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added 8ch input over serial3 , displays data in TS live and logs to TS log file. 

Data format follows j1939 type methods , see protocol doc
This commit is contained in:
darren siepka 2017-04-09 00:48:39 +01:00
parent dca5a6b0af
commit c12dfb9b64
5 changed files with 244 additions and 98 deletions
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213
reference/speeduino.ini
View File

@ -524,47 +524,32 @@ page = 9
;CANBUS control (Page 10)
;--------------------------------------------------
page = 10
unused10_0 = scalar, U08, 0, "", 1, 0, 0, 255, 0
unused10_1 = scalar, U08, 1, "", 1, 0, 0, 255, 0
unused10_2 = scalar, U08, 2, "", 1, 0, 0, 255, 0
unused10_3 = scalar, U08, 3, "", 1, 0, 0, 255, 0
unused10_4 = scalar, U08, 4, "", 1, 0, 0, 255, 0
unused10_5 = scalar, U08, 5, "", 1, 0, 0, 255, 0
unused10_6 = scalar, U08, 6, "", 1, 0, 0, 255, 0
unused10_7 = scalar, U08, 7, "", 1, 0, 0, 255, 0
unused10_8 = scalar, U08, 8, "", 1, 0, 0, 255, 0
unused10_9 = scalar, U08, 9, "", 1, 0, 0, 255, 0
unused10_10 = scalar, U08, 10, "", 1, 0, 0, 255, 0
unused10_11 = scalar, U08, 11, "", 1, 0, 0, 255, 0
unused10_12 = scalar, U08, 12, "", 1, 0, 0, 255, 0
unused10_13 = scalar, U08, 13, "", 1, 0, 0, 255, 0
unused10_14 = scalar, U08, 14, "", 1, 0, 0, 255, 0
unused10_15 = scalar, U08, 15, "", 1, 0, 0, 255, 0
unused10_16 = scalar, U08, 16, "", 1, 0, 0, 255, 0
unused10_17 = scalar, U08, 17, "", 1, 0, 0, 255, 0
unused10_18 = scalar, U08, 18, "", 1, 0, 0, 255, 0
unused10_19 = scalar, U08, 19, "", 1, 0, 0, 255, 0
unused10_20 = scalar, U08, 20, "", 1, 0, 0, 255, 0
unused10_21 = scalar, U08, 21, "", 1, 0, 0, 255, 0
unused10_22 = scalar, U08, 22, "", 1, 0, 0, 255, 0
unused10_23 = scalar, U08, 23, "", 1, 0, 0, 255, 0
unused10_24 = scalar, U08, 24, "", 1, 0, 0, 255, 0
unused10_25 = scalar, U08, 25, "", 1, 0, 0, 255, 0
unused10_26 = scalar, U08, 26, "", 1, 0, 0, 255, 0
unused10_27 = scalar, U08, 27, "", 1, 0, 0, 255, 0
unused10_28 = scalar, U08, 28, "", 1, 0, 0, 255, 0
unused10_29 = scalar, U08, 29, "", 1, 0, 0, 255, 0
unused10_30 = scalar, U08, 30, "", 1, 0, 0, 255, 0
unused10_31 = scalar, U08, 31, "", 1, 0, 0, 255, 0
unused10_32 = scalar, U08, 32, "", 1, 0, 0, 255, 0
unused10_33 = scalar, U08, 33, "", 1, 0, 0, 255, 0
unused10_34 = scalar, U08, 34, "", 1, 0, 0, 255, 0
unused10_35 = scalar, U08, 35, "", 1, 0, 0, 255, 0
unused10_36 = scalar, U08, 36, "", 1, 0, 0, 255, 0
unused10_37 = scalar, U08, 37, "", 1, 0, 0, 255, 0
unused10_38 = scalar, U08, 38, "", 1, 0, 0, 255, 0
unused10_39 = scalar, U08, 39, "", 1, 0, 0, 255, 0
unused10_40 = scalar, U08, 40, "", 1, 0, 0, 255, 0
enable_candata_in = bits, U08, 0, [0:0], "Off", "On"
caninput_sel1 = bits, U08, 1, [0:0], "Off", "On"
caninput_sel2 = bits, U08, 2, [0:0], "Off", "On"
caninput_sel3 = bits, U08, 3, [0:0], "Off", "On"
caninput_sel4 = bits, U08, 4, [0:0], "Off", "On"
caninput_sel5 = bits, U08, 5, [0:0], "Off", "On"
caninput_sel6 = bits, U08, 6, [0:0], "Off", "On"
caninput_sel7 = bits, U08, 7, [0:0], "Off", "On"
caninput_sel8 = bits, U08, 8, [0:0], "Off", "On"
caninput_param_group = array , U16, 9, [ 8], "", 1, 0, 0, 65535, 0
caninput_param_start_byte1 = bits, U08, 25, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte2 = bits, U08, 26, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte3 = bits, U08, 27, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte4 = bits, U08, 28, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte5 = bits, U08, 29, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte6 = bits, U08, 30, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte7 = bits, U08, 31, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_start_byte8 = bits, U08, 32, [0:2], "1", "2", "3", "4", "5", "6", "7", "8"
caninput_param_num_bytes1 = bits, U08, 33, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes2 = bits, U08, 34, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes3 = bits, U08, 35, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes4 = bits, U08, 36, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes5 = bits, U08, 37, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes6 = bits, U08, 38, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes7 = bits, U08, 39, [0:1], "INVALID", "1", "2", "INVALID"
caninput_param_num_bytes8 = bits, U08, 40, [0:1], "INVALID", "1", "2", "INVALID"
unused10_41 = scalar, U08, 41, "", 1, 0, 0, 255, 0
unused10_42 = scalar, U08, 42, "", 1, 0, 0, 255, 0
unused10_43 = scalar, U08, 43, "", 1, 0, 0, 255, 0
@ -574,7 +559,7 @@ page = 10
unused10_47 = scalar, U08, 47, "", 1, 0, 0, 255, 0
unused10_48 = scalar, U08, 48, "", 1, 0, 0, 255, 0
unused10_49 = scalar, U08, 49, "", 1, 0, 0, 255, 0
unused10_50 = scalar, U08, 50, "", 1, 0, 0, 255, 0
enable_candata_out = bits, U08, 50, [0:0], "Off", "On"
unused10_51 = scalar, U08, 51, "", 1, 0, 0, 255, 0
unused10_52 = scalar, U08, 52, "", 1, 0, 0, 255, 0
unused10_53 = scalar, U08, 53, "", 1, 0, 0, 255, 0
@ -811,8 +796,13 @@ menuDialog = main
subMenu = std_separator
subMenu = tacho, "Tacho Output"
subMenu = std_separator
subMenu = canIO, "Canbus Interface"
subMenu = canIO, "Serial3 IO Interface"
#if CAN_COMMANDS
subMenu = std_separator
subMenu = Canin_config, "Canbus Input Configuration"
subMenu = std_separator
;subMenu = Canout_config, "Canbus Output Configuration"
#endif
menuDialog = main
@ -911,6 +901,40 @@ menuDialog = main
flatSSoftWin= "The number of RPM below the flat shift point where the softlimit will be applied (aka Soft limit window). Recommended values are 200-1000"
flatSRetard = "The absolute timing (BTDC) that will be used when within the soft limit window"
canEnable = "This Enables the IO on serial3 on mega2560 processor "
caninput_sel1 = "This Enables CAN data input channel 1 "
caninput_sel2 = "This Enables CAN data input channel 2 "
caninput_sel3 = "This Enables CAN data input channel 3 "
caninput_sel4 = "This Enables CAN data input channel 4 "
caninput_sel5 = "This Enables CAN data input channel 5 "
caninput_sel6 = "This Enables CAN data input channel 6 "
caninput_sel7 = "This Enables CAN data input channel 7 "
caninput_sel8 = "This Enables CAN data input channel 8 "
;caninput_param_group1 = "The ID number of the parameter group of the data for channel 1 "
;caninput_param_group2 = "The ID number of the parameter group of the data for channel 2"
;caninput_param_group3 = "The ID number of the parameter group of the data for channel 3"
;caninput_param_group4 = "The ID number of the parameter group of the data for channel 4"
;caninput_param_group5 = "The ID number of the parameter group of the data for channel 5"
;caninput_param_group6 = "The ID number of the parameter group of the data for channel 6"
;caninput_param_group7 = "The ID number of the parameter group of the data for channel 7"
;caninput_param_group8 = "The ID number of the parameter group of the data for channel 8"
caninput_param_start_byte1 = "The Starting byte the specific data begins at for channel 1"
caninput_param_start_byte2 = "The Starting byte the specific data begins at for channel 2"
caninput_param_start_byte3 = "The Starting byte the specific data begins at for channel 3"
caninput_param_start_byte4 = "The Starting byte the specific data begins at for channel 4"
caninput_param_start_byte5 = "The Starting byte the specific data begins at for channel 5"
caninput_param_start_byte6 = "The Starting byte the specific data begins at for channel 6"
caninput_param_start_byte7 = "The Starting byte the specific data begins at for channel 7"
caninput_param_start_byte8 = "The Starting byte the specific data begins at for channel 8"
caninput_param_num_bytes1 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes2 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes3 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes4 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes5 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes6 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes7 = "The number of bytes the specific data is made from starting at selected start byte number"
caninput_param_num_bytes8 = "The number of bytes the specific data is made from starting at selected start byte number"
cmdEnableTestMode = "Click this to enable test mode. This will not be available if the engine is running"
cmdStopTestMode = "Click this to disable test mode"
cmdtestinj150dc = "this will cycle the output at 50% Duty cycle"
@ -1375,6 +1399,75 @@ menuDialog = main
panel = outputtest_spark
;panel = outputtest_io2
panel = outputtest_warningmessage
dialog = caninput_sel, ""
;CAN inputs
field = "CAN Input Channel on/off"
field = "CAN Input 1", caninput_sel1, { enable_candata_in }
field = "CAN Input 2", caninput_sel2, { enable_candata_in }
field = "CAN Input 3", caninput_sel3, { enable_candata_in }
field = "CAN Input 4", caninput_sel4, { enable_candata_in }
field = "CAN Input 5", caninput_sel5, { enable_candata_in }
field = "CAN Input 6", caninput_sel6, { enable_candata_in }
field = "CAN Input 7", caninput_sel7, { enable_candata_in }
field = "CAN Input 8", caninput_sel8, { enable_candata_in }
dialog = caninput_parameter_group, "", yAxis
field = "Input Parameter Group"
field = "", caninput_param_group[0], { caninput_sel1 && enable_candata_in }
field = "", caninput_param_group[1], { caninput_sel2 && enable_candata_in }
field = "", caninput_param_group[2], { caninput_sel3 && enable_candata_in }
field = "", caninput_param_group[3], { caninput_sel4 && enable_candata_in }
field = "", caninput_param_group[4], { caninput_sel5 && enable_candata_in }
field = "", caninput_param_group[5], { caninput_sel6 && enable_candata_in }
field = "", caninput_param_group[6], { caninput_sel7 && enable_candata_in }
field = "", caninput_param_group[7], { caninput_sel8 && enable_candata_in }
dialog = caninput_parameter_start_byte, "", yAxis
field = "Input Parameter Start Byte"
field = "", caninput_param_start_byte1, { caninput_sel1 && enable_candata_in }
field = "", caninput_param_start_byte2, { caninput_sel2 && enable_candata_in }
field = "", caninput_param_start_byte3, { caninput_sel3 && enable_candata_in }
field = "", caninput_param_start_byte4, { caninput_sel4 && enable_candata_in }
field = "", caninput_param_start_byte5, { caninput_sel5 && enable_candata_in }
field = "", caninput_param_start_byte6, { caninput_sel6 && enable_candata_in }
field = "", caninput_param_start_byte7, { caninput_sel7 && enable_candata_in }
field = "", caninput_param_start_byte8, { caninput_sel8 && enable_candata_in }
dialog = caninput_parameter_num_byte, "", yAxis
field = "Input Parameter Number of Bytes"
field = "", caninput_param_num_bytes1, { caninput_sel1 && enable_candata_in }
field = "", caninput_param_num_bytes2, { caninput_sel2 && enable_candata_in }
field = "", caninput_param_num_bytes3, { caninput_sel3 && enable_candata_in }
field = "", caninput_param_num_bytes4, { caninput_sel4 && enable_candata_in }
field = "", caninput_param_num_bytes5, { caninput_sel5 && enable_candata_in }
field = "", caninput_param_num_bytes6, { caninput_sel6 && enable_candata_in }
field = "", caninput_param_num_bytes7, { caninput_sel7 && enable_candata_in }
field = "", caninput_param_num_bytes8, { caninput_sel8 && enable_candata_in }
dialog = caninconfig_blank1,""
field = ""
dialog = Canin_config1, "", xAxis
panel = caninput_sel
panel = caninconfig_blank1
panel = caninput_parameter_group
panel = caninconfig_blank1
panel = caninput_parameter_start_byte
panel = caninconfig_blank1
panel = caninput_parameter_num_byte
dialog = Canin_config2, "CAN Data Input"
field = "Enable CanBus data input", enable_candata_in
dialog = Canin_config, "", border
topicHelp = "file://$getProjectsDirPath()/Docs/speeduino_canbus.txt"
panel = Canin_config2, North
panel = Canin_config1, South
dialog = Canout_config, "Can Data Out"
field = "Enable CanBus data Output", enable_candata_out
;-------------------------------------------------------------------------------
; General help text
@ -1719,6 +1812,18 @@ cmdtestspk450dc = "E\x03\x0C"
advanceGauge = advance, "Spark Advance", "deg BTDC", 50, -10, 0, 0, 35, 45, 0, 0
flexGauge = flex, "Flex sensor", "%", 0, 100, -1, -1, 999, 999, 0, 0
#if CAN_COMMANDS
gaugeCategory = "CanBus Inputs"
CanGauge1 = canin_gauge1, "Can In1" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge2 = canin_gauge2, "Can In2" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge3 = canin_gauge3, "Can In3" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge4 = canin_gauge4, "Can In4" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge5 = canin_gauge5, "Can In5" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge6 = canin_gauge6, "Can In6" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge7 = canin_gauge7, "Can In7" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
CanGauge8 = canin_gauge8, "Can In8" "", 0, 1024, -1, -1, 1025, 1025, 0, 0
#endif
gaugeCategory = "Other"
clockGauge = secl, "Clock", "Seconds", 0, 255, 10, 10, 245, 245, 0, 0
deadGauge = deadValue, "---", "", 0, 1, -1, -1, 2, 2, 0, 0
@ -1846,7 +1951,7 @@ cmdtestspk450dc = "E\x03\x0C"
deadValue = { 0 } ; Convenient unchanging value.
ochGetCommand = "A"
ochBlockSize = 41
ochBlockSize = 57
secl = scalar, U08, 0, "sec", 1.000, 0.000
@ -1915,7 +2020,15 @@ cmdtestspk450dc = "E\x03\x0C"
testoutputs = scalar, U08, 40, "bits", 1.000, 0.000
testenabled = bits, U08, 40, [0:0]
testactive = bits, U08, 40, [1:1]
canin_gauge1 = scalar, U16, 41, "", 1.000, 0.000
canin_gauge2 = scalar, U16, 43, "", 1.000, 0.000
canin_gauge3 = scalar, U16, 45, "", 1.000, 0.000
canin_gauge4 = scalar, U16, 47, "", 1.000, 0.000
canin_gauge5 = scalar, U16, 49, "", 1.000, 0.000
canin_gauge6 = scalar, U16, 51, "", 1.000, 0.000
canin_gauge7 = scalar, U16, 53, "", 1.000, 0.000
canin_gauge8 = scalar, U16, 55, "", 1.000, 0.000
; Computed output channels. See "megatuneExamples.ini" for all the
; pre-defined variables, search for "???" and you'll see them.
@ -2029,6 +2142,14 @@ cmdtestspk450dc = "E\x03\x0C"
entry = boostDuty, "Boost Duty", int, "%d", { boostEnabled }
entry = boostCutOut , "Boost cut", int, "%d"
entry = idleLoad, "IAC value", int, "%d"
entry = canin_gauge1, "CanIn CH1", int, "%d"
entry = canin_gauge2, "CanIn CH2", int, "%d"
entry = canin_gauge3, "CanIn CH3", int, "%d"
entry = canin_gauge4, "CanIn CH4", int, "%d"
entry = canin_gauge5, "CanIn CH5", int, "%d"
entry = canin_gauge6, "CanIn CH6", int, "%d"
entry = canin_gauge7, "CanIn CH7", int, "%d"
entry = canin_gauge8, "CanIn CH8", int, "%d"
; Indicators

5
speeduino/cancomms.h
View File

@ -9,10 +9,11 @@ uint8_t nCanretry = 0; //no of retrys
uint8_t cancmdfail = 0; //command fail yes/no
uint8_t canlisten = 0;
uint8_t Lbuffer[8]; //8 byte buffer to store incomng can data
uint8_t Gdata[9];
uint8_t Glow, Ghigh;
void canCommand();//This is the heart of the Command Line Interpeter. All that needed to be done was to make it human readable.
void sendCancommand(uint8_t cmdtype , uint16_t canadddress, uint8_t candata1, uint8_t candata2);
void sendCancommand(uint8_t cmdtype , uint16_t canadddress, uint8_t candata1, uint8_t candata2, uint16_t paramgroup);
void testCanComm();
#endif // CANCOMMS_H

47
speeduino/cancomms.ino
View File

@ -29,12 +29,41 @@ void canCommand()
//uint8_t Gdata;
while (Serial3.available() == 0) { }
cancmdfail = Serial3.read();
if (cancmdfail == 0)
if (cancmdfail != 0)
{
//command request failed and/or data/device was not available
for (byte Gx = 0; Gx < 8; Gx++) //read all 8 bytes of data
{
while (Serial3.available() == 0) { }
Gdata[Gx] = Serial3.read();
}
Glow = Gdata[(configPage10.caninput_param_start_byte[currentStatus.current_caninchannel])];
if (configPage10.caninput_param_num_bytes[currentStatus.current_caninchannel] == 2)
{
if ((configPage10.caninput_param_start_byte[currentStatus.current_caninchannel]) != 7) //you cant have a 2 byte value starting at byte 7(8 on the list)
{
Ghigh = Gdata[((configPage10.caninput_param_start_byte[currentStatus.current_caninchannel])+1)];
}
}
else
{
Ghigh = 0;
}
currentStatus.canin[currentStatus.current_caninchannel] = word(Ghigh, Glow);
}
while (Serial3.available() == 0) { }
//Gdata = Serial3.read();
else{} //continue as command request failed and/or data/device was not available
if (currentStatus.current_caninchannel <= 6) // if channel is 0-7
{
currentStatus.current_caninchannel++; //inc to next channel
}
else
{
currentStatus.current_caninchannel = 0; //reset to start
}
break;
case 'L':
@ -76,7 +105,7 @@ void canCommand()
}
// this routine sends a request(either "0" for a "G" or "1" for a "L" to the Can interface
void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint8_t candata2)
void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint8_t candata2, uint16_t paramgroup)
{
switch (cmdtype)
{
@ -91,12 +120,18 @@ void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint
Serial3.print("L");
Serial3.write(canaddress); //11 bit canaddress of device to listen for
break;
case 2:
Serial3.print("R");
Serial3.write( lowByte(paramgroup) ); //send lsb first
Serial3.write( lowByte(paramgroup >> 8) );
break;
}
}
#else
//Dummy functions for those that can't do Serial3
void canCommand() { return; }
void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint8_t candata2) { return; }
void sendCancommand(uint8_t cmdtype, uint16_t canaddress, uint8_t candata1, uint8_t candata2, uint16_t paramgroup) { return; }
#endif

52
speeduino/globals.h
View File

@ -216,7 +216,9 @@ struct statuses {
bool testActive;
byte boostDuty;
byte idleLoad; //Either the current steps or current duty cycle for the idle control.
int canin[9]; //16bit raw value of selected canin data for channel 1-8
uint8_t current_caninchannel = 0; //start off at channel 0
//Helpful bitwise operations:
//Useful reference: http://playground.arduino.cc/Code/BitMath
// y = (x >> n) & 1; // n=0..15. stores nth bit of x in y. y becomes 0 or 1.
@ -475,47 +477,11 @@ struct config4 {
//Page 10 of the config mostly deals with CANBUS control
//See ini file for further info (Config Page 10 in the ini)
struct config10 {
byte unused10_0;
byte unused10_1;
byte unused10_2;
byte unused10_3;
byte unused10_4;
byte unused10_5;
byte unused10_6;
byte unused10_7;
byte unused10_8;
byte unused10_9;
byte unused10_10;
byte unused10_11;
byte unused10_12;
byte unused10_13;
byte unused10_14;
byte unused10_15;
byte unused10_16;
byte unused10_17;
byte unused10_18;
byte unused10_19;
byte unused10_20;
byte unused10_21;
byte unused10_22;
byte unused10_23;
byte unused10_24;
byte unused10_25;
byte unused10_26;
byte unused10_27;
byte unused10_28;
byte unused10_29;
byte unused10_30;
byte unused10_31;
byte unused10_32;
byte unused10_33;
byte unused10_34;
byte unused10_35;
byte unused10_36;
byte unused10_37;
byte unused10_38;
byte unused10_39;
byte unused10_40;
byte enable_candata_in:1;
byte caninput_sel[8];
uint16_t caninput_param_group[8];
uint8_t caninput_param_start_byte[8];
byte caninput_param_num_bytes[8];
byte unused10_41;
byte unused10_42;
byte unused10_43;
@ -525,7 +491,7 @@ struct config10 {
byte unused10_47;
byte unused10_48;
byte unused10_49;
byte unused10_50;
byte enable_candata_out : 1;
byte unused10_51;
byte unused10_52;
byte unused10_53;

25
speeduino/speeduino.ino
View File

@ -928,7 +928,30 @@ void loop()
readIAT();
readO2();
readBat();
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) //ATmega2561 does not have Serial3
//if Can interface is enabled then check for serial3 requests.
if (configPage1.canEnable)
{
if (configPage10.enable_candata_in)
{
if (configPage10.caninput_sel[currentStatus.current_caninchannel]) //if current input channel is enabled
{
sendCancommand(2,0,0,0,configPage10.caninput_param_group[currentStatus.current_caninchannel]); //send an R command for data from paramgroup[currentStatus.current_caninchannel]
}
else
{
if (currentStatus.current_caninchannel <= 6)
{
currentStatus.current_caninchannel++; //step to next input channel if under 9
}
else
{
currentStatus.current_caninchannel = 0; //reset input channel back to 1
}
}
}
}
#endif
vvtControl();
idleControl(); //Perform any idle related actions. Even at higher frequencies, running 4x per second is sufficient.
}