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canEmulator.ino
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canEmulator.ino
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#include <Arduino.h>
#define SPEEDUP 500 //the smaler, the faster (default is 1000)
#include "driver/gpio.h"
#include "driver/twai.h"
#define SERIAL_SPEED 115200 //boud rate for arduino serial console debug output
#define CAN_TX GPIO_NUM_21
#define CAN_RX GPIO_NUM_22
unsigned long startTime;
struct msgStruct {
byte duration; //how long to wait before next msg is send
short id; //the CAN-ID
uint8_t dlc; //Number of data-bytes in this msg (currently <= 8 bytes)
uint8_t data[8]; //the data which is send to the dash
};
/**
* the following stuct contains the messages which are send to the dash
* for initialization
* feel free to add or remove messages.
* {duration, id, dlc {byte1, byte2, ... byte_dlc}}
**/
const struct msgStruct initMessages[] PROGMEM = {
{10, 0x35d, 8, { 0x10, 0x03, 0x20, 0x00, 0x00, 0x00, 0x50, 0x00}} //dash on
, {4, 0x60d, 8, { 0x00, 0x10, 0x00, 0x00, 0x27, 0x73, 0x21, 0x71}} //reset displ state
, {20, 0x60d, 8, { 0x08, 0x10, 0x00, 0x00, 0x32, 0xFF, 0x2f, 0x10}} //show saved km
//,{10, 0x60d, 8, { 0x00, 0x00, 0x00, 0x00, 0x63, 0x00, 0x21, 0x70}} //disp normal
//,{10, 0x625, 4, { 0x82, 0x00, 0xC0, 0x00}} //engine on
//,{10, 0x75E, 4, { 0x01, 0x80, 0xC4, 0x00}} //parking breake
//,{10, 0x60D, 4, {0x00, 0x00, 0x00, 0x00, 0x63, 0x00, 0x21, 0x71}} //disp button
};
/**
* the following stuct contains the messages which are send to the dash
* within a loop
* feel free to add or remove messages.
* {duration, id, dlc {byte1, byte2, ... byte_dlc}}
**/
const struct msgStruct messages[] PROGMEM = { //load into flash-memory (sram was to small)
{1, 0x743, 8, {0x02, 0x10, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00}} //enable indicators
,{3, 0x743, 8, {0x04, 0x30, 0x06, 0x20, 0xFF, 0x00, 0x00, 0x00}} //left ind. lights
,{3, 0x743, 8, {0x04, 0x30, 0x07, 0x20, 0xFF, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x01, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x07, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x06, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x05, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x00, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x18, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x12, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x11, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x0A, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x0B, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x04, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x14, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x17, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x03, 0x20, 0x00, 0x00, 0x00, 0x00}} //colant to hot
,{7, 0x743, 8, {0x02, 0x10, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00}} //full left alpha
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x08, 0x00, 0x00, 0x00}} //middle ind. lights
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x02, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x15, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x19, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x0F, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x09, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x0C, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x0E, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x03, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x13, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x10, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x17, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x07, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x00, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x16, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x11, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x0F, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x08, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x1E, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x19, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x06, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x01, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x0E, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x09, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x1F, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x03, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x1B, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x12, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x0A, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x20, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x0B, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x13, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x1A, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x02, 0x00, 0x00, 0x00}}
,{1, 0x743, 8, {0x04, 0x30, 0x02, 0x20, 0x1D, 0x00, 0x00, 0x00}}
,{2, 0x743, 8, { 0x04, 0x30, 0x05, 0x20, 0x46, 0x00, 0x00, 0x00}} //rpm full
,{2, 0x743, 8, { 0x04, 0x30, 0x05, 0x20, 0x44, 0x00, 0x00, 0x00}} //rpm -1
,{2, 0x743, 8, { 0x04, 0x30, 0x05, 0x20, 0x42, 0x00, 0x00, 0x00}} //rpm -2
,{2, 0x743, 8, {0x04, 0x30, 0x01, 0x20, 0x16, 0x00, 0x00, 0x00}} //push breake indicator
,{2, 0x743, 8, {0x04, 0x30, 0x04, 0x20, 0xC8, 0x00, 0x00, 0x00}} //200kmh
,{2, 0x743, 8, {0x04, 0x30, 0x04, 0x20, 0xBC, 0x00, 0x00, 0x00}} //188kmh
,{7, 0x743, 8, {0x04, 0x30, 0x03, 0x11, 0x01, 0x00, 0x00, 0x00}} //full small
,{15, 0x60d, 8, { 0x00, 0x00, 0x00, 0x00, 0x63, 0x00, 0x21, 0x70}} //disp normal
};
/**
* Convenient function which prints debug output to the serial console
*/
void printMsg(int i, msgStruct msg){
unsigned long d = ((millis()-startTime)/1000);
byte s = d % 60;
byte m = (d/60) % 60;
byte h = (d/3600);
if (msg.duration==0) Serial.print("==>");
Serial.print(h); Serial.print(":"); Serial.print(m); Serial.print(":"); Serial.print(s);
Serial.print("\t");
Serial.print(i);
Serial.print("\t");
Serial.print("{");
Serial.print(msg.duration);
Serial.print(", ");
Serial.print(msg.id, HEX);
Serial.print(", ");
Serial.print(msg.dlc, HEX);
Serial.print(", {");
for(int i=0; i<msg.dlc; i++) {
Serial.print(msg.data[i], HEX);
if (i<msg.dlc) Serial.print(", ");
}
Serial.println("}}");
}
/*
* Send message to CAN-Bus
* i = numer of message
* m = the message it self
*/
void sendMsg(int i, msgStruct m){
printMsg(i, m);
twai_message_t msg;
msg.identifier = m.id;
msg.data_length_code = m.dlc;
for (uint8_t i=0; i<m.dlc; ++i)
msg.data[i] = m.data[i];
while (twai_transmit(&msg, pdMS_TO_TICKS(1000)) != ESP_OK) {
Serial.println(F("Error sending message... repeating"));
delay(((m.duration==0)?1:m.duration)*SPEEDUP); //wait for <duration> secs.
}
delay(((m.duration==0)?1:m.duration)*SPEEDUP); //wait for <duration> secs.
}
/**
* Setup and initialization
*/
void setup(){
Serial.begin(SERIAL_SPEED); //speed for arduino serial monitor
while (!Serial);
// try with GPIO_NUM_21 & 22
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(CAN_TX, CAN_RX, TWAI_MODE_NORMAL);
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
//Install TWAI driver
if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
printf("Driver installed\n");
} else {
printf("Failed to install driver\n");
return;
}
//Start TWAI driver
if (twai_start() == ESP_OK) {
printf("Driver started\n");
} else {
printf("Failed to start driver\n");
return;
}
startTime = millis();
//send display init commands
msgStruct m;
for(int i=0; i<(sizeof(initMessages)/sizeof(msgStruct)); i++){ //loop throu all messages
memcpy_P(&m, &initMessages[i], sizeof(msgStruct)); //read msg from flash-memory into sram
sendMsg(i,m);
}
Serial.println(F("setup finished."));
}
/**
* For ever loop throu our msg and send them to the dash
*/
void loop(){
msgStruct m;
for(int i=0; i<(sizeof(messages)/sizeof(msgStruct)); i++){ //loop throu all messages
memcpy_P(&m, &messages[i], sizeof(msgStruct)); //read msg from flash-memory into sram
sendMsg(i,m);
}
}