fake motor_3 happy drive in the air

B6-TCU/B6-2024-july.txt

@@ -29,10 +29,26 @@ function onMotor1(bus, id, dlc, data)
     sendMotor1()
 end
 
+iat = 0
+pps = 0
+tps = 0
+
+motor3counter = 0
+function onMotor3(bus, id, dlc, data)
+ motor3counter = (motor3counter + 1) % 16
+	totalEcuMessages = totalEcuMessages + 1
+	iat = getBitRange(data, 8, 8) * 0.75 - 48
+	pps = getBitRange(data, 16, 8) * 0.40
+	tps = getBitRange(data, 56, 8) * 0.40
+    if motor3counter % 70 == 0 then
+--    	print ('MOTOR_3 pps ' ..pps ..' tps ' ..tps ..' iat ' ..iat)
+    end
+end
+
 canRxAdd(ECU_BUS, MOTOR_1, onMotor1)
 canRxAdd(ECU_BUS, MOTOR_BRE, drop)
 canRxAdd(ECU_BUS, MOTOR_2_648, sendMotor2)
-canRxAdd(ECU_BUS, MOTOR_3, silentlyRelayFromECU)
+canRxAdd(ECU_BUS, MOTOR_3, onMotor3)
 canRxAdd(ECU_BUS, MOTOR_5, drop)
 canRxAdd(ECU_BUS, MOTOR_6, silentlyRelayFromECU)
 canRxAdd(ECU_BUS, MOTOR_7, drop)
@@ -106,6 +122,7 @@ function onTick()
 	    _10msPeriodTimer : reset()
 		sendMotorBre()
 		sendAccGra()
+		sendMotor3()
 		sendMotor5()
 		sendMotor7()
 	end

B6-TCU/send-methods.lua

@@ -94,4 +94,16 @@ function sendMotor1()
 	motor1Data[8] = requestedTorque / 0.39
 
 	txCan(TCU_BUS, MOTOR_1, 0, motor1Data)
+end
+
+canMotor3 = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
+function sendMotor3()
+	desired_wheel_torque = fakeTorque
+	iat = iat or 30
+	canMotor3[2] = (iat + 48) / 0.75
+	canMotor3[3] = tps / 0.4
+	canMotor3[5] = 0x20
+	setBitRange(canMotor3, 24, 12, math.floor(desired_wheel_torque / 0.39))
+	canMotor3[8] = tps / 0.4
+	txCan(TCU_BUS, MOTOR_3, 0, canMotor3)
 end