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Create and rework data handling, part I

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DIASPORA\chris
2025-12-21 10:30:39 +01:00
parent f83f351d99
commit c382ba472d
12 changed files with 1540 additions and 25 deletions
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doc/bigxionflasher-usb-src-0.2.4r97/BigXionFlasher.c Normal file
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/* BigXionFlasher.c */
/* ====================================================================
* Copyright (c) 2011-2013 by Thomas König <info@bigxionflasher.org>.
* 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 <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <time.h>
#ifdef __WIN32__
#include <conio.h>
#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 <speedLimit> .......... set the speed limit to <speedLimit> (1 - " __STR(UNLIMITED_SPEED_VALUE) "), 0 = remove the limit" _NL
" -m <minSpeedLimit> ....... set the minimum speed limit to <minSpeedLimit> (0 - " __STR(UNLIMITED_MIN_SPEED_VALUE) "), 0 = remove the limit" _NL
" -t <throttleSpeedLimit> .. set the throttle speed limit to <throttleSpeedLimit> (0 - " __STR(MAX_THROTTLE_SPEED_VALUE) "), 0 = remove the limit" _NL
" -a <assistLevel> ......... set the initial assist level after power on (0 - 4)" _NL
" -o <level> ............... set the mountain cap level (0%% - 100%%), use 55%%" _NL
" -c <wheel circumference> . 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 <info@bigxionflasher.org> - 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;
}

33
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#
# chagelog for BigXionFlasher USB (c) 2011-2013 by Thomas König
#
* 2013-03-23 Thomas König <info@bigxionflasher.org> 0.2.4r97
- added feature to set wheel circumference
- updated mhstcan.dll to latest version
* 2012-05-15 Thomas König <info@bigxionflasher.org> 0.2.3r86
- can now set throttle speed limit to values higher then 25Km/h
* 2012-04-21 Thomas König <info@bigxionflasher.org> 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 <info@bigxionflasher.org> 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 <info@bigxionflasher.org> 0.1.2r15
- minor bug fixes
* 2011-08-04 Thomas König <info@bigxionflasher.org> 0.1.1r14
- minor bug fixes
* 2011-08-03 Thomas König <info@bigxionflasher.org> 0.1.0r12
- first public release

674
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You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
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:
<program> Copyright (C) <year> <name of author>
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
<http://www.gnu.org/licenses/>.
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
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

44
doc/bigxionflasher-usb-src-0.2.4r97/Makefile Normal file
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#
# Makefile for BigXionFlasher for Linux and Windows (MinGW)
# Copyright (c) 2011-2013 by Thomas König <info@bigxionflasher.org>.
# 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

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doc/bigxionflasher-usb-src-0.2.4r97/README Normal file
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==========
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