B6 code unification
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rusefillc
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67624ee960
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@ -173,6 +173,87 @@ end
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canRxAdd(ECU_BUS, ACC_GRA, onAccGra)
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motorBreCounter = 0
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function onMotorBre(bus, id, dlc, data)
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motorBreCounter = (motorBreCounter + 1) % 16
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setBitRange(motorBreData, 8, 4, motorBreCounter)
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xorChecksum(motorBreData, 1)
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txCan(TCU_BUS, MOTOR_BRE, 0, motorBreData)
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end
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motor2counter = 0
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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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motor2Data[7] = math.floor(minTorque / 0.39)
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--print ( "brake " .. getBitRange(data, 16, 2) .. " " .. rpm)
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brakeBit = rpm < 2000 and 1 or 0
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setBitRange(motor2Data, 16, 1, brakeBit)
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index = math.floor(motor2counter / 4)
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motor2Data[1] = motor2mux[1 + index]
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txCan(TCU_BUS, MOTOR_2, 0, motor2Data)
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end
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motor5FuelCounter = 0
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function onMotor5(bus, id, dlc, data)
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setBitRange(motor5Data, 5, 9, motor5FuelCounter)
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xorChecksum(motor5Data, 8)
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txCan(TCU_BUS, MOTOR_5, 0, motor5Data)
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end
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counter16 = 0
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function onMotor6(bus, id, dlc, data)
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counter16 = (counter16 + 1) % 16
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-- engineTorque = getBitRange(data, 8, 8) * 0.39
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-- actualTorque = getBitRange(data, 16, 8) * 0.39
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-- feedbackGearbox = getBitRange(data, 40, 8) * 0.39
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engineTorque = fakeTorque * 0.9
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actualTorque = fakeTorque
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feedbackGearbox = 255
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motor6Data[2] = math.floor(engineTorque / 0.39)
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motor6Data[3] = math.floor(actualTorque / 0.39)
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motor6Data[6] = math.floor(feedbackGearbox / 0.39)
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setBitRange(motor6Data, 60, 4, counter16)
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xorChecksum(motor6Data, 1)
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txCan(TCU_BUS, MOTOR_6, 0, motor6Data)
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end
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canMotorInfoCounter = 0
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function onMotorInfo(bus, id, dlc, data)
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canMotorInfoTotalCounter = canMotorInfoTotalCounter + 1
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canMotorInfoCounter = (canMotorInfoCounter + 1) % 16
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-- canMotorInfoCounter = getBitRange(data, 0, 4)
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baseByte = canMotorInfoTotalCounter < 6 and 0x80 or 0x90
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canMotorInfo[1] = baseByte + (canMotorInfoCounter)
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canMotorInfo1[1] = baseByte + (canMotorInfoCounter)
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canMotorInfo3[1] = baseByte + (canMotorInfoCounter)
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mod4 = canMotorInfoCounter % 4
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if (mod4 == 0 or mod4 == 2) then
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txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo)
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elseif (mod4 == 1) then
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txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo1)
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else
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txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo3)
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end
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end
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function onMotor7(bus, id, dlc, data)
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txCan(TCU_BUS, MOTOR_7, 0, motor7Data)
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end
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function onTick()
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freqValue = getSensor("AuxSpeed1") or 0
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@ -207,45 +288,11 @@ function onTick()
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canMotor1[8] = requestedTorque / 0.39
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txCan(1, MOTOR_1, 0, canMotor1)
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motorBreCounter = (motorBreCounter + 1) % 16
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setBitRange(motorBreData, 8, 4, motorBreCounter)
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xorChecksum(motorBreData, 1)
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txCan(1, MOTOR_BRE, 0, motorBreData) -- relay non-TCU message to TCU
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motor2counter = (motor2counter + 1) % 16
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minTorque = fakeTorque / 2
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motor2Data[7] = math.floor(minTorque / 0.39)
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brakeBit = rpm < 2000 and 1 or 0
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setBitRange(motor2Data, 16, 1, brakeBit)
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index = math.floor(motor2counter / 4)
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motor2Data[1] = motor2mux[1 + index]
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txCan(TCU_BUS, MOTOR_2, 0, motor2Data)
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desired_wheel_torque = fakeTorque
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canMotor3[2] = (iat + 48) / 0.75
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canMotor3[3] = tps / 0.4
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canMotor3[5] = 0x20
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setBitRange(canMotor3, 24, 12, math.floor(desired_wheel_torque / 0.39))
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canMotor3[8] = tps / 0.4
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txCan(1, MOTOR_3, 0, canMotor3)
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setBitRange(motor5Data, 5, 9, motor5FuelCounter)
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xorChecksum(motor5Data, 8)
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txCan(1, MOTOR_5, 0, motor5Data)
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actualTorque = fakeTorque
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feedbackGearbox = 255
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motor6Data[2] = math.floor(engineTorque / 0.39)
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motor6Data[3] = math.floor(actualTorque / 0.39)
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motor6Data[6] = math.floor(feedbackGearbox / 0.39)
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setBitRange(motor6Data, 60, 4, counter16)
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-- print("motor6 " .. arrayToString(motor6Data))
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xorChecksum(motor6Data, 1)
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txCan(1, MOTOR_6, 0, motor6Data)
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onMotorBre(0, 0, 0, nil)
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onMotor2(0, 0, 0, nil)
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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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setBitRange(accGraData, 60, 4, accGraCounter)
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@ -253,8 +300,6 @@ txCan(TCU_BUS, MOTOR_2, 0, motor2Data)
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-- txCan(1, ACC_GRA, 0, accGraData)
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-- print("ACC_GRA " ..arrayToString(accGraData))
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txCan(1, MOTOR_7, 0, motor7Data)
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local timeToTurnOff = shallSleep : getElapsedSeconds() > 2
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local connectedToUsb = vbat < 4
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@ -268,21 +313,7 @@ txCan(TCU_BUS, MOTOR_2, 0, motor2Data)
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motor5FuelCounter = motor5FuelCounter + 20
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canMotorInfoCounter = (canMotorInfoCounter + 1) % 16
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canMotorInfoTotalCounter = canMotorInfoTotalCounter + 1
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baseByte = canMotorInfoTotalCounter < 6 and 0x80 or 0x90
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canMotorInfo[1] = baseByte + (canMotorInfoCounter)
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canMotorInfo1[1] = baseByte + (canMotorInfoCounter)
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canMotorInfo3[1] = baseByte + (canMotorInfoCounter)
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mod4 = canMotorInfoCounter % 4
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if (mod4 == 0 or mod4 == 2) then
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txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo)
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elseif (mod4 == 1) then
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txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo1)
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else
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txCan(TCU_BUS, MOTOR_INFO, 0, canMotorInfo3)
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end
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onMotorInfo(0, 0, 0, nil)
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end
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end
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