Autosport Labs

--how frequently we poll for CAN messages
tickRate = 50
--the CAN baud rate
CAN_baud = 500000
--CAN channel to listen on. 0=first CAN channel, 1=second
CAN_chan = 1
--1 for Big Endian (MSB) mode; 0 for Little Endian mode (LSB)
be_mode = 1


--add your virtual channels here
--format addChannel(<name>, <sample rate>, <precision>, <min>, <max>, [units])
steerId = addChannel("Steering", 25, 0, -450, 450, "Deg.")

function processSteering(data)
local steer = 0
if data[1] >= 128 then
steer = (((data[1]-128)*256)+(data[0]))
elseif data[1] <= 128 then
steer = -1((data[1]*256)+(data[0]))
end
setChannel(steerId, (steer*[23.8]))
end

--customize here for CAN channel mapping
--format is: [CAN Id] = function(data) map_chan(<channel id>, data, <CAN offset>, <CAN length>, <multiplier>, <adder>)
CAN_map = {
[194] = function (data) processSteering(data) end,
}

function onTick()
processCAN(CAN_chan)
processSteering()
end

--===========do not edit below===========
function processCAN(chan)
repeat
local id, e, data = rxCAN(chan)
if id ~= nil then
local map = CAN_map[id]
if map ~= nil then
map(data)
end
end
until id == nil
end

--Map CAN channel, little endian format
function map_chan_le(cid, data, offset, len, mult, add)
offset = offset + 1
local value = 0
local shift = 1
while len > 0 do
value = value + (data[offset] * shift)
shift = shift * 256
offset = offset + 1
len = len - 1
end
setChannel(cid, (value * mult) + add)
end

--Map CAN channel, big endian format
function map_chan_be(cid, data, offset, len, mult, add)
offset = offset + 1
local value = 0
while len > 0 do
value = (value * 256) + data[offset]
offset = offset + 1
len = len - 1
end
setChannel(cid, (value * mult) + add)
end

map_chan = (be_mode == 1) and map_chan_be or map_chan_le
initCAN(1, 500000)
setTickRate(30)

function processSteering(data)
local steer = 0
if data[1] >= 128 then
steer = (((data[1]-128)*256)+(data[0]))
elseif data[1] <= 128 then
steer = -1((data[1]*256)+(data[0]))
end
setChannel(steerId, (steer*[some constant value]))
end

function onTick()
getSteering(1)
end

steerId = addChannel("Steering", 25, 0, -450, 450, "Deg.")

function getSteering(chan)
id, ext, data = rxCAN(chan,100)
if id == 194 then
processSteering(data)
end
end

function processSteering(data)
local steer = 0
if data[2] <= 128 then
steer = -1*((data[2]*256)+data[1])
else
steer = (((data[2]-128)*256)+data[1])
end
setChannel(steerId, (steer*.042))
end

setTickRate(50)


function onTick()
checkGoPro()
getSteering(1)
if getGpsSpeed() >= 1 then
startLogging()
end
end

steerId = addChannel("Steering", 50, 0, -450, 450, "Deg.")

function getSteering(chan)
id, ext, data = rxCAN(chan,100)
if id == 194 then
processSteering(data)
end
end

function processSteering(data)
local steer = 0
if data[2] < 128 then
steer = -1*((data[2]*256)+data[1])
else
steer = (((data[2]-128)*256)+data[1])
end
setChannel(steerId, (steer*.0436))
end


--Specify your GoPro wifi password here
goproPwd = "blahblah"

--Specify your GoPro SSID here
goproSsid = "RCP3WIFI"

--Speed threshold to start recording
goproStart = 5

--Speed threshold to stop recording
goproStop = 1

--How fast we check, in Hz
tickRate = 10

--Set this to 1 to log communications between RCP & WiFi
debug = 1
-----------------------------
--DO NOT EDIT BELOW
-----------------------------
--the serial port where the WiFi is connected
port = 4
--indicates wifiStatus
--0 = not init, 1 = init sent, 2 = got IP, 3 = ready
wifiStatus = 0
lastInitTime = 0
initTimeout = 20000

function logMsg(msg)
println('[GoProWiFi] ' ..msg)
end

function sendCrlf()
writeCSer(port, 13)
writeCSer(port, 10)
end

function sendRaw(val)
for i=1, #val do
local c = string.sub(val, i, i)
writeCSer(port, string.byte(c))
end
end

function sendAt(val)
if debug == 1 then logMsg('send: ' ..val) end
sendRaw(val)
sendCrlf()
end

function toInt(val)
return string.sub(val, 1, -3)
end

function httpGet(url)
sendAt('AT+CIPSTART="TCP","10.5.5.9",80')
sleep(500)
local crlf = string.char(13) ..string.char(10)
local get = 'GET ' ..url ..' HTTP/1.0' ..crlf ..crlf
sendAt('AT+CIPSEND=' ..toInt(#get))
sleep(100)
sendRaw(get)
sleep(100)
sendAt("AT+CIPCLOSE")
end

function sendGoProShutter(cmd)
httpGet('/bacpac/SH?t=' ..goproPwd ..'&p=%' ..cmd)
end

function startGoPro()
logMsg('start GoPro')
sendGoProShutter('01')
end

function stopGoPro()
logMsg('stop GoPro')
sendGoProShutter('00')
end

function initWiFi()
logMsg('initializing')
sendAt('AT+RST')
sleep(2000)
sendAt('AT+CWMODE_CUR=1')
sleep(1000)
sendAt('AT+CWJAP_CUR="' ..goproSsid ..'","' ..goproPwd ..'"')
wifiStatus = 1
end

function processIncoming()
local line = readSer(port, 100)
if line ~= '' and debug == 1 then print(line) end
if string.match(line, 'WIFI GOT IP') then
wifiStatus = 2
end
if wifiStatus == 2 and string.match(line, 'OK') then
wifiStatus = 3
sleep(2000)
if power == nil then
power = 0
end
if power == 0 then
logMsg('Powering up GoPro')
sleep(2000)
sendPowerUp('01')
sleep(1000)
logMsg('GoPro On')
power = 1
end
if cameramode == nil then
cameramode = 0
end
if cameramode == 0 then
logMsg('Switching to Camera Mode')
sleep(1000)
modeCameraGoPro('00')
sleep(1000)
logMsg('Camera Mode Set')
cameramode = 1
end
if orientation == nil then
orientation = 0
end
if orientation == 0 then
logMsg('Setting Orientation Up')
sleep(1000)
orientationupGoPro('00')
sleep(1000)
logMsg('Orientation is Up')
orientation = 1
end
if resolution == nil then
resolution = 0
end
if resolution == 0 then
logMsg('Setting Resolution')
sleep(1000)
setresolGoPro('06')
sleep(1000)
logMsg('Resolution Set')
resolution = 1
end
if fov == nil then
fov = 0
end
if fov == 0 then
logMsg('Setting FOV')
sleep(1000)
setfovGoPro('01')
sleep(1000)
logMsg('FOV Set')
fov = 1
end
end
end


function sendPowerUp(cmd)
httpGet('/bacpac/PW?t=' ..goproPwd ..'&p=%' ..cmd)
end

function modeCameraGoPro(cmd)
httpGet('/camera/CM?t=' ..goproPwd ..'&p=%' ..cmd)
end

function orientationupGoPro(cmd)
httpGet('/camera/UP?t=' ..goproPwd ..'&p=%' ..cmd)
end

function setresolGoPro(cmd)
httpGet('/camera/VR?t=' ..goproPwd ..'&p=%' ..cmd)
end

function setfovGoPro(cmd)
httpGet('/camera/FV?t=' ..goproPwd ..'&p=%' ..cmd)
end

function checkGoPro()
if wifiStatus == 0 then
initWiFi()
lastInitTime = getUptime()
return
end
if wifiStatus == 1 and getUptime() > lastInitTime + initTimeout then
logMsg('could not connect to GoPro')
wifiStatus = 0
end
processIncoming()
if wifiStatus ~= 3 then
return
end
trigger = getGpsSpeed()
if recording == 0 and trigger > goproStart then
startGoPro()
recording = 1
end
if recording == 1 and trigger < goproStop then
stopGoPro()
recording = 0
end
end