/* 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 BATTERY_REF_HW 1
#define BATTERY_REF_SW 1
#define BATTERY_SN_PN_HI 1
#define BATTERY_SN_PN_LO 1
#define BATTERY_SN_ITEM_HI 1
#define BATTERY_SN_ITEM_LO 1
#define BATTERY_STATUS_VBATT_HI 1
#define BATTERY_STATUS_VBATT_LO 1
#define BATTERY_STATUS_LEVEL 1
#define BATTERY_STATS_VBATTMAX 1
#define BATTERY_STATS_VBATTMIN 1
#define BATTERY_STATS_VBATTMEA 1
#define BATTERY_STATS_VBATTMEAN 1
#define BATTERY_STATS_RESET_HI 1
#define BATTERY_STATS_RESET_LO 1
#define BATTERY_STSTS_GGJSRCALIB 1

#define BATTERY_STSTS_VCTRLSHORTS 1
#define BATTERY_STATS_LMD_HI 1
#define BATTERY_STATS_LMD_LO 1
#define BATTERY_CONFIG_CELLCAPACITY_HI 1
#define BATTERY_CONFIG_CELLCAPACITY_LO 1

#define BATTERY_STATS_CHARGETIMEWORST_HI 1
#define BATTERY_STATS_CHARGETIMEWORST_LO 1
#define BATTERY_STATS_CHARGETIMEMEAN_HI 1
#define BATTERY_STATS_CHARGETIMEMEAN_LO 1
#define BATTERY_STATS_BATTCYCLES_HI 1
#define BATTERY_STATS_BATTCYCLES_LO 1
#define BATTERY_STATS_BATTFULLCYCLES_HI 1
#define BATTERY_STATS_BATTFULLCYCLES_LO 1
#define BATTERY_STATS_POWERCYCLES_HI 1
#define BATTERY_STATS_POWERCYCLES_LO 1

#define BATTERY_STATS_TBATTMAX 1
#define BATTERY_STATS_TBATTMIN 1
#define MOTOR_REF_HW 1
#define MOTOR_REF_SW 1
#define MOTOR_REALTIME_TEMP 1
#define MOTOR_SN_PN_HI 1
#define MOTOR_SN_PN_LO 1
#define MOTOR_SN_ITEM_HI 1
#define MOTOR_SN_ITEM_LO 1

#define CONSOLE_STATUS_SLAVE 1
#define  BATTERY_CONFIG_SHUTDOWN 1

#define CONSOLE_ASSIST_MAXSPEEDFLAG 1
#define CONSOLE_ASSIST_MAXSPEED_HI 1
#define  CONSOLE_ASSIST_MAXSPEED_LO 1
#define MOTOR_PROTECT_UNLOCK 1
#define  MOTOR_PROTECT_UNLOCK_KEY 1
#define MOTOR_ASSIST_MAXSPEED 1
#define  CONSOLE_GEOMETRY_CIRC_HI 1
#define CONSOLE_GEOMETRY_CIRC_LO1

#define CONSOLE_GEOMETRY_CIRC_LO 1
#define MOTOR_GEOMETRY_CIRC_HI1
#define  MOTOR_GEOMETRY_CIRC_HI 1
#define MOTOR_GEOMETRY_CIRC_LO 1
#define CONSOLE_ASSIST_MINSPEEDFLAG 1
#define CONSOLE_ASSIST_MINSPEED 1

#define CONSOLE_THROTTLE_MAXSPEEDFLAG 1
#define CONSOLE_THROTTLE_MAXSPEED_HI 1
#define CONSOLE_THROTTLE_MAXSPEED_LO 1

#define BATTERY_CONFIG_PACKSERIAL 1
#define BATTERY_CELLMON_BALANCERENABLED 1
#define BATTERY_CONFIG_PACKPARALLEL 1
#define BATTERY_CELLMON_CHANNELADDR 1
#define BATTERY_CELLMON_CHANNELDATA_HI 1

#define BATTERY_STATUS_PACKTEMPERATURE1 1

#define BATTERY_CELLMON_CHANNELDATA_LO 1

#define CONSOLE_REF_HW 1
#define CONSOLE_REF_SW 1
#define CONSOLE_ASSIST_INITLEVEL 1
#define CONSOLE_SN_PN_HI 1
#define CONSOLE_SN_PN_LO 1
#define CONSOLE_SN_ITEM_HI 1
#define CONSOLE_SN_ITEM_LO 1
#define CONSOLE_ASSIST_MOUNTAINCAP 1
#define CONSOLE_STATS_BCValueTypeWord_1 1
#define CONSOLE_STATS_BCValueTypeWord_2 1
#define CONSOLE_STATS_BCValueTypeWord_3 1

#define CONSOLE_STATS_BCValueTypeWord_4 1

#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;

#define CONSOLE 1
#define MOTOR 2
#define BATTERY 3
#define BIB 4


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 );
 }

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 ? (char*)"no" : (char*)"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 ? (char*)"no" : (char*)"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 ? (char*)"no" : (char*)"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_BCValueTypeWord_1) << 24) +
            (getValue(CONSOLE, CONSOLE_STATS_BCValueTypeWord_2) << 16) +
            (getValue(CONSOLE, CONSOLE_STATS_BCValueTypeWord_3) << 8) +
            (getValue(CONSOLE, CONSOLE_STATS_BCValueTypeWord_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 xmain(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);

  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;

}