OBD CAN sensors #1733

firmware/controllers/can/can_rx.cpp

@@ -30,10 +30,10 @@ static void printPacket(const CANRxFrame& rx, Logging* logger) {
 volatile float aemXSeriesLambda = 0;
 volatile float canMap = 0;
 
-static CanSensorBase* s_head = nullptr;
+CanSensorBase* cansensors_head = nullptr;
 
 void serviceCanSubscribers(const CANRxFrame& frame, efitick_t nowNt) {
-	CanSensorBase* current = s_head;
+	CanSensorBase* current = cansensors_head;
 
 	while (current) {
 		current = current->processFrame(frame, nowNt);
@@ -41,8 +41,8 @@ void serviceCanSubscribers(const CANRxFrame& frame, efitick_t nowNt) {
 }
 
 void registerCanSensor(CanSensorBase& sensor) {
-	sensor.setNext(s_head);
-	s_head = &sensor;
+	sensor.setNext(cansensors_head);
+	cansensors_head = &sensor;
 }
 
 void processCanRxMessage(const CANRxFrame& frame, Logging* logger, efitick_t nowNt) {

firmware/controllers/can/can_tx.cpp

@@ -15,9 +15,12 @@
 #include "can_hw.h"
 #include "can_dash.h"
 #include "obd2.h"
+#include "can_sensor.h"
 
 EXTERN_ENGINE;
 
+extern CanSensorBase* cansensors_head;
+
 CanWrite::CanWrite()
 	: PeriodicController("CAN TX", NORMALPRIO, 50)
 {
@@ -31,6 +34,12 @@ void CanWrite::PeriodicTask(efitime_t nowNt) {
 		sendCanVerbose();
 	}
 
+	CanSensorBase* current = cansensors_head;
+
+	while (current) {
+		current = current->request();
+	}
+
 	// Transmit dash data, if enabled
 	switch (CONFIG(canNbcType)) {
 	case CAN_BUS_NBC_BMW:

firmware/controllers/sensors/can_sensor.h

@@ -22,6 +22,10 @@ public:
 	{
 	}
 
+	virtual CanSensorBase* request() {
+		return m_next;
+	}
+
 	void showInfo(Logging* logger, const char* sensorName) const override;
 
 	CanSensorBase* processFrame(const CANRxFrame& frame, efitick_t nowNt) {
@@ -68,3 +72,8 @@ public:
 private:
 	const uint8_t m_offset;
 };
+
+class ObdCanSensor : public CanSensorBase {
+	ObdCanSensor(SensorType type);
+};
+