431 lines
17 KiB
C++
431 lines
17 KiB
C++
#include <Arduino.h>
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#include "Configuration.h"
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#include "HardwareSerial.h"
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#include "PinMapping.h"
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#include "MessageOutput.h"
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#include "JkBmsDataPoints.h"
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#include "JkBmsController.h"
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#include <frozen/map.h>
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//#define JKBMS_DUMMY_SERIAL
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#ifdef JKBMS_DUMMY_SERIAL
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class DummySerial {
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public:
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DummySerial() = default;
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void begin(uint32_t, uint32_t, int8_t, int8_t) {
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MessageOutput.println("JK BMS Dummy Serial: begin()");
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}
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void end() { MessageOutput.println("JK BMS Dummy Serial: end()"); }
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void flush() { }
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bool availableForWrite() const { return true; }
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size_t write(const uint8_t *buffer, size_t size) {
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MessageOutput.printf("JK BMS Dummy Serial: write(%d Bytes)\r\n", size);
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_byte_idx = 0;
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_msg_idx = (_msg_idx + 1) % _data.size();
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return size;
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}
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bool available() const {
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return _byte_idx < _data[_msg_idx].size();
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}
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int read() {
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if (_byte_idx >= _data[_msg_idx].size()) { return 0; }
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return _data[_msg_idx][_byte_idx++];
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}
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private:
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std::vector<std::vector<uint8_t>> const _data =
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{
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{
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0x4e, 0x57, 0x01, 0x21, 0x00, 0x00, 0x00, 0x00,
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0x06, 0x00, 0x01, 0x79, 0x30, 0x01, 0x0c, 0xfb,
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0x02, 0x0c, 0xfb, 0x03, 0x0c, 0xfb, 0x04, 0x0c,
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0xfb, 0x05, 0x0c, 0xfb, 0x06, 0x0c, 0xfb, 0x07,
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0x0c, 0xfb, 0x08, 0x0c, 0xf7, 0x09, 0x0d, 0x01,
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0x0a, 0x0c, 0xf9, 0x0b, 0x0c, 0xfb, 0x0c, 0x0c,
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0xfb, 0x0d, 0x0c, 0xfb, 0x0e, 0x0c, 0xf8, 0x0f,
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0x0c, 0xf9, 0x10, 0x0c, 0xfb, 0x80, 0x00, 0x1a,
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0x81, 0x00, 0x12, 0x82, 0x00, 0x12, 0x83, 0x14,
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0xc3, 0x84, 0x83, 0xf4, 0x85, 0x2e, 0x86, 0x02,
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0x87, 0x00, 0x15, 0x89, 0x00, 0x00, 0x13, 0x52,
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0x8a, 0x00, 0x10, 0x8b, 0x00, 0x00, 0x8c, 0x00,
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0x03, 0x8e, 0x16, 0x80, 0x8f, 0x12, 0xc0, 0x90,
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0x0e, 0x10, 0x91, 0x0c, 0xda, 0x92, 0x00, 0x05,
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0x93, 0x0b, 0xb8, 0x94, 0x0c, 0x80, 0x95, 0x00,
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0x05, 0x96, 0x01, 0x2c, 0x97, 0x00, 0x28, 0x98,
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0x01, 0x2c, 0x99, 0x00, 0x28, 0x9a, 0x00, 0x1e,
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0x9b, 0x0b, 0xb8, 0x9c, 0x00, 0x0a, 0x9d, 0x01,
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0x9e, 0x00, 0x64, 0x9f, 0x00, 0x50, 0xa0, 0x00,
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0x64, 0xa1, 0x00, 0x64, 0xa2, 0x00, 0x14, 0xa3,
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0x00, 0x46, 0xa4, 0x00, 0x46, 0xa5, 0x00, 0x00,
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0xa6, 0x00, 0x02, 0xa7, 0xff, 0xec, 0xa8, 0xff,
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0xf6, 0xa9, 0x10, 0xaa, 0x00, 0x00, 0x00, 0xe6,
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0xab, 0x01, 0xac, 0x01, 0xad, 0x04, 0x4d, 0xae,
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0x01, 0xaf, 0x00, 0xb0, 0x00, 0x0a, 0xb1, 0x14,
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0xb2, 0x32, 0x32, 0x31, 0x31, 0x38, 0x37, 0x00,
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0x00, 0x00, 0x00, 0xb3, 0x00, 0xb4, 0x62, 0x65,
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0x6b, 0x69, 0x00, 0x00, 0x00, 0x00, 0xb5, 0x32,
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0x33, 0x30, 0x36, 0xb6, 0x00, 0x01, 0x4a, 0xc3,
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0xb7, 0x31, 0x31, 0x2e, 0x58, 0x57, 0x5f, 0x53,
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0x31, 0x31, 0x2e, 0x32, 0x36, 0x32, 0x48, 0x5f,
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0xb8, 0x00, 0xb9, 0x00, 0x00, 0x00, 0xe6, 0xba,
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0x62, 0x65, 0x6b, 0x69, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x4a, 0x4b, 0x5f, 0x42,
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0x31, 0x41, 0x32, 0x34, 0x53, 0x31, 0x35, 0x50,
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0xc0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x68, 0x00,
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0x00, 0x53, 0xbb
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},
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{
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0x4e, 0x57, 0x01, 0x21, 0x00, 0x00, 0x00, 0x00,
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0x06, 0x00, 0x01, 0x79, 0x30, 0x01, 0x0c, 0xc0,
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0x02, 0x0c, 0xc1, 0x03, 0x0c, 0xc0, 0x04, 0x0c,
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0xc4, 0x05, 0x0c, 0xc4, 0x06, 0x0c, 0xc2, 0x07,
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0x0c, 0xc2, 0x08, 0x0c, 0xc1, 0x09, 0x0c, 0xba,
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0x0a, 0x0c, 0xc1, 0x0b, 0x0c, 0xc2, 0x0c, 0x0c,
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0xc2, 0x0d, 0x0c, 0xc2, 0x0e, 0x0c, 0xc4, 0x0f,
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0x0c, 0xc2, 0x10, 0x0c, 0xc1, 0x80, 0x00, 0x1b,
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0x81, 0x00, 0x1b, 0x82, 0x00, 0x1a, 0x83, 0x14,
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0x68, 0x84, 0x03, 0x70, 0x85, 0x3c, 0x86, 0x02,
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0x87, 0x00, 0x19, 0x89, 0x00, 0x00, 0x16, 0x86,
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0x8a, 0x00, 0x10, 0x8b, 0x00, 0x00, 0x8c, 0x00,
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0x07, 0x8e, 0x16, 0x80, 0x8f, 0x12, 0xc0, 0x90,
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0x0e, 0x10, 0x91, 0x0c, 0xda, 0x92, 0x00, 0x05,
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0x93, 0x0b, 0xb8, 0x94, 0x0c, 0x80, 0x95, 0x00,
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0x05, 0x96, 0x01, 0x2c, 0x97, 0x00, 0x28, 0x98,
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0x01, 0x2c, 0x99, 0x00, 0x28, 0x9a, 0x00, 0x1e,
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0x9b, 0x0b, 0xb8, 0x9c, 0x00, 0x0a, 0x9d, 0x01,
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0x9e, 0x00, 0x64, 0x9f, 0x00, 0x50, 0xa0, 0x00,
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0x64, 0xa1, 0x00, 0x64, 0xa2, 0x00, 0x14, 0xa3,
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0x00, 0x46, 0xa4, 0x00, 0x46, 0xa5, 0x00, 0x00,
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0xa6, 0x00, 0x02, 0xa7, 0xff, 0xec, 0xa8, 0xff,
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0xf6, 0xa9, 0x10, 0xaa, 0x00, 0x00, 0x00, 0xe6,
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0xab, 0x01, 0xac, 0x01, 0xad, 0x04, 0x4d, 0xae,
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0x01, 0xaf, 0x00, 0xb0, 0x00, 0x0a, 0xb1, 0x14,
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0xb2, 0x32, 0x32, 0x31, 0x31, 0x38, 0x37, 0x00,
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0x00, 0x00, 0x00, 0xb3, 0x00, 0xb4, 0x62, 0x65,
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0x6b, 0x69, 0x00, 0x00, 0x00, 0x00, 0xb5, 0x32,
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0x33, 0x30, 0x36, 0xb6, 0x00, 0x01, 0x7f, 0x2a,
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0xb7, 0x31, 0x31, 0x2e, 0x58, 0x57, 0x5f, 0x53,
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0x31, 0x31, 0x2e, 0x32, 0x36, 0x32, 0x48, 0x5f,
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0xb8, 0x00, 0xb9, 0x00, 0x00, 0x00, 0xe6, 0xba,
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0x62, 0x65, 0x6b, 0x69, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x4a, 0x4b, 0x5f, 0x42,
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0x31, 0x41, 0x32, 0x34, 0x53, 0x31, 0x35, 0x50,
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0xc0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x68, 0x00,
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0x00, 0x4f, 0xc1
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},
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{
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0x4e, 0x57, 0x01, 0x21, 0x00, 0x00, 0x00, 0x00,
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0x06, 0x00, 0x01, 0x79, 0x30, 0x01, 0x0c, 0x13,
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0x02, 0x0c, 0x12, 0x03, 0x0c, 0x0f, 0x04, 0x0c,
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0x15, 0x05, 0x0c, 0x0d, 0x06, 0x0c, 0x13, 0x07,
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0x0c, 0x16, 0x08, 0x0c, 0x13, 0x09, 0x0b, 0xdb,
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0x0a, 0x0b, 0xf6, 0x0b, 0x0c, 0x17, 0x0c, 0x0b,
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0xf5, 0x0d, 0x0c, 0x16, 0x0e, 0x0c, 0x1a, 0x0f,
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0x0c, 0x1b, 0x10, 0x0c, 0x1c, 0x80, 0x00, 0x18,
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0x81, 0x00, 0x18, 0x82, 0x00, 0x18, 0x83, 0x13,
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0x49, 0x84, 0x00, 0x00, 0x85, 0x00, 0x86, 0x02,
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0x87, 0x00, 0x23, 0x89, 0x00, 0x00, 0x20, 0x14,
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0x8a, 0x00, 0x10, 0x8b, 0x00, 0x08, 0x8c, 0x00,
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0x05, 0x8e, 0x16, 0x80, 0x8f, 0x12, 0xc0, 0x90,
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0x0e, 0x10, 0x91, 0x0c, 0xda, 0x92, 0x00, 0x05,
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0x93, 0x0b, 0xb8, 0x94, 0x0c, 0x80, 0x95, 0x00,
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0x05, 0x96, 0x01, 0x2c, 0x97, 0x00, 0x28, 0x98,
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0x01, 0x2c, 0x99, 0x00, 0x28, 0x9a, 0x00, 0x1e,
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0x9b, 0x0b, 0xb8, 0x9c, 0x00, 0x0a, 0x9d, 0x01,
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0x9e, 0x00, 0x64, 0x9f, 0x00, 0x50, 0xa0, 0x00,
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0x64, 0xa1, 0x00, 0x64, 0xa2, 0x00, 0x14, 0xa3,
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0x00, 0x46, 0xa4, 0x00, 0x46, 0xa5, 0x00, 0x00,
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0xa6, 0x00, 0x02, 0xa7, 0xff, 0xec, 0xa8, 0xff,
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0xf6, 0xa9, 0x10, 0xaa, 0x00, 0x00, 0x00, 0xe6,
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0xab, 0x01, 0xac, 0x01, 0xad, 0x04, 0x4d, 0xae,
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0x01, 0xaf, 0x00, 0xb0, 0x00, 0x0a, 0xb1, 0x14,
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0xb2, 0x32, 0x32, 0x31, 0x31, 0x38, 0x37, 0x00,
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0x00, 0x00, 0x00, 0xb3, 0x00, 0xb4, 0x62, 0x65,
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0x6b, 0x69, 0x00, 0x00, 0x00, 0x00, 0xb5, 0x32,
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0x33, 0x30, 0x36, 0xb6, 0x00, 0x02, 0x17, 0x10,
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0xb7, 0x31, 0x31, 0x2e, 0x58, 0x57, 0x5f, 0x53,
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0x31, 0x31, 0x2e, 0x32, 0x36, 0x32, 0x48, 0x5f,
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0xb8, 0x00, 0xb9, 0x00, 0x00, 0x00, 0xe6, 0xba,
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0x62, 0x65, 0x6b, 0x69, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x4a, 0x4b, 0x5f, 0x42,
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0x31, 0x41, 0x32, 0x34, 0x53, 0x31, 0x35, 0x50,
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0xc0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x68, 0x00,
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0x00, 0x45, 0xce
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},
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{
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0x4e, 0x57, 0x01, 0x21, 0x00, 0x00, 0x00, 0x00,
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0x06, 0x00, 0x01, 0x79, 0x30, 0x01, 0x0c, 0x07,
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0x02, 0x0c, 0x0a, 0x03, 0x0c, 0x0b, 0x04, 0x0c,
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0x08, 0x05, 0x0c, 0x05, 0x06, 0x0c, 0x0b, 0x07,
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0x0c, 0x07, 0x08, 0x0c, 0x0a, 0x09, 0x0c, 0x08,
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0x0a, 0x0c, 0x06, 0x0b, 0x0c, 0x0a, 0x0c, 0x0c,
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0x05, 0x0d, 0x0c, 0x0a, 0x0e, 0x0c, 0x0a, 0x0f,
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0x0c, 0x0a, 0x10, 0x0c, 0x0a, 0x80, 0x00, 0x06,
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0x81, 0x00, 0x03, 0x82, 0x00, 0x03, 0x83, 0x13,
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0x40, 0x84, 0x00, 0x00, 0x85, 0x29, 0x86, 0x02,
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0x87, 0x00, 0x01, 0x89, 0x00, 0x00, 0x01, 0x0a,
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0x8a, 0x00, 0x10, 0x8b, 0x02, 0x00, 0x8c, 0x00,
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0x02, 0x8e, 0x16, 0x80, 0x8f, 0x10, 0x40, 0x90,
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0x0e, 0x10, 0x91, 0x0d, 0xde, 0x92, 0x00, 0x05,
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0x93, 0x0a, 0x28, 0x94, 0x0a, 0x5a, 0x95, 0x00,
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0x05, 0x96, 0x01, 0x2c, 0x97, 0x00, 0x28, 0x98,
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0x01, 0x2c, 0x99, 0x00, 0x28, 0x9a, 0x00, 0x1e,
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0x9b, 0x0b, 0xb8, 0x9c, 0x00, 0x0a, 0x9d, 0x01,
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0x9e, 0x00, 0x5a, 0x9f, 0x00, 0x50, 0xa0, 0x00,
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0x64, 0xa1, 0x00, 0x64, 0xa2, 0x00, 0x14, 0xa3,
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0x00, 0x37, 0xa4, 0x00, 0x37, 0xa5, 0x00, 0x03,
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0xa6, 0x00, 0x05, 0xa7, 0xff, 0xec, 0xa8, 0xff,
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0xf6, 0xa9, 0x10, 0xaa, 0x00, 0x00, 0x00, 0xe6,
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0xab, 0x01, 0xac, 0x01, 0xad, 0x04, 0x4d, 0xae,
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0x01, 0xaf, 0x00, 0xb0, 0x00, 0x0a, 0xb1, 0x14,
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0xb2, 0x32, 0x32, 0x31, 0x31, 0x38, 0x37, 0x00,
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0x00, 0x00, 0x00, 0xb3, 0x00, 0xb4, 0x62, 0x65,
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0x6b, 0x69, 0x00, 0x00, 0x00, 0x00, 0xb5, 0x32,
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0x33, 0x30, 0x36, 0xb6, 0x00, 0x03, 0xb7, 0x2d,
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0xb7, 0x31, 0x31, 0x2e, 0x58, 0x57, 0x5f, 0x53,
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0x31, 0x31, 0x2e, 0x32, 0x36, 0x32, 0x48, 0x5f,
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0xb8, 0x00, 0xb9, 0x00, 0x00, 0x00, 0xe6, 0xba,
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0x62, 0x65, 0x6b, 0x69, 0x00, 0x00, 0x00, 0x00,
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0x00, 0x00, 0x00, 0x00, 0x4a, 0x4b, 0x5f, 0x42,
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0x31, 0x41, 0x32, 0x34, 0x53, 0x31, 0x35, 0x50,
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0xc0, 0x01, 0x00, 0x00, 0x00, 0x00, 0x68, 0x00,
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0x00, 0x41, 0x7b
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}
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};
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size_t _msg_idx = 0;
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size_t _byte_idx = 0;
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};
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DummySerial HwSerial;
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#else
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HardwareSerial HwSerial(2);
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#endif
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namespace JkBms {
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bool Controller::init(bool verboseLogging)
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{
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_verboseLogging = verboseLogging;
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std::string ifcType = "transceiver";
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if (Interface::Transceiver != getInterface()) { ifcType = "TTL-UART"; }
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MessageOutput.printf("[JK BMS] Initialize %s interface...\r\n", ifcType.c_str());
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const PinMapping_t& pin = PinMapping.get();
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MessageOutput.printf("[JK BMS] rx = %d, rxen = %d, tx = %d, txen = %d\r\n",
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pin.battery_rx, pin.battery_rxen, pin.battery_tx, pin.battery_txen);
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if (pin.battery_rx < 0 || pin.battery_tx < 0) {
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MessageOutput.println("[JK BMS] Invalid RX/TX pin config");
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return false;
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}
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HwSerial.begin(115200, SERIAL_8N1, pin.battery_rx, pin.battery_tx);
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HwSerial.flush();
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if (Interface::Transceiver != getInterface()) { return true; }
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_rxEnablePin = pin.battery_rxen;
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_txEnablePin = pin.battery_txen;
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if (_rxEnablePin < 0 || _txEnablePin < 0) {
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MessageOutput.println("[JK BMS] Invalid transceiver pin config");
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return false;
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}
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pinMode(_rxEnablePin, OUTPUT);
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pinMode(_txEnablePin, OUTPUT);
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return true;
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}
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void Controller::deinit()
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{
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HwSerial.end();
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if (_rxEnablePin > 0) { pinMode(_rxEnablePin, INPUT); }
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if (_txEnablePin > 0) { pinMode(_txEnablePin, INPUT); }
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}
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Controller::Interface Controller::getInterface() const
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{
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CONFIG_T& config = Configuration.get();
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if (0x00 == config.Battery.JkBmsInterface) { return Interface::Uart; }
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if (0x01 == config.Battery.JkBmsInterface) { return Interface::Transceiver; }
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return Interface::Invalid;
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}
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frozen::string const& Controller::getStatusText(Controller::Status status)
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{
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static constexpr frozen::string missing = "programmer error: missing status text";
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static constexpr frozen::map<Status, frozen::string, 6> texts = {
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{ Status::Timeout, "timeout wating for response from BMS" },
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{ Status::WaitingForPollInterval, "waiting for poll interval to elapse" },
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{ Status::HwSerialNotAvailableForWrite, "UART is not available for writing" },
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{ Status::BusyReading, "busy waiting for or reading a message from the BMS" },
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{ Status::RequestSent, "request for data sent" },
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{ Status::FrameCompleted, "a whole frame was received" }
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};
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auto iter = texts.find(status);
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if (iter == texts.end()) { return missing; }
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return iter->second;
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}
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void Controller::announceStatus(Controller::Status status)
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{
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if (_lastStatus == status && millis() < _lastStatusPrinted + 10 * 1000) { return; }
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|
MessageOutput.printf("[%11.3f] JK BMS: %s\r\n",
|
|
static_cast<double>(millis())/1000, getStatusText(status).data());
|
|
|
|
_lastStatus = status;
|
|
_lastStatusPrinted = millis();
|
|
}
|
|
|
|
void Controller::sendRequest(uint8_t pollInterval)
|
|
{
|
|
if (ReadState::Idle != _readState) {
|
|
return announceStatus(Status::BusyReading);
|
|
}
|
|
|
|
if ((millis() - _lastRequest) < pollInterval * 1000) {
|
|
return announceStatus(Status::WaitingForPollInterval);
|
|
}
|
|
|
|
if (!HwSerial.availableForWrite()) {
|
|
return announceStatus(Status::HwSerialNotAvailableForWrite);
|
|
}
|
|
|
|
SerialCommand readAll(SerialCommand::Command::ReadAll);
|
|
|
|
if (Interface::Transceiver == getInterface()) {
|
|
digitalWrite(_rxEnablePin, HIGH); // disable reception (of our own data)
|
|
digitalWrite(_txEnablePin, HIGH); // enable transmission
|
|
}
|
|
|
|
HwSerial.write(readAll.data(), readAll.size());
|
|
|
|
if (Interface::Transceiver == getInterface()) {
|
|
HwSerial.flush();
|
|
digitalWrite(_rxEnablePin, LOW); // enable reception
|
|
digitalWrite(_txEnablePin, LOW); // disable transmission (free the bus)
|
|
}
|
|
|
|
_lastRequest = millis();
|
|
|
|
setReadState(ReadState::WaitingForFrameStart);
|
|
return announceStatus(Status::RequestSent);
|
|
}
|
|
|
|
void Controller::loop()
|
|
{
|
|
CONFIG_T& config = Configuration.get();
|
|
uint8_t pollInterval = config.Battery.JkBmsPollingInterval;
|
|
|
|
while (HwSerial.available()) {
|
|
rxData(HwSerial.read());
|
|
}
|
|
|
|
sendRequest(pollInterval);
|
|
|
|
if (millis() > _lastRequest + 2 * pollInterval * 1000 + 250) {
|
|
reset();
|
|
return announceStatus(Status::Timeout);
|
|
}
|
|
}
|
|
|
|
void Controller::rxData(uint8_t inbyte)
|
|
{
|
|
_buffer.push_back(inbyte);
|
|
|
|
switch(_readState) {
|
|
case ReadState::Idle: // unsolicited message from BMS
|
|
case ReadState::WaitingForFrameStart:
|
|
if (inbyte == 0x4E) {
|
|
return setReadState(ReadState::FrameStartReceived);
|
|
}
|
|
break;
|
|
case ReadState::FrameStartReceived:
|
|
if (inbyte == 0x57) {
|
|
return setReadState(ReadState::StartMarkerReceived);
|
|
}
|
|
break;
|
|
case ReadState::StartMarkerReceived:
|
|
_frameLength = inbyte << 8 | 0x00;
|
|
return setReadState(ReadState::FrameLengthMsbReceived);
|
|
break;
|
|
case ReadState::FrameLengthMsbReceived:
|
|
_frameLength |= inbyte;
|
|
_frameLength -= 2; // length field already read
|
|
return setReadState(ReadState::ReadingFrame);
|
|
break;
|
|
case ReadState::ReadingFrame:
|
|
_frameLength--;
|
|
if (_frameLength == 0) {
|
|
return frameComplete();
|
|
}
|
|
return setReadState(ReadState::ReadingFrame);
|
|
break;
|
|
}
|
|
|
|
reset();
|
|
}
|
|
|
|
void Controller::reset()
|
|
{
|
|
_buffer.clear();
|
|
return setReadState(ReadState::Idle);
|
|
}
|
|
|
|
void Controller::frameComplete()
|
|
{
|
|
announceStatus(Status::FrameCompleted);
|
|
|
|
if (_verboseLogging) {
|
|
double ts = static_cast<double>(millis())/1000;
|
|
MessageOutput.printf("[%11.3f] JK BMS: raw data (%d Bytes):",
|
|
ts, _buffer.size());
|
|
for (size_t ctr = 0; ctr < _buffer.size(); ++ctr) {
|
|
if (ctr % 16 == 0) {
|
|
MessageOutput.printf("\r\n[%11.3f] JK BMS:", ts);
|
|
}
|
|
MessageOutput.printf(" %02x", _buffer[ctr]);
|
|
}
|
|
MessageOutput.println();
|
|
}
|
|
|
|
auto pResponse = std::make_unique<SerialResponse>(std::move(_buffer), _protocolVersion);
|
|
if (pResponse->isValid()) {
|
|
processDataPoints(pResponse->getDataPoints());
|
|
} // if invalid, error message has been produced by SerialResponse c'tor
|
|
|
|
reset();
|
|
}
|
|
|
|
void Controller::processDataPoints(DataPointContainer const& dataPoints)
|
|
{
|
|
_stats->updateFrom(dataPoints);
|
|
|
|
using Label = JkBms::DataPointLabel;
|
|
|
|
auto oProtocolVersion = dataPoints.get<Label::ProtocolVersion>();
|
|
if (oProtocolVersion.has_value()) { _protocolVersion = *oProtocolVersion; }
|
|
|
|
if (!_verboseLogging) { return; }
|
|
|
|
auto iter = dataPoints.cbegin();
|
|
while ( iter != dataPoints.cend() ) {
|
|
MessageOutput.printf("[%11.3f] JK BMS: %s: %s%s\r\n",
|
|
static_cast<double>(iter->second.getTimestamp())/1000,
|
|
iter->second.getLabelText().c_str(),
|
|
iter->second.getValueText().c_str(),
|
|
iter->second.getUnitText().c_str());
|
|
++iter;
|
|
}
|
|
}
|
|
|
|
} /* namespace JkBms */
|