microRusEFI used as Body Control Module BCM BCU

firmware/config/boards/microrusefi/board_configuration.cpp

@@ -204,6 +204,9 @@ void setBoardConfigurationOverrides(void) {
 	setupTle8888();
 	setupEtb();
 
+	engineConfiguration->canTxPin = GPIOB_6;
+	engineConfiguration->canRxPin = GPIOB_12;
+
 	// MRE has a special main relay control low side pin
 	// rusEfi firmware is totally not involved with main relay control on microRusEfi board
 	// todo: maybe even set EFI_MAIN_RELAY_CONTROL to FALSE for MRE configuration

firmware/controllers/sensors/can_sensor.h

@@ -82,11 +82,15 @@ private:
 template <typename TStorage, int TScale>
 class ObdCanSensor: public CanSensorBase {
 public:
-	ObdCanSensor(uint32_t eid, SensorType type, efitick_t timeout) :
+	ObdCanSensor(uint32_t eid, int PID, SensorType type, efitick_t timeout) :
 			CanSensorBase(eid, type, timeout) {
+		this->PID = PID;
 	}
 
 	void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override {
+		if (frame.data8[2] != PID) {
+			return;
+		}
 		// Compute the location of our data within the frame
 		const uint8_t* dataLocation = &frame.data8[0];
 
@@ -108,5 +112,7 @@ public:
 		}
 		return m_next;
 	}
+
+	int PID;
 };
 

firmware/init/sensor/init_can_sensors.cpp

@@ -23,24 +23,21 @@ CanSensor<int16_t, PACK_MULT_PERCENT> canPedalSensor(
 );
 
 ObdCanSensor<int16_t, ODB_RPM_MULT> obdRpmSensor(
-	PID_RPM,
+		OBD_TEST_RESPONSE, PID_RPM,
 	SensorType::Rpm, TIMEOUT
 );
 
 ObdCanSensor<int16_t, 1> obdCltSensor(
-	PID_COOLANT_TEMP,
+		OBD_TEST_RESPONSE, PID_COOLANT_TEMP,
 	SensorType::Clt, TIMEOUT
 );
 
 
 void initCanSensors() {
-#if EFI_CANBUS_SLAVE
-	registerCanSensor(canPedalSensor);
 	if (CONFIG(consumeObdSensors)) {
+//		registerCanSensor(canPedalSensor);
 		registerCanSensor(obdRpmSensor);
-		registerCanSensor(obdCltSensor);
+//		registerCanSensor(obdCltSensor);
 	}
-
-#endif // EFI_CANBUS_SLAVE
 }
 #endif // EFI_CAN_SUPPORT