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tablero.ino
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tablero.ino
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#include "Arduino.h"
#include <SPI.h>
#include "mcp_can.h"
#define BUFSIZE 10
#define RPM_HIGH 0
#define RPM_LOW 1
#define SPEED_HIGH 4
#define SPEED_LOW 5
#define COOLANT_TEMPERATURE 0
#define ENGINE_LIGHT 4
#define OIL_LIGHT 5
#define BKLIGHT_NEEDLE_HIGH 0
#define BKLIGHT_NEEDLE_LOW 1
#define BKLIGHT_NUMBERS_HIGH 4
#define BKLIGHT_NUMBERS_LOW 5
#define BKLIGHT_LCD_HIGH 6
#define BKLIGHT_LCD_LOW 7
#define TURNING_SIGNALS 0
#define WARNING_SOUND 1
#define FOG_LAMPS 4
#define DOORS_OPEN 0
#define HIGHBEAMS 3
#define HEADLAMPS 7
const int spiCSPin = 10;
MCP_CAN CAN(spiCSPin);
uint8_t buff[BUFSIZE];
unsigned long id = 0x300;
uint8_t payload[] = {
0x20, // RPM
0xEB, // RPM
0x00,
0x00,
0x65, // Velocidad
0x00, // Velocidad
0x00,
0x00};
byte payload201hs[8] = {0, 0, 0, 0, 0, 0, 0, 0};
byte payload420hs[8] = {0, 0, 0, 0, 0, 0, 0, 0};
byte payload2a0ms[8] = {0, 0, 0, 0, 0, 0, 0, 0};
byte payload2a1ms[8] = {0, 0, 0, 0, 0, 0, 0, 0};
byte payload265ms[8] = {0, 0, 0, 0, 0, 0, 0, 0};
byte payload433ms[8] = {0, 0, 0, 0, 0, 0, 0, 0};
String line;
void setup()
{
Serial.begin(115200);
Serial.setTimeout(75);
while (CAN_OK != CAN.begin(CAN_500KBPS, MCP_8MHz))
{
Serial.println("CAN BUS Init Failed");
delay(100);
}
Serial.println("CAN BUS Init OK!");
}
void loop()
{
if (Serial.available())
{
unsigned long a = millis();
line = Serial.readStringUntil(0);
int indexOf = line.indexOf('|');
rpm(line.substring(0, indexOf).toInt());
line = line.substring(indexOf + 1);
indexOf = line.indexOf('|');
speed(line.substring(0, indexOf).toInt());
Serial.println(millis() - a);
}
// High speed CAN bus
CAN.sendMsgBuf(0x201, 0, 8, payload201hs);
CAN.sendMsgBuf(0x420, 0, 8, payload420hs);
// Mid speed CAN bus
// CAN.sendMsgBuf(0x2a0, 0, 8, payload2a0ms);
// CAN.sendMsgBuf(0x2a1, 0, 8, payload2a1ms);
// CAN.sendMsgBuf(0x265, 0, 8, payload265ms);
// CAN.sendMsgBuf(0x433, 0, 8, payload433ms);
}
void sendPayload(unsigned long arbId, byte b0, byte b1, byte b2, byte b3, byte b4, byte b5, byte b6, byte b7)
{
byte payload[] = {b0, b1, b2, b3, b4, b5, b6, b7};
CAN.sendMsgBuf(arbId, 0, 8, payload);
}
void sendFromSerial()
{
if (Serial.available())
{
Serial.readBytes(buff, BUFSIZE);
id = buff[0] << 8;
id += buff[1];
for (int i = 0; i < 8; i++)
{
payload[i] = buff[i + 2];
}
Serial.print("id");
Serial.println(id);
Serial.println(id, HEX);
}
CAN.sendMsgBuf(id, 0, 8, payload);
}
void sniffBus()
{
unsigned char len = 0;
unsigned char buf[8];
if (CAN_MSGAVAIL == CAN.checkReceive())
{
CAN.readMsgBuf(&len, buf);
unsigned long canId = CAN.getCanId();
Serial.print(canId, HEX);
Serial.print(" - ");
for (int i = 0; i < len; i++)
{
Serial.print(buf[i], HEX);
Serial.print(" ");
}
Serial.println();
}
}
void scanBus()
{
for (unsigned long id = 0x000; id < 0x800; id++)
{
Serial.print("ID 0x");
Serial.println(id, HEX);
byte testPayload[] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
CAN.sendMsgBuf(id, 0, 8, testPayload);
delay(25);
}
}
/*******************************
* Payload control
*******************************/
void rpm(unsigned int rpm)
{
byte b0 = (rpm & 0xFF00) >> 8;
byte b1 = rpm & 0xFF;
payload201hs[RPM_HIGH] = b0;
payload201hs[RPM_LOW] = b1;
}
void speed(unsigned int speed)
{
byte b0 = speed / (7.6 / 3.0);
byte b1 = (speed - b0) / 0.01019;
payload201hs[SPEED_HIGH] = b0;
payload201hs[SPEED_LOW] = b1;
}
void coolantTemperature(int temp)
{
payload420hs[COOLANT_TEMPERATURE] = temp + 40;
}
void engineLight(bool on)
{
if (on)
payload420hs[ENGINE_LIGHT] |= 0xFF;
else
payload420hs[ENGINE_LIGHT] &= 0x00;
}
void oilLight(bool on)
{
if (on)
payload420hs[OIL_LIGHT] |= 0b00010000;
else
payload420hs[OIL_LIGHT] &= 0b11101111;
}
void backlightNeedles(unsigned int brightness)
{
}
void backlightLcd(unsigned int brightness)
{
}
void backlightNumbers(unsigned int brightness)
{
}
void turningSignals(bool left, bool right, bool blink)
{
}
void frontFogLamp(bool on)
{
if (on)
payload265ms[FOG_LAMPS] |= 0b00000100;
else
payload265ms[FOG_LAMPS] &= 0b11111011;
}
void rearFogLamp(bool on)
{
if (on)
payload265ms[FOG_LAMPS] |= 0b00000010;
else
payload265ms[FOG_LAMPS] &= 0b11111101;
}
void lights(bool on)
{
if (on)
payload433ms[HEADLAMPS] |= 0b00000001;
else
payload433ms[HEADLAMPS] &= 0b11111110;
}
void highbeams(bool on)
{
if (on)
payload433ms[HIGHBEAMS] |= 0b01000000;
else
payload433ms[HIGHBEAMS] &= 0b10111111;
}
void warningSound(bool on)
{
if (on)
payload265ms[WARNING_SOUND] |= 0b00100000;
else
payload265ms[WARNING_SOUND] &= 0x11011111;
}
void doorsOpenLight(bool on)
{
if (on)
payload433ms[DOORS_OPEN] |= 0b00000010;
else
payload433ms[DOORS_OPEN] &= 0x11111101;
}