fome-fw/firmware/config/engines/vw_b6.lua

	strncpy(config->luaScript, R"(
AIRBAG = 0x050
-- 1088
TCU_1 = 0x440
-- 1344
TCU_2 = 0x540
-- 1440
BRAKE_2 = 0x5A0

VWTP_OUT = 0x200
VWTP_IN = 0x202
VWTP_TESTER = 0x300

-- 640
MOTOR_1 = 0x280
-- 644
MOTOR_BRE = 0x284
-- 648
MOTOR_2 = 0x288
-- 896
MOTOR_3 = 0x380
-- 1152
MOTOR_5 = 0x480
-- 1160
MOTOR_6 = 0x488
-- 1386
ACC_GRA = 0x56A
-- 1408 the one with variable payload
MOTOR_INFO = 0x580
-- 1416
MOTOR_7 = 0x588

TCU_BUS = 1

fakeTorque = 0

hexstr = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, "A", "B", "C", "D", "E", "F" }

function toHexString(num)
	if num == 0 then
		return '0'
	end

	local result = ""
	while num > 0 do
		local n = num % 16
		result = hexstr[n + 1] ..result
		num = math.floor(num / 16)
	end
	return result
end

function arrayToString(arr)
	local str = ""
	local index = 1
	while arr[index] ~= nil do
		str = str.." "..toHexString(arr[index])
		index = index + 1
	end
	return str
end

function onTcu1(bus, id, dlc, data)
--	print("onTcu1")
end

function onTcu2(bus, id, dlc, data)
--	print("onTcu2")
end

motor5FuelCounter = 0

function setBitRange(data, totalBitIndex, bitWidth, value)
	local byteIndex = totalBitIndex >> 3
	local bitInByteIndex = totalBitIndex - byteIndex * 8
	if (bitInByteIndex + bitWidth > 8) then
		bitsToHandleNow = 8 - bitInByteIndex
		setBitRange(data, totalBitIndex + bitsToHandleNow, bitWidth - bitsToHandleNow, value >> bitsToHandleNow)
		bitWidth = bitsToHandleNow
	end
	mask = (1 << bitWidth) - 1
	data[1 + byteIndex] = data[1 + byteIndex] & (~(mask << bitInByteIndex))
	maskedValue = value & mask
	shiftedValue = maskedValue << bitInByteIndex
	data[1 + byteIndex] = data[1 + byteIndex] | shiftedValue
end

function setTwoBytes(data, offset, value)
	data[offset + 1] = value % 255
	data[offset + 2] = (value >> 8) % 255
end

shallSleep = Timer.new()

-- we want to turn on with hardware switch while ignition key is off
hadIgnitionEvent = false

function onAirBag(bus, id, dlc, data)
	-- looks like we have ignition key do not sleep!
	shallSleep : reset()
	hadIgnitionEvent = true
end

function setTwoBytes(data, offset, value)
	value = math.floor(value)
	data[offset + 2] = value >> 8
	data[offset + 1] = value & 0xff
end

function xorChecksum(data, targetIndex)
	local index = 1
	local result = 0
	while data[index] ~= nil do
		if index ~= targetIndex then
			result = result ~ data[index]
		end
		index = index + 1
	end
	data[targetIndex] = result
	return result
end

function getBitRange(data, bitIndex, bitWidth)
	byteIndex = bitIndex >> 3
	shift = bitIndex - byteIndex * 8
	value = data[1 + byteIndex]
	if (shift + bitWidth > 8) then
		value = value + data[2 + byteIndex] * 256
	end
	mask = (1 << bitWidth) - 1
	return (value >> shift) & mask
end

motor1Data   = { 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motorBreData = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motor2Data   = { 0x8A, 0x8D, 0x10, 0x04, 0x00, 0x4C, 0xDC, 0x87 }
motor2mux = {0x8A, 0xE8, 0x2C, 0x64}
canMotorInfo = { 0x00, 0x00, 0x00, 0x14, 0x1C, 0x93, 0x48, 0x14 }
canMotorInfo1= { 0x99, 0x14, 0x00, 0x7F, 0x00, 0xF0, 0x47, 0x01 }
canMotorInfo3= { 0x9B, 0x14, 0x00, 0x11, 0x1F, 0xE0, 0x0C, 0x46 }
canMotor3    = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motor5Data   = { 0x1C, 0x08, 0xF3, 0x55, 0x19, 0x00, 0x00, 0xAD }
motor6Data   = { 0x00, 0x00, 0x00, 0x7E, 0xFE, 0xFF, 0xFF, 0x00 }
motor7Data   = { 0x1A, 0x66, 0x7E, 0x00, 0x00, 0x00, 0x00, 0x00 }
accGraData   = { 0x00, 0x00, 0x08, 0x00, 0x1A, 0x00, 0x02, 0x01 }

setTickRate(100)

everySecondTimer = Timer.new()
canMotorInfoCounter = 0

motorBreCounter = 0
--accGraCounter = 0
counter16 = 0
motor2counter = 0

mafSensor = Sensor.new("maf")
mafCalibrationIndex = findCurveIndex("mafcurve")

canMotorInfoTotalCounter = 0

function onAccGra(bus, id, dlc, data)
  print("onAccGra")
end

canRxAdd(AIRBAG, onAirBag)
canRxAdd(TCU_1, onTcu1)
canRxAdd(TCU_2, onTcu2)
-- canRxAdd(BRAKE_2)
-- canRxAdd(1, ACC_GRA, onAccGra)

function onMotor1(bus, id, dlc, data)

	rpm = getSensor("RPM") or 0
	tps = getSensor("TPS1") or 0

	fakeTorque = interpolate(0, 6, 100, 60, tps)

	engineTorque = fakeTorque * 0.9
	innerTorqWithoutExt = fakeTorque
	torqueLoss = 20
	requestedTorque = fakeTorque

 motor1Data[2] = engineTorque / 0.39
 setTwoBytes(motor1Data, 2, rpm / 0.25)
 motor1Data[5] = innerTorqWithoutExt / 0.4
 motor1Data[6] = tps / 0.4
 motor1Data[7] = torqueLoss / 0.39
 motor1Data[8] = requestedTorque / 0.39

-- print ('MOTOR_1 fakeTorque ' ..fakeTorque)
-- print ('MOTOR_1 engineTorque ' ..engineTorque ..' RPM ' ..rpm)
-- print ('MOTOR_1 innerTorqWithoutExt ' ..innerTorqWithoutExt ..' tps ' ..tps)

-- print ('MOTOR_1 torqueLoss ' ..torqueLoss ..' requestedTorque ' ..requestedTorque)

 txCan(TCU_BUS, MOTOR_1, 0, motor1Data)
end

function onMotor3(bus, id, dlc, data)
	iat = getSensor("IAT") or 0
	tps = getSensor("TPS1") or 0

 desired_wheel_torque = fakeTorque
 canMotor3[2] = (iat + 48) / 0.75
 canMotor3[3] = tps / 0.4
 canMotor3[5] = 0x20
 setBitRange(canMotor3, 24, 12, math.floor(desired_wheel_torque / 0.39))
 canMotor3[8] = tps / 0.4
 txCan(TCU_BUS, MOTOR_3, 0, canMotor3)
end


motorBreCounter = 0
function onMotorBre(bus, id, dlc, data)
 motorBreCounter = (motorBreCounter + 1) % 16

    setBitRange(motorBreData, 8, 4, motorBreCounter)
    xorChecksum(motorBreData, 1)

 txCan(TCU_BUS, MOTOR_BRE, 0, motorBreData)
end

motor2counter = 0
function onMotor2(bus, id, dlc, data)
 motor2counter = (motor2counter + 1) % 16

    minTorque = fakeTorque / 2
    -- todo: add CLT
    motor2Data[7] = math.floor(minTorque / 0.39)

--print ( "brake " .. getBitRange(data, 16, 2) .. " " .. rpm)

    brakeBit = rpm < 2000 and 1 or 0
    setBitRange(motor2Data, 16, 1, brakeBit)

    index = math.floor(motor2counter / 4)
    motor2Data[1] = motor2mux[1 + index]

 txCan(TCU_BUS, MOTOR_2, 0, motor2Data)
end

motor5FuelCounter = 0
function onMotor5(bus, id, dlc, data)
 setBitRange(motor5Data, 5, 9, motor5FuelCounter)
 xorChecksum(motor5Data, 8)
 txCan(TCU_BUS, MOTOR_5, 0, motor5Data)
end

counter16 = 0
function onMotor6(bus, id, dlc, data)
 counter16 = (counter16 + 1) % 16

 -- engineTorque = getBitRange(data, 8, 8) * 0.39
 -- actualTorque = getBitRange(data, 16, 8) * 0.39
 -- feedbackGearbox = getBitRange(data, 40, 8) * 0.39
 engineTorque = fakeTorque * 0.9
 actualTorque = fakeTorque
 feedbackGearbox = 255

 motor6Data[2] = math.floor(engineTorque / 0.39)
 motor6Data[3] = math.floor(actualTorque / 0.39)
 motor6Data[6] = math.floor(feedbackGearbox / 0.39)
 setBitRange(motor6Data, 60, 4, counter16)

 xorChecksum(motor6Data, 1)
 txCan(TCU_BUS, MOTOR_6, 0, motor6Data)
end

accGraCounter = 0
function onAccGra(bus, id, dlc, data)
 accGraCounter = (accGraCounter + 1) % 16
 setBitRange(accGraData, 60, 4, accGraCounter)
    xorChecksum(accGraData, 1)

 txCan(TCU_BUS, id, 0, accGraData)
-- txCan(TCU_BUS, id, 0, data)
end

canMotorInfoCounter = 0
function onMotorInfo(bus, id, dlc, data)
 canMotorInfoTotalCounter = canMotorInfoTotalCounter + 1
  canMotorInfoCounter = (canMotorInfoCounter + 1) % 16
-- canMotorInfoCounter = getBitRange(data, 0, 4)

 baseByte = canMotorInfoTotalCounter < 6 and 0x80 or 0x90
 canMotorInfo[1]  = baseByte + (canMotorInfoCounter)
 canMotorInfo1[1] = baseByte + (canMotorInfoCounter)
 canMotorInfo3[1] = baseByte + (canMotorInfoCounter)
 mod4 = canMotorInfoCounter % 4

 if (mod4 == 0 or mod4 == 2) then
     txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo)
 elseif (mod4 == 1) then
     txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo1)
 else
     txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo3)
    end
end

function onMotor7(bus, id, dlc, data)
 txCan(TCU_BUS, MOTOR_7, 0, motor7Data)
end

local tcuId = 0

function onCanHello(bus, id, dlc, data)
	-- here we handle 201 packets
	print('Got Hello Response ' ..arrayToString(data))
	tcuId = data[6] * 256 + data[5]

	print('From TCU ' ..tcuId)
	txCan(1, tcuId, 0, { 0xA0, 0x0F, 0x8A, 0xFF, 0x32, 0xFF })
end

local sendCounter = 2
local packetCounter = 1
local payLoadIndex = 0

local groups = { 10 }
-- todo: smarter array size calculation?
local groupsSize = 1

local groupIndex = 1

function onCanTester(bus, id, dlc, data)
	-- here we handle 300 packets

	-- 	print('Got from tester ' ..arrayToString(data))

	if data[1] == 0xA3 then
		-- 		print ("Keep-alive")
		txCan(1, tcuId, 0, { 0xA1, 0x0F, 0x8A, 0xFF, 0x4A, 0xFF })

		groupIndex = groupIndex + 1
		if groupIndex > groupsSize then
			groupIndex = 1
		end
		groupId = groups[groupIndex]
		print (groupIndex .." " ..groupId)


		reqFirst = 0x10 + sendCounter
		print("Requesting next group " ..groupId .." with counter " ..sendCounter)
		txCan(1, tcuId, 0, { reqFirst, 0x00, 0x02, 0x21, groupId })

		sendCounter = sendCounter + 1
		if sendCounter == 16 then
			sendCounter = 0
		end
		return
	end


	if data[1] == 0xA1 then
		print ("Happy 300 packet")
		txCan(1, tcuId, 0, { 0x10, 0x00, 0x02, 0x10, 0x89 })
		return
	end

	if data[1] == 0xA8 then
		print ("They said Bye-Bye")
		return
	end


	if data[1] == 0x10 and dlc == 5 then
		ackPacket = 0xB0 + packetCounter
		print ("Sending ACK B1 " ..ackPacket)
		txCan(1, tcuId, 0, { ackPacket })
		-- request first group from array
		txCan(1, tcuId, 0, { 0x11, 0x00, 0x02, 0x21, groups[1] })
		return
	end

	top4 = math.floor(data[1] / 16)

	if top4 == 0xB then
		-- 		print("Got ACK")
		return
	end

	if top4 == 2 or top4 == 1 then
		print ("Looks like payload index " ..payLoadIndex ..": " ..arrayToString(data))

		if groupId == 2 and payLoadIndex == 0 then
			L7 = data[7]
			H9 = data[8]
			V = 256 * H9 + L7
			print("V 0 " ..V)
		end

		if groupId == 2 and payLoadIndex == 1 then
			L3 = data[3]
			H4 = data[4]
			V = 256 * H4 + L3
			print("V 1 " ..V)
		end

		if groupId == 2 and payLoadIndex == 2 then
			L2 = data[2]
			H3 = data[3]
			V = 256 * H3 + L2
			print("V 2 " ..V)
		end

		payLoadIndex = payLoadIndex + 1

		packetCounter = packetCounter + 1
		if packetCounter > 15 then
			packetCounter = 0
		end

		if top4 == 1 then
			ackPacket = 0xB0 + packetCounter
			print ("Sending payload ACK " ..ackPacket)
			txCan(1, tcuId, 0, { ackPacket })
			payLoadIndex = 0
		end

		return
	end

	print('Got unexpected ' ..arrayToString(data))
end

canRxAdd(VWTP_IN, onCanHello)

txCan(1, VWTP_OUT, 0, { 0x02, 0xC0, 0x00, 0x10, 0x00, 0x03, 0x01 })

function onTick()

	freqValue = getSensor("AuxSpeed1") or 0
	mafValue = curve(mafCalibrationIndex, 5)
	-- 	print(freqValue .. " mafValue=" .. mafValue)
	mafSensor : set(mafValue)

	counter16 = (counter16 + 1) % 16

	rpm = getSensor("RPM") or 0
	vbat = getSensor("BatteryVoltage") or 0

 if rpm == 0 then
   canMotorInfoTotalCounter = 0
 end

onMotor1(0, 0, 0, nil)
onMotor3(0, 0, 0, nil)

onMotorBre(0, 0, 0, nil)
onMotor2(0, 0, 0, nil)
onMotor5(0, 0, 0, nil)
onMotor6(0, 0, 0, nil)
onMotor7(0, 0, 0, nil)
onAccGra(0, 0, 0, nil)

	local timeToTurnOff = shallSleep : getElapsedSeconds() > 2
	local connectedToUsb = vbat < 4

	if hadIgnitionEvent and timeToTurnOff then
		-- looks like ignition key was removed
--		mcu_standby()
	end

	if everySecondTimer : getElapsedSeconds() > 1 then
		everySecondTimer : reset()

		motor5FuelCounter = motor5FuelCounter + 20

  onMotorInfo(0, 0, 0, nil)

	end
end

)", efi::size(config->luaScript));