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include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in a an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:uno]
+platform = atmelavr
+board = uno
+framework = arduino
+lib_deps = coryjfowler/mcp_can@^1.5.0

src/main.cpp

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+/* IMPORTANT: USE ARDUINO PIN 3 FOR PWM INPUT. Also make sure your input is protected by at least a resistor, 100kohm, if its a 5v pwm signal. If 12v you may want a level shifter
+or at minimum a voltage divider.
+
+MAKE SURE TO SET OUTPUT MODE ON HALTECH TO DUTY CYCLE.
+*/
+
+#include "mcp_can.h"
+#include <SPI.h>
+
+
+MCP_CAN CAN(9); //default for those can bus shields 
+#define CAN_INT 2 //default for those can bus shields 
+char msgString[128];//terrible way of comparing data
+long unsigned int rxId;//ID of incoming message
+long unsigned int hi = 0x1B200002;
+unsigned char len = 0;//not used here, since we dont care about contents of message
+unsigned char rxBuf[8];//not used here, since we dont care about contents of message
+unsigned char keepAlive[8] = {0x00, 0x00, 0x22, 0xE0, 0x41, 0x90, 0x00, 0x00};//counter KA
+unsigned char speed[8] = {0xBB, 0x00, 0x3F, 0xFF, 0x06, 0xE0, 0x00, 0x00};//counter KA
+unsigned char slowRollTable[4] = { 0x00, 0x40, 0x80, 0xC0};
+unsigned long previousMillis = 0;
+const long interval = 15;//how fast we send
+int slowCounter; //Which number in array we at
+int slowRoll;
+int roll;//how many data messages we're sent, 0-30
+volatile unsigned long int pwm_value = 0;
+volatile unsigned long int prev_time = 0;
+bool oHi = false;
+unsigned long calVel;
+
+void rising() {
+  attachInterrupt(1, falling, FALLING);
+  prev_time = micros();
+   
+}
+ 
+void falling() {
+  attachInterrupt(1, rising, RISING);
+  pwm_value = micros()-prev_time;
+
+  calVel = map(pwm_value, 0, 4600, 6000, 0);//THIS IS ASSUMING 200HZ
+
+  if (calVel > 6000)//Due to Arduino uno being 8 bit, this causes a quick overflow so we do this ugly little patch
+  {
+    calVel = 0;
+  }
+    /*USE THESE ONLY FOR WHEN YOUR OUTPUT FREQUENCY IS NOT 200hz. Most haltechs are 200-500, which god knows which one will work. If any issues, contact me.
+  Serial.print("pwm ");
+  Serial.println(pwm_value);
+  Serial.print("mapped ");
+  Serial.println(calVel);*/
+}
+
+void setup()
+{
+  
+  Serial.begin(115200);
+  attachInterrupt(1, rising, RISING);//Uno Pin 3 for input
+  if(CAN.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK) Serial.print("CAN init ok\r\n");
+  else Serial.print("CAN init failed\r\n");
+  CAN.setMode(MCP_NORMAL);
+  pinMode(CAN_INT, INPUT);
+
+}
+ 
+void loop()
+{
+
+  unsigned long currentMillis = millis();
+speed[6] = calVel / 256;
+speed[7] = calVel;
+  
+   if (oHi == true){
+       if (currentMillis - previousMillis >= interval) {
+        previousMillis = currentMillis;
+            if (roll == 0)
+            { 
+              CAN.sendMsgBuf(0x1AE0092c, 1, 8, keepAlive);//send keep alive with roll
+              keepAlive[0] = slowRollTable[slowRoll];
+              slowRoll++;
+              if (slowRoll == 4){slowRoll = 0;}//reset slowroll
+            } 
+
+              CAN.sendMsgBuf(0x2104136, 1, 8, speed); //send speed
+              roll++;
+              if (roll == 30){roll = 0;}//reset roll
+            }
+   }
+  
+
+  if (!digitalRead(CAN_INT))//Wait for some Can data to come in
+  {
+    CAN.readMsgBuf(&rxId, &len, rxBuf);
+   
+        if ((rxId & 0x80000000) == 0x80000000)
+      sprintf(msgString, "%.8lX", (rxId & 0x1FFFFFFF));
+      
+    if (!strcmp(msgString, "1B200002")){//This is a workaround since extID is 29 bit and arduino is 8 bit.
+
+          oHi = true;
+        }
+ 
+  }
+
+
+}

src/workspace.code-workspace

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+{
+	"folders": [
+		{
+			"path": ".."
+		},
+		{
+			"name": "Firmware",
+			"path": "G:\\My Drive\\ECUs\\Older Projects Stand alone\\PRC\\Firmware"
+		}
+	],
+	"settings": {}
+}

test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html