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feat: changing speed and rpm to floats #163

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Feb 12, 2025
Merged

feat: changing speed and rpm to floats #163

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27 changes: 10 additions & 17 deletions arduino/speed_receive/speed_receive.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@
// Channel 0 SPI_CS Pin: BCM 8
// Channel 1 SPI_CS Pin: BCM 7
// Interupt Pin: BCM25
const int SPI_CS_PIN = BCM8;
const int SPI_CS_PIN = BCM8;
const int CAN_INT_PIN = BCM25;
#else

Expand All @@ -28,21 +28,20 @@ const int SPI_CS_PIN = 9;
const int CAN_INT_PIN = 2;
#endif


#ifdef CAN_2518FD
#include "mcp2518fd_can.h"
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
#endif

#ifdef CAN_2515
#include "mcp2515_can.h"
mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
#endif

void setup() {
SERIAL_PORT_MONITOR.begin(9600);

while (CAN_OK != CAN.begin(CAN_500KBPS, MCP_8MHz)) { // init can bus : baudrate = 500k
while (CAN_OK != CAN.begin(CAN_500KBPS, MCP_8MHz)) { // init can bus : baudrate = 500k
SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
delay(100);
}
Expand All @@ -53,29 +52,23 @@ void loop() {
unsigned char len = 0;
unsigned char buf[8];

if (CAN_MSGAVAIL == CAN.checkReceive()) { // check if data coming
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
if (CAN_MSGAVAIL == CAN.checkReceive()) { // check if data coming
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf

unsigned long canId = CAN.getCanId();

SERIAL_PORT_MONITOR.println("-----------------------------");
SERIAL_PORT_MONITOR.print("Get data from ID: 0x");
SERIAL_PORT_MONITOR.println(canId, HEX);

// SPEED
byte speed = buf[0];
byte distanceUnit = buf[1];

// RPM
byte lowByte = buf[2];
byte highByte = buf[3];
word rpm = word(highByte, lowByte);
float speed;
float rpm;
memcpy(&speed, buf, sizeof(speed)); // Retrieve speed
memcpy(&rpm, buf + 4, sizeof(rpm)); // Retrieve rpm (offset by 4)

SERIAL_PORT_MONITOR.print("SPEED: ");
SERIAL_PORT_MONITOR.print(speed);
SERIAL_PORT_MONITOR.print("\t");
SERIAL_PORT_MONITOR.print(distanceUnit == KMPH_SETTING ? "KMPH" : "MPH");
SERIAL_PORT_MONITOR.print("\t");
SERIAL_PORT_MONITOR.print("RPM: ");
SERIAL_PORT_MONITOR.print(rpm);
SERIAL_PORT_MONITOR.println();
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