Improved version with CAN mapping in the config string

racecapture3.lua

-- Copyright 2016 Mash at boostedforums.net
-- Minify before use by https://mothereff.in/lua-minifier
-- Editor https://ace.c9.io/build/kitchen-sink.html
-- don't remove excessive commas or comments - minify will deal with it

-- ========================= CAN CONFIG =======================================
local canCon ="0x7E1,0x33,10;8,SstTemp,-50,205,C@0x7E1,0x34,10;8,SstMode,1,3@0x7E1,0x36,3;8,Gear,0,11@0x7E1,0xA6;16,SstSlip1,-8500,8500,RPM,1/2,0,1;16,SstSlip2,-8500,8500,RPM,1/2,0,1@0x7E1,0xAA;16,SstPress1,0,30,Bar,1/500,0,1;16,SstPress2,0,30,Bar,1/500,0,1@0x7E1,0xA5;16,SstTemp1,-40,215,C,1/4,0,1;16,SstTemp2,-40,215,C,1/4,0,1@0x7E1,0x38;8,GearTarget,0,11@0x7E1,0xAB;16,SstPosF1,-128,128,mm,1/256,0,1;16,SstPosF2,-128,128,mm,1/256,0,1@0x7E1,0xAC;16,SstPosF3,-128,128,mm,1/256,0,1;16,SstPosF4,-128,128,mm,1/256,0,1@0x7E1,0xAD;16,SstCurF1,0,2048,mA,1/16,0,1;16,SstCurF2,0,2048,mA,1/16,0,1@0x7E1,0xAE;16,SstCurCool,0,2048,mA,1/16,0,1@0x7E1,0xAF;16,SstCurLPS,0,2048,mA,1/16,0,1@0x7E1,0xB0;16,SstShaft1,0,8500,RPM,1/2,0,1;16,SstShaft2,0,8500,RPM,1/2,0,1@0x7E1,0xB2;16,SstDamper,0,8500,RPM,1/2,0,1@0x7E1,0x1B;16,WheelFR,0,3000,RPM,1/2;16,WheelRR,0,3000,RPM,1/2;16,WheelFL,0,3000,RPM,1/2;16,WheelRL,0,3000,RPM,1/2@0x784,0x02;16,Steering,-420,420,deg,1/22.885,0,1;32;16,BrakeMC,0,120,bar,1/100,0,1;16,BrakeFL,0,120,bar,1/100,0,1;16,BrakeFR,0,120,bar,1/100,0,1;16,BrakeRL,0,120,bar,1/100,0,1;16,BrakeRR,0,120,bar,1/100,0,1@0x7E0,0x805100;16,Load,0,1000,load,10/32;16,RPM,0,10000,rpm,1000/256;16,MAP,0,60,psi,19.3383650667/300;16,MivecIn,-2.5,37.5,deg,-10/512,80;16,MivecEx,-37.5,2.5,deg,-10/512,80;16,IPW,0,32,ms,0.001;8,AFR,8,18,afr,0.046872,7.3125;8,Speed,0,255,kph;8,Timing,-20,107,deg,1,-20;8,KnockSum,0,255;8,TPS,0,100,%,100/255;8,WGDC,0,100,%,1/2;8,ECT,-40,215,C,1,-40;8,MAT,-40,215,C,1,-40;8,IAT,-40,215,C,1,-40;8,STFT,-25,25,%,100/512,-25;8,LTFT,-25,25,%,100/512,-25;8,MAF,0,5,V,5/255;16,LoadMAP,0,1000,load,100/16384;16,LoadMAF,0,1000,load,100/16384;8,KnockBase,0,255;8,KnockFilter,0,255@0x7E0,0x805100;8,Load,0,398,load,100/64;8,IPW,0,25.5,ms,1/10;8,AfrMap,8,20,afr,1/14.7/128;24;8,LtftIdle,-25,25,%,100/512,-25;8,LtftCruise,-25,25,%,100/512,-25;8,LoadTiming,0,398,load,100/64;33;7,Baro,0.45*14.5037738,1.725*14.5037738,psi,14.5037738/200,0.45*14.5037738;16;8,MivecInTar,-2.5,37.5,deg,10/64,-2.5;8,MivecExTar,-37.5,2.5,deg,-10/64,2.5;24;8,APP,0,100,%,1/2,-16;8;8,WgdcCorr,-64,128,%,1/2;8,SpeedH,0,330,kph,2;8,EcuVolt,0,18.7,V,18.7/255;24;8,LoadImap,0,398,load,100/64;8;8,LoadChosen,0,398,load,100/64@0x7E0,0x808661,2;8,FrontO2,0,1,V,5/255@"
local canMap = {}

local sb,sl,sm = string.byte,string.len,string.match
function readOne(pos)
	local c = sb(canCon,pos)
	if c==nil then return nil,pos+1 end
	if (c > 47 and c < 58) or c==45 then -- read number
		local nums = sm(canCon,"[-.%xxX]+",pos)
		local num = tonumber(nums)
		local pos2 = pos+sl(nums)
		c=sb(canCon,pos2)
		if c==42 or c==47 then -- MULTIPLY or DIVIDE
			pos2=pos2+1
			local nums2=sm(canCon,"[-.%xxX]+",pos2)
			local num2=tonumber(nums2)
			pos2 = pos2+sl(nums2)
			if c==42 then num=num*num2 else num=num/num2 end			
		end
		return num,pos2
	end
	-- Read string
	local st = sm(canCon,"[^,;@]+",pos)
	if st==nil then return nil,pos+1
	else return st, pos+sl(st) end
end

function ss(pos)
	return string.sub(canCon,pos,pos)
end

function canRDmap()
	local cmi,res,pos = 1,nil,1

	while pos <= sl(canCon) do
		canMap[cmi]=nil -- separator of requests
		canMap[cmi+1],pos=readOne(pos) -- address
		canMap[cmi+2],pos=readOne(pos+1) -- pid
		if ss(pos) =="," then
		                        	canMap[cmi+3],pos=readOne(pos+1) -- priority
		else canMap[cmi+3]=1 end	
		
		--print("REQUEST Address: "..canMap[cmi+1].." PID: "..canMap[cmi+2].." Priority: "..canMap[cmi+3])

		local cmi_len = cmi+4
		canMap[cmi_len]=0
		cmi=cmi+5
		while ss(pos)~="@" do
			-- Address,PID,Priority (1)
			-- ;Bits,Name,Min,Max,Unit,Mult(1),Add(0),Signed(0/1 - default 0)
			-- ;Bits - skip number of bits forward
			-- @

			-- nil, address, pid, priority, length - request
			-- bits, nil - skip 
			-- bits, channelId, mult, add, signed - channel
			--print("  start char "..ss(pos))

			local name,minv,maxv,precision,unit,mult = "",0,0,0,"",1
			canMap[cmi],pos=readOne(pos+1) --bits
			--print("  bits: "..canMap[cmi])
			canMap[cmi_len]=canMap[cmi_len]+canMap[cmi] -- count length 
			if ss(pos)~="," then
				--print("  skip "..ss(pos))
				canMap[cmi+1]=nil -- Skip
				cmi=cmi+2
			else
				name,pos = readOne(pos+1)
				minv,pos = readOne(pos+1)
				maxv,pos = readOne(pos+1)
				if ss(pos)=="," then unit,pos = readOne(pos+1) --unit
				else unit = "" end
				if ss(pos)=="," then mult,pos = readOne(pos+1) --mult
				else mult=1 end
				canMap[cmi+2]=mult
				if ss(pos)=="," then canMap[cmi+3],pos = readOne(pos+1) --add
				else canMap[cmi+3]=0 end
				if ss(pos)=="," then canMap[cmi+4],pos = readOne(pos+1) --sign
				else canMap[cmi+4]=0 end
				
				while mult < 1 do
					precision=precision+1
					mult=mult*10
				end
								
				canMap[cmi+1]=addChannel(name,1000,precision,minv,maxv,unit)
				cmi=cmi+5
			end
		end
		pos=pos+1
	end
	canCon = nil -- Clean memory from large string we won't use anymore
end


function canRDall(count)
	-- nil, address, pid, priority, length - request
	-- bits, nil - skip 
	-- bits, channelId, mult, add, signed - channel

	local i = 1
	while canMap[i+1]~=nil do
		if (count % canMap[i+3]) == 0 then -- Priority implement 
		
			local data = canRD(canMap[i+1],canMap[i+2],canMap[i+4])
			if data ~= nil then
				i=i+5
				local bit = 1
				while canMap[i]~=nil do -- Set Channels
					if canMap[i+1]~=nil then
						local val = bitsToN(data,bit,canMap[i],canMap[i+4])
						val=val*canMap[i+2]+canMap[i+3]
						setChannel(canMap[i+1],val)
						bit=bit+canMap[i]
						i=i+5
					else -- skip bits
						bit=bit+canMap[i]
						i=i+2
					end
				end
			end
		end
	end
end

-- =========== UP TO 24 BIT NUMBER EXTRACTION FROM BYTE ARRAY ==================
local band, bxor, bnot = bit.band, bit.bxor, bit.bnot
local lshift, rshift = bit.lshift, bit.rshift
function bitsToN(d,startBit,length,signed)
	local shift = (8 - ((startBit+length-1) % 8)) % 8
	local startByte = 1 + (startBit - 1 - ((startBit-1) % 8)) / 8--TODO: to //
	local bnumb = d[startByte]

	if (length+shift) > 8 then
		bnumb = d[startByte+1] + lshift(bnumb,8)
		if (length+shift) > 16 then
			bnumb = d[startByte+2] + lshift(bnumb,8)
		end
	end

	bnumb = rshift(bnumb,shift)
	bnumb = band(bnumb,2^length-1)
	if signed and bnumb > 0x7FFF then 
			bnumb = 0 - lshift(band(-bnot(0x1000+rshift(number,8)),0xFF),8) 
			- band(-bxor(0x1000+band(number,0xFF),0),0xFF) - 1
	end
	return bnumb
end

--============================ READ CAN DATA AND RETURN DATA BYTE ARRAY ========
function canRD(address,pid,reqLength) -- TODO: Check it works without padding
	local req
	if pid > 255 then -- MODE 23
		req = {5,0x23,rshift(pid,16),rshift(pid,8),band(pid,0xFF),reqLength}
	else -- MODE21
		req={2,0x21,pid}
	end
	
	res = txCAN(0, address, 0, req, 100) -- Send request
	if res ~= 1 then return nil end

  	local data = {}
  	local id, ext, d1 = rxCAN(0,100) -- Read Response
  	if id == nil then return nil end
--	for r,d in ipairs(d1) do print(d..",") end
--	println(" ")

	local i = 1
	local s = 3
	if d1[1] == 0x10 then s=s+1 end -- Multimessaging
	if pid < 256 then s=s+1 end -- Mode23 has more data
	while s<9 do
		data[i]=d1[s]
		i=i+1
		s=s+1
	end

  	if d1[1] ~= 0x10 then return data end -- Not multimessaging, so quit
  	
  	-- Read multi messages
  	res = txCAN(0, address, 0, {48,8,0},100) 
  	if res ~= 1 then return nil end
  	local messages = (d1[2] + 1) / 7
  	for m=1,messages do
  		local id, ext, d1 = rxCAN(0,100) 
  		if id == nil then return nil end
--		print(m..":   ")
--		for r,d in ipairs(d1) do print(d..",") end
--		println(" ")
  		local s=2
  		while s<9 and i<reqLength+1 do
  			data[i]=d1[s]
  			i=i+1
  			s=s+1
  		end
  	end
  	return data
end

-- ========================= MAIN CYCLE =======================================
local fpChan,tgtFP,chCANHz = 3,43.5,addChannel("CAN", 1, 0, 0, 300, "Hz")
initCAN(0, 500000)
setTickRate(1000)

for i=1,10 do rxCAN(0,5) end -- Clear CAN buffer
canRDmap()
collectgarbage()

function onTick()
	local started,mc = getUptime(),0
	print("START")
	
	while getUptime()-started < 1000 do -- Release Tick every second
		canRDall(mc)
		collectgarbage()
		mc = mc + 1
	end
	setChannel(chCANHz, mc)
	
	--TODO: Calculated channels:
	--		SSTLoadSlip,SSTMaxPressure,SSTShiftTime,
	--		AfrDiff,LtftStft,IDC,Boost,FuelPressError,MivecIn/ExError,
	--		MatVsIat
	--		GenStatus = 0 - cold,1 - wait warming,2 - warming,3 - full on,
	--			4 - warning check later,5 - warning slow down,6 - stop now
	--			5 and 6 go to safe map triggering in ECU
end