openinverter forum

Code: Select all

   typedef struct {
    unsigned char SixBits:6;
    unsigned char TwoBits:2;
   } tEightBits;
   tEightBits canrun;
   tEightBits canio;
   canio.SixBits = Param::GetInt(Param::canio);
   canrun.TwoBits = g_canrun;
   canData[0] = 0 | canio.SixBits << 24 | canrun.TwoBits << 30;
   canData[1] = 0 | canrun.TwoBits << 14;
   can->Send(0x03F, canData);

Code: Select all

#include <Ticker.h>

#include <Canbus.h>
#include <defaults.h>
#include <global.h>
#include <mcp2515.h>
#include <mcp2515_defs.h>

void P500MS();
Ticker timer1(P500MS, 500);

uint16_t SPot1 = 100;
uint16_t SPot2 = 100;
bool SCruise=false;
bool SStart=false;
bool SBrake=false;
bool SForward=false;
bool SReverse=true;
bool SBms=false;
uint8_t SCanRun1=0;
uint8_t SCanRun2=0;
int SCruiseSpeed=0;
int SRegenpreset=0;
unsigned short int i=0;
byte data[7];
long data2[2];

void setup() {
  Serial.begin(115200);
  
  if(Canbus.init(CANSPEED_500))  //Initialise MCP2515 CAN controller at the specified speed
    Serial.println("CAN Init ok");
  else
    Serial.println("Can't init CAN");

  delay(10);
  timer1.start(); //start the ticker.
}

void loop() 
{
  timer1.update();
}

void P500MS(){
  tCAN message;
  SCanRun1 +=1;
  SCanRun2 +=1;

  message.id = 0x3F; //formatted in HEX
  message.header.rtr = 0;
  message.header.length = 8; //formatted in DEC
 
   
   long Pot = SPot1 & 0xFFF;
   long Pot2 = SPot2 & 0xFFF;
   long canio = ( SCruise | SStart<<1|SBrake<<2|SForward<<3|SReverse<<4|SBms<<5 ) & 0x3F;
   long ctr = SCanRun1 & 0x3;
   long cruise = SCruiseSpeed & 0x3FFF;
   long regen = SRegenpreset & 0x7F;

   data2[0] = Pot | (Pot2 << 12) | (canio << 24) | (ctr << 30);
   data2[1] = cruise | (ctr << 14) | (regen << 16);
   
  message.data[0]= (data2[0]) & 0xFF;
  message.data[1]= (data2[0]>>8) & 0xFF;
  message.data[2]= (data2[0]>>16) & 0xFF;
  message.data[3]= (data2[0])>>24 & 0xFF;
  message.data[4]= (data2[1]) & 0xFF;
  message.data[5]= (data2[1]>>8) & 0xFF;
  message.data[6]= (data2[1]>>16) & 0xFF;
  message.data[7]= (data2[1])>>24 & 0xFF;

mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
mcp2515_send_message(&message);
  
}

Code: Select all

{
  "iqkp": 32,
  "idkp": 32,
  "curki": 20000,
  "vlimflt": 10,
  "vlimmargin": 2500,
  "fwcurmax": 0,
  "syncofs": 32000,
  "lqminusld": 2,
  "fluxlinkage": 90,
  "syncadv": 10,
  "polepairs": 4,
  "respolepairs": 2,
  "sincosofs": 2048,
  "encmode": 4,
  "fmax": 200,
  "numimp": 60,
  "dirchrpm": 100,
  "dirmode": 1,
  "snsm": 23,
  "pwmfrq": 2,
  "il1gain": 3.18,
  "il2gain": 3.18,
  "udcgain": 3.78,
  "udcofs": 310,
  "udclim": 540,
  "snshs": 0,
  "pinswap": 15,
  "modmax": 37836,
  "potmin": 1000,
  "potmax": 3000,
  "pot2min": 1000,
  "pot2max": 3000,
  "potmode": 0,
  "throtramp": 100,
  "throtramprpm": 20000,
  "throtcur": 1,
  "brakeregen": -50,
  "regenramp": 100,
  "regentravel": 30,
  "offthrotregen": 0,
  "cruiseregen": -30,
  "regenrampstr": 10,
  "brklightout": -50,
  "bmslimhigh": 60,
  "bmslimlow": -1,
  "udcmin": 0,
  "udcmax": 400,
  "idcmax": 326,
  "idcmin": 0,
  "idckp": 2,
  "idcflt": 9,
  "tmphsmax": 150,
  "tmpmmax": 300,
  "throtmax": 100,
  "throtmin": -100,
  "accelmax": 100,
  "accelflt": 3,
  "chargemode": 3,
  "chargecur": 0,
  "chargekp": 50,
  "chargeki": 10,
  "chargeflt": 3,
  "chargepwmin": 10,
  "chargepwmax": 90,
  "idlespeed": -100,
  "idlethrotlim": 100,
  "idlemode": 3,
  "holdkp": -0.25,
  "speedkp": 0.25,
  "speedflt": 5,
  "cruisemode": 0,
  "cruisethrotlim": 50,
  "udcsw": 168,
  "udcswbuck": 224,
  "tripmode": 1,
  "bootprec": 0,
  "pwmfunc": 0,
  "pwmgain": 0,
  "pwmofs": 5000,
  "canspeed": 1,
  "canperiod": 0,
  "nodeid": 1,
  "controlid": 63,
  "controlcheck": 1,
  "manualstart": 0,
  "manualiq": 0,
  "manualid": 0
}