Add files via upload
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This directory is intended for project header files.
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A header file is a file containing C declarations and macro definitions
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to be shared between several project source files. You request the use of a
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header file in your project source file (C, C++, etc) located in `src` folder
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by including it, with the C preprocessing directive `#include'.
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```src/main.c
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#include "header.h"
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int main (void)
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{
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...
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}
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```
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Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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place, and programs that include the header file will automatically use the
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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find one copy will result in inconsistencies within a program.
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In C, the usual convention is to give header files names that end with `.h'.
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It is most portable to use only letters, digits, dashes, and underscores in
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header file names, and at most one dot.
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Read more about using header files in official GCC documentation:
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* Include Syntax
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* Include Operation
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* Once-Only Headers
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* Computed Includes
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
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This directory is intended for project specific (private) libraries.
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PlatformIO will compile them to static libraries and link into executable file.
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The source code of each library should be placed in a an own separate directory
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("lib/your_library_name/[here are source files]").
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For example, see a structure of the following two libraries `Foo` and `Bar`:
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|--lib
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| |
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| |--Bar
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| | |--docs
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| | |--examples
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| | |--src
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| | |- Bar.c
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| | |- Bar.h
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| | |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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| |
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| |--Foo
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| | |- Foo.c
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| | |- Foo.h
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| |
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| |- README --> THIS FILE
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|- platformio.ini
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|--src
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|- main.c
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and a contents of `src/main.c`:
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```
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#include <Foo.h>
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#include <Bar.h>
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int main (void)
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{
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...
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}
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```
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PlatformIO Library Dependency Finder will find automatically dependent
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libraries scanning project source files.
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More information about PlatformIO Library Dependency Finder
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- https://docs.platformio.org/page/librarymanager/ldf.html
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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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[env:uno]
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platform = atmelavr
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board = uno
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framework = arduino
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lib_deps = coryjfowler/mcp_can@^1.5.0
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/* IMPORTANT: USE ARDUINO PIN 3 FOR PWM INPUT. Also make sure your input is protected by at least a resistor, 100kohm, if its a 5v pwm signal. If 12v you may want a level shifter
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or at minimum a voltage divider.
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MAKE SURE TO SET OUTPUT MODE ON HALTECH TO DUTY CYCLE.
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*/
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#include "mcp_can.h"
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#include <SPI.h>
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MCP_CAN CAN(9); //default for those can bus shields
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#define CAN_INT 2 //default for those can bus shields
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char msgString[128];//terrible way of comparing data
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long unsigned int rxId;//ID of incoming message
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long unsigned int hi = 0x1B200002;
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unsigned char len = 0;//not used here, since we dont care about contents of message
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unsigned char rxBuf[8];//not used here, since we dont care about contents of message
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unsigned char keepAlive[8] = {0x00, 0x00, 0x22, 0xE0, 0x41, 0x90, 0x00, 0x00};//counter KA
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unsigned char speed[8] = {0xBB, 0x00, 0x3F, 0xFF, 0x06, 0xE0, 0x00, 0x00};//counter KA
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unsigned char slowRollTable[4] = { 0x00, 0x40, 0x80, 0xC0};
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unsigned long previousMillis = 0;
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const long interval = 15;//how fast we send
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int slowCounter; //Which number in array we at
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int slowRoll;
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int roll;//how many data messages we're sent, 0-30
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volatile unsigned long int pwm_value = 0;
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volatile unsigned long int prev_time = 0;
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bool oHi = false;
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unsigned long calVel;
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void rising() {
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attachInterrupt(1, falling, FALLING);
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prev_time = micros();
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}
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void falling() {
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attachInterrupt(1, rising, RISING);
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pwm_value = micros()-prev_time;
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calVel = map(pwm_value, 0, 4600, 6000, 0);//THIS IS ASSUMING 200HZ
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if (calVel > 6000)//Due to Arduino uno being 8 bit, this causes a quick overflow so we do this ugly little patch
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{
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calVel = 0;
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}
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/*USE THESE ONLY FOR WHEN YOUR OUTPUT FREQUENCY IS NOT 200hz. Most haltechs are 200-500, which god knows which one will work. If any issues, contact me.
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Serial.print("pwm ");
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Serial.println(pwm_value);
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Serial.print("mapped ");
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Serial.println(calVel);*/
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}
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void setup()
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{
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Serial.begin(115200);
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attachInterrupt(1, rising, RISING);//Uno Pin 3 for input
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if(CAN.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK) Serial.print("CAN init ok\r\n");
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else Serial.print("CAN init failed\r\n");
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CAN.setMode(MCP_NORMAL);
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pinMode(CAN_INT, INPUT);
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}
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void loop()
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{
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unsigned long currentMillis = millis();
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speed[6] = calVel / 256;
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speed[7] = calVel;
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if (oHi == true){
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if (currentMillis - previousMillis >= interval) {
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previousMillis = currentMillis;
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if (roll == 0)
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{
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CAN.sendMsgBuf(0x1AE0092c, 1, 8, keepAlive);//send keep alive with roll
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keepAlive[0] = slowRollTable[slowRoll];
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slowRoll++;
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if (slowRoll == 4){slowRoll = 0;}//reset slowroll
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}
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CAN.sendMsgBuf(0x2104136, 1, 8, speed); //send speed
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roll++;
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if (roll == 30){roll = 0;}//reset roll
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}
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}
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if (!digitalRead(CAN_INT))//Wait for some Can data to come in
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{
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CAN.readMsgBuf(&rxId, &len, rxBuf);
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if ((rxId & 0x80000000) == 0x80000000)
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sprintf(msgString, "%.8lX", (rxId & 0x1FFFFFFF));
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if (!strcmp(msgString, "1B200002")){//This is a workaround since extID is 29 bit and arduino is 8 bit.
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oHi = true;
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}
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}
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}
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@ -0,0 +1,12 @@
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{
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"folders": [
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{
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"path": ".."
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},
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{
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"name": "Firmware",
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"path": "G:\\My Drive\\ECUs\\Older Projects Stand alone\\PRC\\Firmware"
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}
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],
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"settings": {}
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}
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@ -0,0 +1,11 @@
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This directory is intended for PlatformIO Test Runner and project tests.
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||||||
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Unit Testing is a software testing method by which individual units of
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source code, sets of one or more MCU program modules together with associated
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control data, usage procedures, and operating procedures, are tested to
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determine whether they are fit for use. Unit testing finds problems early
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in the development cycle.
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More information about PlatformIO Unit Testing:
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- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html
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