RT rescued from graveyard

[megagame]

While I was working on cables I added trunk latch from minicooper (10$) which already has electric actuator.

Again, some modifications needs to be done and universal ending for cable is used to make it work.

 

[megagame]

Next part is console. This one was also damaged. Whole top of console was broken and missing. I've used already damaged parts (PP) from another motorcycle and made new top of console. It's not perfect but top is not seen during normal ride - it just needs to be there.

 

[megagame]

Same problem with belt cover. Broken in half. Welded on both sides, additional weld inside to make part stronger and 100, then 200 grit sandpaper on "visible" surface.

 

[megagame]

No bracket for catalyzer? Steel place, hammer, drill and it's done. Rubber pieces (not visible on photo) used from broken ABS .

 

[megagame]

No rubber mounts and steel plate to hold stabilizer bar. Same thing: steel, drill and hammer. Rubber mounts made from rubber plate bought in shop with industrial sealants. I've used small knife to cut rubber to proper shape.

 

[megagame]

It already starts to look like something

 

[acdcking12]

That looks fantastic already. Well done sir.

 

[IdahoMtnSpyder]

My question was about how do you "feel" DPS is working and if it works instantly from the start, but I think I know the answer and I should make deeper analysis.

My experience is that about the only time you can tell when DPS is working, is when it is not! The application of assistive torque is so smooth and gradual, and variable, there is no way to detect by feel when and if the DPS is assisting. I'm going to guess that as you go around a curve the torque the rider applies to the handlebar is maybe 30 to 40% of the total turning torque. At the start of a turn the torque is close to zero so the DPS adds zero torque. But as the torque requirement goes up, the amount added by the DPS goes up. When the DPS in my 2013 RT was acting up, and kicking in and out, I could really tell when it kicked in. If I was in a hard turn, like a freeway exit loop, and the DPS wasn't working, and then all of a sudden it did start working, the extra torque I was applying to the handlebar would make me suddenly turn so much I almost went off the road to the inside of the curve. A DPS that kicks in and out can actually be dangerous.

Hope this helps.

 

[megagame]

Thanks. This means it will be hard to determinate precisely algorithm responsible for amount of assist. But, it sure works all the time when torque is applied.

 

[bluewoo]

megagame, thank you for this! I really enjoy the reading and all the sweat you've put into this old spyder plus keeping all of us up to date.
I have my fingers crossed that it will be a success, But from what you've shown us I don't think you need any luck.
Team effort:2thumbs:

 

[megagame]

I've been hunting for front panels for some time, and winter is almost over in Poland. Once it will be more than 8*C I will continue my work.

For now small update. I've bought used front trunk and seal was missing. I've bought universal EPDM seal called "Edge Trim Profile with Top Seal". Around 140cm is needed but i suggest buyng 150cm and cutting excess material.
Cost of seal should be around 4$ per meter, 6$ total.

I didn't have lock with handle for rear trunk so I bought one from different spyder. I've removed "lock insert" by pushing lock pins (from behind of the handle) with needle and pushing the insert out. With the insert separated from handle I've put my key inside the lock and shaved pins with the file so that pins won't stick out with my key inside. Since I don't have master key I've left last pin untouched because it holds the lock inside the handle.

 

[safecracker]

Great job...

 

[megagame]

So, winter has ended and finally it started to get warmer here where I live.

I didn't touch the issue regarding programming the bypass for ABS. This topic is a little bit bigger because of modifications in braking system. I'm planning to have front brake lever on handlebar and both brakes working in foot brake. All parts are already waiting to be installed but I'm working on something else now.

Since I didn't have some smaller parts, I've started designing them in Fusion 360 and learn 3d printing with PETG.
First, I've designed handle for trunk hood. Printing it took around 18h. Fortunately everything was measured correctly, and I've only had to drill holes in correct places.

Now I'm working on base plate and front shield for my custom mirrors which are coming from 90s Fiat Uno .

I've had to print 4 base plates, and modify the model slightly after each print, before final version was (almost) perfectly aligned. I still have to design front guard on which I will place front blinkers.
Base plate is gray, but guard will be pearl gold. Maybe I will print base plate again if it will not look good, or I will put carbon fiber skin on it - I have some laying around.

Oh, and finally my seat is working correctly. I've made new bracket to hold it in place.

Back is also almost finished. I still need to design base plates for blinkers which will be on covers for side cases, but mirrors are most important now. Once this is finished finally I'll be able to register the bike and go for a short ride.

 

[safecracker]

WOW, you are doing an amazing job. Looks good. Keep us posted.

 

[megagame]

More than a year have passed since my last post. I haven't got time to do anything with spyder during my absence,
I've had another big failure though. During winter in -20* C I went for a ride and my cluster stopped working. After checking electronic components and UART debug channel I've discovered that flash memory not appropriate for cold weather was used. I hope newer models are made with better QA, mine is way too problematic. I've kept the screen and removed internal electronics. After overcoming my fear of soldering and programming microcontrollers (Teensy 4 to be exact), I now have snake game on my spyder .

This is just an intro without any exciting photos. For now only screen from todays work. Guess what it is.

 

[Rider Steve]

I know there are people out there that switch to Rotax engines on their Ultralight aircraft. They buy used Rotax snowmobile engines to do this. Some make harnesses that do away with most of the electronic crap the snowmobiles have on them. Just a thought.

 

[MrMagicFingers]

I've bought this one for 2,5k USD. My goal was to keep within 5k USD but ABS unit did not allow that.
To be honest when I bought this spyder I didn't know how many things could fail because of bad engineering. Normally I don't use cars/bikes with too much electronics. I have older Hilux, Honda from 93 and old bikes like KLX 650 from 94. They all run great. If something happens you can fix them with simple tools. This is not the case with spyder and this is bad judgement from my side. But, I still want to learn how things are done and want to be first to fix problems which are giving people headache.

Also, I hate when things (expensive and cheap) are thrown to garbage.

Looks great on you!!!! Well done!

Who says that you have to have a reason besides just wanting to do it. You will learn a lot and from a completely different viewpoint than 99.9 % of the rest of us.

Keep up the great work!

Tim

 

[Haze]

Incredible work and great attention to detail.
I will be watching for further reports.
Cheers, David C.

 

[megagame]

I've been busy with another project for some time, but fortunately I've had free 2 weeks to analyze all can bus communication with my software which makes Man in the middle attack on bus communication. With that these are the results for older RT:
[table="width: 500, class: grid"]
[tr][td]message [/td][td]constant[/td][td]device[/td][td]module[/td][td]comment[/td][td]b0[/td][td]b1[/td][td]b2[/td][td]b3[/td][td]b4[/td][td]b5[/td][td]b6[/td][td]b7[/td][td]example[/td][/tr]
[tr][td]020[/td][td][/td][td]VCM[/td][td][/td][td][/td][td]bits informing about error in module: vss, vss, -, abs, no parking brake[/td][td]default 00, different number if error exists[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]00 00 FF FF 00 00 00 00[/td][/tr]
[tr][td]0C3[/td][td][/td][td]steering angle sensor[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]02 01 81 01 00 00 00 01[/td][/tr]
[tr][td]102[/td][td][/td][td]ECM[/td][td][/td][td][/td][td]rpm / 64[/td][td]something related to RPM[/td][td][/td][td]engine temp from -60*C[/td][td]ambient temp from -60*C[/td][td]kPa * 2 (max 126 kPa)[/td][td]counter[/td][td]crc8[/td][td][/td][/tr]
[tr][td]103[/td][td][/td][td]ECM[/td][td]throttle lever[/td][td]first byte is throttle lever value 00-FF, rest is empty[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td]crc8[/td][td][/td][/tr]
[tr][td]120[/td][td][/td][td]ECM[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]220 [/td][td]yes[/td][td]TCM[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td]crc8[/td][td]0B FE FE FF FE 02 0C 04[/td][/tr]
[tr][td]222[/td][td][/td][td]TCM[/td][td][/td][td]have only two values[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]230[/td][td][/td][td]VCM[/td][td][/td][td]ABS speed values[/td][td][/td][td][/td][td][/td][td][/td][td]b5 continuation[/td][td]km/h * 10[/td][td][/td][td][/td][td][/td][/tr]
[tr][td]300[/td][td]yes[/td][td]ECM[/td][td][/td][td][/td][td][/td][td]00 -> D3 after moto start[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]00 00 FF FF 00 00 00 00[/td][/tr]
[tr][td]303[/td][td][/td][td]YRS[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td][/td][td][/td][td][/td][/tr]
[tr][td]308[/td][td][/td][td]ECM[/td][td][/td][td][/td][td]bits: low bat, -, -, -, engine hi temp, -, oil switch[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]310[/td][td][/td][td]ECM[/td][td][/td][td][/td][td]gears: 1-6, 7 neutral, 8 reverse[/td][td]changes to 2 when there is ABS pressure and 3 when BLS engages[/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td]crc8[/td][td][/td][/tr]
[tr][td]330[/td][td][/td][td]DPS[/td][td][/td][td][/td][td][/td][td]error code, 99 99 - no error[/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td]crc8[/td][td][/td][/tr]
[tr][td]340[/td][td][/td][td]left buttons[/td][td][/td][td][/td][td][/td][td]bits: up, down, left, right, menu, set, fron button (com?)[/td][td][/td][td]bits: windshield up, windshield down[/td][td]bits: gear up, gear down[/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]341[/td][td][/td][td][/td][td][/td][td]one time after cluster is connected but probably not cluster itself, more like buttons[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]342[/td][td][/td][td]ECM[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]probably vsm error, shows 40 6c after 5s when vcp reports 4044 (C0044)[/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]400[/td][td][/td][td]CLUSTER[/td][td][/td][td]byte 6: value from 1 to 3 after parking brake sensor is "closed". BUDS shows that parking brake sensor is "closed" even without cluster so there must be conneciton to sensor in more than one place[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td]crc8[/td][td][/td][/tr]
[tr][td]401.0[/td][td][/td][td]CLUSTER[/td][td][/td][td]probably time after system energized[/td][td]0[/td][td]ss (in hex not dec)[/td][td]mm (in hex not dec)[/td][td]hh (in hex not dec)[/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]401.1[/td][td][/td][td]CLUSTER[/td][td][/td][td][/td][td]1[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]401.2[/td][td][/td][td]CLUSTER[/td][td][/td][td]total distance, m/10 on four bytes[/td][td]2[/td][td]dist b3[/td][td]disc b2[/td][td]dist b1[/td][td]dist b0[/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]401.3[/td][td][/td][td]CLUSTER[/td][td][/td][td]trip a[/td][td]3[/td][td][/td][td][/td][td][/td][td][/td][td]sec/10, higher bits[/td][td]sec/10, lower bits[/td][td][/td][td][/td][/tr]
[tr][td]401.4[/td][td][/td][td]CLUSTER[/td][td][/td][td]trip b[/td][td]4[/td][td][/td][td][/td][td][/td][td][/td][td]sec/10, higher bits[/td][td]sec/10, lower bits[/td][td][/td][td][/td][/tr]
[tr][td]401.5[/td][td][/td][td]CLUSTER[/td][td][/td][td][/td][td]5[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]401.6[/td][td][/td][td]CLUSTER[/td][td][/td][td][/td][td]6[/td][td][/td][td]"ACS level:
0011 1110 lowest
0110 1100
1001 1010
[1100 1000
1111 0110 highest"[/td][td]ACS height, higher bits[/td][td]ACS height, lower bits[/td][td][/td][td][/td][td]ACS buttons, 32/16/8 -> not pressed/down/up[/td][td][/td][/tr]
[tr][td]402[/td][td][/td][td]LCD[/td][td][/td][td]shown after lcd is ready, probably required for starting the motor[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]430[/td][td][/td][td]VCM[/td][td][/td][td]contains brake pressure value (ss ss 00 00 3E 01 0x 3x where 3e rises with pressure, ss ss - 99 99 default, otherwise error code np. 40 44)[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td]counter[/td][td]crc8[/td][td][/td][/tr]
[tr][td]460[/td][td][/td][td]PBM[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]514[/td][td][/td][td]CLUSTER[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]515[/td][td]yes[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]516[/td][td][/td][td]ECM[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]580,581[/td][td][/td][td]VCM[/td][td][/td][td]only once when VCM is starting[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[tr][td]591[/td][td][/td][td]LCD[/td][td][/td][td]shown after menu is pressed, probably required for starting the motor[/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][td][/td][/tr]
[/table]

0x713 CLUSTER tx - removing active errors 04 03 14 00 00 00 00 00 14 - function
0x71C WMP tx - removing active errors 0D 03 14 00 00 00 00 00
0x710 ECM tx - removing active errors 01 03 14 00 00 00 00 00
0x715 VCM tx - removing active errors 06 03 14 FF 00 00 00 00
0x717 probably ECM tx - removing active errors 06 03 14 00 00 00 00 00

0x715 VCM tx - active error cchanged to occured 06 02 10 89 00 00 00 00 this one must be present with next one
0x715 VCM tx - active error cchanged to occured 06 02 10 81 00 00 00 00

 

[megagame]

With information above I've succesfully finished my first trip yesterday without any errors and in fact without ABS, DPS and with my own LCD in cluster -> no limp mode off course .

Without nanny this is a drift beast. TBH it's better for drifting than normal riding. For uneven roads it's constantly a bit wobbly with passanger present. For drifting it's pure fun.

So, let's start technical.

After removing motor from DPS to remove any resistance in steering system I've had to pretend there is working DPS by constantly putting message 0x330 with data 0x00, 0x99, 0x99, 0x00, 0xFF, 0xFF, 0x00, 0x00 to can bus and it works. No DPS and no errors

Because ABS was also partly fauly (all can bus data correct but going into error above 10km/h), I've had to remove any traces of errors going from ABS. To do that ABS in on separate CAN bus and messages are forwarded to main bus but with removed errors. This also is succesfull.

Unfortunately after key is turned there is a delay between ABS working and my program which causes errors in ECM. To clear errors I'm sending diagnostic messages after 5s from when key is turned:

msg_error_clear[0].id = 0x713;
msg_error_clear[1].id = 0x71C;
msg_error_clear[2].id = 0x710;
msg_error_clear[3].id = 0x715;
msg_error_clear[4].id = 0x717;
msg_error_clear[5].id = 0x715;
msg_error_clear[6].id = 0x715;

uint8_t tmp_buf_0[8] = { 0x04, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
uint8_t tmp_buf_1[8] = { 0x0D, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
uint8_t tmp_buf_2[8] = { 0x01, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
uint8_t tmp_buf_3[8] = { 0x06, 0x03, 0x14, 0xFF, 0x00, 0x00, 0x00, 0x00 };
uint8_t tmp_buf_4[8] = { 0x06, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
uint8_t tmp_buf_5[8] = { 0x06, 0x02, 0x10, 0x89, 0x00, 0x00, 0x00, 0x00 };
uint8_t tmp_buf_6[8] = { 0x06, 0x02, 0x10, 0x81, 0x00, 0x00, 0x00, 0x00 };

There is also a matter of menu button which must be pressed before every ride. I'm sending 0x519 together with 0x402:

0x591: 0x7E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
0x402: { /* three types of data */
{ 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x03, 0x21, 0x13, 0x61, 0x20, 0x11, 0x09, 0x00 },
{ 0x00, 0x00, 0x08, 0x01, 0x00, 0x00, 0x00, 0x00 }
}

Below is the code for can bus commmunication which sends, changes and retrieves data to/from can bus:

#pragma once

#include <FlexCAN_T4.h>
#include <globalVar.h>

extern void can_changer_modify(CAN_message_t &msg);

FlexCAN_T4<CAN1, RX_SIZE_1024, TX_SIZE_32> can1; // internal
FlexCAN_T4<CAN2, RX_SIZE_1024, TX_SIZE_32> can2; // external

CAN_message_t msg1;
bool hasMsg1;

CAN_message_t msg2;
bool hasMsg2;

#define msg_changer_id 0xAA
CAN_message_t msg_changer0; // b0 - 0/1/2 no action/change/new,  b1 b2 - message id, b3 len, b4 type - 0/1/2/3 set exactly/set/reset/toggle
CAN_message_t msg_changer1; // b0-b7 - toggle
CAN_message_t msg_changer_new;

uint16_t ready_delay_ms = 5000; // delay for isok message and error cleaning

CAN_message_t msg_dps;
CAN_message_t msg_lcd[3];
uint8_t msg_lcd_cnt;
CAN_message_t msg_isok;
CAN_message_t msg_error_clear[7];
uint8_t msg_error_clear_repeat_cntdn = 2;
uint8_t msg_error_clear_cnt;

uint8_t btn_buf_prev;

void can_setup()
{
    can1.begin();
    can1.setBaudRate(500000);

    can2.begin();
    can2.setBaudRate(500000);
}

void can_calcCrc8(CAN_message_t &msg)
{
    switch (msg.len)
    {
        case 8: msg.buf[7] = msg.buf[0] ^ msg.buf[1] ^ msg.buf[2] ^ msg.buf[3] ^ msg.buf[4] ^ msg.buf[5] ^ msg.buf[6]; break;
        case 7: msg.buf[6] = msg.buf[0] ^ msg.buf[1] ^ msg.buf[2] ^ msg.buf[3] ^ msg.buf[4] ^ msg.buf[5]; break;
        case 6: msg.buf[5] = msg.buf[0] ^ msg.buf[1] ^ msg.buf[2] ^ msg.buf[3] ^ msg.buf[4]; break;
        case 5: msg.buf[4] = msg.buf[0] ^ msg.buf[1] ^ msg.buf[2] ^ msg.buf[3]; break;
        case 4: msg.buf[3] = msg.buf[0] ^ msg.buf[1] ^ msg.buf[2]; break;
    }
}

void can_incCounter0F(CAN_message_t &msg)
{
    // assumption that if counter exists, it is before last byte
    msg.buf[msg.len - 2]++;
    if (msg.buf[msg.len - 2] == 0x10)
        msg.buf[msg.len - 2] = 0x00;
}

void can_changer_modify(CAN_message_t &msg)
{
    if (msg_changer0.buf[3] > 8)
        msg.len = msg_changer0.buf[3] & 0xFF;
    else
        msg.len = 8; // default to 8

    if (msg_changer0.buf[4] == 0)
    {
        msg.buf[0] = msg_changer1.buf[0];
        msg.buf[1] = msg_changer1.buf[1];
        msg.buf[2] = msg_changer1.buf[2];
        msg.buf[3] = msg_changer1.buf[3];
        msg.buf[4] = msg_changer1.buf[4];
        msg.buf[5] = msg_changer1.buf[5];
        msg.buf[6] = msg_changer1.buf[6];
        msg.buf[7] = msg_changer1.buf[7];
    }
    else if (msg_changer0.buf[4] == 1)
    {
        msg.buf[0] |= msg_changer1.buf[0];
        msg.buf[1] |= msg_changer1.buf[1];
        msg.buf[2] |= msg_changer1.buf[2];
        msg.buf[3] |= msg_changer1.buf[3];
        msg.buf[4] |= msg_changer1.buf[4];
        msg.buf[5] |= msg_changer1.buf[5];
        msg.buf[6] |= msg_changer1.buf[6];
        msg.buf[7] |= msg_changer1.buf[7];
    }
    else if (msg_changer0.buf[4] == 2)
    {
        msg.buf[0] &= ~msg_changer1.buf[0];
        msg.buf[1] &= ~msg_changer1.buf[1];
        msg.buf[2] &= ~msg_changer1.buf[2];
        msg.buf[3] &= ~msg_changer1.buf[3];
        msg.buf[4] &= ~msg_changer1.buf[4];
        msg.buf[5] &= ~msg_changer1.buf[5];
        msg.buf[6] &= ~msg_changer1.buf[6];
        msg.buf[7] &= ~msg_changer1.buf[7];
    }
    else if (msg_changer0.buf[4] == 3)
    {
        msg.buf[0] ^= msg_changer1.buf[0];
        msg.buf[1] ^= msg_changer1.buf[1];
        msg.buf[2] ^= msg_changer1.buf[2];
        msg.buf[3] ^= msg_changer1.buf[3];
        msg.buf[4] ^= msg_changer1.buf[4];
        msg.buf[5] ^= msg_changer1.buf[5];
        msg.buf[6] ^= msg_changer1.buf[6];
        msg.buf[7] ^= msg_changer1.buf[7];
    }
}

/*void can_testchange_401(CAN_message_t &msg)
{
    switch (msg.buf[0])
    {
        case 1:
            msg.buf[1] = 0;
            msg.buf[2] = 3;
            msg.buf[3] = 0xe7;
            msg.buf[4] = 0;
            msg.buf[5] = 0;
            msg.buf[6] = 0;
            msg.buf[7] = 0;
            break;
        case 3:
            msg.buf[1] = 0;
            msg.buf[2] = 0;
            msg.buf[3] = 6;
            msg.buf[4] = 149;
            msg.buf[5] = 13;
            msg.buf[6] = 107;
            msg.buf[7] = 0;
            break;
        case 4:
            msg.buf[1] = 0;
            msg.buf[2] = 0;
            msg.buf[3] = 6;
            msg.buf[4] = 204;
            msg.buf[5] = 19;
            msg.buf[6] = 170;
            msg.buf[7] = 0;
            break;
    }

}*/

void can_send_changer_new()
{
    msg_changer_new.id = msg_changer0.buf[2];
    msg_changer_new.id = msg_changer_new.id << 8;
    msg_changer_new.id += msg_changer0.buf[1];
    can_changer_modify(msg_changer_new);

    can1.write(msg_changer_new);
}

void can_save_msg_keys(CAN_message_t &msg)
{
    if (btn_buf_prev == msg.buf[1])
        return;

    // store bits changed to 1
    uint8_t tmp = (btn_buf_prev ^ msg.buf[1]) & msg.buf[1];

    if (tmp & 0x1)
        key_up = true;
    if (tmp & 0x2)
        key_down = true;
    if (tmp & 0x4)
        key_left = true;
    if (tmp & 0x8)
        key_right = true;
    if (tmp & 0x10)
        key_menu = true;
    if (tmp & 0x20)
        key_set = true;
    if (tmp & 0x40)
        key_back = true;

    btn_buf_prev = msg.buf[1];
}

void can_save_data_cluster_401(CAN_message_t &msg)
{
    /*                Serial.println(
                String(msg.buf[1]).append( " ")
                .append(msg.buf[2]).append(" ")
                .append(msg.buf[3]).append(" ")
                .append(msg.buf[4]).append(" ")
                .append(msg.buf[5]).append(" ")
                .append(msg.buf[6]).append(" ")
                .append(msg.buf[7]).append(" "));
    */
    switch (msg.buf[0])
    {
        case 0: 
            break;
        case 1: 
            break;
        case 2: 
            can_triptotal = ((uint32_t)msg.buf[1] << 24) + ((uint32_t)msg.buf[2] << 16) + ((uint32_t)msg.buf[3] << 8) + msg.buf[4];
            break;
        case 3: 
            can_tripa = ((uint32_t)msg.buf[1] << 24) + ((uint32_t)msg.buf[2] << 16) + ((uint32_t)msg.buf[3] << 8) + msg.buf[4];
            break;
        case 4: 
            can_tripb = ((uint32_t)msg.buf[1] << 24) + ((uint32_t)msg.buf[2] << 16) + ((uint32_t)msg.buf[3] << 8) + msg.buf[4];
            break;
        case 5: 
            break;
        case 6: 
            can_acslevel = B1000 - ((msg.buf[2] & B1110) >> 1);
            can_acsheight = ((uint16_t)msg.buf[3] << 8) + msg.buf[4];
            break;
    }
}

void can_save_data(CAN_message_t &msg)
{
    switch (msg.id)
    {
        case 0x102:
            can_tempengine = msg.buf[3];
            can_tempair = msg.buf[4];
            break;

        case 0x308:
            // B0: bity: low bat, -, -, -, engine hi temp, -, oil switch
            can_islowbat = msg.buf[0] & 1;
            can_i****emp = msg.buf[0] >> 4 & 1;
            can_isoilswitch = msg.buf[0] >> 6 & 1;
            break;

        case 0x310:
            can_gearbyte = msg.buf[0] & 0xF; // b0: bieg 1-6, 7 neutral, 8 reverse
            break;

        case 0x430:
            can_abspressure = msg.buf[4]; // stosunek 1:33 kpa, 0x3E == 0, 0xFF == 6369 kPa
            break;
    }
}

void can_send_dps()
{
    // initialize dps message
    if (msg_dps.id == 0)
    {
        msg_dps.id = 0x330;
        uint8_t tmp_buf[8] = { 0x00, 0x99, 0x99, 0x00, 0xFF, 0xFF, 0x00, 0x00 };
        memcpy(msg_dps.buf, tmp_buf, 8);
    }

    // send dps data to both buses
    can1.write(msg_dps);
    can2.write(msg_dps);

    // set new values for counter and crc8 bytes
    can_incCounter0F(msg_dps);
    msg_dps.buf[7] = msg_dps.buf[6]; // copy counter to crc because crc in this case is the same as counter
}

void can_send_lcd()
{
    // initialize lcd message
    if (msg_lcd[0].id == 0)
    {
        msg_lcd[0].id = 0x402;
        msg_lcd[1].id = 0x402;
        msg_lcd[2].id = 0x402;

        uint8_t tmp_buf[3][8] = { 
            { 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
            { 0x03, 0x21, 0x13, 0x61, 0x20, 0x11, 0x09, 0x00 },
            { 0x00, 0x00, 0x08, 0x01, 0x00, 0x00, 0x00, 0x00 } };
        
        memcpy(msg_lcd[0].buf, tmp_buf[0], 8);
        memcpy(msg_lcd[1].buf, tmp_buf[1], 8);
        memcpy(msg_lcd[2].buf, tmp_buf[2], 8);
    }

    if (msg_lcd_cnt == 11)
        can1.write(msg_lcd[2]);
    else if (msg_lcd_cnt == 10)
        can1.write(msg_lcd[1]);
    else
        can1.write(msg_lcd[0]);

    msg_lcd_cnt++;
    if (msg_lcd_cnt == 12)
        msg_lcd_cnt = 0;
}

void can_send_isok()
{
    // initialize lcd message
    if (msg_isok.id == 0)
    {
        msg_isok.id = 0x591;
        msg_isok.len = 1;
        uint8_t tmp_buf[8] = { 0x7E, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
        memcpy(msg_isok.buf, tmp_buf, 8);
    }

    can1.write(msg_isok);
}

void can_send_error_clear()
{
    // initialize lcd message
    if (msg_error_clear[0].id == 0)
    {
        msg_error_clear[0].id = 0x713;
        msg_error_clear[1].id = 0x71C;
        msg_error_clear[2].id = 0x710;
        msg_error_clear[3].id = 0x715;
        msg_error_clear[4].id = 0x717;
        msg_error_clear[5].id = 0x715;
        msg_error_clear[6].id = 0x715;

        uint8_t tmp_buf_0[8] = { 0x04, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
        uint8_t tmp_buf_1[8] = { 0x0D, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
        uint8_t tmp_buf_2[8] = { 0x01, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
        uint8_t tmp_buf_3[8] = { 0x06, 0x03, 0x14, 0xFF, 0x00, 0x00, 0x00, 0x00 };
        uint8_t tmp_buf_4[8] = { 0x06, 0x03, 0x14, 0x00, 0x00, 0x00, 0x00, 0x00 };
        uint8_t tmp_buf_5[8] = { 0x06, 0x02, 0x10, 0x89, 0x00, 0x00, 0x00, 0x00 };
        uint8_t tmp_buf_6[8] = { 0x06, 0x02, 0x10, 0x81, 0x00, 0x00, 0x00, 0x00 };

        memcpy(msg_error_clear[0].buf, tmp_buf_0, 8);
        memcpy(msg_error_clear[1].buf, tmp_buf_1, 8);
        memcpy(msg_error_clear[2].buf, tmp_buf_2, 8);
        memcpy(msg_error_clear[3].buf, tmp_buf_3, 8);
        memcpy(msg_error_clear[4].buf, tmp_buf_4, 8);
        memcpy(msg_error_clear[5].buf, tmp_buf_5, 8);
        memcpy(msg_error_clear[6].buf, tmp_buf_6, 8);
    }

    can1.write(msg_error_clear[msg_error_clear_cnt]);

    can2.write(msg_error_clear[msg_error_clear_cnt]);

    msg_error_clear_cnt++;
    if (msg_error_clear_cnt == 7)
    {
        msg_error_clear_repeat_cntdn--;
        msg_error_clear_cnt = 0;
    }
}

void can_handle_msg_post(CAN_message_t &msg)
{
    switch (msg.id)
    {
        // store message changer data
        case (msg_changer_id+0): msg_changer0 = msg; break;
        case (msg_changer_id+1): msg_changer1 = msg; break;

        //case 0x401: can_testchange_401(msg); break;

        case 0x102: can_save_data(msg); break;
        case 0x308: can_save_data(msg); break;
        case 0x310: can_save_data(msg); break;
        case 0x401: can_save_data_cluster_401(msg); break;
        case 0x340: can_save_msg_keys(msg); break;

        case 0x430: // remove error from vcm message
            can_save_data(msg); break;
            break;
    }
}

void can_handle_msg_pre(CAN_message_t &msg)
{
    switch (msg.id)
    {
        case 0x020: // remove error from vcm message
            msg.buf[0] = msg.buf[0] & 0xF0;
            msg.buf[1] = 0x00;
            can_calcCrc8(msg);
            break;
        case 0x430: // remove error from vcm message
            msg.buf[0] = msg.buf[1] = 0x99;
            can_calcCrc8(msg);
            break;
    }

    // change message
    if (msg_changer0.buf[0] == 1)
    {
        // match id
        if ((msg.id & 0xFF) == msg_changer0.buf[1] && ((msg.id >> 8) & 0xFF) == msg_changer0.buf[2])
            can_changer_modify(msg);
    }
}

void can_handle()
{
    // send custom messages with minimum 1ms offset
    if (event1ms && timer1msCounterStored > 10) // skip first few ms because of -n in checks
    {
        if (ready_delay_ms > 0)
            ready_delay_ms--;

        // send dps every 34ms
        if (!((timer1msCounterStored -0) & (0x20-1)))
            can_send_dps();

        // send lcd every 128ms
        if (!((timer1msCounterStored -1) & (0x80-1)))
            can_send_lcd();

        // send isok every 128ms
        // start sending after moto is ready
        if (ready_delay_ms == 0 && !((timer1msCounterStored -2) & (0x80-1)))
            can_send_isok();

        // send error clear every 128ms
        // start sending after moto is ready
        // send only once
        if (ready_delay_ms == 0 && msg_error_clear_repeat_cntdn > 0 && !((timer1msCounterStored -2) & (0x80-1)))
            can_send_error_clear();

        // send test message every 128ms
        if (!((timer1msCounterStored -4) & (0x80-1)))
        {
            // new test message
            if (msg_changer0.buf[0] == 2)
                can_send_changer_new();
        }
    }

    // read messages
    hasMsg1 = can1.read(msg1);
    hasMsg2 = can2.read(msg2);

    // don't change message going from ecu to external bus
    if (hasMsg1)
    {
        if (msg1.id < 0x700) // skip diagnostic messages
            can_handle_msg_pre(msg1);

        can2.write(msg1);

        if (msg1.id < 0x700) // skip diagnostic messages
            can_handle_msg_post(msg1);
    }

    if (hasMsg2)
    {
        if (msg2.id < 0x700) // skip diagnostic messages
            can_handle_msg_pre(msg2);

        can1.write(msg2);

        if (msg2.id < 0x700) // skip diagnostic messages
            can_handle_msg_post(msg2);
    }
}

Below is code responsible for lcd screen with LVGL library:

#pragma once

#include <lvgl.h>
#include <types.h>
#include <globalVar.h>
#include <gui.h>



class scr_main : public screen_base
{
    // styles
    lv_style_t box_style_box;
    lv_style_t box_style_box_checked;
    lv_style_t bar_style_temp;

    // controls
    lv_obj_t*  rol_gearpos;
    lv_obj_t*  lbl_tempair;
    lv_obj_t*  lbl_tripa;
    lv_obj_t*  lbl_triptotal;

    lv_obj_t*  lbl_tempengine;
    lv_obj_t*  bar_tempengine;
    lv_obj_t*  bar_abspressure;
    lv_obj_t*  lbl_acslevel;
    lv_obj_t*  bar_acsheight;

    lv_obj_t*  box_islowbat;
    lv_obj_t*  box_i****emp;
    lv_obj_t*  box_isoilswitch;

    uint32_t gui_tripa;
    uint32_t gui_triptotal;
    uint16_t gui_tempair;
    uint16_t gui_tempengine;
    uint16_t gui_acslevel;
    uint16_t gui_abspressure;
    uint16_t gui_acsheight;

    lv_obj_t* build()
    {
        lv_obj_t* ret = lv_obj_create(NULL);

        //lv_obj_set_style_bg_color(ret, lv_palette_lighten(LV_PALETTE_BLUE, 4), LV_PART_MAIN);

        lv_obj_set_style_bg_color(ret, lv_color_black(), LV_PART_MAIN);
        lv_obj_set_style_text_color(ret, lv_color_white(), LV_PART_MAIN);

        // create styles
        lv_style_init(&box_style_box);
        lv_style_set_border_color(&box_style_box, lv_palette_main(LV_PALETTE_RED));
        lv_style_set_border_width(&box_style_box, 3);

        lv_style_init(&box_style_box_checked);
        lv_style_set_border_color(&box_style_box_checked, lv_palette_main(LV_PALETTE_RED));
        lv_style_set_border_width(&box_style_box_checked, 3);
        lv_style_set_bg_color(&box_style_box_checked, lv_palette_main(LV_PALETTE_RED));

        lv_style_init(&bar_style_temp);
        lv_style_set_bg_opa(&bar_style_temp, LV_OPA_COVER);
        lv_style_set_bg_color(&bar_style_temp, lv_palette_main(LV_PALETTE_RED));
        lv_style_set_bg_grad_color(&bar_style_temp, lv_palette_main(LV_PALETTE_BLUE));
        lv_style_set_bg_grad_dir(&bar_style_temp, LV_GRAD_DIR_VER);

        // lv_style_set_bg_grad_color(&style_btn, lv_palette_main(LV_PALETTE_GREY));
        // lv_style_set_bg_grad_dir(&style_btn, LV_GRAD_DIR_VER);

        lv_obj_t * panel;
        lv_obj_t * obj;

        // gear pos
        rol_gearpos = lv_roller_create(ret);
        lv_roller_set_options(rol_gearpos, " \n1\n2\n3\n4\n5\n6\nN\nR", LV_ROLLER_MODE_INFINITE);
        lv_roller_set_visible_row_count(rol_gearpos, 5);
        lv_obj_set_width(rol_gearpos, 40);
        lv_obj_set_pos(rol_gearpos, 0, 0);

        // air temp
        lbl_tempair = lv_label_create(ret);
        lv_label_set_text(lbl_tempair, "AIR T");
        lv_obj_set_pos(lbl_tempair, 50, 0);

        // Trip A
        obj = lv_label_create(ret);
        lv_label_set_text(obj, "Trip");
        lv_obj_set_style_text_font(obj, &lv_font_montserrat_20, LV_PART_MAIN);
        lv_obj_set_pos(obj, 50, 41);

        lbl_tripa = lv_label_create(ret);
        // lv_obj_set_style_text_align(lbl_triptotal, LV_TEXT_ALIGN_RIGHT, 0); // crashing
        lv_obj_set_width(lbl_tripa, 120);
        lv_obj_set_pos(lbl_tripa, 110, 40);

        // Total
        obj = lv_label_create(ret);
        lv_label_set_text(obj, "Total");
        lv_obj_set_style_text_font(obj, &lv_font_montserrat_20, LV_PART_MAIN);
        lv_obj_set_pos(obj, 50, 81);

        lbl_triptotal = lv_label_create(ret);
        //lv_obj_set_style_text_align(lbl_triptotal, LV_TEXT_ALIGN_RIGHT, 0); // crashing
        lv_obj_set_width(lbl_triptotal, 120);
        lv_obj_set_pos(lbl_triptotal, 110, 80);

        // right side bars
        // engine temp
        lbl_tempengine = lv_label_create(ret);
        lv_label_set_text(lbl_tempengine, "ENG T");
        lv_obj_set_pos(lbl_tempengine, 215, 0);

        bar_tempengine = lv_bar_create(ret);
        lv_obj_add_style(bar_tempengine, &bar_style_temp, LV_PART_INDICATOR);
        lv_obj_set_size(bar_tempengine, 30, 180);
        lv_bar_set_range(bar_tempengine, 40, 130);
        lv_obj_set_pos(bar_tempengine, 235, 30);

        // abs pressure
        bar_abspressure = lv_bar_create(ret);
        lv_obj_set_style_bg_color(bar_abspressure, lv_palette_main(LV_PALETTE_RED), LV_PART_INDICATOR);
        lv_obj_set_size(bar_abspressure, 20, 180);
        lv_bar_set_range(bar_abspressure, 0x3e, 0xCA); // 140 * 33 = 4620kPa
        lv_obj_set_pos(bar_abspressure, 270, 30);

        // acs level
        lbl_acslevel = lv_label_create(ret);
        lv_label_set_text(lbl_acslevel, "-");
        lv_obj_set_pos(lbl_acslevel, 295, 0);
        
        // acs height
        bar_acsheight = lv_bar_create(ret);
        lv_obj_set_size(bar_acsheight, 20, 180);
        lv_bar_set_range(bar_acsheight, 250, 650);
        lv_obj_set_pos(bar_acsheight, 295, 30);

        // checkboxes
        panel = lv_obj_create(ret);
        lv_obj_set_size(panel, 320, 30);
        lv_obj_set_pos(panel, 0, 210);

        lv_obj_set_flex_flow(panel, LV_FLEX_FLOW_ROW);
        lv_obj_set_flex_align(panel, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER);

        box_islowbat = lv_checkbox_create(panel);
        lv_checkbox_set_text(box_islowbat, "Bat");
        lv_obj_add_style(box_islowbat, &box_style_box, LV_PART_INDICATOR);
        lv_obj_add_style(box_islowbat, &box_style_box_checked, LV_PART_INDICATOR | LV_STATE_CHECKED);

        box_i****emp = lv_checkbox_create(panel);
        lv_checkbox_set_text(box_i****emp, "Temp");
        lv_obj_add_style(box_i****emp, &box_style_box, LV_PART_INDICATOR);
        lv_obj_add_style(box_i****emp, &box_style_box_checked, LV_PART_INDICATOR | LV_STATE_CHECKED);

        box_isoilswitch = lv_checkbox_create(panel);
        lv_checkbox_set_text(box_isoilswitch, "Oil");
        lv_obj_add_style(box_isoilswitch, &box_style_box, LV_PART_INDICATOR);
        lv_obj_add_style(box_isoilswitch, &box_style_box_checked, LV_PART_INDICATOR | LV_STATE_CHECKED);

        lv_obj_update_layout(box_isoilswitch);

        return ret;
    }

    void open()
    {

    }

    void close()
    {
        
    }

    // 100us main 
    void event()
    {
        // only one at a time for optimization purposes starting from highest priority
        if (gui_abspressure != can_abspressure)
        {
            gui_abspressure = can_abspressure;
            lv_bar_set_value(bar_abspressure, gui_abspressure, LV_ANIM_OFF);
        }
        else if (gui_acsheight != can_acsheight)
        {
            gui_acsheight = can_acsheight;
            lv_bar_set_value(bar_acsheight, gui_acsheight, LV_ANIM_OFF); 
        }
        else if (gui_tempair != can_tempair)
        {
            gui_tempair = can_tempair;
            int temp = gui_tempair-60;
            lv_label_set_text(lbl_tempair, String((temp)).append("*C").c_str());
        }
        else if (gui_tripa != can_tripa)
        {
            gui_tripa = can_tripa;
            String tripastr = String(gui_tripa >= 10 ? gui_tripa : 10); // co najmniej 100m zeby bylo co wyswietlac
            String tripadec = tripastr.substring(tripastr.length()-2, tripastr.length());
            tripastr.remove(tripastr.length()-2, 2);
            tripastr.append(",").append(tripadec);
            lv_label_set_text(lbl_tripa, tripastr.c_str());
        }
        else if (gui_triptotal != can_triptotal)
        {
            gui_triptotal = can_triptotal;

            String triptotalstr = String(gui_triptotal);
            String triptotaldecstr = triptotalstr.substring(triptotalstr.length()-2, triptotalstr.length());
            triptotalstr.remove(triptotalstr.length()-2, 2);
            triptotalstr.append(",").append(triptotaldecstr);
            lv_label_set_text(lbl_triptotal, triptotalstr.c_str());
        }
        else if (gui_tempengine != can_tempengine)
        {
            gui_tempengine = can_tempengine;
            int temp = gui_tempengine-60;
            lv_label_set_text(lbl_tempengine, String((temp)).append("*C").c_str());
            lv_bar_set_value(bar_tempengine, temp, LV_ANIM_OFF);
        }
        else if (gui_acslevel != can_acslevel)
        {
            gui_acslevel = can_acslevel;
            lv_label_set_text(lbl_acslevel, String(gui_acslevel).c_str());
        }
        else
        {
            lv_roller_set_selected(rol_gearpos, (uint16_t)can_gearbyte, LV_ANIM_OFF);

            if (can_islowbat) lv_obj_add_state(box_islowbat, LV_STATE_CHECKED);
            else lv_obj_clear_state(box_islowbat, LV_STATE_CHECKED); 
            
            if (can_i****emp) lv_obj_add_state(box_i****emp, LV_STATE_CHECKED);
            else lv_obj_clear_state(box_i****emp, LV_STATE_CHECKED); 

            if (can_isoilswitch) lv_obj_add_state(box_isoilswitch, LV_STATE_CHECKED);
            else lv_obj_clear_state(box_isoilswitch, LV_STATE_CHECKED);
        }
    }
};

global variables:

// can bus data
bool can_islowbat, can_i****emp, can_isoilswitch;
uint16_t can_tempengine, can_tempair;
uint16_t can_gearbyte;
uint16_t can_abspressure;
uint16_t can_acsheight;
uint16_t can_acslevel;
uint32_t can_triptotal;
uint32_t can_tripa;
uint32_t can_tripb;

main loop:

void loop()
{

  // critical code 
  can_handle();

  // catch volatile timer
  event1ms = timer1msCounterStored != timer1msCounter;
  if (!event1ms)
    return;

  // 1ms code
  timer1msCounterStored = timer1msCounter;
  event4ms = !(timer1msCounterStored & 0x3);
  
  // GUI code every 4ms
  if (event4ms)
  {
    gui_update();
  }

}

gui_update() basically calls event() on current screen.

I have two screens:
- main for brake pressure, trip, ACS height, gear position, temp and some other stuff
- snake game for playing while my wife goes for shopping