mirror of https://github.com/FOME-Tech/fome-fw.git
63 lines
1.4 KiB
Lua
63 lines
1.4 KiB
Lua
-- DBW protocol for legacy standalone systems
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BASE_CAN_ID = 256
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setTickRate(100)
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-- Little-endian System, "Intel"
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function setTwoBytesLsb(data, offset, value)
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value = math.floor(value)
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data[offset + 2] = value >> 8
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data[offset + 1] = value & 0xff
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end
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-- MOTOROLA order, MSB (Most Significant Byte/Big Endian) comes first
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function setTwoBytesMsb(data, offset, value)
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value = math.floor(value)
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data[offset + 1] = value >> 8
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data[offset + 2] = value & 0xff
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end
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hexstr = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, "A", "B", "C", "D", "E", "F" }
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function toHexString(num)
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if num == 0 then
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return '0'
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end
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local result = ""
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while num > 0 do
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local n = num % 16
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result = hexstr[n + 1] ..result
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num = math.floor(num / 16)
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end
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return result
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end
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function arrayToString(arr)
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local str = ""
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local index = 1
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while arr[index] ~= nil do
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str = str.." "..toHexString(arr[index])
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index = index + 1
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end
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return str
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end
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function printPacket(bus, id, dlc, data)
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print('Received ' ..arrayToString(data))
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end
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canRxAdd(1, BASE_CAN_ID + 4, printPacket)
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protocolPacket = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
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function onTick()
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local ppsValue = getSensor("AcceleratorPedal")
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local TPS = getSensor("TPS1")
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setTwoBytesMsb(protocolPacket, 0, ppsValue / 100 * 1024)
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setTwoBytesMsb(protocolPacket, 2, TPS / 100 * 1024)
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txCan(1, BASE_CAN_ID + 0, 0, protocolPacket)
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end
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