more B6

B6-TCU/B6-2024-july.txt

@@ -47,10 +47,10 @@ end
 
 canRxAdd(ECU_BUS, MOTOR_1, onMotor1)
 canRxAdd(ECU_BUS, MOTOR_BRE, drop)
-canRxAdd(ECU_BUS, MOTOR_2_648, sendMotor2)
+canRxAdd(ECU_BUS, MOTOR_2_648, drop)
 canRxAdd(ECU_BUS, MOTOR_3, onMotor3)
 canRxAdd(ECU_BUS, MOTOR_5, drop)
-canRxAdd(ECU_BUS, MOTOR_6, silentlyRelayFromECU)
+canRxAdd(ECU_BUS, MOTOR_6, drop)
 canRxAdd(ECU_BUS, MOTOR_7, drop)
 canRxAdd(ECU_BUS, ACC_GRA, drop)
 canRxAdd(ECU_BUS, MOTOR_INFO, drop)
@@ -87,11 +87,22 @@ canRxAdd(ECU_BUS, EPB_1, drop)
 canRxAdd(ECU_BUS, 1394, drop)
 canRxAdd(ECU_BUS, 1056, drop)
 
-canRxAdd(ECU_BUS, 1478, drop)
+--canRxAdd(ECU_BUS, 1478, drop)
 --canRxAdd(ECU_BUS, 1490, drop)
 --canRxAdd(ECU_BUS, 1888, drop)
 --canRxAdd(ECU_BUS, 1360, drop)
 
+counter440 = 0
+function onTcu440(bus, id, dlc, data)
+    isShiftActive = getBitRange(data, 0, 1)
+    setBitRange(data, 0, 1, 0)
+     isShiftActive2 = getBitRange(data, 0, 1)
+        txCan(ECU_BUS, id, 0, data)
+
+    if counter440 % 70 == 0 then
+ --       print("TCU " .. isShiftActive .. isShiftActive2)
+    end
+end
 
 function verboseRelayFromECU(bus, id, dlc, data)
     onEcuTimer : reset ()
@@ -101,6 +112,9 @@ function verboseRelayFromECU(bus, id, dlc, data)
 end
 
 canRxAddMask(ECU_BUS, 0, 0, verboseRelayFromECU)
+
+canRxAdd(ECU_BUS, 1360, drop)
+canRxAdd(TCU_BUS, TCU_1088_440, onTcu440)
 canRxAddMask(TCU_BUS, 0, 0, silentlyRelayFromTCU)
 
 everySecondTimer = Timer.new()
@@ -122,8 +136,10 @@ function onTick()
 	    _10msPeriodTimer : reset()
 		sendMotorBre()
 		sendAccGra()
+		sendMotor2()
 		sendMotor3()
 		sendMotor5()
+	    sendMotor6()
 		sendMotor7()
 	end
 end

B6-TCU/can_ids.lua

@@ -52,3 +52,7 @@ Lenkhilfe_2=978
 Klima_1=1504
 BSG_Last=1392
 EPB_1=1472
+
+
+TCU_1088_440 = 0x440
+TCU_1344_540 = 0x540

B6-TCU/send-methods.lua

@@ -106,4 +106,22 @@ function sendMotor3()
 	setBitRange(canMotor3, 24, 12, math.floor(desired_wheel_torque / 0.39))
 	canMotor3[8] = tps / 0.4
 	txCan(TCU_BUS, MOTOR_3, 0, canMotor3)
+end
+
+motor6Data = { 0x00, 0x00, 0x00, 0x7E, 0xFE, 0xFF, 0xFF, 0x00 }
+motor6Counter = 0
+function sendMotor6()
+	motor6Counter = (motor6Counter + 1) % 16
+
+	engineTorque = fakeTorque * 0.9
+	actualTorque = fakeTorque
+	feedbackGearbox = 255
+
+	motor6Data[2] = math.floor(engineTorque / 0.39)
+	motor6Data[3] = math.floor(actualTorque / 0.39)
+	motor6Data[6] = math.floor(feedbackGearbox / 0.39)
+	setBitRange(motor6Data, 60, 4, motor6Counter)
+
+	xorChecksum(motor6Data, 1)
+	txCan(TCU_BUS, MOTOR_6, 0, motor6Data)
 end