Christian Taedcke / Mbed 2 deprecated ObdDisplay

Small project to display some OBD values from the Toyota GT86/ Subaru BRZ/ Scion FRS on an OLED display.

Dependencies:   Adafruit_GFX MODSERIAL mbed-rtos mbed

main.cpp@4:0e2d6cc31afb, 2014-04-27 (annotated)

Committer:
chrta
Date:
Sun Apr 27 17:42:32 2014 +0000
Revision:
4:0e2d6cc31afb
Parent:
3:eb807d330292
Child:
5:0b229ba8ede5
Oil Temp simulation works again

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrta 0:6b1f6139fb25 1 #include "mbed.h"
chrta 0:6b1f6139fb25 2 #include "rtos.h"
chrta 0:6b1f6139fb25 3 #include "IsoTpHandler.h"
chrta 2:d3d61d9d323e 4 #include "MODSERIAL.h"
chrta 1:ca506b88b1d6 5
chrta 2:d3d61d9d323e 6 #define CAN1_TEST
chrta 4:0e2d6cc31afb 7 #define CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 8
chrta 2:d3d61d9d323e 9 // Make TX buffer 1024bytes and RX buffer use 512bytes.
chrta 2:d3d61d9d323e 10 MODSERIAL pc(USBTX, USBRX, 2 * 1024, 512); // tx, rx
chrta 0:6b1f6139fb25 11 DigitalOut led1(LED1);
chrta 0:6b1f6139fb25 12 DigitalOut led2(LED2);
chrta 2:d3d61d9d323e 13 DigitalOut led3(LED3);
chrta 2:d3d61d9d323e 14 DigitalOut led4(LED4);
chrta 2:d3d61d9d323e 15
chrta 2:d3d61d9d323e 16 CAN can1(p9, p10);
chrta 2:d3d61d9d323e 17 DigitalOut can1_disable(p8);
chrta 0:6b1f6139fb25 18 CAN can2(p30, p29);
chrta 2:d3d61d9d323e 19 DigitalOut can2_disable(p28);
chrta 2:d3d61d9d323e 20
chrta 0:6b1f6139fb25 21 IsoTpHandler tpHandler(&can2);
chrta 4:0e2d6cc31afb 22
chrta 4:0e2d6cc31afb 23 #ifdef ACTIVATE_DEBUG_OUTPUT
chrta 4:0e2d6cc31afb 24 #define DEBUG_PRINT(format, ...) pc.printf(format, ##__VA_ARGS__)
chrta 4:0e2d6cc31afb 25 #else
chrta 4:0e2d6cc31afb 26 #define DEBUG_PRINT(format, ...)
chrta 4:0e2d6cc31afb 27 #endif
chrta 0:6b1f6139fb25 28
chrta 0:6b1f6139fb25 29 void led2_thread(void const *args) {
chrta 0:6b1f6139fb25 30 while (true) {
chrta 0:6b1f6139fb25 31 led2 = !led2;
chrta 0:6b1f6139fb25 32 Thread::wait(1000);
chrta 0:6b1f6139fb25 33 }
chrta 0:6b1f6139fb25 34 }
chrta 0:6b1f6139fb25 35
chrta 0:6b1f6139fb25 36 Mail<CANMessage, 16> can_rx_queue;
chrta 0:6b1f6139fb25 37
chrta 0:6b1f6139fb25 38 void can_process_packets(void const *args) {
chrta 0:6b1f6139fb25 39 while (true) {
chrta 4:0e2d6cc31afb 40 //pc.printf("Th wait for can packet\r\n");
chrta 0:6b1f6139fb25 41 osEvent evt = can_rx_queue.get(osWaitForever);
chrta 4:0e2d6cc31afb 42 //pc.printf("Got evt %d\r\n", evt.status);
chrta 0:6b1f6139fb25 43 if (evt.status == osEventMail) {
chrta 4:0e2d6cc31afb 44 //pc.printf("Got can packet\r\n");
chrta 0:6b1f6139fb25 45 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 4:0e2d6cc31afb 46 //pc.printf("Process can packet\r\n");
chrta 0:6b1f6139fb25 47 tpHandler.processCanMessage(msg);
chrta 4:0e2d6cc31afb 48 //pc.printf("Processed can packet\r\n");
chrta 0:6b1f6139fb25 49 can_rx_queue.free(msg);
chrta 4:0e2d6cc31afb 50 //pc.printf("Freed can packet\r\n");
chrta 0:6b1f6139fb25 51 }
chrta 0:6b1f6139fb25 52 }
chrta 0:6b1f6139fb25 53 }
chrta 0:6b1f6139fb25 54
chrta 0:6b1f6139fb25 55
chrta 0:6b1f6139fb25 56 void can_rx_int_handler() {
chrta 2:d3d61d9d323e 57 //pc.printf("can_rx_int_handler\r\n");
chrta 0:6b1f6139fb25 58 CANMessage* msg = can_rx_queue.alloc();
chrta 0:6b1f6139fb25 59 if (!can2.read(*msg))
chrta 0:6b1f6139fb25 60 {
chrta 2:d3d61d9d323e 61 //pc.printf("can_rx_int_handler no read\r\n");
chrta 0:6b1f6139fb25 62 //this should not happen, because this function is called from the rx interrupt
chrta 0:6b1f6139fb25 63 can_rx_queue.free(msg);
chrta 2:d3d61d9d323e 64 //pc.printf("can_rx_int_handler ret 1\r\n");
chrta 2:d3d61d9d323e 65 return;
chrta 2:d3d61d9d323e 66 }
chrta 2:d3d61d9d323e 67 if (msg->id != 0x7E8)
chrta 2:d3d61d9d323e 68 {
chrta 2:d3d61d9d323e 69 //no OBD message
chrta 2:d3d61d9d323e 70 can_rx_queue.free(msg);
chrta 0:6b1f6139fb25 71 return;
chrta 0:6b1f6139fb25 72 }
chrta 2:d3d61d9d323e 73 //pc.printf("can_rx_int_handler got packet\r\n");
chrta 2:d3d61d9d323e 74 osStatus error_code = can_rx_queue.put(msg);
chrta 2:d3d61d9d323e 75 //pc.printf("can_rx_int_handler in queue\r\n");
chrta 2:d3d61d9d323e 76 if (error_code != osOK) {
chrta 2:d3d61d9d323e 77 //pc.printf("can_rx_int_handler failed\r\n");
chrta 2:d3d61d9d323e 78 //error("Putting can message into mailbox failed with code %d!", error);
chrta 2:d3d61d9d323e 79 }
chrta 0:6b1f6139fb25 80
chrta 2:d3d61d9d323e 81 //pc.printf("can_rx_int_handler ok\r\n");
chrta 2:d3d61d9d323e 82 }
chrta 2:d3d61d9d323e 83
chrta 2:d3d61d9d323e 84 #ifdef CAN1_TEST
chrta 2:d3d61d9d323e 85 Mail<CANMessage, 16> can1_rx_queue;
chrta 2:d3d61d9d323e 86 CANMessage msg1;
chrta 2:d3d61d9d323e 87 void can1_rx_int_handler() {
chrta 2:d3d61d9d323e 88 led3 = !led3;
chrta 2:d3d61d9d323e 89 CANMessage* msg = can1_rx_queue.alloc();
chrta 2:d3d61d9d323e 90 if (!can1.read(*msg))
chrta 2:d3d61d9d323e 91 {
chrta 2:d3d61d9d323e 92 can1_rx_queue.free(msg);
chrta 2:d3d61d9d323e 93 return;
chrta 2:d3d61d9d323e 94 }
chrta 3:eb807d330292 95 if ((msg->id != 0x7E8) && (msg->id != 0x7E0))
chrta 3:eb807d330292 96 {
chrta 3:eb807d330292 97 can1_rx_queue.free(msg);
chrta 3:eb807d330292 98 return;
chrta 3:eb807d330292 99 }
chrta 2:d3d61d9d323e 100 can1_rx_queue.put(msg);
chrta 2:d3d61d9d323e 101 led4 = !led4;
chrta 2:d3d61d9d323e 102 }
chrta 2:d3d61d9d323e 103
chrta 2:d3d61d9d323e 104
chrta 2:d3d61d9d323e 105 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 106
chrta 2:d3d61d9d323e 107 struct behaviour_t {
chrta 2:d3d61d9d323e 108 unsigned char rxData[8];
chrta 2:d3d61d9d323e 109 char txData[8];
chrta 2:d3d61d9d323e 110 };
chrta 2:d3d61d9d323e 111
chrta 2:d3d61d9d323e 112 behaviour_t behaviour[] =
chrta 2:d3d61d9d323e 113 {
chrta 2:d3d61d9d323e 114 {{0x02, 0x21, 0x01, 0, 0, 0, 0, 0}, {0x10, 0x1F, 0x61, 0x01, 0x51, 0, 0x37, 0x01}}, //first oil temp packet
chrta 2:d3d61d9d323e 115 {{0x30, 0, 0, 0, 0, 0, 0, 0}, {0x21, 0x1F, 0x61, 0x01, 0x51, 0, 0x37, 0x01}}, //second oil temp packet, TODO more pakets must be sent
chrta 2:d3d61d9d323e 116 {{0x02, 0x01, 0x21, 0, 0, 0, 0, 0}, {0x04, 0x41, 0x21, 0, 0, 0, 0, 0}},
chrta 2:d3d61d9d323e 117 {{0x02, 0x01, 0x0C, 0, 0, 0, 0, 0}, {0x04, 0x41, 0x0C, 0x0F, 0xA2, 0, 0, 0}},
chrta 2:d3d61d9d323e 118 {{0x02, 0x01, 0x11, 0, 0, 0, 0, 0}, {0x03, 0x41, 0x11, 0x26, 0, 0, 0, 0}},
chrta 2:d3d61d9d323e 119 {{0x02, 0x01, 0x05, 0, 0, 0, 0, 0}, {0x03, 0x41, 0x05, 0x4D, 0, 0, 0, 0}}, //engine coolant temp
chrta 2:d3d61d9d323e 120 };
chrta 2:d3d61d9d323e 121
chrta 2:d3d61d9d323e 122 Mail<CANMessage, 16> can1_tx_queue;
chrta 2:d3d61d9d323e 123
chrta 2:d3d61d9d323e 124 void can1_obd_car_simulator_process_packet(CANMessage &msg)
chrta 2:d3d61d9d323e 125 {
chrta 2:d3d61d9d323e 126 if (msg.id != 0x7E0)
chrta 2:d3d61d9d323e 127 {
chrta 2:d3d61d9d323e 128 return;
chrta 2:d3d61d9d323e 129 }
chrta 2:d3d61d9d323e 130
chrta 2:d3d61d9d323e 131 for (unsigned int i = 0; i < sizeof(behaviour) / sizeof (behaviour[0]); i++)
chrta 2:d3d61d9d323e 132 {
chrta 2:d3d61d9d323e 133 if (memcmp(msg.data, behaviour[i].rxData, 8) == 0)
chrta 2:d3d61d9d323e 134 {
chrta 2:d3d61d9d323e 135 CANMessage sendMsg(0x7E8, (char*) behaviour[i].txData, 8);
chrta 2:d3d61d9d323e 136 CANMessage* msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 137 *msg = sendMsg;
chrta 2:d3d61d9d323e 138 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 139
chrta 2:d3d61d9d323e 140 if (i == 1)
chrta 2:d3d61d9d323e 141 {
chrta 2:d3d61d9d323e 142 //send additinal packets later
chrta 2:d3d61d9d323e 143 sendMsg.data[0] = 0x22;
chrta 2:d3d61d9d323e 144 msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 145 *msg = sendMsg;
chrta 2:d3d61d9d323e 146 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 147 sendMsg.data[0] = 0x23;
chrta 2:d3d61d9d323e 148 msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 149 *msg = sendMsg;
chrta 2:d3d61d9d323e 150 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 151 sendMsg.data[0] = 0x24;
chrta 2:d3d61d9d323e 152 msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 153 *msg = sendMsg;
chrta 2:d3d61d9d323e 154 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 155 }
chrta 2:d3d61d9d323e 156 }
chrta 0:6b1f6139fb25 157 }
chrta 0:6b1f6139fb25 158 }
chrta 1:ca506b88b1d6 159
chrta 2:d3d61d9d323e 160 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 161
chrta 2:d3d61d9d323e 162 void can1_process_packets(void const *args) {
chrta 2:d3d61d9d323e 163 while (true) {
chrta 2:d3d61d9d323e 164 osEvent evt = can1_rx_queue.get(osWaitForever);
chrta 2:d3d61d9d323e 165 if (evt.status == osEventMail) {
chrta 2:d3d61d9d323e 166 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 2:d3d61d9d323e 167
chrta 2:d3d61d9d323e 168 pc.printf("\r\nRX1: '%d' '%d' '%d' '%x' '", msg->format, msg->type, msg->len, msg->id);
chrta 2:d3d61d9d323e 169 for (unsigned int i = 0; i < msg->len; i++)
chrta 2:d3d61d9d323e 170 {
chrta 2:d3d61d9d323e 171 pc.printf("%x ", msg->data[i]);
chrta 2:d3d61d9d323e 172 }
chrta 2:d3d61d9d323e 173 pc.printf("'\r\n");
chrta 2:d3d61d9d323e 174 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 175 can1_obd_car_simulator_process_packet(*msg);
chrta 2:d3d61d9d323e 176 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 177 can1_rx_queue.free(msg);
chrta 2:d3d61d9d323e 178 }
chrta 2:d3d61d9d323e 179 }
chrta 2:d3d61d9d323e 180 }
chrta 2:d3d61d9d323e 181
chrta 3:eb807d330292 182 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 183 void can1_send_packets(void const *args) {
chrta 4:0e2d6cc31afb 184 DEBUG_PRINT("TX1 start\r\n");
chrta 2:d3d61d9d323e 185 while (true) {
chrta 2:d3d61d9d323e 186 osEvent evt = can1_tx_queue.get(osWaitForever);
chrta 2:d3d61d9d323e 187 if (evt.status == osEventMail) {
chrta 2:d3d61d9d323e 188 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 4:0e2d6cc31afb 189 DEBUG_PRINT("TX1 check\r\n");
chrta 2:d3d61d9d323e 190 if (can1.write(*msg))
chrta 2:d3d61d9d323e 191 {
chrta 4:0e2d6cc31afb 192 DEBUG_PRINT("TX1 send\r\n");
chrta 2:d3d61d9d323e 193 can1_tx_queue.free(msg);
chrta 4:0e2d6cc31afb 194 Thread::wait(50);
chrta 2:d3d61d9d323e 195 }
chrta 2:d3d61d9d323e 196 else
chrta 2:d3d61d9d323e 197 {
chrta 4:0e2d6cc31afb 198 DEBUG_PRINT("TX1 wait \r\n");
chrta 2:d3d61d9d323e 199 Thread::wait(50);
chrta 2:d3d61d9d323e 200 }
chrta 2:d3d61d9d323e 201 }
chrta 2:d3d61d9d323e 202 }
chrta 2:d3d61d9d323e 203 }
chrta 3:eb807d330292 204 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 205
chrta 2:d3d61d9d323e 206 #endif //CAN1_TEST
chrta 2:d3d61d9d323e 207
chrta 2:d3d61d9d323e 208 char can_msg[8] = {0};
chrta 2:d3d61d9d323e 209 CANMessage msg(0x7E0, can_msg, 8);
chrta 1:ca506b88b1d6 210 void serial_int_handler() {
chrta 1:ca506b88b1d6 211 if (!pc.readable()) {
chrta 1:ca506b88b1d6 212 return;
chrta 1:ca506b88b1d6 213 }
chrta 1:ca506b88b1d6 214 uint8_t character = pc.getc();
chrta 2:d3d61d9d323e 215 //pc.printf("Received '%c'\r\n", character);
chrta 1:ca506b88b1d6 216
chrta 4:0e2d6cc31afb 217 msg.data[0] = 0x02;
chrta 2:d3d61d9d323e 218 msg.data[1] = 0x01;
chrta 1:ca506b88b1d6 219 char pid = 0;
chrta 1:ca506b88b1d6 220 switch (character)
chrta 1:ca506b88b1d6 221 {
chrta 1:ca506b88b1d6 222 case '1':
chrta 1:ca506b88b1d6 223 pid = 0x0C; //engine rpm
chrta 1:ca506b88b1d6 224 break;
chrta 1:ca506b88b1d6 225 case '2':
chrta 1:ca506b88b1d6 226 pid = 0x11; //throttle
chrta 1:ca506b88b1d6 227 break;
chrta 1:ca506b88b1d6 228 case '3': //oil 1
chrta 2:d3d61d9d323e 229 msg.data[1] = 0x21; //endian
chrta 1:ca506b88b1d6 230 pid = 1;
chrta 1:ca506b88b1d6 231 break;
chrta 1:ca506b88b1d6 232 case '4': //oil 2
chrta 2:d3d61d9d323e 233 msg.data[1] = 1; //endian
chrta 1:ca506b88b1d6 234 pid = 0x21;
chrta 1:ca506b88b1d6 235 break;
chrta 1:ca506b88b1d6 236 default:
chrta 1:ca506b88b1d6 237 pid = 0x05; //engine coolant temp
chrta 1:ca506b88b1d6 238 }
chrta 2:d3d61d9d323e 239 msg.data[2] = pid;
chrta 2:d3d61d9d323e 240 msg.len = 8;
chrta 1:ca506b88b1d6 241
chrta 2:d3d61d9d323e 242 //pc.printf("Sending message\r\n");
chrta 2:d3d61d9d323e 243 int result = can2.write(msg); //or 0x7DF ?
chrta 2:d3d61d9d323e 244 //pc.printf("Can write %d\r\n", result);
chrta 2:d3d61d9d323e 245 //pc.printf("ret 1\r\n");
chrta 1:ca506b88b1d6 246 }
chrta 0:6b1f6139fb25 247
chrta 0:6b1f6139fb25 248 int main() {
chrta 2:d3d61d9d323e 249 pc.baud(921600);
chrta 2:d3d61d9d323e 250 //pc.attach(&serial_int_handler);
chrta 2:d3d61d9d323e 251 can2_disable = 0;
chrta 0:6b1f6139fb25 252 can2.frequency(500000);
chrta 2:d3d61d9d323e 253 //mbed can filter is not working? check it later
chrta 2:d3d61d9d323e 254 //can2.filter
chrta 0:6b1f6139fb25 255 can2.attach(can_rx_int_handler);
chrta 0:6b1f6139fb25 256 Thread thread(led2_thread);
chrta 0:6b1f6139fb25 257 Thread can_thread(can_process_packets);
chrta 2:d3d61d9d323e 258 #ifdef CAN1_TEST
chrta 2:d3d61d9d323e 259 can1_disable = 0;
chrta 2:d3d61d9d323e 260 can1.frequency(500000);
chrta 2:d3d61d9d323e 261 can1.attach(&can1_rx_int_handler);
chrta 2:d3d61d9d323e 262 Thread can1_thread(can1_process_packets);
chrta 3:eb807d330292 263 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 264 Thread can1_tx_thread(can1_send_packets);
chrta 3:eb807d330292 265 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 266 #endif //CAN1_TEST
chrta 2:d3d61d9d323e 267 pc.printf("Start\r\n");
chrta 0:6b1f6139fb25 268 while (true) {
chrta 0:6b1f6139fb25 269 led1 = !led1;
chrta 0:6b1f6139fb25 270 Thread::wait(500);
chrta 2:d3d61d9d323e 271 if (pc.readable()) {
chrta 2:d3d61d9d323e 272 serial_int_handler();
chrta 2:d3d61d9d323e 273 }
chrta 0:6b1f6139fb25 274 }
chrta 0:6b1f6139fb25 275 }