Ru racing2019

CANsimulator/CANTestRec/CANTestRec.ino

@@ -0,0 +1,62 @@
+// -------------------------------------------------------------
+// CANtest for Teensy 3.6 dual CAN bus
+// by Collin Kidder, Based on CANTest by Pawelsky (based on CANtest by teachop)
+//
+// Both buses are left at default 250k speed and the second bus sends frames to the first
+// to do this properly you should have the two buses linked together. This sketch
+// also assumes that you need to set enable pins active. Comment out if not using
+// enable pins or set them to your correct pins.
+//
+// This sketch tests both buses as well as interrupt driven Rx and Tx. There are only
+// two Tx buffers by default so sending 5 at a time forces the interrupt driven system
+// to buffer the final three and send them via interrupts. All the while all Rx frames
+// are internally saved to a software buffer by the interrupt handler.
+//
+
+#include <FlexCAN.h>
+
+static uint8_t hex[17] = "0123456789abcdef";
+
+// -------------------------------------------------------------
+static void hexDump(uint8_t dumpLen, uint8_t *bytePtr)
+{
+  uint8_t working;
+  while (dumpLen--)
+  {
+    working = *bytePtr++;
+    Serial.write(hex[working >> 4]);
+    Serial.write(hex[working & 15]);
+  }
+  Serial.write('\r');
+  Serial.write('\n');
+}
+
+// -------------------------------------------------------------
+void setup(void)
+{
+  //  mask.flags.extended = 0;
+  //  mask.flags.remote = 0;
+  mask.ext = 0;
+  mask.rtr = 0;
+  mask.id = 0;
+
+  delay(1000);
+  Serial.begin(9600);
+  Serial.println("Hello Teensy CAN Recieve Test.");
+
+  Can0.begin(500000);
+}
+
+// -------------------------------------------------------------
+void loop(void)
+{
+  CAN_message_t inMsg;
+  while (Can0.available())
+  {
+    Can0.read(inMsg);
+    Serial.print("CAN bus 0: ");
+    hexDump(8, inMsg.buf);
+  }
+  delay(20);
+  Serial.println("Im in a recieving loop.");
+}

CANsimulator/CANTestSend/CANTestSend.ino

@@ -0,0 +1,64 @@
+// -------------------------------------------------------------
+// CANtest for Teensy 3.6 dual CAN bus
+// by Collin Kidder, Based on CANTest by Pawelsky (based on CANtest by teachop)
+//
+// Both buses are left at default 250k speed and the second bus sends frames to the first
+// to do this properly you should have the two buses linked together. This sketch
+// also assumes that you need to set enable pins active. Comment out if not using
+// enable pins or set them to your correct pins.
+//
+// This sketch tests both buses as well as interrupt driven Rx and Tx. There are only
+// two Tx buffers by default so sending 5 at a time forces the interrupt driven system
+// to buffer the final three and send them via interrupts. All the while all Rx frames
+// are internally saved to a software buffer by the interrupt handler.
+//
+
+#include <FlexCAN.h>
+
+
+static CAN_message_t msg;
+static uint8_t hex[17] = "0123456789abcdef";
+
+
+// -------------------------------------------------------------
+void setup(void)
+{
+  delay(1000);
+  Serial.begin(9600);
+  Serial.println("Hello Teensy CAN Send Test.");
+
+  Can0.begin(500000);
+
+  msg.ext = 0;
+  msg.id = 0x100;
+  msg.len = 8;
+  msg.buf[0] = 10;
+  msg.buf[1] = 20;
+  msg.buf[2] = 0;
+  msg.buf[3] = 100;
+  msg.buf[4] = 128;
+  msg.buf[5] = 64;
+  msg.buf[6] = 32;
+  msg.buf[7] = 16;
+}
+
+
+// -------------------------------------------------------------
+void loop(void)
+{
+
+  msg.buf[0]++;
+  Can0.write(msg);
+  msg.buf[0]++;
+  Can0.write(msg);
+  msg.buf[0]++;
+  Can0.write(msg);
+  msg.buf[0]++;
+  Can0.write(msg);
+  msg.buf[0]++;
+  Can0.write(msg);  
+
+
+  delay(20);
+  Serial.println("Im in a sending loop.");
+}

CANsimulator/CANsimulator.ino

@@ -18,73 +18,94 @@ const uint16_t MAX_RPM = 14000;
 static CAN_message_t msg1;
 static CAN_message_t msg2;
 
-void demo() {
-	if (reverse) {
-		if (rpm != 0) {
+void demo()
+{
+	if (reverse)
+	{
+		if (rpm != 0)
+		{
 			rpm -= 25;
+			Serial.print("RPM : ");
+			Serial.println(rpm);
 		}
-		else {
+		else
+		{
 			oilTemp = random(4730, 4830);
 			waterTemp = random(4030, 4230);
 			brakeTemp = random(3730, 4230);
 			voltage = random(11900, 12900);
 
-			if (gear > 0) {
+			if (gear > 0)
+			{
 				gear--;
 				rpm = 9000;
 			}
-			else {
+			else
+			{
 				rpm = 0;
 				speed = 0;
 			}
 		}
 	}
-	else {
-		if (rpm != MAX_RPM) {
+	else
+	{
+		if (rpm != MAX_RPM)
+		{
 			rpm += 25;
 		}
-		else {
+		else
+		{
 			oilTemp = random(4730, 4830);
 			waterTemp = random(4030, 4230);
 			brakeTemp = random(3730, 4230);
 			voltage = random(11900, 12900);
 
-			if (gear < 6) {
+			if (gear < 6)
+			{
 				gear++;
 				rpm = 2000;
 			}
-			else {
+			else
+			{
 				rpm = 13500;
 			}
 		}
 	}
 
-	if (reverse) {
-		if (speed > 0) {
-			if (speedCount == 15) {
+	if (reverse)
+	{
+		if (speed > 0)
+		{
+			if (speedCount == 15)
+			{
 				speed--;
 				speedCount = 0;
 			}
-			else {
+			else
+			{
 				speedCount++;
 			}
 		}
 	}
-	else {
-		if (speed < 200 && gear != 0) {
-			if (speedCount == 15) {
+	else
+	{
+		if (speed < 200 && gear != 0)
+		{
+			if (speedCount == 15)
+			{
 				speed++;
 				speedCount = 0;
 			}
-			else {
+			else
+			{
 				speedCount++;
 			}
 		}
 	}
 }
 
-void setup() {
-
+void setup()
+{
 	// Initialize the CAN bus
 	Can0.begin(500000);
 	Serial.begin(9600);
@@ -100,20 +121,20 @@ void setup() {
 	// CAN message headers
 	msg1.id = 0x1;
 	msg1.len = 8;
-	msg1.flags.extended = 0;
-	msg1.flags.remote = 0;
-	
+	//msg1.flags.extended = 0;
+	//msg1.flags.remote = 0;
+
 	msg2.id = 0x2;
 	msg2.len = 8;
-	msg2.flags.extended = 0;
-	msg2.flags.remote = 0;
-
+	//msg2.flags.extended = 0;
+	//msg2.flags.remote = 0;
+	msg2.ext = 0;
+	msg2.rtr = 0;
 }
 
-void loop() {
-
+void loop()
+{
 	demo();
-
 	// CAN message 1 payload
 	msg1.buf[0] = (uint8_t)rpm;
 	msg1.buf[1] = rpm >> 8;
@@ -124,8 +145,8 @@ void loop() {
 	msg1.buf[6] = (uint8_t)speed;
 	msg1.buf[7] = 0;
 
-	while (!Can0.write(msg1, Can0.getFirstTxBox())) {
-	}
+	//while (!Can0.write(msg1, Can0.getFirstTxBox())) {}
+	Can0.write(msg1, Can0.getFirstTxBox());
 
 	// CAN message 2 payload
 	msg2.buf[0] = (uint8_t)oilTemp;
@@ -136,14 +157,16 @@ void loop() {
 	msg2.buf[5] = waterTemp >> 8;
 	msg2.buf[6] = speed;
 	msg2.buf[7] = speed >> 8;
-
-	while (!Can0.write(msg2, Can0.getLastTxBox())) {
-	}
 
-	if (gear == 6 && rpm == 14000) {
+	//while (!Can0.write(msg2, Can0.getLastTxBox())){}
+	Can0.write(msg2, Can0.getLastTxBox());
+
+	if (gear == 6 && rpm == 14000)
+	{
 		reverse = true;
 	}
-	if (reverse && gear == 0 && rpm == 0) {
+	if (reverse && gear == 0 && rpm == 0)
+	{
 		reverse = false;
 	}
 

ClassLibrary/CanListener.cpp

@@ -1,19 +1,23 @@
 #include "CanListener.h"
 
-inline float CanListener::CANIntToFloat(uint16_t floatValue) {
+inline float CanListener::CANIntToFloat(uint16_t floatValue)
+{
 	return floatValue / 1000.0;
 }
 
-inline float CanListener::CANKelvinToFloat(uint16_t kelvinValue) {
+inline float CanListener::CANKelvinToFloat(uint16_t kelvinValue)
+{
 	float result = kelvinValue / 10.0;
 	result = result - 273.15;
 
 	return result;
 }
 
-bool CanListener::frameHandler(CAN_message_t &frame, int mailbox, uint8_t controller) {
+bool CanListener::frameHandler(CAN_message_t &frame, int mailbox, uint8_t controller)
+{
 
-	switch (frame.id) {
+	switch (frame.id)
+	{
 	case 1:
 		vehicle.rpm = frame.buf[0] | (frame.buf[1] << 8);
 		vehicle.voltage = CANIntToFloat(frame.buf[2] | (frame.buf[3] << 8));

ClassLibrary/CanListener.h

@@ -2,7 +2,8 @@
 #include "Vehicle.h"
 #include <FlexCAN.h>
 
-class CanListener : public CANListener {
+class CanListener : public CANListener
+{
 public:
 	// Vehicle class instance
 	Vehicle vehicle;

ClassLibrary/Vehicle.cpp

@@ -1,6 +1,7 @@
 #include "Vehicle.h"
 
-Vehicle::Vehicle() {
+Vehicle::Vehicle()
+{
 	// Initialize car values
 	rpm = 0;
 	prevRPM = 1;
@@ -34,5 +35,4 @@ Vehicle::Vehicle() {
 	prevCylcontrib4 = 1;
 }
 
-
 Vehicle::~Vehicle() {}