//Get the calibration structure from the master unit
public bool setCalibration(UInt32 CanID, SlaveConfig sc)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = ctl.allocateCanFrameBuffer(1 + Marshal.SizeOf(typeof(SlaveConfig)) / 8);
CAN.VCI_CAN_OBJ[] receive;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data[0] = (byte)CANCMD.CAN_CMD_WRITE_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
ctl.sendData(StructTools.struct2byteArray <SlaveConfig>(sc), CanID, false, true);
ctl.getCanFrames(out receive, 1);
if (receive[0].Data[0] == (byte)CANCMD.CAN_CMD_WRITE_CAL)
{
return(true);
}
else
{
return(false);
}
}
private byte getData <T>(T str, byte address)
{
byte[] buffer;
buffer = StructTools.struct2byteArray <T>(str);
return(buffer[address]);
}
private void cmdReadVoltages_Click(object sender, EventArgs e)
{
byte [] data;
byte [] dOut;
int len;
BalPktSingle balPkt;
if (chkMaster.Checked)
{
ushort [] voltages = bc.getLocalVoltages(0xA);
consolePrint("Voltages:");
for (int i = 0; i < 6; i++)
{
consolePrint(" " + Convert.ToString(Convert.ToDouble(voltages[i]) / 1000));
}
consolePrint("\r\n\n");
}
else
{
data = new byte[] { (byte)SlaveCodes.CMD_GET_BAL_INFO, 0x00 /*hop count*/, 0x01 /*balancer count*/, 0x00 /*load enable*/ };
bc.balBusTx(0xA, data);
bc.balBusRx(out dOut, out len, 4 + 12, 100);
balPkt = StructTools.byteArray2Struct <BalPktSingle>(dOut);
consolePrint("Voltages:");
for (int i = 0; i < 6; i++)
{
consolePrint(" " + Convert.ToString(Convert.ToDouble(balPkt.voltages[i]) / 1000));
}
consolePrint("\r\n\n");
}
}
//Get the calibration structure from the master unit
public SlaveConfig getCalibration(UInt32 CanID)
{
SlaveConfig sc = new SlaveConfig();
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_READ_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(sc);
}
ctl.getCanFrames(out receive, 3);
byte[] buffer = new byte[Marshal.SizeOf(typeof(SlaveConfig))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
return(StructTools.byteArray2Struct <SlaveConfig>(buffer));
}
public bool getBalData(UInt32 CanID)
{
CAN.VCI_CAN_OBJ[] rx;
byte[] txBuf = { (byte)CANCMD.CAN_CMD_SEND_BAL_DATA };
ctl.sendData(txBuf, 0xA, false, true);
int bytes = Marshal.SizeOf(typeof(BalData_t)) + 2; //Command code plus returned data
//Get the first can frame and determine the length
ctl.getCanFrames(out rx, (bytes + 7) / 8);
UInt16 cmd = (ushort)(rx[0].Data[0] | rx[0].Data[1] << 8);
if (cmd != (byte)CANCMD.CAN_CMD_SEND_BAL_DATA)
{
return(false);
}
byte[] buffer = new byte[Marshal.SizeOf(typeof(BalData_t))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = rx[(i + 2) / 8].Data[(i + 2) % 8];
}
balData = StructTools.byteArray2Struct <BalData_t>(buffer);
return(true);
}
//Send the configuration structure
public bool setConfig(UInt32 CanID, Config_t config)
{
CAN.VCI_CAN_OBJ[] receive;
byte[] txMsg = { (byte)CANCMD.CAN_CMD_SET_CONFIG };
ctl.sendData(txMsg, CanID, false, true);
ctl.sendData(StructTools.struct2byteArray <Config_t>(config), CanID, false, true);
ctl.getCanFrames(out receive, 1);
if (receive[0].Data[0] == (byte)CANCMD.CAN_CMD_SET_CONFIG)
{
return(true);
}
else
{
return(false);
}
}
public ushort[] getLocalVoltages(UInt32 CanID)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
VoltagesStr vStr;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_GET_LOCAL_VOLTAGES;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(new ushort[0]);
}
ctl.getCanFrames(out receive, 2);
byte[] buffer = new byte[Marshal.SizeOf(typeof(VoltagesStr))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
vStr = StructTools.byteArray2Struct <VoltagesStr>(buffer);
return(vStr.voltages);
}
//Get the configuration structure from the master unit
public Config_t getConfig(UInt32 CanID)
{
Config_t config = new Config_t();
CAN.VCI_CAN_OBJ[] receive;
byte[] txMsg = { (byte)CANCMD.CAN_CMD_GET_CONFIG };
if (!ctl.sendData(txMsg, CanID, false, true))
{
return(config);
}
ctl.getCanFrames(out receive, (Marshal.SizeOf(typeof(Config_t)) - 1) / 8 + 1);
byte[] buffer = new byte[Marshal.SizeOf(typeof(Config_t))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
return(StructTools.byteArray2Struct <Config_t>(buffer));
}
private void slaveCalStep()
{
byte[] data = new byte[] { 0x01, 0x00, 0x01, 0x3F };
byte[] dOut;
int len;
byte address;
SlaveConfig slaveConfig;
BalPktSingle balPkt;
switch (wizardState)
{
case WizardState.START:
bc.setPassthrough(0xA, true);
System.Threading.Thread.Sleep(100);
bc.ctl.flush();
wizardState = WizardState.GET_FULL_V;
consolePrint("Set the source to all full voltage \r\n");
cmdCalibrate.Text = "Next";
break;
case WizardState.GET_FULL_V:
slaveConfig.gain = new ushort[6];
slaveConfig.offset = new short[6];
//Set the calibration structure to default
for (int i = 0; i < 6; i++)
{
slaveConfig.gain[i] = 5105;
slaveConfig.offset[i] = 0;
}
slaveConfig.gain[1] *= 2;
//
for (address = 0; address < Marshal.SizeOf(slaveConfig); address++)
{
//Set address in config struct to modify
data = new byte[] { (byte)SlaveCodes.CMD_SET_ADDR, address };
bc.balBusTx(0xA, data);
//Send data for above address
data = new byte[] { (byte)SlaveCodes.CMD_WRITE_CFG, getData <SlaveConfig>(slaveConfig, address) };
bc.balBusTx(0xA, data);
}
//Do a measurement with the new parameters
data = new byte[] { (byte)SlaveCodes.CMD_GET_BAL_INFO, 0x00 /*hop count*/, 0x01 /*balancer count*/, 0x00 /*load enable*/ };
bc.balBusTx(0xA, data);
bc.balBusRx(out dOut, out len, 4 + 12, 100);
balPkt = StructTools.byteArray2Struct <BalPktSingle>(dOut);
fullVoltages = balPkt.voltages;
for (int i = 0; i < len; i++)
{
consolePrint(dOut[i].ToString() + " ");
}
consolePrint("\r\n");
consolePrint("Voltages:");
for (int i = 0; i < 6; i++)
{
consolePrint(" " + Convert.ToString(Convert.ToDouble(balPkt.voltages[i]) / 1000));
}
consolePrint("\r\n\n");
consolePrint("Set voltage 0 to half level\r\n");
//bc.setPassthrough(0xA, false);
wizardState = WizardState.GET_VLOW;
vLowIndex = 0;
cmdCalibrate.Text = "Next";
break;
case WizardState.GET_VLOW:
data = new byte[] { (byte)SlaveCodes.CMD_GET_BAL_INFO, 0x00 /*hop count*/, 0x01 /*balancer count*/, 0x00 /*load enable*/ };
bc.balBusTx(0xA, data);
bc.balBusRx(out dOut, out len, 4 + 12, 100);
balPkt = StructTools.byteArray2Struct <BalPktSingle>(dOut);
halfVoltages[vLowIndex] = balPkt.voltages[vLowIndex];
consolePrint("Read half voltage of " + Convert.ToString((double)halfVoltages[vLowIndex] / 1000) + "\r\n");
vLowIndex++;
if (vLowIndex >= 6)
{
wizardState = WizardState.WRITE_RES;
}
if (vLowIndex < 6)
{
consolePrint("Set voltage " + vLowIndex.ToString() + " to half level\r\n");
}
else
{
consolePrint("Ready to write results\r\n");
}
break;
case WizardState.WRITE_RES:
wizardState = WizardState.START;
double [] actualHigh = new double[6];
double [] actualLow = new double[6];
actualHigh[0] = Convert.ToDouble(txtV0.Text);
actualHigh[1] = Convert.ToDouble(txtV1.Text);
actualHigh[2] = Convert.ToDouble(txtV2.Text);
actualHigh[3] = Convert.ToDouble(txtV3.Text);
actualHigh[4] = Convert.ToDouble(txtV4.Text);
actualHigh[5] = Convert.ToDouble(txtV5.Text);
actualLow[0] = Convert.ToDouble(txtVLow.Text);
actualLow[1] = actualLow[0];
actualLow[2] = actualLow[0];
actualLow[3] = actualLow[0];
actualLow[4] = actualLow[0];
actualLow[5] = actualLow[0];
SlaveConfig newConfig;
newConfig.gain = new ushort[6];
newConfig.offset = new short[6];
for (int i = 0; i < 6; i++)
{
if (i != 1)
{
double adcHigh = (double)fullVoltages[i] / 5105 * 65536;
double adcLow = (double)halfVoltages[i] / 5105 * 65536;
newConfig.gain[i] = (ushort)((actualHigh[i] - actualLow[i]) / (double)(adcHigh - adcLow) * 65536 * 1000);
newConfig.offset[i] = (short)(adcLow * (double)newConfig.gain[i] / 65536 - actualLow[i] * 1000.0);
}
else
{
double adcHigh = ((double)fullVoltages[i] + (double)fullVoltages[0]) / (5105 * 2) * 65536;
double adcLow = ((double)halfVoltages[i] + (double)fullVoltages[0]) / (5105 * 2) * 65536;
newConfig.gain[i] = (ushort)((actualHigh[i] - actualLow[i]) / (adcHigh - adcLow) * 65536 * 1000);
newConfig.offset[i] = (short)(adcLow * (double)newConfig.gain[i] / 65536 - actualHigh[0] * 1000 - actualLow[i] * 1000);
}
}
//Write the new cal values to the balancer module
for (address = 0; address < Marshal.SizeOf(typeof(SlaveConfig)); address++)
{
//Set address in config struct to modify
data = new byte[] { (byte)SlaveCodes.CMD_SET_ADDR, address };
bc.balBusTx(0xA, data);
//Send data for above address
data = new byte[] { (byte)SlaveCodes.CMD_WRITE_CFG, getData <SlaveConfig>(newConfig, address) };
bc.balBusTx(0xA, data);
}
data = new byte[] { (byte)SlaveCodes.CMD_SAVE_CFG };
bc.balBusTx(0xA, data);
bc.balBusRx(out dOut, out len, 100, 5000);
if ((byte)SlaveCodes.CMD_SAVE_CFG == dOut[0] && len == 1)
{
consolePrint("Succsessfully stored results\r\n");
}
else
{
consolePrint("Failed to store results! Received\r\n");
for (int i = 0; i < len; i++)
{
consolePrint(" " + dOut[i].ToString());
}
consolePrint("\r\n");
}
break;
}
}
