CAN progress

firmware/controllers/can/can_rx.cpp

@@ -37,9 +37,11 @@ void processCanRxMessage(const CANRxFrame& frame, Logging* logger) {
 		uint16_t lambdaInt = SWAP_UINT16(frame.data16[0]);
 		aemXSeriesLambda = 0.0001f * lambdaInt;
 	} else if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_PEDAL_TPS_OFFSET) {
+		obdOnCanPacketRx(frame);
 		int16_t pedalScaled = *reinterpret_cast<const uint16_t*>(&frame.data8[0]);
 		canPedal = pedalScaled / (1.0 * PACK_MULT_PERCENT);
 	} else if (frame.EID == CONFIG(verboseCanBaseAddress) + CAN_SENSOR_1_OFFSET) {
+		obdOnCanPacketRx(frame);
 		int16_t mapScaled = *reinterpret_cast<const uint16_t*>(&frame.data8[0]);
 		canMap = mapScaled / (1.0 * PACK_MULT_PRESSURE);
 	} else {

firmware/hw_layer/drivers/can/can_msg_tx.cpp

@@ -12,7 +12,10 @@
 
 #if EFI_CAN_SUPPORT
 #include "can_msg_tx.h"
+#include "engine_configuration.h"
 
+EXTERN_CONFIG
+extern LoggingWithStorage sharedLogger;
 
 /*static*/ CANDriver* CanTxMessage::s_device = nullptr;
 
@@ -36,6 +39,14 @@ CanTxMessage::~CanTxMessage() {
 		return;
 	}
 
+	if (CONFIG(debugMode) == DBG_CAN) {
+		scheduleMsg(&sharedLogger, "Sending CAN message: SID %x/%x %x %x %x %x %x %x %x %x", m_frame.SID, 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]);
+	}
+
 	// 100 ms timeout
 	canTransmit(device, CAN_ANY_MAILBOX, &m_frame, TIME_MS2I(100));
 }

firmware/hw_layer/drivers/can/can_msg_tx.h

@@ -93,5 +93,7 @@ template <typename TData>
 void transmitStruct(uint32_t eid)
 {
 	CanTxTyped<TData> frame(eid);
+	// Destruction of an instance of CanTxMessage will transmit the message over the wire.
+	// see CanTxMessage::~CanTxMessage()
 	populateFrame(frame.get());
 }