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OBD2 DTC send #529

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merged 2 commits into from
Jan 9, 2025
Merged

OBD2 DTC send #529

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e4bc989
initial obd2 dtc response
dynfer Jan 9, 2025
6ded386
Merge branch 'FOME-Tech:master' into dtc
dynfer Jan 9, 2025
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64 changes: 51 additions & 13 deletions firmware/controllers/can/obd2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@
#include "can.h"
#include "can_msg_tx.h"
#include "fuel_math.h"
#include "malfunction_central.h"

static const int16_t supportedPids0120[] = {
PID_MONITOR_STATUS,
Expand Down Expand Up @@ -187,18 +188,51 @@ static void handleGetDataRequest(const CANRxFrame& rx, CanBusIndex busIndex) {
}
}

static void handleDtcRequest(int numCodes, ObdCode* dtcCode) {
// TODO: this appears to be unfinished?
UNUSED(numCodes);
UNUSED(dtcCode);

// int numBytes = numCodes * 2;
// // write CAN-TP Single Frame header?
// txmsg.data8[0] = (uint8_t)((0 << 4) | numBytes);
// for (int i = 0, j = 1; i < numCodes; i++) {
// txmsg.data8[j++] = (uint8_t)((dtcCode[i] >> 8) & 0xff);
// txmsg.data8[j++] = (uint8_t)(dtcCode[i] & 0xff);
// }
static void handleDtcRequest(int numCodes, ObdCode* dtcCode, CanBusIndex busIndex) {

if (numCodes == 0) {
// No DTCs: Respond with no trouble codes
CanTxMessage tx(OBD_TEST_RESPONSE, 2, busIndex, false);
tx[0] = 0x43; // Service $03 response
tx[1] = 0; // No DTCs
return;
}

CanTxMessage tx(OBD_TEST_RESPONSE, 2, busIndex, false);
int dtcIndex = 0;
int frameIndex = 0;

while (dtcIndex < numCodes) {
if (frameIndex == 0) {
// First frame setup
tx[1] = (numCodes * 2) & 0xFF; // Total DTC data length
int bytesAdded = 0;

for (int i = 0; i < 3 && dtcIndex < numCodes; i++) {
int dtc = (int)dtcCode[dtcIndex++];
tx[2 + bytesAdded] = (dtc >> 8) & 0xFF;
tx[3 + bytesAdded] = dtc & 0xFF;
bytesAdded += 2;
}

tx.setDlc(2 + bytesAdded);
} else {
// Consecutive frames
tx[0] = 0x21 + (frameIndex - 1);
int bytesAdded = 0;

for (int i = 0; i < 7 && dtcIndex < numCodes; i++) {
int dtc = (int)dtcCode[dtcIndex++];
tx[1 + bytesAdded] = (dtc >> 8) & 0xFF;
tx[2 + bytesAdded] = dtc & 0xFF;
bytesAdded += 2;
}

tx.setDlc(1 + bytesAdded);
}

frameIndex++;
}
}

#if HAL_USE_CAN
Expand All @@ -212,7 +246,11 @@ void obdOnCanPacketRx(const CANRxFrame& rx, CanBusIndex busIndex) {
} else if (rx.data8[0] == 1 && (rx.data8[1] == OBD_STORED_DIAGNOSTIC_TROUBLE_CODES
|| rx.data8[1] == OBD_PENDING_DIAGNOSTIC_TROUBLE_CODES)) {
// todo: implement stored/pending difference?
handleDtcRequest(1, &engine->engineState.warnings.lastErrorCode);
static error_codes_set_s localErrorCopy;
getErrorCodes(&localErrorCopy);

handleDtcRequest(localErrorCopy.count, localErrorCopy.error_codes, busIndex);

}
}
#endif /* HAL_USE_CAN */
Expand Down
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