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4Runner_Auto_Lights_Teensy_IFCT.ino
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4Runner_Auto_Lights_Teensy_IFCT.ino
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#include <IFCT.h>
/*
uses the Improved Flex Can for Teensy libray
https://github.com/tonton81/IFCT
*/
static CAN_message_t msg;
static int stopTalkingDelay = 30 * 1000; // delay in seconds after the ignition is off before going silent on the CAN bus
static word nitLvlOn = 350; // level at which to turn on lights (0 bright, to 65,535 dark)
static word nitLvlOff = nitLvlOn - 60; // level at which to turn off lights (0 bright, to 65,535 dark)
static int onToOffTime = 15 * 1000; // how long in seconds the light level must be below nitLvlOff before the lights turn off
static int offToOnTime = 5 * 1000; // how long in seconds the light level must be above nitLvlOn before the lights turn on
static bool superBrights = 0; // 0 =off, 1 = on, allows the fog lights to operate while brights are on
elapsedMillis sinceLastIgnOnMsg;
elapsedMillis sinceIgnOn;
elapsedMillis onToOffTimer;
elapsedMillis offToOnTimer;
//byte itsDark = 0;
//byte talk = 0;
//byte brightsOn = 0;
//byte fogOn = 0;
//byte lightsOn = 0;
// combined the variables above into a single byte to conserve RAM. Not needed on the Teensy 3, but may be nessisary when porting to other platforms like STM32.
byte bitVar1 = 0; // MSB to LSB, 7 = itsDark, 6 = talk, 5 = brightsOn, 4 = fogOn, 3 lightsOn, 2 available, 1 available, 0 available
void setup() {
delay(1000);
Serial.println(F("Toyota 4Runner 5th Gen Auto lights"
"\r\nv0.1 for Teensy 3.1/3.2"
"\r\nCopyright Colt Boyd 2019\r\n"));
// pinMode(2, OUTPUT); // for the transceiver enable pin
Can0.setBaudRate(500000);
Can0.enableMBInterrupt(MB0);
Can0.enableMBInterrupt(MB1);
Can0.setMBFilter(MB0, 0x758);
Can0.setMBFilter(MB1, 0x620);
Can0.onReceive(MB0, canMB0);
Can0.onReceive(MB1, canMB1);
Can0.intervalTimer(); // enable queue system and run callback in background.
Serial.print("superBrights: ");
Serial.print(superBrights, DEC);
Serial.print(" nitLvlOn: ");
Serial.print(nitLvlOn, DEC);
Serial.print(" nitLvlOff: ");
Serial.print(nitLvlOff, DEC);
Serial.print(" onToOffTime: ");
Serial.print(onToOffTime / 1000, DEC);
Serial.print(" offToOnTime: ");
Serial.print(offToOnTime / 1000, DEC);
Serial.print(" stopTalkingDelay: ");
Serial.println(stopTalkingDelay / 1000, DEC);
Serial.println("\r\nInit OK!");
}
void loop() {
// if(talk==1 && sinceLastIgnOnMsg > stopTalkingDelay){
if (bitRead(bitVar1, 6) && sinceLastIgnOnMsg > stopTalkingDelay) {
// talk = 0;
bitWrite(bitVar1, 6, 0);
sinceLastIgnOnMsg = 0;
}
querySwitchStatus();
delay(500);
}
void querySwitchStatus() {
// send switch status query
// if(talk){
if (bitRead(bitVar1, 6)) {
CAN_message_t msg;
msg.ext = 0;
msg.id = 0x750;
msg.len = 8;
msg.buf[0] = 0x40;
msg.buf[1] = 0x02;
msg.buf[2] = 0x21;
msg.buf[3] = 0xA7;
msg.buf[4] = 0x00;
msg.buf[5] = 0x00;
msg.buf[6] = 0x00;
msg.buf[7] = 0x00;
Can0.write(msg);
}
}
void setLightsOff() {
// turn lights off
// if(talk){
if (bitRead(bitVar1, 6)) {
bitWrite(bitVar1, 3, 0);
CAN_message_t msg;
msg.ext = 0;
msg.id = 0x750;
msg.len = 8;
msg.buf[0] = 0x40;
msg.buf[1] = 0x06;
msg.buf[2] = 0x30;
msg.buf[3] = 0x15;
msg.buf[4] = 0x00;
msg.buf[5] = 0x00;
msg.buf[6] = 0x00;
msg.buf[7] = 0x00;
Can0.write(msg);
}
}
void setLightsOn() {
// turn lights on
// if(talk){
if (bitRead(bitVar1, 6)) {
bitWrite(bitVar1, 3, 1);
CAN_message_t msg;
msg.ext = 0;
msg.id = 0x750;
msg.len = 8;
msg.buf[0] = 0x40;
msg.buf[1] = 0x06;
msg.buf[2] = 0x30;
msg.buf[3] = 0x15;
msg.buf[4] = 0x00;
// if(brightsOn){
if (bitRead(bitVar1, 5)) {
msg.buf[5] = 0xe0;
} else {
msg.buf[5] = 0xc0;
}
// if(fogOn){
if ((bitRead(bitVar1, 4) && bitRead(bitVar1, 5) == 0) || (bitRead(bitVar1, 4) && superBrights)) {
msg.buf[6] = 0x80;
} else {
msg.buf[6] = 0x00;
}
msg.buf[7] = 0x00;
Can0.write(msg);
}
}
void canMB0(const CAN_message_t &msg) {
// stuff here for reading switches status
if (msg.buf[0] == 0x40 && msg.buf[1] == 0x05 && msg.buf[2] == 0x61 && msg.buf[3] == 0xA7) {
// if (((msg.buf[4] >> 5) & 1)){
if (bitRead(msg.buf[4], 2)) {
Serial.println("Auto Lights on");
// if (itsDark) {
if (bitRead(bitVar1, 7)) {
Serial.println("dark, lights on");
// if(((msg.buf[4] >> 3) & 1)){
if (bitRead(msg.buf[4], 4)) {
Serial.println("fog lights on");
// fogOn=1;
bitWrite(bitVar1, 4, 1);
} else {
Serial.println("fog lights off");
// fogOn=0;
bitWrite(bitVar1, 4, 0);
}
// if(((msg.buf[4] >> 0) & 1)){
if (bitRead(msg.buf[4], 7)) {
Serial.println("Bright lights on");
// brightsOn=1;
bitWrite(bitVar1, 5, 1);
} else {
Serial.println("Bright lights off");
// brightsOn=0;
bitWrite(bitVar1, 5, 0);
}
onToOffTimer = 0;
if (sinceIgnOn < 2000) {
setLightsOn();
} else {
sinceIgnOn = 2001;
if (offToOnTimer > offToOnTime) {
setLightsOn();
offToOnTimer = offToOnTime + 1;
} else {
setLightsOff();
}
}
} else {
offToOnTimer = 0;
Serial.println("not dark, lights off");
if (sinceIgnOn < 2000) {
setLightsOff();
} else {
sinceIgnOn = 2001;
if (onToOffTimer > onToOffTime) {
setLightsOff();
onToOffTimer = onToOffTime + 1;
} else {
setLightsOn();
}
}
}
} else {
Serial.println("Auto Lights off");
setLightsOff();
}
}
}
void canMB1(const CAN_message_t &msg) {
// stuff here for reading ignition status
// if (((ignStatus >> 2) & 1) || ((ignStatus >> 3) & 1)) {
// if (((msg.buf[4] >> 2) & 1) || ((msg.buf[4] >> 3) & 1)) {
if (bitRead(msg.buf[4], 4) || bitRead(msg.buf[4], 5)) {
sinceLastIgnOnMsg = 0;
if (bitRead(bitVar1, 6) == 0) {
sinceIgnOn = 0;
Serial.println("Ign just changed from OFF to ON");
} else {
Serial.println("Ign on");
}
// talk = 1;
bitWrite(bitVar1, 6, 1);
} else {
Serial.println("Ign off");
}
// stuff here for reading light sensor
// if (curBrightness >= nitLvlOn) {
if (word(msg.buf[2], msg.buf[3]) >= nitLvlOn || (word(msg.buf[2], msg.buf[3]) >= nitLvlOff && bitRead(bitVar1, 3))) {
// itsDark = 1;
bitWrite(bitVar1, 7, 1);
Serial.print("Dark. Nits: ");
Serial.println(word(msg.buf[2], msg.buf[3]), DEC);
} else {
// itsDark = 0;
bitWrite(bitVar1, 7, 0);
Serial.print("Not dark. Nits: ");
Serial.println(word(msg.buf[2], msg.buf[3]), DEC);
}
}