106 lines
3.3 KiB
C++
106 lines
3.3 KiB
C++
/* 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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} |