mirror of https://github.com/FOME-Tech/fome-fw.git
B6 would it ever work?!
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@ -65,7 +65,7 @@ function onTcu2(bus, id, dlc, data)
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-- print("onTcu2")
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end
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canRxAdd(AIRBAG)
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canRxAdd(AIRBAG, onAirBag)
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canRxAdd(TCU_1, onTcu1)
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canRxAdd(TCU_2, onTcu2)
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-- canRxAdd(BRAKE_2)
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@ -87,7 +87,6 @@ function setBitRange(data, totalBitIndex, bitWidth, value)
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data[1 + byteIndex] = data[1 + byteIndex] | shiftedValue
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end
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function setTwoBytes(data, offset, value)
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data[offset + 1] = value % 255
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data[offset + 2] = (value >> 8) % 255
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@ -98,16 +97,10 @@ shallSleep = Timer.new()
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-- we want to turn on with hardware switch while ignition key is off
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hadIgnitionEvent = false
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function onCanRx(bus, id, dlc, data)
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if id == AIRBAG then
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function onAirBag(bus, id, dlc, data)
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-- looks like we have ignition key do not sleep!
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shallSleep : reset()
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hadIgnitionEvent = true
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else
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print('got CAN id=' ..id ..' dlc=' ..dlc)
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end
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end
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function setTwoBytes(data, offset, value)
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@ -159,7 +152,7 @@ everySecondTimer = Timer.new()
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canMotorInfoCounter = 0
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motorBreCounter = 0
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accGraCounter = 0
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--accGraCounter = 0
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counter16 = 0
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motor2counter = 0
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@ -231,6 +224,7 @@ function onMotor2(bus, id, dlc, data)
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motor2counter = (motor2counter + 1) % 16
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minTorque = fakeTorque / 2
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-- todo: add CLT
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motor2Data[7] = math.floor(minTorque / 0.39)
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--print ( "brake " .. getBitRange(data, 16, 2) .. " " .. rpm)
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@ -322,7 +316,7 @@ onMotor5(0, 0, 0, nil)
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onMotor6(0, 0, 0, nil)
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onMotor7(0, 0, 0, nil)
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accGraCounter = (accGraCounter + 1) % 16
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-- accGraCounter = (accGraCounter + 1) % 16
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-- setBitRange(accGraData, 60, 4, accGraCounter)
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-- xorChecksum(accGraData, 1)
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-- txCan(1, ACC_GRA, 0, accGraData)
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@ -333,7 +327,7 @@ onMotor7(0, 0, 0, nil)
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if hadIgnitionEvent and timeToTurnOff then
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-- looks like ignition key was removed
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mcu_standby()
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-- mcu_standby()
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end
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if everySecondTimer : getElapsedSeconds() > 1 then
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