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Better OBD2 support (#515)

This commit is contained in:
andreika-git 2017-12-18 04:10:02 +02:00 committed by rusefi
parent f8014b2a1a
commit d466d9dac9
4 changed files with 171 additions and 60 deletions
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5
firmware/controllers/algo/fuel_math.cpp
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@ -289,3 +289,8 @@ floatms_t getCrankingFuel3(float coolantTemperature,
return baseCrankingFuel * durationCoef * coolantTempCoef * tpsCoef;
}
float getFuelRate(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
// todo: L/h
return 0.0f;
}

1
firmware/controllers/algo/fuel_math.h
View File

@ -36,5 +36,6 @@ floatms_t getCrankingFuel(DECLARE_ENGINE_PARAMETER_SIGNATURE);
floatms_t getCrankingFuel3(float coolantTemperature, uint32_t revolutionCounterSinceStart DECLARE_ENGINE_PARAMETER_SUFFIX);
floatms_t getInjectionDuration(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX);
percent_t getInjectorDutyCycle(int rpm DECLARE_ENGINE_PARAMETER_SUFFIX);
float getFuelRate(DECLARE_ENGINE_PARAMETER_SIGNATURE);
#endif /* FUEL_MAP_H_ */

216
firmware/controllers/obd2.cpp
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@ -22,78 +22,170 @@
*/
#include "main.h"
#include "engine.h"
#include "obd2.h"
#include "can_hw.h"
#include "vehicle_speed.h"
#include "map.h"
#include "maf.h"
#include "tps.h"
#include "engine_math.h"
#include "fuel_math.h"
extern CANTxFrame txmsg;
EXTERN_ENGINE
;
static LoggingWithStorage logger("obd2");
static void handleGetDataRequest(CANRxFrame *rx) {
if (rx->data8[2] == PID_SUPPORTED_PIDS_REQUEST) {
scheduleMsg(&logger, "Got lookup request");
static const int16_t supportedPids0120[] = {
PID_MONITOR_STATUS,
PID_FUEL_SYSTEM_STATUS,
PID_ENGINE_LOAD,
PID_COOLANT_TEMP,
PID_INTAKE_MAP,
PID_RPM,
PID_SPEED,
PID_TIMING_ADVANCE,
PID_INTAKE_TEMP,
PID_THROTTLE,
-1
};
commonTxInit(OBD_TEST_RESPONSE);
txmsg.data8[0] = 6; // 6 bytes
txmsg.data8[1] = 0x41; // mode 1
txmsg.data8[2] = PID_SUPPORTED_PIDS_REQUEST;
static const int16_t supportedPids2140[] = {
-1
};
setTxBit(3, 8 - PID_ENGINE_LOAD);
setTxBit(3, 8 - PID_COOLANT_TEMP);
static const int16_t supportedPids4160[] = {
PID_FUEL_RATE,
-1
};
setTxBit(4, 16 - PID_RPM);
setTxBit(4, 16 - PID_TIMING_ADVANCE);
setTxBit(4, 16 - PID_INTAKE_TEMP);
static void obdSendPacket(int mode, int PID, int numBytes, uint32_t iValue) {
commonTxInit(OBD_TEST_RESPONSE);
setTxBit(5, 24 - PID_THROTTLE);
sendCanMessage();
} else if (rx->data8[2] == PID_COOLANT_TEMP) {
scheduleMsg(&logger, "Got CLT request");
int clt = 67; // todo: use real value
commonTxInit(OBD_TEST_RESPONSE);
txmsg.data8[0] = 3; // 3 bytes
txmsg.data8[1] = 0x41; // mode 1
txmsg.data8[2] = PID_COOLANT_TEMP;
txmsg.data8[3] = clt + 40;
sendCanMessage();
} else if (rx->data8[2] == PID_RPM) {
scheduleMsg(&logger, "Got RPM request");
unsigned int rpm = 2000*4; // rotation/min. ((A*256)+B)/4 todo: use real value
commonTxInit(OBD_TEST_RESPONSE);
txmsg.data8[0] = 4; // 4 bytes
txmsg.data8[1] = 0x41; // mode 1
txmsg.data8[2] = PID_RPM;
txmsg.data8[3] = ((rpm>>8) & 0xFF);
txmsg.data8[4] = ((rpm) & 0xFF);
sendCanMessage();
} else if (rx->data8[2] == PID_TIMING_ADVANCE) {
scheduleMsg(&logger, "Got timing request");
} else if (rx->data8[2] == PID_SPEED) {
scheduleMsg(&logger, "Got speed request");
commonTxInit(OBD_TEST_RESPONSE);
txmsg.data8[0] = 3; // 3 bytes
txmsg.data8[1] = 0x41; // mode 1
txmsg.data8[2] = PID_INTAKE_MAP;
txmsg.data8[3] = 123; // todo: real speed
sendCanMessage();
} else if (rx->data8[2] == PID_FUEL_PRESSURE) {
scheduleMsg(&logger, "Got fuel pressure request");
} else if (rx->data8[2] == PID_INTAKE_MAP) {
scheduleMsg(&logger, "Got MAP request");
commonTxInit(OBD_TEST_RESPONSE);
txmsg.data8[0] = 3; // 3 bytes
txmsg.data8[1] = 0x41; // mode 1
txmsg.data8[2] = PID_INTAKE_MAP;
txmsg.data8[3] = 46; // todo: real MAP
sendCanMessage();
} else {
scheduleMsg(&logger, "Got unhandled request");
// write number of bytes
txmsg.data8[0] = (uint8_t)(2 + numBytes);
// write 2 bytes of header
txmsg.data8[1] = (uint8_t)(0x40 + mode);
txmsg.data8[2] = (uint8_t)PID;
// write N data bytes
for (int i = 8 * (numBytes - 1), j = 3; i >= 0; i -= 8, j++) {
txmsg.data8[j] = (uint8_t)((iValue >> i) & 0xff);
}
sendCanMessage();
}
static void obdSendValue(int mode, int PID, int numBytes, float value) {
efiAssertVoid(numBytes <= 2, "invalid numBytes");
int iValue = (int)efiRound(value, 1.0f);
// clamp to uint8_t (0..255) or uint16_t (0..65535)
iValue = maxI(minI(iValue, (numBytes == 1) ? 255 : 65535), 0);
obdSendPacket(mode, PID, numBytes, iValue);
}
//#define MOCK_SUPPORTED_PIDS 0xffffffff
static void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *supportedPids) {
uint32_t value = 0;
// gather all 32 bit fields
for (int i = 0; i < 32 && supportedPids[i] > 0; i++)
value |= 1 << (31 + bitOffset - supportedPids[i]);
#ifdef MOCK_SUPPORTED_PIDS
// for OBD debug
value = MOCK_SUPPORTED_PIDS;
#endif
scheduleMsg(&logger, "Write bitfields 0x%08x", value);
obdSendPacket(1, PID, 4, value);
}
static void handleGetDataRequest(CANRxFrame *rx) {
int pid = rx->data8[2];
switch (pid) {
case PID_SUPPORTED_PIDS_REQUEST_01_20:
scheduleMsg(&logger, "Got lookup request 01-20");
obdWriteSupportedPids(pid, 1, supportedPids0120);
break;
case PID_SUPPORTED_PIDS_REQUEST_21_40:
scheduleMsg(&logger, "Got lookup request 21-40");
obdWriteSupportedPids(pid, 21, supportedPids2140);
break;
case PID_SUPPORTED_PIDS_REQUEST_41_60:
scheduleMsg(&logger, "Got lookup request 41-60");
obdWriteSupportedPids(pid, 41, supportedPids4160);
break;
case PID_MONITOR_STATUS:
scheduleMsg(&logger, "Got monitor status request");
obdSendPacket(1, pid, 4, 0); // todo: add statuses
break;
case PID_FUEL_SYSTEM_STATUS:
scheduleMsg(&logger, "Got fuel system status request");
// todo: add statuses
obdSendValue(1, pid, 2, (2<<8)|(0)); // 2 = "Closed loop, using oxygen sensor feedback to determine fuel mix"
break;
case PID_ENGINE_LOAD:
scheduleMsg(&logger, "Got engine load request");
obdSendValue(1, pid, 1, getEngineLoadT(PASS_ENGINE_PARAMETER_SIGNATURE) * 2.55f);
break;
case PID_COOLANT_TEMP:
scheduleMsg(&logger, "Got CLT request");
obdSendValue(1, pid, 1, engine->sensors.clt + 40.0f);
break;
case PID_INTAKE_MAP:
scheduleMsg(&logger, "Got MAP request");
obdSendValue(1, pid, 1, getMap());
break;
case PID_RPM:
scheduleMsg(&logger, "Got RPM request");
obdSendValue(1, pid, 2, getRpmE(engine) * 4.0f); // rotation/min. (A*256+B)/4
break;
case PID_SPEED:
scheduleMsg(&logger, "Got speed request");
obdSendValue(1, pid, 1, getVehicleSpeed());
break;
case PID_TIMING_ADVANCE: {
scheduleMsg(&logger, "Got timing request");
float timing = engine->engineState.timingAdvance;
timing = (timing > 360.0f) ? (timing - 720.0f) : timing;
obdSendValue(1, pid, 1, (timing + 64.0f) * 2.0f); // angle before TDC. (A/2)-64
break;
}
case PID_INTAKE_TEMP:
scheduleMsg(&logger, "Got IAT request");
obdSendValue(1, pid, 1, engine->sensors.iat + 40.0f);
break;
case PID_INTAKE_MAF:
scheduleMsg(&logger, "Got MAF request");
obdSendValue(1, pid, 2, getMaf(PASS_ENGINE_PARAMETER_SIGNATURE) * 100.0f); // grams/sec (A*256+B)/100
break;
case PID_THROTTLE:
scheduleMsg(&logger, "Got throttle request");
obdSendValue(1, pid, 1, getTPS(PASS_ENGINE_PARAMETER_SIGNATURE) * 2.55f); // (A*100/255)
break;
case PID_FUEL_RATE:
scheduleMsg(&logger, "Got fuel rate request");
obdSendValue(1, pid, 2, getFuelRate(PASS_ENGINE_PARAMETER_SIGNATURE) * 20.0f); // L/h. (A*256+B)/20
break;
default:
scheduleMsg(&logger, "Got unhandled request (PID 0x%02x)", pid);
}
}
static void handleDtcRequest(int numCodes, int *dtcCode) {
int numBytes = numCodes * 2;
// write CAN-TP Single Frame header?
txmsg.data8[0] = (uint8_t)((0 << 4) | numBytes);
for (int i = 0, j = 1; i < numCodes; i++) {
txmsg.data8[j++] = (uint8_t)((dtcCode[i] >> 8) & 0xff);
txmsg.data8[j++] = (uint8_t)(dtcCode[i] & 0xff);
}
}
void obdOnCanPacketRx(CANRxFrame *rx) {
@ -104,6 +196,12 @@ void obdOnCanPacketRx(CANRxFrame *rx) {
handleGetDataRequest(rx);
} else if (rx->data8[0] == 1 && rx->data8[1] == OBD_STORED_DIAGNOSTIC_TROUBLE_CODES) {
scheduleMsg(&logger, "Got stored DTC request");
// todo: implement stored/pending difference?
handleDtcRequest(1, &engine->engineState.lastErrorCode);
} else if (rx->data8[0] == 1 && rx->data8[1] == OBD_PENDING_DIAGNOSTIC_TROUBLE_CODES) {
scheduleMsg(&logger, "Got pending DTC request");
// todo: implement stored/pending difference?
handleDtcRequest(1, &engine->engineState.lastErrorCode);
} else {
scheduleMsg(&logger, "Got unhandled OBD message");
}

9
firmware/controllers/obd2.h
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@ -18,7 +18,9 @@
#define OBD_STORED_DIAGNOSTIC_TROUBLE_CODES 3
#define OBD_PENDING_DIAGNOSTIC_TROUBLE_CODES 7
#define PID_SUPPORTED_PIDS_REQUEST 0
#define PID_SUPPORTED_PIDS_REQUEST_01_20 0x00
#define PID_MONITOR_STATUS 0x01
#define PID_FUEL_SYSTEM_STATUS 0x03
#define PID_ENGINE_LOAD 0x04
#define PID_COOLANT_TEMP 0x05
#define PID_FUEL_PRESSURE 0x0A
@ -27,8 +29,13 @@
#define PID_SPEED 0x0D
#define PID_TIMING_ADVANCE 0x0E
#define PID_INTAKE_TEMP 0x0F
#define PID_INTAKE_MAF 0x10
#define PID_THROTTLE 0x11
#define PID_SUPPORTED_PIDS_REQUEST_21_40 0x20
#define PID_SUPPORTED_PIDS_REQUEST_41_60 0x40
#define PID_FUEL_RATE 0x5E
void obdOnCanPacketRx(CANRxFrame *rx);