progress 0B5

src/main/java/com/rusefi/can/CANPacket.java

@@ -1,8 +1,7 @@
 package com.rusefi.can;
 
-import java.util.Arrays;
+import com.rusefi.can.decoders.AbstractPacketDecoder;
 
-import static com.rusefi.can.Utils.bytesToHex;
 import static com.rusefi.can.Utils.bytesToHexWithSpaces;
 
 public class CANPacket {
@@ -16,8 +15,21 @@ public class CANPacket {
         this.data = data;
     }
 
-    public int getTwoBytes(int index) {
-        return getUnsigned(index + 1) * 256 + getUnsigned(index);
+    /**
+     * @param index, starting from zero
+     */
+    public int getTwoBytesByByteIndex(int index) {
+        return getByBitIndex(index * 8, 16);
+    }
+
+    public int getByBitIndex(int bitIndex, int bitWidth) {
+        int byteIndex = bitIndex / 8;
+        int shift = bitIndex - byteIndex * 8;
+        int value = getUnsigned(byteIndex);
+        if (shift + bitIndex > 8) {
+            value = value + getUnsigned(byteIndex + 1) * 256;
+        }
+        return value >> shift & AbstractPacketDecoder.mask(bitWidth);
     }
 
     public double getTimeStamp() {

src/main/java/com/rusefi/can/SensorType.java

@@ -8,4 +8,6 @@ public enum SensorType {
     FUEL_AMOUNT,
     GEAR_CHANGE_REQUEST,
     GEAR,
+    GEARBOX_CURRENT_TORQUE,
+    GEARBOX_TORQUE_CHANGE_REQUEST,
 }

src/main/java/com/rusefi/can/decoders/AbstractPacketDecoder.java

@@ -13,6 +13,10 @@ public abstract class AbstractPacketDecoder implements PacketDecoder {
         this.id = id;
     }
 
+    public static int mask(int bitWidth) {
+        return (1 << bitWidth) - 1;
+    }
+
     @Override
     public int getId() {
         return id;

src/main/java/com/rusefi/can/decoders/bmw/Bmw0AA.java

@@ -16,7 +16,7 @@ public class Bmw0AA extends AbstractPacketDecoder {
     @Override
     public PacketPayload decode(CANPacket packet) {
         SensorValue pedal = new SensorValue(SensorType.PPS, packet.getUnsigned(3) * 0.39063);
-        int rawRpm = packet.getTwoBytes(4);
+        int rawRpm = packet.getTwoBytesByByteIndex(4);
         if (rawRpm == 0xFFFF)
             return null;
         SensorValue rpm = new SensorValue(SensorType.RPM, rawRpm * 0.25);

src/main/java/com/rusefi/can/decoders/bmw/Bmw0B5.java

@@ -2,17 +2,24 @@ package com.rusefi.can.decoders.bmw;
 
 import com.rusefi.can.CANPacket;
 import com.rusefi.can.PacketPayload;
+import com.rusefi.can.SensorType;
+import com.rusefi.can.SensorValue;
 import com.rusefi.can.decoders.AbstractPacketDecoder;
 
 public class Bmw0B5 extends AbstractPacketDecoder {
-    public static final int ID = 0xBA;
+    public static final Bmw0B5 INSTANCE = new Bmw0B5();
 
     public Bmw0B5() {
-        super(ID);
+        super(0xBA);
     }
 
     @Override
     public PacketPayload decode(CANPacket packet) {
-        return null;
+        int TORQ_TAR_EGS = (int) (packet.getByBitIndex(12, 12) * 0.5);
+        int TORQ_TAR_ADJR_POS_EGS = packet.getByBitIndex(24, 12);
+        int ST_TORQ_TAR_EGS = packet.getByBitIndex(36, 2);
+        return new PacketPayload(packet.getTimeStamp(),
+                new SensorValue(SensorType.GEARBOX_CURRENT_TORQUE, TORQ_TAR_EGS),
+                new SensorValue(SensorType.GEARBOX_TORQUE_CHANGE_REQUEST, ST_TORQ_TAR_EGS));
     }
 }

src/main/java/com/rusefi/can/decoders/bmw/Bmw1D0.java

@@ -15,7 +15,7 @@ public class Bmw1D0 extends AbstractPacketDecoder {
     public PacketPayload decode(CANPacket packet) {
         SensorValue clt = new SensorValue(SensorType.CLT, packet.getUnsigned(0) - 48);
         SensorValue map = new SensorValue(SensorType.MAP, packet.getUnsigned(3) * 0.2 + 59.8);
-        SensorValue fuel = new SensorValue(SensorType.FUEL_AMOUNT, packet.getTwoBytes(4));
+        SensorValue fuel = new SensorValue(SensorType.FUEL_AMOUNT, packet.getTwoBytesByByteIndex(4));
         return new PacketPayload(packet.getTimeStamp(), clt, map, fuel);
     }
 }

src/test/java/com/rusefi/can/BmwE65DecoderTest.java

@@ -1,6 +1,7 @@
 package com.rusefi.can;
 
 import com.rusefi.can.decoders.bmw.Bmw0AA;
+import com.rusefi.can.decoders.bmw.Bmw0B5;
 import com.rusefi.can.decoders.bmw.Bmw1D0;
 import org.junit.Test;
 
@@ -30,6 +31,16 @@ public class BmwE65DecoderTest {
         assertValue(SensorType.FUEL_AMOUNT, 24443, payload.getValues()[2]);
     }
 
+    @Test
+    public void decodeTorqueRequestEGS() {
+        CANPacket packet = new CANPacket(1,
+                -1, new byte[]{(byte) 0x9F, 0x01, 0x32, 0x20, 0x23, 0x30, (byte) 0xFF, 0x43});
+        PacketPayload payload = Bmw0B5.INSTANCE.decode(packet);
+        assertValue(SensorType.GEARBOX_CURRENT_TORQUE, 400.0, payload.getValues()[0]);
+        assertValue(SensorType.GEARBOX_TORQUE_CHANGE_REQUEST, 2, payload.getValues()[1]);
+
+    }
+
     private void assertValue(SensorType expectedType, double v, SensorValue value) {
         assertEquals(expectedType, value.getType());
         assertEquals(v, value.getValue(), 0.01);

src/test/java/com/rusefi/can/reader/impl/CANoeReaderTest.java

@@ -12,7 +12,7 @@ public class CANoeReaderTest {
     @Test
     public void readLine() {
         String line = "   12.961970 2  1AC             Rx   d 4 00 10 00 00  Length = 166000 BitCount = 87 ID = 428";
-        CANoeReader reader = new CANoeReader();
+        CANoeReader reader = CANoeReader.INSTANCE;
 
         CANPacket packet = reader.readLine(line);
 

src/test/java/com/rusefi/can/reader/impl/PcanReaderTest.java

@@ -10,7 +10,7 @@ import static junit.framework.TestCase.assertEquals;
 public class PcanReaderTest {
     @Test
     public void testLine() {
-        CANLineReader reader = new PcanReader();
+        CANLineReader reader = PcanReader.INSTANCE;
         CANPacket packet = reader.readLine("  15883  77333097.212 DT     0192 Rx 4  2D 04 80 F9 ");
         assertEquals(4, packet.getData().length);
         assertEquals(Bmw192.ID, packet.getId());