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Respond to OBD2 on the same bus we got the request on (#4330) 

* obd replies on the same bus as the request

* comment

* missed one
This commit is contained in:
Matthew Kennedy 2022-07-07 19:25:35 -07:00 committed by GitHub
parent 3997e34bb2
commit c4d01754c3
3 changed files with 31 additions and 28 deletions
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2
firmware/controllers/can/can_rx.cpp
View File

@ -217,7 +217,7 @@ void processCanRxMessage(const size_t busIndex, const CANRxFrame &frame, efitick
} else
#endif
{
obdOnCanPacketRx(frame);
obdOnCanPacketRx(frame, busIndex);
}
#if EFI_WIDEBAND_FIRMWARE_UPDATE

55
firmware/controllers/can/obd2.cpp
View File

@ -56,9 +56,12 @@ static const int16_t supportedPids4160[] = {
-1
};
static void obdSendPacket(int mode, int PID, int numBytes, uint32_t iValue) {
static 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
resp.busIndex = busIndex;
// write number of bytes
resp[0] = (uint8_t)(2 + numBytes);
// write 2 bytes of header
@ -72,18 +75,18 @@ static void obdSendPacket(int mode, int PID, int numBytes, uint32_t iValue) {
#define _1_MODE 1
static void obdSendValue(int mode, int PID, int numBytes, float value) {
static void obdSendValue(int mode, int PID, int numBytes, float value, size_t busIndex) {
efiAssertVoid(CUSTOM_ERR_6662, numBytes <= 2, "invalid numBytes");
int iValue = (int)efiRound(value, 1.0f);
// clamp to uint8_t (0..255) or uint16_t (0..65535)
iValue = maxI(minI(iValue, (numBytes == 1) ? 255 : 65535), 0);
obdSendPacket(mode, PID, numBytes, iValue);
obdSendPacket(mode, PID, numBytes, iValue, busIndex);
}
//#define MOCK_SUPPORTED_PIDS 0xffffffff
static void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *supportedPids) {
static 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++)
@ -94,63 +97,63 @@ static void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *support
value = MOCK_SUPPORTED_PIDS;
#endif
obdSendPacket(1, PID, 4, value);
obdSendPacket(1, PID, 4, value, busIndex);
}
static void handleGetDataRequest(const CANRxFrame& rx) {
static 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);
obdWriteSupportedPids(pid, 1, supportedPids0120, busIndex);
break;
case PID_SUPPORTED_PIDS_REQUEST_21_40:
obdWriteSupportedPids(pid, 21, supportedPids2140);
obdWriteSupportedPids(pid, 21, supportedPids2140, busIndex);
break;
case PID_SUPPORTED_PIDS_REQUEST_41_60:
obdWriteSupportedPids(pid, 41, supportedPids4160);
obdWriteSupportedPids(pid, 41, supportedPids4160, busIndex);
break;
case PID_MONITOR_STATUS:
obdSendPacket(1, pid, 4, 0); // todo: add statuses
obdSendPacket(1, pid, 4, 0, busIndex); // todo: add statuses
break;
case PID_FUEL_SYSTEM_STATUS:
// todo: add statuses
obdSendValue(_1_MODE, pid, 2, (2<<8)|(0)); // 2 = "Closed loop, using oxygen sensor feedback to determine fuel mix"
obdSendValue(_1_MODE, pid, 2, (2<<8)|(0), busIndex); // 2 = "Closed loop, using oxygen sensor feedback to determine fuel mix"
break;
case PID_ENGINE_LOAD:
obdSendValue(_1_MODE, pid, 1, getFuelingLoad() * ODB_TPS_BYTE_PERCENT);
obdSendValue(_1_MODE, pid, 1, getFuelingLoad() * ODB_TPS_BYTE_PERCENT, busIndex);
break;
case PID_COOLANT_TEMP:
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Clt) + ODB_TEMP_EXTRA);
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Clt) + ODB_TEMP_EXTRA, busIndex);
break;
case PID_STFT_BANK1:
obdSendValue(_1_MODE, pid, 1, 128 * engine->stftCorrection[0]);
obdSendValue(_1_MODE, pid, 1, 128 * engine->stftCorrection[0], busIndex);
break;
case PID_STFT_BANK2:
obdSendValue(_1_MODE, pid, 1, 128 * engine->stftCorrection[1]);
obdSendValue(_1_MODE, pid, 1, 128 * engine->stftCorrection[1], busIndex);
break;
case PID_INTAKE_MAP:
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Map));
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Map), busIndex);
break;
case PID_RPM:
obdSendValue(_1_MODE, pid, 2, Sensor::getOrZero(SensorType::Rpm) * ODB_RPM_MULT); // rotation/min. (A*256+B)/4
obdSendValue(_1_MODE, pid, 2, Sensor::getOrZero(SensorType::Rpm) * ODB_RPM_MULT, busIndex); // rotation/min. (A*256+B)/4
break;
case PID_SPEED:
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::VehicleSpeed));
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::VehicleSpeed), busIndex);
break;
case PID_TIMING_ADVANCE: {
float timing = engine->engineState.timingAdvance[0];
timing = (timing > 360.0f) ? (timing - 720.0f) : timing;
obdSendValue(_1_MODE, pid, 1, (timing + 64.0f) * 2.0f); // angle before TDC. (A/2)-64
obdSendValue(_1_MODE, pid, 1, (timing + 64.0f) * 2.0f, busIndex); // angle before TDC. (A/2)-64
break;
}
case PID_INTAKE_TEMP:
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Iat) + ODB_TEMP_EXTRA);
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Iat) + ODB_TEMP_EXTRA, busIndex);
break;
case PID_INTAKE_MAF:
obdSendValue(_1_MODE, pid, 2, Sensor::getOrZero(SensorType::Maf) * 100.0f); // grams/sec (A*256+B)/100
obdSendValue(_1_MODE, pid, 2, Sensor::getOrZero(SensorType::Maf) * 100.0f, busIndex); // grams/sec (A*256+B)/100
break;
case PID_THROTTLE:
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Tps1) * ODB_TPS_BYTE_PERCENT); // (A*100/255)
obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::Tps1) * ODB_TPS_BYTE_PERCENT, busIndex); // (A*100/255)
break;
case PID_FUEL_AIR_RATIO_1: {
float lambda = Sensor::getOrZero(SensorType::Lambda1);
@ -159,13 +162,13 @@ static void handleGetDataRequest(const CANRxFrame& rx) {
uint16_t scaled = phi * 32768;
obdSendPacket(1, pid, 4, scaled << 16);
obdSendPacket(1, pid, 4, scaled << 16, busIndex);
break;
} case PID_FUEL_RATE: {
float gPerSecond = engine->engineState.fuelConsumption.getConsumptionGramPerSecond();
float gPerHour = gPerSecond * 3600;
float literPerHour = gPerHour * 0.00139f;
obdSendValue(_1_MODE, pid, 2, literPerHour * 20.0f); // L/h. (A*256+B)/20
obdSendValue(_1_MODE, pid, 2, literPerHour * 20.0f, busIndex); // L/h. (A*256+B)/20
break;
} default:
// ignore unhandled PIDs
@ -188,13 +191,13 @@ static void handleDtcRequest(int numCodes, int *dtcCode) {
}
#if HAL_USE_CAN
void obdOnCanPacketRx(const CANRxFrame& rx) {
void obdOnCanPacketRx(const CANRxFrame& rx, size_t busIndex) {
if (CAN_SID(rx) != OBD_TEST_REQUEST) {
return;
}
if (rx.data8[0] == _OBD_2 && rx.data8[1] == OBD_CURRENT_DATA) {
handleGetDataRequest(rx);
handleGetDataRequest(rx, busIndex);
} else if (rx.data8[0] == 1 && rx.data8[1] == OBD_STORED_DIAGNOSTIC_TROUBLE_CODES) {
// todo: implement stored/pending difference?
handleDtcRequest(1, &engine->engineState.warnings.lastErrorCode);

2
firmware/controllers/can/obd2.h
View File

@ -39,7 +39,7 @@
#define PID_FUEL_RATE 0x5E
#if HAL_USE_CAN
void obdOnCanPacketRx(const CANRxFrame& rx);
void obdOnCanPacketRx(const CANRxFrame& rx, size_t busIndex);
#endif /* HAL_USE_CAN */
#define ODB_RPM_MULT 4