diff --git a/bccandriver.h b/bccandriver.h index 4799403..7e3672e 100644 --- a/bccandriver.h +++ b/bccandriver.h @@ -82,13 +82,13 @@ public: virtual BCCanDriver::dState loadDriver() = 0; virtual BCCanDriver::dState initDriver() = 0; - virtual uint getValue( BCDevice::ID dev, BC::ID reg ) = 0; - virtual void setValue( BCDevice::ID dev, BC::ID reg, int value ) = 0; + virtual uint getValue( BCDevice::ID dev, BC::ID reg ) const = 0; + virtual void setValue( BCDevice::ID dev, BC::ID reg, int value ) const = 0; signals: void errorOccured( const QString& errMsg ); - void statusHint( const QString& msg ); + void statusHint( const QString& msg ) const; void stateChanged( int state ); void itemReady( const QString& label ); diff --git a/bccandrivertinycan.cpp b/bccandrivertinycan.cpp index 38b49ec..b19c07b 100644 --- a/bccandrivertinycan.cpp +++ b/bccandrivertinycan.cpp @@ -110,7 +110,7 @@ BCCanDriver::dState BCCanDriverTinyCan::initDriver() //unsigned int BCCanDriverTinyCan::getValue( unsigned char receipient, unsigned char reg ) -uint BCCanDriverTinyCan::getValue(BCDevice::ID deviceID, BC::ID registerID ) +uint BCCanDriverTinyCan::getValue(BCDevice::ID deviceID, BC::ID registerID ) const { struct TCanMsg msg; @@ -175,7 +175,7 @@ retry: // void BCCanDriverTinyCan::setValue( unsigned char receipient, unsigned char reg, unsigned char value ) -void BCCanDriverTinyCan::setValue(BCDevice::ID deviceID, BC::ID registerID, int value ) +void BCCanDriverTinyCan::setValue(BCDevice::ID deviceID, BC::ID registerID, int value ) const { qDebug() << "SaveItem( BCCanDriverTinyCan::CBCItem& item ): "; diff --git a/bccandrivertinycan.h b/bccandrivertinycan.h index 2e98850..45d26dd 100644 --- a/bccandrivertinycan.h +++ b/bccandrivertinycan.h @@ -15,8 +15,8 @@ public: BCCanDriver::dState loadDriver() override; BCCanDriver::dState initDriver() override; - uint getValue( BCDevice::ID dev, BC::ID reg ) override; - void setValue( BCDevice::ID dev, BC::ID reg, int value ) override; + uint getValue( BCDevice::ID dev, BC::ID reg ) const override; + void setValue( BCDevice::ID dev, BC::ID reg, int value ) const override; QString getNodeName( unsigned char id ); diff --git a/bctransmitter.cpp b/bctransmitter.cpp index f7bed5d..724f0db 100644 --- a/bctransmitter.cpp +++ b/bctransmitter.cpp @@ -50,10 +50,10 @@ void BCTransmitter::onToggleConnectionState( bool connect ) } -void BCTransmitter::enqueueValueCommand(BC::OpID opID, const BCValue& value) +void BCTransmitter::enqueueValueOp(BC::OpID opID, const BCValue* value) { QMutexLocker locker(&_mutex); - _valueQueue.enqueue( std::ref(value) ); + _valueQueue.enqueue( value ); // Logging (Thread-safe via Signal) //emit messageLogged(QString("Command %1 queued.").arg(cmd.label)); @@ -64,16 +64,16 @@ void BCTransmitter::enqueueValueCommand(BC::OpID opID, const BCValue& value) // Trigger processing im Event-Loop des Worker Threads // invokeMethod mit QueuedConnection entkoppelt den Aufruf, - // damit enqueueValueCommand sofort zurückkehrt (non-blocking für den Aufrufer). + // damit enqueueValueOp sofort zurückkehrt (non-blocking für den Aufrufer). - //QMetaObject::invokeMethod(this, "processValueCommand", Qt::QueuedConnection); + //QMetaObject::invokeMethod(this, "processValueOp", Qt::QueuedConnection); QMetaObject::invokeMethod(this, [this, opID]() { - this->processValueCommand(opID); + this->processValueOp(opID); }, Qt::QueuedConnection ); } -void BCTransmitter::processValueCommand( BC::OpID opID ) +void BCTransmitter::processValueOp( BC::OpID opID ) { if (_isBusy) @@ -83,7 +83,7 @@ void BCTransmitter::processValueCommand( BC::OpID opID ) while (true) { - BCValue currentValue; + const BCValue* currentValue{}; { QMutexLocker locker(&_mutex); if (_valueQueue.isEmpty()) @@ -95,12 +95,13 @@ void BCTransmitter::processValueCommand( BC::OpID opID ) } // Mutex wird hier freigegeben! WICHTIG: Execute ohne Lock! std::optional result; - // 3. Ausführung (Dauert potentiell lange) + +/* if( opID == BC::OpID::ReadValue ) result = executeRead(currentValue); else if( opID == BC::OpID::WriteValue ) result = executeRead(currentValue); - +*/ //emit commandFinished(cmd.id, true); //emit commandFinished(0, true); } diff --git a/bctransmitter.h b/bctransmitter.h index ec44703..ff06af8 100644 --- a/bctransmitter.h +++ b/bctransmitter.h @@ -10,7 +10,7 @@ #include #include -class BCTransmitter : public QObject +class BCTransmitter : public QObject, public BCAbstractTransmitter { Q_OBJECT @@ -18,11 +18,12 @@ public: explicit BCTransmitter(QObject *parent = nullptr); + public slots: void onToggleConnectionState( bool connect ); - void enqueueValueCommand(BC::OpID opID, const BCValue& value); - void processValueCommand(BC::OpID opID); + void enqueueValueOp(BC::OpID opID, const BCValue* value ); + void processValueOp(BC::OpID opID); signals: @@ -34,7 +35,7 @@ private: std::optional executeRead(const BCValue& value); std::optional executeWrite(const BCValue& value); - using BCValueQueue = QQueue>; + using BCValueQueue = QQueue; BCValueQueue _valueQueue; QMutex _mutex; diff --git a/bcvalue.cpp b/bcvalue.cpp index 79eab21..38c1307 100644 --- a/bcvalue.cpp +++ b/bcvalue.cpp @@ -36,6 +36,15 @@ BCValueType::BCValueType() } +BCValueType::BCValueType( TypeID ID_, QString unitLabel_, optDouble factor_, optDouble min_, optDouble max_ ) + : ID{ID_}, unitLabel{unitLabel_}, factor{factor_}, min{min_}, max{max_} +{ + +} + +///------------------------------- + + BCValue::BCValue() { @@ -48,8 +57,13 @@ BCValue::BCValue(const BCValueType& valueType_, BCDevice::ID deviceID_, BC::ID t } -BCValueType::BCValueType( TypeID ID_, QString unitLabel_, optDouble factor_, optDouble min_, optDouble max_ ) - : ID{ID_}, unitLabel{unitLabel_}, factor{factor_}, min{min_}, max{max_} +void BCValue::readRawValue( const BCAbstractTransmitter& transmitter ) const +{ + transmitter.readValue( deviceID, targetID ); +} + +void BCValue::writeRawValue( const BCAbstractTransmitter& transmitter ) const { } + diff --git a/bcvalue.h b/bcvalue.h index 2185afd..d08e4cd 100644 --- a/bcvalue.h +++ b/bcvalue.h @@ -31,7 +31,6 @@ #ifndef BCVALUE_H #define BCVALUE_H -#include "qnamespace.h" #include #include #include @@ -54,6 +53,18 @@ - */ + +class BCAbstractTransmitter +{ + +public: + + // + virtual uint32_t readValue( BCDevice::ID deviceID_, BC::ID targetID_ ) const = 0; + ///virtual uint32_t readByte( BCDevice::ID deviceID_, BC::ID targetID_ ) const = 0; +}; + + using optDouble = std::optional; struct BCValueType @@ -109,6 +120,10 @@ public: BCValue(); BCValue( const BCValueType& valueType_, BCDevice::ID deviceID_, BC::ID targetID_ ); + void readRawValue( const BCAbstractTransmitter& transmitter ) const; + void writeRawValue( const BCAbstractTransmitter& transmitter ) const; + // void reset() + BCValueTypeCRef valueType; BCDevice::ID deviceID{BCDevice::ID::Invalid}; BC::ID targetID{BC::ID::Invalid}; @@ -116,13 +131,15 @@ public: QString label; QVariant value; QVariant defaultValue; + bool inSync{false}; bool readOnly{false}; - // void reset() + mutable double rawValue{}; + + }; -// Damit QVariant dieses Struct transportieren kann: Q_DECLARE_METATYPE(BCValue) diff --git a/doc/bigxionflasher-usb-src-0.2.4r97/BigXionFlasher.c b/doc/bigxionflasher-usb-src-0.2.4r97/BigXionFlasher.c new file mode 100644 index 0000000..089e574 --- /dev/null +++ b/doc/bigxionflasher-usb-src-0.2.4r97/BigXionFlasher.c @@ -0,0 +1,632 @@ +/* BigXionFlasher.c */ +/* ==================================================================== + * Copyright (c) 2011-2013 by Thomas König . + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * + * 3. All advertising materials mentioning features or use of this + * software must display the following acknowledgment: + * "This product includes software developed by the + * BigXionFlasher Project. (http://www.bigxionflasher.org/)" + * + * 4. The name "BigXionFlasher" must not be used to + * endorse or promote products derived from this software without + * prior written permission. For written permission, please contact + * info@bigxionflasher.org. + * + * 5. Products derived from this software may not be called "BigXionFlasher" + * nor may "BigXionFlasher" appear in their names without prior written + * permission of the BigXionFlasher Project. + * + * 6. Redistributions of any form whatsoever must retain the following + * acknowledgment: + * "This product includes software developed by the + * BigXionFlasher Project. (http://www.bigxionflasher.org/)" + * + * THIS SOFTWARE IS PROVIDED BY THE BigXionFlasher PROJECT ``AS IS'' AND ANY + * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE BigXionFlasher PROJECT OR + * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, + * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT + * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) + * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, + * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED + * OF THE POSSIBILITY OF SUCH DAMAGE. + * ==================================================================== + * + */ +#include +#include +#include +#include +#include +#ifdef __WIN32__ + #include + #define DEVICE_OPEN NULL + #define TREIBER_NAME "mhstcan.dll" + #define _NL "\n\r" + #define _DEGREE_SIGN "o" +#else + #define DEVICE_OPEN NULL + #define TREIBER_NAME "libmhstcan.so" + #define _NL "\n" + #define _DEGREE_SIGN "°" +#endif +#include "can_drv.h" + +#define __DOSTR(v) #v +#define __STR(v) __DOSTR(v) + +#define __BXF_VERSION__ "V 0.2.4 rev. 97" + +#define UNLIMITED_SPEED_VALUE 70 /* Km/h */ +#define UNLIMITED_MIN_SPEED_VALUE 30 /* Km/h */ +#define MAX_THROTTLE_SPEED_VALUE 70 /* Km/h */ + +#include "registers.h" + +#define TIMEOUT_VALUE 80 +#define TIMEOUT_US 10000 // 10ms + +#define doSleep(x) usleep(x*1000) + +int gAssistInitLevel = -1, gPrintSystemSettings = 0, gSkipShutdown = 0, gPowerOff = 0, gConsoleSetSlaveMode = 1, gNoSerialNumbers = 0, gSetMountainCap = -1, gSetWheelCircumference = 0; +double gSetSpeedLimit = -1, gSetMinSpeedLimit = -1, gSetThrottleSpeedLimit = -1; + +char *getNodeName(unsigned char id) +{ + if (id == CONSOLE) + return "console"; + else if (id == BATTERY) + return "battery"; + else if (id == MOTOR) + return "motor"; + else if (id == BIB) + return "bib"; + else + return "UNKNOWN"; +} + +void setValue(unsigned char receipient, unsigned char reg, unsigned char value) +{ + struct TCanMsg msg; + int timeout = TIMEOUT_VALUE; + + msg.MsgFlags = 0L; + msg.Id = receipient; + msg.MsgLen = 4; + msg.MsgData[0] = 0x00; + msg.MsgData[1] = reg; + msg.MsgData[2] = 0x00; + msg.MsgData[3] = value; + + CanTransmit(0, &msg, 1); + + while(timeout-- && CanTransmitGetCount(0)) + usleep(TIMEOUT_US); + + if (timeout == -1) + printf("error: could not send value to %s" _NL, getNodeName(receipient)); +} + +unsigned int getValue(unsigned char receipient, unsigned char reg) +{ + struct TCanMsg msg; + int err, retry = 20; + int timeout = TIMEOUT_VALUE; + + msg.MsgFlags = 0L; + msg.Id = receipient; + msg.MsgLen = 2; + msg.MsgData[0] = 0x00; + msg.MsgData[1] = reg; + + CanTransmit(0, &msg, 1); + + while(timeout-- && CanTransmitGetCount(0)) + usleep(TIMEOUT_US); + + if (timeout == -1) + printf("error: could not send value to node %s" _NL, getNodeName(receipient)); + +retry: + timeout = TIMEOUT_VALUE; + while(timeout-- && !CanReceiveGetCount(0)) + usleep(TIMEOUT_US); + + if (timeout == -1) { + printf("error: no response from node %s" _NL, getNodeName(receipient)); + return 0; + } + + if ((err = CanReceive(0, &msg, 1)) > 0) + { + if (--retry && (msg.Id != BIB || msg.MsgLen != 4 || msg.MsgData[1] != reg)) + goto retry; + + if (!retry) { + printf("error: no response from node %s to %s" _NL, getNodeName(receipient), getNodeName(BIB)); + return 0; + } + + return (unsigned int) msg.MsgData[3]; + } + else + { + printf("Error: %d" _NL, err); + } + + return 0; +} + +void setSpeedLimit(double speed) +{ + int limit = (speed != 0); + + if (!speed) + speed = UNLIMITED_SPEED_VALUE; + setValue(CONSOLE, CONSOLE_ASSIST_MAXSPEEDFLAG, limit); + setValue(CONSOLE, CONSOLE_ASSIST_MAXSPEED_HI, ((int)(speed * 10)) >> 8); + setValue(CONSOLE, CONSOLE_ASSIST_MAXSPEED_LO, ((int)(speed * 10)) & 0xff); + setValue(MOTOR, MOTOR_PROTECT_UNLOCK, MOTOR_PROTECT_UNLOCK_KEY); + setValue(MOTOR, MOTOR_ASSIST_MAXSPEED, (int)speed); +} + +void setWheelCircumference(unsigned short circumference) +{ + if (!circumference) + return; + + setValue(CONSOLE, CONSOLE_GEOMETRY_CIRC_HI, (int) (circumference >> 8)); + setValue(CONSOLE, CONSOLE_GEOMETRY_CIRC_LO, (int) (circumference & 0xff)); + setValue(MOTOR, MOTOR_PROTECT_UNLOCK, MOTOR_PROTECT_UNLOCK_KEY); + setValue(MOTOR, MOTOR_GEOMETRY_CIRC_HI, (int) (circumference >> 8)); + setValue(MOTOR, MOTOR_GEOMETRY_CIRC_LO, (int) (circumference & 0xff)); +} + +void setMinSpeedLimit(double speed) +{ + char limit = (speed != 0); + + setValue(CONSOLE, CONSOLE_ASSIST_MINSPEEDFLAG, limit); + setValue(CONSOLE, CONSOLE_ASSIST_MINSPEED, (int)(speed * 10)); +} + +void setThrottleSpeedLimit(double speed) +{ + int limit = (speed != 0); + + if (!speed) + speed = MAX_THROTTLE_SPEED_VALUE; + + setValue(CONSOLE, CONSOLE_THROTTLE_MAXSPEEDFLAG, limit); + setValue(CONSOLE, CONSOLE_THROTTLE_MAXSPEED_HI, ((int)(speed * 10)) >> 8); + setValue(CONSOLE, CONSOLE_THROTTLE_MAXSPEED_LO, ((int)(speed * 10)) & 0xff); +} + +void printBatteryStats() +{ + int channel = 1, packSerial, packParallel; + + printf( " balancer enabled ...: %s" _NL _NL, (getValue(BATTERY, BATTERY_CELLMON_BALANCERENABLED != 0) ? "yes" : "no")); + + packSerial = getValue(BATTERY, BATTERY_CONFIG_PACKSERIAL); + packParallel = getValue(BATTERY, BATTERY_CONFIG_PACKPARALLEL); + + packSerial = (packSerial > 20) ? 0 : packSerial; + packParallel = (packParallel > 20) ? 0 : packParallel; + + for (;channel <= packSerial; channel++) { + setValue(BATTERY, BATTERY_CELLMON_CHANNELADDR, (int)0x80 + channel); + printf(" voltage cell #%02d ...: %.3fV" _NL, channel, + ((getValue(BATTERY, BATTERY_CELLMON_CHANNELDATA_HI) << 8) + getValue(BATTERY,BATTERY_CELLMON_CHANNELDATA_LO)) * 0.001); + } + + for (channel = 0 ; channel < packParallel ; channel ++) + printf(" temperature pack #%02d: %d" _DEGREE_SIGN "C" _NL, channel + 1, + getValue(BATTERY, BATTERY_STATUS_PACKTEMPERATURE1 + channel)); + + printf(_NL); +} + +void printChargeStats() { + int channel = 1, totalChagres = 0, c; + + for (channel = 1 ; channel <= 10; channel++) { + setValue(BATTERY, 0xf6, channel); + c = (getValue(BATTERY, 0xf7) << 8) + getValue(BATTERY,0xf8); + totalChagres += c; + printf(" charge level @ %03d%% : %04d" _NL, channel*10, c); + } + + printf(" total # of charges .: %04d" _NL _NL, totalChagres); +} + +double getVoltageValue(unsigned char in, unsigned char reg) +{ + return (getValue(BATTERY, reg) + 20.8333) * 0.416667; +} + +void usage(void) { + printf( "usage:" _NL + " -l .......... set the speed limit to (1 - " __STR(UNLIMITED_SPEED_VALUE) "), 0 = remove the limit" _NL + " -m ....... set the minimum speed limit to (0 - " __STR(UNLIMITED_MIN_SPEED_VALUE) "), 0 = remove the limit" _NL + " -t .. set the throttle speed limit to (0 - " __STR(MAX_THROTTLE_SPEED_VALUE) "), 0 = remove the limit" _NL + " -a ......... set the initial assist level after power on (0 - 4)" _NL + " -o ............... set the mountain cap level (0%% - 100%%), use 55%%" _NL + " -c . set the wheel circumference (in mm)" _NL + " -s ....................... print system settings overview" _NL + " -p ....................... power off system" _NL + " -n ....................... don't try to put console in slave mode" _NL + " -x ....................... skip automatic system shutdown when setting new speed limit. (should not be used)" _NL + " -i ....................... don't display private serial and part numbers" _NL + " -h ....................... print this help screen" _NL _NL); +} + +int parseOptions(int argc, char **argv) +{ + int oc; + char odef[] = "l:t:m:sa:pnxio:c:h?"; + + while((oc = getopt(argc,argv,odef)) != -1) { + switch(oc) { + case 'p': + gPowerOff = 1; + break; + case 'x': + gSkipShutdown = 1; + break; + case 'l': + gSetSpeedLimit = atof(optarg); + if (gSetSpeedLimit > UNLIMITED_SPEED_VALUE || gSetSpeedLimit < 0) { + printf("error: speed limit %.2f is out of range. exiting..." _NL, gSetSpeedLimit); + return -1; + } + break; + case 't': + gSetThrottleSpeedLimit = atof(optarg); + if (gSetThrottleSpeedLimit > MAX_THROTTLE_SPEED_VALUE || gSetThrottleSpeedLimit < 0) { + printf("error: throttle speed limit %.2f is out of range. exiting..." _NL, gSetThrottleSpeedLimit); + return -1; + } + break; + case 'm': + gSetMinSpeedLimit = atof(optarg); + if (gSetMinSpeedLimit > UNLIMITED_MIN_SPEED_VALUE || gSetMinSpeedLimit < 0) { + printf("error: min speed limit %.2f is out of range. exiting..." _NL, gSetMinSpeedLimit); + return -1; + } + break; + case 'a': + gAssistInitLevel = atoi(optarg); + if (gAssistInitLevel > 4 || gAssistInitLevel < 0) { + printf("error: initial assist level %d is out of range. exiting..." _NL, gAssistInitLevel); + return -1; + } + break; + case 'o': + gSetMountainCap = atoi(optarg); + if (gSetMountainCap > 100 || gSetMountainCap < 0) { + printf("error: mountain cap level %d is out of range. exiting..." _NL, gSetMountainCap); + return -1; + } + break; + case 'c': + gSetWheelCircumference = atoi(optarg); + if (gSetWheelCircumference > 3000 || gSetWheelCircumference < 1000) { + printf("error: wheel circumference %d is out of range. exiting..." _NL, gSetWheelCircumference); + return -1; + } + break; + case 'n': + gConsoleSetSlaveMode = 0; + break; + case 'i': + gNoSerialNumbers = 1; + break; + case 's': + gPrintSystemSettings = 1; + break; + case 'h': + case '?': + default: + usage(); + return -1; + } + } + + return 0; +} + +void printSystemSettings() +{ + int hwVersion, swVersion, wheelCirc; + char *sl; + double speedLimit = 0; + + printf(_NL _NL); + + hwVersion = getValue(CONSOLE, CONSOLE_REF_HW); + + if (hwVersion == 0) + printf("Console not responding" _NL _NL); + else { + swVersion = getValue(CONSOLE, CONSOLE_REF_SW); + printf( "Console information:" _NL + " hardware version ........: %02d" _NL + " software version ........: %02d" _NL + " assistance level ........: %d" _NL, + hwVersion, swVersion, + getValue(CONSOLE, CONSOLE_ASSIST_INITLEVEL) + ); + + if (!gNoSerialNumbers) + printf( " part number .............: %05d" _NL + " item number .............: %05d" _NL _NL, + ((getValue(CONSOLE, CONSOLE_SN_PN_HI) << 8) + getValue(CONSOLE, CONSOLE_SN_PN_LO)), + ((getValue(CONSOLE, CONSOLE_SN_ITEM_HI) << 8) + getValue(CONSOLE, CONSOLE_SN_ITEM_LO)) + ); + + /* ASSIST speed limit */ + sl = getValue(CONSOLE, CONSOLE_ASSIST_MAXSPEEDFLAG) == 0 ? "no" : "yes"; + speedLimit = ((getValue(CONSOLE, CONSOLE_ASSIST_MAXSPEED_HI) << 8) + getValue(CONSOLE, CONSOLE_ASSIST_MAXSPEED_LO)) / (double)10; + printf( " max limit enabled .......: %s" _NL + " speed limit .............: %0.2f Km/h" _NL _NL, sl, speedLimit); + + /* MIN speed limit */ + sl = getValue(CONSOLE, CONSOLE_ASSIST_MINSPEEDFLAG) == 0 ? "no" : "yes"; + speedLimit = (getValue(CONSOLE, CONSOLE_ASSIST_MINSPEED)) / (double)10; + printf( " min limit enabled .......: %s" _NL + " min speed limit .........: %0.2f Km/h" _NL _NL, sl, speedLimit); + + /* THROTTLE speed limit */ + sl = getValue(CONSOLE, CONSOLE_THROTTLE_MAXSPEEDFLAG) == 0 ? "no" : "yes"; + speedLimit = ((getValue(CONSOLE, CONSOLE_THROTTLE_MAXSPEED_HI) << 8) + getValue(CONSOLE, CONSOLE_THROTTLE_MAXSPEED_LO)) / (double)10; + printf( " throttle limit enabled ..: %s" _NL + " throttle speed limit ....: %0.2f Km/h" _NL _NL, sl, speedLimit); + + /* WHEEL CIRCUMFERENCE */ + wheelCirc = (getValue(CONSOLE, CONSOLE_GEOMETRY_CIRC_HI) << 8) + getValue(CONSOLE, CONSOLE_GEOMETRY_CIRC_LO); + printf( " wheel circumference .....: %d mm" _NL _NL, wheelCirc); + + if (swVersion >= 59) + printf( + " mountain cap ............: %0.2f%%" _NL, + (getValue(CONSOLE, CONSOLE_ASSIST_MOUNTAINCAP) * 1.5625)); + + printf( " odo .....................: %0.2f Km" _NL _NL, + ((getValue(CONSOLE, CONSOLE_STATS_ODO_1) << 24) + + (getValue(CONSOLE, CONSOLE_STATS_ODO_2) << 16) + + (getValue(CONSOLE, CONSOLE_STATS_ODO_3) << 8) + + (getValue(CONSOLE, CONSOLE_STATS_ODO_4))) / (double)10 + ); + } + + hwVersion = getValue(BATTERY, BATTERY_REF_HW); + if (hwVersion == 0) + printf("Battery not responding" _NL _NL); + else { + printf( "Battery information:" _NL + " hardware version ........: %02d" _NL + " software version ........: %02d" _NL, + hwVersion, getValue(BATTERY, BATTERY_REF_SW) + ); + + if (!gNoSerialNumbers) + printf( " part number .............: %05d" _NL + " item number .............: %05d" _NL, + ((getValue(BATTERY, BATTERY_SN_PN_HI) << 8) + getValue(BATTERY, BATTERY_SN_PN_LO)), + ((getValue(BATTERY, BATTERY_SN_ITEM_HI) << 8) + getValue(BATTERY, BATTERY_SN_ITEM_LO)) + ); + + printf( " voltage .................: %0.2fV" _NL + " battery level ...........: %0.2f%%" _NL + " maximum voltage .........: %0.2f%%" _NL + " minimum voltage .........: %0.2f%%" _NL + " mean voltage ............: %0.2f%%" _NL + " resets ..................: %0d" _NL + " ggjrCalib ...............: %0d" _NL + " vctrlShorts .............: %0d" _NL + " lmd .....................: %0.2fAh" _NL + " cell capacity ...........: %0.2fAh" _NL _NL, + ((getValue(BATTERY, BATTERY_STATUS_VBATT_HI) << 8) + getValue(BATTERY, BATTERY_STATUS_VBATT_LO)) * 0.001, + (getValue(BATTERY, BATTERY_STATUS_LEVEL) * 6.6667), + getVoltageValue(BATTERY, BATTERY_STATS_VBATTMAX), + getVoltageValue(BATTERY, BATTERY_STATS_VBATTMIN), + getVoltageValue(BATTERY, BATTERY_STATS_VBATTMEAN), + (getValue(BATTERY, BATTERY_STATS_RESET_HI) << 8) + getValue(BATTERY, BATTERY_STATS_RESET_LO), + getValue(BATTERY, BATTERY_STSTS_GGJSRCALIB), + getValue(BATTERY, BATTERY_STSTS_VCTRLSHORTS), + ((getValue(BATTERY, BATTERY_STATS_LMD_HI) << 8) + getValue(BATTERY, BATTERY_STATS_LMD_LO)) * 0.002142, + ((getValue(BATTERY, BATTERY_CONFIG_CELLCAPACITY_HI) << 8) + getValue(BATTERY, BATTERY_CONFIG_CELLCAPACITY_LO)) * 0.001 + ); + + printf( " charge time worst .......: %0d" _NL + " charge time mean ........: %0d" _NL + " charge cycles ...........: %0d" _NL + " full charge cycles ......: %0d" _NL + " power cycles ............: %0d" _NL + " battery temp max ........: %0d" _NL + " battery temp min ........: %0d" _NL _NL, + (getValue(BATTERY, BATTERY_STATS_CHARGETIMEWORST_HI) << 8) + getValue(BATTERY, BATTERY_STATS_CHARGETIMEWORST_LO), + (getValue(BATTERY, BATTERY_STATS_CHARGETIMEMEAN_HI) << 8) + getValue(BATTERY, BATTERY_STATS_CHARGETIMEMEAN_LO), + (getValue(BATTERY, BATTERY_STATS_BATTCYCLES_HI) << 8) + getValue(BATTERY, BATTERY_STATS_BATTCYCLES_LO), + (getValue(BATTERY, BATTERY_STATS_BATTFULLCYCLES_HI) << 8) + getValue(BATTERY, BATTERY_STATS_BATTFULLCYCLES_LO), + (getValue(BATTERY, BATTERY_STATS_POWERCYCLES_HI) << 8) + getValue(BATTERY, BATTERY_STATS_POWERCYCLES_HI), + getValue(BATTERY, BATTERY_STATS_TBATTMAX), + getValue(BATTERY, BATTERY_STATS_TBATTMIN) + ); + + printChargeStats(); + + if (hwVersion >= 60) + printBatteryStats(); + else + printf(" no battery details supported by battery hardware #%d" _NL _NL, hwVersion); + } + + hwVersion = getValue(MOTOR, MOTOR_REF_HW); + if (hwVersion == 0) + printf("Motor not responding" _NL _NL); + else { + printf( "Motor information:" _NL + " hardware version ........: %02d" _NL + " software version ........: %02d" _NL + " temperature .............: %02d" _DEGREE_SIGN "C"_NL + " speed limit .............: %02d Km/h" _NL, + hwVersion, getValue(MOTOR, MOTOR_REF_SW), + getValue(MOTOR, MOTOR_REALTIME_TEMP), + getValue(MOTOR, MOTOR_ASSIST_MAXSPEED) + ); + + wheelCirc = (getValue(MOTOR, MOTOR_GEOMETRY_CIRC_HI) << 8) + getValue(MOTOR, MOTOR_GEOMETRY_CIRC_LO); + printf( " wheel circumference .....: %d mm" _NL _NL, wheelCirc); + + if (!gNoSerialNumbers) + printf( " part number .............: %05d" _NL + " item number .............: %05d" _NL _NL, + ((getValue(MOTOR, MOTOR_SN_PN_HI) << 8) + getValue(MOTOR, MOTOR_SN_PN_LO)), + ((getValue(MOTOR, MOTOR_SN_ITEM_HI) << 8) + getValue(MOTOR, MOTOR_SN_ITEM_LO)) + ); + } +} + +int main(int argc, char **argv) +{ + int err, doShutdown = 0, consoleInSlaveMode = 0; + struct TDeviceStatus status; + + printf("BigXionFlasher USB " __BXF_VERSION__ _NL " (c) 2011-2013 by Thomas Koenig - www.bigxionflasher.org"_NL _NL); + + if ((err=parseOptions(argc, argv) < 0)) + exit(1); + + if ((err = LoadDriver(TREIBER_NAME)) < 0) { + printf("LoadDriver error: %d" _NL, err); + goto error; + } + + if ((err = CanInitDriver(NULL)) < 0) { + printf("CanInitDriver error: %d" _NL, err); + goto error; + } + + if ((err = CanDeviceOpen(0, DEVICE_OPEN)) < 0) { + printf("CanDeviceOpen error: %d" _NL, err); + goto error; + } + + CanSetSpeed(0, CAN_125K_BIT); + CanSetMode(0, OP_CAN_START, CAN_CMD_ALL_CLEAR); + CanGetDeviceStatus(0, &status); + + if (status.DrvStatus >= DRV_STATUS_CAN_OPEN) { + if (status.CanStatus == CAN_STATUS_BUS_OFF) { + printf("CAN Status BusOff" _NL); + CanSetMode(0, OP_CAN_RESET, CAN_CMD_NONE); + } + } else { + printf("error: could not open device" _NL); + goto error; + } + + consoleInSlaveMode = getValue(CONSOLE, CONSOLE_STATUS_SLAVE); + if (consoleInSlaveMode) { + printf("console already in salve mode. good!" _NL _NL); + } else { + if (gConsoleSetSlaveMode) { + int retry = 20; + + printf("putting console in salve mode ... "); + do { + setValue(CONSOLE, CONSOLE_STATUS_SLAVE, 1); + consoleInSlaveMode = getValue(CONSOLE, CONSOLE_STATUS_SLAVE); + usleep(200000); + } while(retry-- && !consoleInSlaveMode); + + doSleep(500); // give the console some time to settle + printf("%s" _NL _NL, consoleInSlaveMode ? "done" : "failed"); + } else + printf("console not in slave mode" _NL _NL); + } + + if (gAssistInitLevel != -1) { + printf("setting initial assistance level to %d" _NL, gAssistInitLevel); + setValue(CONSOLE, CONSOLE_ASSIST_INITLEVEL, gAssistInitLevel); + } + + if (gSetSpeedLimit > 0) { + printf("set speed limit to %0.2f km/h" _NL, gSetSpeedLimit); + setSpeedLimit(gSetSpeedLimit); + doShutdown = 1; + } else if (gSetSpeedLimit == 0) { + printf("disable speed limit, drive carefully" _NL); + setSpeedLimit(0); + doShutdown = 1; + } + + if (gSetMinSpeedLimit > 0) { + printf("set minimal speed limit to %0.2f km/h" _NL, gSetMinSpeedLimit); + setMinSpeedLimit(gSetMinSpeedLimit); + doShutdown = 1; + } else if (gSetMinSpeedLimit == 0) { + printf("disable minimal speed limit, drive carefully" _NL); + setMinSpeedLimit(0); + doShutdown = 1; + } + + if (gSetThrottleSpeedLimit > 0) { + printf("set throttle speed limit to %0.2f km/h" _NL, gSetThrottleSpeedLimit); + setThrottleSpeedLimit(gSetThrottleSpeedLimit); + doShutdown = 1; + } else if (gSetThrottleSpeedLimit == 0) { + printf("disable throttle speed limit, drive carefully" _NL); + setThrottleSpeedLimit(0); + doShutdown = 1; + } + + if (gSetMountainCap > 0) { + printf("set mountain cap level to %0.2f%%" _NL, ((int)gSetMountainCap / 1.5625) * 1.5625); + setValue(CONSOLE, CONSOLE_ASSIST_MOUNTAINCAP, gSetMountainCap / 1.5625); + } + + if (gSetWheelCircumference > 0) { + printf("set wheel circumference to %d" _NL, gSetWheelCircumference); + setWheelCircumference(gSetWheelCircumference); + } + + if (gPrintSystemSettings) + printSystemSettings(); + + if ((doShutdown && !gSkipShutdown) || gPowerOff) { + doSleep(1000); + printf("shutting down system." _NL); + setValue(BATTERY, BATTERY_CONFIG_SHUTDOWN, 1); + } + + CanDownDriver(); + UnloadDriver(); + + return 0; + +error: + CanDownDriver(); + UnloadDriver(); + + return 1; + +} diff --git a/doc/bigxionflasher-usb-src-0.2.4r97/CHANGELOG b/doc/bigxionflasher-usb-src-0.2.4r97/CHANGELOG new file mode 100644 index 0000000..634b426 --- /dev/null +++ b/doc/bigxionflasher-usb-src-0.2.4r97/CHANGELOG @@ -0,0 +1,33 @@ +# +# chagelog for BigXionFlasher USB (c) 2011-2013 by Thomas König +# +* 2013-03-23 Thomas König 0.2.4r97 +- added feature to set wheel circumference +- updated mhstcan.dll to latest version + +* 2012-05-15 Thomas König 0.2.3r86 +- can now set throttle speed limit to values higher then 25Km/h + +* 2012-04-21 Thomas König 0.2.2r72 +- code rewrite and clean-ups +- new command line options layout, setting a speed limit to zero disables it +- added throttle speed option +- added minimum (motor start) speed option +- added mountain mode option + +* 2011-09-08 Thomas König 0.2.0r46 +- major code rewrite and clean-ups so the everything is a bit less 'quick and dirty' +- implemented standard command line option parsing +- set the initial assist level after power on +- output item- and serial number of each CAN-node +- output detailed battery statistics (if supported by hardware) +- put console in slave-mode without user intervention + +* 2011-08-05 Thomas König 0.1.2r15 +- minor bug fixes + +* 2011-08-04 Thomas König 0.1.1r14 +- minor bug fixes + +* 2011-08-03 Thomas König 0.1.0r12 +- first public release diff --git a/doc/bigxionflasher-usb-src-0.2.4r97/GPLv3 b/doc/bigxionflasher-usb-src-0.2.4r97/GPLv3 new file mode 100644 index 0000000..94a9ed0 --- /dev/null +++ b/doc/bigxionflasher-usb-src-0.2.4r97/GPLv3 @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/doc/bigxionflasher-usb-src-0.2.4r97/Makefile b/doc/bigxionflasher-usb-src-0.2.4r97/Makefile new file mode 100644 index 0000000..a72941c --- /dev/null +++ b/doc/bigxionflasher-usb-src-0.2.4r97/Makefile @@ -0,0 +1,44 @@ +# +# Makefile for BigXionFlasher for Linux and Windows (MinGW) +# Copyright (c) 2011-2013 by Thomas König . +# All rights reserved. +# + +# +# point this variable to the /can_api/lib directory of the extracted +# tiny_can_*(.zip|.tar.gz) archive. +# +# Get it here http://www.mhs-elektronik.de/ +# +TINY_CAN_API = ../can_api/lib + +CC = gcc +LD = gcc +INCLUDE = -I$(TINY_CAN_API) +LDFLAGS = -Wall + +UNAME := $(shell uname) + +ifeq ($(UNAME),Linux) + API_DRV = can_drv_linux + LIB = -ldl -lc + CFLAGS = -Wall -pthread -g0 -O2 +else + API_DRV = can_drv_win + LIB = + CFLAGS = -Wall -g0 -O2 +endif + +OBJS = BigXionFlasher.o $(API_DRV).o + +all: $(OBJS) + $(LD) $(LDFLAGS) -o BigXionFlasher $(OBJS) $(LIB) + +BigXionFlasher.o: BigXionFlasher.c + $(CC) $(CFLAGS) $(INCLUDE) -o BigXionFlasher.o -c BigXionFlasher.c + +$(API_DRV).o: $(TINY_CAN_API)/$(API_DRV).c + $(CC) $(CFLAGS) $(INCLUDE) -o $(API_DRV).o -c $(TINY_CAN_API)/$(API_DRV).c + +clean: + rm -f *.o *~ ./BigXionFlasher ./BigXionFlasher.exe diff --git a/doc/bigxionflasher-usb-src-0.2.4r97/README b/doc/bigxionflasher-usb-src-0.2.4r97/README new file mode 100644 index 0000000..30bafbc --- /dev/null +++ b/doc/bigxionflasher-usb-src-0.2.4r97/README @@ -0,0 +1,99 @@ +========== +ANLEITUNG: +========== + +Lizenz: +Diese Software steht unter der GPLv3 Lizenz. (siehe http://www.gnu.org/licenses/gpl.html) + +Systemvoraussetzungen: +Um diese Software verwenden zu können wird folgende Hardware benötigt: + - ein BionX oder kompatibles Antriebssystem + - ein PC oder Laptop mit Linux oder Windows + - ein PC-Can Adapter: Tiny-CAN I, Tiny-CAN II-XL (von mir getestet), Tiny-CAN IV-XL + mit !!! KORREKT INSTALLIERTER TREIBER SOFTWARE !!! + Bitte unbedingt die vom Hersteller des Tiny-CAN gelieferte Software can_view + zum laufen bringen. Erst wenn diese funktionert den BigXionFlasher verwenden! + - ein BionX CAN-Bus Kabel (weiter unten beschrieben) + +1.) +Zu aller erst muss die Treibersoftware für den Tiny-CAN installert und mit beiliegender +CAN-View Software getestet werden. Bitte die Hersteller-Web-Site konsultieren + +2.) +Das Bus-Kabel laut unten stehender Anleitung selber herstellen oder +sich eines bauen lassen. System ausschalten! + +3.) +Die Steckverbindung des BionX-CAN-Bus an einer beliebigen Stelle lösen (z.B. gleich +nach der Konsole) und das neue Kabel mit den entsprechenden Stecker verbinden. + +4.) +Den TinyCAN Adapter mit dem 9 Sub-D Stecker am Kabel verbinden und das USB-Kabel +mit dem PC und dem TinyCAN Adapter verbinden. + +5.) +Software installieren: dazu einfach das neueste binary package für das entsprechende +Betriebssystem herunterladen und in ein beliebiges Verzeichnis ENTPACKEN. + +6.) +Terminal starten: + - Ubuntu: Anwendungen -> Zubehör -> Terminal + - Windows: Start -> Ausführen -> cmd (eingeben + Enter drücken) + +und in das Verzeichnis wechseln wo der Download entpacken wurde. + +Nach der Eingabe von ls (unter Linux) oder dir (unter Windows) muss die Datei +BigXionFlasher (Linux) oder BigXionFlasher.exe (Windows) angezeigt werden. + +7.) +Antriebssystem einschalten. + +8.) +Es mehrere Argumente mit denen das Programm gestartet werden kann. Mit dem Argument -h +bekommt man eine Übersicht über diese. Zuerst startet man am besten mal ohne Argumente +um zu sehen ob das Kabel und die Software korrekt funktionieren. Der BigXionFalsher +setzt die Konsole automatisch in den CAN-Salve Modus. + +Einige Aufrufbeispiele: + - BigXionFlasher -h + zeigt eine Hilfeseite an auf der alle verfügbaren Optionen angeführt werden + + - BigXionFlasher -s + Zeigt diverse Informationen zu Konsole, Batterie und Motor an + und beendet sich dann wieder + + - BigXionFlasher -l 0 + Hebt das Geschwindigkeitslimit auf und schaltet das System danach ab + + - BigXionFlasher -l 32 + Setzt das Geschwindigkeitslimit auf den angegebenen Wert (hier 32 km/h) und + schaltet das System danach ab + + - BigXionFlasher -a 3 -l 27.4 + Setzt die vorgewählte Unterstützungsstufe auf Stufe 3 und das + Geschwindigkeitslimit auf 27.4 km/h (als Komma muss ein Punkt eingegeben werden) + +9.) +!!VORSICHTIG FAHREN!! Ich bin auf einer ebenen Teststrecke mit meinem voll aufgeladenen +48V System 46 km/h gefahren und hatte immer noch 1 Unterstützungsbalken und Tränen +in den Augen (wegen dem Wind!). + +========= +KABEL: +========= + +Es werden 2 Stecker, 1 Buchse und 1 6poliges geschirmtes Kabel (50cm - 100cm) benötigt: +Buchse: HR30-6J-6P +Stecker: HR30-6P-6S +Stecker: Sub-D Stecker 9-polig + +Die beiden HR30 müssen 1:1 durch verbunden werden inkl. Abschirmung. +Das ergibt dann eine gängige BionX-Bus Verlängerung. Das Kabel dann in der Mitte +auftrennen und die 3 CAN-Adern durchtrennen und an den Sub-D stecker löten. + + HR-30 Sub-D HR-30 +------------------------------------- +CAN LOW: 2 .... 2 .... 2 +CAN GND: 4 .... 3 .... 4 (Abschirmung) +CAN HI: 6 .... 7 .... 6 +