CANsimulator/CANsimulator.ino at master · TeamSleipnir2018/CANsimulator · GitHub

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#include <stdint.h>
#include <FlexCAN.h>

// Vehicle values
uint16_t rpm;
uint16_t oilTemp;
uint16_t waterTemp;
uint16_t brakeTemp;
uint8_t gear;
uint8_t speed;
uint16_t voltage;
bool fanOn;

uint16_t speedCount;
bool reverse;
const uint16_t MAX_RPM = 14000;

static CAN_message_t msg1;
static CAN_message_t msg2;

void demo() {
	if (reverse) {
		if (rpm != 0) {
			rpm -= 25;
		}
		else {
			oilTemp = random(4730, 4830);
			waterTemp = random(4030, 4230);
			brakeTemp = random(3730, 4230);
			voltage = random(11900, 12900);

			if (gear > 0) {
				gear--;
				rpm = 9000;
			}
			else {
				rpm = 0;
				speed = 0;
			}
		}
	}
	else {
		if (rpm != MAX_RPM) {
			rpm += 25;
		}
		else {
			oilTemp = random(4730, 4830);
			waterTemp = random(4030, 4230);
			brakeTemp = random(3730, 4230);
			voltage = random(11900, 12900);

			if (gear < 6) {
				gear++;
				rpm = 2000;
			}
			else {
				rpm = 13500;
			}
		}
	}

	if (reverse) {
		if (speed > 0) {
			if (speedCount == 15) {
				speed--;
				speedCount = 0;
			}
			else {
				speedCount++;
			}
		}
	}
	else {
		if (speed < 200 && gear != 0) {
			if (speedCount == 15) {
				speed++;
				speedCount = 0;
			}
			else {
				speedCount++;
			}
		}
	}
}

void setup() {

	// Initialize the CAN bus
	Can0.begin(500000);
	Serial.begin(9600);

	rpm = 0;
	speed = 0;
	oilTemp = 130;
	waterTemp = 130;
	voltage = 12000;

	reverse = false;

	// CAN message headers
	msg1.id = 0x1;
	msg1.len = 8;
	msg1.flags.extended = 0;
	msg1.flags.remote = 0;

	msg2.id = 0x2;
	msg2.len = 8;
	msg2.flags.extended = 0;
	msg2.flags.remote = 0;

}

void loop() {

	demo();

	// CAN message 1 payload
	msg1.buf[0] = (uint8_t)rpm;
	msg1.buf[1] = rpm >> 8;
	msg1.buf[2] = (uint8_t)voltage;
	msg1.buf[3] = voltage >> 8;
	msg1.buf[4] = (uint8_t)waterTemp;
	msg1.buf[5] = waterTemp >> 8;
	msg1.buf[6] = (uint8_t)speed;
	msg1.buf[7] = 0;

	while (!Can0.write(msg1, Can0.getFirstTxBox())) {
	}

	// CAN message 2 payload
	msg2.buf[0] = (uint8_t)oilTemp;
	msg2.buf[1] = oilTemp >> 8;
	msg2.buf[2] = gear;
	msg2.buf[3] = 0;
	msg2.buf[4] = (uint8_t)waterTemp;
	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) {
		reverse = true;
	}
	if (reverse && gear == 0 && rpm == 0) {
		reverse = false;
	}

	delay(5);
}