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OBD2 CAN broken due to math base mismatch (#7053) 

* updated can_msg_tx/obd2 code for unit tests, fixed supported pid error, WIP unit tests on obd2

* fix txCanBuffer not cleared after a tx can test

* simulator needs can header, add settings to respect code format on vscode, added more tests
This commit is contained in:
Diego 2024-11-08 18:01:21 -03:00 committed by GitHub
parent 5c23d89759
commit b214a7b814
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GPG Key ID: B5690EEEBB952194
11 changed files with 279 additions and 28 deletions
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1
.editorconfig
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@ -11,6 +11,7 @@ trim_trailing_whitespace = true
insert_final_newline = true
indent_style = space
indent_size = 2
cpp_new_line_before_open_brace_block = same_line
# 4 space indentation
[*.java]

23
.vscode/settings.json vendored
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@ -1,17 +1,15 @@
{
"files.associations": {
"xstring": "cpp",
"ios": "cpp",
"xlocale": "cpp",
"xtr1common": "cpp",
"xiosbase": "cpp",
"deque": "cpp",
"forward_list": "cpp",
"list": "cpp",
"system_error": "cpp",
"vector": "cpp",
"xhash": "cpp",
"xtree": "cpp"
"*.input": "ini",
"array": "cpp",
"*.tcc": "cpp",
"memory": "cpp",
"istream": "cpp",
"functional": "cpp",
"tuple": "cpp",
"utility": "cpp",
"variant": "cpp",
"format": "cpp"
},
"editor.detectIndentation": false,
"editor.indentSize": 4,
@ -36,4 +34,5 @@
"files.associations": {
"*.input": "ini"
},
"C_Cpp.formatting": "vcFormat",
}

18
firmware/controllers/can/obd2.cpp
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@ -23,7 +23,7 @@
#include "pch.h"
#if EFI_CAN_SUPPORT
#if EFI_CAN_SUPPORT || EFI_UNIT_TEST
#include "obd2.h"
#include "can.h"
@ -56,7 +56,7 @@ static const int16_t supportedPids4160[] = {
-1
};
static void obdSendPacket(int mode, int PID, int numBytes, uint32_t iValue, size_t busIndex) {
void obdSendPacket(int mode, int PID, int numBytes, uint32_t iValue, size_t busIndex) {
CanTxMessage resp(CanCategory::OBD, OBD_TEST_RESPONSE);
// Respond on the same bus we got the request from
@ -84,9 +84,9 @@ static void obdSendValue(int mode, int PID, int numBytes, float value, size_t bu
}
//#define MOCK_SUPPORTED_PIDS 0xffffffff
// #define MOCK_SUPPORTED_PIDS 0xffffffff
static void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *supportedPids, size_t busIndex) {
void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *supportedPids, size_t busIndex) {
uint32_t value = 0;
// gather all 32 bit fields
for (int i = 0; i < 32 && supportedPids[i] > 0; i++)
@ -100,17 +100,17 @@ static void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *support
obdSendPacket(1, PID, 4, value, busIndex);
}
static void handleGetDataRequest(const CANRxFrame& rx, size_t busIndex) {
void handleGetDataRequest(const CANRxFrame& rx, size_t busIndex) {
int pid = rx.data8[2];
switch (pid) {
case PID_SUPPORTED_PIDS_REQUEST_01_20:
obdWriteSupportedPids(pid, 1, supportedPids0120, busIndex);
break;
case PID_SUPPORTED_PIDS_REQUEST_21_40:
obdWriteSupportedPids(pid, 21, supportedPids2140, busIndex);
obdWriteSupportedPids(pid, 0x21, supportedPids2140, busIndex);
break;
case PID_SUPPORTED_PIDS_REQUEST_41_60:
obdWriteSupportedPids(pid, 41, supportedPids4160, busIndex);
obdWriteSupportedPids(pid, 0x41, supportedPids4160, busIndex);
break;
case PID_MONITOR_STATUS:
obdSendPacket(1, pid, 4, 0, busIndex); // todo: add statuses
@ -188,7 +188,7 @@ static void handleDtcRequest(int numCodes, ObdCode* dtcCode) {
// }
}
#if HAL_USE_CAN
#if HAS_CAN_FRAME
void obdOnCanPacketRx(const CANRxFrame& rx, size_t busIndex) {
if (CAN_SID(rx) != OBD_TEST_REQUEST) {
return;
@ -204,6 +204,6 @@ void obdOnCanPacketRx(const CANRxFrame& rx, size_t busIndex) {
handleDtcRequest(1, &engine->engineState.warnings.lastErrorCode);
}
}
#endif /* HAL_USE_CAN */
#endif /* HAS_CAN_FRAME */
#endif /* EFI_CAN_SUPPORT */

12
firmware/controllers/can/obd2.h
View File

@ -6,6 +6,7 @@
*/
#pragma once
#include "can.h"
#define OBD_TEST_REQUEST 0x7DF
@ -45,9 +46,16 @@
#define PID_FUEL_RATE 0x5E
//todo#define PID_TURBO_RPM 0x74
#if HAL_USE_CAN
#if HAS_CAN_FRAME
void obdSendPacket(int mode, int PID, int numBytes, uint32_t iValue, size_t busIndex);
void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *supportedPids, size_t busIndex);
void obdOnCanPacketRx(const CANRxFrame& rx, size_t busIndex);
#endif /* HAL_USE_CAN */
void handleGetDataRequest(const CANRxFrame& rx, size_t busIndex);
#endif /* HAS_CAN_FRAME */
#if EFI_UNIT_TEST
#include "can_msg_tx.h"
#endif
#define ODB_RPM_MULT 4
#define ODB_TEMP_EXTRA 40

20
firmware/hw_layer/drivers/can/can_msg_tx.cpp
View File

@ -14,7 +14,7 @@
#include "can.h"
#if EFI_SIMULATOR
#if EFI_SIMULATOR || EFI_UNIT_TEST
#include "fifo_buffer.h"
fifo_buffer<CANTxFrame, 1024> txCanBuffer;
#endif // EFI_SIMULATOR
@ -60,8 +60,24 @@ CanTxMessage::CanTxMessage(CanCategory p_category, uint32_t eid, uint8_t dlc, si
}
CanTxMessage::~CanTxMessage() {
#if EFI_SIMULATOR
#if EFI_SIMULATOR || EFI_UNIT_TEST
txCanBuffer.put(m_frame);
#if EFI_UNIT_TEST
printf("%s Sending CAN bus%d message: ID=%x/l=%x %x %x %x %x %x %x %x %x \n",
getCanCategory(category),
busIndex,
#ifndef STM32H7XX
(unsigned int)((m_frame.IDE == CAN_IDE_EXT) ? CAN_EID(m_frame) : CAN_SID(m_frame)),
#else
(unsigned int)(m_frame.common.XTD ? CAN_EID(m_frame) : CAN_SID(m_frame)),
#endif
m_frame.DLC,
m_frame.data8[0], m_frame.data8[1],
m_frame.data8[2], m_frame.data8[3],
m_frame.data8[4], m_frame.data8[5],
m_frame.data8[6], m_frame.data8[7]);
#endif
#endif // EFI_SIMULATOR
#if EFI_CAN_SUPPORT

5
firmware/hw_layer/drivers/can/can_msg_tx.h
View File

@ -15,6 +15,11 @@
#include "can_category.h"
#include "can.h"
#if EFI_SIMULATOR || EFI_UNIT_TEST
#include "fifo_buffer.h"
extern fifo_buffer<CANTxFrame, 1024> txCanBuffer;
#endif // EFI_SIMULATOR
/**
* Represent a message to be transmitted over CAN.
*

0
unit_tests/tests/test_can_rx.cpp → unit_tests/tests/controllers/can/test_can_rx.cpp
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3
unit_tests/tests/test_can_serial.cpp → unit_tests/tests/controllers/can/test_can_serial.cpp
View File

@ -114,6 +114,9 @@ public:
// check the FIFO buf size
EXPECT_EQ(0, rxFifoBuf.getCount());
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
protected:

0
unit_tests/tests/test_can_wideband.cpp → unit_tests/tests/controllers/can/test_can_wideband.cpp
View File

218
unit_tests/tests/controllers/can/test_obd2.cpp Normal file
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@ -0,0 +1,218 @@
#include "pch.h"
#include "can_msg_tx.h"
#include "can.h"
#include "can_listener.h"
#include "obd2.h"
TEST(CanObd2, obdSendPacket)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
obdSendPacket(0, PID_RPM, 1, 0xff, 0);
EXPECT_TRUE(txCanBuffer.getCount());
CANTxFrame frame = txCanBuffer.get();
EXPECT_EQ(frame.data8[0], 3); // correct data size
EXPECT_EQ(frame.data8[1], 0X40); // correct header
EXPECT_EQ(frame.data8[2], PID_RPM); // correct PID
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_SUPPORTED_PIDS_01_20)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_SUPPORTED_PIDS_REQUEST_01_20;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 6); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0X41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_SUPPORTED_PIDS_REQUEST_01_20); // correct PID
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_SUPPORTED_PIDS_21_40)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_SUPPORTED_PIDS_REQUEST_21_40;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 6); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_SUPPORTED_PIDS_REQUEST_21_40); // correct PID
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_SUPPORTED_PIDS_41_60)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_SUPPORTED_PIDS_REQUEST_41_60;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 6); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_SUPPORTED_PIDS_REQUEST_41_60); // correct PID
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_SUPPORTED_PID_ENGINE_LOAD)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_ENGINE_LOAD;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 3); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_ENGINE_LOAD); // correct PID
EXPECT_EQ(rxFrame.data8[3], getFuelingLoad() * ODB_TPS_BYTE_PERCENT); // correct value
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_PID_COOLANT_TEMP)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_COOLANT_TEMP;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 3); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_COOLANT_TEMP); // correct PID
EXPECT_EQ(rxFrame.data8[3], Sensor::getOrZero(SensorType::Clt) + ODB_TEMP_EXTRA); // correct value
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_PID_STFT_BANK1_2)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_STFT_BANK1;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 3); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_STFT_BANK1); // correct PID
EXPECT_EQ(rxFrame.data8[3], 128 * engine->engineState.stftCorrection[0]); // correct value
frame.data8[2] = PID_STFT_BANK2;
handleGetDataRequest(frame, 0);
rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 3); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_STFT_BANK2); // correct PID
EXPECT_EQ(rxFrame.data8[3], 128 * engine->engineState.stftCorrection[0]); // correct value
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_PID_INTAKE_MAP)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_INTAKE_MAP;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 3); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_INTAKE_MAP); // correct PID
EXPECT_EQ(rxFrame.data8[3], Sensor::getOrZero(SensorType::Map)); // correct value
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_PID_RPM)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_RPM;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 4); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_RPM); // correct PID
int rpm = Sensor::getOrZero(SensorType::Rpm) * ODB_RPM_MULT;
EXPECT_EQ(rxFrame.data8[3], (rpm >> 0) & 0xff); // correct value
EXPECT_EQ(rxFrame.data8[3], (rpm >> 8) & 0xff); // correct value
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}
TEST(CanObd2, handleGetDataRequest_PID_SPEED)
{
EngineTestHelper eth(engine_type_e::TEST_ENGINE);
CANRxFrame frame;
frame.data8[2] = PID_SPEED;
handleGetDataRequest(frame, 0);
CANTxFrame rxFrame = txCanBuffer.get();
EXPECT_EQ(rxFrame.data8[0], 3); // correct data size
EXPECT_EQ(rxFrame.data8[1], 0x41); // correct header
EXPECT_EQ(rxFrame.data8[2], PID_SPEED); // correct PID
EXPECT_EQ(rxFrame.data8[3], Sensor::getOrZero(SensorType::VehicleSpeed)); // correct value
// clear shared buffer
txCanBuffer.clear();
EXPECT_FALSE(txCanBuffer.getCount());
}

7
unit_tests/tests/tests.mk
View File

@ -139,9 +139,6 @@ TESTS_SRC_CPP = \
tests/test_dynoview.cpp \
tests/test_gpio.cpp \
tests/test_limp.cpp \
tests/test_can_rx.cpp \
tests/test_can_serial.cpp \
tests/test_can_wideband.cpp \
tests/test_hellen_board_id.cpp \
tests/sensor/test_frequency_sensor.cpp \
tests/sensor/test_turbocharger_speed_converter.cpp \
@ -164,3 +161,7 @@ TESTS_SRC_CPP = \
tests/actuators/boost/boost_test_base.cpp \
tests/actuators/boost/test_open_loop_multipliers.cpp \
tests/actuators/boost/test_closed_loop_adders.cpp \
tests/controllers/can/test_can_rx.cpp \
tests/controllers/can/test_can_serial.cpp \
tests/controllers/can/test_can_wideband.cpp \
tests/controllers/can/test_obd2.cpp \