Design Build Validate Low-cost Can-integrated Da

#include <Arduino.h>
#include <SPI.h>
#include <SD.h>
#include <TinyGPS++.h>
#include <Arduino_GFX_Library.h>


struct CanFrame { uint32_t id; uint8_t dlc; uint8_t data[8]; };

struct Data{float v=NAN,a=NAN,soc=NAN,tBms=NAN,tMotor=NAN,tCtl=NAN;int rpm=0;uint16_t faults=0;uint8_t mode=0;bool interlock=false;uint32_t bmsAt=0;}d;


// Forward declarations
bool live();
void raw(const CanFrame&f);
void decode(const CanFrame&f);
void poll();
void logTrip();
void paint();

const uint16_t ID_BMS=0x180,ID_THERMAL=0x181,ID_VCU=0x280,ID_MOTOR=0x380;
const float USABLE_PACK_WH=5120.0f;
const int SD_CS=13,CAN_CS=14,CAN_INT=4,TFT_CS=25,TFT_DC=26,TFT_RST=33,TFT_BL=32,GPS_RX=16,GSM_RX=21,GSM_TX=17;


// Self-contained MCP2515 receive-only SPI driver: preserves physical CAN listen-only operation.
class Mcp2515ListenOnly {
 public:
  Mcp2515ListenOnly(int chipSelect,SPIClass &bus):cs(chipSelect),spi(bus){}
  bool begin500k8(){pinMode(cs,OUTPUT);digitalWrite(cs,HIGH);reset();delay(10);writeReg(0x2A,0x00);writeReg(0x29,0x90);writeReg(0x28,0x02);writeReg(0x2B,0x03);writeReg(0x0F,0x60);delay(2);return(readReg(0x0E)&0xE0)==0x60;}
  bool readMessage(CanFrame &f){uint8_t s=status();if(!(s&3))return false;select();spi.transfer((s&1)?0x90:0x94);uint8_t h=spi.transfer(0),l=spi.transfer(0),e8=spi.transfer(0),e0=spi.transfer(0);f.dlc=min((uint8_t)8,(uint8_t)(spi.transfer(0)&15));for(uint8_t i=0;i<f.dlc;i++)f.data[i]=spi.transfer(0);deselect();f.id=(l&8)?((uint32_t)h<<21)|((uint32_t)(l&0xE3)<<13)|((uint32_t)e8<<8)|e0:((uint16_t)h<<3)|(l>>5);modify(0x2C,(s&1)?1:2,0);return true;}
 private:
  int cs;SPIClass &spi;
  void select(){spi.beginTransaction(SPISettings(10000000,MSBFIRST,SPI_MODE0));digitalWrite(cs,LOW);}void deselect(){digitalWrite(cs,HIGH);spi.endTransaction();}
  void reset(){select();spi.transfer(0xC0);deselect();}uint8_t readReg(uint8_t r){select();spi.transfer(3);spi.transfer(r);uint8_t v=spi.transfer(0);deselect();return v;}void writeReg(uint8_t r,uint8_t v){select();spi.transfer(2);spi.transfer(r);spi.transfer(v);deselect();}void modify(uint8_t r,uint8_t m,uint8_t v){select();spi.transfer(5);spi.transfer(r);spi.transfer(m);spi.transfer(v);deselect();}uint8_t status(){select();spi.transfer(0xA0);uint8_t v=spi.transfer(0);deselect();return v;}
};

SPIClass spi(VSPI);Mcp2515ListenOnly can(CAN_CS,spi);TinyGPSPlus gps;HardwareSerial gpsPort(2),gsmPort(1);Arduino_DataBus *dbus=new Arduino_ESP32SPI(TFT_DC,TFT_CS,18,23,19,VSPI);
// The browser facade implements ILI9341 only; the ESP32 target retains the real ILI9488 driver.
#if defined(ARDUINO_ARCH_WASM) || defined(SCHEMATIK_WASM)
Arduino_GFX *tft=new Arduino_ILI9341(dbus,TFT_RST,1,false);
#else
Arduino_GFX *tft=new Arduino_ILI9488(dbus,TFT_RST,1,false);
#endif
bool sdOK=false,canOK=false;uint32_t lastLog=0,lastPaint=0,lastGpsByte=0;String prior="";
bool live(){return d.bmsAt&&millis()-d.bmsAt<1500;}int16_t i16(const uint8_t*x,int p){return(int16_t)(((uint16_t)x[p]<<8)|x[p+1]);}
void raw(const CanFrame&f){if(!sdOK)return;File q=SD.open("/canraw.csv",FILE_WRITE);if(!q)return;q.printf("%lu,%03lX,",(unsigned long)millis(),(unsigned long)(f.id&0x7FF));for(uint8_t i=0;i<f.dlc;i++){if(f.data[i]<16)q.print('0');q.print(f.data[i],HEX);}q.println();q.close();}
void decode(const CanFrame&f){uint16_t id=f.id&0x7FF;const uint8_t*x=f.data;if(id==ID_BMS&&f.dlc>=5){d.v=(((uint16_t)x[0]<<8)|x[1])*.1f;d.a=i16(x,2)*.1f;d.soc=x[4]*.5f;d.bmsAt=millis();}else if(id==ID_THERMAL&&f.dlc>=4){d.tBms=(int)x[0]-40;d.faults=((uint16_t)x[2]<<8)|x[3];}else if(id==ID_VCU&&f.dlc>=2){d.mode=x[0];d.interlock=x[1]&1;}else if(id==ID_MOTOR&&f.dlc>=4){d.rpm=i16(x,0);d.tCtl=(int)x[2]-40;d.tMotor=(int)x[3]-40;}}
void poll(){CanFrame f;while(canOK&&digitalRead(CAN_INT)==LOW&&can.readMessage(f)){raw(f);decode(f);}while(gpsPort.available()){lastGpsByte=millis();gps.encode(gpsPort.read());}}
void logTrip(){if(!sdOK)return;File q=SD.open("/trip.csv",FILE_WRITE);if(!q)return;bool fix=gps.location.isValid()&&lastGpsByte&&millis()-lastGpsByte<3000;q.printf("%lu,%.6f,%.6f,%.1f,%d,%.1f,%.1f,%.1f,%.0f,%d,%.1f,%.1f,%u,%u,%u\n",(unsigned long)millis(),fix?gps.location.lat():NAN,fix?gps.location.lng():NAN,gps.speed.isValid()?gps.speed.kmph():NAN,fix,d.v,d.a,d.soc,d.v*d.a,d.rpm,d.tBms,d.tMotor,d.faults,d.mode,d.interlock);q.close();}
void paint(){bool fix=gps.location.isValid()&&lastGpsByte&&millis()-lastGpsByte<3000;float range=!isnan(d.soc)?USABLE_PACK_WH*d.soc/100.0f/80.0f:NAN;String now=String(live())+String(fix)+String((int)(d.soc*10))+String((int)range)+String((int)d.a)+String(d.rpm)+String(d.faults);if(now==prior)return;prior=now;tft->fillScreen(0x0000);tft->setTextColor(0xFFFF);tft->setTextSize(2);tft->setCursor(10,10);tft->printf("TUK-TUK CAN:%s GPS:%s",live()?"LIVE":"STALE",fix?"FIX":"NO FIX");tft->setTextSize(4);tft->setCursor(12,60);tft->printf("SOC %5.1f%%",d.soc);tft->setCursor(12,110);tft->printf("RNG %4.0fkm",range);tft->setTextSize(2);tft->setCursor(12,175);tft->printf("PACK %.1fV %.1fA %.0fW",d.v,d.a,d.v*d.a);tft->setCursor(12,205);tft->printf("MOTOR %drpm M %.0fC C %.0fC",d.rpm,d.tMotor,d.tCtl);tft->setCursor(12,235);tft->printf("MODE %u INT %s FAULT %04X",d.mode,d.interlock?"OK":"OPEN",d.faults);tft->setCursor(12,280);tft->printf("SD:%s RAW+TRIP LOG",sdOK?"OK":"FAULT");}
void setup(){Serial.begin(115200);pinMode(TFT_BL,OUTPUT);digitalWrite(TFT_BL,HIGH);pinMode(CAN_INT,INPUT_PULLUP);spi.begin(18,19,23,CAN_CS);sdOK=SD.begin(SD_CS,spi)&&SD.cardType()!=0;if(sdOK&&!SD.exists("/trip.csv")){File q=SD.open("/trip.csv",FILE_WRITE);q.println("ms,lat,lon,gps_kph,gps_fix,pack_v,pack_a,soc,power_w,motor_rpm,bms_c,motor_c,faults,mode,interlock");q.close();}canOK=can.begin500k8();gpsPort.begin(9600,SERIAL_8N1,GPS_RX,-1);gsmPort.begin(9600,SERIAL_8N1,GSM_RX,GSM_TX);tft->begin();tft->fillScreen(0x0000);}
void loop(){poll();uint32_t n=millis();if(n-lastLog>=1000){lastLog=n;logTrip();}if(n-lastPaint>=500){lastPaint=n;paint();}}