mirror of https://github.com/FOME-Tech/fome-fw.git
317 lines
9.3 KiB
C++
317 lines
9.3 KiB
C++
/*
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* @file obd2.cpp
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*
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* ISO 15765-4
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* http://en.wikipedia.org/wiki/OBD-II_PIDs
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*
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* @date Jun 9, 2015
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* @author Andrey Belomutskiy, (c) 2012-2020
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*
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* This file is part of rusEfi - see http://rusefi.com
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*
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* rusEfi is free software; you can redistribute it and/or modify it under the terms of
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* the GNU General Public License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* rusEfi is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without
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* even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "pch.h"
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#if EFI_CAN_SUPPORT || EFI_UNIT_TEST
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#include "obd2.h"
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#include "can.h"
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#include "can_msg_tx.h"
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#include "fuel_math.h"
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#include "malfunction_central.h"
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static const int16_t supportedPids0120[] = {
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PID_MONITOR_STATUS,
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PID_FUEL_SYSTEM_STATUS,
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PID_ENGINE_LOAD,
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PID_COOLANT_TEMP,
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PID_STFT_BANK1,
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PID_STFT_BANK2,
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PID_INTAKE_MAP,
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PID_RPM,
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PID_SPEED,
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PID_TIMING_ADVANCE,
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PID_INTAKE_TEMP,
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PID_THROTTLE,
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-1
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};
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static const int16_t supportedPids2140[] = {
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PID_FUEL_AIR_RATIO_1,
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-1
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};
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static const int16_t supportedPids4160[] = {
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PID_CONTROL_UNIT_VOLTAGE,
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PID_ETHANOL,
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PID_FUEL_RATE,
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PID_OIL_TEMPERATURE,
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-1
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};
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static void obdSendPacket(int mode, uint8_t pid, int numBytes, uint32_t iValue, CanBusIndex busIndex) {
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// Respond on the same bus we got the request from
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CanTxMessage resp(OBD_TEST_RESPONSE, 8, busIndex, false);
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// write number of bytes
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resp[0] = (uint8_t)(2 + numBytes);
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// write 2 bytes of header
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resp[1] = (uint8_t)(0x40 + mode);
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resp[2] = pid;
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// write N data bytes
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for (int i = 8 * (numBytes - 1), j = 3; i >= 0; i -= 8, j++) {
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resp[j] = (uint8_t)((iValue >> i) & 0xff);
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}
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}
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#define _1_MODE 1
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static void obdSendValue(int mode, int PID, int numBytes, float value, CanBusIndex busIndex) {
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efiAssertVoid(ObdCode::CUSTOM_ERR_6662, numBytes <= 2, "invalid numBytes");
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int iValue = (int)efiRound(value, 1.0f);
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// clamp to uint8_t (0..255) or uint16_t (0..65535)
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iValue = maxI(minI(iValue, (numBytes == 1) ? 255 : 65535), 0);
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obdSendPacket(mode, PID, numBytes, iValue, busIndex);
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}
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//#define MOCK_SUPPORTED_PIDS 0xffffffff
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static void obdWriteSupportedPids(uint8_t pid, int bitOffset, const int16_t *supportedPids, CanBusIndex busIndex) {
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uint32_t value = 0;
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// gather all 32 bit fields
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for (int i = 0; i < 32 && supportedPids[i] > 0; i++)
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value |= 1 << (31 + bitOffset - supportedPids[i]);
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#ifdef MOCK_SUPPORTED_PIDS
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// for OBD debug
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value = MOCK_SUPPORTED_PIDS;
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#endif
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obdSendPacket(1, pid, 4, value, busIndex);
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}
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static void obdStatusQuery(uint8_t pid, CanBusIndex busIndex) {
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static error_codes_set_s localErrorCopy;
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getErrorCodes(&localErrorCopy);
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CanTxMessage tx(OBD_TEST_RESPONSE, 8, busIndex, false);
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// set bit 7 if MIL on
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uint8_t byteA = (localErrorCopy.count > 0) ? (1 << 7) : 0x0;
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// bottom 7 bits contain code count
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byteA |= 0x7F & localErrorCopy.count;
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tx[0] = 0x6;
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tx[1] = 0x41;
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tx[2] = pid;
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tx[3] = byteA;
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// bytes B-D are all zeroes since we don't support readiness monitors
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tx[4] = 0x0;
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tx[5] = 0x0;
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tx[6] = 0x0;
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}
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static void handleGetDataRequest(uint8_t length, const CANRxFrame& rx, CanBusIndex busIndex) {
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if (length != 2) {
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// expect length 2: service + PID
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return;
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}
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auto pid = rx.data8[2];
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switch (pid) {
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case PID_SUPPORTED_PIDS_REQUEST_01_20:
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obdWriteSupportedPids(pid, 1, supportedPids0120, busIndex);
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break;
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case PID_SUPPORTED_PIDS_REQUEST_21_40:
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obdWriteSupportedPids(pid, 21, supportedPids2140, busIndex);
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break;
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case PID_SUPPORTED_PIDS_REQUEST_41_60:
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obdWriteSupportedPids(pid, 41, supportedPids4160, busIndex);
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break;
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case PID_MONITOR_STATUS:
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obdStatusQuery(pid, busIndex);
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break;
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case PID_FUEL_SYSTEM_STATUS:
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// todo: add statuses
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obdSendValue(_1_MODE, pid, 2, (2<<8)|(0), busIndex); // 2 = "Closed loop, using oxygen sensor feedback to determine fuel mix"
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break;
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case PID_ENGINE_LOAD:
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obdSendValue(_1_MODE, pid, 1, getFuelingLoad() * ODB_TPS_BYTE_PERCENT, busIndex);
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break;
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case PID_COOLANT_TEMP:
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obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Clt) + ODB_TEMP_EXTRA, busIndex);
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break;
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case PID_STFT_BANK1:
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obdSendValue(_1_MODE, pid, 1, 128 * engine->stftCorrection[0], busIndex);
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break;
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case PID_STFT_BANK2:
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obdSendValue(_1_MODE, pid, 1, 128 * engine->stftCorrection[1], busIndex);
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break;
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case PID_INTAKE_MAP:
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obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Map), busIndex);
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break;
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case PID_RPM:
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obdSendValue(_1_MODE, pid, 2, Sensor::getOrZero(SensorType::Rpm) * ODB_RPM_MULT, busIndex); // rotation/min. (A*256+B)/4
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break;
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case PID_SPEED:
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obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::VehicleSpeed), busIndex);
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break;
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case PID_TIMING_ADVANCE: {
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float timing = engine->cylinders[0].getIgnitionTimingBtdc();
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timing = (timing > 360.0f) ? (timing - 720.0f) : timing;
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obdSendValue(_1_MODE, pid, 1, (timing + 64.0f) * 2.0f, busIndex); // angle before TDC. (A/2)-64
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break;
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}
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case PID_INTAKE_TEMP:
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obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Iat) + ODB_TEMP_EXTRA, busIndex);
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break;
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case PID_INTAKE_MAF:
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obdSendValue(_1_MODE, pid, 2, Sensor::getOrZero(SensorType::Maf) * 100.0f, busIndex); // grams/sec (A*256+B)/100
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break;
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case PID_THROTTLE:
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obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Tps1) * ODB_TPS_BYTE_PERCENT, busIndex); // (A*100/255)
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break;
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case PID_FUEL_AIR_RATIO_1: {
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float lambda = clampF(0, Sensor::getOrZero(SensorType::Lambda1), 1.99f);
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uint16_t scaled = lambda * 32768;
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obdSendPacket(1, pid, 4, scaled << 16, busIndex);
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break;
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#ifdef MODULE_TRIP_ODO
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} case PID_FUEL_RATE: {
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float gPerSecond = engine->module<TripOdometer>()->getConsumptionGramPerSecond();
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float gPerHour = gPerSecond * 3600;
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float literPerHour = gPerHour * 0.00139f;
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obdSendValue(_1_MODE, pid, 2, literPerHour * 20.0f, busIndex); // L/h. (A*256+B)/20
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break;
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#endif // MODULE_TRIP_ODO
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} case PID_CONTROL_UNIT_VOLTAGE: {
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obdSendValue(_1_MODE, pid, 2, 1000 * Sensor::getOrZero(SensorType::BatteryVoltage), busIndex);
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break;
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} case PID_ETHANOL: {
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obdSendValue(_1_MODE, pid, 1, (255.0f / 100) * Sensor::getOrZero(SensorType::FuelEthanolPercent), busIndex);
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break;
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} case PID_OIL_TEMPERATURE: {
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obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::OilTemperature) + ODB_TEMP_EXTRA, busIndex);
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break;
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} default:
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// ignore unhandled PIDs
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break;
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}
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}
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template<typename T>
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static void writeDtc(T& msg, size_t offset, ObdCode code) {
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msg[offset + 0] = (static_cast<uint16_t>(code) >> 8) & 0xFF;
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msg[offset + 1] = (static_cast<uint16_t>(code) >> 0) & 0xFF;
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}
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uint8_t responseBytes[MAX_ERROR_CODES_COUNT * 2];
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static void handleDtcRequest(uint8_t service, int numCodes, ObdCode* dtcCode, CanBusIndex busIndex) {
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if (numCodes == 0) {
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// No DTCs: Respond with no trouble codes
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CanTxMessage tx(OBD_TEST_RESPONSE, 8, busIndex, false);
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tx[0] = 0x2; // 2 data bytes
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tx[1] = 0x40 + service; // Service $03 response
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tx[2] = 0x0; // No DTCs
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} else if (numCodes <= 2) {
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// Response will fit in a single frame
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CanTxMessage tx(OBD_TEST_RESPONSE, 8, busIndex, false);
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tx[0] = 1 + 1 + 2 * numCodes; // 1 (service) + 1 (num bytes) + 2*N (codes) data bytes
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tx[1] = 0x40 + service; // Service $03 response
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tx[2] = numCodes; // N stored codes
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for (int i = 0; i < numCodes; i++) {
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int dest = 3 + 2 * i;
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writeDtc(tx, dest, dtcCode[i]);
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}
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} else {
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// Assemble all codes in to the buffer
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for (size_t i = 0; i < numCodes; i++) {
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writeDtc(responseBytes, 2 * i, dtcCode[i]);
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}
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{
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// ISO-TP first frame
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CanTxMessage tx(OBD_TEST_RESPONSE, 8, busIndex, false);
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// Header
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tx[0] = 0x10; // First frame
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tx[1] = 1 + 1 + 2 * numCodes; // Total bytes (service + num codes + codes)
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// Start data
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tx[2] = 0x40 + service; // Service $03 response
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tx[3] = numCodes; // N stored codes
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for (size_t i = 0; i < 4; i++) {
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tx[4 + i] = responseBytes[i];
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}
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}
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uint8_t sequence = 1;
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auto readPtr = responseBytes + 4;
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size_t bytesRemain = 2 * numCodes - 4;
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while (bytesRemain) {
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CanTxMessage tx(OBD_TEST_RESPONSE, 8, busIndex, false);
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tx[0] = 0x20 + sequence;
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size_t chunkSize = bytesRemain > 7 ? 7 : bytesRemain;
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for (size_t i = 0; i < chunkSize; i++) {
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tx[i + 1] = readPtr[i];
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}
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sequence++;
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bytesRemain = bytesRemain - chunkSize;
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readPtr += chunkSize;
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}
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}
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}
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// #if HAL_USE_CAN || EFI_UNIT_TEST
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void obdOnCanPacketRx(const CANRxFrame& rx, CanBusIndex busIndex) {
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if (CAN_SID(rx) != OBD_TEST_REQUEST) {
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return;
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}
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auto length = rx.data8[0];
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auto service = rx.data8[1];
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switch (service) {
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case OBD_CURRENT_DATA:
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handleGetDataRequest(length, rx, busIndex);
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break;
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case OBD_STORED_DTC:
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static error_codes_set_s localErrorCopy;
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getErrorCodes(&localErrorCopy);
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handleDtcRequest(service, localErrorCopy.count, localErrorCopy.error_codes, busIndex);
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break;
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case OBD_PENDING_DTC:
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case OBD_PERMANENT_DTC:
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// We don't support pending or permanent DTCs.
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handleDtcRequest(service, 0, nullptr, busIndex);
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break;
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}
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}
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// #endif /* HAL_USE_CAN */
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#endif /* EFI_CAN_SUPPORT || EFI_UNIT_TEST */
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