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Fixed speed calculation for EBiCS #33

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Fixed speed calculation for EBiCS #33

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99dca11
Fixed speed calculation
wuwbobo2021 Aug 31, 2023
f10f589
Update display_ebics.c
wuwbobo2021 Aug 31, 2023
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290 changes: 151 additions & 139 deletions Src/display_ebics.c
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Original file line number Diff line number Diff line change
Expand Up @@ -17,146 +17,158 @@ uint8_t ui8_tx_buffer[12];

void ebics_init()
{

if (HAL_UART_Receive_DMA(&huart1, (uint8_t *)ui8_rx_buffer, 12) != HAL_OK)
{
Error_Handler();
}
if (HAL_UART_Receive_DMA(&huart1, (uint8_t *) ui8_rx_buffer, 12) != HAL_OK) {
Error_Handler();
}
}

void process_ant_page(MotorState_t* MS, MotorParams_t* MP){

int chkSum = 0;

for (uint8_t i = 0; i < 11; i++) {
chkSum ^= ui8_rx_buffer[i];
}

if(chkSum == ui8_rx_buffer[11]){
void process_ant_page(MotorState_t * MS, MotorParams_t * MP)
{
int chkSum = 0;

for (uint8_t i = 0; i < 11; i++) {
chkSum ^= ui8_rx_buffer[i];
}

if (chkSum == ui8_rx_buffer[11]) {

switch (ui8_rx_buffer[3]) {
case 16:
{
/*
message[4] = State.Wheel_Circumference & 0xFF; //Low Byte
message[5] = State.Wheel_Circumference >> 8 & 0xFF; // HiByte
message[6] = State.Travel_Mode_State;
message[7] = State.Display_Command & 0xFF; //Low Byte
message[8] = State.Display_Command >> 8 & 0xFF; // HiByte
message[9] = State.Manufacturer_ID & 0xFF; //Low Byte
message[10] = State.Manufacturer_ID >> 8 & 0xFF; //Hi Byte
*/
MP->wheel_cirumference =
ui8_rx_buffer[5] << 8 | ui8_rx_buffer[4];
MS->regen_level = ui8_rx_buffer[6] & 0x07;
MS->assist_level = ui8_rx_buffer[6] >> 3 & 0x07;

if (ui8_rx_buffer[7] >> 3 & 0x01) //Light on/off is Bit 3 in Display_Command Bytes
{
HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin,
GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin,
GPIO_PIN_RESET);
}
else // KM_HEADLIGHT_ON, KM_HEADLIGHT_LOW, KM_HEADLIGHT_HIGH
{
HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin,
GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin,
GPIO_PIN_SET);
}

} // end case 16
break;

// Page6 is no ANT+LEV Standard, it's used for MotorParams
/* message[4] = Run autodetect routine
message[5] =
message[6] =
message[7] =
message[8] =
message[9] =
message[10] =
*/
case 6:
{
if (ui8_rx_buffer[4])
autodetect();
}
break;
default:
{
//do nothing
}
} //end switch
} // end if chkSum
} //end process_ant_page

void send_ant_page(uint8_t page, MotorState_t * MS, MotorParams_t * MP)
{
ui8_tx_buffer[0] = 164; //Sync binary 10100100;
ui8_tx_buffer[1] = 12; //MsgLength
ui8_tx_buffer[2] = 0x4E; // MsgID for 0x4E for "broadcast Data"

switch (ui8_rx_buffer[3]){
case 16:
{
switch (page) {
case 1:
{
/*
State.Temperature_State=RxAnt[4];
State.Travel_Mode_State=RxAnt[5];
State.System_State=RxAnt[6];
State.Gear_State=RxAnt[7];
State.LEV_Error=RxAnt[8];
State.Speed=RxAnt[10]<<8|RxAnt[9];
*/
uint8_t temperature_state = 1; //TODO: set Temperature state Byte according to ANT+LEV

/*
message[4] = State.Wheel_Circumference & 0xFF; //Low Byte
message[5] = State.Wheel_Circumference >> 8 & 0xFF; // HiByte
message[6] = State.Travel_Mode_State;
message[7] = State.Display_Command & 0xFF; //Low Byte
message[8] = State.Display_Command >> 8 & 0xFF; // HiByte
message[9] = State.Manufacturer_ID & 0xFF; //Low Byte
message[10] = State.Manufacturer_ID >> 8 & 0xFF; //Hi Byte
*/
MP->wheel_cirumference = ui8_rx_buffer[5]<<8 | ui8_rx_buffer[4];
MS->regen_level = ui8_rx_buffer[6] & 0x07;
MS->assist_level = ui8_rx_buffer[6]>>3 & 0x07;

if(ui8_rx_buffer[7]>>3 & 0x01) //Light on/off is Bit 3 in Display_Command Bytes
{
HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);
}
else // KM_HEADLIGHT_ON, KM_HEADLIGHT_LOW, KM_HEADLIGHT_HIGH
{
HAL_GPIO_WritePin(LIGHT_GPIO_Port, LIGHT_Pin, GPIO_PIN_SET);
HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_SET);
}

}// end case 16
break;

// Page6 is no ANT+LEV Standard, it's used for MotorParams
/* message[4] = Run autodetect routine
message[5] =
message[6] =
message[7] =
message[8] =
message[9] =
message[10] =
*/
case 6:
{
if(ui8_rx_buffer[4])autodetect();
}
break;
default:
{
//do nothing
}
}//end switch
}// end if chkSum
}//end process_ant_page

void send_ant_page(uint8_t page, MotorState_t* MS, MotorParams_t* MP){
ui8_tx_buffer[0] = 164; //Sync binary 10100100;
ui8_tx_buffer[1] = 12; //MsgLength
ui8_tx_buffer[2] = 0x4E;// MsgID for 0x4E for "broadcast Data"

switch (page){
case 1:
{
/*
State.Temperature_State=RxAnt[4];
State.Travel_Mode_State=RxAnt[5];
State.System_State=RxAnt[6];
State.Gear_State=RxAnt[7];
State.LEV_Error=RxAnt[8];
State.Speed=RxAnt[10]<<8|RxAnt[9];
*/
uint8_t temperature_state=1; //to do: set Temperature state Byte according to ANT+LEV
uint16_t speedx10 = MP->wheel_cirumference/((MS->Speed*MP->pulses_per_revolution)>>3)*36; // *3,6 for km/h then *10 for LEV standard definition.
//speedx10 = 250;

ui8_tx_buffer[3] = page;

ui8_tx_buffer[4] = temperature_state;
ui8_tx_buffer[5] = MS->regen_level|MS->assist_level<<3;
ui8_tx_buffer[6] = MS->system_state;
ui8_tx_buffer[7] = MS->gear_state;
ui8_tx_buffer[8] = MS->error_state;
ui8_tx_buffer[9] = speedx10 & 0xFF; //low byte of speed
ui8_tx_buffer[10] = speedx10>>8 & 0x07; // lower 3 Bytes of high byte




} //end case 1
break;

case 4:
/* {
State.Charging_Cycle=(RxAnt[6]&0x07)<<8|RxAnt[5];
State.Fuel_Consumption=(RxAnt[6]>>4)<<8|RxAnt[7];
State.Battery_Voltage=RxAnt[8];
State.Distance_On_Recent_Charge = RxAnt[10]>>4|RxAnt[9];
}*/
{
uint16_t Fuel_Consumption = MS->Battery_Current/10; //Battery_current is in mA, scaled to A*100

ui8_tx_buffer[3] = page;
ui8_tx_buffer[4] = 0; //not used
ui8_tx_buffer[5] = 0; //LSB of charging cycle, not used so far
ui8_tx_buffer[6] = (Fuel_Consumption>>8)<<4; //MSB in Bit 4-7
ui8_tx_buffer[7] = Fuel_Consumption & 0xFF; //LSB
ui8_tx_buffer[8] = MS->Voltage*CAL_V*4/1000; // Voltage is in mV, scaled according to LEV standard in 1/4V
ui8_tx_buffer[9] = 0; //LSB Distance on current charge, not used so far
ui8_tx_buffer[10] = 0; //MSB Distance on current charge, not used so far

}
break;

default:
{
//do nothing
}
} //end switch

int chkSum = 0;

for (uint8_t i = 0; i < 11; i++) {
chkSum ^= ui8_tx_buffer[i];
}
ui8_tx_buffer[11]= chkSum;

HAL_UART_Transmit_DMA(&huart1, (uint8_t *)&ui8_tx_buffer, 12);

} //end send page
the elapse frequency of TIM3 is 64M/7814 (Hz), about 8190 Hz,
thus the counter value `MS->Speed` is about 8190 / pulses_per_sec,
or 8190 / (`MP->pulses_per_revolution` * r_per_sec),
thus r_per_sec is 8190 / (`MS->Speed` * `MP->pulses_per_revolution`);
wheel cirumference_m is `MP->wheel_cirumference` / 1000;
speed_km_h_x10 = wheel_cirumference_m * r_per_sec * 3.6 * 10
= (`MP->wheel_cirumference` / 1000) * [8190 / (`MS->Speed` * `MP->pulses_per_revolution`)] * 36.
(x10 is for LEV standard definition)
*/
uint16_t speedx10 = MP->wheel_cirumference * (uint32_t)8190 * 36
/ (MS->Speed * MP->pulses_per_revolution) / 1000;

ui8_tx_buffer[3] = page;

ui8_tx_buffer[4] = temperature_state;
ui8_tx_buffer[5] = MS->regen_level | MS->assist_level << 3;
ui8_tx_buffer[6] = MS->system_state;
ui8_tx_buffer[7] = MS->gear_state;
ui8_tx_buffer[8] = MS->error_state;
ui8_tx_buffer[9] = speedx10 & 0xFF; //low byte of speed
ui8_tx_buffer[10] = speedx10 >> 8 & 0x07; // lower 3 Bytes of high byte
} //end case 1
break;

case 4:
/* {
State.Charging_Cycle = (RxAnt[6]&0x07)<<8|RxAnt[5];
State.Fuel_Consumption = (RxAnt[6]>>4)<<8|RxAnt[7];
State.Battery_Voltage = RxAnt[8];
State.Distance_On_Recent_Charge = RxAnt[10]>>4|RxAnt[9];
} */
{
uint16_t Fuel_Consumption = MS->Battery_Current / 10; //Battery_current is in mA, scaled to A*100

ui8_tx_buffer[3] = page;
ui8_tx_buffer[4] = 0; //not used
ui8_tx_buffer[5] = 0; //LSB of charging cycle, not used so far
ui8_tx_buffer[6] = (Fuel_Consumption >> 8) << 4; //MSB in Bit 4-7
ui8_tx_buffer[7] = Fuel_Consumption & 0xFF; //LSB
ui8_tx_buffer[8] = MS->Voltage * CAL_V * 4 / 1000; // Voltage is in mV, scaled according to LEV standard in 1/4V
ui8_tx_buffer[9] = 0; //LSB Distance on current charge, not used so far
ui8_tx_buffer[10] = 0; //MSB Distance on current charge, not used so far

}
break;

default:
{
//do nothing
}
} //end switch

int chkSum = 0;

for (uint8_t i = 0; i < 11; i++) {
chkSum ^= ui8_tx_buffer[i];
}
ui8_tx_buffer[11] = chkSum;

HAL_UART_Transmit_DMA(&huart1, (uint8_t *) & ui8_tx_buffer, 12);

} //end send page