Created
May 30, 2020 22:50
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#! /bin/env python3 | |
import csv | |
import struct | |
def twos_complement(value, bits): | |
if value & (1 << (bits-1)): | |
value -= 1 << bits | |
return value | |
return value | |
with open('CanBus Raw Output.csv', 'r', encoding="utf8") as f: | |
reader = csv.DictReader(f, fieldnames=['CMD', 'LEN'], restkey='DATA') | |
for row in reader: | |
cmd = int(row['CMD']) | |
length = int(row['LEN']) | |
data = [int(x) for x in row['DATA'][:length]] | |
if cmd == 0x201: | |
rpm = ((data[0] << 8) + data[1]) / 3.85 | |
unknown = (data[2] << 8) + data[3] | |
kph = (data[4] << 8) + data[5] | |
kph = (kph - 10000) / 100 | |
throttle = data[6] | |
unknown2 = data[7] | |
#print(cmd, rpm, kph, throttle) | |
elif cmd == 0x81: | |
# Wheel turn is a signed 16 bit number | |
number = (data[2] << 8) + data[3] | |
wheel_turn = twos_complement(number, 16) | |
# Highest bit indicates wheel is "centered" | |
wheel_centered = (data[1] & 0x80) == 0x80 | |
print ("Wheel turned {turn:3d} degrees {dir}. Centered: {centered}".format(turn=abs(wheel_turn), centered=wheel_centered, dir=("LEFT" if wheel_turn < 0 else "RIGHT"))) |
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