk( (char*)"AT\r\n")) + { + Serial.print("SERIAL BAUD RATE IS: "); + Serial.println(baud[i]); + baudRate(0); // set serial baudrate to 9600 + Serial.println("SET SERIAL BAUD RATE TO: 9600 OK"); + canSerial->begin(9600); + break; + } + } + + if(canRate(CAN_RATE_500)) + { + Serial.println("SET CAN BUS BAUD RATE TO 500Kb/s OK"); + } + else + { + Serial.println("SET CAN BUS BAUD RATE TO 500Kb/s FAIL"); + return 0; + } + + unsigned long mask[4] = {0, 0, 0, 0,}; + unsigned long filt[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,}; + + if(setFilt(filt)) + { + Serial.println("FACTORY SETTING FILTS OK"); + } + else + { + Serial.println("FACTORY SETTING FILTS FAIL"); + return 0; + } + + if(setMask(mask)) + { + Serial.println("FACTORY SETTING MASKS OK"); + } + else + { + Serial.println("FACTORY SETTING MASKS FAIL"); + return 0; + } + + return 1; +} + +void Serial_CAN::debugMode() +{ + while(Serial.available()) + { + canSerial->write(Serial.read()); + } + + while(canSerial->available()) + { + Serial.write(canSerial->read()); + } +} + +// END FILE diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.h b/Serial CAN Bus Module Library/Serial_CAN_Module_2.h new file mode 100644 index 0000000..c053ccf --- /dev/null +++ b/Serial CAN Bus Module Library/Serial_CAN_Module_2.h @@ -0,0 +1,57 @@ +#ifndef __SERIAL_CAN_MODULE_H__ +#define __SERIAL_CAN_MODULE_H__ +// ID3 ID2 ID1 ID0 EXT RTR DTA0 DTA1 DTA2 DTA3 DTA4 DTA5 DTA6 DTA7 +#include +#define uchar unsigned char + + +#define CAN_RATE_5 1 +#define CAN_RATE_10 2 +#define CAN_RATE_20 3 +#define CAN_RATE_25 4 +#define CAN_RATE_31_2 5 +#define CAN_RATE_33 6 +#define CAN_RATE_40 7 +#define CAN_RATE_50 8 +#define CAN_RATE_80 9 +#define CAN_RATE_83_3 10 +#define CAN_RATE_95 11 +#define CAN_RATE_100 12 +#define CAN_RATE_125 13 +#define CAN_RATE_200 14 +#define CAN_RATE_250 15 +#define CAN_RATE_500 16 +#define CAN_RATE_666 17 +#define CAN_RATE_1000 18 + +#define SERIAL_RATE_9600 0 +#define SERIAL_RATE_19200 1 +#define SERIAL_RATE_38400 2 +#define SERIAL_RATE_57600 3 +#define SERIAL_RATE_115200 4 + +class Serial_CAN +{ +private: + unsigned char cmdOk(char *cmd); + unsigned char enterSettingMode(); + unsigned char exitSettingMode(); + void clear(); + char str_tmp[100]; +public: + + void begin(int can_tx, int can_rx, unsigned long baud); + unsigned char send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf); + unsigned char recv(unsigned long *id, uchar *buf); + + unsigned char canRate(unsigned char rate); + unsigned char baudRate(unsigned char rate); + + unsigned char setMask(unsigned long *dta); + unsigned char setFilt(unsigned long *dta); + + unsigned char factorySetting(); + void debugMode(); + +}; +#endif \ No newline at end of file diff --git a/recv_basic_test.ino b/recv_basic_test.ino new file mode 100644 index 0000000..29a3b51 --- /dev/null +++ b/recv_basic_test.ino @@ -0,0 +1,56 @@ +// RECV EXAMPLE OF SERIAL CAN MODULE +// unsigned char recv(unsigned long *id, uchar *buf); +// SUPPORT: joney.sui@longan-labs.cc +//First recv() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + + +void setup() +{ + Serial.begin(9600); + while(!Serial); + can.begin(can_tx, can_rx, 9600); + + if(can.canRate(CAN_RATE_500)) + { + Serial.println("Set CAN rate OK"); + } + else + { + Serial.println("Set CAN rate FAIL"); + } +} + +unsigned long id = 5; +unsigned char dta[8]; + +// send(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf); +void loop() +{ + + can.debugMode(); + if(can.recv(&id, dta)) + { + Serial.print("GETTING DATA FROM ID: "); + Serial.println(id); + for(int i=0; i<8; i++) + { + Serial.print("0x"); + Serial.print(dta[i], HEX); + Serial.print('\t'); + } + Serial.println(); + } + else{ + //Serial.print("Didn't work!!!"); + } +} + +// END FILE diff --git a/recv_mask_filt_test_2.ino b/recv_mask_filt_test_2.ino new file mode 100644 index 0000000..17c653a --- /dev/null +++ b/recv_mask_filt_test_2.ino @@ -0,0 +1,75 @@ +// RECV EXAMPLE OF SERIAL CAN MODULE - WITH MASK/FILTERING +// +// SUPPORT: joney.sui@longan-labs.cc +//Second recv() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + +unsigned long mask[4] = +{ + 0, 0x0f, // ext, maks 0 + 0, 0x0f, // ext, mask 1 +}; + +unsigned long filt[12] = +{ + 0, 0xff, // ext, filt 0 + 0, 0xff, // ext, filt 1 + 0, 0xff, // ext, filt 2 + 0, 0xff, // ext, filt 3 + 0, 0xff, // ext, filt 4 + 0, 0xff, // ext, filt 5 +}; + +void setup() +{ + Serial.begin(9600); + while(!Serial); + can.begin(can_tx, can_rx, 9600); // tx, rx + + if(can.setFilt(filt)) + { + Serial.println("set filt ok"); + } + else + { + Serial.println("set filt fail"); + } + + if(can.setMask(mask)) + { + Serial.println("set mask ok"); + } + else + { + Serial.println("set mask fail"); + } + +} + +void loop() +{ + unsigned long id = 0; + unsigned char dta[8]; + + if(can.recv(&id, dta)) + { + Serial.print("GET DATA FROM ID: "); + Serial.println(id); + for(int i=0; i<8; i++) + { + Serial.print("0x"); + Serial.print(dta[i], HEX); + Serial.print('\t'); + } + Serial.println(); + } +} + +// END FILE diff --git a/send_basic_test.ino b/send_basic_test.ino new file mode 100644 index 0000000..39368be --- /dev/null +++ b/send_basic_test.ino @@ -0,0 +1,37 @@ +// SEND EXAMPLE OF SERIAL CAN MODULE +// unsigned char send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf); +// SUPPORT: joney.sui@longan-labs.cc +//First send() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + + +void setup() +{ + Serial.begin(9600); //Baud Rates: 9600, 19200, 38400, 57600, 74880, 115200 + //9600 works the best, higher rates start to have problems + can.begin(can_tx, can_rx, 9600); + Serial.println("Starting:"); + //can.debugMode(); +} + + +unsigned char dta[8] = {1, 2, 3, 4, 5, 10, 11, 12}; + + +// send(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf); +void loop() +{ + can.send(0x77, 0, 0, 8, dta); // SEND TO ID:0X77 + // CAN ID is not important for testing, all frames will be recieved + delay(100); + //can.debugMode(); +} + +// END FILE diff --git a/send_mask_filt_test_2.ino b/send_mask_filt_test_2.ino new file mode 100644 index 0000000..7d556e7 --- /dev/null +++ b/send_mask_filt_test_2.ino @@ -0,0 +1,37 @@ +// SEND EXAMPLE OF SERIAL CAN MODULE - WITH MASK/FILTERING +// unsigned char send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf); +// SUPPORT: joney.sui@longan-labs.cc +//Second send() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + + +void setup() +{ + Serial.begin(9600); //Baud Rates: 9600, 19200, 38400, 57600, 74880, 115200 + //9600 works the best, higher rates start to have problems + can.begin(can_tx, can_rx, 9600); + Serial.println("Starting:"); + //can.debugMode(); +} + + +unsigned char dta[8] = {1, 2, 3, 4, 5, 10, 11, 12}; + + +// send(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf); +void loop() +{ + can.send(0x0f, 0, 0, 8, dta); // SEND TO ID:0x0f + // CAN ID is not important for testing, all frames will be recieved + delay(100); + //can.debugMode(); +} + +// END FILE From 41ba35ff7a1154ffcc1c3b26d0d0e824f7002e41 Mon Sep 17 00:00:00 2001 From: pietrea2 Date: Sat, 20 Mar 2021 22:43:25 -0400 Subject: [PATCH 02/35] Removed old folder --- ExampleSensor/ExampleSensor.ino | 11 -------- ExampleSensor/README.md | 29 ---------------------- ExampleSensor/libraries/ExampleLibrary.cpp | 16 ------------ ExampleSensor/libraries/ExampleLibrary.h | 17 ------------- ExampleSensor/libraries/ExampleSensor.cpp | 9 ------- ExampleSensor/libraries/ExampleSensor.h | 10 -------- 6 files changed, 92 deletions(-) delete mode 100644 ExampleSensor/ExampleSensor.ino delete mode 100644 ExampleSensor/README.md delete mode 100644 ExampleSensor/libraries/ExampleLibrary.cpp delete mode 100644 ExampleSensor/libraries/ExampleLibrary.h delete mode 100644 ExampleSensor/libraries/ExampleSensor.cpp delete mode 100644 ExampleSensor/libraries/ExampleSensor.h diff --git a/ExampleSensor/ExampleSensor.ino b/ExampleSensor/ExampleSensor.ino deleted file mode 100644 index 6f90f3a..0000000 --- a/ExampleSensor/ExampleSensor.ino +++ /dev/null @@ -1,11 +0,0 @@ -#include -#include "ExampleSensor.h" - -void setup(){ - init(); -} - -void loop(){ - int x = getValue(); - delay(1000); -} \ No newline at end of file diff --git a/ExampleSensor/README.md b/ExampleSensor/README.md deleted file mode 100644 index f0fa077..0000000 --- a/ExampleSensor/README.md +++ /dev/null @@ -1,29 +0,0 @@ -# Example Sensor - -This is an example `README` for the sensor "Example Sensor". All sensor `README`s should include the following content: - -- ***Read-only*** links to UTHT Google Drive sensor documentation, and/or other references; -- Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); -- A list of dependencies (and links to those); -- Everything else that is listed under [the master `README`](../README.md). - -# Development - -## Dependencies - -- ExampleLibrary -- ... - -## Testing - -### Setup - -... - -### Procedure - -... - -### Expected Output - -... \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.cpp b/ExampleSensor/libraries/ExampleLibrary.cpp deleted file mode 100644 index c014881..0000000 --- a/ExampleSensor/libraries/ExampleLibrary.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include - -// Example library code - -Example::Example(int* address, int defaultvalue) : Example((int*)malloc(sizeof(int)), 0){ - this->address = address; - *address = defaultvalue; -} - -int Example::read(){ - return *(this->address); -} - -void Example::write(int value){ - *(this->address) = value; -} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.h b/ExampleSensor/libraries/ExampleLibrary.h deleted file mode 100644 index 0f9859e..0000000 --- a/ExampleSensor/libraries/ExampleLibrary.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef ExampleLibrary_H -#define ExampleLibrary_H - -#include - -// Example library header - -class Example { - public: - Example(int* address, int defaultvalue) - private: - float read(); - void write(int value); - int* address; -} - -#endif \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.cpp b/ExampleSensor/libraries/ExampleSensor.cpp deleted file mode 100644 index e6efcfe..0000000 --- a/ExampleSensor/libraries/ExampleSensor.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include - -void init(){ - example = Example(); -} - -int getValue(){ - example.read(); -} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.h b/ExampleSensor/libraries/ExampleSensor.h deleted file mode 100644 index 6ee8437..0000000 --- a/ExampleSensor/libraries/ExampleSensor.h +++ /dev/null @@ -1,10 +0,0 @@ -#ifndef ExampleSensor_H -#define ExampleSensor_H -#include "ExampleLibrary.h" - -Example ex; - -void init(); -int getValue(); - -#endif // !ExampleSensor_h \ No newline at end of file From 61ce8d604fbc23a908b703f6b445daf7fd19d1b2 Mon Sep 17 00:00:00 2001 From: Urmil Modi Date: Sun, 28 Mar 2021 15:44:11 -0400 Subject: [PATCH 03/35] restructured repo and added readme --- ExampleSensor/ExampleSensor.ino | 11 +++++++ ExampleSensor/README.md | 29 ++++++++++++++++++ ExampleSensor/libraries/ExampleLibrary.cpp | 16 ++++++++++ ExampleSensor/libraries/ExampleLibrary.h | 17 +++++++++++ ExampleSensor/libraries/ExampleSensor.cpp | 9 ++++++ ExampleSensor/libraries/ExampleSensor.h | 10 +++++++ Serial-CAN-Bus/README.md | 30 +++++++++++++++++++ .../libraries}/Serial_CAN_Module_2.cpp | 0 .../libraries}/Serial_CAN_Module_2.h | 0 .../recv_basic_test.ino | 0 .../recv_mask_filt_test_2.ino | 0 .../send_basic_test.ino | 0 .../send_mask_filt_test_2.ino | 0 13 files changed, 122 insertions(+) create mode 100644 ExampleSensor/ExampleSensor.ino create mode 100644 ExampleSensor/README.md create mode 100644 ExampleSensor/libraries/ExampleLibrary.cpp create mode 100644 ExampleSensor/libraries/ExampleLibrary.h create mode 100644 ExampleSensor/libraries/ExampleSensor.cpp create mode 100644 ExampleSensor/libraries/ExampleSensor.h create mode 100644 Serial-CAN-Bus/README.md rename {Serial CAN Bus Module Library => Serial-CAN-Bus/libraries}/Serial_CAN_Module_2.cpp (100%) rename {Serial CAN Bus Module Library => Serial-CAN-Bus/libraries}/Serial_CAN_Module_2.h (100%) rename recv_basic_test.ino => Serial-CAN-Bus/recv_basic_test.ino (100%) rename recv_mask_filt_test_2.ino => Serial-CAN-Bus/recv_mask_filt_test_2.ino (100%) rename send_basic_test.ino => Serial-CAN-Bus/send_basic_test.ino (100%) rename send_mask_filt_test_2.ino => Serial-CAN-Bus/send_mask_filt_test_2.ino (100%) diff --git a/ExampleSensor/ExampleSensor.ino b/ExampleSensor/ExampleSensor.ino new file mode 100644 index 0000000..6f90f3a --- /dev/null +++ b/ExampleSensor/ExampleSensor.ino @@ -0,0 +1,11 @@ +#include +#include "ExampleSensor.h" + +void setup(){ + init(); +} + +void loop(){ + int x = getValue(); + delay(1000); +} \ No newline at end of file diff --git a/ExampleSensor/README.md b/ExampleSensor/README.md new file mode 100644 index 0000000..f0fa077 --- /dev/null +++ b/ExampleSensor/README.md @@ -0,0 +1,29 @@ +# Example Sensor + +This is an example `README` for the sensor "Example Sensor". All sensor `README`s should include the following content: + +- ***Read-only*** links to UTHT Google Drive sensor documentation, and/or other references; +- Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); +- A list of dependencies (and links to those); +- Everything else that is listed under [the master `README`](../README.md). + +# Development + +## Dependencies + +- ExampleLibrary +- ... + +## Testing + +### Setup + +... + +### Procedure + +... + +### Expected Output + +... \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.cpp b/ExampleSensor/libraries/ExampleLibrary.cpp new file mode 100644 index 0000000..c014881 --- /dev/null +++ b/ExampleSensor/libraries/ExampleLibrary.cpp @@ -0,0 +1,16 @@ +#include + +// Example library code + +Example::Example(int* address, int defaultvalue) : Example((int*)malloc(sizeof(int)), 0){ + this->address = address; + *address = defaultvalue; +} + +int Example::read(){ + return *(this->address); +} + +void Example::write(int value){ + *(this->address) = value; +} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.h b/ExampleSensor/libraries/ExampleLibrary.h new file mode 100644 index 0000000..0f9859e --- /dev/null +++ b/ExampleSensor/libraries/ExampleLibrary.h @@ -0,0 +1,17 @@ +#ifndef ExampleLibrary_H +#define ExampleLibrary_H + +#include + +// Example library header + +class Example { + public: + Example(int* address, int defaultvalue) + private: + float read(); + void write(int value); + int* address; +} + +#endif \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.cpp b/ExampleSensor/libraries/ExampleSensor.cpp new file mode 100644 index 0000000..e6efcfe --- /dev/null +++ b/ExampleSensor/libraries/ExampleSensor.cpp @@ -0,0 +1,9 @@ +#include + +void init(){ + example = Example(); +} + +int getValue(){ + example.read(); +} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.h b/ExampleSensor/libraries/ExampleSensor.h new file mode 100644 index 0000000..6ee8437 --- /dev/null +++ b/ExampleSensor/libraries/ExampleSensor.h @@ -0,0 +1,10 @@ +#ifndef ExampleSensor_H +#define ExampleSensor_H +#include "ExampleLibrary.h" + +Example ex; + +void init(); +int getValue(); + +#endif // !ExampleSensor_h \ No newline at end of file diff --git a/Serial-CAN-Bus/README.md b/Serial-CAN-Bus/README.md new file mode 100644 index 0000000..8dba15f --- /dev/null +++ b/Serial-CAN-Bus/README.md @@ -0,0 +1,30 @@ +# Serial CAN Bus Module + +> Documentation for the **Serial CAN Bus Module** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing). + + +## Todo + +- [ ] Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); +- [ ] A list of dependencies (and links to those); +- [ ] Everything else that is listed under [the master `README`](../README.md). + +# Development + +## Dependencies + +- ... + +## Testing + +### Setup + +... + +### Procedure + +... + +### Expected Output + +... \ No newline at end of file diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp b/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp similarity index 100% rename from Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp rename to Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.h b/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h similarity index 100% rename from Serial CAN Bus Module Library/Serial_CAN_Module_2.h rename to Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h diff --git a/recv_basic_test.ino b/Serial-CAN-Bus/recv_basic_test.ino similarity index 100% rename from recv_basic_test.ino rename to Serial-CAN-Bus/recv_basic_test.ino diff --git a/recv_mask_filt_test_2.ino b/Serial-CAN-Bus/recv_mask_filt_test_2.ino similarity index 100% rename from recv_mask_filt_test_2.ino rename to Serial-CAN-Bus/recv_mask_filt_test_2.ino diff --git a/send_basic_test.ino b/Serial-CAN-Bus/send_basic_test.ino similarity index 100% rename from send_basic_test.ino rename to Serial-CAN-Bus/send_basic_test.ino diff --git a/send_mask_filt_test_2.ino b/Serial-CAN-Bus/send_mask_filt_test_2.ino similarity index 100% rename from send_mask_filt_test_2.ino rename to Serial-CAN-Bus/send_mask_filt_test_2.ino From 303522dff3bc30aa02dc6fc56c3ef43eb7a70243 Mon Sep 17 00:00:00 2001 From: Urmil Modi Date: Sun, 28 Mar 2021 15:45:53 -0400 Subject: [PATCH 04/35] corrected readme name --- Serial-CAN-Bus/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Serial-CAN-Bus/README.md b/Serial-CAN-Bus/README.md index 8dba15f..61565f5 100644 --- a/Serial-CAN-Bus/README.md +++ b/Serial-CAN-Bus/README.md @@ -1,6 +1,6 @@ -# Serial CAN Bus Module +# Serial CAN Bus -> Documentation for the **Serial CAN Bus Module** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing). +> Documentation for the **Serial CAN Bus** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing). ## Todo From 5af7d31f13fcacf2619d6d88ce5e6f8f96938afc Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre Date: Sat, 17 Apr 2021 15:54:06 -0400 Subject: [PATCH 05/35] Added Gitignore From 805b4f67fc61d60c00bcb373faa832c4b74dd828 Mon Sep 17 00:00:00 2001 From: pietrea2 Date: Sat, 20 Mar 2021 22:33:28 -0400 Subject: [PATCH 06/35] First version of tests. --- .../Serial_CAN_Module_2.cpp | 408 ++++++++++++++++++ .../Serial_CAN_Module_2.h | 57 +++ recv_basic_test.ino | 56 +++ recv_mask_filt_test_2.ino | 75 ++++ send_basic_test.ino | 37 ++ send_mask_filt_test_2.ino | 37 ++ 6 files changed, 670 insertions(+) create mode 100644 Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp create mode 100644 Serial CAN Bus Module Library/Serial_CAN_Module_2.h create mode 100644 recv_basic_test.ino create mode 100644 recv_mask_filt_test_2.ino create mode 100644 send_basic_test.ino create mode 100644 send_mask_filt_test_2.ino diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp b/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp new file mode 100644 index 0000000..bdb8d75 --- /dev/null +++ b/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp @@ -0,0 +1,408 @@ +// ID3 ID2 ID1 ID0 EXT RTR DTA0 DTA1 DTA2 DTA3 DTA4 DTA5 DTA6 DTA7 + +#include +#include + +SoftwareSerial *canSerial = NULL; + +void Serial_CAN::begin(int can_tx, int can_rx, unsigned long baud) +{ + canSerial = new SoftwareSerial(can_tx, can_rx); + //Serial.println("Hello, we are inside begin()"); + canSerial->begin(baud); +} + +unsigned char Serial_CAN::send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf) +{ + unsigned char dta[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}; + + dta[0] = id>>24; // id3 + dta[1] = id>>16&0xff; // id2 + dta[2] = id>>8&0xff; // id1 + dta[3] = id&0xff; // id0 + + dta[4] = ext; + dta[5] = rtrBit; + + + for(int i=0; iwrite(dta[i]); + } + + for(int i=0; i<14; i++) + { + //Serial.print( "Sending data frame:" ); + //Serial.println( dta[i] ); + } + + +} + + +// 0: no data +// 1: get data +unsigned char Serial_CAN::recv(unsigned long *id, uchar *buf) +{ + if(canSerial->available()) + { + unsigned long timer_s = millis(); + + int len = 0; + uchar dta[20]; + + while(1) + { + while(canSerial->available()) + { + dta[len++] = canSerial->read(); + if(len == 12) + break; + + if((millis()-timer_s) > 10) + { + canSerial->flush(); + return 0; // Reading 12 bytes should be faster than 10ms, abort if it takes longer, we loose the partial message in this case + } + } + + if(len == 12) // Just to be sure, must be 12 here + { + unsigned long __id = 0; + + for(int i=0; i<4; i++) // Store the id of the sender + { + __id <<= 8; + __id += dta[i]; + } + + *id = __id; + + for(int i=0; i<8; i++) // Store the message in the buffer + { + buf[i] = dta[i+4]; + } + return 1; + } + + if((millis()-timer_s) > 10) + { + canSerial->flush(); + return 0; // Reading 12 bytes should be faster than 10ms, abort if it takes longer, we loose the partial message in this case + } + + } + } + + return 0; +} + +unsigned char Serial_CAN::cmdOk(char *cmd) +{ + + unsigned long timer_s = millis(); + unsigned char len = 0; + + canSerial->println(cmd); + + //Serial.println(cmd); + //Serial.println("Printing cmd above."); + + while(1) + { + if(millis()-timer_s > 500) + { + return 0; + } + + while(canSerial->available()) + { + + str_tmp[len++] = canSerial->read(); + timer_s = millis(); + } + + if(len >= 4 && str_tmp[len-1] == '\n' && str_tmp[len-2] == '\r' && str_tmp[len-3] == 'K' && str_tmp[len-4] == 'O') + { + clear(); + return 1; + } + + } +} + +/* +value 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 +rate(kb/s) 5 10 20 25 31.2 33 40 50 80 83.3 95 100 125 200 250 500 666 1000 +*/ +unsigned char Serial_CAN::canRate(unsigned char rate) +{ + double rates[18] = {5, 10, 20, 25, 31.2, 33, 40, 50, 80, 83.3, 95, 100, 125, 200, 250, 500, 666, 1000}; + + enterSettingMode(); + if(rate < 10) + sprintf(str_tmp, "AT+C=0%d\r\n", rate); + else + sprintf(str_tmp, "AT+C=%d\r\n", rate); + + int ret = cmdOk(str_tmp); + + Serial.print("Serial CAN Rate set to: "); + Serial.println(rates[rate-1]); + + exitSettingMode(); + return ret; +} + +/* +value 0 1 2 3 4 +baud rate(b/s) 9600 19200 38400 57600 115200 +*/ + +unsigned char Serial_CAN::baudRate(unsigned char rate) +{ + unsigned long baud[5] = {9600, 19200, 38400, 57600, 115200}; + int baudNow = 0; + + for(int i=0; i<5; i++) + { + canSerial->begin(baud[i]); + canSerial->print("+++"); + delay(100); + + if(cmdOk( (char*)"AT\r\n" )) + { + //Serial.print("SERIAL BAUD RATE IS: "); + //Serial.println(baud[i]); + baudNow = i; + break; + } + } + + sprintf(str_tmp, "AT+S=%d\r\n", rate); + cmdOk(str_tmp); + + canSerial->begin(baud[rate]); + + int ret = cmdOk( (char*)"AT\r\n" ); + + if(ret) + { + Serial.print("Serial Baud Rate set to: "); + Serial.println(baud[rate]); + } + + exitSettingMode(); + return ret; +} + + +void Serial_CAN::clear() +{ + unsigned long timer_s = millis(); + while(1) + { + if(millis()-timer_s > 50)return; + while(canSerial->available()) + { + canSerial->read(); + timer_s = millis(); + } + } +} + +unsigned char Serial_CAN::enterSettingMode() +{ + canSerial->print("+++"); + clear(); + + //Serial.println("Inside enterSettingMode()"); + + return 1; +} + +unsigned char Serial_CAN::exitSettingMode() +{ + clear(); + int ret = cmdOk((char*)"AT+Q\r\n"); + clear(); + return ret; +} + +void make8zerochar(int n, char *str, unsigned long num) +{ + for(int i=0; i>= 4; + } + str[n] = '\0'; +} + +/* ++++ Switch from Normal mode to Config mode +AT+S=[value] Set serial baud rate +AT+C=[value] Set CAN Bus baud rate +AT+M=[N][EXT][value] Set mask,AT+M=[1][0][000003DF] +AT+F=[N][EXT][value] Set filter,AT+F=[1][0][000003DF] +AT+Q Switch to Normal Mode +*/ +unsigned char Serial_CAN::setMask(unsigned long *dta) +{ + enterSettingMode(); + char __str[10]; + + + for(int i=0; i<2; i++) + { + make8zerochar(8, __str, dta[1+2*i]); + //Serial.println(__str); + sprintf(str_tmp, "AT+M=[%d][%d][", i, dta[2*i]); + for(int i=0; i<8; i++) + { + str_tmp[12+i] = __str[i]; + } + str_tmp[20] = ']'; + str_tmp[21] = '\r'; + str_tmp[22] = '\n'; + str_tmp[23] = '\0'; + + //Serial.println(str_tmp); + + if(!cmdOk(str_tmp)) + { + Serial.print("mask fail - "); + Serial.println(i); + exitSettingMode(); + return 0; + } + clear(); + delay(10); + // + } + exitSettingMode(); + return 1; + +} + +unsigned char Serial_CAN::setFilt(unsigned long *dta) +{ + enterSettingMode(); + + char __str[10]; + + for(int i=0; i<6; i++) + { + make8zerochar(8, __str, dta[1+2*i]); + //Serial.println(__str); + sprintf(str_tmp, "AT+F=[%d][%d][", i, dta[2*i]); + for(int i=0; i<8; i++) + { + str_tmp[12+i] = __str[i]; + } + str_tmp[20] = ']'; + str_tmp[21] = '\r'; + str_tmp[22] = '\n'; + str_tmp[23] = '\0'; + + //Serial.println(str_tmp); + + clear(); + if(!cmdOk(str_tmp)) + { + //Serial.print("filt fail at - "); + //Serial.println(i); + exitSettingMode(); + return 0; + } + clear(); + delay(10); + // + } + exitSettingMode(); + return 1; +} + +/* +value 0 1 2 3 4 +baud rate(b/s) 9600 19200 38400 57600 115200 +*/ +unsigned char Serial_CAN::factorySetting() +{ + // check baudrate + unsigned long baud[5] = {9600, 19200, 38400, 57600, 115200}; + + for(int i=0; i<5; i++) + { + canSerial->begin(baud[i]); + canSerial->print("+++"); + delay(100); + + if(cmdOk( (char*)"AT\r\n")) + { + Serial.print("SERIAL BAUD RATE IS: "); + Serial.println(baud[i]); + baudRate(0); // set serial baudrate to 9600 + Serial.println("SET SERIAL BAUD RATE TO: 9600 OK"); + canSerial->begin(9600); + break; + } + } + + if(canRate(CAN_RATE_500)) + { + Serial.println("SET CAN BUS BAUD RATE TO 500Kb/s OK"); + } + else + { + Serial.println("SET CAN BUS BAUD RATE TO 500Kb/s FAIL"); + return 0; + } + + unsigned long mask[4] = {0, 0, 0, 0,}; + unsigned long filt[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,}; + + if(setFilt(filt)) + { + Serial.println("FACTORY SETTING FILTS OK"); + } + else + { + Serial.println("FACTORY SETTING FILTS FAIL"); + return 0; + } + + if(setMask(mask)) + { + Serial.println("FACTORY SETTING MASKS OK"); + } + else + { + Serial.println("FACTORY SETTING MASKS FAIL"); + return 0; + } + + return 1; +} + +void Serial_CAN::debugMode() +{ + while(Serial.available()) + { + canSerial->write(Serial.read()); + } + + while(canSerial->available()) + { + Serial.write(canSerial->read()); + } +} + +// END FILE diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.h b/Serial CAN Bus Module Library/Serial_CAN_Module_2.h new file mode 100644 index 0000000..c053ccf --- /dev/null +++ b/Serial CAN Bus Module Library/Serial_CAN_Module_2.h @@ -0,0 +1,57 @@ +#ifndef __SERIAL_CAN_MODULE_H__ +#define __SERIAL_CAN_MODULE_H__ +// ID3 ID2 ID1 ID0 EXT RTR DTA0 DTA1 DTA2 DTA3 DTA4 DTA5 DTA6 DTA7 +#include +#define uchar unsigned char + + +#define CAN_RATE_5 1 +#define CAN_RATE_10 2 +#define CAN_RATE_20 3 +#define CAN_RATE_25 4 +#define CAN_RATE_31_2 5 +#define CAN_RATE_33 6 +#define CAN_RATE_40 7 +#define CAN_RATE_50 8 +#define CAN_RATE_80 9 +#define CAN_RATE_83_3 10 +#define CAN_RATE_95 11 +#define CAN_RATE_100 12 +#define CAN_RATE_125 13 +#define CAN_RATE_200 14 +#define CAN_RATE_250 15 +#define CAN_RATE_500 16 +#define CAN_RATE_666 17 +#define CAN_RATE_1000 18 + +#define SERIAL_RATE_9600 0 +#define SERIAL_RATE_19200 1 +#define SERIAL_RATE_38400 2 +#define SERIAL_RATE_57600 3 +#define SERIAL_RATE_115200 4 + +class Serial_CAN +{ +private: + unsigned char cmdOk(char *cmd); + unsigned char enterSettingMode(); + unsigned char exitSettingMode(); + void clear(); + char str_tmp[100]; +public: + + void begin(int can_tx, int can_rx, unsigned long baud); + unsigned char send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf); + unsigned char recv(unsigned long *id, uchar *buf); + + unsigned char canRate(unsigned char rate); + unsigned char baudRate(unsigned char rate); + + unsigned char setMask(unsigned long *dta); + unsigned char setFilt(unsigned long *dta); + + unsigned char factorySetting(); + void debugMode(); + +}; +#endif \ No newline at end of file diff --git a/recv_basic_test.ino b/recv_basic_test.ino new file mode 100644 index 0000000..29a3b51 --- /dev/null +++ b/recv_basic_test.ino @@ -0,0 +1,56 @@ +// RECV EXAMPLE OF SERIAL CAN MODULE +// unsigned char recv(unsigned long *id, uchar *buf); +// SUPPORT: joney.sui@longan-labs.cc +//First recv() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + + +void setup() +{ + Serial.begin(9600); + while(!Serial); + can.begin(can_tx, can_rx, 9600); + + if(can.canRate(CAN_RATE_500)) + { + Serial.println("Set CAN rate OK"); + } + else + { + Serial.println("Set CAN rate FAIL"); + } +} + +unsigned long id = 5; +unsigned char dta[8]; + +// send(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf); +void loop() +{ + + can.debugMode(); + if(can.recv(&id, dta)) + { + Serial.print("GETTING DATA FROM ID: "); + Serial.println(id); + for(int i=0; i<8; i++) + { + Serial.print("0x"); + Serial.print(dta[i], HEX); + Serial.print('\t'); + } + Serial.println(); + } + else{ + //Serial.print("Didn't work!!!"); + } +} + +// END FILE diff --git a/recv_mask_filt_test_2.ino b/recv_mask_filt_test_2.ino new file mode 100644 index 0000000..17c653a --- /dev/null +++ b/recv_mask_filt_test_2.ino @@ -0,0 +1,75 @@ +// RECV EXAMPLE OF SERIAL CAN MODULE - WITH MASK/FILTERING +// +// SUPPORT: joney.sui@longan-labs.cc +//Second recv() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + +unsigned long mask[4] = +{ + 0, 0x0f, // ext, maks 0 + 0, 0x0f, // ext, mask 1 +}; + +unsigned long filt[12] = +{ + 0, 0xff, // ext, filt 0 + 0, 0xff, // ext, filt 1 + 0, 0xff, // ext, filt 2 + 0, 0xff, // ext, filt 3 + 0, 0xff, // ext, filt 4 + 0, 0xff, // ext, filt 5 +}; + +void setup() +{ + Serial.begin(9600); + while(!Serial); + can.begin(can_tx, can_rx, 9600); // tx, rx + + if(can.setFilt(filt)) + { + Serial.println("set filt ok"); + } + else + { + Serial.println("set filt fail"); + } + + if(can.setMask(mask)) + { + Serial.println("set mask ok"); + } + else + { + Serial.println("set mask fail"); + } + +} + +void loop() +{ + unsigned long id = 0; + unsigned char dta[8]; + + if(can.recv(&id, dta)) + { + Serial.print("GET DATA FROM ID: "); + Serial.println(id); + for(int i=0; i<8; i++) + { + Serial.print("0x"); + Serial.print(dta[i], HEX); + Serial.print('\t'); + } + Serial.println(); + } +} + +// END FILE diff --git a/send_basic_test.ino b/send_basic_test.ino new file mode 100644 index 0000000..39368be --- /dev/null +++ b/send_basic_test.ino @@ -0,0 +1,37 @@ +// SEND EXAMPLE OF SERIAL CAN MODULE +// unsigned char send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf); +// SUPPORT: joney.sui@longan-labs.cc +//First send() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + + +void setup() +{ + Serial.begin(9600); //Baud Rates: 9600, 19200, 38400, 57600, 74880, 115200 + //9600 works the best, higher rates start to have problems + can.begin(can_tx, can_rx, 9600); + Serial.println("Starting:"); + //can.debugMode(); +} + + +unsigned char dta[8] = {1, 2, 3, 4, 5, 10, 11, 12}; + + +// send(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf); +void loop() +{ + can.send(0x77, 0, 0, 8, dta); // SEND TO ID:0X77 + // CAN ID is not important for testing, all frames will be recieved + delay(100); + //can.debugMode(); +} + +// END FILE diff --git a/send_mask_filt_test_2.ino b/send_mask_filt_test_2.ino new file mode 100644 index 0000000..7d556e7 --- /dev/null +++ b/send_mask_filt_test_2.ino @@ -0,0 +1,37 @@ +// SEND EXAMPLE OF SERIAL CAN MODULE - WITH MASK/FILTERING +// unsigned char send(unsigned long id, uchar ext, uchar rtrBit, uchar len, const uchar *buf); +// SUPPORT: joney.sui@longan-labs.cc +//Second send() test by Adam P + +#include +#include + +Serial_CAN can; + +#define can_tx 10 //TX of Serial CAN Module connected to D10 +#define can_rx 11 //RX of Serial CAN Module connected to D11 + + +void setup() +{ + Serial.begin(9600); //Baud Rates: 9600, 19200, 38400, 57600, 74880, 115200 + //9600 works the best, higher rates start to have problems + can.begin(can_tx, can_rx, 9600); + Serial.println("Starting:"); + //can.debugMode(); +} + + +unsigned char dta[8] = {1, 2, 3, 4, 5, 10, 11, 12}; + + +// send(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf); +void loop() +{ + can.send(0x0f, 0, 0, 8, dta); // SEND TO ID:0x0f + // CAN ID is not important for testing, all frames will be recieved + delay(100); + //can.debugMode(); +} + +// END FILE From 5d7cd80a6c97bd406d02ee34588641f0448e98c0 Mon Sep 17 00:00:00 2001 From: pietrea2 Date: Sat, 20 Mar 2021 22:43:25 -0400 Subject: [PATCH 07/35] Removed old folder --- ExampleSensor/ExampleSensor.ino | 11 -------- ExampleSensor/README.md | 29 ---------------------- ExampleSensor/libraries/ExampleLibrary.cpp | 16 ------------ ExampleSensor/libraries/ExampleLibrary.h | 17 ------------- ExampleSensor/libraries/ExampleSensor.cpp | 9 ------- ExampleSensor/libraries/ExampleSensor.h | 10 -------- 6 files changed, 92 deletions(-) delete mode 100644 ExampleSensor/ExampleSensor.ino delete mode 100644 ExampleSensor/README.md delete mode 100644 ExampleSensor/libraries/ExampleLibrary.cpp delete mode 100644 ExampleSensor/libraries/ExampleLibrary.h delete mode 100644 ExampleSensor/libraries/ExampleSensor.cpp delete mode 100644 ExampleSensor/libraries/ExampleSensor.h diff --git a/ExampleSensor/ExampleSensor.ino b/ExampleSensor/ExampleSensor.ino deleted file mode 100644 index 6f90f3a..0000000 --- a/ExampleSensor/ExampleSensor.ino +++ /dev/null @@ -1,11 +0,0 @@ -#include -#include "ExampleSensor.h" - -void setup(){ - init(); -} - -void loop(){ - int x = getValue(); - delay(1000); -} \ No newline at end of file diff --git a/ExampleSensor/README.md b/ExampleSensor/README.md deleted file mode 100644 index f0fa077..0000000 --- a/ExampleSensor/README.md +++ /dev/null @@ -1,29 +0,0 @@ -# Example Sensor - -This is an example `README` for the sensor "Example Sensor". All sensor `README`s should include the following content: - -- ***Read-only*** links to UTHT Google Drive sensor documentation, and/or other references; -- Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); -- A list of dependencies (and links to those); -- Everything else that is listed under [the master `README`](../README.md). - -# Development - -## Dependencies - -- ExampleLibrary -- ... - -## Testing - -### Setup - -... - -### Procedure - -... - -### Expected Output - -... \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.cpp b/ExampleSensor/libraries/ExampleLibrary.cpp deleted file mode 100644 index c014881..0000000 --- a/ExampleSensor/libraries/ExampleLibrary.cpp +++ /dev/null @@ -1,16 +0,0 @@ -#include - -// Example library code - -Example::Example(int* address, int defaultvalue) : Example((int*)malloc(sizeof(int)), 0){ - this->address = address; - *address = defaultvalue; -} - -int Example::read(){ - return *(this->address); -} - -void Example::write(int value){ - *(this->address) = value; -} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.h b/ExampleSensor/libraries/ExampleLibrary.h deleted file mode 100644 index 0f9859e..0000000 --- a/ExampleSensor/libraries/ExampleLibrary.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef ExampleLibrary_H -#define ExampleLibrary_H - -#include - -// Example library header - -class Example { - public: - Example(int* address, int defaultvalue) - private: - float read(); - void write(int value); - int* address; -} - -#endif \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.cpp b/ExampleSensor/libraries/ExampleSensor.cpp deleted file mode 100644 index e6efcfe..0000000 --- a/ExampleSensor/libraries/ExampleSensor.cpp +++ /dev/null @@ -1,9 +0,0 @@ -#include - -void init(){ - example = Example(); -} - -int getValue(){ - example.read(); -} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.h b/ExampleSensor/libraries/ExampleSensor.h deleted file mode 100644 index 6ee8437..0000000 --- a/ExampleSensor/libraries/ExampleSensor.h +++ /dev/null @@ -1,10 +0,0 @@ -#ifndef ExampleSensor_H -#define ExampleSensor_H -#include "ExampleLibrary.h" - -Example ex; - -void init(); -int getValue(); - -#endif // !ExampleSensor_h \ No newline at end of file From ec763cad113810bc182c1d232aa3bbaca53add38 Mon Sep 17 00:00:00 2001 From: Urmil Modi Date: Sun, 28 Mar 2021 15:44:11 -0400 Subject: [PATCH 08/35] restructured repo and added readme --- ExampleSensor/ExampleSensor.ino | 11 +++++++ ExampleSensor/README.md | 29 ++++++++++++++++++ ExampleSensor/libraries/ExampleLibrary.cpp | 16 ++++++++++ ExampleSensor/libraries/ExampleLibrary.h | 17 +++++++++++ ExampleSensor/libraries/ExampleSensor.cpp | 9 ++++++ ExampleSensor/libraries/ExampleSensor.h | 10 +++++++ Serial-CAN-Bus/README.md | 30 +++++++++++++++++++ .../libraries}/Serial_CAN_Module_2.cpp | 0 .../libraries}/Serial_CAN_Module_2.h | 0 .../recv_basic_test.ino | 0 .../recv_mask_filt_test_2.ino | 0 .../send_basic_test.ino | 0 .../send_mask_filt_test_2.ino | 0 13 files changed, 122 insertions(+) create mode 100644 ExampleSensor/ExampleSensor.ino create mode 100644 ExampleSensor/README.md create mode 100644 ExampleSensor/libraries/ExampleLibrary.cpp create mode 100644 ExampleSensor/libraries/ExampleLibrary.h create mode 100644 ExampleSensor/libraries/ExampleSensor.cpp create mode 100644 ExampleSensor/libraries/ExampleSensor.h create mode 100644 Serial-CAN-Bus/README.md rename {Serial CAN Bus Module Library => Serial-CAN-Bus/libraries}/Serial_CAN_Module_2.cpp (100%) rename {Serial CAN Bus Module Library => Serial-CAN-Bus/libraries}/Serial_CAN_Module_2.h (100%) rename recv_basic_test.ino => Serial-CAN-Bus/recv_basic_test.ino (100%) rename recv_mask_filt_test_2.ino => Serial-CAN-Bus/recv_mask_filt_test_2.ino (100%) rename send_basic_test.ino => Serial-CAN-Bus/send_basic_test.ino (100%) rename send_mask_filt_test_2.ino => Serial-CAN-Bus/send_mask_filt_test_2.ino (100%) diff --git a/ExampleSensor/ExampleSensor.ino b/ExampleSensor/ExampleSensor.ino new file mode 100644 index 0000000..6f90f3a --- /dev/null +++ b/ExampleSensor/ExampleSensor.ino @@ -0,0 +1,11 @@ +#include +#include "ExampleSensor.h" + +void setup(){ + init(); +} + +void loop(){ + int x = getValue(); + delay(1000); +} \ No newline at end of file diff --git a/ExampleSensor/README.md b/ExampleSensor/README.md new file mode 100644 index 0000000..f0fa077 --- /dev/null +++ b/ExampleSensor/README.md @@ -0,0 +1,29 @@ +# Example Sensor + +This is an example `README` for the sensor "Example Sensor". All sensor `README`s should include the following content: + +- ***Read-only*** links to UTHT Google Drive sensor documentation, and/or other references; +- Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); +- A list of dependencies (and links to those); +- Everything else that is listed under [the master `README`](../README.md). + +# Development + +## Dependencies + +- ExampleLibrary +- ... + +## Testing + +### Setup + +... + +### Procedure + +... + +### Expected Output + +... \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.cpp b/ExampleSensor/libraries/ExampleLibrary.cpp new file mode 100644 index 0000000..c014881 --- /dev/null +++ b/ExampleSensor/libraries/ExampleLibrary.cpp @@ -0,0 +1,16 @@ +#include + +// Example library code + +Example::Example(int* address, int defaultvalue) : Example((int*)malloc(sizeof(int)), 0){ + this->address = address; + *address = defaultvalue; +} + +int Example::read(){ + return *(this->address); +} + +void Example::write(int value){ + *(this->address) = value; +} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleLibrary.h b/ExampleSensor/libraries/ExampleLibrary.h new file mode 100644 index 0000000..0f9859e --- /dev/null +++ b/ExampleSensor/libraries/ExampleLibrary.h @@ -0,0 +1,17 @@ +#ifndef ExampleLibrary_H +#define ExampleLibrary_H + +#include + +// Example library header + +class Example { + public: + Example(int* address, int defaultvalue) + private: + float read(); + void write(int value); + int* address; +} + +#endif \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.cpp b/ExampleSensor/libraries/ExampleSensor.cpp new file mode 100644 index 0000000..e6efcfe --- /dev/null +++ b/ExampleSensor/libraries/ExampleSensor.cpp @@ -0,0 +1,9 @@ +#include + +void init(){ + example = Example(); +} + +int getValue(){ + example.read(); +} \ No newline at end of file diff --git a/ExampleSensor/libraries/ExampleSensor.h b/ExampleSensor/libraries/ExampleSensor.h new file mode 100644 index 0000000..6ee8437 --- /dev/null +++ b/ExampleSensor/libraries/ExampleSensor.h @@ -0,0 +1,10 @@ +#ifndef ExampleSensor_H +#define ExampleSensor_H +#include "ExampleLibrary.h" + +Example ex; + +void init(); +int getValue(); + +#endif // !ExampleSensor_h \ No newline at end of file diff --git a/Serial-CAN-Bus/README.md b/Serial-CAN-Bus/README.md new file mode 100644 index 0000000..8dba15f --- /dev/null +++ b/Serial-CAN-Bus/README.md @@ -0,0 +1,30 @@ +# Serial CAN Bus Module + +> Documentation for the **Serial CAN Bus Module** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing). + + +## Todo + +- [ ] Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); +- [ ] A list of dependencies (and links to those); +- [ ] Everything else that is listed under [the master `README`](../README.md). + +# Development + +## Dependencies + +- ... + +## Testing + +### Setup + +... + +### Procedure + +... + +### Expected Output + +... \ No newline at end of file diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp b/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp similarity index 100% rename from Serial CAN Bus Module Library/Serial_CAN_Module_2.cpp rename to Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp diff --git a/Serial CAN Bus Module Library/Serial_CAN_Module_2.h b/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h similarity index 100% rename from Serial CAN Bus Module Library/Serial_CAN_Module_2.h rename to Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h diff --git a/recv_basic_test.ino b/Serial-CAN-Bus/recv_basic_test.ino similarity index 100% rename from recv_basic_test.ino rename to Serial-CAN-Bus/recv_basic_test.ino diff --git a/recv_mask_filt_test_2.ino b/Serial-CAN-Bus/recv_mask_filt_test_2.ino similarity index 100% rename from recv_mask_filt_test_2.ino rename to Serial-CAN-Bus/recv_mask_filt_test_2.ino diff --git a/send_basic_test.ino b/Serial-CAN-Bus/send_basic_test.ino similarity index 100% rename from send_basic_test.ino rename to Serial-CAN-Bus/send_basic_test.ino diff --git a/send_mask_filt_test_2.ino b/Serial-CAN-Bus/send_mask_filt_test_2.ino similarity index 100% rename from send_mask_filt_test_2.ino rename to Serial-CAN-Bus/send_mask_filt_test_2.ino From 63c7a08f2b77641ae3f85ae1dec52a04927ea5a1 Mon Sep 17 00:00:00 2001 From: Urmil Modi Date: Sun, 28 Mar 2021 15:45:53 -0400 Subject: [PATCH 09/35] corrected readme name --- Serial-CAN-Bus/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Serial-CAN-Bus/README.md b/Serial-CAN-Bus/README.md index 8dba15f..61565f5 100644 --- a/Serial-CAN-Bus/README.md +++ b/Serial-CAN-Bus/README.md @@ -1,6 +1,6 @@ -# Serial CAN Bus Module +# Serial CAN Bus -> Documentation for the **Serial CAN Bus Module** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing). +> Documentation for the **Serial CAN Bus** can be found [here](https://drive.google.com/drive/folders/1rzmLET68QOWb4At4mAyN4rDsj-VGBLyh?usp=sharing). ## Todo From 157a71516ef19f3697d5ed08638cb064aff0bfdf Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre Date: Fri, 21 May 2021 13:51:15 -0400 Subject: [PATCH 10/35] Sensor Implementation Template --- Template.ino | 69 ++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 69 insertions(+) create mode 100644 Template.ino diff --git a/Template.ino b/Template.ino new file mode 100644 index 0000000..5aa5fc3 --- /dev/null +++ b/Template.ino @@ -0,0 +1,69 @@ +// Headers for each sensor type +#include "YourSensorClass.h" +//... + +#include "Sensor.h" +#define NUMSENSORS 1 //Or however many +#define BAUDRATE 115200 + +// Objects for each sensor +SensorClass sensor(/*Arguments, arduino enum*/); +//... + +Sensor* sensors[NUMSENSORS] = { + // Entry for each sensor object + &sensor, + //... +}; + +// !#!#!#!--- EVERYTHING AFTER HERE DOES NOT NEED TO BE CHANGED FOR SENSOR IMPLEMENTATION ---!#!#!#! + +void setup(){ + Serial.begin(BAUDRATE); + + bool success = true; + for(int i = 0; i < NUMSENSORS; i++){ + SensorState* state = sensors[i]->begin(); + // Print/send sensor post-setup state data here. For example: + bool _success = (state->error == ERR_NONE); + if(_success){ + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.println(" initialized."); + } else { + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.println(" failed to initialize!"); + } + success &= _success; + } + if(!success){ + Serial.println("POST failed on one or more sensors, freezing..."); + while(1){delay(1000);} + } +} + +void loop(){ + for(int i = 0; i < NUMSENSORS; i++){ + SensorState* state = sensors[i]->update(); + // Print/send sensor post-setup state data here. For example: + bool _success = (state->error == ERR_NONE); + bool _new = (state->debug == DS_NEWREAD); + if(_success && _new){ + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.print(" read success: "); + for(int x = 0; x < state.numdata; x++){ + Serial.print(state->data[x].data); + Serial.print(' '); + Serial.print(state->data[x].units); + if(x < state.numdata-1){Serial.print(", ");} + } + } else { + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.println(" failed to update!"); + // TODO: Recover failed sensor? + } + } +} \ No newline at end of file From 05a75d94ffa2a59292a886a033e76f1d78e85a84 Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre Date: Thu, 27 May 2021 00:44:29 -0400 Subject: [PATCH 11/35] Adafruit Compatibility Fix --- Sensor.cpp | 4 ++-- Sensor.h | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/Sensor.cpp b/Sensor.cpp index 455b21d..9c0f9ad 100644 --- a/Sensor.cpp +++ b/Sensor.cpp @@ -4,12 +4,12 @@ /** * Constructor. - * @param sensor - sensor_t - Which sensor is this? + * @param sensor - sensors_t - Which sensor is this? * @param arduino - arduino_t - Which Arduino are we attached to? * @param setup - t_datasetup - How many datasets are there? What are their units? * @param delta - uint16_t - The minimum time (in ms) between sensor read attempts. **/ -Sensor::Sensor(sensor_t sensor, arduino_t arduino, t_datasetup setup, uint16_t delta){ +Sensor::Sensor(sensors_t sensor, arduino_t arduino, t_datasetup setup, uint16_t delta){ // Set up cache this->sensor = sensor; this->arduino = arduino; diff --git a/Sensor.h b/Sensor.h index b46809b..4885e95 100644 --- a/Sensor.h +++ b/Sensor.h @@ -5,7 +5,7 @@ #include "stdlib.h" // Sensor identifiers -typedef enum sensor_t { +typedef enum sensors_t { S_OPT2002, S_VN200, S_PROSENSERTD, @@ -15,7 +15,7 @@ typedef enum sensor_t { S_SPTD25_20_1000H, S_SPTD25_20_0200A, S_CANBUS -} sensor_t; +} sensors_t; // Arduino identifiers typedef enum arduino_t { @@ -72,7 +72,7 @@ typedef struct SensorState { // Wrapper for all sensor stuff - this is what gets passed to the main computer typedef struct SensorData { - sensor_t sensor; + sensors_t sensor; arduino_t arduino; SensorState state; } SensorData; @@ -96,11 +96,11 @@ class Sensor{ SensorState state; //Stores all the latest state data for this sensor. public: arduino_t arduino; - sensor_t sensor; + sensors_t sensor; // Wrappers return pointer to updated state SensorState* update(); //Calls read(), manages delta, and wraps all t_datum SensorState* begin(); //Sets state in accordance with init() - Sensor(sensor_t sensor, arduino_t arduino, t_datasetup setup, uint16_t delta); + Sensor(sensors_t sensor, arduino_t arduino, t_datasetup setup, uint16_t delta); }; #endif \ No newline at end of file From c675e2d9ad526e1dac0c5d923d9bd9d1dfaf2c61 Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre Date: Thu, 15 Jul 2021 02:30:26 -0400 Subject: [PATCH 12/35] Added Inverter Message Reference --- Serial-CAN-Bus/README.md | 58 +++++++++++++++++++++++++++++++++------- 1 file changed, 48 insertions(+), 10 deletions(-) diff --git a/Serial-CAN-Bus/README.md b/Serial-CAN-Bus/README.md index 61565f5..786c870 100644 --- a/Serial-CAN-Bus/README.md +++ b/Serial-CAN-Bus/README.md @@ -8,23 +8,61 @@ - [ ] Setup, testing, and expected output documentation (screenshot, pictures, logs/stack traces, etc.); - [ ] A list of dependencies (and links to those); - [ ] Everything else that is listed under [the master `README`](../README.md). +
+
-# Development +# PM100 Inverter/Controller CAN Bus Message Reference -## Dependencies +> Prepared by Adam Pietrewicz, adapted to Markdown by Jayden Lefebvre (@JLefebvre55) +> +> Last Updated - July 14th 2021 -- ... +*** -## Testing +## Broadcast Messages -### Setup +> CAN ID: `0x0A0-0x0AF`. See doc for example implementation (pgs.) and per-byte breakdown. -... +| Address | Frequency | Content | CAN Active Messages (Low Word) | +|-----------|---------------|---------------------------------------------------------|----------------------------------| +| `0x0A0` | Slow/10Hz | Temperatures #1 | `0x0001` | +| `0x0A1` | Slow/10Hz | Temperatures #2 | `0x0002` | +| `0x0A2` | Slow/10Hz | Temperatures #3 | `0x0004` | +| `0x0A3` | Fast/100Hz | Analog Inputs Voltages | `0x0008` | +| `0x0A4` | Fast/100Hz | Digital Input Status | `0x0010` | +| `0x0A5` | Fast/100Hz | Motor Position Information | `0x0020` | +| `0x0A6` | Fast/100Hz | Current Information | `0x0040` | +| `0x0A7` | Fast/100Hz | Voltage Information | `0x0080` | +| `0x0A8` | Fast/100Hz | Flux Information | `0x0100` | +| `0x0A9` | Slow/10Hz | Internal Voltages | `0x0200` | +| `0x0AA` | Fast/100Hz | Internal States | `0x0400` | +| `0x0AB` | Fast/100Hz | Fault Codes | `0x0800` | +| `0x0AC` | Fast/100Hz | Torque & Timer Information | `0x1000` | +| `0x0AD` | Fast/100Hz | Modulation Index & Flux Weakening
Output Information | `0x2000` | +| `0x0AE` | Slow/10Hz | Firmware Information | `0x4000` | +| `0x0AF` | 100Hz (fixed) | Diagnostic Data | `0x8000` | -### Procedure +*** +## Command Messages -... +> CAN ID: `0x0C0`. See doc for example implementation. -### Expected Output +| Byte(s) | Name | Format | Description | +|----------|------------------------|------------------|------------------------------------------------------------------------------------------------------------------------| +| 0, 1 | Torque Command | Torque | Torque command used when in torque mode. | +| 2, 3 | Speed Command | Angular Velocity | Speed command used when in speed mode. | +| 4 | Direction Command | Boolean | `0` - "Reverse", `1` - "Forward" (See Section 2.3.2.2) | +| 5: Bit 0 | Inverter Enable | Boolean | `0` - Inverter Off, `1` - Inverter On | +| 5: Bit 1 | Inverter Discharge | Boolean | `0` - Disable Discharge, `1` - Enable Discharge | +| 5, 2 | Speed Mode Enable | Boolean | `0` - Do not override mode, `1` - Overrides from torque
mode to speed mode ONLY (See "Using Speed Mode" in manual) | +| 6, 7 | Commanded Torque Limit | Torque | Motor and Regen Torque limits. If set to `0`, default
torque limit from EEPROM is used. | -... \ No newline at end of file +*** +## Parameter Messages + +> Sets EEPROM parameters. See doc for example implementation. + +**CAN ID `0x0C1`** - Used to send message *to* controller. + +**CAN ID `0x0C2`** - Response *from* controller. +*** \ No newline at end of file From e24bb9c8a1c1b15784dacbdfefe82cdf2b48fd8b Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre Date: Thu, 15 Jul 2021 13:56:33 -0400 Subject: [PATCH 13/35] Add Page Numbers for Doc Reference --- Serial-CAN-Bus/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/Serial-CAN-Bus/README.md b/Serial-CAN-Bus/README.md index 786c870..eab40f8 100644 --- a/Serial-CAN-Bus/README.md +++ b/Serial-CAN-Bus/README.md @@ -21,7 +21,7 @@ ## Broadcast Messages -> CAN ID: `0x0A0-0x0AF`. See doc for example implementation (pgs.) and per-byte breakdown. +> CAN ID: `0x0A0-0x0AF`. See doc for example implementation (pgs. 4-5) and per-byte breakdown (pgs. 5-11). | Address | Frequency | Content | CAN Active Messages (Low Word) | |-----------|---------------|---------------------------------------------------------|----------------------------------| @@ -45,7 +45,7 @@ *** ## Command Messages -> CAN ID: `0x0C0`. See doc for example implementation. +> CAN ID: `0x0C0`. See doc for example implementation (pgs. 2-3). | Byte(s) | Name | Format | Description | |----------|------------------------|------------------|------------------------------------------------------------------------------------------------------------------------| @@ -60,7 +60,7 @@ *** ## Parameter Messages -> Sets EEPROM parameters. See doc for example implementation. +> Sets EEPROM parameters. **CAN ID `0x0C1`** - Used to send message *to* controller. From f6019b0e1e592f06304e28de162650125cf54287 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 31 Jul 2021 13:54:52 -0400 Subject: [PATCH 14/35] Add files via upload First version of send_command_message() function for Arduino to Inverter communication. --- Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino | 93 ++++++++++++++++++++++++++++ Serial-CAN-Bus/PM100_CAN_BUS.h.ino | 44 +++++++++++++ 2 files changed, 137 insertions(+) create mode 100644 Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino create mode 100644 Serial-CAN-Bus/PM100_CAN_BUS.h.ino diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino b/Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino new file mode 100644 index 0000000..05435c6 --- /dev/null +++ b/Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino @@ -0,0 +1,93 @@ +#include +#include +#include +#include + + +command_message::send_command_message( message_type command_message, + float torque_val, //Value in N.m + float speed_val, //RPM + inverter_direction direction_command, + inverter_enable enable_command ){ + + int inverter_torque_val; + int data_high_byte; + int data_low_byte; + int direction_byte; + int enable_byte; + + unsigned int can_data_bytes[8]; + + + if( command_message == COMMAND_TOURQUE_M ){ + + //calculate the int values for byte 0 & byte 1 (torque data) + inverter_torque_val = int(torque_val * 10); + data_low_byte = inverter_torque_val % 256; + data_high_byte = inverter_torque_val / 256; + + if( direction_command == REVERSE ){ + direction_byte = 0; + } + else if( direction_command == FORWARD ){ + direction_byte = 1; + } + else{ + //WE GOT A PROBLEM + } + + + if( enable_command == ENABLE ){ + enable_byte = 1; + } + else if( enable_command == DISABLE ){ + enable_byte = 0; + } + else{ + //WE GOT A PROBLEM + } + + + //Finally, format the CAN message data bytes + can_data_bytes[8] = { data_low_byte, data_high_byte, 0, 0, direction_byte, enable_byte, 0, 0 }; + + } + + + + + + + else if( command_message == COMMAND_SPEED_M ){ + + data_low_byte = speed_val % 256; + data_high_byte = speed_val / 256; + + if( direction_command == REVERSE ){ + direction_byte = 0; + } + else if( direction_command == FORWARD ){ + direction_byte = 1; + } + else{ + //WE GOT A PROBLEM + } + + + if( enable_command == ENABLE ){ + enable_byte = 1; + } + else if( enable_command == DISABLE ){ + enable_byte = 0; + } + else{ + //WE GOT A PROBLEM + } + + + //Finally, format the CAN message data bytes + can_data_bytes[8] = { 0, 0, data_low_byte, data_high_byte, direction_byte, enable_byte, 0, 0 }; + + } + +} diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.h.ino b/Serial-CAN-Bus/PM100_CAN_BUS.h.ino new file mode 100644 index 0000000..cc6a549 --- /dev/null +++ b/Serial-CAN-Bus/PM100_CAN_BUS.h.ino @@ -0,0 +1,44 @@ +#ifndef PM100_CAN_BUS_H +#define PM100_CAN_BUS_H + +//types of CAN messages +typedef enum message_type { + BROADCAST_M, + COMMAND_TOURQUE_M + COMMAND_SPEED_M +} message_type; + +//command message variables for inverter +typedef enum inverter_direction { + REVERSE, //clock-wise + FORWARD //counter-clock-wise +} inverter_direction; + +typedef enum inverter_enable { + ENABLE, + DISABLE +} inverter_enable; + + + +class command_message{ + + public: + + message_type command_message; + + int send_command_message( message_type command_message, + float torque_val, //Value in N.m + float speed_val, //RPM + inverter_direction direction_command, + inverter_enable enable_command ); + + + + + + + + + +} From d9f41501e0aed7c8633c9d826eff25865531aa94 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Mon, 9 Aug 2021 00:25:07 -0400 Subject: [PATCH 15/35] Update and rename PM100_CAN_BUS.cpp.ino to PM100_CAN_BUS.cpp Fixed compilation problems. Added main() for testing send_command_message() --- Serial-CAN-Bus/PM100_CAN_BUS.cpp | 154 +++++++++++++++++++++++++++ Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino | 93 ---------------- 2 files changed, 154 insertions(+), 93 deletions(-) create mode 100644 Serial-CAN-Bus/PM100_CAN_BUS.cpp delete mode 100644 Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.cpp b/Serial-CAN-Bus/PM100_CAN_BUS.cpp new file mode 100644 index 0000000..3e40df6 --- /dev/null +++ b/Serial-CAN-Bus/PM100_CAN_BUS.cpp @@ -0,0 +1,154 @@ +//#include +//#include +//#include +#include +#include +//#include + +using namespace std; + + +int* command_message::send_command_message( message_type command_message, + float torque_val, //Value in N.m + float speed_val, //RPM + inverter_direction direction_command, + inverter_enable enable_command ){ + + int inverter_torque_val; + int data_high_byte; + int data_low_byte; + int direction_byte; + int enable_byte; + + //int can_data_bytes[8]; + + + if( command_message == COMMAND_TOURQUE_M ){ + + //calculate the int values for byte 0 & byte 1 (torque data) + inverter_torque_val = int(torque_val * 10); + data_low_byte = inverter_torque_val % 256; + data_high_byte = inverter_torque_val / 256; + + if( direction_command == REVERSE ){ + direction_byte = 0; + } + else if( direction_command == FORWARD ){ + direction_byte = 1; + } + else{ + //WE GOT A PROBLEM, should not be here + cout << "Problem!" << endl; + } + + + if( enable_command == ENABLE ){ + enable_byte = 1; + } + else if( enable_command == DISABLE ){ + enable_byte = 0; + } + else{ + //WE GOT A PROBLEM + cout << "Problem, no enable command!" << endl; + } + + + //Finally, format the CAN message data bytes + static int can_data_bytes[8] = { data_low_byte, data_high_byte, 0, 0, direction_byte, enable_byte, 0, 0 }; + + /* + cout << "Printintg CAN Message inside the function here:..." << endl; + for ( int i = 0; i < 8; i++ ) { + + cout << can_data_bytes[i] << endl; + + } + */ + + return can_data_bytes; + + } + + + + /* + + + else if( command_message == COMMAND_SPEED_M ){ + + data_low_byte = int(speed_val) % 256; + data_high_byte = speed_val / 256; + + if( direction_command == REVERSE ){ + direction_byte = 0; + } + else if( direction_command == FORWARD ){ + direction_byte = 1; + } + else{ + //WE GOT A PROBLEM + } + + + if( enable_command == ENABLE ){ + enable_byte = 1; + } + else if( enable_command == DISABLE ){ + enable_byte = 0; + } + else{ + //WE GOT A PROBLEM + } + + + //Finally, format the CAN message data bytes + int can_data_bytes[8] = { 0, 0, data_low_byte, data_high_byte, direction_byte, enable_byte, 0, 0 }; + + cout << "Printintg CAN Message inside the function here WRONG ONE:..." << endl; + for ( int i = 0; i < 8; i++ ) { + + cout << can_data_bytes[i] << endl; + + } + + + + return can_data_bytes; + + } + + */ + +} + + + +int main(){ + + float torque_val; + + cout << "Hello" << endl; + cout << "Please enter a Torque Value:"; + cin >> torque_val; + + cout << torque_val; + + command_message test_message; //class + message_type test_type = COMMAND_TOURQUE_M; //specify command type + inverter_direction test_direction = FORWARD; //inverter direction + inverter_enable test_enable = ENABLE; //inverter enable + + //test command message + //pass all the necessary parameters needed to make CAN Message + int *CAM_mssg = test_message.send_command_message( test_type, torque_val, 0, test_direction, test_enable ); + + cout << "CAN Message generated: " << endl; + for ( int i = 0; i < 8; i++ ) { + cout << CAM_mssg[i] << endl; + } + + + + +} diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino b/Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino deleted file mode 100644 index 05435c6..0000000 --- a/Serial-CAN-Bus/PM100_CAN_BUS.cpp.ino +++ /dev/null @@ -1,93 +0,0 @@ -#include -#include -#include -#include - - -command_message::send_command_message( message_type command_message, - float torque_val, //Value in N.m - float speed_val, //RPM - inverter_direction direction_command, - inverter_enable enable_command ){ - - int inverter_torque_val; - int data_high_byte; - int data_low_byte; - int direction_byte; - int enable_byte; - - unsigned int can_data_bytes[8]; - - - if( command_message == COMMAND_TOURQUE_M ){ - - //calculate the int values for byte 0 & byte 1 (torque data) - inverter_torque_val = int(torque_val * 10); - data_low_byte = inverter_torque_val % 256; - data_high_byte = inverter_torque_val / 256; - - if( direction_command == REVERSE ){ - direction_byte = 0; - } - else if( direction_command == FORWARD ){ - direction_byte = 1; - } - else{ - //WE GOT A PROBLEM - } - - - if( enable_command == ENABLE ){ - enable_byte = 1; - } - else if( enable_command == DISABLE ){ - enable_byte = 0; - } - else{ - //WE GOT A PROBLEM - } - - - //Finally, format the CAN message data bytes - can_data_bytes[8] = { data_low_byte, data_high_byte, 0, 0, direction_byte, enable_byte, 0, 0 }; - - } - - - - - - - else if( command_message == COMMAND_SPEED_M ){ - - data_low_byte = speed_val % 256; - data_high_byte = speed_val / 256; - - if( direction_command == REVERSE ){ - direction_byte = 0; - } - else if( direction_command == FORWARD ){ - direction_byte = 1; - } - else{ - //WE GOT A PROBLEM - } - - - if( enable_command == ENABLE ){ - enable_byte = 1; - } - else if( enable_command == DISABLE ){ - enable_byte = 0; - } - else{ - //WE GOT A PROBLEM - } - - - //Finally, format the CAN message data bytes - can_data_bytes[8] = { 0, 0, data_low_byte, data_high_byte, direction_byte, enable_byte, 0, 0 }; - - } - -} From 371c29b682a0bff644af2f2f2729f81e0ef250cc Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Mon, 9 Aug 2021 00:27:39 -0400 Subject: [PATCH 16/35] Fixed compilation errors --- Serial-CAN-Bus/{PM100_CAN_BUS.h.ino => PM100_CAN_BUS.h} | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) rename Serial-CAN-Bus/{PM100_CAN_BUS.h.ino => PM100_CAN_BUS.h} (91%) diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.h.ino b/Serial-CAN-Bus/PM100_CAN_BUS.h similarity index 91% rename from Serial-CAN-Bus/PM100_CAN_BUS.h.ino rename to Serial-CAN-Bus/PM100_CAN_BUS.h index cc6a549..5942132 100644 --- a/Serial-CAN-Bus/PM100_CAN_BUS.h.ino +++ b/Serial-CAN-Bus/PM100_CAN_BUS.h @@ -4,7 +4,7 @@ //types of CAN messages typedef enum message_type { BROADCAST_M, - COMMAND_TOURQUE_M + COMMAND_TOURQUE_M, COMMAND_SPEED_M } message_type; @@ -42,3 +42,5 @@ class command_message{ } + +#endif From dadb85bafbb5b6a8c5ab4bbc853b542fa024d1c2 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Mon, 9 Aug 2021 12:26:51 -0400 Subject: [PATCH 17/35] Added Speed Command. Cleaned up code, formatted main menu --- Serial-CAN-Bus/PM100_CAN_BUS.cpp | 235 ++++++++++++++++++------------- 1 file changed, 134 insertions(+), 101 deletions(-) diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.cpp b/Serial-CAN-Bus/PM100_CAN_BUS.cpp index 3e40df6..a85cfcc 100644 --- a/Serial-CAN-Bus/PM100_CAN_BUS.cpp +++ b/Serial-CAN-Bus/PM100_CAN_BUS.cpp @@ -13,112 +13,97 @@ int* command_message::send_command_message( message_type command_message, float speed_val, //RPM inverter_direction direction_command, inverter_enable enable_command ){ - + + //All necessary variables for CAN Message (data bytes) int inverter_torque_val; int data_high_byte; int data_low_byte; int direction_byte; int enable_byte; - //int can_data_bytes[8]; - - + //There are 2 types of CAN Command Messages to generate: + //Torque Message code below if( command_message == COMMAND_TOURQUE_M ){ - - //calculate the int values for byte 0 & byte 1 (torque data) - inverter_torque_val = int(torque_val * 10); - data_low_byte = inverter_torque_val % 256; - data_high_byte = inverter_torque_val / 256; - - if( direction_command == REVERSE ){ - direction_byte = 0; - } - else if( direction_command == FORWARD ){ - direction_byte = 1; - } - else{ - //WE GOT A PROBLEM, should not be here - cout << "Problem!" << endl; - } - - - if( enable_command == ENABLE ){ - enable_byte = 1; - } - else if( enable_command == DISABLE ){ - enable_byte = 0; - } - else{ - //WE GOT A PROBLEM - cout << "Problem, no enable command!" << endl; - } - - - //Finally, format the CAN message data bytes - static int can_data_bytes[8] = { data_low_byte, data_high_byte, 0, 0, direction_byte, enable_byte, 0, 0 }; - - /* - cout << "Printintg CAN Message inside the function here:..." << endl; - for ( int i = 0; i < 8; i++ ) { + + //Calculate the int values for byte 0 & byte 1 (torque data) + //PM100 requires (Torque Val * 10) to be sent through CAN + inverter_torque_val = int(torque_val * 10); + data_low_byte = inverter_torque_val % 256; + data_high_byte = inverter_torque_val / 256; + + //Set direction command byte accordingly + if( direction_command == REVERSE ){ direction_byte = 0; } + else if( direction_command == FORWARD ){ direction_byte = 1; } + else{ + //SHOULD NOT BE HERE, raise ERROR + cout << "--ERROR-- Un-identified Inverter Direction Command" << endl; + } + + //Set inverter enable byte accordingly + if( enable_command == ENABLE ){ enable_byte = 1; } + else if( enable_command == DISABLE ){ enable_byte = 0; } + else{ + //SHOULD NOT BE HERE, raise ERROR + cout << "--ERROR-- Un-identified Inverter Enable Command" << endl; + } - cout << can_data_bytes[i] << endl; + + //Finally, format the CAN message data bytes + //Represented as int array + static int can_data_bytes[8] = { data_low_byte, data_high_byte, 0, 0, direction_byte, enable_byte, 0, 0 }; - } - */ - - return can_data_bytes; - + /* DEBUG---PRINT OUT CAN DATA BYTES---------------------------------- + cout << "Printintg CAN Message inside the function here:..." << endl; + for ( int i = 0; i < 8; i++ ) { + cout << can_data_bytes[i] << endl; + }------------------------------------------------------------------- + */ + + return can_data_bytes; } - /* + else if( command_message == COMMAND_SPEED_M ){ - data_low_byte = int(speed_val) % 256; - data_high_byte = speed_val / 256; - - if( direction_command == REVERSE ){ - direction_byte = 0; - } - else if( direction_command == FORWARD ){ - direction_byte = 1; - } - else{ - //WE GOT A PROBLEM - } - - - if( enable_command == ENABLE ){ - enable_byte = 1; - } - else if( enable_command == DISABLE ){ - enable_byte = 0; - } - else{ - //WE GOT A PROBLEM - } - - - //Finally, format the CAN message data bytes - int can_data_bytes[8] = { 0, 0, data_low_byte, data_high_byte, direction_byte, enable_byte, 0, 0 }; - - cout << "Printintg CAN Message inside the function here WRONG ONE:..." << endl; - for ( int i = 0; i < 8; i++ ) { - - cout << can_data_bytes[i] << endl; - - } - - + + data_low_byte = int(speed_val) % 256; + data_high_byte = speed_val / 256; + + + if( direction_command == REVERSE ){ direction_byte = 0; } + else if( direction_command == FORWARD ){ direction_byte = 1; } + else{ + //SHOULD NOT BE HERE, raise ERROR + cout << "--ERROR-- Un-identified Inverter Direction Command" << endl; + } + + if( enable_command == ENABLE ){ enable_byte = 1; } + else if( enable_command == DISABLE ){ enable_byte = 0; } + else{ + //SHOULD NOT BE HERE, raise ERROR + cout << "--ERROR-- Un-identified Inverter Enable Command" << endl; + } + + + //Finally, format the CAN message data bytes + static int can_data_bytes[8] = { 0, 0, data_low_byte, data_high_byte, direction_byte, enable_byte, 0, 0 }; - return can_data_bytes; + /* DEBUG---PRINT OUT CAN DATA BYTES---------------------------------- + cout << "Printintg CAN Message inside the function here:..." << endl; + for ( int i = 0; i < 8; i++ ) { + cout << can_data_bytes[i] << endl; + }------------------------------------------------------------------- + */ + + return can_data_bytes; } - */ + } @@ -126,29 +111,77 @@ int* command_message::send_command_message( message_type command_message, int main(){ - float torque_val; + char speed_or_torque; + char inv_direction; + float torque_val = 0; + float speed_val = 0; - cout << "Hello" << endl; - cout << "Please enter a Torque Value:"; - cin >> torque_val; + //These variables are all custom made + command_message test_message; //message class + message_type test_type; + inverter_direction test_direction; + inverter_enable test_enable = ENABLE; //inverter enable - cout << torque_val; - command_message test_message; //class - message_type test_type = COMMAND_TOURQUE_M; //specify command type - inverter_direction test_direction = FORWARD; //inverter direction - inverter_enable test_enable = ENABLE; //inverter enable + cout << "-----------------------------------------------------------------------------" << endl; + cout << "| PM100 CAN Bus Message Generator (TESTING) |" << endl; + cout << "| |" << endl; + cout << "| |" << endl; + cout << "| |" << endl; + cout << "-----------------------------------------------------------------------------" << endl; + cout << "\nWelcome :) \n" << endl; + cout << "Do you want to make a Speed or Torque Command Message?" << endl; + cout << " _______________________________" << endl; + cout << "| [s] for Speed, [t] for Torque |" << endl; + cout << "|_______________________________|" << endl; + cout << ">"; + cin >> speed_or_torque; - //test command message - //pass all the necessary parameters needed to make CAN Message - int *CAM_mssg = test_message.send_command_message( test_type, torque_val, 0, test_direction, test_enable ); + if( speed_or_torque == 's' || speed_or_torque == 'S' ){ + + test_type = COMMAND_SPEED_M; + cout << "\nPlease enter a Speed Value: (RPM)" << endl; + cout << ">"; + cin >> speed_val; + } + else if( speed_or_torque == 't' || speed_or_torque == 'T' ){ + + test_type = COMMAND_TOURQUE_M; + cout << "\nPlease enter a Torque Value: (N*m)" << endl; + cout << ">"; + cin >> torque_val; + } - cout << "CAN Message generated: " << endl; - for ( int i = 0; i < 8; i++ ) { - cout << CAM_mssg[i] << endl; - } + cout << "\nNow, specify the Inverter's Direction:" << endl; + cout << " ____________________________________________" << endl; + cout << "| [f] for FORWARD (default), [r] for REVERSE |" << endl; + cout << "|____________________________________________|" << endl; + cout << ">"; + cin >> inv_direction; + + if( inv_direction == 'f' || inv_direction == 'F' ){ test_direction = FORWARD; } + else if( inv_direction == 'r' || inv_direction == 'R' ){ test_direction = REVERSE; } + + //test command message + //pass all the necessary parameters needed to make CAN Message + int *CAM_mssg = test_message.send_command_message( test_type, torque_val, speed_val, test_direction, test_enable ); + + //Printing out CAN Message (data bytes) + cout << "\n _______________________________________" << endl; + cout << "| CAN Message generated: |" << endl; + cout << "| { "; + for ( int i = 0; i < 8; i++ ) { + cout << CAM_mssg[i]; + if( i != 7 ){ cout << ", "; } + } + cout << " }" << endl; + cout << "| |" << endl; + cout << "|_______________________________________|" << endl; + + } + From 91f0175c05f3b8806da512dbcf351985da1140ba Mon Sep 17 00:00:00 2001 From: Angus Wu Date: Sat, 14 Aug 2021 02:18:49 -0400 Subject: [PATCH 18/35] Broadcast Message Class Functions that print out the vsm and inverter state according to broadcasted message --- Serial-CAN-Bus/BROADCAST_MESSAGE.cpp | 87 ++++++++++++++++++++++++++++ Serial-CAN-Bus/BROADCAST_MESSAGE.h | 41 +++++++++++++ 2 files changed, 128 insertions(+) create mode 100644 Serial-CAN-Bus/BROADCAST_MESSAGE.cpp create mode 100644 Serial-CAN-Bus/BROADCAST_MESSAGE.h diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp new file mode 100644 index 0000000..ba63700 --- /dev/null +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp @@ -0,0 +1,87 @@ +#include +#include "BROADCAST_MESSAGE.h" + +using namesapce std; + +// fyi unsigned char message_arr[9] = {CAN ID, data byte 1, data byte 2, ...} + +void print_vsm_state(unsigned char message_arr[9]) +{ + if (message_arr[0] != 0xAA) + { + cout << "Message CAN ID is not 0xAA" << endl; + return; + } + + switch (message_arr[2]) // message_arr[1] should be 0 + { + case 0: + cout << "VSM State: VSM Start State"; + break; + case 1: + cout << "VSM State: Pre-charge Init State"; + break; + case 2: + cout << "VSM State: Pre-charge Active State"; + break; + case 3: + cout << "VSM State: Pre-charge Complete State"; + break; + case 4: + cout << "VSM State: VSM Wait State"; + break; + case 5: + cout << "VSM State: VSM Ready State"; + break; + case 6: + cout << "VSM State: Motor Running State"; + break; + case 7: + cout << "VSM State: Blink Fault Code State"; + break; + case 14: + cout << "VSM State: Shutdown in Process"; + break; + case 15: + cout << "VSM State: Recycle Power State"; + break; + default: + cout << "Invalid VSM State"; + } +} + +void print_inverter_state(unsigned char message_arr[9]) +{ + if (message_arr[0] != 0xAA) + { + cout << "Message CAN ID is not 0xAA" << endl; + return; + } + + switch (message_arr[3]) + { + case 0: + cout << "Inverter State: Power on State"; + break; + case 1: + cout << "Inverter State: Stop State"; + break; + case 2: + cout << "Inverter State: Open Loop State"; + break; + case 3: + cout << "Inverter State: Closed Loop State"; + break; + case 4: + cout << "Inverter State: Wait State"; + break; + case 8: + cout << "Inverter State: Idle Run State"; + break; + case 9: + cout << "Inverter State: Idle Stop State"; + break; + default: + cout << "Invalid Inverter State"; + } +} \ No newline at end of file diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.h b/Serial-CAN-Bus/BROADCAST_MESSAGE.h new file mode 100644 index 0000000..2deee04 --- /dev/null +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.h @@ -0,0 +1,41 @@ +#ifndef BROADCAST_MESSAGE_H +#define BROADCAST_MESSAGE_H + +#include "PM100_CAN_BUS.h" + +// Reference 0x0AA - Internal States, Byte #0,1 +typedef enum vsm_state +{ + VSM_START, + PRE_CHARGE_INIT, + PRE_CHARGE_ACTIVE, + PRE_CHARGE_COMPLETE, + VSM_WAIT, + VSM_READY, + MOTOR_RUNNING, + BLINK_FAULT_CODE, + SHUTDOWN_IN_PROGRESS = 14, + RECYCLE_POWER +} vsm_state; + +// Reference 0x0AA - Internal States, Byte #2 +typedef enum inverter_state +{ + POWER_ON, + STOP, + OPEN_LOOP, + CLOSED_LOOP, + WAIT, + IDLE_RUN = 8, + IDLE_STOP +} inverter_state; + +class broadcast_message +{ +public: + message_type broadcast_message; + void print_vsm_state(int message_arr[9]); + void print_inverter_state(int message_arr[9]); +} + +#endif \ No newline at end of file From 3c67435126921a7e57653a95d00563ce21c279eb Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 14 Aug 2021 10:56:14 -0400 Subject: [PATCH 19/35] Renamed function to create_command_message --- Serial-CAN-Bus/PM100_CAN_BUS.h | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.h b/Serial-CAN-Bus/PM100_CAN_BUS.h index 5942132..a3c1e25 100644 --- a/Serial-CAN-Bus/PM100_CAN_BUS.h +++ b/Serial-CAN-Bus/PM100_CAN_BUS.h @@ -2,19 +2,19 @@ #define PM100_CAN_BUS_H //types of CAN messages -typedef enum message_type { +typedef enum m_type { BROADCAST_M, COMMAND_TOURQUE_M, COMMAND_SPEED_M } message_type; //command message variables for inverter -typedef enum inverter_direction { +typedef enum i_direction { REVERSE, //clock-wise FORWARD //counter-clock-wise } inverter_direction; -typedef enum inverter_enable { +typedef enum i_enable { ENABLE, DISABLE } inverter_enable; @@ -27,11 +27,11 @@ class command_message{ message_type command_message; - int send_command_message( message_type command_message, - float torque_val, //Value in N.m - float speed_val, //RPM - inverter_direction direction_command, - inverter_enable enable_command ); + int* create_command_message( message_type command_message, + float torque_val, //Value in N.m + float speed_val, //RPM + inverter_direction direction_command, + inverter_enable enable_command ); From c6793f41035d827edcb39f3831cdca5adc52bb4e Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 14 Aug 2021 11:03:57 -0400 Subject: [PATCH 20/35] Added negative torque option/calculation --- Serial-CAN-Bus/PM100_CAN_BUS.cpp | 44 ++++++++++++++++++++++++++------ 1 file changed, 36 insertions(+), 8 deletions(-) diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.cpp b/Serial-CAN-Bus/PM100_CAN_BUS.cpp index a85cfcc..f9bb2e2 100644 --- a/Serial-CAN-Bus/PM100_CAN_BUS.cpp +++ b/Serial-CAN-Bus/PM100_CAN_BUS.cpp @@ -4,15 +4,17 @@ #include #include //#include +#include using namespace std; -int* command_message::send_command_message( message_type command_message, - float torque_val, //Value in N.m - float speed_val, //RPM - inverter_direction direction_command, - inverter_enable enable_command ){ +//given all inverter parameters, this creates an int array of the CAN message data bytes +int* command_message::create_command_message ( message_type command_message, + float torque_val, //Value in N.m + float speed_val, //RPM + inverter_direction direction_command, + inverter_enable enable_command ){ //All necessary variables for CAN Message (data bytes) int inverter_torque_val; @@ -27,9 +29,17 @@ int* command_message::send_command_message( message_type command_message, //Calculate the int values for byte 0 & byte 1 (torque data) //PM100 requires (Torque Val * 10) to be sent through CAN - inverter_torque_val = int(torque_val * 10); - data_low_byte = inverter_torque_val % 256; - data_high_byte = inverter_torque_val / 256; + if( torque_val > 0 ){ + inverter_torque_val = int(torque_val * 10); + data_low_byte = inverter_torque_val % 256; + data_high_byte = inverter_torque_val / 256; + } + else if( torque_val < 0 ){ + inverter_torque_val = int(torque_val * 10); + data_low_byte = ( inverter_torque_val & 255 ); + data_high_byte = ( inverter_torque_val & 65280 ) >> 8; + } + //Set direction command byte accordingly if( direction_command == REVERSE ){ direction_byte = 0; } @@ -123,6 +133,24 @@ int main(){ inverter_enable test_enable = ENABLE; //inverter enable + //BITWISE TESTING (ADAM) + /* + int test_int = 100; + int bitwise_not = ~test_int + 1; + + cout << "test int: " << test_int << endl; + cout << "bitwise NOT: " << bitwise_not << endl; + + cout << "binary of test int: " << bitset<16>(test_int) << endl; + cout << "binary of bitwise NOT: " << bitset<16>(bitwise_not) << endl; + + int low_byte = ( bitwise_not & 255 ); + int high_byte = ( bitwise_not & 65280 ) >> 8; + cout << "low byte: " << low_byte << endl; + cout << "high byte: " << high_byte << endl; + */ + + cout << "-----------------------------------------------------------------------------" << endl; cout << "| PM100 CAN Bus Message Generator (TESTING) |" << endl; cout << "| |" << endl; From 7e8a9133f427621c425d6c3f88b6bb30357ccd7c Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 14 Aug 2021 11:44:12 -0400 Subject: [PATCH 21/35] Visual map of current state of code --- Serial-CAN-Bus/Code Overview - Map.png | Bin 0 -> 547751 bytes 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 Serial-CAN-Bus/Code Overview - Map.png diff --git a/Serial-CAN-Bus/Code Overview - Map.png b/Serial-CAN-Bus/Code Overview - Map.png new file mode 100644 index 0000000000000000000000000000000000000000..84a5cb6ab697509282a63baf75b0cac37dbb5ab1 GIT binary patch literal 547751 zcmaI72UJr{*9IEo6_kz;kR}inRH`%)qzMR05tSk$AQF0q5Tt}6hAM%8AVrE)={=NC z6jXxrUIQW^H9={ia}VYH{`-A*t$SROKJTn<=mr8^ zfF1oOo3P}5b#xP^`V{uW$r9#a=4t^lc0QB=fexeYt0?KdGFiq`et2#%(DJt&ajTvb z^@ich{d1E3x?m-h>*eKK`e@y*RH)ze@y;yNKt*I-qC5r zjp*jMIf5+*{)s0EHLkQQ$#o@9w7Z+ 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zG%=@<I@H7^{Ra;|+ySZ_-_p|z45lh<9+@xcn_hHjKgt)?s6|e3AX7iq7uZkmbV5jt zMgWn5?Qw-n8!5Y3&AXag3@WBxOOA&&k!>t+cL&cXks#cY9f{V>#F#Mo93oxa`65cO zM(-=#T+<l=g<+#Mm<o|A9L_m^ZO<8N9^3K*G7V`F!{ve!Xth{U#(lz{3km^jJ_mhQ z<op;yN1NO%$oD_SD=cFi!jeL-?<YBhmDRE_)LCN(3NXGH*{-_1TPU;j96CudNBBDt z4SD{&P1>8ozb&ZS<1}cxmD`^efP<gKeZTuVY(H~@fA8-@knKSh=ud-;?E!}SkG*Dl zKn?xv72AHyh5aK?*?t^CJ^s73$o4=T`+q+4PaBEtSN?v?-!JWNr2Sntf5GOrwr?8~ m|3c^AeDnV@d#cxO{S#+~m^paJ6wtqLap`JZ*UY<W6Z$`gUNwdQ literal 0 HcmV?d00001 From 1755d5db106a42c3c48f6d5901a3ba5eeb0ec8ca Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 14 Aug 2021 11:49:23 -0400 Subject: [PATCH 22/35] Renamed file, to match naming convention ( /w broadcast) --- Serial-CAN-Bus/{PM100_CAN_BUS.h => COMMAND_MESSAGE.h} | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) rename Serial-CAN-Bus/{PM100_CAN_BUS.h => COMMAND_MESSAGE.h} (88%) diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.h b/Serial-CAN-Bus/COMMAND_MESSAGE.h similarity index 88% rename from Serial-CAN-Bus/PM100_CAN_BUS.h rename to Serial-CAN-Bus/COMMAND_MESSAGE.h index a3c1e25..4d20045 100644 --- a/Serial-CAN-Bus/PM100_CAN_BUS.h +++ b/Serial-CAN-Bus/COMMAND_MESSAGE.h @@ -1,5 +1,5 @@ -#ifndef PM100_CAN_BUS_H -#define PM100_CAN_BUS_H +#ifndef COMMAND_MESSAGE_H +#define COMMAND_MESSAGE_H //types of CAN messages typedef enum m_type { From 7d2824f8937917d17e02185a1d6ccf441896538b Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 14 Aug 2021 11:50:47 -0400 Subject: [PATCH 23/35] Renamed file to match naming convention ( /w broadcast) --- Serial-CAN-Bus/PM100_CAN_BUS.cpp => COMMAND_MESSAGE.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) rename Serial-CAN-Bus/PM100_CAN_BUS.cpp => COMMAND_MESSAGE.cpp (95%) diff --git a/Serial-CAN-Bus/PM100_CAN_BUS.cpp b/COMMAND_MESSAGE.cpp similarity index 95% rename from Serial-CAN-Bus/PM100_CAN_BUS.cpp rename to COMMAND_MESSAGE.cpp index f9bb2e2..05f9027 100644 --- a/Serial-CAN-Bus/PM100_CAN_BUS.cpp +++ b/COMMAND_MESSAGE.cpp @@ -2,8 +2,8 @@ //#include <SoftwareSerial.h> //#include <Arduino.h> #include <iostream> -#include <PM100_CAN_BUS_testing.h> -//#include <C:\adam\utht\extra low level\PM100_CAN_BUS_testing.h> +#include <COMMAND_MESSAGE.h> +//#include <C:\adam\utht\extra low level\COMMAND_MESSAGE.h> #include <bitset> using namespace std; From 09abedabff43455473fb06a1fa150e9ddf9b7d74 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 14 Aug 2021 11:54:44 -0400 Subject: [PATCH 24/35] Rename COMMAND_MESSAGE.cpp to Serial-CAN-Bus/COMMAND_MESSAGE.cpp --- COMMAND_MESSAGE.cpp => Serial-CAN-Bus/COMMAND_MESSAGE.cpp | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename COMMAND_MESSAGE.cpp => Serial-CAN-Bus/COMMAND_MESSAGE.cpp (100%) diff --git a/COMMAND_MESSAGE.cpp b/Serial-CAN-Bus/COMMAND_MESSAGE.cpp similarity index 100% rename from COMMAND_MESSAGE.cpp rename to Serial-CAN-Bus/COMMAND_MESSAGE.cpp From ed8c6abcb63f491ed3dbe096e620c574a9b928da Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Mon, 16 Aug 2021 13:57:45 -0400 Subject: [PATCH 25/35] 1st Ver of reading CAN Fault Code messages --- Serial-CAN-Bus/BROADCAST_FAULTS.cpp | 291 ++++++++++++++++++++++++++++ Serial-CAN-Bus/BROADCAST_FAULTS.h | 118 +++++++++++ 2 files changed, 409 insertions(+) create mode 100644 Serial-CAN-Bus/BROADCAST_FAULTS.cpp create mode 100644 Serial-CAN-Bus/BROADCAST_FAULTS.h diff --git a/Serial-CAN-Bus/BROADCAST_FAULTS.cpp b/Serial-CAN-Bus/BROADCAST_FAULTS.cpp new file mode 100644 index 0000000..f2cbc29 --- /dev/null +++ b/Serial-CAN-Bus/BROADCAST_FAULTS.cpp @@ -0,0 +1,291 @@ +//#include <Serial_CAN_Module_2.h> +//#include <SoftwareSerial.h> +//#include <Arduino.h> +#include <iostream> +//#include <BROADCAST_FAULTS.h> +#include <C:\adam\utht\extra low level\BROADCAST_FAULTS.h> +#include <bitset> +#include <vector> + +using namespace std; + +PM100_FAULT_CODE FAULT_CODE_ARRAY[65] = { + //POST FAULTS + //Byte 0 + Hardware_Gate_Desaturation_Fault, + HW_Over_current_Fault, + Accelerator_Shorted, + Accelerator_Open, + Current_Sensor_Low, + Current_Sensor_High, + Module_Temperature_Low, + Module_Temperature_High, + //Byte 1 + Control_PCB_Temperature_Low, + Control_PCB_Temperature_High, + Gate_Drive_PCB_Temperature_Low, + Gate_Drive_PCB_Temperature_High, + Sense_Voltage_Low_5V, + Sense_Voltage_High_5V, + Sense_Voltage_Low_12V, + Sense_Voltage_High_12V, + //Byte 2 + Sense_Voltage_Low_2_5V, + Sense_Voltage_High_2_5V, + Sense_Voltage_Low_1_5V, + Sense_Voltage_High_1_5V, + DC_Bus_Voltage_High, + DC_Bus_Voltage_Low, + Pre_charge_Timeout, + Pre_charge_Voltage_Failure, + //Byte 3 + EEPROM_Checksum_Invalid, + EEPROM_Data_Out_of_Range, + EEPROM_Update_Required, + RESERVED_1, + RESERVED_2, + RESERVED_3, + Brake_Shorted, + Brake_Open, + //Byte 4 + //RUN FAULTS + Motor_Over_speed_Fault, + Over_current_Fault, + Over_voltage_Fault, + Inverter_Over_temperature_Fault, + Accelerator_Input_Shorted_Fault, + Accelerator_Input_Open_Fault, + Direction_Command_Fault, + Inverter_Response_Time_out_Fault, + //Byte 5 + Hardware_Gate_Desaturation_RUN_Fault, + Hardware_Over_current_Fault, + Under_voltage_Fault, + CAN_Command_Message_Lost_Fault, + Motor_Over_temperature_Fault, + RESERVED_4, + RESERVED_5, + RESERVED_6, + //Byte 6 + Brake_Input_Shorted_Fault, + Brake_Input_Open_Fault, + Module_A_Over_temperature_Fault, + Module_B_Over_temperature_Fault, + Module_C_Over_temperature_Fault, + PCB_Over_temperature_Fault, + Gate_Drive_Board_1_Over_temperature_Fault, + Gate_Drive_Board_2_Over_temperature_Fault, + //Byte 7 + Gate_Drive_Board_3_Over_temperature_Fault, + Current_Sensor_Fault, + RESERVED_7, + Hardware_Over_Voltage_Fault, + RESERVED_8, + RESERVED_9, + Resolver_Not_Connected, + Inverter_Discharge_Active, + + //Finally, error if the CAN mssg is NOT for fault codes + NOT_FAULT_CAN_MSSG + +}; + + +std::ostream& operator<<(std::ostream& lhs, PM100_FAULT_CODE fault) { + + switch(fault) { + case Hardware_Gate_Desaturation_Fault: lhs << "Hardware_Gate_Desaturation_Fault"; break; + case HW_Over_current_Fault: lhs << "HW_Over_current_Fault"; break; + case Accelerator_Shorted: lhs << "Accelerator_Shorted"; break; + case Accelerator_Open: lhs << "Accelerator_Open"; break; + case Current_Sensor_Low: lhs << "Current_Sensor_Low"; break; + case Current_Sensor_High: lhs << "Current_Sensor_High"; break; + case Module_Temperature_Low: lhs << "Module_Temperature_Low"; break; + case Module_Temperature_High: lhs << "Module_Temperature_High"; break; + case Control_PCB_Temperature_Low: lhs << "Control_PCB_Temperature_Low"; break; + case Control_PCB_Temperature_High: lhs << "Control_PCB_Temperature_High"; break; + case Gate_Drive_PCB_Temperature_Low: lhs << "Gate_Drive_PCB_Temperature_Low"; break; + case Gate_Drive_PCB_Temperature_High: lhs << "Gate_Drive_PCB_Temperature_High"; break; + case Sense_Voltage_Low_5V: lhs << "Sense_Voltage_Low_5V"; break; + case Sense_Voltage_High_5V: lhs << "Sense_Voltage_High_5V"; break; + case Sense_Voltage_Low_12V: lhs << "Sense_Voltage_Low_12V"; break; + case Sense_Voltage_High_12V: lhs << "Sense_Voltage_High_12V"; break; + case Sense_Voltage_Low_2_5V: lhs << "Sense_Voltage_Low_2_5V"; break; + case Sense_Voltage_High_2_5V: lhs << "Sense_Voltage_High_2_5V"; break; + case Sense_Voltage_Low_1_5V: lhs << "Sense_Voltage_Low_1_5V"; break; + case Sense_Voltage_High_1_5V: lhs << "Sense_Voltage_High_1_5V"; break; + case DC_Bus_Voltage_High: lhs << "DC_Bus_Voltage_High"; break; + case DC_Bus_Voltage_Low: lhs << "DC_Bus_Voltage_Low"; break; + case Pre_charge_Timeout: lhs << "Pre_charge_Timeout"; break; + case Pre_charge_Voltage_Failure: lhs << "Pre_charge_Voltage_Failure"; break; + case EEPROM_Checksum_Invalid: lhs << "EEPROM_Checksum_Invalid"; break; + case EEPROM_Data_Out_of_Range: lhs << "EEPROM_Data_Out_of_Range"; break; + case EEPROM_Update_Required: lhs << "EEPROM_Update_Required"; break; + case RESERVED_1: lhs << "RESERVED_1"; break; + case RESERVED_2: lhs << "RESERVED_2"; break; + case RESERVED_3: lhs << "RESERVED_3"; break; + case Brake_Shorted: lhs << "Brake_Shorted"; break; + case Brake_Open: lhs << "Brake_Open"; break; + case Motor_Over_speed_Fault: lhs << "Motor_Over_speed_Fault"; break; + case Over_current_Fault: lhs << "Over_current_Fault"; break; + case Over_voltage_Fault: lhs << "Over_voltage_Fault"; break; + case Inverter_Over_temperature_Fault: lhs << "Inverter_Over_temperature_Fault"; break; + case Accelerator_Input_Shorted_Fault: lhs << "Accelerator_Input_Shorted_Fault"; break; + case Accelerator_Input_Open_Fault: lhs << "Accelerator_Input_Open_Fault"; break; + case Direction_Command_Fault: lhs << "Direction_Command_Fault"; break; + case Inverter_Response_Time_out_Fault: lhs << "Inverter_Response_Time_out_Fault"; break; + case Hardware_Gate_Desaturation_RUN_Fault: lhs << "Hardware_Gate_Desaturation_RUN_Fault"; break; + case Hardware_Over_current_Fault: lhs << "Hardware_Over_current_Fault"; break; + case Under_voltage_Fault: lhs << "Under_voltage_Fault"; break; + case CAN_Command_Message_Lost_Fault: lhs << "CAN_Command_Message_Lost_Fault"; break; + case Motor_Over_temperature_Fault: lhs << "Motor_Over_temperature_Fault"; break; + case RESERVED_4: lhs << "RESERVED_4"; break; + case RESERVED_5: lhs << "RESERVED_5"; break; + case RESERVED_6: lhs << "RESERVED_6"; break; + case Brake_Input_Shorted_Fault: lhs << "Brake_Input_Shorted_Fault"; break; + case Brake_Input_Open_Fault: lhs << "Brake_Input_Open_Fault"; break; + case Module_A_Over_temperature_Fault: lhs << "Module_A_Over_temperature_Fault"; break; + case Module_B_Over_temperature_Fault: lhs << "Module_B_Over_temperature_Fault"; break; + case Module_C_Over_temperature_Fault: lhs << "Module_C_Over_temperature_Fault"; break; + case PCB_Over_temperature_Fault: lhs << "PCB_Over_temperature_Fault"; break; + case Gate_Drive_Board_1_Over_temperature_Fault: lhs << "Gate_Drive_Board_1_Over_temperature_Fault"; break; + case Gate_Drive_Board_2_Over_temperature_Fault: lhs << "Gate_Drive_Board_2_Over_temperature_Fault"; break; + case Gate_Drive_Board_3_Over_temperature_Fault: lhs << "Gate_Drive_Board_3_Over_temperature_Fault"; break; + case Current_Sensor_Fault: lhs << "Current_Sensor_Fault"; break; + case RESERVED_7: lhs << "RESERVED_7"; break; + case Hardware_Over_Voltage_Fault: lhs << "Hardware_Over_Voltage_Fault"; break; + case RESERVED_8: lhs << "RESERVED_8"; break; + case RESERVED_9: lhs << "RESERVED_9"; break; + case Resolver_Not_Connected: lhs << "Resolver_Not_Connected"; break; + case Inverter_Discharge_Active: lhs << "Inverter_Discharge_Active"; break; + case NOT_FAULT_CAN_MSSG: lhs << "ERROR - This CAN Message is NOT for FAULT CODES!"; break; + + + } + + return lhs; + +} + + +int return_fault_index_val( PM100_FAULT_CODE fault ){ + + int index_value = fault; + return index_value; + +} + + + +std::vector<PM100_FAULT_CODE> broadcast_message::read_fault_codes_VER_2( int CAN_mssg[9] ){ + + int CAN_ID = CAN_mssg[0]; + vector<PM100_FAULT_CODE> faults_found; + PM100_FAULT_CODE byte_0_fault; + + if( CAN_ID != 0x0AB ){ + //return an error code for this case, make it up + cout << NOT_FAULT_CAN_MSSG; + faults_found.push_back( NOT_FAULT_CAN_MSSG ); + + } + else if( CAN_ID == 0x0AB ){ + //confirmed that this CAN Message is for Fault Codes + + int fault_code_index = 0; + for( int i = 1; i < 9; i++ ){ + + int byte_i = CAN_mssg[i]; + cout << "Byte " << i << " Faults: " << endl; + + switch(byte_i){ + case 0: //NO FAULTS IN THIS BYTE + cout << " No FAULTS found in Byte " << i << endl; + fault_code_index = fault_code_index + 8; + continue; + case 1: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index ]; + break; + case 2: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 1 ]; + break; + case 4: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 2 ]; + break; + case 8: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 3 ]; + break; + case 16: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 4 ]; + break; + case 32: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 5 ]; + break; + case 64: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 6 ]; + break; + case 128: + byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 7 ]; + break; + } + fault_code_index = fault_code_index + 8; + + cout << " " << byte_0_fault << " -- Fault #" << return_fault_index_val(byte_0_fault) << endl; + faults_found.push_back( byte_0_fault ); + } + + + } + return faults_found; + +} + + + + + + +int main(){ + + cout << "----------------------------------------------------------------" << endl; + cout << "- -" << endl; + cout << "- CAN PM100 -" << endl; + cout << "- Fault Code Function Testing -" << endl; + cout << "- -" << endl; + cout << "- -" << endl; + cout << "- -" << endl; + cout << "----------------------------------------------------------------\n" << endl; + + cout << "< Hello there! Here we'll test out reading Fault Codes from the PM100 >" << endl; + cout << "< >" << endl; + cout << "< >" << endl; + cout << "< >\n" << endl; + + cout << "< The CAN message we're testing is: >" << endl; + + broadcast_message testing_class; + int test_message_2[9] = { 0x0AB, 128, 32, 0, 0, 0, 0, 2, 0 }; + + cout << "< {"; + for ( int i = 0; i < 8; i++ ){ + /* + if(i == 0){ + cout << " 0x0" << hex << test_message_2[i] << ","; + continue; + } + */ + cout << " " << test_message_2[i] << ","; + } + cout << " }\n" << endl; + + + + vector<PM100_FAULT_CODE> returned_faults_vector; + returned_faults_vector = testing_class.read_fault_codes_VER_2( test_message_2 ); + + + + + +} + diff --git a/Serial-CAN-Bus/BROADCAST_FAULTS.h b/Serial-CAN-Bus/BROADCAST_FAULTS.h new file mode 100644 index 0000000..9a39ec2 --- /dev/null +++ b/Serial-CAN-Bus/BROADCAST_FAULTS.h @@ -0,0 +1,118 @@ +#ifndef BROADCAST_FAULTS_H +#define BROADCAST_FAULTS_H + +#include <C:\adam\utht\extra low level\COMMAND_MESSAGE.h> +//#include <COMMAND_MESSAGE.h> +#include <iostream> +#include <vector> +//types of CAN messages +typedef enum fault_code { + //POST FAULTS + //Byte 0 + Hardware_Gate_Desaturation_Fault, + HW_Over_current_Fault, + Accelerator_Shorted, + Accelerator_Open, + Current_Sensor_Low, + Current_Sensor_High, + Module_Temperature_Low, + Module_Temperature_High, + //Byte 1 + Control_PCB_Temperature_Low, + Control_PCB_Temperature_High, + Gate_Drive_PCB_Temperature_Low, + Gate_Drive_PCB_Temperature_High, + Sense_Voltage_Low_5V, + Sense_Voltage_High_5V, + Sense_Voltage_Low_12V, + Sense_Voltage_High_12V, + //Byte 2 + Sense_Voltage_Low_2_5V, + Sense_Voltage_High_2_5V, + Sense_Voltage_Low_1_5V, + Sense_Voltage_High_1_5V, + DC_Bus_Voltage_High, + DC_Bus_Voltage_Low, + Pre_charge_Timeout, + Pre_charge_Voltage_Failure, + //Byte 3 + EEPROM_Checksum_Invalid, + EEPROM_Data_Out_of_Range, + EEPROM_Update_Required, + RESERVED_1, + RESERVED_2, + RESERVED_3, + Brake_Shorted, + Brake_Open, + //Byte 4 + //RUN FAULTS + Motor_Over_speed_Fault, + Over_current_Fault, + Over_voltage_Fault, + Inverter_Over_temperature_Fault, + Accelerator_Input_Shorted_Fault, + Accelerator_Input_Open_Fault, + Direction_Command_Fault, + Inverter_Response_Time_out_Fault, + //Byte 5 + Hardware_Gate_Desaturation_RUN_Fault, + Hardware_Over_current_Fault, + Under_voltage_Fault, + CAN_Command_Message_Lost_Fault, + Motor_Over_temperature_Fault, + RESERVED_4, + RESERVED_5, + RESERVED_6, + //Byte 6 + Brake_Input_Shorted_Fault, + Brake_Input_Open_Fault, + Module_A_Over_temperature_Fault, + Module_B_Over_temperature_Fault, + Module_C_Over_temperature_Fault, + PCB_Over_temperature_Fault, + Gate_Drive_Board_1_Over_temperature_Fault, + Gate_Drive_Board_2_Over_temperature_Fault, + //Byte 7 + Gate_Drive_Board_3_Over_temperature_Fault, + Current_Sensor_Fault, + RESERVED_7, + Hardware_Over_Voltage_Fault, + RESERVED_8, + RESERVED_9, + Resolver_Not_Connected, + Inverter_Discharge_Active, + + //Finally, error if the CAN mssg is NOT for fault codes + NOT_FAULT_CAN_MSSG + + +} PM100_FAULT_CODE; + + + +using namespace std; + + + +class broadcast_message{ + + public: + + message_type command_message; + + friend ostream& operator<<( ostream& lhs, PM100_FAULT_CODE fault ); + + friend int return_fault_index_val( PM100_FAULT_CODE fault ); + + vector<PM100_FAULT_CODE> read_fault_codes_VER_2( int CAN_mssg[9] ); + + + + + + + + +}; + +#endif From 77e993651d03f9d7a629bfc47122c6847a21bbe2 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Sat, 21 Aug 2021 01:35:34 -0400 Subject: [PATCH 26/35] function analyzes EVERY BIT now, returns vector of faults --- Serial-CAN-Bus/BROADCAST_FAULTS.cpp | 103 +++++++++++----------------- 1 file changed, 41 insertions(+), 62 deletions(-) diff --git a/Serial-CAN-Bus/BROADCAST_FAULTS.cpp b/Serial-CAN-Bus/BROADCAST_FAULTS.cpp index f2cbc29..ee2e6df 100644 --- a/Serial-CAN-Bus/BROADCAST_FAULTS.cpp +++ b/Serial-CAN-Bus/BROADCAST_FAULTS.cpp @@ -2,8 +2,8 @@ //#include <SoftwareSerial.h> //#include <Arduino.h> #include <iostream> -//#include <BROADCAST_FAULTS.h> -#include <C:\adam\utht\extra low level\BROADCAST_FAULTS.h> +#include <BROADCAST_FAULTS.h> +//#include <C:\adam\utht\extra low level\BROADCAST_FAULTS.h> #include <bitset> #include <vector> @@ -93,12 +93,13 @@ PM100_FAULT_CODE FAULT_CODE_ARRAY[65] = { std::ostream& operator<<(std::ostream& lhs, PM100_FAULT_CODE fault) { - switch(fault) { - case Hardware_Gate_Desaturation_Fault: lhs << "Hardware_Gate_Desaturation_Fault"; break; - case HW_Over_current_Fault: lhs << "HW_Over_current_Fault"; break; - case Accelerator_Shorted: lhs << "Accelerator_Shorted"; break; - case Accelerator_Open: lhs << "Accelerator_Open"; break; - case Current_Sensor_Low: lhs << "Current_Sensor_Low"; break; + switch(fault) { + + case Hardware_Gate_Desaturation_Fault: lhs << "Hardware_Gate_Desaturation_Fault"; break; + case HW_Over_current_Fault: lhs << "HW_Over_current_Fault"; break; + case Accelerator_Shorted: lhs << "Accelerator_Shorted"; break; + case Accelerator_Open: lhs << "Accelerator_Open"; break; + case Current_Sensor_Low: lhs << "Current_Sensor_Low"; break; case Current_Sensor_High: lhs << "Current_Sensor_High"; break; case Module_Temperature_Low: lhs << "Module_Temperature_Low"; break; case Module_Temperature_High: lhs << "Module_Temperature_High"; break; @@ -124,10 +125,10 @@ std::ostream& operator<<(std::ostream& lhs, PM100_FAULT_CODE fault) { case RESERVED_1: lhs << "RESERVED_1"; break; case RESERVED_2: lhs << "RESERVED_2"; break; case RESERVED_3: lhs << "RESERVED_3"; break; - case Brake_Shorted: lhs << "Brake_Shorted"; break; - case Brake_Open: lhs << "Brake_Open"; break; - case Motor_Over_speed_Fault: lhs << "Motor_Over_speed_Fault"; break; - case Over_current_Fault: lhs << "Over_current_Fault"; break; + case Brake_Shorted: lhs << "Brake_Shorted"; break; + case Brake_Open: lhs << "Brake_Open"; break; + case Motor_Over_speed_Fault: lhs << "Motor_Over_speed_Fault"; break; + case Over_current_Fault: lhs << "Over_current_Fault"; break; case Over_voltage_Fault: lhs << "Over_voltage_Fault"; break; case Inverter_Over_temperature_Fault: lhs << "Inverter_Over_temperature_Fault"; break; case Accelerator_Input_Shorted_Fault: lhs << "Accelerator_Input_Shorted_Fault"; break; @@ -159,12 +160,9 @@ std::ostream& operator<<(std::ostream& lhs, PM100_FAULT_CODE fault) { case Resolver_Not_Connected: lhs << "Resolver_Not_Connected"; break; case Inverter_Discharge_Active: lhs << "Inverter_Discharge_Active"; break; case NOT_FAULT_CAN_MSSG: lhs << "ERROR - This CAN Message is NOT for FAULT CODES!"; break; - - } - return lhs; - + return lhs; } @@ -172,72 +170,53 @@ int return_fault_index_val( PM100_FAULT_CODE fault ){ int index_value = fault; return index_value; - } std::vector<PM100_FAULT_CODE> broadcast_message::read_fault_codes_VER_2( int CAN_mssg[9] ){ + //extract the CAN ID & define return vector of fault codes int CAN_ID = CAN_mssg[0]; vector<PM100_FAULT_CODE> faults_found; - PM100_FAULT_CODE byte_0_fault; + PM100_FAULT_CODE fault; + //check if CAN message is FAULT message if( CAN_ID != 0x0AB ){ - //return an error code for this case, make it up cout << NOT_FAULT_CAN_MSSG; faults_found.push_back( NOT_FAULT_CAN_MSSG ); - } else if( CAN_ID == 0x0AB ){ - //confirmed that this CAN Message is for Fault Codes - int fault_code_index = 0; + int fault_code_index = 0; //var used for indexing fault code array + + //here we'll loop 8 times, analyze each CAN data byte for( int i = 1; i < 9; i++ ){ int byte_i = CAN_mssg[i]; cout << "Byte " << i << " Faults: " << endl; - - switch(byte_i){ - case 0: //NO FAULTS IN THIS BYTE - cout << " No FAULTS found in Byte " << i << endl; - fault_code_index = fault_code_index + 8; - continue; - case 1: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index ]; - break; - case 2: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 1 ]; - break; - case 4: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 2 ]; - break; - case 8: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 3 ]; - break; - case 16: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 4 ]; - break; - case 32: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 5 ]; - break; - case 64: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 6 ]; - break; - case 128: - byte_0_fault = FAULT_CODE_ARRAY[ fault_code_index + 7 ]; - break; - } - fault_code_index = fault_code_index + 8; - - cout << " " << byte_0_fault << " -- Fault #" << return_fault_index_val(byte_0_fault) << endl; - faults_found.push_back( byte_0_fault ); + + //vars to check each bit of current byte + int current_bit; + int int_to_binary = byte_i; + for( int i = 0; i < 8; i++ ){ + + current_bit = int_to_binary % 2; + int_to_binary = int_to_binary / 2; + + if( current_bit ){ + fault = FAULT_CODE_ARRAY[ fault_code_index + i ]; + cout << " " << fault << " -- Fault #" << return_fault_index_val( fault ) << endl; + faults_found.push_back( fault ); + } + } + + fault_code_index = fault_code_index + 8; } - } - return faults_found; + return faults_found; } @@ -264,7 +243,7 @@ int main(){ cout << "< The CAN message we're testing is: >" << endl; broadcast_message testing_class; - int test_message_2[9] = { 0x0AB, 128, 32, 0, 0, 0, 0, 2, 0 }; + int test_message_2[9] = { 0x0AB, 128, 32, 0, 0, 0, 0, 2, 0 }; cout << "< {"; for ( int i = 0; i < 8; i++ ){ @@ -280,8 +259,8 @@ int main(){ - vector<PM100_FAULT_CODE> returned_faults_vector; - returned_faults_vector = testing_class.read_fault_codes_VER_2( test_message_2 ); + vector<PM100_FAULT_CODE> returned_faults_vector; + returned_faults_vector = testing_class.read_fault_codes_VER_2( test_message_2 ); From 9b942ea19abb6e6dbb5da51beffde8b1cff98b26 Mon Sep 17 00:00:00 2001 From: Angus Wu <wuangusjh@gmail.com> Date: Sat, 21 Aug 2021 03:08:37 -0400 Subject: [PATCH 27/35] Added disable broadcast messages function --- Serial-CAN-Bus/BROADCAST_MESSAGE.cpp | 32 ++++++++++++++++------ Serial-CAN-Bus/BROADCAST_MESSAGE.h | 41 ++++++++++++++++++++++++++++ 2 files changed, 65 insertions(+), 8 deletions(-) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp index ba63700..3c34d46 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp @@ -1,19 +1,19 @@ #include <iostream> #include "BROADCAST_MESSAGE.h" -using namesapce std; +using namespace std; -// fyi unsigned char message_arr[9] = {CAN ID, data byte 1, data byte 2, ...} +// fyi unsigned char CAN_mssg[9] = {CAN ID, data byte 1, data byte 2, ...} -void print_vsm_state(unsigned char message_arr[9]) +void print_vsm_state(unsigned char CAN_mssg[9]) // TODO restructure like Fault Code File { - if (message_arr[0] != 0xAA) + if (CAN_mssg[0] != 0xAA) { cout << "Message CAN ID is not 0xAA" << endl; return; } - switch (message_arr[2]) // message_arr[1] should be 0 + switch (CAN_mssg[2]) // CAN_mssg[1] should be 0 { case 0: cout << "VSM State: VSM Start State"; @@ -50,15 +50,15 @@ void print_vsm_state(unsigned char message_arr[9]) } } -void print_inverter_state(unsigned char message_arr[9]) +void print_inverter_state(unsigned char CAN_mssg[9]) // TODO restructure like Fault Code File { - if (message_arr[0] != 0xAA) + if (CAN_mssg[0] != 0xAA) { cout << "Message CAN ID is not 0xAA" << endl; return; } - switch (message_arr[3]) + switch (CAN_mssg[3]) { case 0: cout << "Inverter State: Power on State"; @@ -84,4 +84,20 @@ void print_inverter_state(unsigned char message_arr[9]) default: cout << "Invalid Inverter State"; } +} + +// Disabling a specific broadcast message +// TODO ability to disable multiple broadcast messages at a time (Vector?, bitwise and param?) +void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content) +{ + if (CAN_mssg[1] != 148) // Data Byte 0 + { + cout << "Message Parameter Address is not 148" << endl; + return; + } + + if (content < 8) + CAN_mssg[5] &= ~(1U << content); // Clearing the corresponding bit in Data Byte 4 + else + CAN_mssg[6] &= ~(1U << (content - 8)); // Clearing the corresponding bit in Data Byte 5 } \ No newline at end of file diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.h b/Serial-CAN-Bus/BROADCAST_MESSAGE.h index 2deee04..328cbf3 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.h +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.h @@ -30,12 +30,53 @@ typedef enum inverter_state IDLE_STOP } inverter_state; +// Reference Param Address 148 +typedef enum can_active_messages_lo_word +{ + // Data Byte 4 + TEMPERATURE_1, + TEMPERATURE_2, + TEMPERATURE_3, + ANALOG_INPUT_VOLTAGES, + DIGITAL_INPUT_STATUS, + MOTOR_POSITION_INFORMATION, + CURRENT_INFORMATION, + VOLTAGE_INFORMATION, + // Data Byte 5 + FLUX_INFORMATION, + INTERNAL_VOLTAGES, + INTERNAL_STATES, + FAULT_CODES, + TORQUE_AND_TIMER_INFORMATION, + MODULATION_INDEX_AND_FLUX_WEAKENING_OUTPUT_INFORMATION, + FIRMWARE_INFORMATION, + DIAG_DATA +} can_active_messages_lo_word; + +// Reference Param Address 148, should always be enabled (default) +typedef enum can_active_messages_hi_word +{ + // Data Byte 6 + SLAVE_MODE_COMMAND_MESSAGE = 6, + BMS_COMMAND_MESSAGE, + // Data Byte 7 + OBD2_GENERAL_QUERY, + OBD2_SPECIFIC_QUERY, + OBD2_RESPONSE, + U2C_TX_MESSAGE, + U2C_RX_MESSAGE, + PARAMETER_RESPONSE_MESAGE, + PARAMETER_COMMAND_MESSAGE, + CAN_COMMAND_MESSAGE +} can_active_messages_hi_word; + class broadcast_message { public: message_type broadcast_message; void print_vsm_state(int message_arr[9]); void print_inverter_state(int message_arr[9]); + void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content); } #endif \ No newline at end of file From 863b060b1b42083bdb19e442d11dcb24cb7b3faf Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Tue, 24 Aug 2021 11:03:07 -0400 Subject: [PATCH 28/35] vms & inverter functions updated - return states now --- Serial-CAN-Bus/BROADCAST_MESSAGE.h | 33 ++++++++++++++++++++---------- 1 file changed, 22 insertions(+), 11 deletions(-) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.h b/Serial-CAN-Bus/BROADCAST_MESSAGE.h index 328cbf3..8642b25 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.h +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.h @@ -1,7 +1,8 @@ #ifndef BROADCAST_MESSAGE_H #define BROADCAST_MESSAGE_H -#include "PM100_CAN_BUS.h" +//#include <C:\adam\utht\extra low level\COMMAND_MESSAGE.h> +#include <COMMAND_MESSAGE.h> // Reference 0x0AA - Internal States, Byte #0,1 typedef enum vsm_state @@ -15,7 +16,8 @@ typedef enum vsm_state MOTOR_RUNNING, BLINK_FAULT_CODE, SHUTDOWN_IN_PROGRESS = 14, - RECYCLE_POWER + RECYCLE_POWER, + NOT_A_VSM_STATE } vsm_state; // Reference 0x0AA - Internal States, Byte #2 @@ -27,7 +29,8 @@ typedef enum inverter_state CLOSED_LOOP, WAIT, IDLE_RUN = 8, - IDLE_STOP + IDLE_STOP, + NOT_AN_INVERTER_STATE = 13 } inverter_state; // Reference Param Address 148 @@ -70,13 +73,21 @@ typedef enum can_active_messages_hi_word CAN_COMMAND_MESSAGE } can_active_messages_hi_word; -class broadcast_message -{ -public: - message_type broadcast_message; - void print_vsm_state(int message_arr[9]); - void print_inverter_state(int message_arr[9]); - void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content); +class broadcast_message{ + + public: + + message_type broadcast_message; + + vsm_state read_vsm_state( int message_arr[9] ); + friend std::ostream& operator<<( std::ostream& lhs, vsm_state state ); + friend int return_vsm_state_val( vsm_state state ); + + inverter_state read_inverter_state( int message_arr[9] ); + friend std::ostream& operator<<( std::ostream& lhs, inverter_state state ); + friend int return_inverter_state_val( inverter_state state ); + + void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content); } -#endif \ No newline at end of file +#endif From 831f14494dafeea90d12dc1814908feb527d288e Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Tue, 24 Aug 2021 11:09:17 -0400 Subject: [PATCH 29/35] VSM & Inverter functions update - return states now --- Serial-CAN-Bus/BROADCAST_MESSAGE.cpp | 203 +++++++++++++++++++++------ 1 file changed, 161 insertions(+), 42 deletions(-) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp index 3c34d46..d95d0ba 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp @@ -1,91 +1,155 @@ #include <iostream> -#include "BROADCAST_MESSAGE.h" +//#include <C:\\adam\\utht\\extra low level\\BROADCAST_MESSAGE.h> +#include <BROADCAST_MESSAGE.h> using namespace std; // fyi unsigned char CAN_mssg[9] = {CAN ID, data byte 1, data byte 2, ...} -void print_vsm_state(unsigned char CAN_mssg[9]) // TODO restructure like Fault Code File -{ - if (CAN_mssg[0] != 0xAA) - { - cout << "Message CAN ID is not 0xAA" << endl; - return; +std::ostream& operator<<( std::ostream& lhs, vsm_state state ) { + + switch( state ) { + case VSM_START: lhs << "VSM Start State"; break; + case PRE_CHARGE_INIT: lhs << "Pre-Charge Init State"; break; + case PRE_CHARGE_ACTIVE: lhs << "Pre-Charge Active State"; break; + case PRE_CHARGE_COMPLETE: lhs << "Pre-Charge Complete State"; break; + case VSM_WAIT: lhs << "VSM Wait State"; break; + case VSM_READY: lhs << "VSM Ready State"; break; + case MOTOR_RUNNING: lhs << "Motor Running State"; break; + case BLINK_FAULT_CODE: lhs << "Blink Fault Code State"; break; + case SHUTDOWN_IN_PROCESS: lhs << "Shutdown in Process"; break; + case RECYCLE_POWER: lhs << "Recycle Power State"; break; + case NOT_A_VSM_STATE: lhs << "ERROR - NOT a VSM State - Invalid Value"; break; + } + + return lhs; +} + + +int return_vsm_state_val( vsm_state state ) { + + int index_value = state; + return index_value; + +} + + +vsm_state broadcast_message::read_vsm_state( int CAN_mssg[9] ) { + + vsm_state state; + + if ( CAN_mssg[0] != 0x0AA ){ + cout << "Message CAN ID is not 0x0AA, this is NOT a VSM message" << endl; + return state = NOT_A_VSM_STATE; } - switch (CAN_mssg[2]) // CAN_mssg[1] should be 0 - { + switch ( CAN_mssg[2] ){ // CAN_mssg[1] should be 0 case 0: cout << "VSM State: VSM Start State"; - break; + state = VSM_START; break; case 1: cout << "VSM State: Pre-charge Init State"; - break; + state = PRE_CHARGE_INIT; break; case 2: cout << "VSM State: Pre-charge Active State"; - break; + state = PRE_CHARGE_ACTIVE; break; case 3: cout << "VSM State: Pre-charge Complete State"; - break; + state = PRE_CHARGE_COMPLETE; break; case 4: cout << "VSM State: VSM Wait State"; - break; + state = VSM_WAIT; break; case 5: cout << "VSM State: VSM Ready State"; - break; + state = VSM_READY; break; case 6: cout << "VSM State: Motor Running State"; - break; + state = MOTOR_RUNNING; break; case 7: cout << "VSM State: Blink Fault Code State"; - break; + state = BLINK_FAULT_CODE; break; case 14: cout << "VSM State: Shutdown in Process"; - break; + state = SHUTDOWN_IN_PROCESS; break; case 15: cout << "VSM State: Recycle Power State"; - break; + state = RECYCLE_POWER; break; default: cout << "Invalid VSM State"; + state = NOT_A_VSM_STATE; } + + return state; } -void print_inverter_state(unsigned char CAN_mssg[9]) // TODO restructure like Fault Code File -{ - if (CAN_mssg[0] != 0xAA) - { + + + +std::ostream& operator<<( std::ostream& lhs, inverter_state state ) { + + switch( state ) { + case POWER_ON: lhs << "Power On State"; break; + case STOP: lhs << "Stop State"; break; + case OPEN_LOOP: lhs << "Open Loop State"; break; + case CLOSED_LOOP: lhs << "Closed Loop State"; break; + case WAIT: lhs << "Wait State"; break; + case IDLE_RUN: lhs << "Idle Run State"; break; + case IDLE_STOP: lhs << "Idle Stop State"; break; + case NOT_AN_INVERTER_STATE: lhs << "ERROR - NOT an Inverter State - Invalid Value"; break; + } + + return lhs; +} + + +int return_inverter_state_val( inverter_state state ) { + + int index_value = state; + return index_value; + +} + + +inverter_state broadcast_message::read_inverter_state( int CAN_mssg[9] ) { + + inverter_state state; + + if ( CAN_mssg[0] != 0x0AA ) { cout << "Message CAN ID is not 0xAA" << endl; - return; + return state = NOT_AN_INVERTER_STATE; } - switch (CAN_mssg[3]) - { + switch ( CAN_mssg[3] ) { case 0: - cout << "Inverter State: Power on State"; - break; + cout << "Inverter State: Power on State" << endl; + state = POWER_ON; break; case 1: - cout << "Inverter State: Stop State"; - break; + cout << "Inverter State: Stop State" << endl; + state = STOP; break; case 2: - cout << "Inverter State: Open Loop State"; - break; + cout << "Inverter State: Open Loop State" << endl; + state = OPEN_LOOP; break; case 3: - cout << "Inverter State: Closed Loop State"; - break; + cout << "Inverter State: Closed Loop State" << endl; + state = CLOSED_LOOP; break; case 4: - cout << "Inverter State: Wait State"; - break; + cout << "Inverter State: Wait State" << endl; + state = WAIT; break; case 8: - cout << "Inverter State: Idle Run State"; - break; + cout << "Inverter State: Idle Run State" << endl; + state = IDLE_RUN; break; case 9: - cout << "Inverter State: Idle Stop State"; - break; + cout << "Inverter State: Idle Stop State" << endl; + state = IDLE_STOP; break; default: - cout << "Invalid Inverter State"; + cout << "Invalid Inverter State" << endl; + state = NOT_AN_INVERTER_STATE; break; } + + return state; } + // Disabling a specific broadcast message // TODO ability to disable multiple broadcast messages at a time (Vector?, bitwise and param?) void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content) @@ -100,4 +164,59 @@ void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages CAN_mssg[5] &= ~(1U << content); // Clearing the corresponding bit in Data Byte 4 else CAN_mssg[6] &= ~(1U << (content - 8)); // Clearing the corresponding bit in Data Byte 5 -} \ No newline at end of file +} + + + + + + +int main(){ + + cout << "Testing print_vms_state function: " << endl; + + broadcast_message testing_class; + vsm_state CAN_MSSG_VSM_STATE; + + int test_CAN_message[9] = { 0x0AA, 0, 1, 0, 0, 0, 0, 0, 0 }; + + cout << "CAN Message--------------------" << endl; + cout << "{"; + for ( int i = 0; i < 9; i++ ){ + + cout << " " << test_CAN_message[i]; + if( i != 8 ){ + cout << ","; + } + } + cout << " }\n" << endl; + + CAN_MSSG_VSM_STATE = testing_class.read_vsm_state( test_CAN_message ); + cout << "\n\nThe VSM State retrieved from the CAN Message is: " << CAN_MSSG_VSM_STATE << endl; + cout << "Value of VSM State: " << return_vsm_state_val(CAN_MSSG_VSM_STATE) << endl; + + + /////////////////////////////////////////////////////////////////////////////////////////////// + + cout << "\n\n\nTesting print_inverter_state function: " << endl; + inverter_state CAN_MSSG_INVERTER_STATE; + + int test_CAN_message_2[9] = { 0x0AA, 0, 0, 2, 0, 0, 0, 0, 0 }; + + cout << "CAN Message--------------------" << endl; + cout << "{"; + for ( int i = 0; i < 9; i++ ){ + + cout << " " << test_CAN_message_2[i]; + if( i != 8 ){ + cout << ","; + } + } + cout << " }\n" << endl; + + CAN_MSSG_INVERTER_STATE = testing_class.read_inverter_state( test_CAN_message_2 ); + cout << "\nThe Inverter State retrieved from the CAN Message is: " << CAN_MSSG_INVERTER_STATE << endl; + cout << "Value of Inverter State: " << return_inverter_state_val( CAN_MSSG_INVERTER_STATE ) << endl; + + +} From 79dace8653bac458b569b98b39f017d0ca9eb9ba Mon Sep 17 00:00:00 2001 From: Angus Wu <wuangusjh@gmail.com> Date: Tue, 24 Aug 2021 14:22:28 -0400 Subject: [PATCH 30/35] Updated Disable Broadcast Message Function Function now accepts multiple inputs in the form of bitwise OR params --- Serial-CAN-Bus/BROADCAST_MESSAGE.cpp | 232 ++++++++++++++++----------- Serial-CAN-Bus/BROADCAST_MESSAGE.h | 63 ++++---- Serial-CAN-Bus/COMMAND_MESSAGE.h | 2 +- 3 files changed, 173 insertions(+), 124 deletions(-) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp index d95d0ba..885110c 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp @@ -4,46 +4,43 @@ using namespace std; -// fyi unsigned char CAN_mssg[9] = {CAN ID, data byte 1, data byte 2, ...} - -std::ostream& operator<<( std::ostream& lhs, vsm_state state ) { - - switch( state ) { - case VSM_START: lhs << "VSM Start State"; break; - case PRE_CHARGE_INIT: lhs << "Pre-Charge Init State"; break; - case PRE_CHARGE_ACTIVE: lhs << "Pre-Charge Active State"; break; - case PRE_CHARGE_COMPLETE: lhs << "Pre-Charge Complete State"; break; - case VSM_WAIT: lhs << "VSM Wait State"; break; - case VSM_READY: lhs << "VSM Ready State"; break; - case MOTOR_RUNNING: lhs << "Motor Running State"; break; - case BLINK_FAULT_CODE: lhs << "Blink Fault Code State"; break; - case SHUTDOWN_IN_PROCESS: lhs << "Shutdown in Process"; break; - case RECYCLE_POWER: lhs << "Recycle Power State"; break; - case NOT_A_VSM_STATE: lhs << "ERROR - NOT a VSM State - Invalid Value"; break; - } - +std::ostream &operator<<(std::ostream &lhs, vsm_state state) +{ + switch (state) { + case VSM_START: lhs << "VSM Start State"; break; + case PRE_CHARGE_INIT: lhs << "Pre-Charge Init State"; break; + case PRE_CHARGE_ACTIVE: lhs << "Pre-Charge Active State"; break; + case PRE_CHARGE_COMPLETE: lhs << "Pre-Charge Complete State"; break; + case VSM_WAIT: lhs << "VSM Wait State"; break; + case VSM_READY: lhs << "VSM Ready State"; break; + case MOTOR_RUNNING: lhs << "Motor Running State"; break; + case BLINK_FAULT_CODE: lhs << "Blink Fault Code State"; break; + case SHUTDOWN_IN_PROGRESS: lhs << "Shutdown in Process"; break; + case RECYCLE_POWER: lhs << "Recycle Power State"; break; + case NOT_A_VSM_STATE: lhs << "ERROR - NOT a VSM State - Invalid Value"; break; + } + return lhs; } - -int return_vsm_state_val( vsm_state state ) { - - int index_value = state; - return index_value; - +int return_vsm_state_val(vsm_state state) +{ + int index_value = state; + return index_value; } - -vsm_state broadcast_message::read_vsm_state( int CAN_mssg[9] ) { - +vsm_state broadcast_message::read_vsm_state(int CAN_mssg[9]) +{ vsm_state state; - if ( CAN_mssg[0] != 0x0AA ){ + if (CAN_mssg[0] != 0x0AA) + { cout << "Message CAN ID is not 0x0AA, this is NOT a VSM message" << endl; return state = NOT_A_VSM_STATE; } - switch ( CAN_mssg[2] ){ // CAN_mssg[1] should be 0 + switch (CAN_mssg[2]) + { case 0: cout << "VSM State: VSM Start State"; state = VSM_START; break; @@ -52,7 +49,7 @@ vsm_state broadcast_message::read_vsm_state( int CAN_mssg[9] ) { state = PRE_CHARGE_INIT; break; case 2: cout << "VSM State: Pre-charge Active State"; - state = PRE_CHARGE_ACTIVE; break; + state = PRE_CHARGE_ACTIVE; break; case 3: cout << "VSM State: Pre-charge Complete State"; state = PRE_CHARGE_COMPLETE; break; @@ -70,7 +67,7 @@ vsm_state broadcast_message::read_vsm_state( int CAN_mssg[9] ) { state = BLINK_FAULT_CODE; break; case 14: cout << "VSM State: Shutdown in Process"; - state = SHUTDOWN_IN_PROCESS; break; + state = SHUTDOWN_IN_PROGRESS; break; case 15: cout << "VSM State: Recycle Power State"; state = RECYCLE_POWER; break; @@ -82,44 +79,40 @@ vsm_state broadcast_message::read_vsm_state( int CAN_mssg[9] ) { return state; } +std::ostream &operator<<(std::ostream &lhs, inverter_state state) +{ + switch (state) { + case POWER_ON: lhs << "Power On State"; break; + case STOP: lhs << "Stop State"; break; + case OPEN_LOOP: lhs << "Open Loop State"; break; + case CLOSED_LOOP: lhs << "Closed Loop State"; break; + case WAIT: lhs << "Wait State"; break; + case IDLE_RUN: lhs << "Idle Run State"; break; + case IDLE_STOP: lhs << "Idle Stop State"; break; + case NOT_AN_INVERTER_STATE: lhs << "ERROR - NOT an Inverter State - Invalid Value"; break; + } - - -std::ostream& operator<<( std::ostream& lhs, inverter_state state ) { - - switch( state ) { - case POWER_ON: lhs << "Power On State"; break; - case STOP: lhs << "Stop State"; break; - case OPEN_LOOP: lhs << "Open Loop State"; break; - case CLOSED_LOOP: lhs << "Closed Loop State"; break; - case WAIT: lhs << "Wait State"; break; - case IDLE_RUN: lhs << "Idle Run State"; break; - case IDLE_STOP: lhs << "Idle Stop State"; break; - case NOT_AN_INVERTER_STATE: lhs << "ERROR - NOT an Inverter State - Invalid Value"; break; - } - return lhs; } - -int return_inverter_state_val( inverter_state state ) { - - int index_value = state; - return index_value; - +int return_inverter_state_val(inverter_state state) +{ + int index_value = state; + return index_value; } - -inverter_state broadcast_message::read_inverter_state( int CAN_mssg[9] ) { - +inverter_state broadcast_message::read_inverter_state(int CAN_mssg[9]) +{ inverter_state state; - if ( CAN_mssg[0] != 0x0AA ) { + if (CAN_mssg[0] != 0x0AA) + { cout << "Message CAN ID is not 0xAA" << endl; return state = NOT_AN_INVERTER_STATE; } - switch ( CAN_mssg[3] ) { + switch (CAN_mssg[3]) + { case 0: cout << "Inverter State: Power on State" << endl; state = POWER_ON; break; @@ -149,74 +142,131 @@ inverter_state broadcast_message::read_inverter_state( int CAN_mssg[9] ) { return state; } - -// Disabling a specific broadcast message -// TODO ability to disable multiple broadcast messages at a time (Vector?, bitwise and param?) -void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content) +/* Disable one or more messages at a time + * Example usage: disable_broadcast_message(test_msg, TEMPERATURE_2 | CURRENT_INFORMATION | DIAG_DATA); + */ +void disable_broadcast_message(int CAN_mssg[9], int listOfMsgs) { + if (CAN_mssg[0] != 0x0C1) // CAN ID + { + cout << "Message CAN Address is not 0x0C1" << endl; + return; + } + if (CAN_mssg[1] != 148) // Data Byte 0 { cout << "Message Parameter Address is not 148" << endl; return; } - if (content < 8) - CAN_mssg[5] &= ~(1U << content); // Clearing the corresponding bit in Data Byte 4 - else - CAN_mssg[6] &= ~(1U << (content - 8)); // Clearing the corresponding bit in Data Byte 5 + int loWord = (CAN_mssg[6] << 8) | CAN_mssg[5]; // loWord = [6] concatenated with [5] + + if ((TEMPERATURE_1 & listOfMsgs) == TEMPERATURE_1) + loWord &= ~(1U); + if ((TEMPERATURE_2 & listOfMsgs) == TEMPERATURE_2) + loWord &= ~(1U << 1); + if ((TEMPERATURE_3 & listOfMsgs) == TEMPERATURE_3) + loWord &= ~(1U << 2); + if ((ANALOG_INPUT_VOLTAGES & listOfMsgs) == ANALOG_INPUT_VOLTAGES) + loWord &= ~(1U << 3); + if ((DIGITAL_INPUT_STATUS & listOfMsgs) == DIGITAL_INPUT_STATUS) + loWord &= ~(1U << 4); + if ((MOTOR_POSITION_INFORMATION & listOfMsgs) == MOTOR_POSITION_INFORMATION) + loWord &= ~(1U << 5); + if ((CURRENT_INFORMATION & listOfMsgs) == CURRENT_INFORMATION) + loWord &= ~(1U << 6); + if ((VOLTAGE_INFORMATION & listOfMsgs) == VOLTAGE_INFORMATION) + loWord &= ~(1U << 7); + + if ((FLUX_INFORMATION & listOfMsgs) == FLUX_INFORMATION) + loWord &= ~(1U << 8); + if ((INTERNAL_VOLTAGES & listOfMsgs) == INTERNAL_VOLTAGES) + loWord &= ~(1U << 9); + if ((INTERNAL_STATES & listOfMsgs) == INTERNAL_STATES) + loWord &= ~(1U << 10); + if ((FAULT_CODES & listOfMsgs) == FAULT_CODES) + loWord &= ~(1U << 11); + if ((TORQUE_AND_TIMER_INFORMATION & listOfMsgs) == TORQUE_AND_TIMER_INFORMATION) + loWord &= ~(1U << 12); + if ((MOD_INDEX_FLUX_WEAKENING_OUTPUT_INFO & listOfMsgs) == MOD_INDEX_FLUX_WEAKENING_OUTPUT_INFO) + loWord &= ~(1U << 13); + if ((FIRMWARE_INFORMATION & listOfMsgs) == FIRMWARE_INFORMATION) + loWord &= ~(1U << 14); + if ((DIAG_DATA & listOfMsgs) == DIAG_DATA) + loWord &= ~(1U << 15); + + // Separate loWord back into two bytes + CAN_mssg[5] = loWord & 0xFF; + CAN_mssg[6] = (loWord >> 8) & 0xFF; } - - - - - -int main(){ - +int main() +{ cout << "Testing print_vms_state function: " << endl; broadcast_message testing_class; vsm_state CAN_MSSG_VSM_STATE; - int test_CAN_message[9] = { 0x0AA, 0, 1, 0, 0, 0, 0, 0, 0 }; + int test_CAN_message[9] = {0x0AA, 0, 1, 0, 0, 0, 0, 0, 0}; cout << "CAN Message--------------------" << endl; cout << "{"; - for ( int i = 0; i < 9; i++ ){ - - cout << " " << test_CAN_message[i]; - if( i != 8 ){ - cout << ","; - } + for (int i = 0; i < 9; i++) + { + + cout << " " << test_CAN_message[i]; + if (i != 8) + { + cout << ","; } + } cout << " }\n" << endl; - CAN_MSSG_VSM_STATE = testing_class.read_vsm_state( test_CAN_message ); + CAN_MSSG_VSM_STATE = testing_class.read_vsm_state(test_CAN_message); cout << "\n\nThe VSM State retrieved from the CAN Message is: " << CAN_MSSG_VSM_STATE << endl; cout << "Value of VSM State: " << return_vsm_state_val(CAN_MSSG_VSM_STATE) << endl; - /////////////////////////////////////////////////////////////////////////////////////////////// cout << "\n\n\nTesting print_inverter_state function: " << endl; inverter_state CAN_MSSG_INVERTER_STATE; - int test_CAN_message_2[9] = { 0x0AA, 0, 0, 2, 0, 0, 0, 0, 0 }; + int test_CAN_message_2[9] = {0x0AA, 0, 0, 2, 0, 0, 0, 0, 0}; cout << "CAN Message--------------------" << endl; cout << "{"; - for ( int i = 0; i < 9; i++ ){ - - cout << " " << test_CAN_message_2[i]; - if( i != 8 ){ - cout << ","; - } + for (int i = 0; i < 9; i++) + { + + cout << " " << test_CAN_message_2[i]; + if (i != 8) + { + cout << ","; } + } cout << " }\n" << endl; - CAN_MSSG_INVERTER_STATE = testing_class.read_inverter_state( test_CAN_message_2 ); + CAN_MSSG_INVERTER_STATE = testing_class.read_inverter_state(test_CAN_message_2); cout << "\nThe Inverter State retrieved from the CAN Message is: " << CAN_MSSG_INVERTER_STATE << endl; - cout << "Value of Inverter State: " << return_inverter_state_val( CAN_MSSG_INVERTER_STATE ) << endl; + cout << "Value of Inverter State: " << return_inverter_state_val(CAN_MSSG_INVERTER_STATE) << endl; + /////////////////////////////////////////////////////////////////////////////////////////////// -} + cout << "\n\n\nTesting disable_broadcast_message function: " << endl; + + int test_msg[9] = {0x0C1, 148, 0, 1, 0, 0xFF, 0xFF, 0xFF, 0xFF}; + + cout << "CAN Message--------------------" << endl; + cout << "{ " << test_msg[0]; + for (int i = 1; i < 9; i++) + cout << ", " << test_msg[i]; + cout << " }\n" << endl; + + disable_broadcast_message(test_msg, TEMPERATURE_2 | DIAG_DATA); + + cout << "New CAN Message--------------------" << endl; + cout << "{ " << test_msg[0]; + for (int i = 1; i < 9; i++) + cout << ", " << test_msg[i]; + cout << " }\n" << endl; +} \ No newline at end of file diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.h b/Serial-CAN-Bus/BROADCAST_MESSAGE.h index 8642b25..b314c6b 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.h +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.h @@ -37,23 +37,23 @@ typedef enum inverter_state typedef enum can_active_messages_lo_word { // Data Byte 4 - TEMPERATURE_1, - TEMPERATURE_2, - TEMPERATURE_3, - ANALOG_INPUT_VOLTAGES, - DIGITAL_INPUT_STATUS, - MOTOR_POSITION_INFORMATION, - CURRENT_INFORMATION, - VOLTAGE_INFORMATION, + TEMPERATURE_1 = 0x0001, + TEMPERATURE_2 = 0x0002, + TEMPERATURE_3 = 0x0004, + ANALOG_INPUT_VOLTAGES = 0x0008, + DIGITAL_INPUT_STATUS = 0x0010, + MOTOR_POSITION_INFORMATION = 0x0020, + CURRENT_INFORMATION = 0x0040, + VOLTAGE_INFORMATION = 0x0080, // Data Byte 5 - FLUX_INFORMATION, - INTERNAL_VOLTAGES, - INTERNAL_STATES, - FAULT_CODES, - TORQUE_AND_TIMER_INFORMATION, - MODULATION_INDEX_AND_FLUX_WEAKENING_OUTPUT_INFORMATION, - FIRMWARE_INFORMATION, - DIAG_DATA + FLUX_INFORMATION = 0x0100, + INTERNAL_VOLTAGES = 0x0200, + INTERNAL_STATES = 0x0400, + FAULT_CODES = 0x0800, + TORQUE_AND_TIMER_INFORMATION = 0x1000, + MOD_INDEX_FLUX_WEAKENING_OUTPUT_INFO = 0x2000, + FIRMWARE_INFORMATION = 0x4000, + DIAG_DATA = 0x8000 } can_active_messages_lo_word; // Reference Param Address 148, should always be enabled (default) @@ -73,21 +73,20 @@ typedef enum can_active_messages_hi_word CAN_COMMAND_MESSAGE } can_active_messages_hi_word; -class broadcast_message{ - - public: - - message_type broadcast_message; - - vsm_state read_vsm_state( int message_arr[9] ); - friend std::ostream& operator<<( std::ostream& lhs, vsm_state state ); - friend int return_vsm_state_val( vsm_state state ); - - inverter_state read_inverter_state( int message_arr[9] ); - friend std::ostream& operator<<( std::ostream& lhs, inverter_state state ); - friend int return_inverter_state_val( inverter_state state ); - - void disable_broadcast_message(unsigned char (&CAN_mssg)[9], can_active_messages_lo_word content); -} +class broadcast_message +{ +public: + message_type broadcast_message; + + vsm_state read_vsm_state(int message_arr[9]); + friend std::ostream &operator<<(std::ostream &lhs, vsm_state state); + friend int return_vsm_state_val(vsm_state state); + + inverter_state read_inverter_state(int message_arr[9]); + friend std::ostream &operator<<(std::ostream &lhs, inverter_state state); + friend int return_inverter_state_val(inverter_state state); + + void disable_broadcast_message(int CAN_mssg[9], int listOfMsgs); +}; #endif diff --git a/Serial-CAN-Bus/COMMAND_MESSAGE.h b/Serial-CAN-Bus/COMMAND_MESSAGE.h index 4d20045..3c306f1 100644 --- a/Serial-CAN-Bus/COMMAND_MESSAGE.h +++ b/Serial-CAN-Bus/COMMAND_MESSAGE.h @@ -41,6 +41,6 @@ class command_message{ -} +}; #endif From cf98fbe6fe3001d3484f736cb3b615ff32b7fe29 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Fri, 3 Sep 2021 22:44:14 -0400 Subject: [PATCH 31/35] Added read_fault_codes() function here --- Serial-CAN-Bus/BROADCAST_MESSAGE.cpp | 272 ++++++++++++++++++++++++++- 1 file changed, 271 insertions(+), 1 deletion(-) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp index 885110c..20950ad 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp @@ -1,4 +1,6 @@ #include <iostream> +#include <bitset> +#include <vector> //#include <C:\\adam\\utht\\extra low level\\BROADCAST_MESSAGE.h> #include <BROADCAST_MESSAGE.h> @@ -200,6 +202,226 @@ void disable_broadcast_message(int CAN_mssg[9], int listOfMsgs) CAN_mssg[6] = (loWord >> 8) & 0xFF; } + + + +//Fault Code Functions and Array defined below + +PM100_FAULT_CODE FAULT_CODE_ARRAY[65] = { + //POST FAULTS + //Byte 0 + Hardware_Gate_Desaturation_Fault, + HW_Over_current_Fault, + Accelerator_Shorted, + Accelerator_Open, + Current_Sensor_Low, + Current_Sensor_High, + Module_Temperature_Low, + Module_Temperature_High, + //Byte 1 + Control_PCB_Temperature_Low, + Control_PCB_Temperature_High, + Gate_Drive_PCB_Temperature_Low, + Gate_Drive_PCB_Temperature_High, + Sense_Voltage_Low_5V, + Sense_Voltage_High_5V, + Sense_Voltage_Low_12V, + Sense_Voltage_High_12V, + //Byte 2 + Sense_Voltage_Low_2_5V, + Sense_Voltage_High_2_5V, + Sense_Voltage_Low_1_5V, + Sense_Voltage_High_1_5V, + DC_Bus_Voltage_High, + DC_Bus_Voltage_Low, + Pre_charge_Timeout, + Pre_charge_Voltage_Failure, + //Byte 3 + EEPROM_Checksum_Invalid, + EEPROM_Data_Out_of_Range, + EEPROM_Update_Required, + RESERVED_1, + RESERVED_2, + RESERVED_3, + Brake_Shorted, + Brake_Open, + //Byte 4 + //RUN FAULTS + Motor_Over_speed_Fault, + Over_current_Fault, + Over_voltage_Fault, + Inverter_Over_temperature_Fault, + Accelerator_Input_Shorted_Fault, + Accelerator_Input_Open_Fault, + Direction_Command_Fault, + Inverter_Response_Time_out_Fault, + //Byte 5 + Hardware_Gate_Desaturation_RUN_Fault, + Hardware_Over_current_Fault, + Under_voltage_Fault, + CAN_Command_Message_Lost_Fault, + Motor_Over_temperature_Fault, + RESERVED_4, + RESERVED_5, + RESERVED_6, + //Byte 6 + Brake_Input_Shorted_Fault, + Brake_Input_Open_Fault, + Module_A_Over_temperature_Fault, + Module_B_Over_temperature_Fault, + Module_C_Over_temperature_Fault, + PCB_Over_temperature_Fault, + Gate_Drive_Board_1_Over_temperature_Fault, + Gate_Drive_Board_2_Over_temperature_Fault, + //Byte 7 + Gate_Drive_Board_3_Over_temperature_Fault, + Current_Sensor_Fault, + RESERVED_7, + Hardware_Over_Voltage_Fault, + RESERVED_8, + RESERVED_9, + Resolver_Not_Connected, + Inverter_Discharge_Active, + + //Finally, error if the CAN mssg is NOT for fault codes + NOT_FAULT_CAN_MSSG + +}; + + +std::ostream& operator<<(std::ostream& lhs, PM100_FAULT_CODE fault) +{ + + switch(fault) + { + case Hardware_Gate_Desaturation_Fault: lhs << "Hardware_Gate_Desaturation_Fault"; break; + case HW_Over_current_Fault: lhs << "HW_Over_current_Fault"; break; + case Accelerator_Shorted: lhs << "Accelerator_Shorted"; break; + case Accelerator_Open: lhs << "Accelerator_Open"; break; + case Current_Sensor_Low: lhs << "Current_Sensor_Low"; break; + case Current_Sensor_High: lhs << "Current_Sensor_High"; break; + case Module_Temperature_Low: lhs << "Module_Temperature_Low"; break; + case Module_Temperature_High: lhs << "Module_Temperature_High"; break; + case Control_PCB_Temperature_Low: lhs << "Control_PCB_Temperature_Low"; break; + case Control_PCB_Temperature_High: lhs << "Control_PCB_Temperature_High"; break; + case Gate_Drive_PCB_Temperature_Low: lhs << "Gate_Drive_PCB_Temperature_Low"; break; + case Gate_Drive_PCB_Temperature_High: lhs << "Gate_Drive_PCB_Temperature_High"; break; + case Sense_Voltage_Low_5V: lhs << "Sense_Voltage_Low_5V"; break; + case Sense_Voltage_High_5V: lhs << "Sense_Voltage_High_5V"; break; + case Sense_Voltage_Low_12V: lhs << "Sense_Voltage_Low_12V"; break; + case Sense_Voltage_High_12V: lhs << "Sense_Voltage_High_12V"; break; + case Sense_Voltage_Low_2_5V: lhs << "Sense_Voltage_Low_2_5V"; break; + case Sense_Voltage_High_2_5V: lhs << "Sense_Voltage_High_2_5V"; break; + case Sense_Voltage_Low_1_5V: lhs << "Sense_Voltage_Low_1_5V"; break; + case Sense_Voltage_High_1_5V: lhs << "Sense_Voltage_High_1_5V"; break; + case DC_Bus_Voltage_High: lhs << "DC_Bus_Voltage_High"; break; + case DC_Bus_Voltage_Low: lhs << "DC_Bus_Voltage_Low"; break; + case Pre_charge_Timeout: lhs << "Pre_charge_Timeout"; break; + case Pre_charge_Voltage_Failure: lhs << "Pre_charge_Voltage_Failure"; break; + case EEPROM_Checksum_Invalid: lhs << "EEPROM_Checksum_Invalid"; break; + case EEPROM_Data_Out_of_Range: lhs << "EEPROM_Data_Out_of_Range"; break; + case EEPROM_Update_Required: lhs << "EEPROM_Update_Required"; break; + case RESERVED_1: lhs << "RESERVED_1"; break; + case RESERVED_2: lhs << "RESERVED_2"; break; + case RESERVED_3: lhs << "RESERVED_3"; break; + case Brake_Shorted: lhs << "Brake_Shorted"; break; + case Brake_Open: lhs << "Brake_Open"; break; + case Motor_Over_speed_Fault: lhs << "Motor_Over_speed_Fault"; break; + case Over_current_Fault: lhs << "Over_current_Fault"; break; + case Over_voltage_Fault: lhs << "Over_voltage_Fault"; break; + case Inverter_Over_temperature_Fault: lhs << "Inverter_Over_temperature_Fault"; break; + case Accelerator_Input_Shorted_Fault: lhs << "Accelerator_Input_Shorted_Fault"; break; + case Accelerator_Input_Open_Fault: lhs << "Accelerator_Input_Open_Fault"; break; + case Direction_Command_Fault: lhs << "Direction_Command_Fault"; break; + case Inverter_Response_Time_out_Fault: lhs << "Inverter_Response_Time_out_Fault"; break; + case Hardware_Gate_Desaturation_RUN_Fault: lhs << "Hardware_Gate_Desaturation_RUN_Fault"; break; + case Hardware_Over_current_Fault: lhs << "Hardware_Over_current_Fault"; break; + case Under_voltage_Fault: lhs << "Under_voltage_Fault"; break; + case CAN_Command_Message_Lost_Fault: lhs << "CAN_Command_Message_Lost_Fault"; break; + case Motor_Over_temperature_Fault: lhs << "Motor_Over_temperature_Fault"; break; + case RESERVED_4: lhs << "RESERVED_4"; break; + case RESERVED_5: lhs << "RESERVED_5"; break; + case RESERVED_6: lhs << "RESERVED_6"; break; + case Brake_Input_Shorted_Fault: lhs << "Brake_Input_Shorted_Fault"; break; + case Brake_Input_Open_Fault: lhs << "Brake_Input_Open_Fault"; break; + case Module_A_Over_temperature_Fault: lhs << "Module_A_Over_temperature_Fault"; break; + case Module_B_Over_temperature_Fault: lhs << "Module_B_Over_temperature_Fault"; break; + case Module_C_Over_temperature_Fault: lhs << "Module_C_Over_temperature_Fault"; break; + case PCB_Over_temperature_Fault: lhs << "PCB_Over_temperature_Fault"; break; + case Gate_Drive_Board_1_Over_temperature_Fault: lhs << "Gate_Drive_Board_1_Over_temperature_Fault"; break; + case Gate_Drive_Board_2_Over_temperature_Fault: lhs << "Gate_Drive_Board_2_Over_temperature_Fault"; break; + case Gate_Drive_Board_3_Over_temperature_Fault: lhs << "Gate_Drive_Board_3_Over_temperature_Fault"; break; + case Current_Sensor_Fault: lhs << "Current_Sensor_Fault"; break; + case RESERVED_7: lhs << "RESERVED_7"; break; + case Hardware_Over_Voltage_Fault: lhs << "Hardware_Over_Voltage_Fault"; break; + case RESERVED_8: lhs << "RESERVED_8"; break; + case RESERVED_9: lhs << "RESERVED_9"; break; + case Resolver_Not_Connected: lhs << "Resolver_Not_Connected"; break; + case Inverter_Discharge_Active: lhs << "Inverter_Discharge_Active"; break; + case NOT_FAULT_CAN_MSSG: lhs << "ERROR - This CAN Message is NOT for FAULT CODES!"; break; + } + + return lhs; +} + + + +int return_fault_index_val( PM100_FAULT_CODE fault ) +{ + int index_value = fault; + return index_value; +} + + + +std::vector<PM100_FAULT_CODE> broadcast_message::read_fault_codes_VER_2( int CAN_mssg[9] ) +{ + //extract the CAN ID & define return vector of fault codes + int CAN_ID = CAN_mssg[0]; + vector<PM100_FAULT_CODE> faults_found; + PM100_FAULT_CODE fault; + + //check if CAN message is FAULT message + if( CAN_ID != 0x0AB ) + { + cout << NOT_FAULT_CAN_MSSG; + faults_found.push_back( NOT_FAULT_CAN_MSSG ); + } + else if( CAN_ID == 0x0AB ) + { + int fault_code_index = 0; //var used for indexing fault code array + + //here we'll loop 8 times, analyze each CAN data byte + for( int i = 1; i < 9; i++ ) + { + int byte_i = CAN_mssg[i]; + cout << "Byte " << i << " Faults: " << endl; + + //vars to check each bit of current byte + int current_bit; + int int_to_binary = byte_i; + for( int i = 0; i < 8; i++ ) + { + current_bit = int_to_binary % 2; + int_to_binary = int_to_binary / 2; + + if( current_bit ) + { + fault = FAULT_CODE_ARRAY[ fault_code_index + i ]; + cout << " " << fault << " -- Fault #" << return_fault_index_val( fault ) << endl; + faults_found.push_back( fault ); + } + } + + fault_code_index = fault_code_index + 8; + } + } + + return faults_found; +} + + + int main() { cout << "Testing print_vms_state function: " << endl; @@ -226,8 +448,10 @@ int main() cout << "\n\nThe VSM State retrieved from the CAN Message is: " << CAN_MSSG_VSM_STATE << endl; cout << "Value of VSM State: " << return_vsm_state_val(CAN_MSSG_VSM_STATE) << endl; + /////////////////////////////////////////////////////////////////////////////////////////////// + cout << "\n\n\nTesting print_inverter_state function: " << endl; inverter_state CAN_MSSG_INVERTER_STATE; @@ -250,8 +474,10 @@ int main() cout << "\nThe Inverter State retrieved from the CAN Message is: " << CAN_MSSG_INVERTER_STATE << endl; cout << "Value of Inverter State: " << return_inverter_state_val(CAN_MSSG_INVERTER_STATE) << endl; + /////////////////////////////////////////////////////////////////////////////////////////////// + cout << "\n\n\nTesting disable_broadcast_message function: " << endl; int test_msg[9] = {0x0C1, 148, 0, 1, 0, 0xFF, 0xFF, 0xFF, 0xFF}; @@ -269,4 +495,48 @@ int main() for (int i = 1; i < 9; i++) cout << ", " << test_msg[i]; cout << " }\n" << endl; -} \ No newline at end of file + + + /////////////////////////////////////////////////////////////////////////////////////////////// + + + cout << "----------------------------------------------------------------" << endl; + cout << "- -" << endl; + cout << "- CAN PM100 -" << endl; + cout << "- Fault Code Function Testing -" << endl; + cout << "- -" << endl; + cout << "- -" << endl; + cout << "- -" << endl; + cout << "----------------------------------------------------------------\n" << endl; + + cout << "< Hello there! Here we'll test out reading Fault Codes from the PM100 >" << endl; + cout << "< >" << endl; + cout << "< >" << endl; + cout << "< >\n" << endl; + + cout << "< The CAN message we're testing is: >" << endl; + + broadcast_message testing_class; + int test_message_2[9] = { 0x0AB, 128, 32, 0, 0, 0, 0, 2, 0 }; + + cout << "< {"; + for ( int i = 0; i < 8; i++ ) + { + /* + if(i == 0) + { + cout << " 0x0" << hex << test_message_2[i] << ","; + continue; + } + */ + cout << " " << test_message_2[i] << ","; + } + cout << " }\n" << endl; + + vector<PM100_FAULT_CODE> returned_faults_vector; + returned_faults_vector = testing_class.read_fault_codes_VER_2( test_message_2 ); + + + + +} From b808732d61833a36bd944f413428ae0567bec245 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Fri, 3 Sep 2021 23:05:19 -0400 Subject: [PATCH 32/35] fixed weird white-space indexing --- Serial-CAN-Bus/BROADCAST_MESSAGE.cpp | 275 +++++++++++++-------------- 1 file changed, 136 insertions(+), 139 deletions(-) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp index 20950ad..8edc713 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp @@ -291,85 +291,84 @@ PM100_FAULT_CODE FAULT_CODE_ARRAY[65] = { std::ostream& operator<<(std::ostream& lhs, PM100_FAULT_CODE fault) { - - switch(fault) + switch(fault) { - case Hardware_Gate_Desaturation_Fault: lhs << "Hardware_Gate_Desaturation_Fault"; break; - case HW_Over_current_Fault: lhs << "HW_Over_current_Fault"; break; - case Accelerator_Shorted: lhs << "Accelerator_Shorted"; break; - case Accelerator_Open: lhs << "Accelerator_Open"; break; - case Current_Sensor_Low: lhs << "Current_Sensor_Low"; break; - case Current_Sensor_High: lhs << "Current_Sensor_High"; break; - case Module_Temperature_Low: lhs << "Module_Temperature_Low"; break; - case Module_Temperature_High: lhs << "Module_Temperature_High"; break; - case Control_PCB_Temperature_Low: lhs << "Control_PCB_Temperature_Low"; break; - case Control_PCB_Temperature_High: lhs << "Control_PCB_Temperature_High"; break; - case Gate_Drive_PCB_Temperature_Low: lhs << "Gate_Drive_PCB_Temperature_Low"; break; - case Gate_Drive_PCB_Temperature_High: lhs << "Gate_Drive_PCB_Temperature_High"; break; - case Sense_Voltage_Low_5V: lhs << "Sense_Voltage_Low_5V"; break; - case Sense_Voltage_High_5V: lhs << "Sense_Voltage_High_5V"; break; - case Sense_Voltage_Low_12V: lhs << "Sense_Voltage_Low_12V"; break; - case Sense_Voltage_High_12V: lhs << "Sense_Voltage_High_12V"; break; - case Sense_Voltage_Low_2_5V: lhs << "Sense_Voltage_Low_2_5V"; break; - case Sense_Voltage_High_2_5V: lhs << "Sense_Voltage_High_2_5V"; break; - case Sense_Voltage_Low_1_5V: lhs << "Sense_Voltage_Low_1_5V"; break; - case Sense_Voltage_High_1_5V: lhs << "Sense_Voltage_High_1_5V"; break; - case DC_Bus_Voltage_High: lhs << "DC_Bus_Voltage_High"; break; - case DC_Bus_Voltage_Low: lhs << "DC_Bus_Voltage_Low"; break; - case Pre_charge_Timeout: lhs << "Pre_charge_Timeout"; break; - case Pre_charge_Voltage_Failure: lhs << "Pre_charge_Voltage_Failure"; break; - case EEPROM_Checksum_Invalid: lhs << "EEPROM_Checksum_Invalid"; break; - case EEPROM_Data_Out_of_Range: lhs << "EEPROM_Data_Out_of_Range"; break; - case EEPROM_Update_Required: lhs << "EEPROM_Update_Required"; break; - case RESERVED_1: lhs << "RESERVED_1"; break; - case RESERVED_2: lhs << "RESERVED_2"; break; - case RESERVED_3: lhs << "RESERVED_3"; break; - case Brake_Shorted: lhs << "Brake_Shorted"; break; - case Brake_Open: lhs << "Brake_Open"; break; - case Motor_Over_speed_Fault: lhs << "Motor_Over_speed_Fault"; break; - case Over_current_Fault: lhs << "Over_current_Fault"; break; - case Over_voltage_Fault: lhs << "Over_voltage_Fault"; break; - case Inverter_Over_temperature_Fault: lhs << "Inverter_Over_temperature_Fault"; break; - case Accelerator_Input_Shorted_Fault: lhs << "Accelerator_Input_Shorted_Fault"; break; - case Accelerator_Input_Open_Fault: lhs << "Accelerator_Input_Open_Fault"; break; - case Direction_Command_Fault: lhs << "Direction_Command_Fault"; break; - case Inverter_Response_Time_out_Fault: lhs << "Inverter_Response_Time_out_Fault"; break; - case Hardware_Gate_Desaturation_RUN_Fault: lhs << "Hardware_Gate_Desaturation_RUN_Fault"; break; - case Hardware_Over_current_Fault: lhs << "Hardware_Over_current_Fault"; break; - case Under_voltage_Fault: lhs << "Under_voltage_Fault"; break; - case CAN_Command_Message_Lost_Fault: lhs << "CAN_Command_Message_Lost_Fault"; break; - case Motor_Over_temperature_Fault: lhs << "Motor_Over_temperature_Fault"; break; - case RESERVED_4: lhs << "RESERVED_4"; break; - case RESERVED_5: lhs << "RESERVED_5"; break; - case RESERVED_6: lhs << "RESERVED_6"; break; - case Brake_Input_Shorted_Fault: lhs << "Brake_Input_Shorted_Fault"; break; - case Brake_Input_Open_Fault: lhs << "Brake_Input_Open_Fault"; break; - case Module_A_Over_temperature_Fault: lhs << "Module_A_Over_temperature_Fault"; break; - case Module_B_Over_temperature_Fault: lhs << "Module_B_Over_temperature_Fault"; break; - case Module_C_Over_temperature_Fault: lhs << "Module_C_Over_temperature_Fault"; break; - case PCB_Over_temperature_Fault: lhs << "PCB_Over_temperature_Fault"; break; - case Gate_Drive_Board_1_Over_temperature_Fault: lhs << "Gate_Drive_Board_1_Over_temperature_Fault"; break; - case Gate_Drive_Board_2_Over_temperature_Fault: lhs << "Gate_Drive_Board_2_Over_temperature_Fault"; break; - case Gate_Drive_Board_3_Over_temperature_Fault: lhs << "Gate_Drive_Board_3_Over_temperature_Fault"; break; - case Current_Sensor_Fault: lhs << "Current_Sensor_Fault"; break; - case RESERVED_7: lhs << "RESERVED_7"; break; - case Hardware_Over_Voltage_Fault: lhs << "Hardware_Over_Voltage_Fault"; break; - case RESERVED_8: lhs << "RESERVED_8"; break; - case RESERVED_9: lhs << "RESERVED_9"; break; - case Resolver_Not_Connected: lhs << "Resolver_Not_Connected"; break; - case Inverter_Discharge_Active: lhs << "Inverter_Discharge_Active"; break; - case NOT_FAULT_CAN_MSSG: lhs << "ERROR - This CAN Message is NOT for FAULT CODES!"; break; - } - - return lhs; + case Hardware_Gate_Desaturation_Fault: lhs << "Hardware_Gate_Desaturation_Fault"; break; + case HW_Over_current_Fault: lhs << "HW_Over_current_Fault"; break; + case Accelerator_Shorted: lhs << "Accelerator_Shorted"; break; + case Accelerator_Open: lhs << "Accelerator_Open"; break; + case Current_Sensor_Low: lhs << "Current_Sensor_Low"; break; + case Current_Sensor_High: lhs << "Current_Sensor_High"; break; + case Module_Temperature_Low: lhs << "Module_Temperature_Low"; break; + case Module_Temperature_High: lhs << "Module_Temperature_High"; break; + case Control_PCB_Temperature_Low: lhs << "Control_PCB_Temperature_Low"; break; + case Control_PCB_Temperature_High: lhs << "Control_PCB_Temperature_High"; break; + case Gate_Drive_PCB_Temperature_Low: lhs << "Gate_Drive_PCB_Temperature_Low"; break; + case Gate_Drive_PCB_Temperature_High: lhs << "Gate_Drive_PCB_Temperature_High"; break; + case Sense_Voltage_Low_5V: lhs << "Sense_Voltage_Low_5V"; break; + case Sense_Voltage_High_5V: lhs << "Sense_Voltage_High_5V"; break; + case Sense_Voltage_Low_12V: lhs << "Sense_Voltage_Low_12V"; break; + case Sense_Voltage_High_12V: lhs << "Sense_Voltage_High_12V"; break; + case Sense_Voltage_Low_2_5V: lhs << "Sense_Voltage_Low_2_5V"; break; + case Sense_Voltage_High_2_5V: lhs << "Sense_Voltage_High_2_5V"; break; + case Sense_Voltage_Low_1_5V: lhs << "Sense_Voltage_Low_1_5V"; break; + case Sense_Voltage_High_1_5V: lhs << "Sense_Voltage_High_1_5V"; break; + case DC_Bus_Voltage_High: lhs << "DC_Bus_Voltage_High"; break; + case DC_Bus_Voltage_Low: lhs << "DC_Bus_Voltage_Low"; break; + case Pre_charge_Timeout: lhs << "Pre_charge_Timeout"; break; + case Pre_charge_Voltage_Failure: lhs << "Pre_charge_Voltage_Failure"; break; + case EEPROM_Checksum_Invalid: lhs << "EEPROM_Checksum_Invalid"; break; + case EEPROM_Data_Out_of_Range: lhs << "EEPROM_Data_Out_of_Range"; break; + case EEPROM_Update_Required: lhs << "EEPROM_Update_Required"; break; + case RESERVED_1: lhs << "RESERVED_1"; break; + case RESERVED_2: lhs << "RESERVED_2"; break; + case RESERVED_3: lhs << "RESERVED_3"; break; + case Brake_Shorted: lhs << "Brake_Shorted"; break; + case Brake_Open: lhs << "Brake_Open"; break; + case Motor_Over_speed_Fault: lhs << "Motor_Over_speed_Fault"; break; + case Over_current_Fault: lhs << "Over_current_Fault"; break; + case Over_voltage_Fault: lhs << "Over_voltage_Fault"; break; + case Inverter_Over_temperature_Fault: lhs << "Inverter_Over_temperature_Fault"; break; + case Accelerator_Input_Shorted_Fault: lhs << "Accelerator_Input_Shorted_Fault"; break; + case Accelerator_Input_Open_Fault: lhs << "Accelerator_Input_Open_Fault"; break; + case Direction_Command_Fault: lhs << "Direction_Command_Fault"; break; + case Inverter_Response_Time_out_Fault: lhs << "Inverter_Response_Time_out_Fault"; break; + case Hardware_Gate_Desaturation_RUN_Fault: lhs << "Hardware_Gate_Desaturation_RUN_Fault"; break; + case Hardware_Over_current_Fault: lhs << "Hardware_Over_current_Fault"; break; + case Under_voltage_Fault: lhs << "Under_voltage_Fault"; break; + case CAN_Command_Message_Lost_Fault: lhs << "CAN_Command_Message_Lost_Fault"; break; + case Motor_Over_temperature_Fault: lhs << "Motor_Over_temperature_Fault"; break; + case RESERVED_4: lhs << "RESERVED_4"; break; + case RESERVED_5: lhs << "RESERVED_5"; break; + case RESERVED_6: lhs << "RESERVED_6"; break; + case Brake_Input_Shorted_Fault: lhs << "Brake_Input_Shorted_Fault"; break; + case Brake_Input_Open_Fault: lhs << "Brake_Input_Open_Fault"; break; + case Module_A_Over_temperature_Fault: lhs << "Module_A_Over_temperature_Fault"; break; + case Module_B_Over_temperature_Fault: lhs << "Module_B_Over_temperature_Fault"; break; + case Module_C_Over_temperature_Fault: lhs << "Module_C_Over_temperature_Fault"; break; + case PCB_Over_temperature_Fault: lhs << "PCB_Over_temperature_Fault"; break; + case Gate_Drive_Board_1_Over_temperature_Fault: lhs << "Gate_Drive_Board_1_Over_temperature_Fault"; break; + case Gate_Drive_Board_2_Over_temperature_Fault: lhs << "Gate_Drive_Board_2_Over_temperature_Fault"; break; + case Gate_Drive_Board_3_Over_temperature_Fault: lhs << "Gate_Drive_Board_3_Over_temperature_Fault"; break; + case Current_Sensor_Fault: lhs << "Current_Sensor_Fault"; break; + case RESERVED_7: lhs << "RESERVED_7"; break; + case Hardware_Over_Voltage_Fault: lhs << "Hardware_Over_Voltage_Fault"; break; + case RESERVED_8: lhs << "RESERVED_8"; break; + case RESERVED_9: lhs << "RESERVED_9"; break; + case Resolver_Not_Connected: lhs << "Resolver_Not_Connected"; break; + case Inverter_Discharge_Active: lhs << "Inverter_Discharge_Active"; break; + case NOT_FAULT_CAN_MSSG: lhs << "ERROR - This CAN Message is NOT for FAULT CODES!"; break; + } + + return lhs; } int return_fault_index_val( PM100_FAULT_CODE fault ) { - int index_value = fault; - return index_value; + int index_value = fault; + return index_value; } @@ -377,47 +376,47 @@ int return_fault_index_val( PM100_FAULT_CODE fault ) std::vector<PM100_FAULT_CODE> broadcast_message::read_fault_codes_VER_2( int CAN_mssg[9] ) { //extract the CAN ID & define return vector of fault codes - int CAN_ID = CAN_mssg[0]; - vector<PM100_FAULT_CODE> faults_found; - PM100_FAULT_CODE fault; - + int CAN_ID = CAN_mssg[0]; + vector<PM100_FAULT_CODE> faults_found; + PM100_FAULT_CODE fault; + //check if CAN message is FAULT message - if( CAN_ID != 0x0AB ) + if( CAN_ID != 0x0AB ) { - cout << NOT_FAULT_CAN_MSSG; - faults_found.push_back( NOT_FAULT_CAN_MSSG ); - } - else if( CAN_ID == 0x0AB ) + cout << NOT_FAULT_CAN_MSSG; + faults_found.push_back( NOT_FAULT_CAN_MSSG ); + } + else if( CAN_ID == 0x0AB ) { - int fault_code_index = 0; //var used for indexing fault code array + int fault_code_index = 0; //var used for indexing fault code array //here we'll loop 8 times, analyze each CAN data byte - for( int i = 1; i < 9; i++ ) + for( int i = 1; i < 9; i++ ) { - int byte_i = CAN_mssg[i]; - cout << "Byte " << i << " Faults: " << endl; + int byte_i = CAN_mssg[i]; + cout << "Byte " << i << " Faults: " << endl; - //vars to check each bit of current byte - int current_bit; - int int_to_binary = byte_i; - for( int i = 0; i < 8; i++ ) + //vars to check each bit of current byte + int current_bit; + int int_to_binary = byte_i; + for( int i = 0; i < 8; i++ ) { - current_bit = int_to_binary % 2; - int_to_binary = int_to_binary / 2; - - if( current_bit ) + current_bit = int_to_binary % 2; + int_to_binary = int_to_binary / 2; + + if( current_bit ) { - fault = FAULT_CODE_ARRAY[ fault_code_index + i ]; - cout << " " << fault << " -- Fault #" << return_fault_index_val( fault ) << endl; - faults_found.push_back( fault ); - } + fault = FAULT_CODE_ARRAY[ fault_code_index + i ]; + cout << " " << fault << " -- Fault #" << return_fault_index_val( fault ) << endl; + faults_found.push_back( fault ); + } } fault_code_index = fault_code_index + 8; - } - } + } + } - return faults_found; + return faults_found; } @@ -498,45 +497,43 @@ int main() /////////////////////////////////////////////////////////////////////////////////////////////// - - - cout << "----------------------------------------------------------------" << endl; - cout << "- -" << endl; - cout << "- CAN PM100 -" << endl; - cout << "- Fault Code Function Testing -" << endl; - cout << "- -" << endl; - cout << "- -" << endl; - cout << "- -" << endl; - cout << "----------------------------------------------------------------\n" << endl; - - cout << "< Hello there! Here we'll test out reading Fault Codes from the PM100 >" << endl; - cout << "< >" << endl; - cout << "< >" << endl; - cout << "< >\n" << endl; - - cout << "< The CAN message we're testing is: >" << endl; - - broadcast_message testing_class; - int test_message_2[9] = { 0x0AB, 128, 32, 0, 0, 0, 0, 2, 0 }; - - cout << "< {"; - for ( int i = 0; i < 8; i++ ) + + + cout << "----------------------------------------------------------------" << endl; + cout << "- -" << endl; + cout << "- CAN PM100 -" << endl; + cout << "- Fault Code Function Testing -" << endl; + cout << "- -" << endl; + cout << "- -" << endl; + cout << "- -" << endl; + cout << "----------------------------------------------------------------\n" << endl; + + cout << "< Hello there! Here we'll test out reading Fault Codes from the PM100 >" << endl; + cout << "< >" << endl; + cout << "< >" << endl; + cout << "< >\n" << endl; + + cout << "< The CAN message we're testing is: >" << endl; + + broadcast_message testing_class; + int test_message_2[9] = { 0x0AB, 128, 32, 0, 0, 0, 0, 2, 0 }; + + cout << "< {"; + for ( int i = 0; i < 8; i++ ) { - /* - if(i == 0) + /* + if(i == 0) { - cout << " 0x0" << hex << test_message_2[i] << ","; - continue; - } - */ - cout << " " << test_message_2[i] << ","; - } - cout << " }\n" << endl; - - vector<PM100_FAULT_CODE> returned_faults_vector; - returned_faults_vector = testing_class.read_fault_codes_VER_2( test_message_2 ); - - - - + cout << " 0x0" << hex << test_message_2[i] << ","; + continue; + } + */ + cout << " " << test_message_2[i] << ","; + } + cout << " }\n" << endl; + + vector<PM100_FAULT_CODE> returned_faults_vector; + returned_faults_vector = testing_class.read_fault_codes_VER_2( test_message_2 ); + + } From 2c442b96807918ff5e7a608e2ec5547f1acb33f4 Mon Sep 17 00:00:00 2001 From: pietrea2 <60241038+pietrea2@users.noreply.github.com> Date: Fri, 3 Sep 2021 23:12:46 -0400 Subject: [PATCH 33/35] Added read_fault_codes() function code --- Serial-CAN-Bus/BROADCAST_MESSAGE.h | 91 ++++++++++++++++++++++++++++++ 1 file changed, 91 insertions(+) diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.h b/Serial-CAN-Bus/BROADCAST_MESSAGE.h index b314c6b..1ce598a 100644 --- a/Serial-CAN-Bus/BROADCAST_MESSAGE.h +++ b/Serial-CAN-Bus/BROADCAST_MESSAGE.h @@ -3,6 +3,8 @@ //#include <C:\adam\utht\extra low level\COMMAND_MESSAGE.h> #include <COMMAND_MESSAGE.h> +#include <iostream> +#include <vector> // Reference 0x0AA - Internal States, Byte #0,1 typedef enum vsm_state @@ -73,6 +75,91 @@ typedef enum can_active_messages_hi_word CAN_COMMAND_MESSAGE } can_active_messages_hi_word; +//All types of Fault Codes +typedef enum fault_code +{ + //POST FAULTS + //Byte 0 + Hardware_Gate_Desaturation_Fault, + HW_Over_current_Fault, + Accelerator_Shorted, + Accelerator_Open, + Current_Sensor_Low, + Current_Sensor_High, + Module_Temperature_Low, + Module_Temperature_High, + //Byte 1 + Control_PCB_Temperature_Low, + Control_PCB_Temperature_High, + Gate_Drive_PCB_Temperature_Low, + Gate_Drive_PCB_Temperature_High, + Sense_Voltage_Low_5V, + Sense_Voltage_High_5V, + Sense_Voltage_Low_12V, + Sense_Voltage_High_12V, + //Byte 2 + Sense_Voltage_Low_2_5V, + Sense_Voltage_High_2_5V, + Sense_Voltage_Low_1_5V, + Sense_Voltage_High_1_5V, + DC_Bus_Voltage_High, + DC_Bus_Voltage_Low, + Pre_charge_Timeout, + Pre_charge_Voltage_Failure, + //Byte 3 + EEPROM_Checksum_Invalid, + EEPROM_Data_Out_of_Range, + EEPROM_Update_Required, + RESERVED_1, + RESERVED_2, + RESERVED_3, + Brake_Shorted, + Brake_Open, + //Byte 4 + //RUN FAULTS + Motor_Over_speed_Fault, + Over_current_Fault, + Over_voltage_Fault, + Inverter_Over_temperature_Fault, + Accelerator_Input_Shorted_Fault, + Accelerator_Input_Open_Fault, + Direction_Command_Fault, + Inverter_Response_Time_out_Fault, + //Byte 5 + Hardware_Gate_Desaturation_RUN_Fault, + Hardware_Over_current_Fault, + Under_voltage_Fault, + CAN_Command_Message_Lost_Fault, + Motor_Over_temperature_Fault, + RESERVED_4, + RESERVED_5, + RESERVED_6, + //Byte 6 + Brake_Input_Shorted_Fault, + Brake_Input_Open_Fault, + Module_A_Over_temperature_Fault, + Module_B_Over_temperature_Fault, + Module_C_Over_temperature_Fault, + PCB_Over_temperature_Fault, + Gate_Drive_Board_1_Over_temperature_Fault, + Gate_Drive_Board_2_Over_temperature_Fault, + //Byte 7 + Gate_Drive_Board_3_Over_temperature_Fault, + Current_Sensor_Fault, + RESERVED_7, + Hardware_Over_Voltage_Fault, + RESERVED_8, + RESERVED_9, + Resolver_Not_Connected, + Inverter_Discharge_Active, + + //Finally, error if the CAN mssg is NOT for fault codes + NOT_FAULT_CAN_MSSG + +} PM100_FAULT_CODE; + + + class broadcast_message { public: @@ -87,6 +174,10 @@ class broadcast_message friend int return_inverter_state_val(inverter_state state); void disable_broadcast_message(int CAN_mssg[9], int listOfMsgs); + + vector<PM100_FAULT_CODE> read_fault_codes_VER_2( int CAN_mssg[9] ); + friend ostream& operator<<( ostream& lhs, PM100_FAULT_CODE fault ); + friend int return_fault_index_val( PM100_FAULT_CODE fault ); }; #endif From 4c4a449b96633d10cc8968a173f9c671b1a52983 Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre <jayden.lefebvre55@gmail.com> Date: Sat, 4 Sep 2021 14:01:35 -0400 Subject: [PATCH 34/35] Inverter Class --- .../Code Overview - Map.png | Bin Inverter/Inverter.ino | 129 +++++++++++++ {Serial-CAN-Bus => Inverter}/README.md | 0 .../old}/BROADCAST_FAULTS.cpp | 0 .../old}/BROADCAST_FAULTS.h | 0 .../old}/BROADCAST_MESSAGE.cpp | 0 .../old}/BROADCAST_MESSAGE.h | 0 .../old}/COMMAND_MESSAGE.cpp | 0 .../old}/COMMAND_MESSAGE.h | 0 Inverter/src/Actuator.h | 32 ++++ Inverter/src/Base.h | 32 ++++ Inverter/src/Inverter.cpp | 33 ++++ Inverter/src/Inverter.h | 36 ++++ Inverter/src/InverterDebug.cpp | 127 +++++++++++++ Inverter/src/InverterDebug.h | 176 ++++++++++++++++++ Inverter/src/Sensor.h | 69 +++++++ .../src/Serial_CAN_Module.cpp | 2 +- .../src/Serial_CAN_Module.h | 0 .../tests}/recv_basic_test.ino | 0 .../tests}/recv_mask_filt_test_2.ino | 0 .../tests}/send_basic_test.ino | 0 .../tests}/send_mask_filt_test_2.ino | 0 Sensor.h | 3 +- 23 files changed, 637 insertions(+), 2 deletions(-) rename {Serial-CAN-Bus => Inverter}/Code Overview - Map.png (100%) create mode 100644 Inverter/Inverter.ino rename {Serial-CAN-Bus => Inverter}/README.md (100%) rename {Serial-CAN-Bus => Inverter/old}/BROADCAST_FAULTS.cpp (100%) rename {Serial-CAN-Bus => Inverter/old}/BROADCAST_FAULTS.h (100%) rename {Serial-CAN-Bus => Inverter/old}/BROADCAST_MESSAGE.cpp (100%) rename {Serial-CAN-Bus => Inverter/old}/BROADCAST_MESSAGE.h (100%) rename {Serial-CAN-Bus => Inverter/old}/COMMAND_MESSAGE.cpp (100%) rename {Serial-CAN-Bus => Inverter/old}/COMMAND_MESSAGE.h (100%) create mode 100644 Inverter/src/Actuator.h create mode 100644 Inverter/src/Base.h create mode 100644 Inverter/src/Inverter.cpp create mode 100644 Inverter/src/Inverter.h create mode 100644 Inverter/src/InverterDebug.cpp create mode 100644 Inverter/src/InverterDebug.h create mode 100644 Inverter/src/Sensor.h rename Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp => Inverter/src/Serial_CAN_Module.cpp (99%) rename Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h => Inverter/src/Serial_CAN_Module.h (100%) rename {Serial-CAN-Bus => Inverter/tests}/recv_basic_test.ino (100%) rename {Serial-CAN-Bus => Inverter/tests}/recv_mask_filt_test_2.ino (100%) rename {Serial-CAN-Bus => Inverter/tests}/send_basic_test.ino (100%) rename {Serial-CAN-Bus => Inverter/tests}/send_mask_filt_test_2.ino (100%) diff --git a/Serial-CAN-Bus/Code Overview - Map.png b/Inverter/Code Overview - Map.png similarity index 100% rename from Serial-CAN-Bus/Code Overview - Map.png rename to Inverter/Code Overview - Map.png diff --git a/Inverter/Inverter.ino b/Inverter/Inverter.ino new file mode 100644 index 0000000..0fca4f9 --- /dev/null +++ b/Inverter/Inverter.ino @@ -0,0 +1,129 @@ +// Headers for each sensor type +#include "src/InverterDebug.h" +//... +#include "src/Inverter.h" + +#include "src/Serial_CAN_Module.h" + +#include "Base.h" +#include "Sensor.h" +#include "Actuator.h" +#define NUMSENSORS 1 //Or however many +#define NUMACTUATORS 1 //Or however many +#define BAUDRATE 115200 +#define THISARDUINO ARDUINO_ONE + +#define CANBAUD 9600 +#define CANTX 10 +#define CANRX 11 + +Serial_CAN canbus(); + +// Objects for each sensor +InverterDebug inverterDebug(&canbus, THISARDUINO); +//... +Inverter inverter(&canbus, THISARDUINO); +//... + +Sensor* sensors[NUMSENSORS] = { + &inverterDebug +}; + +Actuator* actuators[NUMACTUATORS] = { + &inverter +}; + +// !#!#!#!--- EVERYTHING AFTER HERE DOES NOT NEED TO BE CHANGED FOR SENSOR IMPLEMENTATION ---!#!#!#! + +void setup(){ + Serial.begin(BAUDRATE); + canbus.begin(CANTX, CANRX, CANBAUD); + + bool success = true; + for(int i = 0; i < NUMSENSORS; i++){ + SensorState* state = sensors[i]->begin(); + // Print/send sensor post-setup state data here. For example: + bool _success = (state->error == ERR_NONE); + if(_success){ + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.println(" initialized."); + } else { + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.println(" failed to initialize!"); + } + success &= _success; + } + for(int i = 0; i < NUMACTUATORS; i++){ + ActuatorState* state = actuators[i]->begin(); + // Print/send sensor post-setup state data here. For example: + bool _success = (state->error == ERR_NONE); + if(_success){ + Serial.print("Actuator "); + Serial.print(actuators[i]->actuator); + Serial.print(" initialized. "); + + state = actuators[i]->update(); // Initial set to default target + _success = (state->error == ERR_NONE); + if(_success){ + Serial.print("Set to "); + Serial.println(state->target); + } else { + Serial.print("\nActuator "); + Serial.print(sensors[i]->sensor); + Serial.println(" failed to set!"); + } + } else { + Serial.print("Actuator "); + Serial.print(sensors[i]->sensor); + Serial.println(" failed to initialize!"); + } + success &= _success; + } + if(!success){ + Serial.println("POST failed on one or more devices, freezing..."); + while(1){delay(1000);} + } +} + +void loop(){ + for(int i = 0; i < NUMSENSORS; i++){ + SensorState* state = sensors[i]->update(); + // Print/send sensor post-setup state data here. For example: + bool _success = (state->error == ERR_NONE); + bool _new = (state->debug == DS_SUCCESS); + if(_success && _new) { + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.print(" read success: "); + for(int x = 0; x < state->numdata; x++) { + Serial.print(state->data[x].data); + Serial.print(' '); + Serial.print(state->data[x].units); + if(x < state->numdata-1){Serial.print(", ");} + } + } else if (!_success) { + Serial.print("Sensor "); + Serial.print(sensors[i]->sensor); + Serial.println(" failed to update!"); + // TODO: Recover failed sensor? + } + } + for(int i = 0; i < NUMACTUATORS; i++){ + ActuatorState* state = actuators[i]->update(); + + bool _success = (state->error == ERR_NONE) && (state->debug == DS_SUCCESS); + if(_success){ + Serial.print("Actuator "); + Serial.print(actuators[i]->actuator); + Serial.print(" set success: "); + Serial.println(state->target); + } else { + Serial.print("Actuator "); + Serial.print(actuators[i]->actuator); + Serial.println(" failed to set!"); + // TODO: Recover failed sensor? + } + } +} \ No newline at end of file diff --git a/Serial-CAN-Bus/README.md b/Inverter/README.md similarity index 100% rename from Serial-CAN-Bus/README.md rename to Inverter/README.md diff --git a/Serial-CAN-Bus/BROADCAST_FAULTS.cpp b/Inverter/old/BROADCAST_FAULTS.cpp similarity index 100% rename from Serial-CAN-Bus/BROADCAST_FAULTS.cpp rename to Inverter/old/BROADCAST_FAULTS.cpp diff --git a/Serial-CAN-Bus/BROADCAST_FAULTS.h b/Inverter/old/BROADCAST_FAULTS.h similarity index 100% rename from Serial-CAN-Bus/BROADCAST_FAULTS.h rename to Inverter/old/BROADCAST_FAULTS.h diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.cpp b/Inverter/old/BROADCAST_MESSAGE.cpp similarity index 100% rename from Serial-CAN-Bus/BROADCAST_MESSAGE.cpp rename to Inverter/old/BROADCAST_MESSAGE.cpp diff --git a/Serial-CAN-Bus/BROADCAST_MESSAGE.h b/Inverter/old/BROADCAST_MESSAGE.h similarity index 100% rename from Serial-CAN-Bus/BROADCAST_MESSAGE.h rename to Inverter/old/BROADCAST_MESSAGE.h diff --git a/Serial-CAN-Bus/COMMAND_MESSAGE.cpp b/Inverter/old/COMMAND_MESSAGE.cpp similarity index 100% rename from Serial-CAN-Bus/COMMAND_MESSAGE.cpp rename to Inverter/old/COMMAND_MESSAGE.cpp diff --git a/Serial-CAN-Bus/COMMAND_MESSAGE.h b/Inverter/old/COMMAND_MESSAGE.h similarity index 100% rename from Serial-CAN-Bus/COMMAND_MESSAGE.h rename to Inverter/old/COMMAND_MESSAGE.h diff --git a/Inverter/src/Actuator.h b/Inverter/src/Actuator.h new file mode 100644 index 0000000..37d7675 --- /dev/null +++ b/Inverter/src/Actuator.h @@ -0,0 +1,32 @@ +#ifndef Actuator_H +#define Actuator_H + +#include "Base.h" + +// Actuator identifiers +typedef enum actuators_t { + A_BRAKES, + A_INVERTER +} actuators_t; + +typedef struct ActuatorState { + errorlevel_t error; + debuglevel_t debug; + float target; +} ActuatorState; + +class Actuator{ + protected: + virtual errorlevel_t set(float target) = 0; + virtual errorlevel_t init() = 0; + ActuatorState state; + public: + arduino_t arduino; + actuators_t actuator; + float failtarget; // what should we default to in case of failure? + Actuator(actuators_t actuator, arduino_t arduino, float failtarget); + ActuatorState* update(); + ActuatorState* begin(); +}; + +#endif \ No newline at end of file diff --git a/Inverter/src/Base.h b/Inverter/src/Base.h new file mode 100644 index 0000000..623ae26 --- /dev/null +++ b/Inverter/src/Base.h @@ -0,0 +1,32 @@ +#ifndef BASE_H +#define BASE_H + +#include "Arduino.h" +#include "stdlib.h" + +// Arduino identifiers +typedef enum arduino_t { + ARDUINO_ONE, + ARDUINO_TWO, + ARDUINO_THREE +} arduino_t; + +// Degree of error occurred +// TODO: Maybe add more specific codes? (i.e. hardware/wiring fail, comms/protocol fail, etc.) +typedef enum errorlevel_t { + ERR_NONE, + ERR_WARN, + ERR_FAIL //NOTE: Implies debug level 'DISABLED' +} errorlevel_t; + +// General state - On fail != 0, what state did it last complete successfully? +typedef enum debuglevel_t { + //NOTE: The various debug states imply the value of cache.state.data as follows: + DS_DISABLED, //NULL + DS_INIT, //NULL + // DS_CALIBRATING, //NULL if first time, otherwise unknown + DS_WAITING, //NOT NULL, age > 0 + DS_SUCCESS //NOT NULL, age == 0 +} debuglevel_t; + +#endif \ No newline at end of file diff --git a/Inverter/src/Inverter.cpp b/Inverter/src/Inverter.cpp new file mode 100644 index 0000000..ffdb9db --- /dev/null +++ b/Inverter/src/Inverter.cpp @@ -0,0 +1,33 @@ +#include "Actuator.h" +#include "Inverter.h" + +Inverter::Inverter(Serial_CAN* CANBus, arduino_t arduino) : Actuator(A_INVERTER, arduino, 0) { + this->CANBus = CANBus; +} + +int* create_command_message (message_type command, float value, inverter_direction direction, inverter_enable enable){ + int data_high_byte; + int data_low_byte; + + if(command == COMMAND_TOURQUE_M){ + if(value >= 0){ + data_low_byte = int(value * 10) % 256; + data_high_byte = int(value * 10) / 256; + } else{ + data_low_byte = ( int(value * 10) & 255 ); + data_high_byte = ( int(value * 10) & 65280 ) >> 8; + } + + static int can_data_bytes[8] = { data_low_byte, data_high_byte, 0, 0, direction, enable, 0, 0 }; + + return can_data_bytes; + } else if(command == COMMAND_SPEED_M){ + + data_low_byte = int(value) % 256; + data_high_byte = value / 256; + + static int can_data_bytes[8] = { 0, 0, data_low_byte, data_high_byte, direction, enable, 0, 0 }; + + return can_data_bytes; + } +} \ No newline at end of file diff --git a/Inverter/src/Inverter.h b/Inverter/src/Inverter.h new file mode 100644 index 0000000..755b7ba --- /dev/null +++ b/Inverter/src/Inverter.h @@ -0,0 +1,36 @@ +#ifndef INVERTER_H +#define INVERTER_H + +#include "Actuator.h" +#include "Serial_CAN_Module.h" + +//types of CAN messages +typedef enum m_type { + BROADCAST_M, + COMMAND_TOURQUE_M, + COMMAND_SPEED_M +} message_type; + +// COMMAND + +//command message variables for inverter +typedef enum i_direction { + REVERSE, //clock-wise + FORWARD //counter-clock-wise +} inverter_direction; + +typedef enum i_enable { + DISABLE, + ENABLE +} inverter_enable; + +class Inverter : public Actuator { + public: + Inverter(Serial_CAN* CANBus, arduino_t arduino); + private: + Serial_CAN* CANBus; + errorlevel_t set(float target) override; + errorlevel_t init() override; +}; + +#endif \ No newline at end of file diff --git a/Inverter/src/InverterDebug.cpp b/Inverter/src/InverterDebug.cpp new file mode 100644 index 0000000..81dec18 --- /dev/null +++ b/Inverter/src/InverterDebug.cpp @@ -0,0 +1,127 @@ +#include "Sensor.h" +#include "InverterDebug.h" + +InverterDebug::InverterDebug(Serial_CAN* CANBus, arduino_t arduino) : Sensor(S_INVERTERDEBUG, arduino, 1000) { + this->CANBus = CANBus; +} + +InverterDebug::init(){ + return ERR_NONE; +} + +errorlevel_t InverterDebug::read(t_datum* data, uint8_t numdata){ + // TODO: Get can message + int msg[9] = {0,0,0,0,0,0,0,0,0}; + data[0].data = read_vsm_state(msg); + data[1].data = read_inverter_state(msg); + data[2].data = read_fault_codes(msg); + // TODO: fault triggers return error + return ERR_NONE; +} + +vsm_state read_vsm_state(int CAN_msg[9]) +{ + if (CAN_msg[0] != 0x0AA || !((CAN_msg[2] >= 0 && CAN_msg[2] <= 7) || CAN_msg[2] == 14 || CAN_msg[2] == 15)){ + // cout << "Message CAN ID is not 0x0AA, this is NOT a VSM message" << endl; + return NOT_A_VSM_STATE; + } + return (vsm_state)CAN_msg[2]; +} + +inverter_state read_inverter_state(int CAN_msg[9]) +{ + if (CAN_msg[0] != 0x0AA || !((CAN_msg[3] >=0 && CAN_msg[3] <= 4) || CAN_msg[3] == 8 || CAN_msg[3] == 9)) + { + // cout << "Message CAN ID is not 0xAA, this is NOT an inverter" << endl; + return NOT_AN_INVERTER_STATE; + } + + return (inverter_state)CAN_msg[3]; +} + +/* Disable one or more messages at a time + * Example usage: disable_broadcast_message(test_msg, TEMPERATURE_2 | CURRENT_INFORMATION | DIAG_DATA); + */ +void disable_broadcast_message(int CAN_msg[9], int listOfMsgs) +{ + if (CAN_msg[0] != 0x0C1 || CAN_msg[1] != 148) // CAN ID + { + // cout << "Message CAN Address is not 0x0C1" << endl; + // cout << "Message Parameter Address is not 148" << endl; + return; + } + + int loWord = (CAN_msg[6] << 8) | CAN_msg[5]; // loWord = [6] concatenated with [5] + + if ((TEMPERATURE_1 & listOfMsgs) == TEMPERATURE_1) + loWord &= ~(1U); + if ((TEMPERATURE_2 & listOfMsgs) == TEMPERATURE_2) + loWord &= ~(1U << 1); + if ((TEMPERATURE_3 & listOfMsgs) == TEMPERATURE_3) + loWord &= ~(1U << 2); + if ((ANALOG_INPUT_VOLTAGES & listOfMsgs) == ANALOG_INPUT_VOLTAGES) + loWord &= ~(1U << 3); + if ((DIGITAL_INPUT_STATUS & listOfMsgs) == DIGITAL_INPUT_STATUS) + loWord &= ~(1U << 4); + if ((MOTOR_POSITION_INFORMATION & listOfMsgs) == MOTOR_POSITION_INFORMATION) + loWord &= ~(1U << 5); + if ((CURRENT_INFORMATION & listOfMsgs) == CURRENT_INFORMATION) + loWord &= ~(1U << 6); + if ((VOLTAGE_INFORMATION & listOfMsgs) == VOLTAGE_INFORMATION) + loWord &= ~(1U << 7); + if ((FLUX_INFORMATION & listOfMsgs) == FLUX_INFORMATION) + loWord &= ~(1U << 8); + if ((INTERNAL_VOLTAGES & listOfMsgs) == INTERNAL_VOLTAGES) + loWord &= ~(1U << 9); + if ((INTERNAL_STATES & listOfMsgs) == INTERNAL_STATES) + loWord &= ~(1U << 10); + if ((FAULT_CODES & listOfMsgs) == FAULT_CODES) + loWord &= ~(1U << 11); + if ((TORQUE_AND_TIMER_INFORMATION & listOfMsgs) == TORQUE_AND_TIMER_INFORMATION) + loWord &= ~(1U << 12); + if ((MOD_INDEX_FLUX_WEAKENING_OUTPUT_INFO & listOfMsgs) == MOD_INDEX_FLUX_WEAKENING_OUTPUT_INFO) + loWord &= ~(1U << 13); + if ((FIRMWARE_INFORMATION & listOfMsgs) == FIRMWARE_INFORMATION) + loWord &= ~(1U << 14); + if ((DIAG_DATA & listOfMsgs) == DIAG_DATA) + loWord &= ~(1U << 15); + + // Separate loWord back into two bytes + CAN_msg[5] = loWord & 0xFF; + CAN_msg[6] = (loWord >> 8) & 0xFF; +} + +int64_t read_fault_codes(int CAN_msg[9]) { + //extract the CAN ID & define return vector of fault codes + int CAN_ID = CAN_msg[0]; + int64_t faults; + + //check if CAN message is FAULT message + if( CAN_ID != 0x0AB ){ + faults |= 1UL << 64; + } else if( CAN_ID == 0x0AB ){ + int fault_byte = 0; //var used for indexing fault code array + + //here we'll loop 8 times, analyze each CAN data byte + for( int msgbyte = 0; msgbyte < 8; msgbyte++ ) + { + int byte_i = CAN_msg[msgbyte]; + + //vars to check each bit of current byte + int current_bit; + int int_to_binary = byte_i; + for( int i = 0; i < 8; i++ ){ + current_bit = int_to_binary % 2; + int_to_binary = int_to_binary / 2; + + if( current_bit ){ + faults |= 1UL << (fault_byte*8 + i); + } + } + + fault_byte++; + } + } + + return faults; +} \ No newline at end of file diff --git a/Inverter/src/InverterDebug.h b/Inverter/src/InverterDebug.h new file mode 100644 index 0000000..de65ce4 --- /dev/null +++ b/Inverter/src/InverterDebug.h @@ -0,0 +1,176 @@ +#ifndef INVERTERDEBUG_H +#define INVERTERDEBUG_H + +#include "Sensor.h" +#include "Serial_CAN_Module.h" + +//types of CAN messages +typedef enum m_type { + BROADCAST_M, + COMMAND_TOURQUE_M, + COMMAND_SPEED_M +} message_type; + +// BROADCAST + +typedef enum vsm_state +{ + VSM_START, + PRE_CHARGE_INIT, + PRE_CHARGE_ACTIVE, + PRE_CHARGE_COMPLETE, + VSM_WAIT, + VSM_READY, + MOTOR_RUNNING, + BLINK_FAULT_CODE, + SHUTDOWN_IN_PROGRESS = 14, + RECYCLE_POWER, + NOT_A_VSM_STATE +} vsm_state; + +// Reference 0x0AA - Internal States, Byte #2 +typedef enum inverter_state +{ + POWER_ON, + STOP, + OPEN_LOOP, + CLOSED_LOOP, + WAIT, + IDLE_RUN = 8, + IDLE_STOP, + NOT_AN_INVERTER_STATE = 13 +} inverter_state; + +// Reference Param Address 148 +typedef enum can_active_messages_lo_word +{ + // Data Byte 4 + TEMPERATURE_1 = 0x0001, + TEMPERATURE_2 = 0x0002, + TEMPERATURE_3 = 0x0004, + ANALOG_INPUT_VOLTAGES = 0x0008, + DIGITAL_INPUT_STATUS = 0x0010, + MOTOR_POSITION_INFORMATION = 0x0020, + CURRENT_INFORMATION = 0x0040, + VOLTAGE_INFORMATION = 0x0080, + // Data Byte 5 + FLUX_INFORMATION = 0x0100, + INTERNAL_VOLTAGES = 0x0200, + INTERNAL_STATES = 0x0400, + FAULT_CODES = 0x0800, + TORQUE_AND_TIMER_INFORMATION = 0x1000, + MOD_INDEX_FLUX_WEAKENING_OUTPUT_INFO = 0x2000, + FIRMWARE_INFORMATION = 0x4000, + DIAG_DATA = 0x8000 +} can_active_messages_lo_word; + +// Reference Param Address 148, should always be enabled (default) +typedef enum can_active_messages_hi_word +{ + // Data Byte 6 + SLAVE_MODE_COMMAND_MESSAGE = 6, + BMS_COMMAND_MESSAGE, + // Data Byte 7 + OBD2_GENERAL_QUERY, + OBD2_SPECIFIC_QUERY, + OBD2_RESPONSE, + U2C_TX_MESSAGE, + U2C_RX_MESSAGE, + PARAMETER_RESPONSE_MESAGE, + PARAMETER_COMMAND_MESSAGE, + CAN_COMMAND_MESSAGE +} can_active_messages_hi_word; + +//All types of Fault Codes +typedef enum fault_code +{ + //POST FAULTS + //Byte 0 + Hardware_Gate_Desaturation_Fault, + HW_Over_current_Fault, + Accelerator_Shorted, + Accelerator_Open, + Current_Sensor_Low, + Current_Sensor_High, + Module_Temperature_Low, + Module_Temperature_High, + //Byte 1 + Control_PCB_Temperature_Low, + Control_PCB_Temperature_High, + Gate_Drive_PCB_Temperature_Low, + Gate_Drive_PCB_Temperature_High, + Sense_Voltage_Low_5V, + Sense_Voltage_High_5V, + Sense_Voltage_Low_12V, + Sense_Voltage_High_12V, + //Byte 2 + Sense_Voltage_Low_2_5V, + Sense_Voltage_High_2_5V, + Sense_Voltage_Low_1_5V, + Sense_Voltage_High_1_5V, + DC_Bus_Voltage_High, + DC_Bus_Voltage_Low, + Pre_charge_Timeout, + Pre_charge_Voltage_Failure, + //Byte 3 + EEPROM_Checksum_Invalid, + EEPROM_Data_Out_of_Range, + EEPROM_Update_Required, + RESERVED_1, + RESERVED_2, + RESERVED_3, + Brake_Shorted, + Brake_Open, + //Byte 4 + //RUN FAULTS + Motor_Over_speed_Fault, + Over_current_Fault, + Over_voltage_Fault, + Inverter_Over_temperature_Fault, + Accelerator_Input_Shorted_Fault, + Accelerator_Input_Open_Fault, + Direction_Command_Fault, + Inverter_Response_Time_out_Fault, + //Byte 5 + Hardware_Gate_Desaturation_RUN_Fault, + Hardware_Over_current_Fault, + Under_voltage_Fault, + CAN_Command_Message_Lost_Fault, + Motor_Over_temperature_Fault, + RESERVED_4, + RESERVED_5, + RESERVED_6, + //Byte 6 + Brake_Input_Shorted_Fault, + Brake_Input_Open_Fault, + Module_A_Over_temperature_Fault, + Module_B_Over_temperature_Fault, + Module_C_Over_temperature_Fault, + PCB_Over_temperature_Fault, + Gate_Drive_Board_1_Over_temperature_Fault, + Gate_Drive_Board_2_Over_temperature_Fault, + //Byte 7 + Gate_Drive_Board_3_Over_temperature_Fault, + Current_Sensor_Fault, + RESERVED_7, + Hardware_Over_Voltage_Fault, + RESERVED_8, + RESERVED_9, + Resolver_Not_Connected, + Inverter_Discharge_Active, + + //Finally, error if the CAN mssg is NOT for fault codes + NOT_FAULT_CAN_MSSG + +} PM100_FAULT_CODE; + +class InverterDebug : public Sensor { + public: + InverterDebug(Serial_CAN* CANBus, arduino_t arduino); + private: + Serial_CAN* CANBus; + errorlevel_t read(t_datum* data, uint8_t numdata) override; + errorlevel_t init() override; +}; + +#endif \ No newline at end of file diff --git a/Inverter/src/Sensor.h b/Inverter/src/Sensor.h new file mode 100644 index 0000000..3fa9c50 --- /dev/null +++ b/Inverter/src/Sensor.h @@ -0,0 +1,69 @@ +#ifndef Sensor_H +#define Sensor_H + +#include "Base.h" + +// Sensor identifiers +typedef enum sensors_t { + S_OPT2002, + S_VN200, + S_PROSENSERTD, + S_TMP006, + S_MPU9250, + S_DCT500, + S_SPTD25_20_1000H, + S_SPTD25_20_0200A, + S_CANBUS, + S_INVERTERDEBUG +} sensors_t; + +// Single datapoint +typedef struct t_datum { + float data; + const char* units; +} t_datum; + +// All sensor state info + latest datum - used as the "cache" in the sensor object +// TODO: Replace state enums with state structs containing messages, etc. +typedef struct SensorState { + errorlevel_t error; + debuglevel_t debug; + uint16_t timestamp; //Last data update (millis since start) + t_datum* data; //Array of datum + uint8_t numdata; +} SensorState; + +// Wrapper for all sensor stuff - this is what gets passed to the main computer +typedef struct SensorData { + sensors_t sensor; + arduino_t arduino; + SensorState state; +} SensorData; + +struct t_datasetup { + uint8_t numdata; + const char** units; +}; + +// Sensor class - note the difference in exposure and implementation in read/init and getRead/begin +class Sensor{ + private: + unsigned long delta; //The minimum time (milliseconds) between sensor updates. + unsigned long lastread; //Timestamp of last read ATTEMPT + protected: + // Sensor-specific functionality initialize and read functions - to be implemented by sensor classes + virtual errorlevel_t init() = 0; //Connect to sensor, calibrate, set data count and units, and update state accordingly + virtual errorlevel_t read(t_datum* data, uint8_t numdata) = 0; //Get ALL data from the sensor hardware -> data[i in numdata] + + // State and IDs + SensorState state; //Stores all the latest state data for this sensor. + public: + arduino_t arduino; + sensors_t sensor; + // Wrappers return pointer to updated state + SensorState* update(); //Calls read(), manages delta, and wraps all t_datum + SensorState* begin(); //Sets state in accordance with init() + Sensor(sensors_t sensor, arduino_t arduino, t_datasetup setup, unsigned long delta); +}; + +#endif \ No newline at end of file diff --git a/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp b/Inverter/src/Serial_CAN_Module.cpp similarity index 99% rename from Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp rename to Inverter/src/Serial_CAN_Module.cpp index bdb8d75..c1c6638 100644 --- a/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.cpp +++ b/Inverter/src/Serial_CAN_Module.cpp @@ -1,6 +1,6 @@ // ID3 ID2 ID1 ID0 EXT RTR DTA0 DTA1 DTA2 DTA3 DTA4 DTA5 DTA6 DTA7 -#include <Serial_CAN_Module_2.h> +#include <Serial_CAN_Module.h> #include <SoftwareSerial.h> SoftwareSerial *canSerial = NULL; diff --git a/Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h b/Inverter/src/Serial_CAN_Module.h similarity index 100% rename from Serial-CAN-Bus/libraries/Serial_CAN_Module_2.h rename to Inverter/src/Serial_CAN_Module.h diff --git a/Serial-CAN-Bus/recv_basic_test.ino b/Inverter/tests/recv_basic_test.ino similarity index 100% rename from Serial-CAN-Bus/recv_basic_test.ino rename to Inverter/tests/recv_basic_test.ino diff --git a/Serial-CAN-Bus/recv_mask_filt_test_2.ino b/Inverter/tests/recv_mask_filt_test_2.ino similarity index 100% rename from Serial-CAN-Bus/recv_mask_filt_test_2.ino rename to Inverter/tests/recv_mask_filt_test_2.ino diff --git a/Serial-CAN-Bus/send_basic_test.ino b/Inverter/tests/send_basic_test.ino similarity index 100% rename from Serial-CAN-Bus/send_basic_test.ino rename to Inverter/tests/send_basic_test.ino diff --git a/Serial-CAN-Bus/send_mask_filt_test_2.ino b/Inverter/tests/send_mask_filt_test_2.ino similarity index 100% rename from Serial-CAN-Bus/send_mask_filt_test_2.ino rename to Inverter/tests/send_mask_filt_test_2.ino diff --git a/Sensor.h b/Sensor.h index 9d384e4..3fa9c50 100644 --- a/Sensor.h +++ b/Sensor.h @@ -13,7 +13,8 @@ typedef enum sensors_t { S_DCT500, S_SPTD25_20_1000H, S_SPTD25_20_0200A, - S_CANBUS + S_CANBUS, + S_INVERTERDEBUG } sensors_t; // Single datapoint From ac4a4f79e10ff97362407fd6925fb91ebea123c8 Mon Sep 17 00:00:00 2001 From: Jayden Lefebvre <jayden.lefebvre55@gmail.com> Date: Sat, 4 Sep 2021 14:35:34 -0400 Subject: [PATCH 35/35] minor fix --- Inverter/src/InverterDebug.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Inverter/src/InverterDebug.cpp b/Inverter/src/InverterDebug.cpp index 81dec18..ba5fad7 100644 --- a/Inverter/src/InverterDebug.cpp +++ b/Inverter/src/InverterDebug.cpp @@ -115,7 +115,7 @@ int64_t read_fault_codes(int CAN_msg[9]) { int_to_binary = int_to_binary / 2; if( current_bit ){ - faults |= 1UL << (fault_byte*8 + i); + faults |= 1ULL << (fault_byte*8 + i); } }

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