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B6

This commit is contained in:
rusefillc 2022-12-26 00:14:59 -05:00
parent d330dadec5
commit 05e77d8894
1 changed files with 28 additions and 4 deletions
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32
B6-temp.md
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@ -1,14 +1,18 @@
```
-- 640
MOTOR_1 = 0x280
MOTOR_3 = 0x380
MOTOR_INFO = 0x580
MOTOR_5 = 0x480
-- 1160
MOTOR_6 = 0x488
-- 1416
MOTOR_7 = 0x588
fuelCounter = 0
fakeTorque = 0
function xorChecksum(data, targetIndex)
local index = 1
@ -98,7 +102,7 @@ motor1Data = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
canMotorInfo = { 0x00, 0x00, 0x00, 0x14, 0x1C, 0x93, 0x48, 0x14 }
canMotor3 = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motor5Data = { 0x1C, 0x08, 0xF3, 0x55, 0x19, 0x00, 0x00, 0xAD }
motor6Data = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motor6Data = { 0x00, 0x00, 0x00, 0x7E, 0xFE, 0xFF, 0xFF, 0x00 }
motor7Data = { 0x1A, 0x66, 0x7E, 0x00, 0x00, 0x00, 0x00, 0x00 }
function onMotor1(bus, id, dlc, data)
@ -112,9 +116,9 @@ function onMotor1(bus, id, dlc, data)
-- torqueLoss = getBitRange(data, 48, 8) * 0.39
-- requestedTorque = getBitRange(data, 56, 8) * 0.39
engineTorque = fakeTorque
engineTorque = fakeTorque * 0.9
innerTorqWithoutExt = fakeTorque
torqueLoss = 10
torqueLoss = 20
requestedTorque = fakeTorque
motor1Data[2] = engineTorque / 0.39
@ -155,6 +159,26 @@ function onMotor5(bus, id, dlc, data)
txCan(TCU_BUS, id, 0, motor5Data)
end
function onMotor6(bus, id, dlc, data)
engineTorque = getBitRange(data, 8, 8) * 0.39
actualTorque = getBitRange(data, 16, 8) * 0.39
feedbackGearbox = getBitRange(data, 40, 8) * 0.39
-- engineTorque = fakeTorque * 0.9
-- actualTorque = fakeTorque
-- feedbackGearbox = 255
motor6Data[2] = math.floor(targetTorque / 0.39)
motor6Data[3] = math.floor(actualTorque / 0.39)
motor6Data[6] = math.floor(feedbackGearbox / 0.39)
xorChecksum(motor6Data, 1)
txCan(TCU_BUS, id, 0, motor6Data)
end
function silentDrop(bus, id, dlc, data)
end
function printAndDrop(bus, id, dlc, data)
print('Dropping ' ..arrayToString(data))
end
@ -175,7 +199,7 @@ canRxAdd(ECU_BUS, MOTOR_1, onMotor1)
canRxAdd(ECU_BUS, MOTOR_3, onMotor3)
canRxAdd(ECU_BUS, MOTOR_5, onMotor5)
canRxAdd(ECU_BUS, MOTOR_INFO, printAndDrop)
canRxAdd(ECU_BUS, MOTOR_6, printAndDrop)
canRxAdd(ECU_BUS, MOTOR_6, onMotor6)
canRxAdd(ECU_BUS, MOTOR_7, printAndDrop)
-- last option: unconditional forward of all remaining messages