Add inv_stat to OI Class

damienmaguire · Jan 3, 2024 · 03f2a9c · 03f2a9c
1 parent 9d0e27e
commit 03f2a9c
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Showing 2 changed files with 28 additions and 2 deletions.
diff --git a/include/Can_OI.h b/include/Can_OI.h
@@ -29,14 +29,14 @@
 class Can_OI: public Inverter
 {
 public:
-   void Task100Ms() {};
+   void Task100Ms();
    void DecodeCAN(int, uint32_t*);
    void SetTorque(float torquePercent);
    float GetMotorTemperature() { return motor_temp; }
    float GetInverterTemperature() { return inv_temp; }
    float GetInverterVoltage() { return voltage; }
    float GetMotorSpeed() { return speed; }
-   int GetInverterState() { return error; }
+   int GetInverterState();
    void SetCanInterface(CanHardware* c);
 
 private:
@@ -49,6 +49,7 @@ class Can_OI: public Inverter
    static uint8_t run100ms;
    static uint32_t lastRecv;
    static int16_t final_torque_request;
+
 };
 
 #endif // CAN_OI_H
diff --git a/src/Can_OI.cpp b/src/Can_OI.cpp
@@ -34,6 +34,9 @@ bool Can_OI::error=false;
 int16_t Can_OI::inv_temp;
 int16_t Can_OI::motor_temp;
 int16_t Can_OI::final_torque_request;
+static bool statusInv = 0;
+uint8_t Inv_Opmode=0;
+int opmode;
 
 void Can_OI::SetCanInterface(CanHardware* c)
 {
@@ -42,6 +45,7 @@ void Can_OI::SetCanInterface(CanHardware* c)
    can->RegisterUserMessage(0x190);//Open Inv Msg. Dec 400 for RPM.
    can->RegisterUserMessage(0x19A);//Open Inv Msg. Dec 410 for temps
    can->RegisterUserMessage(0x1A4);//Open Inv Msg. Dec 420 for Voltage.
+   can->RegisterUserMessage(0x1AE);//Open Inv Msg. Dec 430 for Opmode.
 }
 
 void Can_OI::DecodeCAN(int id, uint32_t data[2])
@@ -64,6 +68,14 @@ void Can_OI::DecodeCAN(int id, uint32_t data[2])
    {
       inv_temp = ((bytes[1]<<8)|(bytes[0]))/10;//INVERTER TEMP
       motor_temp = 0;//MOTOR TEMP
+   }
+
+      else if (id == 0x1AE)// THIS MSG CONTAINS OPMODE
+   {
+      Inv_Opmode = bytes[0];//INVERTER OPMODE
+      //0=Off, 1=Run, 2=ManualRun, 3=Boost, 4=Buck, 5=Sine, 6=AcHeat
+
+
    }
 }
 
@@ -99,9 +111,22 @@ void Can_OI::SetTorque(float torquePercent)
 }
 
 
+int Can_OI::GetInverterState()
+{
+   if(Inv_Opmode==0) statusInv = 0;
+   if(Inv_Opmode==1) statusInv = 1;
+   if(opmode==MOD_OFF) statusInv = 0;//Resort to off if vcu is in off state.
+   return statusInv;
+}
+
 
 
 
+void Can_OI::Task100Ms()
+{
+opmode = Param::GetInt(Param::opmode);
+
+}