change tension limits

README.md

@@ -8,9 +8,7 @@
 - power (W)
 - rpm (tr/min)
 - bat (%)
-- torque (Nm)
+- tens (V)
+- amp (A)
 - eff (Wh/Km)
-- bat_temp (°C)
-- var_temp (°C)
-- mot_temp (°C)
 - warn (message)

src/main.c

@@ -11,6 +11,10 @@
 #include <sys/socket.h>
 #include <net/if.h>
 #include <fcntl.h>
+#include <termios.h>
+#include <errno.h>
+#include <locale.h>
+#include <stdlib.h>
 
 const int digit_bitmaps[10][5][3] = {
         {{1,1,1},{1,0,1},{1,0,1},{1,0,1},{1,1,1}}, // 0
@@ -51,28 +55,52 @@ typedef struct{
         WINDOW *lwin;
         char title[30];
 } StFlt;
+
 typedef struct {
+        int err;
+        long last_err;
+} Error;
+
+typedef struct{
+        long last_error;
+        int error_level;
         int height;
         int width;
         int starty;
         int startx;
         WINDOW *lwin;
         char title[30];
+        Error speed;
+        Error rpm;
+        Error power;
+        Error eff;
+        Error bat;
+        Error tens;
+        Error amp;
 } StStr;
 
+typedef struct {
+    char linebuf[128];
+    int linepos;
+} SerialParser;
+
 typedef struct {
         StInt speed;
         StInt rpm;
-        StFlt tq;
         StInt power;
         StFlt eff;
         StInt bat;
-        StFlt bat_temp;
+        StFlt tens;
-        StFlt var_temp;
+        StFlt amp;
-        StFlt mot_temp;
         StStr message;
 } Tel;
 
+typedef struct {
+        float wh_used;
+        float wh_total;
+        long previous_ms;
+} Bat_state;
+
 void win_init_int(StInt *st) {
         st->lwin = newwin(st->height, st->width, st->starty, st->startx);
         box(st->lwin, 0, 0);
@@ -93,35 +121,141 @@ void win_init_str(StStr *st) {
 };
 
 void get_fake_data(Tel *t) {
-        t->speed.data = t->speed.ldata + rand() % (t->speed.hdata - t->speed.ldata + 1);
-        t->power.data = t->power.ldata + rand() % (t->power.hdata - t->power.ldata + 1);
-        t->bat.data = t->bat.ldata + rand() % (t->bat.hdata - t->bat.ldata + 1);
-        t->tq.data = t->tq.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->tq.hdata - t->tq.ldata);
         t->rpm.data = t->rpm.ldata + rand() % (t->rpm.hdata - t->rpm.ldata + 1);
-        t->eff.data = t->eff.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->eff.hdata - t->eff.ldata);
+        t->tens.data = t->tens.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->tens.hdata - t->tens.ldata);
-        t->bat_temp.data = t->bat_temp.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->bat_temp.hdata - t->bat_temp.ldata);
+        t->amp.data = t->amp.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->amp.hdata - t->amp.ldata);
-        t->var_temp.data = t->var_temp.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->var_temp.hdata - t->var_temp.ldata);
-        t->mot_temp.data = t->mot_temp.ldata + ((float)rand() / (float)RAND_MAX) * (float)(t->mot_temp.hdata - t->mot_temp.ldata);
 }
 
 void read_can(Tel *t, int soc) {
         struct can_frame frame;
         int nbytes = read(soc, &frame, sizeof(struct can_frame));
 
-        if (nbytes > 0) {
+        if (nbytes < 0) return; // -1 EAGAIN means empty
+
+        if (nbytes != sizeof(struct can_frame)) return;
+
 
         switch (frame.can_id) {
 
                 case 0x382:
                         if (frame.can_dlc >= 2) {
-                                        t->rpm.data = frame.data[0] | (frame.data[1] << 8);
+                                t->rpm.data = abs((int16_t)(frame.data[0] | (frame.data[1] << 8)));
-                                        t->speed.data = (int)(t->rpm.data * 0.017f);
                         }
                         break;
                 default:
                         break;
         }
 }
+
+void read_uart(Tel *t, int fd, SerialParser *uart_str) {
+        char buf[128];
+        int n = read(fd, buf, sizeof(buf));
+
+        if (n < 0) return; // -1 EAGAIN means empty
+
+        if (n > 0) {
+                for (int i = 0; i < n; i++) {
+                        char c = buf[i];
+                        if (c == '\n') {
+                                uart_str->linebuf[uart_str->linepos] = '\0';
+                                float tmp_v, tmp_a;
+                                if (sscanf(uart_str->linebuf, "%f,%f", &tmp_v, &tmp_a) == 2) {
+                                        t->tens.data = tmp_v;
+                                        t->amp.data = tmp_a;
+                                }
+
+                                uart_str->linepos = 0;
+                        }
+                        if (uart_str->linepos < (int)sizeof(uart_str->linebuf) - 1) {
+                                uart_str->linebuf[uart_str->linepos++] = c;
+                        } else {
+                                uart_str->linepos = 0; // drop line to prevent overflow
+                        }
+                }
+        }
+}
+
+void read_uart_receiver(Tel *t, int fd, SerialParser *uart_str) {
+        char buf[128];
+        int n = read(fd, buf, sizeof(buf));
+
+        if (n < 0) return; // -1 EAGAIN means empty
+
+        if (n > 0) {
+                for (int i = 0; i < n; i++) {
+                        char c = buf[i];
+                        if (c == '\n') {
+                                uart_str->linebuf[uart_str->linepos] = '\0';
+                                int tmp_speed, tmp_rpm, tmp_power, tmp_bat, tmp_warn;
+                                float tmp_eff, tmp_tens, tmp_amp;
+                                if (sscanf(uart_str->linebuf, "%d,%d,%d,%f,%d,%f,%f,%d", &tmp_speed, &tmp_rpm, &tmp_power, &tmp_eff, &tmp_bat, &tmp_tens, &tmp_amp, &tmp_warn) == 8) {
+                                        t->speed.data = tmp_speed;
+                                        t->rpm.data = tmp_rpm;
+                                        t->power.data = tmp_power;
+                                        t->eff.data = tmp_eff;
+                                        t->bat.data = tmp_bat;
+                                        t->tens.data = tmp_tens;
+                                        t->amp.data = tmp_amp;
+                                        t->message.error_level = tmp_warn;
+                                }
+
+                                uart_str->linepos = 0;
+                        }
+                        if (uart_str->linepos < (int)sizeof(uart_str->linebuf) - 1) {
+                                uart_str->linebuf[uart_str->linepos++] = c;
+                        } else {
+                                uart_str->linepos = 0; // drop line to prevent overflow
+                        }
+                }
+        }
+}
+
+void write_uart(Tel *t, int fd) {
+        // speed,rpm,power,eff,bat,tens,amp,warn
+        char msg[256];
+        int len = snprintf(msg, sizeof(msg), "%d,%d,%d,%.1f,%d,%.1f,%.1f,%d\n",
+        t->speed.data,
+        t->rpm.data,
+        t->power.data,
+        t->eff.data,
+        t->bat.data,
+        t->tens.data,
+        t->amp.data,
+        t->message.error_level );
+
+        if (len < 0 || len >= (int)sizeof(msg)) {
+                return;
+        }
+
+        int total = 0;
+        while (total < len) {
+                int n = write(fd, msg + total, len - total);
+                if (n < 0) {
+                        if (errno == EINTR) continue;
+                        if (errno == EAGAIN) continue;
+                        return;
+                }
+                total += n;
+        }
+}
+
+void calc_data(Tel *t, Bat_state *b, long now) {
+        t->power.data = (int)(t->tens.data * t->amp.data);
+        t->speed.data = (int)(t->rpm.data * 0.017f);
+        t->bat.data = (int)((b->wh_total - b->wh_used) * 100 / b->wh_total);
+
+        if (t->speed.data > 0) {
+                t->eff.data = (float)t->power.data / (float)t->speed.data;
+        } else {
+                t->eff.data = 0.0f;
+        }
+
+        long dt = now - b->previous_ms;
+        if (dt < 0) dt = 0;
+
+        b->previous_ms = now;
+        b->wh_used += (float)t->power.data * (float)dt / 3600000.0f;
+        if (b->wh_used > b->wh_total) b->wh_used = b->wh_total;
 }
 
 long now_ms(void) {
@@ -295,6 +429,8 @@ void win_bar(StInt *st, bool use_color) {
         int yellow = (75 * bar_width) / 100;
         int red = (90 * bar_width) / 100;
 
+        if (filled > bar_width) filled = bar_width;
+
         for (int y = 1; y <= bar_height; y++) {
                 for (int x = 0; x < filled; x++) {
                         if (use_color) {
@@ -355,17 +491,83 @@ void win_bar(StInt *st, bool use_color) {
         }
 }
 
+void win_warn(Tel *t, bool use_color, long now) {
+        int warn_lvl = 0;
+        int lwiny, lwinx;
+        getmaxyx(t->message.lwin, lwiny, lwinx);
+        win_clear(t->message.lwin);
+
+        t->message.speed.err = 0;
+        t->message.rpm.err = 0;
+        t->message.power.err = 0;
+        t->message.eff.err = 0;
+        t->message.bat.err = 0;
+        t->message.tens.err = 0;
+        t->message.amp.err = 0;
+
+        if ((t->speed.data > t->speed.hdata) || (t->speed.data < t->speed.ldata)) {warn_lvl++; t->message.speed.err = 1; t->message.speed.last_err = now; }
+        if ((t->rpm.data   > t->rpm.hdata)   || (t->rpm.data   < t->rpm.ldata))   {warn_lvl++; t->message.rpm.err   = 1; t->message.rpm.last_err   = now; }
+        if ((t->power.data > t->power.hdata) || (t->power.data < t->power.ldata)) {warn_lvl++; t->message.power.err = 1; t->message.power.last_err = now; }
+        if ((t->bat.data   > t->bat.hdata)   || (t->bat.data   < t->bat.ldata))   {warn_lvl++; t->message.bat.err   = 1; t->message.bat.last_err   = now; }
+        if ((t->eff.data   > t->eff.hdata)   || (t->eff.data   < t->eff.ldata))   {warn_lvl++; t->message.eff.err   = 1; t->message.eff.last_err   = now; }
+        if ((t->tens.data  > t->tens.hdata)  || (t->tens.data  < t->tens.ldata))  {warn_lvl++; t->message.tens.err  = 1; t->message.tens.last_err  = now; }
+        if ((t->amp.data   > t->amp.hdata)   || (t->amp.data   < t->amp.ldata))   {warn_lvl++; t->message.amp.err   = 1; t->message.amp.last_err   = now; }
+
+        if (warn_lvl > 0) {
+                t->message.error_level = warn_lvl;
+                t->message.last_error = now;
+        } else if ((now - t->message.last_error) > 3000) {
+                t->message.error_level = 0;
+        }
+
+        if (use_color) wattron(t->message.lwin, COLOR_PAIR(2));
+
+        if (warn_lvl > 0 || (now - t->message.last_error) < 3000) {
+                for (int y = 1; y < lwiny - 1; y++) {
+                        for (int x = 1; x < lwinx - 1; x++) {
+                                mvwaddch(t->message.lwin, y, x, ACS_CKBOARD);
+                        }
+                }
+        }
+
+        if (use_color) wattroff(t->message.lwin, COLOR_PAIR(2));
+
+        if (use_color) wattron(t->message.lwin, COLOR_PAIR(1));
+
+        if (t->message.speed.err != 0 || (now - t->message.speed.last_err) < 3000 ) mvwprintw(t->message.lwin, 2 + 0 * ((lwiny - 2) / 4), 2        , "SPEED ERROR");
+        if (t->message.rpm.err != 0   || (now - t->message.rpm.last_err)   < 3000 ) mvwprintw(t->message.lwin, 2 + 1 * ((lwiny - 2) / 4), 2        , "RPM ERROR"  );
+        if (t->message.power.err != 0 || (now - t->message.power.last_err) < 3000 ) mvwprintw(t->message.lwin, 2 + 2 * ((lwiny - 2) / 4), 2        , "POWER ERROR");
+        if (t->message.eff.err != 0   || (now - t->message.eff.last_err)   < 3000 ) mvwprintw(t->message.lwin, 2 + 3 * ((lwiny - 2) / 4), 2        , "EFF ERROR"  );
+        if (t->message.bat.err != 0   || (now - t->message.bat.last_err)   < 3000 ) mvwprintw(t->message.lwin, 2 + 0 * ((lwiny - 2) / 4), lwinx / 2, "BAT ERROR"  );
+        if (t->message.tens.err != 0  || (now - t->message.tens.last_err)  < 3000 ) mvwprintw(t->message.lwin, 2 + 1 * ((lwiny - 2) / 4), lwinx / 2, "TENS ERROR" );
+        if (t->message.amp.err != 0   || (now - t->message.amp.last_err)   < 3000 ) mvwprintw(t->message.lwin, 2 + 2 * ((lwiny - 2) / 4), lwinx / 2, "AMP ERROR"  );
+
+        if (use_color) wattroff(t->message.lwin, COLOR_PAIR(1));
+
+        wrefresh(t->message.lwin);
+}
+
 int main(int argc, char **argv) {	
         int option;
         int delay = 1;
         int fake_data = 0;
         int use_can = 0;
         int soc = 0;
+        int use_uart = 0;
+        int uart_fd = 0;
+        int is_receiver = 0;
+
         struct sockaddr_can addr;
         struct ifreq ifr;
 
+        struct termios uart_str;
+        SerialParser uart_parser = {0};
 
-        while ((option = getopt(argc, argv, "d:hfc")) !=-1) {
+        Bat_state bat_state = {0, 1000, 0};
+
+        setlocale(LC_NUMERIC, "C");
+
+        while ((option = getopt(argc, argv, "d:hfcur")) !=-1) {
                 switch (option) {
                         case 'd' :
                                 delay = atoi(optarg);
@@ -379,8 +581,14 @@ int main(int argc, char **argv) {
                         case 'c' :
                                 use_can = 1;
                                 break;
+                        case 'u' :
+                                use_uart = 1;
+                                break;
+                        case 'r' :
+                                is_receiver = 1;
+                                break;
                         case 'h' :
-                                printf("Usage: ./cocomobile-tui [-d int <ms multiplier>] [-h <help>] [-f <random data generation>] [-c <enable can>]\n");
+                                printf("Usage: ./cocomobile-tui [-d int <ms multiplier>] [-h <help>] [-f <random data generation>] [-c <enable can>] [-u <enable uart connection>] [-r <set for receiver (not for the car)>]\n");
                                 return(0);
                 }
         }
@@ -407,6 +615,31 @@ int main(int argc, char **argv) {
                 }
         }
 
+        if (use_uart) {
+                uart_fd = open("/dev/ttyACM0", O_RDWR | O_NOCTTY | O_NONBLOCK);
+                if (uart_fd < 0) {
+                        perror("uart open error");
+                        return 1;
+                }
+                
+                tcgetattr(uart_fd, &uart_str);
+
+                uart_str.c_cflag &= ~CSIZE; // clear bit size
+                uart_str.c_cflag |= (CLOCAL | CREAD | CS8);
+                uart_str.c_cflag &= ~PARENB;
+
+                cfsetispeed(&uart_str, B115200);
+                cfsetospeed(&uart_str, B115200);
+
+                uart_str.c_lflag = 0;  // raw mode
+                uart_str.c_iflag = 0;
+                uart_str.c_oflag = 0;
+                uart_str.c_cc[VMIN]  = 0;
+                uart_str.c_cc[VTIME] = 0;
+
+                tcsetattr(uart_fd, TCSAFLUSH, &uart_str); // aplly settings
+        }
+
         initscr();
         noecho();
         cbreak();
@@ -437,40 +670,41 @@ int main(int argc, char **argv) {
 
         int y2  = y / 2;
         int y2r = y - y2;
-        int y4  = y2 / 2;
+        int y4 = y / 4;
         int y4r = y2 - y4;
+        int y2r4 = y2r / 2;
+        int y2r4r = y2r - y2r4;
         int y6 = y2r / 3;
-        int y6r = y2r - 2 * y6;
+        int y6r = y - (y2 + 2* y6);
  
         Tel tel;
-        tel.speed    = (StInt){0   , 0   , 200   , 3, 1, y2 , x3  , 0    , 0     , NULL, "speed (km/h)"                  };
+        tel.speed    = (StInt){0   , 0    , 51    , 3, 1, y2   , x3  , 0      , 0     , NULL, "speed (km/h)"       };
-        tel.rpm      = (StInt){0   , 0   , 6000  , 4, 1, y2 , x3  , 0    , x3    , NULL, "rpm (tr/min)"                  };
+        tel.rpm      = (StInt){0   , 0    , 3000  , 4, 1, y2   , x3  , 0      , x3    , NULL, "rpm (tr/min)"       };
-        tel.tq       = (StFlt){0.0f, 1.8f, 3.5f  , 3, 1, y4r, x3r , y4   , x-x3r , NULL, "torque (N/m)"                  };
+        tel.power    = (StInt){0   , 0    , 1300  , 4, 1, 2*y6 , 2*x3, y2     , 0     , NULL, "power (W)"          };
-        tel.power    = (StInt){0   , 0   , 1300  , 4, 1, y6 , 2*x3, y2   , 0     , NULL, "power (W)"                     };
-        tel.eff      = (StFlt){0.0f, 0.0f, 300.0f, 5, 1, y6 , x3r , y2   , 2*x3  , NULL, "efficiency (Wh/Km)"            };
         tel.bat      = (StInt){0   , 0    , 100   , 3, 0, y4   , x3r , 0      , x-x3r , NULL, "batteries (%)"      };
-        tel.bat_temp = (StFlt){0.0f, 0.0f, 150.0f, 5, 1, y6 , x3  , y2+y6, 0     , NULL, "batteries temperature (deg C)" };
+        tel.eff      = (StFlt){0.0f, 0.0f , 100.0f, 5, 1, y4r  , x3r , y4     , x-x3r , NULL, "efficiency (Wh/Km)" };
-        tel.var_temp = (StFlt){0.0f, 0.0f, 150.0f, 5, 1, y6 , x3  , y2+y6, x3    , NULL, "variator temperature (deg C)"  };
+        tel.tens     = (StFlt){0.0f, 42.0f, 58.0f , 4, 1, y2r4 , x3r , y2     , x-x3r , NULL, "tension (V)"        };
-        tel.mot_temp = (StFlt){0.0f, 0.0f, 150.0f, 5, 1, y6 , x3r , y2+y6, x-x3r , NULL, "motor temperature (deg C)"     };
+        tel.amp      = (StFlt){0.0f, 0.0f , 30.0f , 4, 1, y2r4r, x3r , y-y2r4r, x-x3r , NULL, "intensity (A)"      };
-        tel.message  = (StStr){                          y6r, x   , y-y6r, 0     , NULL, "warnings"                      };
+        tel.message  = (StStr){0   , 0    ,               y6r  , 2*x3, y-y6r  , 0     , NULL, "warnings"          , {0, 0}, {0, 0}, {0, 0}, {0, 0}, {0, 0}, {0, 0}, {0, 0}};
 
         win_init_int(&tel.speed);
         win_init_int(&tel.rpm);
-        win_init_flt(&tel.tq);
         win_init_int(&tel.power);
         win_init_flt(&tel.eff);
         win_init_int(&tel.bat);
-        win_init_flt(&tel.bat_temp);
+        win_init_flt(&tel.tens);
-        win_init_flt(&tel.var_temp);
+        win_init_flt(&tel.amp);
-        win_init_flt(&tel.mot_temp);
         win_init_str(&tel.message);
 
         bar_mark(tel.power.lwin);
 
-        long t100 = 0, t1000 = 0;
+        long t100 = 0;
         int ch = ERR;
+        long now = now_ms();
+        bat_state.previous_ms = now;
 
         while(1) {
+                now = now_ms();
                 ch = tolower(getch());
                 switch (ch) {
                         case 'q' :
@@ -480,41 +714,42 @@ int main(int argc, char **argv) {
                                 if (fake_data) {
                                         get_fake_data(&tel);
                                 } else {
-                                        if (use_can) read_can(&tel, soc);
+                                        if (use_can  && !is_receiver) read_can(&tel, soc);
+                                        if (use_uart && !is_receiver) read_uart(&tel, uart_fd, &uart_parser);
+                                        if (use_uart && is_receiver) read_uart_receiver(&tel, uart_fd, &uart_parser);
                                 }
                                 break;
                 }
-                long now = now_ms();
+
+                if (!is_receiver) calc_data(&tel, &bat_state, now);
+
                 if (now - t100 >= 100 * delay) {
                         win_int(&tel.speed, use_color);
                         win_int(&tel.rpm, use_color);
-                        win_float(&tel.tq, use_color);
                         win_bar(&tel.power, use_color);
                         win_float(&tel.eff, use_color);
+                        win_float(&tel.tens, use_color);
+                        win_float(&tel.amp, use_color);
+                        win_int(&tel.bat, use_color);
+                        win_warn(&tel, use_color, now);
+
+                        if (use_uart && !is_receiver) write_uart(&tel, uart_fd);
+
                         t100 = now;
                 }
-                if (now - t1000 >= 1000 * delay) {
-                        win_int(&tel.bat, use_color);
-                        win_float(&tel.bat_temp, use_color);
-                        win_float(&tel.var_temp, use_color);
-                        win_float(&tel.mot_temp, use_color);
-                        t1000 = now;
-                }
-                //message;
                 napms(10);
-        };
+        }
         end:
         delwin(tel.speed.lwin);
         delwin(tel.rpm.lwin);
-        delwin(tel.tq.lwin);
         delwin(tel.power.lwin);
         delwin(tel.eff.lwin);
         delwin(tel.bat.lwin);
-        delwin(tel.bat_temp.lwin);
+        delwin(tel.tens.lwin);
-        delwin(tel.var_temp.lwin);
+        delwin(tel.amp.lwin);
-        delwin(tel.mot_temp.lwin);
         delwin(tel.message.lwin);
         endwin();
         if (use_can) close(soc);
+        if (use_uart) close(uart_fd);
         return 0;
 }