speeduino-personal/speeduino/cancomms.ino

/*
Speeduino - Simple engine management for the Arduino Mega 2560 platform
Copyright (C) Josh Stewart
A full copy of the license may be found in the projects root directory
can_comms was originally contributed by Darren Siepka
*/

/*
can_command is called when a command is received over serial3 from the Can interface
It parses the command and calls the relevant function
sendcancommand is called when a comman d is to be sent via serial3 to the Can interface
*/

void canCommand()
{
  currentcanCommand = CANSerial.read();

  switch (currentcanCommand)
  {
    case 'A': // sends the bytes of realtime values
        sendcanValues(0, CAN_PACKET_SIZE, 0x30, 1); //send values to serial3
        break;

    case 'G': // this is the reply command sent by the Can interface
       byte destcaninchannel;
      if (CANSerial.available() >= 9)
      {
        cancmdfail = CANSerial.read();        //0 == fail,  1 == good.
        destcaninchannel = CANSerial.read();  // the input channel that requested the data value
        if (cancmdfail != 0)
           {                                 // read all 8 bytes of data.
            for (byte Gx = 0; Gx < 8; Gx++) // first two are the can address the data is from. next two are the can address the data is for.then next 1 or two bytes of data
              {
                Gdata[Gx] = CANSerial.read();
              }
            Glow = Gdata[(configPage9.caninput_source_start_byte[destcaninchannel]&7)];
            if ((BIT_CHECK(configPage9.caninput_source_num_bytes,destcaninchannel)))  //if true then num bytes is 2
               {
                if ((configPage9.caninput_source_start_byte[destcaninchannel]&7) < 8)   //you cant have a 2 byte value starting at byte 7(8 on the list)
                   {
                    Ghigh = Gdata[((configPage9.caninput_source_start_byte[destcaninchannel]&7)+1)];
                   }
            else{Ghigh = 0;}
               }
          else
               {
                 Ghigh = 0;
               }

          currentStatus.canin[destcaninchannel] = (Ghigh<<8) | Glow;
        }

        else{}  //continue as command request failed and/or data/device was not available

      }
        break;

    case 'L':
        uint8_t Llength;
        while (CANSerial.available() == 0) { }
        canlisten = CANSerial.read();

        if (canlisten == 0)
         {
          //command request failed and/or data/device was not available
          break;
         }

         while (CANSerial.available() == 0) { }
         Llength= CANSerial.read();              // next the number of bytes expected value

         for (uint8_t Lcount = 0; Lcount <Llength ;Lcount++)
         {
           while (CANSerial.available() == 0){}
           // receive all x bytes into "Lbuffer"
           Lbuffer[Lcount] = CANSerial.read();
         }
         break;

    case 'r': //New format for the optimised OutputChannels
      byte Cmd;
      if (CANSerial.available() >= 6)
      {
        CANSerial.read(); //Read the $tsCanId
        Cmd = CANSerial.read();

        uint16_t offset, length;
        if( (Cmd == 0x30) || ( (Cmd >= 0x40) && (Cmd <0x50) ) ) //Send output channels command 0x30 is 48dec, 0x40(64dec)-0x4F(79dec) are external can request
        {
          byte tmp;
          tmp = CANSerial.read();
          offset = word(CANSerial.read(), tmp);
          tmp = CANSerial.read();
          length = word(CANSerial.read(), tmp);
          sendcanValues(offset, length,Cmd, 1);
//Serial.print(Cmd);
        }
        else
        {
          //No other r/ commands should be called
        }
      }
      break;

    case 'S': // send code version
      for (unsigned int revn = 0; revn < sizeof( TSfirmwareVersion) - 1; revn++)
      {
        CANSerial.write( TSfirmwareVersion[revn]);
      }
       //Serial3.print("speeduino 201609-dev");
       break;

    case 'Q': // send code version
       for (unsigned int revn = 0; revn < sizeof( TSfirmwareVersion) - 1; revn++)
       {
         CANSerial.write( TSfirmwareVersion[revn]);
       }
       //Serial3.print("speeduino 201609-dev");
       break;

    case 'Z': //dev use
       break;

    default:
       break;
  }
}
void sendcanValues(uint16_t offset, uint16_t packetLength, byte cmd, byte portType)
{
  byte fullStatus[CAN_PACKET_SIZE];

    //CAN serial
    #if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)|| defined(CORE_STM32) || defined (CORE_TEENSY) //ATmega2561 does not have Serial3
      if (offset == 0)
        {
          CANSerial.write("A");         //confirm cmd type
        }
      else
        {
      CANSerial.write("r");         //confirm cmd type
      CANSerial.write(cmd);
        }
    #endif

  currentStatus.spark ^= (-currentStatus.hasSync ^ currentStatus.spark) & (1 << BIT_SPARK_SYNC); //Set the sync bit of the Spark variable to match the hasSync variable

  fullStatus[0] = currentStatus.secl; //secl is simply a counter that increments each second. Used to track unexpected resets (Which will reset this count to 0)
  fullStatus[1] = currentStatus.status1; //status1 Bitfield
  fullStatus[2] = currentStatus.engine; //Engine Status Bitfield
  fullStatus[3] = (byte)(divu100(currentStatus.dwell)); //Dwell in ms * 10
  fullStatus[4] = lowByte(currentStatus.MAP); //2 bytes for MAP
  fullStatus[5] = highByte(currentStatus.MAP);
  fullStatus[6] = (byte)(currentStatus.IAT + CALIBRATION_TEMPERATURE_OFFSET); //mat
  fullStatus[7] = (byte)(currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET); //Coolant ADC
  fullStatus[8] = currentStatus.batCorrection; //Battery voltage correction (%)
  fullStatus[9] = currentStatus.battery10; //battery voltage
  fullStatus[10] = currentStatus.O2; //O2
  fullStatus[11] = currentStatus.egoCorrection; //Exhaust gas correction (%)
  fullStatus[12] = currentStatus.iatCorrection; //Air temperature Correction (%)
  fullStatus[13] = currentStatus.wueCorrection; //Warmup enrichment (%)
  fullStatus[14] = lowByte(currentStatus.RPM); //rpm HB
  fullStatus[15] = highByte(currentStatus.RPM); //rpm LB
  fullStatus[16] = currentStatus.TAEamount; //acceleration enrichment (%)
  fullStatus[17] = currentStatus.corrections; //Total GammaE (%)
  fullStatus[18] = currentStatus.VE; //Current VE 1 (%)
  fullStatus[19] = currentStatus.afrTarget;
  fullStatus[20] = lowByte(currentStatus.PW1); //Pulsewidth 1 multiplied by 10 in ms. Have to convert from uS to mS.
  fullStatus[21] = highByte(currentStatus.PW1); //Pulsewidth 1 multiplied by 10 in ms. Have to convert from uS to mS.
  fullStatus[22] = currentStatus.tpsDOT; //TPS DOT
  fullStatus[23] = currentStatus.advance;
  fullStatus[24] = currentStatus.TPS; // TPS (0% to 100%)
  //Need to split the int loopsPerSecond value into 2 bytes
  fullStatus[25] = lowByte(currentStatus.loopsPerSecond);
  fullStatus[26] = highByte(currentStatus.loopsPerSecond);

  //The following can be used to show the amount of free memory
  currentStatus.freeRAM = freeRam();
  fullStatus[27] = lowByte(currentStatus.freeRAM); //(byte)((currentStatus.loopsPerSecond >> 8) & 0xFF);
  fullStatus[28] = highByte(currentStatus.freeRAM);

  fullStatus[29] = (byte)(currentStatus.boostTarget >> 1); //Divide boost target by 2 to fit in a byte
  fullStatus[30] = (byte)(currentStatus.boostDuty / 100);
  fullStatus[31] = currentStatus.spark; //Spark related bitfield

  //rpmDOT must be sent as a signed integer
  fullStatus[32] = lowByte(currentStatus.rpmDOT);
  fullStatus[33] = highByte(currentStatus.rpmDOT);

  fullStatus[34] = currentStatus.ethanolPct; //Flex sensor value (or 0 if not used)
  fullStatus[35] = currentStatus.flexCorrection; //Flex fuel correction (% above or below 100)
  fullStatus[36] = currentStatus.flexIgnCorrection; //Ignition correction (Increased degrees of advance) for flex fuel

  fullStatus[37] = currentStatus.idleLoad;
  fullStatus[38] = currentStatus.testOutputs;

  fullStatus[39] = currentStatus.O2_2; //O2
  fullStatus[40] = currentStatus.baro; //Barometer value

  fullStatus[41] = lowByte(currentStatus.canin[0]);
  fullStatus[42] = highByte(currentStatus.canin[0]);
  fullStatus[43] = lowByte(currentStatus.canin[1]);
  fullStatus[44] = highByte(currentStatus.canin[1]);
  fullStatus[45] = lowByte(currentStatus.canin[2]);
  fullStatus[46] = highByte(currentStatus.canin[2]);
  fullStatus[47] = lowByte(currentStatus.canin[3]);
  fullStatus[48] = highByte(currentStatus.canin[3]);
  fullStatus[49] = lowByte(currentStatus.canin[4]);
  fullStatus[50] = highByte(currentStatus.canin[4]);
  fullStatus[51] = lowByte(currentStatus.canin[5]);
  fullStatus[52] = highByte(currentStatus.canin[5]);
  fullStatus[53] = lowByte(currentStatus.canin[6]);
  fullStatus[54] = highByte(currentStatus.canin[6]);
  fullStatus[55] = lowByte(currentStatus.canin[7]);
  fullStatus[56] = highByte(currentStatus.canin[7]);
  fullStatus[57] = lowByte(currentStatus.canin[8]);
  fullStatus[58] = highByte(currentStatus.canin[8]);
  fullStatus[59] = lowByte(currentStatus.canin[9]);
  fullStatus[60] = highByte(currentStatus.canin[9]);
  fullStatus[61] = lowByte(currentStatus.canin[10]);
  fullStatus[62] = highByte(currentStatus.canin[10]);
  fullStatus[63] = lowByte(currentStatus.canin[11]);
  fullStatus[64] = highByte(currentStatus.canin[11]);
  fullStatus[65] = lowByte(currentStatus.canin[12]);
  fullStatus[66] = highByte(currentStatus.canin[12]);
  fullStatus[67] = lowByte(currentStatus.canin[13]);
  fullStatus[68] = highByte(currentStatus.canin[13]);
  fullStatus[69] = lowByte(currentStatus.canin[14]);
  fullStatus[70] = highByte(currentStatus.canin[14]);
  fullStatus[71] = lowByte(currentStatus.canin[15]);
  fullStatus[72] = highByte(currentStatus.canin[15]);

  fullStatus[73] = currentStatus.tpsADC;
  fullStatus[74] = getNextError();

  for(byte x=0; x<packetLength; x++)
  {
    if (portType == 1){ CANSerial.write(fullStatus[offset+x]); }
    else if (portType == 2)
            {
              //sendto canbus transmit routine
            }
  }

}


// this routine sends a request(either "0" for a "G" , "1" for a "L" , "2" for a "R" to the Can interface or "3" sends the request via the actual local canbus
void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint8_t candata2, uint16_t sourcecanAddress)
{
    switch (cmdtype)
    {
      case 0:
        CANSerial.print("G");
        CANSerial.write(canaddress);  //tscanid of speeduino device
        CANSerial.write(candata1);    // table id
        CANSerial.write(candata2);    //table memory offset
        break;

      case 1:                      //send request to listen for a can message
        CANSerial.print("L");
        CANSerial.write(canaddress);  //11 bit canaddress of device to listen for
        break;

     case 2:                                          // requests via serial3
        CANSerial.print("R");                         //send "R" to request data from the parmagroup can address whos value is sent next
        CANSerial.write(candata1);                    //the currentStatus.current_caninchannel
        CANSerial.write(lowByte(sourcecanAddress) );       //send lsb first
        CANSerial.write(highByte(sourcecanAddress) );
        break;

     case 3:
        //send to truecan send routine
        //canaddress == speeduino canid, candata1 == canin channel dest, paramgroup == can address  to request from
        break;

     default:
        break;
    }
}