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Dependencies:   mbed mbed-STM32F103C8T6

ecu_simulator.cpp@7:467e350d1a10, 2020-06-10 (annotated)

Committer:
RogerJKelly
Date:
Wed Jun 10 20:15:48 2020 +0000
Revision:
7:467e350d1a10
Parent:
6:41a4ad385daa 
RIXEN SIM with Maple Mini

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pangsk 0:908be729d27c 1 #include "mbed.h"
pangsk 6:41a4ad385daa 2 #include "ecu_simulator.h"
pangsk 0:908be729d27c 3 #include "globals.h"
pangsk 0:908be729d27c 4
pangsk 0:908be729d27c 5
pangsk 0:908be729d27c 6 // Use a timer to see if things take too long
RogerJKelly 7:467e350d1a10 7 Timer CANTimer;
RogerJKelly 7:467e350d1a10 8
RogerJKelly 7:467e350d1a10 9 namespace mbed
RogerJKelly 7:467e350d1a10 10 {
pangsk 0:908be729d27c 11
pangsk 0:908be729d27c 12
pangsk 6:41a4ad385daa 13 ecu_sim::ecu_sim(int can_speed)
pangsk 6:41a4ad385daa 14 {
RogerJKelly 7:467e350d1a10 15 if ( can2.frequency(can_speed) )
RogerJKelly 7:467e350d1a10 16 pc.printf("CAN speed set to %d \n\r", can_speed);
RogerJKelly 7:467e350d1a10 17 else
RogerJKelly 7:467e350d1a10 18 pc.printf("CAN speed SET failed\n\r");
pangsk 6:41a4ad385daa 19 }
pangsk 6:41a4ad385daa 20
pangsk 6:41a4ad385daa 21 void ecu_sim::canspeed(int can_speed)
pangsk 0:908be729d27c 22 {
RogerJKelly 7:467e350d1a10 23 if ( can2.frequency(can_speed) )
RogerJKelly 7:467e350d1a10 24 pc.printf("CAN speed set to %d \n\r", can_speed);
RogerJKelly 7:467e350d1a10 25 else
RogerJKelly 7:467e350d1a10 26 pc.printf("CAN speed SET failed\n\r");
pangsk 0:908be729d27c 27 }
pangsk 0:908be729d27c 28
pangsk 3:05bb8f0bd7a4 29
pangsk 6:41a4ad385daa 30
RogerJKelly 7:467e350d1a10 31 //#define TIMEOUT 500
pangsk 6:41a4ad385daa 32 unsigned char ecu_sim::request(void)
pangsk 0:908be729d27c 33 {
pangsk 0:908be729d27c 34 char can_msg[8];
RogerJKelly 7:467e350d1a10 35 int done = 0;
RogerJKelly 7:467e350d1a10 36 int cnt = 0;
RogerJKelly 7:467e350d1a10 37 //pc.printf("*");
RogerJKelly 7:467e350d1a10 38
pangsk 6:41a4ad385daa 39
RogerJKelly 7:467e350d1a10 40 //if ((can2.read(can_MsgRx)) && (can_MsgRx.id == PID_REQUEST) )
RogerJKelly 7:467e350d1a10 41 if (can2.read(can_MsgRx)) //&& (can_MsgRx.id == PID_REQUEST) )
RogerJKelly 7:467e350d1a10 42 {
RogerJKelly 7:467e350d1a10 43 pc.printf(".");
pangsk 6:41a4ad385daa 44 led2 = 1;
RogerJKelly 7:467e350d1a10 45 if (can_MsgRx.id == ESPAR_CMD)
pangsk 6:41a4ad385daa 46 {
RogerJKelly 7:467e350d1a10 47 pc.printf("0");
RogerJKelly 7:467e350d1a10 48 // wake command wake[8] = { 0x02, 0x3e, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
RogerJKelly 7:467e350d1a10 49 if((can_MsgRx.data[0] == 0x02) && (can_MsgRx.data[1] == 0x3E))// wake request
RogerJKelly 7:467e350d1a10 50 { //expected[3] = {0x02, 0x7e, 0x00};
RogerJKelly 7:467e350d1a10 51 can_msg[0] = 0x02;
RogerJKelly 7:467e350d1a10 52 can_msg[1] = 0x7E;
RogerJKelly 7:467e350d1a10 53 can_msg[2] = 0x00; can_msg[3] = 0x00;
RogerJKelly 7:467e350d1a10 54 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 55 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 56 pc.printf("1");
RogerJKelly 7:467e350d1a10 57 }
RogerJKelly 7:467e350d1a10 58 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x17))
RogerJKelly 7:467e350d1a10 59 { // got get runtime: 7A0 03 22 FD 17 00 00 00 00
RogerJKelly 7:467e350d1a10 60 // send 73C 10 1F 62 FD 17 00 00 00
RogerJKelly 7:467e350d1a10 61 can_msg[0] = 0x10; can_msg[1] = 0x1F; can_msg[2] = 0x62; can_msg[3] = 0xFD;
RogerJKelly 7:467e350d1a10 62 can_msg[4] = 0x17; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 63 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 64 pc.printf("2");
RogerJKelly 7:467e350d1a10 65 //wait(0.1);
RogerJKelly 7:467e350d1a10 66 done = 0;
RogerJKelly 7:467e350d1a10 67 while ( done == 0 )
RogerJKelly 7:467e350d1a10 68 {
RogerJKelly 7:467e350d1a10 69 //wait for continue msg 7A0 30 00 14 00 00 00 00 00
RogerJKelly 7:467e350d1a10 70 can2.read(can_MsgRx);
RogerJKelly 7:467e350d1a10 71 if ((can_MsgRx.id == ESPAR_CMD) && (can_MsgRx.data[0] == 0x30))
RogerJKelly 7:467e350d1a10 72 {
RogerJKelly 7:467e350d1a10 73 done = 1;
RogerJKelly 7:467e350d1a10 74 pc.printf("a");
RogerJKelly 7:467e350d1a10 75 //73C 2377343693 0008 21 91 00 00 00 00 00 00
RogerJKelly 7:467e350d1a10 76 can_msg[0] = 0x21; can_msg[1] = 0x91; can_msg[2] = 0x00; can_msg[3] = 0x00;
RogerJKelly 7:467e350d1a10 77 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 78 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 79 wait(0.2);
RogerJKelly 7:467e350d1a10 80 //73C 2377373697 0008 22 00 00 00 00 00 00 00
RogerJKelly 7:467e350d1a10 81 can_msg[0] = 0x22; can_msg[1] = 0x00; can_msg[2] = 0x00; can_msg[3] = 0x00;
RogerJKelly 7:467e350d1a10 82 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 83 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 84 wait(0.2);
RogerJKelly 7:467e350d1a10 85 //73C 2377403705 0008 23 00 00 5F 00 00 00 00
RogerJKelly 7:467e350d1a10 86 can_msg[0] = 0x23; can_msg[1] = 0x00; can_msg[2] = 0x00; can_msg[3] = 0x5F;
RogerJKelly 7:467e350d1a10 87 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 88 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 89 wait(0.2);
RogerJKelly 7:467e350d1a10 90 //73C 2377433695 0008 24 00 00 00 00 00 00 00
RogerJKelly 7:467e350d1a10 91 can_msg[0] = 0x24; can_msg[1] = 0x00; can_msg[2] = 0x00; can_msg[3] = 0x00;
RogerJKelly 7:467e350d1a10 92 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 93 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 94 wait(0.2);
RogerJKelly 7:467e350d1a10 95 }
RogerJKelly 7:467e350d1a10 96 }
RogerJKelly 7:467e350d1a10 97 } // end of get runtime
RogerJKelly 7:467e350d1a10 98 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x01))
RogerJKelly 7:467e350d1a10 99 { //get temperatures 7A0 03 22 FD 01 00 00 00 00 -- not sure temperatures???
RogerJKelly 7:467e350d1a10 100 //73C 10 09 62 FD 01 1D E2 1C -- send this
RogerJKelly 7:467e350d1a10 101 can_msg[0] = 0x10; can_msg[1] = 0x09; can_msg[2] = 0x62; can_msg[3] = 0xFD;
RogerJKelly 7:467e350d1a10 102 can_msg[4] = 0x01; can_msg[5] = 0x1D; can_msg[6] = 0xE2; can_msg[7] = 0x1C;
RogerJKelly 7:467e350d1a10 103 pc.printf("3");
RogerJKelly 7:467e350d1a10 104 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 105
RogerJKelly 7:467e350d1a10 106 //wait(0.1);
RogerJKelly 7:467e350d1a10 107 done = 0;
RogerJKelly 7:467e350d1a10 108 while ( done == 0 )
RogerJKelly 7:467e350d1a10 109 {
RogerJKelly 7:467e350d1a10 110 //wait for continue msg 7A0 30 00 14 00 00 00 00 00
RogerJKelly 7:467e350d1a10 111 //***************************************************************
RogerJKelly 7:467e350d1a10 112 if (can2.read(can_MsgRx))
RogerJKelly 7:467e350d1a10 113 {
RogerJKelly 7:467e350d1a10 114 pc.printf("m");
RogerJKelly 7:467e350d1a10 115 //pc.printf("m %x %x %x %x %x %x %x %x %x\n\r",can_MsgRx.id,
RogerJKelly 7:467e350d1a10 116 // can_MsgRx.data[0], can_MsgRx.data[1], can_MsgRx.data[2], can_MsgRx.data[3],
RogerJKelly 7:467e350d1a10 117 // can_MsgRx.data[4], can_MsgRx.data[5], can_MsgRx.data[6], can_MsgRx.data[7]);
RogerJKelly 7:467e350d1a10 118 cnt++;
RogerJKelly 7:467e350d1a10 119 if ( cnt > 10 ) done = 1;
RogerJKelly 7:467e350d1a10 120 }
RogerJKelly 7:467e350d1a10 121 //****************************************************************/
RogerJKelly 7:467e350d1a10 122 //can2.read(can_MsgRx);
RogerJKelly 7:467e350d1a10 123 //pc.printf("x");
RogerJKelly 7:467e350d1a10 124 if ((can_MsgRx.id == ESPAR_CMD) && (can_MsgRx.data[0] == 0x30))
RogerJKelly 7:467e350d1a10 125 {
RogerJKelly 7:467e350d1a10 126 done = 1;
RogerJKelly 7:467e350d1a10 127 pc.printf("b");
RogerJKelly 7:467e350d1a10 128 //73C 2420412954 0008 21 84 1C B6 01 1D E2 1C
RogerJKelly 7:467e350d1a10 129 can_msg[0] = 0x21; can_msg[1] = 0x84; can_msg[2] = 0x1C; can_msg[3] = 0xB6;
RogerJKelly 7:467e350d1a10 130 can_msg[4] = 0x01; can_msg[5] = 0x1D; can_msg[6] = 0xE2; can_msg[7] = 0x1C;
RogerJKelly 7:467e350d1a10 131 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 132 wait(0.2);
RogerJKelly 7:467e350d1a10 133 }
RogerJKelly 7:467e350d1a10 134 }
RogerJKelly 7:467e350d1a10 135 } // end of get temperatures
RogerJKelly 7:467e350d1a10 136 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x0A))
RogerJKelly 7:467e350d1a10 137 { //expected[3] = //73C 05 62 FD 0A 00 00 E2 1C
RogerJKelly 7:467e350d1a10 138 can_msg[0] = 0x05; can_msg[1] = 0x62;
RogerJKelly 7:467e350d1a10 139 can_msg[2] = 0xFD; can_msg[3] = 0x0A;
RogerJKelly 7:467e350d1a10 140 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0xE2; can_msg[7] = 0x1C;
RogerJKelly 7:467e350d1a10 141 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 142 pc.printf("4");
RogerJKelly 7:467e350d1a10 143 }
RogerJKelly 7:467e350d1a10 144 //7A0 03 22 FD 0D 00 00 00 00
RogerJKelly 7:467e350d1a10 145 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x0D))
RogerJKelly 7:467e350d1a10 146 { //expected[3] = //73C 04 62 FD 0D 00 20 E2 1C
RogerJKelly 7:467e350d1a10 147 can_msg[0] = 0x04; can_msg[1] = 0x62;
RogerJKelly 7:467e350d1a10 148 can_msg[2] = 0xFD; can_msg[3] = 0x0D;
RogerJKelly 7:467e350d1a10 149 can_msg[4] = 0x00; can_msg[5] = 0x20; can_msg[6] = 0xE2; can_msg[7] = 0x1C;
RogerJKelly 7:467e350d1a10 150 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 151 pc.printf("5");
RogerJKelly 7:467e350d1a10 152 }
RogerJKelly 7:467e350d1a10 153 //
RogerJKelly 7:467e350d1a10 154 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x0F))
RogerJKelly 7:467e350d1a10 155 { //get ??? 7A0 03 22 FD 0F 00 00 00 00 -- not sure ???
RogerJKelly 7:467e350d1a10 156 //73C 10 0D 62 FD 0F 00 01 75 -- send this
RogerJKelly 7:467e350d1a10 157 can_msg[0] = 0x10; can_msg[1] = 0x0D; can_msg[2] = 0x62; can_msg[3] = 0xFD;
RogerJKelly 7:467e350d1a10 158 can_msg[4] = 0x0F; can_msg[5] = 0x00; can_msg[6] = 0x01; can_msg[7] = 0x75;
RogerJKelly 7:467e350d1a10 159 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 160 pc.printf("6");
RogerJKelly 7:467e350d1a10 161 //wait(0.1);
RogerJKelly 7:467e350d1a10 162 done = 0;
RogerJKelly 7:467e350d1a10 163 while ( done == 0 )
RogerJKelly 7:467e350d1a10 164 {
RogerJKelly 7:467e350d1a10 165 //wait for continue msg 7A0 30 00 14 00 00 00 00 00
RogerJKelly 7:467e350d1a10 166 can2.read(can_MsgRx);
RogerJKelly 7:467e350d1a10 167 if ((can_MsgRx.id == ESPAR_CMD) && (can_MsgRx.data[0] == 0x30))
RogerJKelly 7:467e350d1a10 168 {
RogerJKelly 7:467e350d1a10 169 done = 1;
RogerJKelly 7:467e350d1a10 170 pc.printf("d");
RogerJKelly 7:467e350d1a10 171 //73C 21 30 75 44 7F FC 7F FC
RogerJKelly 7:467e350d1a10 172 can_msg[0] = 0x21; can_msg[1] = 0x30; can_msg[2] = 0x75; can_msg[3] = 0x44;
RogerJKelly 7:467e350d1a10 173 can_msg[4] = 0x7F; can_msg[5] = 0xFC; can_msg[6] = 0x7F; can_msg[7] = 0xFC;
RogerJKelly 7:467e350d1a10 174 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 175 wait(0.1);
RogerJKelly 7:467e350d1a10 176 }
RogerJKelly 7:467e350d1a10 177 }
RogerJKelly 7:467e350d1a10 178 } // end of ??
RogerJKelly 7:467e350d1a10 179 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x22))
RogerJKelly 7:467e350d1a10 180 { // got get 7a0 3 22 fd 22 0 0 0 0 - get water pump setting
RogerJKelly 7:467e350d1a10 181 //send 0x05, 0x62, 0xFD, 0x24, 0x00, 0x00, 0x00, 0x00 will keep it happy
RogerJKelly 7:467e350d1a10 182 can_msg[0] = 0x05; can_msg[1] = 0x62; can_msg[2] = 0xFD; can_msg[3] = 0x24;
RogerJKelly 7:467e350d1a10 183 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 184 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 185 pc.printf("7");
RogerJKelly 7:467e350d1a10 186 }
RogerJKelly 7:467e350d1a10 187 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x24))
RogerJKelly 7:467e350d1a10 188 { // got get 7a0 3 22 fd 24 0 0 0 0 - get heat time limit
RogerJKelly 7:467e350d1a10 189 //send 0x05, 0x62, 0xFD, 0x24, 0x00, 0x00, 0x00, 0x00 will keep it happy
RogerJKelly 7:467e350d1a10 190 can_msg[0] = 0x05; can_msg[1] = 0x62; can_msg[2] = 0xFD; can_msg[3] = 0x24;
RogerJKelly 7:467e350d1a10 191 can_msg[4] = 0x00; can_msg[5] = 0x00; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 192 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 193 pc.printf("8");
RogerJKelly 7:467e350d1a10 194 }
RogerJKelly 7:467e350d1a10 195 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x36))
RogerJKelly 7:467e350d1a10 196 { // got 7a0 3 22 fd 36 0 0 0 0 - get altitude.
RogerJKelly 7:467e350d1a10 197 //send Response is 0x05, 0x62, 0xFD, 0x04, [0x27, 0x10], 0xB0, 0x1C
RogerJKelly 7:467e350d1a10 198 can_msg[0] = 0x05; can_msg[1] = 0x62; can_msg[2] = 0xFD; can_msg[3] = 0x04;
RogerJKelly 7:467e350d1a10 199 can_msg[4] = 0x27; can_msg[5] = 0x10; can_msg[6] = 0xB0; can_msg[7] = 0x1C;
RogerJKelly 7:467e350d1a10 200 if ( got_alt == true )
RogerJKelly 7:467e350d1a10 201 {
RogerJKelly 7:467e350d1a10 202 can_msg[4] = alt[0];
RogerJKelly 7:467e350d1a10 203 can_msg[5] = alt[1];
RogerJKelly 7:467e350d1a10 204 }
RogerJKelly 7:467e350d1a10 205 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 206 pc.printf("9");
RogerJKelly 7:467e350d1a10 207 }
RogerJKelly 7:467e350d1a10 208 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x22) && (can_MsgRx.data[2] == 0xFD) && (can_MsgRx.data[3] == 0x04))
RogerJKelly 7:467e350d1a10 209 { // battery send: { 0x03, 0x22, 0xFD, 0x04, 0x00, 0x00, 0x00, 0x00 };
RogerJKelly 7:467e350d1a10 210 // Response is 0x05, 0x62, 0xFD, 0x04, MSB, LSB, 0x00, 0x00
RogerJKelly 7:467e350d1a10 211 can_msg[0] = 0x05; can_msg[1] = 0x62; can_msg[2] = 0xFD; can_msg[3] = 0x04;
RogerJKelly 7:467e350d1a10 212 can_msg[4] = 0x00; can_msg[5] = 0x7A; can_msg[6] = 0x00; can_msg[7] = 0x00;
RogerJKelly 7:467e350d1a10 213 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 214 pc.printf("V");
RogerJKelly 7:467e350d1a10 215 }
RogerJKelly 7:467e350d1a10 216 else if ((can_MsgRx.data[0] == 0x03) && (can_MsgRx.data[1] == 0x19) && (can_MsgRx.data[2] == 0x02) && (can_MsgRx.data[3] == 0x08))
RogerJKelly 7:467e350d1a10 217 { // get single fault: { 0x03, 0x19, 0x02, 0x08, 0x00, 0x00, 0x00, 0x00 };
RogerJKelly 7:467e350d1a10 218 // Response with 1 fault 073C: 07 59 02 7B 00 02 11 2A
RogerJKelly 7:467e350d1a10 219 // Response with No fault 073C:03 59 02 7B 05 48 C3 01
RogerJKelly 7:467e350d1a10 220 if ( ecu.active_fault == true )
RogerJKelly 7:467e350d1a10 221 {
RogerJKelly 7:467e350d1a10 222 can_msg[0] = 0x07; can_msg[1] = 0x59; can_msg[2] = 0x02; can_msg[3] = 0x7B;
RogerJKelly 7:467e350d1a10 223 can_msg[4] = 0x00; can_msg[5] = 0x02; can_msg[6] = 0x11; can_msg[7] = 0x2B;
RogerJKelly 7:467e350d1a10 224 }
RogerJKelly 7:467e350d1a10 225 else // stored fault
RogerJKelly 7:467e350d1a10 226 {
RogerJKelly 7:467e350d1a10 227 // these 2 lines reset to NO Faults.
RogerJKelly 7:467e350d1a10 228 can_msg[0] = 0x03; can_msg[1] = 0x59; can_msg[2] = 0x02; can_msg[3] = 0x7B;
RogerJKelly 7:467e350d1a10 229 can_msg[4] = 0x05; can_msg[5] = 0x48; can_msg[6] = 0xC3; can_msg[7] = 0x01;
RogerJKelly 7:467e350d1a10 230 // these 2 lines reset to a non-active fault
RogerJKelly 7:467e350d1a10 231 //can_msg[0] = 0x07; can_msg[1] = 0x59; can_msg[2] = 0x02; can_msg[3] = 0x7B;
RogerJKelly 7:467e350d1a10 232 //can_msg[4] = 0x00; can_msg[5] = 0x02; can_msg[6] = 0x11; can_msg[7] = 0x2A;
RogerJKelly 7:467e350d1a10 233 }
RogerJKelly 7:467e350d1a10 234 can2.write(CANMessage(ESPAR_RES , can_msg, 8));
RogerJKelly 7:467e350d1a10 235 pc.printf("F");
RogerJKelly 7:467e350d1a10 236 }
RogerJKelly 7:467e350d1a10 237 else
RogerJKelly 7:467e350d1a10 238 {
RogerJKelly 7:467e350d1a10 239 pc.printf("\n\r%x %x %x %x %x %x %x %x %x\n\r",can_MsgRx.id,
RogerJKelly 7:467e350d1a10 240 can_MsgRx.data[0], can_MsgRx.data[1], can_MsgRx.data[2], can_MsgRx.data[3],
RogerJKelly 7:467e350d1a10 241 can_MsgRx.data[4], can_MsgRx.data[5], can_MsgRx.data[6], can_MsgRx.data[7]);
RogerJKelly 7:467e350d1a10 242 }
RogerJKelly 7:467e350d1a10 243 } // end of if ESPAR_CMD
RogerJKelly 7:467e350d1a10 244 //"Set" altitude command:
RogerJKelly 7:467e350d1a10 245 //addresses0x0055 and 0x009D: { 0x4c, 0x1d, 0, 0, 0, 0, 0, 0 };
RogerJKelly 7:467e350d1a10 246 //
RogerJKelly 7:467e350d1a10 247 //LSB, MSB altitude x 10 in packet. 1D4C = 7500 = 750hpA, 2710 = 10000 = 1000hPa.
RogerJKelly 7:467e350d1a10 248 else if ((can_MsgRx.id == 0x0055) || (can_MsgRx.id == 0x009D))
RogerJKelly 7:467e350d1a10 249 {
RogerJKelly 7:467e350d1a10 250 alt[0] = can_MsgRx.data[1];
RogerJKelly 7:467e350d1a10 251 alt[1] = can_MsgRx.data[0];
RogerJKelly 7:467e350d1a10 252 got_alt = true;
RogerJKelly 7:467e350d1a10 253 pc.printf("A");
RogerJKelly 7:467e350d1a10 254 }
RogerJKelly 7:467e350d1a10 255 else if (can_MsgRx.id == PID_REQUEST)
RogerJKelly 7:467e350d1a10 256 {
RogerJKelly 7:467e350d1a10 257 pc.printf("-");
RogerJKelly 7:467e350d1a10 258 if(can_MsgRx.data[1] == MODE3) // Request trouble codes
RogerJKelly 7:467e350d1a10 259 {
RogerJKelly 7:467e350d1a10 260 if(ecu.dtc == false)
RogerJKelly 7:467e350d1a10 261 {
RogerJKelly 7:467e350d1a10 262 can_msg[0] = 0x02;
RogerJKelly 7:467e350d1a10 263 can_msg[1] = MODE3_RESPONSE;
RogerJKelly 7:467e350d1a10 264 can_msg[2] = 0x00;
RogerJKelly 7:467e350d1a10 265 }
RogerJKelly 7:467e350d1a10 266 else
RogerJKelly 7:467e350d1a10 267 {
RogerJKelly 7:467e350d1a10 268 can_msg[0] = 0x06;
RogerJKelly 7:467e350d1a10 269 can_msg[1] = MODE3_RESPONSE;
RogerJKelly 7:467e350d1a10 270 can_msg[2] = 0x02;
RogerJKelly 7:467e350d1a10 271 can_msg[3] = 0x01;
RogerJKelly 7:467e350d1a10 272 can_msg[4] = 0x00;
RogerJKelly 7:467e350d1a10 273 can_msg[5] = 0x02;
RogerJKelly 7:467e350d1a10 274 can_msg[6] = 0x00;
RogerJKelly 7:467e350d1a10 275 }
RogerJKelly 7:467e350d1a10 276 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 277 }
RogerJKelly 7:467e350d1a10 278
RogerJKelly 7:467e350d1a10 279 if(can_MsgRx.data[1] == MODE4) // Clear trouble codes, clear Check engine light
RogerJKelly 7:467e350d1a10 280 {
RogerJKelly 7:467e350d1a10 281 ecu.dtc = false;
RogerJKelly 7:467e350d1a10 282 led4 = 0;
RogerJKelly 7:467e350d1a10 283
RogerJKelly 7:467e350d1a10 284 can_msg[0] = 0x00;
RogerJKelly 7:467e350d1a10 285 can_msg[1] = MODE4_RESPONSE;
RogerJKelly 7:467e350d1a10 286 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 287 }
RogerJKelly 7:467e350d1a10 288
RogerJKelly 7:467e350d1a10 289 if(can_MsgRx.data[1] == MODE1)
RogerJKelly 7:467e350d1a10 290 {
RogerJKelly 7:467e350d1a10 291 can_msg[1] = MODE1_RESPONSE;
RogerJKelly 7:467e350d1a10 292 switch(can_MsgRx.data[2])
RogerJKelly 7:467e350d1a10 293 {
RogerJKelly 7:467e350d1a10 294 /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
RogerJKelly 7:467e350d1a10 295 case PID_SUPPORTED:
RogerJKelly 7:467e350d1a10 296 can_msg[0] = 0x06;
RogerJKelly 7:467e350d1a10 297 can_msg[2] = PID_SUPPORTED;
RogerJKelly 7:467e350d1a10 298 can_msg[3] = 0xE8;
RogerJKelly 7:467e350d1a10 299 can_msg[4] = 0x19;
RogerJKelly 7:467e350d1a10 300 can_msg[5] = 0x30;
RogerJKelly 7:467e350d1a10 301 can_msg[6] = 0x12;
RogerJKelly 7:467e350d1a10 302 can_msg[5] = 0x00;
RogerJKelly 7:467e350d1a10 303 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 304
RogerJKelly 7:467e350d1a10 305 break;
RogerJKelly 7:467e350d1a10 306
RogerJKelly 7:467e350d1a10 307 case MONITOR_STATUS:
RogerJKelly 7:467e350d1a10 308 can_msg[0] = 0x05;
RogerJKelly 7:467e350d1a10 309 can_msg[2] = MONITOR_STATUS;
RogerJKelly 7:467e350d1a10 310
RogerJKelly 7:467e350d1a10 311 if(ecu.dtc == true) can_msg[3] = 0x82;
RogerJKelly 7:467e350d1a10 312 else can_msg[3] = 0x00;
RogerJKelly 7:467e350d1a10 313
RogerJKelly 7:467e350d1a10 314 can_msg[4] = 0x07;
RogerJKelly 7:467e350d1a10 315 can_msg[5] = 0xFF;
RogerJKelly 7:467e350d1a10 316 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 317 break;
RogerJKelly 7:467e350d1a10 318
RogerJKelly 7:467e350d1a10 319 case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
RogerJKelly 7:467e350d1a10 320 can_msg[0] = 0x04;
RogerJKelly 7:467e350d1a10 321 can_msg[2] = ENGINE_RPM;
RogerJKelly 7:467e350d1a10 322 can_msg[3] = (ecu.engine_rpm & 0xff00) >> 8;
RogerJKelly 7:467e350d1a10 323 can_msg[4] = ecu.engine_rpm & 0x00ff;
RogerJKelly 7:467e350d1a10 324 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 325 break;
RogerJKelly 7:467e350d1a10 326
RogerJKelly 7:467e350d1a10 327 case ENGINE_COOLANT_TEMP: // A-40 [degree C]
RogerJKelly 7:467e350d1a10 328 can_msg[0] = 0x03;
RogerJKelly 7:467e350d1a10 329 can_msg[2] = ENGINE_COOLANT_TEMP;
RogerJKelly 7:467e350d1a10 330 can_msg[3] = ecu.coolant_temp;
RogerJKelly 7:467e350d1a10 331 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 332 break;
RogerJKelly 7:467e350d1a10 333
RogerJKelly 7:467e350d1a10 334 case VEHICLE_SPEED: // A [km]
RogerJKelly 7:467e350d1a10 335 can_msg[0] = 0x03;
RogerJKelly 7:467e350d1a10 336 can_msg[2] = VEHICLE_SPEED;
RogerJKelly 7:467e350d1a10 337 can_msg[3] = ecu.vehicle_speed;
RogerJKelly 7:467e350d1a10 338 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 339 break;
RogerJKelly 7:467e350d1a10 340
RogerJKelly 7:467e350d1a10 341 case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
RogerJKelly 7:467e350d1a10 342 can_msg[0] = 0x04;
RogerJKelly 7:467e350d1a10 343 can_msg[2] = MAF_SENSOR;
RogerJKelly 7:467e350d1a10 344 can_msg[3] = (ecu.maf_airflow & 0xff00) >> 8;
RogerJKelly 7:467e350d1a10 345 can_msg[4] = ecu.maf_airflow & 0x00ff;
RogerJKelly 7:467e350d1a10 346 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 347 break;
RogerJKelly 7:467e350d1a10 348
RogerJKelly 7:467e350d1a10 349 case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
RogerJKelly 7:467e350d1a10 350 can_msg[0] = 0x04;
RogerJKelly 7:467e350d1a10 351 can_msg[2] = O2_VOLTAGE;
RogerJKelly 7:467e350d1a10 352 can_msg[3] = ecu.o2_voltage & 0x00ff;
RogerJKelly 7:467e350d1a10 353 can_msg[4] = (ecu.o2_voltage & 0xff00) >> 8;
RogerJKelly 7:467e350d1a10 354 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 355 break;;
RogerJKelly 7:467e350d1a10 356
RogerJKelly 7:467e350d1a10 357 case THROTTLE: //
RogerJKelly 7:467e350d1a10 358 can_msg[0] = 0x03;
RogerJKelly 7:467e350d1a10 359 can_msg[2] = THROTTLE;
RogerJKelly 7:467e350d1a10 360 can_msg[3] = ecu.throttle_position;
RogerJKelly 7:467e350d1a10 361 can2.write(CANMessage(PID_REPLY, can_msg, 8));
RogerJKelly 7:467e350d1a10 362 break;
RogerJKelly 7:467e350d1a10 363 }//switch
RogerJKelly 7:467e350d1a10 364 }
pangsk 6:41a4ad385daa 365 }
pangsk 0:908be729d27c 366
RogerJKelly 7:467e350d1a10 367 /*****************************************************************
RogerJKelly 7:467e350d1a10 368 pc.printf("\n\r%x %x %x %x %x %x %x %x %x",can_MsgRx.id,can_MsgRx.data[0],
RogerJKelly 7:467e350d1a10 369 can_MsgRx.data[1],
RogerJKelly 7:467e350d1a10 370 can_MsgRx.data[2],
RogerJKelly 7:467e350d1a10 371 can_MsgRx.data[3],
RogerJKelly 7:467e350d1a10 372 can_MsgRx.data[4],
RogerJKelly 7:467e350d1a10 373 can_MsgRx.data[5],
RogerJKelly 7:467e350d1a10 374 can_MsgRx.data[6],
RogerJKelly 7:467e350d1a10 375 can_MsgRx.data[7]);
RogerJKelly 7:467e350d1a10 376 ****************************************************************/
RogerJKelly 7:467e350d1a10 377 led2 = 0;
RogerJKelly 7:467e350d1a10 378 }
RogerJKelly 7:467e350d1a10 379 else
RogerJKelly 7:467e350d1a10 380 {
RogerJKelly 7:467e350d1a10 381 //pc.printf("\n\rNo CAN Message\n\r");
RogerJKelly 7:467e350d1a10 382 int rxerrors = can2.rderror();
RogerJKelly 7:467e350d1a10 383 if ( rxerrors != 0 )
RogerJKelly 7:467e350d1a10 384 {
RogerJKelly 7:467e350d1a10 385 pc.printf("\n\rCAN Rx Errors: %d\n\r", rxerrors);
RogerJKelly 7:467e350d1a10 386 can2.reset();
pangsk 6:41a4ad385daa 387 }
RogerJKelly 7:467e350d1a10 388 /*************************
RogerJKelly 7:467e350d1a10 389 else
pangsk 6:41a4ad385daa 390 {
RogerJKelly 7:467e350d1a10 391 pc.printf(".");
pangsk 6:41a4ad385daa 392 }
RogerJKelly 7:467e350d1a10 393 **************************/
RogerJKelly 7:467e350d1a10 394 }
RogerJKelly 7:467e350d1a10 395
pangsk 6:41a4ad385daa 396 return 0;
pangsk 0:908be729d27c 397
pangsk 0:908be729d27c 398 }
pangsk 6:41a4ad385daa 399
RogerJKelly 7:467e350d1a10 400
RogerJKelly 7:467e350d1a10 401 } // namespace mbed