7.3 KiB
7.3 KiB
-- 640
MOTOR_1 = 0x280
-- 644
MOTOR_BRE = 0x284
-- 648
MOTOR_2 = 0x288
-- 896
MOTOR_3 = 0x380
-- 1152
MOTOR_5 = 0x480
-- 1160
MOTOR_6 = 0x488
-- 1386
ACC_GRA = 0x56A
-- 1408 the one with variable payload
MOTOR_INFO = 0x580
-- 1416
MOTOR_7 = 0x588
motor5FuelCounter = 0
fakeTorque = 0
function xorChecksum(data, targetIndex)
local index = 1
local result = 0
while data[index] ~= nil do
if index ~= targetIndex then
result = result ~ data[index]
end
index = index + 1
end
data[targetIndex] = result
return result
end
function setBitRange(data, totalBitIndex, bitWidth, value)
local byteIndex = totalBitIndex >> 3
local bitInByteIndex = totalBitIndex - byteIndex * 8
if (bitInByteIndex + bitWidth > 8) then
bitsToHandleNow = 8 - bitInByteIndex
setBitRange(data, totalBitIndex + bitsToHandleNow, bitWidth - bitsToHandleNow, value >> bitsToHandleNow)
bitWidth = bitsToHandleNow
end
mask = (1 << bitWidth) - 1
data[1 + byteIndex] = data[1 + byteIndex] & (~(mask << bitInByteIndex))
maskedValue = value & mask
shiftedValue = maskedValue << bitInByteIndex
data[1 + byteIndex] = data[1 + byteIndex] | shiftedValue
end
function getBitRange(data, bitIndex, bitWidth)
byteIndex = bitIndex >> 3
shift = bitIndex - byteIndex * 8
value = data[1 + byteIndex]
if (shift + bitWidth > 8) then
value = value + data[2 + byteIndex] * 256
end
mask = (1 << bitWidth) - 1
return (value >> shift) & mask
end
-- sometimes we want to cut a CAN bus and install rusEFI into that cut
-- https://en.wikipedia.org/wiki/Man-in-the-middle_attack
-- this controls onCanRx rate as well!
setTickRate(300)
ECU_BUS = 1
-- really 'not ECU'
TCU_BUS = 2
function setTwoBytes(data, offset, value)
value = math.floor(value)
data[offset + 2] = value >> 8
data[offset + 1] = value & 0xff
end
hexstr = { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, "A", "B", "C", "D", "E", "F" }
function toHexString(num)
if num == 0 then
return '0'
end
local result = ""
while num > 0 do
local n = num % 16
result = hexstr[n + 1] ..result
num = math.floor(num / 16)
end
return result
end
function arrayToString(arr)
local str = ""
local index = 1
while arr[index] ~= nil do
str = str.." "..toHexString(arr[index])
index = index + 1
end
return str
end
totalEcuMessages = 0
totalTcuMessages = 0
motor1Data = { 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motorBreData={ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
motor2Data = { 0x8A, 0x8D, 0x10, 0x04, 0x00, 0x4C, 0xDC, 0x87 }
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, 0x7E, 0xFE, 0xFF, 0xFF, 0x00 }
motor7Data = { 0x1A, 0x66, 0x7E, 0x00, 0x00, 0x00, 0x00, 0x00 }
accGraData = { 0x00, 0x00, 0x08, 0x00, 0x1A, 0x00, 0x02, 0x01 }
function onMotor1(bus, id, dlc, data)
rpm = getBitRange(data, 16, 16) * 0.25
tps = getBitRange(data, 40, 8) * 0.4
fakeTorque = interpolate(0, 6, 100, 60, tps)
-- engineTorque = getBitRange(data, 8, 8) * 0.39
-- innerTorqWithoutExt = getBitRange(data, 32, 8) * 0.4
-- torqueLoss = getBitRange(data, 48, 8) * 0.39
-- requestedTorque = getBitRange(data, 56, 8) * 0.39
engineTorque = fakeTorque * 0.9
innerTorqWithoutExt = fakeTorque
torqueLoss = 20
requestedTorque = fakeTorque
motor1Data[2] = engineTorque / 0.39
setTwoBytes(motor1Data, 2, rpm / 0.25)
motor1Data[5] = innerTorqWithoutExt / 0.4
motor1Data[6] = tps / 0.4
motor1Data[7] = torqueLoss / 0.39
motor1Data[8] = requestedTorque / 0.39
-- print ('MOTOR_1 fakeTorque ' ..fakeTorque)
-- print ('MOTOR_1 engineTorque ' ..engineTorque ..' RPM ' ..rpm)
-- print ('MOTOR_1 innerTorqWithoutExt ' ..innerTorqWithoutExt ..' tps ' ..tps)
-- print ('MOTOR_1 torqueLoss ' ..torqueLoss ..' requestedTorque ' ..requestedTorque)
txCan(TCU_BUS, id, 0, motor1Data)
end
function onMotor3(bus, id, dlc, data)
iat = getBitRange(data, 8, 8) * 0.75 - 48
pps = getBitRange(data, 16, 8) * 0.40
tps = getBitRange(data, 56, 8) * 0.40
-- print ('MOTOR_1 pps ' ..pps ..' tps ' ..tps ..' iat ' ..iat)
desired_wheel_torque = fakeTorque
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, id, 0, canMotor3)
end
function onMotor5(bus, id, dlc, data)
setBitRange(motor5Data, 5, 9, motor5FuelCounter)
xorChecksum(motor5Data, 8)
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
counter16 = (counter16 + 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, counter16)
xorChecksum(motor6Data, 1)
txCan(TCU_BUS, id, 0, motor6Data)
end
function onMotorInfo(bus, id, dlc, data)
-- print("Relaying to TCU " .. id)
txCan(TCU_BUS, id, 0, data) -- relay non-TCU message to TCU
end
function onMotorBre(bus, id, dlc, data)
motorBreCounter = (motorBreCounter + 1) % 16
setBitRange(motorBreData, 8, 4, motorBreCounter)
xorChecksum(motorBreData, 1)
txCan(TCU_BUS, id, 0, motorBreData) -- relay non-TCU message to TCU
end
function onMotor2(bus, id, dlc, data)
minTorque = fakeTorque / 2
motor2Data[7] = math.floor(minTorque / 0.39)
print ( "brake " .. getBitRange(data, 16, 2) .. " " .. rpm)
brakeBit = rpm < 2000 and 1 or 0
setBitRange(motor2Data, 16, 1, brakeBit)
txCan(TCU_BUS, id, 0, data) -- relay non-TCU message to TCU
-- txCan(TCU_BUS, id, 0, motor2Data)
end
function onMotor7(bus, id, dlc, data)
-- print("Relaying to TCU " .. id)
-- txCan(TCU_BUS, id, 0, data) -- relay non-TCU message to TCU
txCan(TCU_BUS, id, 0, motor7Data)
end
function onAccGra(bus, id, dlc, data)
accGraCounter = (accGraCounter + 1) % 16
setBitRange(accGraData, 60, 4, accGraCounter)
xorChecksum(accGraData, 1)
-- print("Relaying to TCU " .. id)
-- txCan(TCU_BUS, id, 0, data) -- relay non-TCU message to TCU
txCan(TCU_BUS, id, 0, accGraData)
end
canRxAdd(ECU_BUS, MOTOR_1, onMotor1)
canRxAdd(ECU_BUS, MOTOR_BRE, onMotorBre)
canRxAdd(ECU_BUS, MOTOR_2, onMotor2)
canRxAdd(ECU_BUS, MOTOR_3, onMotor3)
canRxAdd(ECU_BUS, MOTOR_5, onMotor5)
canRxAdd(ECU_BUS, MOTOR_INFO, onMotorInfo)
canRxAdd(ECU_BUS, MOTOR_6, onMotor6)
canRxAdd(ECU_BUS, MOTOR_7, onMotor7)
canRxAdd(ECU_BUS, ACC_GRA, onAccGra)
everySecondTimer = Timer.new()
canMotorInfoCounter = 0
motorBreCounter = 0
accGraCounter = 0
counter16 = 0
mafSensor = Sensor.new("maf")
mafCalibrationIndex = findCurveIndex("mafcurve")
function onTick()
freqValue = getSensor("AuxSpeed1") or 0
mafValue = curve(mafCalibrationIndex, 5)
-- print(freqValue .. " mafValue=" .. mafValue)
mafSensor : set(mafValue)
if everySecondTimer : getElapsedSeconds() > 1 then
everySecondTimer : reset()
print("Total from ECU " ..totalEcuMessages .." from TCU " ..totalTcuMessages)
motor5FuelCounter = motor5FuelCounter + 20
canMotorInfoCounter = (canMotorInfoCounter + 1) % 8
canMotorInfo[1] = 0x90 + (canMotorInfoCounter * 2)
txCan(1, MOTOR_INFO, 0, canMotorInfo)
end
end