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speeduino-personal
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enable teensy canbus interface (#307) 

* fix to serial0 and serial3 when offset is 0 uses wrong command

* fix to serial0 and serial3 when offset is 0 uses wrong command

* fix hex num

* add teensy canbus library
teensy can read and write functions enabled

* update to teensyduino 1.49

Co-authored-by: Josh Stewart <josh@noisymime.org>
This commit is contained in:
Autohome2 2020-01-24 12:10:25 +00:00 committed by Josh Stewart
parent a5d3a311b6
commit a70a4885b9
3 changed files with 54 additions and 12 deletions
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11
speeduino/cancomms.ino
View File

@ -291,6 +291,17 @@ void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint
case 3:
//send to truecan send routine
//canaddress == speeduino canid, candata1 == canin channel dest, paramgroup == can address to request from
outMsg.id = (canaddress);
outMsg.len = 8;
outMsg.buf[0] = 0x0B ; //11;
outMsg.buf[1] = 0x145;
outMsg.buf[2] = candata1;
outMsg.buf[3] = 0x24;
outMsg.buf[4] = 0x7F;
outMsg.buf[5] = 0x70;
outMsg.buf[6] = 0x9E;
outMsg.buf[7] = 0x4D;
Can0.write(outMsg);
break;
default:

19
speeduino/init.ino
View File

@ -48,14 +48,21 @@ void initialiseAll()
Serial.begin(115200);
if (configPage9.enable_secondarySerial == 1) { CANSerial.begin(115200); }
#if defined(CORE_STM32) || defined(CORE_TEENSY)
#if defined(CORE_STM32)
configPage9.intcan_available = 1; // device has internal canbus
//Teensy onboard CAN not used currently
//STM32 can not currently enabled
#endif
#if defined(CORE_TEENSY)
configPage9.intcan_available = 1; // device has internal canbus
//Teensy uses the Flexcan_T4 library to use the internal canbus
//enable local can interface
//setup can interface to 250k
//FlexCAN CANbus0(2500000, 0);
//static CAN_message_t txmsg,rxmsg;
//CANbus0.begin();
//setup can interface to 500k
//volatile CAN_message_t outMsg;
//volatile CAN_message_t inMsg;
Can0.begin();
Can0.setBaudRate(500000);
Can0.enableFIFO();
#endif
//Repoint the 2D table structs to the config pages that were just loaded

36
speeduino/speeduino.ino
View File

@ -36,6 +36,13 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#include "crankMaths.h"
#include "init.h"
#include BOARD_H //Note that this is not a real file, it is defined in globals.h.
#if defined(CORE_TEENSY)
#include <FlexCAN_T4.h>
FlexCAN_T4<CAN0, RX_SIZE_256, TX_SIZE_16> Can0;
static CAN_message_t outMsg;
static CAN_message_t inMsg;
#endif
#ifndef UNIT_TEST // Scope guard for unit testing
void setup()
@ -69,17 +76,27 @@ void loop()
if (CANSerial.available() > 0) { canCommand(); }
}
}
#if defined(CORE_TEENSY) || defined(CORE_STM32)
else if (configPage9.enable_secondarySerial == 2) // can module enabled
#if defined(CORE_TEENSY)
//currentStatus.canin[12] = configPage9.enable_intcan;
if (configPage9.enable_intcan == 1) // use internal can module
{
//check local can module
// if ( BIT_CHECK(LOOP_TIMER, BIT_TIMER_15HZ) or (CANbus0.available())
// {
// CANbus0.read(rx_msg);
// }
while (Can0.read(inMsg) )
{
Can0.read(inMsg);
//currentStatus.canin[12] = inMsg.buf[5];
}
}
#endif
#if defined(CORE_STM32)
else if (configPage9.enable_intcan == 1) // can module enabled
{
//check local can module
}
#endif
//Displays currently disabled
// if (configPage2.displayType && (mainLoopCount & 255) == 1) { updateDisplay();}
@ -140,6 +157,13 @@ void loop()
{
BIT_CLEAR(TIMER_mask, BIT_TIMER_15HZ);
readTPS(); //TPS reading to be performed every 32 loops (any faster and it can upset the TPSdot sampling time)
#if defined(CORE_TEENSY)
if (configPage9.enable_intcan == 1) // use internal can module
{
// this is just to test the interface is sending
sendCancommand(3,(configPage9.realtime_base_address+ 0x100),currentStatus.TPS,0,0x200);
}
#endif
//Check for launching/flat shift (clutch) can be done around here too
previousClutchTrigger = clutchTrigger;