ADV2 support

.github/workflows/build_lcm.yaml

@@ -54,6 +54,7 @@ jobs:
         run: |
           ./build.sh || true
           missing=0
+          [ ! -f lcm_adv2.hex ] && echo "::warning::ADV2 firmware failed to build" && missing=1
           [ ! -f lcm_adv_p42a.hex ] && echo "::warning::ADV-P42A firmware failed to build" && missing=1
           [ ! -f lcm_adv_dg40.hex ] && echo "::warning::ADV-DG40 firmware failed to build" && missing=1
           [ ! -f lcm_gtv.hex ] && echo "::warning::GTV firmware failed to build" && missing=1

LCM/Code/App/datatypes.h

@@ -1337,6 +1337,11 @@ typedef struct __attribute__((packed)) {
 	uint64_t runtime; // Seconds
 } backup_data;
 
+typedef enum {
+	FLOAT_COMMAND_ID = 101,				// float/refloat custom commands
+	LCM_COMMAND_ID = 202,					// bms custom commands
+} custom_app_data_command_ids;
+
 typedef enum {
 	FLOAT_COMMAND_GET_INFO = 0,		// get version / package info
 	FLOAT_COMMAND_GET_RTDATA = 1,	// get rt data
@@ -1356,8 +1361,12 @@ typedef enum {
 	FLOAT_COMMAND_FLYWHEEL = 22,
 	FLOAT_COMMAND_HAPTIC = 23,
 	FLOAT_COMMAND_LCM_POLL = 24,
-	FLOAT_COMMAND_LCM_CTRL = 25,
-	FLOAT_COMMAND_LCM_INFO = 26
+	FLOAT_COMMAND_LCM_LIGHT_INFO = 25,
+	FLOAT_COMMAND_LCM_LIGHT_CTRL = 26,
+	FLOAT_COMMAND_LCM_DEVICE_INFO = 27,
+	FLOAT_COMMAND_CHARGING_STATE = 28,
+	FLOAT_COMMAND_LCM_GET_BATTERY = 29,
+	FLOAT_COMMAND_LCM_DEBUG = 99
 } float_commands;
 
 typedef enum {
@@ -1397,6 +1406,10 @@ typedef enum {
 	DEBUG = 255,
 } control_commands;
 
+typedef enum {
+	LCM_COMMAND_EXTERNAL_SHUTDOWN_STATUS = 0,		// shutdown status notification
+} LCM_commands;
+
 typedef enum {
 	BOOT_DEFAULT = 0,
 	BOOT_REDWHITEBLUE = 1,

LCM/Code/App/task.c

@@ -49,6 +49,21 @@ static void lcmConfigReset(void)
 int headlight_brightnesses[] = { 0, 150, 255 };
 int status_brightnesses[] = { WS2812_1_BRIGHTNESS, WS2812_2_BRIGHTNESS, WS2812_3_BRIGHTNESS };
 
+/**************************************************
+ * @brie   :LED_Task()
+ * @note   :LEDÈÎÎñ 
+ * @param  :ÎÞ
+ * @retval :ÎÞ
+ **************************************************/
+void LED_Task(void)
+{
+	if(LED_Counter >= 500)
+	{
+		LED_Counter = 0;
+		LED1_FILP;
+	}
+}
+
 /**************************************************
  * @brie   :KEY1_Task()
  **************************************************/
@@ -59,6 +74,7 @@ void KEY1_Task(void)
 		return;
 	}
 
+	Idle_Time = 0;
 	switch(KEY1_State)
 	{
 		case 1:         // Click
@@ -84,15 +100,18 @@ void KEY1_Task(void)
 		case 3:         // Long press
 			if(Power_Flag == 2) // Boot completed
 			{
+#ifdef ADV2
+				Power_Flag = 5;  // external power off
+#else
 				Power_Flag = 4;  // VESC power off
+#endif
 				Power_Time = 0;
 			}
 		break;
 
 		case 4:         // Three presses
 			if(Power_Flag == 2) // Boot completed
 			{
-				Idle_Time = 0;
 				if(Buzzer_Flag == 2)
 				{
 					Buzzer_Flag = 1;
@@ -373,12 +392,9 @@ static void WS2818_Knight_Rider(uint8_t brightness) {
 static void WS2812_Idle()
 {
 	if (Idle_Time > KR_DELAY_MS) {
-		if (Power_Display_Flag < 10) {
+		if (Power_Display_Flag < 10 && Idle_Time <= KR_DELAY_MS + 40) {
 			// Voltage below 10%? Flash bright red for 40ms!
 			WS2812_Set_AllColours(1, 10, 255, 20, 20);
-			if (Idle_Time > KR_DELAY_MS + 40) {
-				Idle_Time = 0;
-			}
 			return;
 		}
 
@@ -387,6 +403,8 @@ static void WS2812_Idle()
 			WS2818_Knight_Rider(WS2812_Measure);
 			return;
 		}
+
+		Idle_Time = 0;
 	}
 	// Battery mode
 	WS2812_Power_Display(WS2812_Measure);
@@ -420,7 +438,11 @@ void WS2812_Task(void)
 {
 	uint8_t i;
 
-	if(Charge_Flag == 3) { // Battery fully charged
+	if(Power_Flag == 1) {
+		Idle_Time = 0;
+		WS2812_Boot();
+	}
+	else if(Charge_Flag == 3) { // Battery fully charged
 		WS2812_Set_AllColours(1,10,50,150,50);	// white with a strong green tint
 	}
 	else if(Charge_Flag == 2) { // Charge display pattern (pulsating led)
@@ -436,10 +458,6 @@ void WS2812_Task(void)
 		WS2812_Flag = 0;
 		Power_Display_Flag = 0;
 	}
-	else if(Power_Flag == 1) {
-		Idle_Time = 0;
-		WS2812_Boot();
-	}
 	else if (Power_Flag > 2) {
 		Idle_Time = 0;
 	}
@@ -494,6 +512,13 @@ void Power_Task(void)
 			Power_Flag = 3;
 		}
 	}
+	else if (Power_Flag == 5) {
+		if(Power_Time > VESC_SHUTDOWN_TIME)
+		{
+			// BMS should shutdown the board by now, otherwise it was a false positive
+			Power_Flag = 2;
+		}
+	}
 
 	if(power_flag_last == Power_Flag && Power_Flag != 1)
 	{
@@ -532,6 +557,7 @@ void Power_Task(void)
 		break;
 
 		case 4:// New Power state for shutdown sequence
+		case 5:// New Power state for ADV2 external shutdown sequence
 			WS2812_Display_Flag = 3;
 		break;
 
@@ -542,6 +568,10 @@ void Power_Task(void)
 
 void CheckPowerLevel(float battery_voltage)
 {
+	#ifdef S50S
+	uint16_t battVoltages_mv[11] = {4200, 4075, 4040, 3900, 3820, 3735, 3640, 3520, 3375, 3160, 3000}; //50S
+	#endif
+
 	#ifdef P42A
 	uint16_t battVoltages_mv[11] = {4200, 4065, 3938, 3854, 3776, 3695, 3618, 3543, 3460, 3342, 3000}; //P42A
 	#endif
@@ -572,7 +602,7 @@ void CheckPowerLevel(float battery_voltage)
 
 /**************************************************
  * @brie   :Charge_Task()
- * @note   :Check for charge start/end conditions
+ * @note   :Check for charge start/end conditions, only for ADV1
  **************************************************/
 #ifdef ADV
 void Charge_Task(void)
@@ -824,7 +854,7 @@ void Buzzer_Task(void)
 		buzzer_step = 0;
 		return;
 	}
-	else if (Power_Flag == 4)
+	else if (Power_Flag == 4 || Power_Flag == 5)
 	{
 		// Beep when powering off
 		if (buzzer_step == 0)
@@ -1057,7 +1087,10 @@ void ADC_Task(void)
 
 				ADC1_Val = (float)(adc1_val_sum_ave*0.0012890625);
 				ADC2_Val = (float)(adc2_val_sum_ave*0.0012890625);
-
+
+#ifdef ADV2
+				Charge_Voltage = (float)(adc_charge_sum_ave*0.0008056640625);
+#else
 				if(V_I == 0)
 				{
 					if(Charge_Time>100)
@@ -1072,8 +1105,8 @@ void ADC_Task(void)
 						Charge_Voltage = (float)(adc_charge_sum_ave*0.0257080078125);
 					}
 				}
+#endif
 			}
-
 		break;
 
 	  default:
@@ -1088,8 +1121,13 @@ void ADC_Task(void)
  **************************************************/
 void VESC_State_Task(void)
 {
-	if ((Charge_Flag > 0) || (Power_Flag != 2) || !Vesc_Data_Ready)
+	if ((Power_Flag != 2) || !Vesc_Data_Ready)
+		return;
+
+#ifdef ADV
+	if (Charge_Flag > 0)
 		return;
+#endif
 
 	Vesc_Data_Ready = false;
 
@@ -1166,6 +1204,7 @@ void VESC_State_Task(void)
 		Shutdown_Time_M = 0;
 	}
 
+#ifndef ADV2
 	if(Shutdown_Time_S>60000)
 	{
 		Shutdown_Time_S = 0;
@@ -1184,5 +1223,35 @@ void VESC_State_Task(void)
 		Power_Flag = 4;
 		Power_Time = 0;
 	}
+#endif
 	lcmConfig.boardOff = false;
 }
+
+#ifdef ADV2
+/**************************************************
+ * @brie   :Charge_Detect_Task()
+ * @note   :Detect charging state signalled by BMS
+ **************************************************/
+void Charge_Detect_Task(void)
+{
+    // NOTE from surfdado:
+    // Somehow Charge_Voltage will be below 3.0V when charging starts
+    // I guess ADC3 is just a signal from the BMS?
+    if(Charge_Voltage >= CHARGING_VOLTAGE)
+    {
+        Charge_Flag = 0;
+    }
+    else if(data.inpVoltage >= FULL_VOLTAGE)
+    {
+        if(Charge_Time > 2000)
+        {
+            Charge_Flag = 3;
+        }
+    }
+    else
+    {
+        Charge_Flag = 2;
+        Charge_Time = 0;
+    }
+}
+#endif

LCM/Code/App/task.h

@@ -12,7 +12,9 @@
 #define   SHUTDOWN_TIME		  		20
 #define   VESC_RPM            		1000
 #define   VESC_BOOT_TIME      		4000
+#ifndef   VESC_SHUTDOWN_TIME
 #define   VESC_SHUTDOWN_TIME      	1000
+#endif
 #define   DUTY_CYCLE          		0.9
 #define   VOLTAGE_RECEIPT     		0.02
 #define	  CHARGE_COMMAND_TIME		1000 		// frequency of notifying the float package of current charge state
@@ -32,6 +34,7 @@ void KEY1_Task(void);
 void WS2812_Task(void);
 void Power_Task(void);
 void Charge_Task(void);
+void Charge_Detect_Task(void);
 void Headlights_Task(void);
 void Buzzer_Task(void);
 void Usart_Task(void);

LCM/Code/App/vesc_uasrt.c

@@ -96,8 +96,8 @@ void Get_Vesc_Pack_Data(COMM_PACKET_ID id)
 	command[0] = id;
 
 	if (id == COMM_CUSTOM_APP_DATA) {
-		command[1] = 101;
-		command[2] = 24; // FLOAT_COMMAND_POLL
+		command[1] = FLOAT_COMMAND_ID;
+		command[2] = FLOAT_COMMAND_LCM_POLL;
 		len = 3;
 		if (!lcmConfig.isSet) {
 			// write firmware id string to command
@@ -109,8 +109,8 @@ void Get_Vesc_Pack_Data(COMM_PACKET_ID id)
 
 	if (id == COMM_CHARGE_INFO) {
 		command[0] = COMM_CUSTOM_APP_DATA;
-		command[1] = 101;
-		command[2] = 28; 											// FLOAT_COMMAND_CHARGESTATE
+		command[1] = FLOAT_COMMAND_ID;
+		command[2] = FLOAT_COMMAND_CHARGING_STATE;
  		command[3] = 151; 											// -charging: 1/0 aka true/false
  		command[4] = Charge_Flag == 2 ? 1: 0; 						// -charging: 1/0 aka true/false
 		uint8_t ind = 5;
@@ -121,8 +121,8 @@ void Get_Vesc_Pack_Data(COMM_PACKET_ID id)
 
 	if (id == COMM_CUSTOM_DEBUG) {
 		command[0] = COMM_CUSTOM_APP_DATA;
-		command[1] = 101;
-		command[2] = 99; // FLOAT_COMMAND_LCM_DEBUG
+		command[1] = FLOAT_COMMAND_ID;
+		command[2] = FLOAT_COMMAND_LCM_DEBUG;
 		command[3] = Power_Flag;
 		command[4] = Charge_Flag;
 		command[5] = data.dutyCycleNow;
@@ -333,12 +333,34 @@ uint8_t Protocol_Parse(uint8_t * message)
 
 		case COMM_CUSTOM_APP_DATA:
 
-		  if (len < 12) {
+			if (len < 3) {
 				break;
 			}
-		  	uint8_t magicnr = pdata[ind++];
-		  	uint8_t floatcmd = pdata[ind++];
-			if ((magicnr != 101) || (floatcmd != FLOAT_COMMAND_LCM_POLL)) {
+			uint8_t magicnr = pdata[ind++];
+			uint8_t cmdid = pdata[ind++];
+
+			if (magicnr == LCM_COMMAND_ID)
+			{
+				switch(cmdid)
+				{
+					case LCM_COMMAND_EXTERNAL_SHUTDOWN_STATUS:
+					  if(len != 4) return 1;
+						if(Power_Flag == 2 &&
+							 pdata[ind] == 1)  // shutting down
+						{
+#ifdef ADV2
+							Power_Flag = 5;
+							Power_Time = 0;
+							Idle_Time = 0;
+#endif
+						}
+					break;
+				}
+
+				return 0;
+			}
+
+			if ((magicnr != FLOAT_COMMAND_ID) || (cmdid != FLOAT_COMMAND_LCM_POLL) || (len < 12)) {
 				break;
 			}
 			data.floatPackageSupported = true;