FOCBOX Unity support (#26)

* focbox unity support

* extract crc to a separate module

* focbox unity support: enable in config

* vesc_comm refactoring

Author: Jan Pomikálek

README.md

@@ -21,6 +21,7 @@ There's a story behind the name, but it's a long one. It all started on [esk8 bu
 - low HW cost (~$10)
 - known to work well with the VESC FW v3.48 and v3.40
   - previous versions not tested but should work as well unless too old
+- FOCBOX Unity supported
 
 ## Configuring and installing firmware
 

crc.cpp

@@ -0,0 +1,61 @@
+/*
+	Copyright 2016 Benjamin Vedder	benjamin@vedder.se
+
+	This file is part of the VESC firmware.
+
+	The VESC firmware is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    The VESC firmware is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "crc.h"
+#include <Arduino.h>
+
+// CRC Table
+const unsigned short PROGMEM crc16_tab[] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084,
+		0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad,
+		0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7,
+		0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
+		0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
+		0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
+		0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719,
+		0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7,
+		0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948,
+		0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50,
+		0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b,
+		0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
+		0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
+		0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe,
+		0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca,
+		0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
+		0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d,
+		0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214,
+		0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c,
+		0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+		0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
+		0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d,
+		0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806,
+		0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e,
+		0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1,
+		0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
+		0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0,
+		0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
+		0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
+
+unsigned short crc16(unsigned char *buf, unsigned int len) {
+	unsigned int i;
+	unsigned short cksum = 0;
+	for (i = 0; i < len; i++) {
+		cksum = pgm_read_word_near(crc16_tab + (((cksum >> 8) ^ *buf++) & 0xFF)) ^ (cksum << 8);
+	}
+	return cksum;
+}

crc.h

@@ -0,0 +1,28 @@
+/*
+	Copyright 2016 Benjamin Vedder	benjamin@vedder.se
+
+	This file is part of the VESC firmware.
+
+	The VESC firmware is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    The VESC firmware is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef CRC_H_
+#define CRC_H_
+
+/*
+ * Functions
+ */
+unsigned short crc16(unsigned char *buf, unsigned int len);
+
+#endif /* CRC_H_ */

davega.ino

@@ -40,6 +40,14 @@
 
 #define LEN(X) (sizeof(X) / sizeof(X[0]))
 
+#ifdef FOCBOX_UNITY
+#include "vesc_comm_unity.h"
+VescCommUnity vesc_comm = VescCommUnity();
+#else
+#include "vesc_comm_standard.h"
+VescCommStandard vesc_comm = VescCommStandard();
+#endif
+
 #ifdef DEFAULT_SCREEN_ENABLED
 #include "davega_default_screen.h"
 DavegaDefaultScreen davega_default_screen = DavegaDefaultScreen();
@@ -119,8 +127,6 @@ DavegaScreen* scr;
 
 const float discharge_ticks[] = DISCHARGE_TICKS;
 
-uint8_t vesc_packet[PACKET_MAX_LENGTH];
-
 t_davega_data data;
 t_davega_session_data session_data;
 int32_t initial_mah_spent;
@@ -177,7 +183,7 @@ void setup() {
 #ifdef DEBUG
     Serial.begin(115200);
 #endif
-    vesc_comm_init(115200);
+    vesc_comm.init(115200);
 
     if (!eeprom_is_initialized(EEPROM_MAGIC_VALUE)) {
         eeprom_initialize(EEPROM_MAGIC_VALUE);
@@ -205,14 +211,14 @@ void setup() {
     scr->reset();
     scr->update(&data);
 
-    uint8_t bytes_read = vesc_comm_fetch_packet(vesc_packet);
-    while (!vesc_comm_is_expected_packet(vesc_packet, bytes_read)) {
+    vesc_comm.fetch_packet();
+    while (!vesc_comm.is_expected_packet()) {
         scr->heartbeat(UPDATE_DELAY, false);
-        bytes_read = vesc_comm_fetch_packet(vesc_packet);
+        vesc_comm.fetch_packet();
     }
 
     float last_volts = eeprom_read_volts();
-    float current_volts = vesc_comm_get_voltage(vesc_packet);
+    float current_volts = vesc_comm.get_voltage();
     if (was_battery_fully_charged(last_volts, current_volts)) {
         // reset mAh spent
         eeprom_write_mah_spent(0);
@@ -232,10 +238,10 @@ void setup() {
     //   current value = initial value + VESC value
     // and that works correctly with the default initial values in case the VESC values
     // start from 0. If that's not the case though we need to lower the initial values.
-    int32_t vesc_mah_spent = VESC_COUNT * (vesc_comm_get_amphours_discharged(vesc_packet) -
-                                           vesc_comm_get_amphours_charged(vesc_packet));
+    int32_t vesc_mah_spent = VESC_COUNT * (vesc_comm.get_amphours_discharged() -
+                                           vesc_comm.get_amphours_charged());
     initial_mah_spent -= vesc_mah_spent;
-    int32_t tachometer = rotations_to_meters(vesc_comm_get_tachometer(vesc_packet) / 6);
+    int32_t tachometer = rotations_to_meters(vesc_comm.get_tachometer() / 6);
     initial_trip_meters -= tachometer;
     initial_total_meters -= tachometer;
 
@@ -256,24 +262,24 @@ void loop() {
     if (digitalRead(BUTTON_2_PIN) == HIGH)
         button_2_last_up_time = millis();
 
-    uint8_t bytes_read = vesc_comm_fetch_packet(vesc_packet);
+    vesc_comm.fetch_packet();
 
-    if (!vesc_comm_is_expected_packet(vesc_packet, bytes_read)) {
+    if (!vesc_comm.is_expected_packet()) {
         scr->heartbeat(UPDATE_DELAY, false);
         return;
     }
 
-    data.mosfet_celsius = vesc_comm_get_temp_mosfet(vesc_packet);
-    data.motor_celsius = vesc_comm_get_temp_motor(vesc_packet);
-    data.motor_amps = vesc_comm_get_motor_current(vesc_packet);
-    data.battery_amps = vesc_comm_get_battery_current(vesc_packet) * VESC_COUNT;
-    data.duty_cycle = vesc_comm_get_duty_cycle(vesc_packet);
-    data.vesc_fault_code = vesc_comm_get_fault_code(vesc_packet);
-    data.voltage = vesc_comm_get_voltage(vesc_packet);
+    data.mosfet_celsius = vesc_comm.get_temp_mosfet();
+    data.motor_celsius = vesc_comm.get_temp_motor();
+    data.motor_amps = vesc_comm.get_motor_current();
+    data.battery_amps = vesc_comm.get_battery_current() * VESC_COUNT;
+    data.duty_cycle = vesc_comm.get_duty_cycle();
+    data.vesc_fault_code = vesc_comm.get_fault_code();
+    data.voltage = vesc_comm.get_voltage();
 
     // TODO: DRY
-    int32_t vesc_mah_spent = VESC_COUNT * (vesc_comm_get_amphours_discharged(vesc_packet) -
-                                           vesc_comm_get_amphours_charged(vesc_packet));
+    int32_t vesc_mah_spent = VESC_COUNT * (vesc_comm.get_amphours_discharged() -
+                                           vesc_comm.get_amphours_charged());
     int32_t mah_spent = initial_mah_spent + vesc_mah_spent;
     int32_t mah = BATTERY_MAX_MAH * BATTERY_USABLE_CAPACITY - mah_spent;
 
@@ -291,10 +297,10 @@ void loop() {
     // dim mAh if the counter is about to be reset
     data.mah_reset_progress = min(1.0 * button_2_down_elapsed / COUNTER_RESET_TIME, 1.0);
 
-    int32_t rpm = vesc_comm_get_rpm(vesc_packet);
+    int32_t rpm = vesc_comm.get_rpm();
     data.speed_kph = max(erpm_to_kph(rpm), 0);
 
-    int32_t tachometer = rotations_to_meters(vesc_comm_get_tachometer(vesc_packet) / 6);
+    int32_t tachometer = rotations_to_meters(vesc_comm.get_tachometer() / 6);
 
     uint32_t button_1_down_elapsed = millis() - button_1_last_up_time;
     if (button_1_down_elapsed > COUNTER_RESET_TIME) {

davega_config.h

@@ -20,7 +20,10 @@
 #ifndef DAVEGA_CONFIG_H
 #define DAVEGA_CONFIG_H
 
-#define VESC_COUNT 2  // number of controllers: 1 = single, 2 = dual
+// To compile for FOCBOX Unity, uncomment the following line.
+//#define FOCBOX_UNITY 1
+
+#define VESC_COUNT 2  // number of controllers: 1 = single, 2 = dual (set to 1 for FOCBOX Unity unless you have more than 1)
 #define MOTOR_POLE_PAIRS 7
 #define WHEEL_DIAMETER_MM 192
 #define MOTOR_PULLEY_TEETH 15
@@ -133,8 +136,8 @@
 //#define SIMPLE_HORIZONTAL_SCREEN_WITH_BATTERY_CURRENT_ENABLED 1
 //#define SIMPLE_HORIZONTAL_SCREEN_WITH_MOTOR_CURRENT_ENABLED 1
 #define SIMPLE_VERTICAL_SCREEN_ENABLED 1
-#define SIMPLE_VERTICAL_SCREEN_WITH_BATTERY_CURRENT_ENABLED 1
-#define SIMPLE_VERTICAL_SCREEN_WITH_MOTOR_CURRENT_ENABLED 1
+//#define SIMPLE_VERTICAL_SCREEN_WITH_BATTERY_CURRENT_ENABLED 1
+//#define SIMPLE_VERTICAL_SCREEN_WITH_MOTOR_CURRENT_ENABLED 1
 #define TEXT_SCREEN_ENABLED 1
 
 // Information to be displayed on the text screen. Only relevant if TEXT_SCREEN_ENABLED is set.