GCC Code Coverage Report


Directory: ./
File: firmware/controllers/sensors/can_sensor.h
Date: 2025-10-03 00:57:22
Coverage Exec Excl Total
Lines: 100.0% 4 0 4
Functions: 100.0% 1 0 1
Branches: -% 0 0 0
Decisions: -% 0 - 0

Line Branch Decision Exec Source
1 /**
2 * @file can_sensor.h
3 *
4 * @date March 31, 2020
5 * @author Matthew Kennedy, (c) 2020
6 */
7
8 #pragma once
9
10 #include "stored_value_sensor.h"
11 #include "efi_scaled_channel.h"
12 #include "can_msg_tx.h"
13 #include "obd2.h"
14 #include "can.h"
15 #include "can_listener.h"
16
17 /**
18 * Sensor which reads it's value from CAN
19 */
20 class CanSensorBase : public StoredValueSensor, public CanListener {
21 public:
22 8 CanSensorBase(uint32_t eid, SensorType type, efidur_t timeout)
23 8 : StoredValueSensor(type, timeout)
24 8 , CanListener(eid)
25 {
26 8 }
27
28 void showInfo(const char* sensorName) const override;
29 };
30
31 template <typename TStorage, int TScale>
32 class CanSensor : public CanSensorBase {
33 public:
34 CanSensor(uint32_t eid, uint8_t offset, SensorType type, efidur_t timeout)
35 : CanSensorBase(eid, type, timeout)
36 , m_offset(offset)
37 {
38 }
39
40 void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override {
41 // Compute the location of our data within the frame
42 const uint8_t* dataLocation = &frame.data8[m_offset];
43
44 // Reinterpret as a scaled_channel - it already has the logic for decoding a scaled integer to a float
45 const auto scaler = reinterpret_cast<const scaled_channel<TStorage, TScale>*>(dataLocation);
46
47 // Actually do the conversion
48 float value = *scaler;
49 setValidValue(value, nowNt);
50 }
51
52 private:
53 const uint8_t m_offset;
54 };
55
56 #if EFI_PROD_CODE
57
58 template <int Size, int Offset>
59 class ObdCanSensor: public CanSensorBase {
60 public:
61 ObdCanSensor(int p_PID, float p_Scale, SensorType type) :
62 CanSensorBase(OBD_TEST_RESPONSE, type, /* timeout, never expire */ 0) {
63 this->PID = p_PID;
64 this->Scale = p_Scale;
65 }
66
67 void decodeFrame(const CANRxFrame& frame, efitick_t nowNt) override {
68 if (frame.data8[2] != PID) {
69 return;
70 }
71
72 int iValue;
73 if (Size == 2) {
74 iValue = frame.data8[3] * 256 + frame.data8[4];
75 } else {
76 iValue = frame.data8[3];
77 }
78
79 float fValue = (1.0 * iValue / Scale) - Offset;
80 setValidValue(fValue, nowNt);
81 }
82
83 CanListener* request() override {
84 {
85 CanTxMessage msg(CanCategory::OBD, OBD_TEST_REQUEST);
86 msg[0] = _OBD_2;
87 msg[1] = OBD_CURRENT_DATA;
88 msg[2] = PID;
89 }
90 // let's sleep on write update after each OBD request, this would give read thread a chance to read response
91 // todo: smarter logic of all this with with semaphore not just sleep
92 chThdSleepMilliseconds(300);
93 return CanListener::request();
94 }
95
96 int PID;
97 float Scale;
98 };
99
100 #endif // EFI_PROD_CODE
101