can_dash.cpp

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/**
 * @file    can_dash.cpp
 *
 * This file handles transmission of ECU data to various OE dashboards.
 *
 * @date Mar 19, 2020
 * @author Matthew Kennedy, (c) 2020
 */
 
#include "pch.h"
 
#if EFI_CAN_SUPPORT
#include "can_dash.h"
#include "can_dash_ms.h"
#include "can_dash_nissan.h"
#include "can_msg_tx.h"
#include "can_bmw.h"
#include "can_vag.h"
 
#include "rusefi_types.h"
#include "rtc_helper.h"
#include "fuel_math.h"
 
// CAN Bus ID for broadcast
#define CAN_FIAT_MOTOR_INFO           0x561
#define CAN_MAZDA_RX_RPM_SPEED        0x201
#define CAN_MAZDA_RX_STEERING_WARNING 0x300
#define CAN_MAZDA_RX_STATUS_1         0x212
#define CAN_MAZDA_RX_STATUS_2         0x420
 
//w202 DASH
#define W202_STAT_1      0x308 /* _20ms cycle */
#define W202_STAT_2      0x608 /* _100ms cycle */
#define W202_ALIVE       0x210 /* _200ms cycle */
#define W202_STAT_3      0x310 /* _200ms cycle */
 
//BMW E90 DASH
#define E90_ABS_COUNTER      0x0C0
#define E90_SEATBELT_COUNTER 0x0D7
#define E90_T15              0x130
#define E90_RPM              0x175
#define E90_BRAKE_COUNTER    0x19E
#define E90_SPEED            0x1A6
#define E90_TEMP             0x1D0
#define E90_GEAR             0x1D2
#define E90_FUEL             0x349
#define E90_EBRAKE           0x34F
#define E90_TIME             0x39E
 
#define HONDA_SPEED_158 0x158
#define HONDA_TACH_1DC 0x1DC
 
static time_msecs_t mph_timer;
static time_msecs_t mph_ctr;
 
/**
 * https://docs.google.com/spreadsheets/d/1IkP05ODpjNt-k4YQLYl58_TNlN9U4IBu5z7i0BPVEM4
 */
#define GENESIS_COUPLE_RPM_316 0x316
#define GENESIS_COUPLE_COOLANT_329 0x329
#define GENESIS_COUPLE_SENSORS_382 0x382
// when A/C compressor is allowed to be on, these values need to be sent so the A/C panel activates the compressor
#define GENESIS_COUPLE_AC_ENABLE_18F 0x18F
 
 
static uint8_t rpmcounter;
static uint8_t seatbeltcnt;
static uint8_t abscounter = 0xF0;
static uint8_t brakecnt_1 = 0xF0, brakecnt_2 = 0xF0;
static uint8_t mph_a, mph_2a, mph_last, tmp_cnt, gear_cnt;
static uint16_t mph_counter = 0xF000;
static bool cluster_time_set;
 
constexpr uint8_t e90_temp_offset = 49;
 
// todo: those forward declarations are out of overall code style
void canDashboardFiat(CanCycle cycle);
void canMazdaRX8(CanCycle cycle);
void canDashboardW202(CanCycle cycle);
void canDashboardVagMqb(CanCycle cycle);
void canDashboardGenesisCoupe(CanCycle cycle);
void canDashboardAim(CanCycle cycle);
void canDashboardHaltech(CanCycle cycle);
 
//BMW Dashboard
//todo: we use 50ms fixed cycle, trace is needed to check for correct period
static void canDashboardBmwE46(CanCycle cycle) {
 
    if (cycle.isInterval(CI::_50ms)) {
        {
            CanTxMessage msg(CanCategory::NBC, CAN_BMW_E46_SPEED);
            msg.setShortValue(10 * 8, 1);
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_BMW_E46_RPM);
      msg[0] = 0x05; // ASC message
      msg[1] = 0x0C; // Indexed Engine Torque in % of C_TQ_STND TBD
            msg.setShortValue((int) (Sensor::getOrZero(SensorType::Rpm) * 6.4), 2);
      msg[4] = 0x0C;
      msg[5] = 0x15;
      msg[6] = 0x00;
      msg[7] = 0x35;
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_BMW_E46_DME2);
      msg[0] = 0x11;
      msg[1] = (Sensor::getOrZero(SensorType::Clt) + 48.373) / 0.75;
      msg[2] = 0x00; // baro sensor
      msg[3] = 0x08;
      msg[4] = 0x00; // TPS_VIRT_CRU_CAN, not used.
      msg[5] = 0x00; // TPS out, but we set to 0 just in case.
      msg[6] = 0x00; // brake system status Ok.
      msg[7] = 0x00; // not used
        }
  }
}
 
//todo: we use 50ms fixed cycle, trace is needed to check for correct period
void canMazdaRX8(CanCycle cycle) {
    if (cycle.isInterval(CI::_50ms)) {
        {
            CanTxMessage msg(CanCategory::NBC, CAN_MAZDA_RX_STEERING_WARNING);
            // todo: something needs to be set here? see http://rusefi.com/wiki/index.php?title=Vehicle:Mazda_Rx8_2004
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_MAZDA_RX_RPM_SPEED);
 
            float kph = Sensor::getOrZero(SensorType::VehicleSpeed);
 
      // todo: LSB+SWAP? lol, that's MSB?
            msg.setShortValue(SWAP_UINT16(Sensor::getOrZero(SensorType::Rpm) * 4), 0);
            msg.setShortValue(0xFFFF, 2);
      // todo: LSB+SWAP? lol, that's MSB?
            msg.setShortValue(SWAP_UINT16((int )(100 * kph + 10000)), 4);
            msg.setShortValue(0, 6);
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_MAZDA_RX_STATUS_1);
            msg[0] = 0xFE; //Unknown
            msg[1] = 0xFE; //Unknown
            msg[2] = 0xFE; //Unknown
            msg[3] = 0x34; //DSC OFF in combo with byte 5 Live data only seen 0x34
            msg[4] = 0x00; // B01000000; // Brake warning B00001000;  //ABS warning
            msg[5] = 0x40; // TCS in combo with byte 3
            msg[6] = 0x00; // Unknown
            msg[7] = 0x00; // Unused
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_MAZDA_RX_STATUS_2);
            auto clt = Sensor::get(SensorType::Clt);
            msg[0] = (uint8_t)(clt.value_or(0) + 69); //temp gauge //~170 is red, ~165 last bar, 152 centre, 90 first bar, 92 second bar
            // TODO: fixme!
            //msg[1] = ((int16_t)(engine->engineState.vssEventCounter*(engineConfiguration->vehicleSpeedCoef*0.277*2.58))) & 0xff;
            msg[2] = 0x00; // unknown
            msg[3] = 0x00; //unknown
            msg[4] = 0x01; //Oil Pressure (not really a gauge)
            msg[5] = 0x00; //check engine light
            msg[6] = 0x00; //Coolant, oil and battery
            if ((Sensor::getOrZero(SensorType::Rpm)>0) && (Sensor::get(SensorType::BatteryVoltage).value_or(VBAT_FALLBACK_VALUE)<13)) {
                msg.setBit(6, 6); // battery light
            }
            if (!clt.Valid || clt.Value > 105) {
                // coolant light, 101 - red zone, light means its get too hot
                // Also turn on the light in case of sensor failure
                msg.setBit(6, 1);
            }
            //oil pressure warning lamp bit is 7
            msg[7] = 0x00; //unused
        }
    }
 
}
 
void canDashboardFiat(CanCycle cycle) {
    if (cycle.isInterval(CI::_50ms)) {
        {
            //Fiat Dashboard
            CanTxMessage msg(CanCategory::NBC, CAN_FIAT_MOTOR_INFO);
            msg.setShortValue((int) (Sensor::getOrZero(SensorType::Clt) - 40), 3); //Coolant Temp
            msg.setShortValue(Sensor::getOrZero(SensorType::Rpm) / 32, 6); //RPM
        }
    }
}
 
void canDashboardVAG(CanCycle cycle) {
    if (cycle.isInterval(CI::_10ms)) {
        {
            // https://github.com/commaai/opendbc/blob/57c8340a180dd8c75139b18050eb17c72c9cb6e4/vw_golf_mk4.dbc#L394
            //VAG Dashboard
            CanTxMessage msg(CanCategory::NBC, CAN_VAG_Motor_1);
            msg.setShortValue(Sensor::getOrZero(SensorType::Rpm) * 4, 2); //RPM
        }
 
        float clt = Sensor::getOrZero(SensorType::Clt);
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_VAG_Motor_2);
            msg.setShortValue((int) ((clt + 48.373) / 0.75), 1); //Coolant Temp
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_VAG_CLT_V2);
            msg.setShortValue((int) ((clt + 48.373) / 0.75), 4); //Coolant Temp
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, CAN_VAG_IMMO);
            msg.setShortValue(0x80, 1);
        }
    }
}
 
void canDashboardW202(CanCycle cycle) {
    if (cycle.isInterval(CI::_20ms)) {
        {
            CanTxMessage msg(CanCategory::NBC, W202_STAT_1);
            msg[0] = 0x08; // Unknown
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Rpm), 1);
            msg[3] = 0x00; // 0x01 - tank blink, 0x02 - EPC
            msg[4] = 0x00; // Unknown
            msg[5] = 0x00; // Unknown
            msg[6] = 0x00; // Unknown - oil info
            msg[7] = 0x00; // Unknown - oil info
        }
    }
 
    if (cycle.isInterval(CI::_100ms)) {
        {
            CanTxMessage msg(CanCategory::NBC, W202_STAT_2); //dlc 7
            msg[0] = (int)(Sensor::getOrZero(SensorType::Clt) + 40); // CLT -40 offset
            msg[1] = 0x3D; // TBD
            msg[2] = 0x63; // Const
            msg[3] = 0x41; // Const
            msg[4] = 0x00; // Unknown
            msg[5] = 0x05; // Const
            msg[6] = 0x50; // TBD
            msg[7] = 0x00; // Unknown
        }
    }
 
    if (cycle.isInterval(CI::_200ms)) {
        {
            CanTxMessage msg(CanCategory::NBC, W202_ALIVE);
            msg[0] = 0x0A; // Const
            msg[1] = 0x18; // Const
            msg[2] = 0x00; // Const
            msg[3] = 0x00; // Const
            msg[4] = 0xC0; // Const
            msg[5] = 0x00; // Const
            msg[6] = 0x00; // Const
            msg[7] = 0x00; // Const
        }
 
        {
            CanTxMessage msg(CanCategory::NBC, W202_STAT_3);
            msg[0] = 0x00; // Const
            msg[1] = 0x00; // Const
            msg[2] = 0x6D; // TBD
            msg[3] = 0x7B; // Const
            msg[4] = 0x21; // TBD
            msg[5] = 0x07; // Const
            msg[6] = 0x33; // Const
            msg[7] = 0x05; // Const
        }
    }
}
 
void canDashboardGenesisCoupe(CanCycle cycle) {
    if (cycle.isInterval(CI::_50ms)) {
    {
            CanTxMessage msg(CanCategory::NBC, GENESIS_COUPLE_RPM_316, 8);
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Rpm) * 4, /*offset*/ 3);
      }
        {
            CanTxMessage msg(CanCategory::NBC, GENESIS_COUPLE_COOLANT_329, 8);
            int clt = Sensor::getOrZero(SensorType::Clt) * 2;
            msg[1] = clt;
        }
    }
}
 
/**
 * https://docs.google.com/spreadsheets/d/1XMfeGlhgl0lBL54lNtPdmmFd8gLr2T_YTriokb30kJg
 */
void canDashboardVagMqb(CanCycle cycle) {
    if (cycle.isInterval(CI::_50ms)) {
 
        { // 'turn-on'
            CanTxMessage msg(CanCategory::NBC, 0x3C0, 4);
            // ignition ON
            msg[2] = 3;
        }
 
        { //RPM
            CanTxMessage msg(CanCategory::NBC, 0x107, 8);
            msg.setShortValue(Sensor::getOrZero(SensorType::Rpm) / 3.5, /*offset*/ 3);
        }
    }
}
 
static void canDashboardBmwE90(CanCycle cycle) {
 
    if (cycle.isInterval(CI::_50ms)) {
 
        { //T15 'turn-on'
            CanTxMessage msg(CanCategory::NBC, E90_T15, 5);
            msg[0] = 0x45;
            msg[1] = 0x41;
            msg[2] = 0x61;
            msg[3] = 0x8F;
            msg[4] = 0xFC;
        }
 
        { //Ebrake light
            CanTxMessage msg(CanCategory::OBD, E90_EBRAKE, 2);
            msg[0] = 0xFD;
            msg[1] = 0xFF;
        }
 
        { //RPM
            rpmcounter++;
            if (rpmcounter > 0xFE)
                rpmcounter = 0xF0;
            CanTxMessage msg(CanCategory::OBD, E90_RPM, 3);
            msg[0] = rpmcounter;
            msg.setShortValue(Sensor::getOrZero(SensorType::Rpm) * 4, 1);
        }
 
        { //oil & coolant temp (all in C, despite gauge being F)
            tmp_cnt++;
            if (tmp_cnt >= 0x0F)
                tmp_cnt = 0x00;
            CanTxMessage msg(CanCategory::OBD, E90_TEMP, 8);
            msg[0] = (int)(Sensor::getOrZero(SensorType::Clt) + e90_temp_offset); //coolant
            msg[1] = (int)(Sensor::getOrZero(SensorType::AuxTemp1) + e90_temp_offset); //oil (AuxTemp1)
            msg[2] = tmp_cnt;
            msg[3] = 0xC8;
            msg[4] = 0xA7;
            msg[5] = 0xD3;
            msg[6] = 0x0D;
            msg[7] = 0xA8;
        }
    }
 
    if (cycle.isInterval(CI::_100ms)) {
        {
            //Seatbelt counter
            seatbeltcnt++;
            if (seatbeltcnt > 0xFE)
                seatbeltcnt = 0x00;
            CanTxMessage msg(CanCategory::NBC, E90_SEATBELT_COUNTER, 2);
            msg[0] = seatbeltcnt;
            msg[1] = 0xFF;
        }
 
        {
            //Brake counter 100ms
            brakecnt_1 += 16;
            brakecnt_2 += 16;
            if (brakecnt_1 > 0xEF)
                brakecnt_1 = 0x0F;
            if (brakecnt_2 > 0xF0)
                brakecnt_2 = 0xA0;
            CanTxMessage msg(CanCategory::NBC, E90_BRAKE_COUNTER, 8);
            msg[0] = 0x00;
            msg[1] = 0xE0;
            msg[2] = brakecnt_1;
            msg[3] = 0xFC;
            msg[4] = 0xFE;
            msg[5] = 0x41;
            msg[6] = 0x00;
            msg[7] = brakecnt_2;
        }
 
        { //ABS counter
            abscounter++;
            if (abscounter > 0xFE)
                abscounter = 0xF0;
            CanTxMessage msg(CanCategory::NBC, E90_ABS_COUNTER, 2);
            msg[0] = abscounter;
            msg[1] = 0xFF;
        }
 
        { //Fuel gauge
            CanTxMessage msg(CanCategory::NBC, E90_FUEL, 5); //fuel gauge
            msg[0] = 0x76;
            msg[1] = 0x0F;
            msg[2] = 0xBE;
            msg[3] = 0x1A;
            msg[4] = 0x00;
        }
 
        { //Gear indicator/counter
            gear_cnt++;
            if (gear_cnt >= 0x0F)
                gear_cnt = 0x00;
            CanTxMessage msg(CanCategory::NBC, E90_GEAR, 6);
            msg[0] = 0x78;
            msg[1] = 0x0F;
            msg[2] = 0xFF;
            msg[3] = (gear_cnt << 4) | 0xC;
            msg[4] = 0xF1;
            msg[5] = 0xFF;
        }
 
        { //E90_SPEED
            auto vehicleSpeed = Sensor::getOrZero(SensorType::VehicleSpeed);
            float mph = vehicleSpeed * 0.6213712;
            mph_ctr = ((TIME_I2MS(chVTGetSystemTime()) - mph_timer) / 50);
            mph_a = (mph_ctr * mph / 2);
            mph_2a = mph_a + mph_last;
            mph_last = mph_2a;
            mph_counter += mph_ctr * 100;
            if(mph_counter >= 0xFFF0)
                mph_counter = 0xF000;
            mph_timer = TIME_I2MS(chVTGetSystemTime());
            CanTxMessage msg(CanCategory::NBC, E90_SPEED, 8);
            msg.setShortValue(mph_2a, 0);
            msg.setShortValue(mph_2a, 2);
            msg.setShortValue(mph_2a, 4);
            msg[6] = mph_counter & 0xFF;
            // todo: what are we packing into what exactly? note the '| 0xF0'
            msg[7] = (mph_counter >> 8) | 0xF0;
        }
    }
 
    {
        if (!cluster_time_set) {
#if EFI_RTC
            efidatetime_t dateTime = getRtcDateTime();
#else // EFI_RTC
            efidatetime_t dateTime = {
                .year = 0, .month = 0, .day = 0,
                .hour = 0, .minute = 0, .second = 0,
            };
#endif // EFI_RTC
            CanTxMessage msg(CanCategory::NBC, E90_TIME, 8);
            msg[0] = dateTime.hour;
            msg[1] = dateTime.minute;
            msg[2] = dateTime.second;
            msg[3] = dateTime.day;
            msg[4] = (dateTime.month << 4) | 0x0F;
            msg[5] = dateTime.year & 0xFF;
            msg[6] = (dateTime.year >> 8) | 0xF0; // collides CAN dash at 4096!
            msg[7] = 0xF2;
            cluster_time_set = 1;
        }
    }
}
 
// https://support.haltech.com/portal/en/kb/articles/haltech-can-ecu-broadcast-protocol
void canDashboardHaltech(CanCycle cycle) {
    if (cycle.isInterval(CI::_20ms)) {
        /* 0x360 - 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x360, 8);
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Rpm), 0);
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Map) * 10, 2);
            /* TPS  y = x/10 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Tps1) * 10, 4);
            /* Coolant pressure */
            msg[6] = 0;
            msg[7] = 0;
        }
 
        /* 0x361 - 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x361, 8);
            /* Fuel pressure */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::FuelPressureLow) + 101.3) * 10, 0);
            /* Oil pressure */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::OilPressure) + 101.3) * 10, 2);
            /* Engine Demand */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Map), 4);
            /* Wastegate Pressure */
            msg[6] = 0;
            msg[7] = 0;
        }
 
#if EFI_ENGINE_CONTROL
        /* 0x362 - 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x362, 6);
            /* Injection Stage 1 Duty Cycle - y = x/10 */
            uint16_t rpm = Sensor::getOrZero(SensorType::Rpm);
            msg.setShortValueMsb(getInjectorDutyCycle(rpm) * 10, 0);
            /* Injection Stage 2 Duty Cycle */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Ignition Angle (Leading) - y = x/10 */
            float timing = engine->engineState.timingAdvance[0];
            int16_t ignAngle = ((timing > 360 ? timing - 720 : timing) * 10);
            msg.setShortValueMsb(ignAngle, 4);
        }
#endif // EFI_ENGINE_CONTROL
 
        /* todo: 0x3E5 = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E5, 8);
            msg[0] = 0x00;              //Ignition Switch
            msg[1] = 0x00;              //Turbo Timer - Time Remaining
            msg[2] = 0x00;              //Turbo Timer - Engine Time Remaining
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Steering Wheel Angle
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Driveshaft RPM
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EA = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EA, 8);
            msg[0] = 0x00;              //0-1 Gearbox Line Pressure
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Injection Stage 3 Duty Cycle
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Injection Stage 4 Duty Cycle
            msg[5] = 0x00;
            msg[6] = 0x00;              //Crank Case Pressure
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EB = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EB, 8);
            msg[0] = 0x00;              //0-3 Race Timer
            msg[1] = 0x00;
            msg[2] = 0x00;
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Ignition Angle Bank 1
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Ignition Angle Bank 2
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EC = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EC, 8);
            msg[0] = 0x00;              //0-1 Torque Management Driveshaft RPM Target
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Torque Management Driveshaft RPM Target Error
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Torque Management Driveshaft RPM Target Error Ignition Correction
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Torque Management Driveshaft RPM Timed Ignition Correction
            msg[7] = 0x00;
        }
 
        /* todo: 0x3ED = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3ED, 2);
            msg[0] = 0x00;              //0-1 Torque Management Combined Ignition Correction
            msg[1] = 0x00;
        }
 
        /* todo: 0x471 = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x471, 6);
            msg[0] = 0x00;              //0-1 Injector Pressure Differential
            msg[1] = 0x00;
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::AcceleratorPedal) * 10, 2);
            msg[4] = 0x00;              //4-5 Exhaust Manifold Pressure
            msg[5] = 0x00;
        }
    }
 
    if (cycle.isInterval(CI::_50ms)) {
 
        /* 0x363 - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x363, 4);
            /* Wheel Slip */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Wheel Diff */
            msg[2] = 0x00;
            msg[3] = 0x00 ;
        }
 
        /* 0x368 - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x368, 8);
            /* Wideband Sensor 1 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Lambda1) * 1000, 0);
            /* Wideband Sensor 2 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Lambda2) * 1000, 2);
            /* Wideband Sensor 3 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Wideband Sensor 4 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
#if EFI_SHAFT_POSITION_INPUT
        /* 0x369 - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x369, 8);
            /* Trigger System Error Count */
            msg.setShortValueMsb(engine->triggerCentral.triggerState.totalTriggerErrorCounter, 0);
            /* Trigger Counter ?? */
            msg.setShortValueMsb(engine->triggerCentral.getHwEventCounter((int)SHAFT_PRIMARY_FALLING), 2);
            /* unused */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Trigger Sync Level ?? */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
#endif // EFI_SHAFT_POSITION_INPUT
 
        /* 0x36A - 20Hz rate */
        /* todo: one day we should split this */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36A, 4);
            /* Knock Level 1 */
            int knock100 = engine->module<KnockController>()->m_knockLevel * 100;
            msg.setShortValueMsb(knock100, 0);
            /* Knock Level 2 */
            msg.setShortValueMsb(knock100, 2);
        }
 
        /* 0x36B - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36B, 8);
            /* Break Pressure */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* NOS pressure Sensor 1 */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Turbo Speed Sensor 1 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Lateral G */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x36C = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36C, 8);
            /* Wheel Speed Front Left */
            auto vehicleSpeed10 = Sensor::getOrZero(SensorType::VehicleSpeed) * 10;
            msg.setShortValueMsb(vehicleSpeed10, 0);
            /* Wheel Speed Front Right */
            msg.setShortValueMsb(vehicleSpeed10, 2);
            /* Wheel Speed Read Left */
            msg.setShortValueMsb(vehicleSpeed10, 4);
            /* Wheel Speed Read Right */
            msg.setShortValueMsb(vehicleSpeed10, 6);
        }
 
        /* 0x36D = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36D, 8);
            /* Unused */
            msg[0] = 0x00;
            msg[1] = 0x00;
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Exhaust Cam Angle 1 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Exhaust Cam Angle 2 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x36E = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36E, 8);
            /* Engine Limiting Active 0 = off/1=on*/
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Launch Control Ignition Retard */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Launch Control Fuel Enrich */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Longitudinal G */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x36F = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36F, 4);
            /* Generic Output 1 Duty Cycle */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Boost Control Output */
            msg[2] = 0x00;
            msg[3] = 0x00;
        }
 
        /* 0x370 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x370, 8);
            /* Vehicle Speed */
            auto vehicleSpeed10 = Sensor::getOrZero(SensorType::VehicleSpeed);
            msg.setShortValueMsb(vehicleSpeed10, 0);
            /* unused */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Intake Cam Angle 1 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Intake Cam Angle 2 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E6 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E6, 8);
            msg[0] = 0x00;              //0-1 NOS Pressure Sensor 2
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 NOS Pressure Sensor 3
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 NOS Pressure Sensor 4
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Turbo Speed Sensor 2
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E7 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E7, 8);
            msg[0] = 0x00;              //0-1 Generic Sensor 1
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Generic Sensor 2
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Generic Sensor 3
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Generic Sensor 4
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E8 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E8, 8);
            msg[0] = 0x00;              //0-1 Generic Sensor 5
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Generic Sensor 6
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Generic Sensor 7
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Generic Sensor 8
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E9 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E9, 8);
            msg[0] = 0x00;              //0-1 Generic Sensor 9
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Generic Sensor 10
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Target Lambda
            msg[5] = 0x00;
            msg[6] = 0x00;              //Nitous Stage Output
            msg[7] = 0x00;              //Torque Management Knob
        }
 
        /* todo: 0x3EE = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EE, 8);
            msg[0] = 0x00;              //0-1 Wideband Sensor 5
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Wideband Sensor 6
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Wideband Sensor 7
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Wideband Sensor 8
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EF = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EF, 8);
            msg[0] = 0x00;              //0-1 Wideband Sensor 9
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Wideband Sensor 10
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Wideband Sensor 11
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Wideband Sensor 12
            msg[7] = 0x00;
        }
 
        /* todo: 0x470 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x470, 8);
            msg[0] = 0x00;              //0-1 Wideband Overall
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Wideband Bank 1
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Wideband Bank 2
            msg[5] = 0x00;
            // todo: open question what are Haltech Special Values for gear encoding
            msg[6] = 0x00;              //Gear Selector Position
            msg[7] = Sensor::getOrZero(SensorType::DetectedGear);
        }
 
        /* todo: 0x472 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x472, 8);
            msg[0] = 0x00;              //0-1 Cruise Control Target Speed
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Cruise Control Last Target Speed
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Cruise Control Speed Error
            msg[5] = 0x00;
            msg[6] = 0x00;              //Cruise Control Controller state (enum)
            msg[7] = 0x00;              //Cruise Control Input State (bit-field)
        }
    }
 
    if (cycle.isInterval(CI::_100ms)) {
 
        /* 0x371 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x371, 4);
            /* Fuel Flow */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Fuel Flow Return */
            msg[2] = 0x00;
            msg[3] = 0x00;
        }
 
        /* 0x372 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x372, 8);
            /* Battery Voltage */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::BatteryVoltage) * 10, 0);
            /* unused */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Target Boost Level todo */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Barometric pressure */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::BarometricPressure) * 10, 6);
        }
 
        /* 0x373 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x373, 8);
            /* EGT1 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT1) * 10, 0);
            /* EGT2 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT2) * 10, 2);
            /* EGT3 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT3) * 10, 4);
            /* EGT4 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT4) * 10, 6);
        }
 
        /* 0x374 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x374, 8);
            /* EGT5 */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* EGT6 */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* EGT7 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* EGT8 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x375 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x375, 8);
            /* EGT9 */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* EGT10 */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* EGT11 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* EGT12 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x376 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x376, 8);
            /* Ambient Air Temperature */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Relative Humidity */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Specific Humidity */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Absolute Humidity */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
    }
 
    if (cycle.isInterval(CI::_200ms)) {
        /* 0x3E0 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E0, 8);
            /* Coolant temperature in K y = x/10 */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::Clt) + 273.15) * 10, 0);
            /* Air Temperature */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::Iat) + 273.15) * 10, 2);
            /* Fuel Temperature */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::FuelTemperature) + 273.15) * 10, 4);
            /* Oil Temperature */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x3E1 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E1, 6);
            /* Gearbox Oil Temperature */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Diff oil Temperature */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Fuel Composition */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::FuelEthanolPercent) * 10, 4);
        }
 
        /* 0x3E2 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E2, 2);
            /* Fuel Level in Liters */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::FuelLevel) * 10, 0);
        }
 
        /* 0x3E3 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E3, 8);
            /* Fuel Trim Short Term Bank 1*/
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Fuel Trim Short Term Bank 2*/
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Fuel Trim Long Term Bank 1*/
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Fuel Trim Long Term Bank 2*/
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E4 = 5Hz rate */
        {
                CanTxMessage msg(CanCategory::NBC, 0x3E4, 8);
                msg[0] = 0x00; //unused
                if (engine->engineState.brakePedalState) {
                    msg.setBit(1, 2); // Brake active
                }
                if (engine->engineState.clutchDownState) {
                    msg.setBit(1, 1); // Clutch active
                }
#if EFI_LAUNCH_CONTROL
                if (engine->launchController.isLaunchCondition) {
                    msg.setBit(2, 7); // Launch active
                }
                if (engine->launchController.isSwitchActivated) {
                    msg.setBit(2, 6); // Launch Switch active
                }
#endif
                if (engine->module<AcController>()->acButtonState){
                    msg.setBit(3, 5); // AC Request
                }
                if (engine->module<AcController>()->m_acEnabled){
                    msg.setBit(3, 4); // AC Output
                }
                if (enginePins.fanRelay2.getLogicValue()) {
                    msg.setBit(3, 1); // Fan2 active
                }
                if (enginePins.fanRelay.getLogicValue()) {
                    msg.setBit(3, 0); // Fan active
                }
                /* Switch status */
                msg[4] = 0x00;
                msg[5] = 0x00;
                msg[6] = 0x00;
                if ((Sensor::getOrZero(SensorType::Rpm)>0) && (Sensor::get(SensorType::BatteryVoltage).value_or(VBAT_FALLBACK_VALUE)<13)) {
                    msg.setBit(7, 6); // battery light
                }
    }
 
    }
}
 
//Based on AIM can protocol
//https://www.aimtechnologies.com/support/racingecu/AiM_CAN_101_eng.pdf
 
struct Aim5f0 {
    scaled_channel<uint16_t, 1> Rpm;
    scaled_channel<uint16_t, 650> Tps;
    scaled_channel<uint16_t, 650> Pps;
    scaled_channel<uint16_t, 100> Vss;
};
 
static void populateFrame(Aim5f0& msg) {
    msg.Rpm = Sensor::getOrZero(SensorType::Rpm);
    msg.Tps = Sensor::getOrZero(SensorType::Tps1);
    msg.Pps = Sensor::getOrZero(SensorType::AcceleratorPedal);
    msg.Vss = Sensor::getOrZero(SensorType::VehicleSpeed);
}
 
struct Aim5f1 {
    scaled_channel<uint16_t, 10> WheelSpeedFR;
    scaled_channel<uint16_t, 10> WheelSpeedFL;
    scaled_channel<uint16_t, 10> WheelSpeedRR;
    scaled_channel<uint16_t, 10> WheelSpeedRL;
};
 
static void populateFrame(Aim5f1& msg) {
    // We don't handle wheel speed, just set to 0?
    msg.WheelSpeedFR = 0;
    msg.WheelSpeedFL = 0;
    msg.WheelSpeedRR = 0;
    msg.WheelSpeedRL = 0;
}
 
struct Aim5f2 {
    scaled_channel<uint16_t, 190> Iat;
    scaled_channel<uint16_t, 190> Ect;
    scaled_channel<uint16_t, 190> FuelT;
    scaled_channel<uint16_t, 190> OilT;
};
 
static void populateFrame(Aim5f2& msg) {
    msg.Iat = Sensor::getOrZero(SensorType::Iat) + 45;
    msg.Ect = Sensor::getOrZero(SensorType::Clt) + 45;
    msg.FuelT = Sensor::getOrZero(SensorType::AuxTemp1) + 45;
    msg.OilT = Sensor::getOrZero(SensorType::AuxTemp2) + 45;
}
 
struct Aim5f3 {
    scaled_channel<uint16_t, 10> Map;
    scaled_channel<uint16_t, 10> Baro;
    scaled_channel<uint16_t, 1000> OilP;
    scaled_channel<uint16_t, 20> FuelP;
};
 
static void populateFrame(Aim5f3& msg) {
    // MAP/Baro are sent in millibar -> 10 millibar per kpa
    msg.Map = 10 * Sensor::getOrZero(SensorType::Map);
    msg.Baro = 10 * Sensor::getOrZero(SensorType::BarometricPressure);
 
    // Oil/Fuel P use bar -> 100 kpa per bar
    msg.OilP = Sensor::getOrZero(SensorType::OilPressure) / 100;
    msg.FuelP = Sensor::getOrZero(SensorType::FuelPressureInjector) / 100;
}
 
struct Aim5f4 {
    scaled_channel<uint16_t, 10000> Boost;
    scaled_channel<uint16_t, 3200> Vbat;
    scaled_channel<uint16_t, 10> FuelUse;
    scaled_channel<int16_t, 1> Gear;
};
 
static void populateFrame(Aim5f4& msg) {
    float deltaKpa = Sensor::getOrZero(SensorType::Map)
        - Sensor::get(SensorType::BarometricPressure).value_or(101.325);
    float boostBar = deltaKpa / 100;
 
    msg.Boost = boostBar;
    msg.Vbat = Sensor::getOrZero(SensorType::BatteryVoltage);
    msg.FuelUse = 0;
    msg.Gear = Sensor::getOrZero(SensorType::DetectedGear);
}
 
struct Aim5f5 {
    scaled_channel<uint16_t, 1> ShiftFlag;
    scaled_channel<uint16_t, 1> GearTime;
    scaled_channel<uint16_t, 1> TpsV;
    scaled_channel<uint16_t, 100> FuelLevel;
};
 
static void populateFrame(Aim5f5& msg) {
    msg.FuelLevel = Sensor::getOrZero(SensorType::FuelLevel);
 
    // Dunno what to do with these
    msg.ShiftFlag = 0;
    msg.GearTime = 0;
    msg.TpsV = 0;
}
 
struct Aim5f6 {
    scaled_channel<uint16_t, 2000> Lambda1;
    scaled_channel<uint16_t, 2000> Lambda2;
    scaled_channel<uint16_t, 10> LambdaTemp1;
    scaled_channel<uint16_t, 10> LambdaTemp2;
};
 
static void populateFrame(Aim5f6& msg) {
    msg.Lambda1 = Sensor::getOrZero(SensorType::Lambda1);
    msg.Lambda2 = Sensor::getOrZero(SensorType::Lambda2);
    msg.LambdaTemp1 = 0;
    msg.LambdaTemp2 = 0;
}
 
struct Aim5f7 {
    scaled_channel<uint16_t, 10> LambdaErr1;
    scaled_channel<uint16_t, 10> LambdaErr2;
    scaled_channel<uint16_t, 2000> LambdaTarget1;
    scaled_channel<uint16_t, 2000> LambdaTarget2;
};
 
static void populateFrame(Aim5f7& msg) {
#if EFI_ENGINE_CONTROL
    // We don't handle wheel speed, just set to 0?
    msg.LambdaErr1 = 0;
    msg.LambdaErr2 = 0;
    // both targets are the same for now
    msg.LambdaTarget1 = (float)engine->fuelComputer.targetLambda;
    msg.LambdaTarget2 = (float)engine->fuelComputer.targetLambda;
#endif // EFI_ENGINE_CONTROL
}
 
void canDashboardAim(CanCycle cycle) {
    if (!cycle.isInterval(CI::_10ms)) {
        return;
    }
 
    auto canChannel = engineConfiguration->canBroadcastUseChannelTwo;
 
    transmitStruct<Aim5f0>(CanCategory::NBC, 0x5f0, false, canChannel);
    transmitStruct<Aim5f1>(CanCategory::NBC, 0x5f1, false, canChannel);
    transmitStruct<Aim5f2>(CanCategory::NBC, 0x5f2, false, canChannel);
    transmitStruct<Aim5f3>(CanCategory::NBC, 0x5f3, false, canChannel);
    transmitStruct<Aim5f4>(CanCategory::NBC, 0x5f4, false, canChannel);
    transmitStruct<Aim5f5>(CanCategory::NBC, 0x5f5, false, canChannel);
    transmitStruct<Aim5f6>(CanCategory::NBC, 0x5f6, false, canChannel);
    transmitStruct<Aim5f7>(CanCategory::NBC, 0x5f7, false, canChannel);
 
    // there are more, but less important for us
    // transmitStruct<Aim5f8>(0x5f8, false);
    // transmitStruct<Aim5f9>(0x5f9, false);
    // transmitStruct<Aim5fa>(0x5fa, false);
    // transmitStruct<Aim5fb>(0x5fb, false);
    // transmitStruct<Aim5fc>(0x5fc, false);
    // transmitStruct<Aim5fd>(0x5fd, false);
}
 
PUBLIC_API_WEAK void boardUpdateDash(CanCycle cycle) {}
 
void updateDash(CanCycle cycle) {
  boardUpdateDash(cycle);
 
    // Transmit dash data, if enabled
    switch (engineConfiguration->canNbcType) {
    case CAN_BUS_NBC_NONE:
        break;
    case CAN_BUS_BMW_E46:
        canDashboardBmwE46(cycle);
        break;
    case CAN_BUS_Haltech:
        canDashboardHaltech(cycle);
        break;
    case CAN_BUS_NBC_FIAT:
        canDashboardFiat(cycle);
        break;
    case CAN_BUS_NBC_VAG:
        canDashboardVAG(cycle);
        break;
    case CAN_BUS_MAZDA_RX8:
        canMazdaRX8(cycle);
        break;
    case CAN_BUS_W202_C180:
        canDashboardW202(cycle);
        break;
    case CAN_BUS_BMW_E90:
        canDashboardBmwE90(cycle);
        break;
    case CAN_BUS_MQB:
        canDashboardVagMqb(cycle);
        break;
    case CAN_BUS_NISSAN_VQ:
        canDashboardNissanVQ(cycle);
        break;
    case CAN_BUS_GENESIS_COUPE:
        canDashboardGenesisCoupe(cycle);
        break;
    case CAN_AIM_DASH:
        canDashboardAim(cycle);
        break;
    case CAN_BUS_MS_SIMPLE_BROADCAST:
        canDashboardTS(cycle);
        break;
    default:
        criticalError("Nothing for canNbcType %s", getCan_nbc_e(engineConfiguration->canNbcType));
        break;
    }
}
 
#endif // EFI_CAN_SUPPORT