Store odometer in emulated EEPROM (update at shutdown).

* New "dist" terminal command shows odometer and trip distances.
* Odometer value is sent to UI via COMM_GET_VALUES_SETUP.
* UI can set the odometer via COMM_SET_ODOMETER.
* Unfortunately, the bootloader clears the odometer to 0 when FW is reprogrammed.

commands.c

@@ -774,11 +774,20 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		if (mask & ((uint32_t)1 << 19)) {
 			buffer_append_float32(send_buffer, wh_batt_left, 1e3, &ind);
 		}
+		if (mask & ((uint32_t)1 << 20)) {
+			buffer_append_uint32(send_buffer, mc_interface_get_odometer(), &ind);
+		}
 
 		reply_func(send_buffer, ind);
 		chMtxUnlock(&send_buffer_mutex);
 	    } break;
 
+	case COMM_SET_ODOMETER: {
+		int32_t ind = 0;
+		mc_interface_set_odometer(buffer_get_uint32(data, &ind));
+		timeout_reset();
+	} break;
+
 	case COMM_SET_MCCONF_TEMP:
 	case COMM_SET_MCCONF_TEMP_SETUP: {
 		mc_configuration *mcconf = mempools_alloc_mcconf();

datatypes.h

@@ -785,7 +785,8 @@ typedef enum {
 	COMM_SET_BLE_PIN,
 	COMM_SET_CAN_MODE,
 	COMM_GET_IMU_CALIBRATION,
-	COMM_GET_MCCONF_TEMP
+	COMM_GET_MCCONF_TEMP,
+	COMM_SET_ODOMETER
 } COMM_PACKET_ID;
 
 // CAN commands
@@ -983,6 +984,8 @@ typedef union {
 #define EEPROM_VARS_HW			64
 #define EEPROM_VARS_CUSTOM		64
 
+#define EEPROM_ADDR_ODOMETER    1
+
 typedef struct {
 	float ah_tot;
 	float ah_charge_tot;

mc_interface.c

@@ -114,6 +114,8 @@ static volatile bool m_sample_is_second_motor;
 static volatile mc_fault_code m_fault_stop_fault;
 static volatile bool m_fault_stop_is_second_motor;
 
+static volatile uint32_t m_odometer_meters;
+
 // Private functions
 static void update_override_limits(volatile motor_if_state_t *motor, volatile mc_configuration *conf);
 static void run_timer_tasks(volatile motor_if_state_t *motor);
@@ -156,6 +158,12 @@ void mc_interface_init(void) {
 	m_sample_mode = DEBUG_SAMPLING_OFF;
 	m_sample_mode_last = DEBUG_SAMPLING_OFF;
 	m_sample_is_second_motor = false;
+	//initialize odometer to EEPROM value
+	m_odometer_meters = 0;
+	eeprom_var v;
+	if(conf_general_read_eeprom_var_custom(&v, EEPROM_ADDR_ODOMETER)) {
+		m_odometer_meters = v.as_u32;
+	}
 
 	// Start threads
 	chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
@@ -2394,3 +2402,35 @@ unsigned mc_interface_calc_crc(mc_configuration* conf_in, bool is_motor_2) {
 	conf->crc = crc_old;
 	return crc_new;
 }
+
+/**
+ * Set odometer value in meters.
+ *
+ * @param new_odometer_meters
+ * new odometer value in meters
+ */
+void mc_interface_set_odometer(uint32_t new_odometer_meters) {
+	m_odometer_meters = new_odometer_meters - roundf(mc_interface_get_distance_abs());
+}
+
+/**
+ * Return current odometer value in meters.
+ *
+ * @return
+ * Odometer value in meters, including current trip
+ */
+uint32_t mc_interface_get_odometer(void) {
+	return m_odometer_meters + roundf(mc_interface_get_distance_abs());
+}
+
+/**
+ * Save current odometer value to persistent memory
+ *
+ * @return
+ * success
+ */
+bool mc_interface_save_odometer(void) {
+	eeprom_var v;
+	v.as_u32 = mc_interface_get_odometer();
+	return conf_general_store_eeprom_var_custom(&v, EEPROM_ADDR_ODOMETER);
+}

mc_interface.h

@@ -84,6 +84,12 @@ float mc_interface_get_battery_level(float *wh_left);
 float mc_interface_get_speed(void);
 float mc_interface_get_distance(void);
 float mc_interface_get_distance_abs(void);
+
+// odometer
+uint32_t mc_interface_get_odometer(void);
+void mc_interface_set_odometer(uint32_t new_odometer_meters);
+bool mc_interface_save_odometer(void);
+
 setup_values mc_interface_get_setup_values(void);
 
 // MC implementation functions

shutdown.c

@@ -19,6 +19,7 @@
 
 #include "shutdown.h"
 #include "app.h"
+#include "mc_interface.h"
 
 #ifdef HW_SHUTDOWN_HOLD_ON
 
@@ -61,6 +62,13 @@ void shutdown_set_sampling_disabled(bool disabled) {
 	chMtxUnlock(&m_sample_mutex);
 }
 
+bool do_shutdown(void) {
+	mc_interface_save_odometer();
+	DISABLE_GATE();
+	HW_SHUTDOWN_HOLD_OFF();
+	return true;
+}
+
 static THD_FUNCTION(shutdown_thread, arg) {
 	(void)arg;
 
@@ -96,9 +104,7 @@ static THD_FUNCTION(shutdown_thread, arg) {
 		switch (conf->shutdown_mode) {
 		case SHUTDOWN_MODE_ALWAYS_OFF:
 			if (m_button_pressed) {
-				DISABLE_GATE();
-				gates_disabled_here = true;
-				HW_SHUTDOWN_HOLD_OFF();
+				gates_disabled_here = do_shutdown();
 			}
 			break;
 
@@ -108,9 +114,7 @@ static THD_FUNCTION(shutdown_thread, arg) {
 
 		default:
 			if (clicked) {
-				DISABLE_GATE();
-				gates_disabled_here = true;
-				HW_SHUTDOWN_HOLD_OFF();
+				gates_disabled_here = do_shutdown();
 			}
 			break;
 		}
@@ -143,9 +147,7 @@ static THD_FUNCTION(shutdown_thread, arg) {
 			}
 
 			if (m_inactivity_time >= shutdown_timeout && m_button_pressed) {
-				DISABLE_GATE();
-				gates_disabled_here = true;
-				HW_SHUTDOWN_HOLD_OFF();
+				gates_disabled_here = do_shutdown();
 			}
 		} else {
 			m_inactivity_time = 0.0;

terminal.c

@@ -162,6 +162,10 @@ void terminal_process_string(char *str) {
 		commands_printf("Electrical RPM: %.2f rpm\n", (double)mc_interface_get_rpm());
 	} else if (strcmp(argv[0], "tacho") == 0) {
 		commands_printf("Tachometer counts: %i\n", mc_interface_get_tachometer_value(0));
+	} else if (strcmp(argv[0], "dist") == 0) {
+		commands_printf("Trip dist.      : %.2f m", (double)mc_interface_get_distance());
+		commands_printf("Trip dist. (ABS): %.2f m", (double)mc_interface_get_distance_abs());
+		commands_printf("Odometer        : %u   m\n", mc_interface_get_odometer());
 	} else if (strcmp(argv[0], "tim") == 0) {
 		chSysLock();
 		volatile int t1_cnt = TIM1->CNT;