/* Speeduino - Simple engine management for the Arduino Mega 2560 platform Copyright (C) Josh Stewart A full copy of the license may be found in the projects root directory */ /* This is for handling the data broadcasted to various CAN dashes and instrument clusters. */ #include "globals.h" #if defined(NATIVE_CAN_AVAILABLE) #include "comms_CAN.h" #include "utilities.h" CAN_message_t inMsg; CAN_message_t outMsg; //These are declared locally for Teensy due to this issue: https://github.com/tonton81/FlexCAN_T4/issues/67 #if defined(CORE_TEENSY35) || defined(CORE_TEENSY36) // use for Teensy 3.5/3.6 only FlexCAN_T4 Can0; #elif defined(CORE_TEENSY41) // use for Teensy 4.1 only FlexCAN_T4 Can0; #endif // Forward declare void DashMessage(uint16_t DashMessageID); void initCAN() { #if defined (NATIVE_CAN_AVAILABLE) configPage9.intcan_available = 1; // device has internal canbus //Teensy uses the Flexcan_T4 library to use the internal canbus //enable local can interface //setup can interface to 500k Can0.begin(); Can0.setBaudRate(500000); Can0.enableFIFO(); /* Note: This must come after the call to setPinMapping() or else pins 29 and 30 will become unusable as outputs. * Workaround for: https://github.com/tonton81/FlexCAN_T4/issues/14 */ #if defined(CORE_TEENSY35) // use for Teensy 3.5 only Can0.setRX(DEF); Can0.setTX(DEF); #endif #endif } int CAN_read() { return Can0.read(inMsg); } void CAN_write() { Can0.write(outMsg); } void sendBMWCluster() { DashMessage(CAN_BMW_DME1); Can0.write(outMsg); DashMessage(CAN_BMW_DME2); Can0.write(outMsg); DashMessage(CAN_BMW_DME4); Can0.write(outMsg); } void sendVAGCluster() { DashMessage(CAN_VAG_RPM); Can0.write(outMsg); DashMessage(CAN_VAG_VSS); Can0.write(outMsg); } void receiveCANwbo() { // Currently only RusEFI CAN Wideband supported: https://github.com/mck1117/wideband if(configPage2.canWBO == CAN_WBO_RUSEFI) { outMsg.id = 0xEF50000; outMsg.flags.extended = 1; outMsg.len = 2; outMsg.buf[0] = currentStatus.battery10; // We don't do any conversion since factor is 0.1 and speeduino value is x10 outMsg.buf[1] = BIT_CHECK(currentStatus.engine, BIT_ENGINE_RUN) ? 0x1 : 0x0; // Enable heater once engine is running (ie. above cranking rpm), this condition can be changed to CLT above certain temp and so on. Can0.write(outMsg); if ((inMsg.id == 0x190 || inMsg.id == 0x192)) { uint32_t inLambda; inLambda = (word(inMsg.buf[3], inMsg.buf[2])); // Combining 2 bytes of data into single variable factor is 0.0001 so lambda 1 comes in as 10K if(inMsg.buf[1] == 0x1) // Checking if lambda is valid { switch(inMsg.id) { case 0x190: if ((inLambda * configPage2.stoich / 10000) > 250) { //Check if we dont overflow the 8bit O2 variable currentStatus.O2 = 250; break; } currentStatus.O2 = (unsigned int)(inLambda * configPage2.stoich / 10000); // Multiplying lambda by stoich ratio to get AFR and dividing it by 10000 to get correct value break; case 0x192: if ((inLambda * configPage2.stoich / 10000) > 250) { //Check if we dont overflow the 8bit O2 variable currentStatus.O2 = 250; break; } currentStatus.O2_2 = (unsigned int)(inLambda * configPage2.stoich / 10000); // Multiplying lambda by stoich ratio to get AFR and dividing it by 10000 to get correct value break; default: break; } } } } } // switch case for gathering all data to message based on CAN Id. void DashMessage(uint16_t DashMessageID) { switch (DashMessageID) { case CAN_BMW_DME1: uint32_t temp_RPM; temp_RPM = currentStatus.RPM * 64; //RPM conversion is currentStatus.RPM * 6.4, but this does it without floats. temp_RPM = temp_RPM / 10; outMsg.id = DashMessageID; outMsg.len = 8; outMsg.buf[0] = 0x05; //bitfield, Bit0 = 1 = terminal 15 on detected, Bit2 = 1 = the ASC message ASC1 was received within the last 500 ms and contains no plausibility errors outMsg.buf[1] = 0x0C; //Indexed Engine Torque in % of C_TQ_STND TBD do torque calculation. outMsg.buf[2] = lowByte(uint16_t(temp_RPM)); //lsb RPM outMsg.buf[3] = highByte(uint16_t(temp_RPM)); //msb RPM outMsg.buf[4] = 0x0C; //Indicated Engine Torque in % of C_TQ_STND TBD do torque calculation!! Use same as for byte 1 outMsg.buf[5] = 0x15; //Engine Torque Loss (due to engine friction, AC compressor and electrical power consumption) outMsg.buf[6] = 0x00; //not used outMsg.buf[7] = 0x35; //Theorethical Engine Torque in % of C_TQ_STND after charge intervention break; case CAN_BMW_DME2: uint8_t temp_TPS; uint8_t temp_BARO; uint16_t temp_CLT; temp_TPS = map(currentStatus.TPS, 0, 200, 1, 254);//TPS value conversion (from 0x01 to 0xFE) temp_CLT = (((currentStatus.coolant - CALIBRATION_TEMPERATURE_OFFSET) + 48)*4/3); //CLT conversion (actual value to add is 48.373, but close enough) if (temp_CLT > 255) { temp_CLT = 255; } //CLT conversion can yield to higher values than what fits to byte, so limit the maximum value to 255. temp_BARO = currentStatus.baro; outMsg.id = DashMessageID; outMsg.len = 7; outMsg.buf[0] = 0x11; //Multiplexed Information outMsg.buf[1] = temp_CLT; outMsg.buf[2] = temp_BARO; outMsg.buf[3] = 0x08; //bitfield, Bit0 = 0 = Clutch released, Bit 3 = 1 = engine running outMsg.buf[4] = 0x00; //TPS_VIRT_CRU_CAN (Not used) outMsg.buf[5] = temp_TPS; outMsg.buf[6] = 0x00; //bitfield, Bit0 = 0 = brake not actuated, Bit1 = 0 = brake switch system OK etc... outMsg.buf[7] = 0x00; //not used, but set to zero just in case. break; case 0x545: //fuel consumption and CEl light for BMW e46/e39/e38 instrument cluster //fuel consumption calculation not implemented yet. But this still needs to be sent to get rid of the CEL and EML fault lights on the dash. outMsg.id = DashMessageID; outMsg.len = 5; outMsg.buf[0] = 0x00; //Check engine light (binary 10), Cruise light (binary 1000), EML (binary 10000). outMsg.buf[1] = 0x00; //LSB Fuel consumption outMsg.buf[2] = 0x00; //MSB Fuel Consumption if (currentStatus.coolant > 159) { outMsg.buf[3] = 0x08; } //Turn on overheat light if coolant temp hits 120 degrees celsius. else { outMsg.buf[3] = 0x00; } //Overheat light off at normal engine temps. outMsg.buf[4] = 0x7E; //this is oil temp break; case 0x280: //RPM for VW instrument cluster temp_RPM = currentStatus.RPM * 4; //RPM conversion outMsg.id = DashMessageID; outMsg.len = 8; outMsg.buf[0] = 0x49; outMsg.buf[1] = 0x0E; outMsg.buf[2] = lowByte(uint16_t(temp_RPM)); //lsb RPM outMsg.buf[3] = highByte(uint16_t(temp_RPM)); //msb RPM outMsg.buf[4] = 0x0E; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x1B; outMsg.buf[7] = 0x0E; break; case 0x5A0: //VSS for VW instrument cluster uint16_t temp_VSS; temp_VSS = currentStatus.vss * 133; //VSS conversion outMsg.id = DashMessageID; outMsg.len = 8; outMsg.buf[0] = 0xFF; outMsg.buf[1] = lowByte(temp_VSS); outMsg.buf[2] = highByte(temp_VSS); outMsg.buf[3] = 0x00; outMsg.buf[4] = 0x00; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0xAD; break; default: break; } } void can_Command(void) { if ( (inMsg.id == uint16_t(configPage9.obd_address + TS_CAN_OFFSET)) || (inMsg.id == 0x7DF)) { // The address is the speeduino specific ecu canbus address // or the 0x7df(2015 dec) broadcast address if (inMsg.buf[1] == 0x01) { // PID mode 0 , realtime data stream obd_response(inMsg.buf[1], inMsg.buf[2], 0); // get the obd response based on the data in byte2 outMsg.id = (0x7E8); //((configPage9.obd_address + 0x100)+ 8); Can0.write(outMsg); // send the 8 bytes of obd data } if (inMsg.buf[1] == 0x22) { // PID mode 22h , custom mode , non standard data obd_response(inMsg.buf[1], inMsg.buf[2], inMsg.buf[3]); // get the obd response based on the data in byte2 outMsg.id = (0x7E8); //configPage9.obd_address+8); Can0.write(outMsg); // send the 8 bytes of obd data } } if (inMsg.id == uint16_t(configPage9.obd_address + TS_CAN_OFFSET)) { // The address is only the speeduino specific ecu canbus address if (inMsg.buf[1] == 0x09) { // PID mode 9 , vehicle information request if (inMsg.buf[2] == 02) { //send the VIN number , 17 char long VIN sent in 5 messages. } else if (inMsg.buf[2] == 0x0A) { //code 20: send 20 ascii characters with ECU name , "ECU -SpeeduinoXXXXXX" , change the XXXXXX ONLY as required. } } } } // This routine builds the realtime data into packets that the obd requesting device can understand. This is only used by teensy and stm32 with onboard canbus void obd_response(uint8_t PIDmode, uint8_t requestedPIDlow, uint8_t requestedPIDhigh) { //only build the PID if the mcu has onboard/attached can uint16_t obdcalcA; //used in obd calcs uint16_t obdcalcB; //used in obd calcs uint16_t obdcalcC; //used in obd calcs uint16_t obdcalcD; //used in obd calcs uint32_t obdcalcE32; //used in calcs uint32_t obdcalcF32; //used in calcs uint16_t obdcalcG16; //used in calcs uint16_t obdcalcH16; //used in calcs outMsg.len = 8; if (PIDmode == 0x01) { switch (requestedPIDlow) { case 0: //PID-0x00 PIDs supported 01-20 outMsg.buf[0] = 0x06; // sending 6 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x00; // PID code outMsg.buf[3] = 0x08; //B0000 1000 1-8 outMsg.buf[4] = B01111110; //9-16 outMsg.buf[5] = B10100000; //17-24 outMsg.buf[6] = B00010001; //17-32 outMsg.buf[7] = B00000000; break; case 5: //PID-0x05 Engine coolant temperature , range is -40 to 215 deg C , formula == A-40 outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x05; // pid code outMsg.buf[3] = (byte)(currentStatus.coolant + CALIBRATION_TEMPERATURE_OFFSET); //the data value A outMsg.buf[4] = 0x00; //the data value B which is 0 as unused outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 10: // PID-0x0A , Fuel Pressure (Gauge) , range is 0 to 765 kPa , formula == A / 3) uint16_t temp_fuelpressure; // Fuel pressure is in PSI. PSI to kPa is 6.89475729, but that needs to be divided by 3 for OBD2 formula. So 2.298.... 2.3 is close enough, so that in fraction. temp_fuelpressure = (currentStatus.fuelPressure * 23) / 10; outMsg.buf[0] = 0x03; // sending 3 byte outMsg.buf[1] = 0x41; // outMsg.buf[2] = 0x0A; // pid code outMsg.buf[3] = lowByte(temp_fuelpressure); outMsg.buf[4] = 0x00; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 11: // PID-0x0B , MAP , range is 0 to 255 kPa , Formula == A outMsg.buf[0] = 0x03; // sending 3 byte outMsg.buf[1] = 0x41; // outMsg.buf[2] = 0x0B; // pid code outMsg.buf[3] = lowByte(currentStatus.MAP); // absolute map outMsg.buf[4] = 0x00; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 12: // PID-0x0C , RPM , range is 0 to 16383.75 rpm , Formula == 256A+B / 4 uint16_t temp_revs; temp_revs = currentStatus.RPM << 2 ; // outMsg.buf[0] = 0x04; // sending 4 byte outMsg.buf[1] = 0x41; // outMsg.buf[2] = 0x0C; // pid code outMsg.buf[3] = highByte(temp_revs); //obdcalcB; A outMsg.buf[4] = lowByte(temp_revs); //obdcalcD; B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 13: //PID-0x0D , Vehicle speed , range is 0 to 255 km/h , formula == A outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x0D; // pid code outMsg.buf[3] = lowByte(currentStatus.vss); // A outMsg.buf[4] = 0x00; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 14: //PID-0x0E , Ignition Timing advance, range is -64 to 63.5 BTDC , formula == A/2 - 64 int8_t temp_timingadvance; temp_timingadvance = ((currentStatus.advance + 64) << 1); //obdcalcA = ((timingadvance + 64) <<1) ; //((timingadvance + 64) *2) outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x0E; // pid code outMsg.buf[3] = temp_timingadvance; // A outMsg.buf[4] = 0x00; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 15: //PID-0x0F , Inlet air temperature , range is -40 to 215 deg C, formula == A-40 outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x0F; // pid code outMsg.buf[3] = (byte)(currentStatus.IAT + CALIBRATION_TEMPERATURE_OFFSET); // A outMsg.buf[4] = 0x00; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 17: // PID-0x11 , // TPS percentage, range is 0 to 100 percent, formula == 100/256 A uint16_t temp_tpsPC; temp_tpsPC = currentStatus.TPS; obdcalcA = (temp_tpsPC <<8) / 200; // (tpsPC *256) /200; if (obdcalcA > 255){ obdcalcA = 255;} outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x11; // pid code outMsg.buf[3] = obdcalcA; // A outMsg.buf[4] = 0x00; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 19: //PID-0x13 , oxygen sensors present, A0-A3 == bank1 , A4-A7 == bank2 , uint16_t O2present; O2present = B00000011 ; //realtimebufferA[24]; TEST VALUE !!!!! outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x13; // pid code outMsg.buf[3] = O2present ; // A outMsg.buf[4] = 0x00; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 28: // PID-0x1C obd standard uint16_t obdstandard; obdstandard = 7; // This is OBD2 / EOBD outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x1C; // pid code outMsg.buf[3] = obdstandard; // A outMsg.buf[4] = 0x00; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 32: // PID-0x20 PIDs supported [21-40] outMsg.buf[0] = 0x06; // sending 4 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x20; // pid code outMsg.buf[3] = B00011000; // 33-40 outMsg.buf[4] = B00000000; //41 - 48 outMsg.buf[5] = B00100000; //49-56 outMsg.buf[6] = B00000001; //57-64 outMsg.buf[7] = 0x00; break; case 36: // PID-0x24 O2 sensor2, AB: fuel/air equivalence ratio, CD: voltage , Formula == (2/65536)(256A +B) , 8/65536(256C+D) , Range is 0 to <2 and 0 to >8V //uint16_t O2_1e ; //int16_t O2_1v ; obdcalcH16 = configPage2.stoich/10 ; // configPage2.stoich(is *10 so 14.7 is 147) obdcalcE32 = currentStatus.O2/10; // afr(is *10 so 25.5 is 255) , needs a 32bit else will overflow obdcalcF32 = (obdcalcE32<<8) / obdcalcH16; //this is same as (obdcalcE32/256) / obdcalcH16 . this calculates the ratio obdcalcG16 = (obdcalcF32 *32768)>>8; obdcalcA = highByte(obdcalcG16); obdcalcB = lowByte(obdcalcG16); obdcalcF32 = currentStatus.O2ADC ; //o2ADC is wideband volts to send *100 obdcalcG16 = (obdcalcF32 *20971)>>8; obdcalcC = highByte(obdcalcG16); obdcalcD = lowByte(obdcalcG16); outMsg.buf[0] = 0x06; // sending 4 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x24; // pid code outMsg.buf[3] = obdcalcA; // A outMsg.buf[4] = obdcalcB; // B outMsg.buf[5] = obdcalcC; // C outMsg.buf[6] = obdcalcD; // D outMsg.buf[7] = 0x00; break; case 37: //O2 sensor2, AB fuel/air equivalence ratio, CD voltage , 2/65536(256A +B) ,8/65536(256C+D) , range is 0 to <2 and 0 to >8V //uint16_t O2_2e ; //int16_t O2_2V ; obdcalcH16 = configPage2.stoich/10 ; // configPage2.stoich(is *10 so 14.7 is 147) obdcalcE32 = currentStatus.O2_2/10; // afr(is *10 so 25.5 is 255) , needs a 32bit else will overflow obdcalcF32 = (obdcalcE32<<8) / obdcalcH16; //this is same as (obdcalcE32/256) / obdcalcH16 . this calculates the ratio obdcalcG16 = (obdcalcF32 *32768)>>8; obdcalcA = highByte(obdcalcG16); obdcalcB = lowByte(obdcalcG16); obdcalcF32 = currentStatus.O2_2ADC ; //o2_2ADC is wideband volts to send *100 obdcalcG16 = (obdcalcF32 *20971)>>8; obdcalcC = highByte(obdcalcG16); obdcalcD = lowByte(obdcalcG16); outMsg.buf[0] = 0x06; // sending 4 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x25; // pid code outMsg.buf[3] = obdcalcA; // A outMsg.buf[4] = obdcalcB; // B outMsg.buf[5] = obdcalcC; // C outMsg.buf[6] = obdcalcD; // D outMsg.buf[7] = 0x00; break; case 51: //PID-0x33 Absolute Barometric pressure , range is 0 to 255 kPa , formula == A outMsg.buf[0] = 0x03; // sending 3 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x33; // pid code outMsg.buf[3] = currentStatus.baro ; // A outMsg.buf[4] = 0x00; // B which is 0 as unused outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 64: // PIDs supported [41-60] outMsg.buf[0] = 0x06; // sending 4 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x40; // pid code outMsg.buf[3] = B01000100; // 65-72dec outMsg.buf[4] = B00000000; // 73-80 outMsg.buf[5] = B01000000; // 81-88 outMsg.buf[6] = B00010000; // 89-96 outMsg.buf[7] = 0x00; break; case 66: //control module voltage, 256A+B / 1000 , range is 0 to 65.535v uint16_t temp_ecuBatt; temp_ecuBatt = currentStatus.battery10; // create a 16bit temp variable to do the math obdcalcA = temp_ecuBatt*100; // should be *1000 but ecuBatt is already *10 outMsg.buf[0] = 0x04; // sending 4 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x42; // pid code outMsg.buf[3] = highByte(obdcalcA) ; // A outMsg.buf[4] = lowByte(obdcalcA) ; // B outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 70: //PID-0x46 Ambient Air Temperature , range is -40 to 215 deg C , formula == A-40 uint16_t temp_ambientair; temp_ambientair = 11; // TEST VALUE !!!!!!!!!! obdcalcA = temp_ambientair + 40 ; // maybe later will be (byte)(currentStatus.AAT + CALIBRATION_TEMPERATURE_OFFSET) outMsg.buf[0] = 0x03; // sending 3 byte outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x46; // pid code outMsg.buf[3] = obdcalcA; // A outMsg.buf[4] = 0x00; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 82: //PID-0x52 Ethanol fuel % , range is 0 to 100% , formula == (100/255)A outMsg.buf[0] = 0x03; // sending 3 byte outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x52; // pid code outMsg.buf[3] = currentStatus.ethanolPct; // A outMsg.buf[4] = 0x00; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 92: //PID-0x5C Engine oil temperature , range is -40 to 210 deg C , formula == A-40 uint16_t temp_engineoiltemp; temp_engineoiltemp = 40; // TEST VALUE !!!!!!!!!! obdcalcA = temp_engineoiltemp+40 ; // maybe later will be (byte)(currentStatus.EOT + CALIBRATION_TEMPERATURE_OFFSET) outMsg.buf[0] = 0x03; // sending 3 byte outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x5C; // pid code outMsg.buf[3] = obdcalcA ; // A outMsg.buf[4] = 0x00; outMsg.buf[5] = 0x00; outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; break; case 96: //PIDs supported [61-80] outMsg.buf[0] = 0x06; // sending 4 bytes outMsg.buf[1] = 0x41; // Same as query, except that 40h is added to the mode value. So:41h = show current data ,42h = freeze frame ,etc. outMsg.buf[2] = 0x60; // pid code outMsg.buf[3] = 0x00; // B0000 0000 outMsg.buf[4] = 0x00; // B0000 0000 outMsg.buf[5] = 0x00; // B0000 0000 outMsg.buf[6] = 0x00; // B0000 0000 outMsg.buf[7] = 0x00; break; default: break; } } else if (PIDmode == 0x22) { // these are custom PID not listed in the SAE std . if (requestedPIDhigh == 0x77) { if ((requestedPIDlow >= 0x01) && (requestedPIDlow <= 0x10)) { // PID 0x01 (1 dec) to 0x10 (16 dec) // Aux data / can data IN Channel 1 - 16 outMsg.buf[0] = 0x06; // sending 8 bytes outMsg.buf[1] = 0x62; // Same as query, except that 40h is added to the mode value. So:62h = custom mode outMsg.buf[2] = requestedPIDlow; // PID code outMsg.buf[3] = 0x77; // PID code outMsg.buf[4] = lowByte(currentStatus.canin[requestedPIDlow-1]); // A outMsg.buf[5] = highByte(currentStatus.canin[requestedPIDlow-1]); // B outMsg.buf[6] = 0x00; // C outMsg.buf[7] = 0x00; // D } } // this allows to get any value out of current status array. else if (requestedPIDhigh == 0x78) { int16_t tempValue; tempValue = ProgrammableIOGetData(requestedPIDlow); outMsg.buf[0] = 0x06; // sending 6 bytes outMsg.buf[1] = 0x62; // Same as query, except that 40h is added to the mode value. So:62h = custom mode outMsg.buf[2] = requestedPIDlow; // PID code outMsg.buf[3] = 0x78; // PID code outMsg.buf[4] = lowByte(tempValue); // A outMsg.buf[5] = highByte(tempValue); // B outMsg.buf[6] = 0x00; outMsg.buf[7] = 0x00; } } } void readAuxCanBus() { for (int i = 0; i < 16; i++) { uint16_t channelAddress = (configPage9.caninput_source_can_address[i] + TS_CAN_OFFSET); if (inMsg.id == channelAddress ) //Filters frame ID { if (!BIT_CHECK(configPage9.caninput_source_num_bytes, i)) { // Gets the one-byte value from the Data Field. currentStatus.canin[i] = inMsg.buf[configPage9.caninput_source_start_byte[i]]; } else { if (configPage9.caninputEndianess == 1) { //Gets the two-byte value from the Data Field in Litlle Endian. currentStatus.canin[i] = ((inMsg.buf[configPage9.caninput_source_start_byte[i]]) | (inMsg.buf[configPage9.caninput_source_start_byte[i] + 1] << 8)); } else { //Gets the two-byte value from the Data Field in Big Endian. currentStatus.canin[i] = ((inMsg.buf[configPage9.caninput_source_start_byte[i]] << 8) | (inMsg.buf[configPage9.caninput_source_start_byte[i] + 1])); } } } } } #endif