obd2.h File Reference

Functions
void	obdSendPacket (int mode, int PID, int numBytes, uint32_t iValue, size_t busIndex)
void	obdWriteSupportedPids (int PID, int bitOffset, const int16_t *supportedPids, size_t busIndex)
void	obdOnCanPacketRx (const CANRxFrame &rx, size_t busIndex)
void	handleGetDataRequest (const CANRxFrame &rx, size_t busIndex)

Function Documentation

handleGetDataRequest()

void handleGetDataRequest	(	const CANRxFrame &	rx,
		size_t	busIndex
	)

Definition at line 106 of file obd2.cpp.

                                                                 {
    int pid = rx.data8[2];
    switch (pid) {
    case PID_SUPPORTED_PIDS_REQUEST_01_20:
        obdWriteSupportedPids(pid, 1, supportedPids0120, busIndex);
        break;
    case PID_SUPPORTED_PIDS_REQUEST_21_40:
        obdWriteSupportedPids(pid, 0x21, supportedPids2140, busIndex);
        break;
    case PID_SUPPORTED_PIDS_REQUEST_41_60:
        obdWriteSupportedPids(pid, 0x41, supportedPids4160, busIndex);
        break;
    case PID_MONITOR_STATUS:
        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), 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, busIndex);
        break;
    case PID_COOLANT_TEMP:
        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->engineState.stftCorrection[0], busIndex);
        break;
    case PID_STFT_BANK2:
        obdSendValue(_1_MODE, pid, 1, 128 * engine->engineState.stftCorrection[1], busIndex);
        break;
    case PID_INTAKE_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, busIndex); //  rotation/min.   (A*256+B)/4
        break;
    case PID_SPEED:
        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, busIndex);       // angle before TDC.    (A/2)-64
        break;
        }
    case PID_INTAKE_TEMP:
        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, busIndex);   // grams/sec    (A*256+B)/100
        break;
    case PID_THROTTLE:
        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 = clampF(0, Sensor::getOrZero(SensorType::Lambda1), 1.99f);
 
        uint16_t scaled = lambda * 32768;
 
        obdSendPacket(1, pid, 4, scaled << 16, busIndex);
        break;
    } case PID_FUEL_RATE: {
 
#ifdef MODULE_ODOMETER
        float gPerSecond = engine->module<TripOdometer>()->getConsumptionGramPerSecond();
#else
        float gPerSecond = 0;
#endif // MODULE_ODOMETER
 
        float gPerHour = gPerSecond * 3600;
        float literPerHour = gPerHour * 0.00139f;
        obdSendValue(_1_MODE, pid, 2, literPerHour * 20.0f, busIndex);  //  L/h.    (A*256+B)/20
        break;
    } case PID_CONTROL_UNIT_VOLTAGE: {
        obdSendValue(_1_MODE, pid, 2, 1000 * Sensor::getOrZero(SensorType::BatteryVoltage), busIndex);
        break;
    } case PID_ETHANOL: {
        obdSendValue(_1_MODE, pid, 1, (255.0f / 100) * Sensor::getOrZero(SensorType::FuelEthanolPercent), busIndex);
        break;
    } case PID_OIL_TEMPERATURE: {
        obdSendValue(_1_MODE, pid, 1, Sensor::getOrZero(SensorType::OilTemperature) + ODB_TEMP_EXTRA, busIndex);
        break;
    } default:
        // ignore unhandled PIDs
        break;
    }
}

Referenced by obdOnCanPacketRx().

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obdOnCanPacketRx()

void obdOnCanPacketRx	(	const CANRxFrame &	rx,
		size_t	busIndex
	)

Definition at line 210 of file obd2.cpp.

                                                             {
    if (CAN_SID(rx) != OBD_TEST_REQUEST) {
        return;
    }
 
    if (rx.data8[0] == _OBD_2 && rx.data8[1] == OBD_CURRENT_DATA) {
        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);
    } else if (rx.data8[0] == 1 && rx.data8[1] == OBD_PENDING_DIAGNOSTIC_TROUBLE_CODES) {
        // todo: implement stored/pending difference?
        handleDtcRequest(1, &engine->engineState.warnings.lastErrorCode);
    }
}

Referenced by processCanRxMessage().

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obdSendPacket()

void obdSendPacket	(	int	mode,
		int	PID,
		int	numBytes,
		uint32_t	iValue,
		size_t	busIndex
	)

Definition at line 62 of file obd2.cpp.

                                                                                      {
    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
    resp[1] = (uint8_t)(0x40 + mode);
    resp[2] = (uint8_t)PID;
    // write N data bytes
    for (int i = 8 * (numBytes - 1), j = 3; i >= 0; i -= 8, j++) {
        resp[j] = (uint8_t)((iValue >> i) & 0xff);
    }
}

Referenced by handleGetDataRequest(), obdSendValue(), and obdWriteSupportedPids().

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obdWriteSupportedPids()

void obdWriteSupportedPids	(	int	PID,
		int	bitOffset,
		const int16_t *	supportedPids,
		size_t	busIndex
	)

Definition at line 92 of file obd2.cpp.

                                                                                                  {
    uint32_t value = 0;
    // gather all 32 bit fields
    for (int i = 0; i < 32 && supportedPids[i] > 0; i++)
        value |= 1 << (31 + bitOffset - supportedPids[i]);
 
#ifdef MOCK_SUPPORTED_PIDS
    // for OBD debug
    value = MOCK_SUPPORTED_PIDS;
#endif
 
    obdSendPacket(1, PID, 4, value, busIndex);
}

Referenced by handleGetDataRequest().

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