obd.c

/* 
	Óïðîùåííûé ìåíåäæåð. Çàïðîñû ÷åðåç ôèêñèðîâàííûå èíòåðâàëû âðåìåíè.
 */

#include <stdint.h>
#include <string.h>
#include "event.h"
#include "obd.h"
#include "obd_pids.h"
#include "dbg.h"
#include "bcomp.h"

// Ïåðåìåííûå îáðàáîò÷èêà
static uint16_t can_pid;
static uint16_t can_id;
static uint8_t can_len;
static uint8_t can_offset;
static uint8_t can_cnt;
static uint8_t can_buffer[32];
static uint8_t can_done;
// Ïåðåìåííàÿ äëÿ "êàðóñåëè":
static int count;

/* Ñïèñîê PID-îâ äëÿ ïîëó÷åíèÿ. */
pid_obd_t pids_list[] = {
	// CAN ADDR          | PID              | ACT |  RES1  RES2  RES3     
	//{ PID_REQUEST_ENGINE,  ENGINE_RPM,           0, {0xFF, 0xFF, 0xFF} }, // 1. Îáîðîòû (ïîëó÷àåì ñûðûìè äàííûìè).
	//{ PID_REQUEST_ENGINE,  VEHICLE_SPEED,        0, {0xFF, 0xFF, 0xFF} }, // 2. Ñïèäîìåòð (ïîëó÷àåì ñûðûìè äàííûìè).
	//{ PID_REQUEST_ENGINE,  ENGINE_COOLANT_TEMP,  0, {0xFF, 0xFF, 0xFF} }, // 3. Òåìï. äâèãàòåëÿ (ïîëó÷àåì ñûðûìè äàííûìè).
	{ PID_REQUEST_ENGINE,  ECU_VOLTAGE,          1, {0xFF, 0xFF, 0xFF} }, // 4. Íàïðÿæåíèå áîðòîâîé ñåòè.
	{ PID_REQUEST_AT,      PAJERO_AT_INFO,       1, {0xFF, 0xFF, 0xFF} }, // 5. Òåìï. êîðîáêè.
	{ PID_REQUEST_ENGINE,  GET_VIN,              1, {0xFF, 0xFF, 0xFF} }, // 6. Ïîëó÷åíèå VIN-àâòîìîáèëÿ.
	{ PID_REQUEST_ENGINE,  INTAKE_PRESSURE,      1, {0xFF, 0xFF, 0xFF} }, // 7. Äàâëåíèå íàääóâà.
	//{ PID_REQUEST_ENGINE,  ENGINE_RUNTIME,       0, {0xFF, 0xFF, 0xFF} }, // 8. Âðåìÿ ðàáîòû äâèãàòåëÿ.
	{ PID_REQUEST_ENGINE,  FUEL_RAIL_PRES_ALT,   1, {0xFF, 0xFF, 0xFF} }, // 9. Äàâëåíèå òîïëèâà â ðåéêå.
	{ PID_REQUEST_ENGINE,  ECU_VOLTAGE,          1, {0xFF, 0xFF, 0xFF} }, // 10. Íàïðÿæåíèå áîðòîâîé ñåòè.
	//{ PID_REQUEST_ENGINE,  MAF_SENSOR,           0, {0xFF, 0xFF, 0xFF} }, // 11. Äàííûå ñ MAF-ñåíñîðà.
	//{ PID_REQUEST_ENGINE,  BAROMETRIC_PRESSURE,  0, {0xFF, 0xFF, 0xFF} }, // 12. Íàðóæíîå äàâëåíèå.
	{ PID_REQUEST_ENGINE,  STATUS_DTC,           1, {0xFF, 0xFF, 0xFF} }, // 13. Èíôîðìàöèÿ îá îùèáêàõ â ÝÁÓ äâèãàòåëÿ.
	{ PID_REQUEST_ENGINE,  FREEZE_DTC,           0, {0xFF, 0xFF, 0xFF} }, // 14. Ïîëó÷åíèå êîäà îøèáêè èç ïàìÿòè (îòêëþ÷åíî ïî-óìîë÷àíèþ).
	{ PID_REQUEST_ENGINE,  PAJERO_ODO_INFO,      0, {0xFF, 0xFF, 0xFF} }, // 15. Ïîëó÷åíèå äàííûõ îäîìåòðà.
};

// Îáðàáîò÷èê ïàêåòîâ îò øèíû CAN (ïî ïðîòîêîëó J1979):
void obd_loopback(CAN_msg *p) {
#if defined( NO_FILTER )
	if (can_id != p->id) {
		// Ñûðûå ïàêåòû äàííûõ:
		bcomp_raw(p->id, p->data, p->len);
		return;
	}
#endif
	if (can_len > can_offset) {
		if (can_cnt == p->data[0]) {
			memcpy(&can_buffer[can_offset], &p->data[1], (can_len-can_offset)>7?7:(can_len-can_offset));
			
			can_offset += (can_len-can_offset)>7?7:(can_len-can_offset);
			can_cnt++;
			
			if (can_offset == can_len)
				goto obd_loopback_recv;
		}
		else {
			DBG("Bad data sequence (%02x)!\r\n", p->data[0]);
		}
	}
	else if (p->data[0] == 0x10) {
		if (p->data[2] != (0x40+(can_pid>>8))) {
			DBG("ERROR: incorrect Mode in answer (wait Mode=%02x, received Mode=%02x)!\r\n", can_pid, p->data[2]);
			return;
		}
		if (p->data[3] != (can_pid&0xFF)) {
			DBG("ERROR: incorrect PID in answer (wait PID=%02x, received PID=%02x)!\r\n", can_pid, p->data[3]);
			return;
		}
		memset(can_buffer, 0, sizeof(can_buffer));
		memcpy(can_buffer, &p->data[2], 6);
		
		can_len = p->data[1];
		can_offset = 6;
		can_cnt = 0x21;

		// get more:
		memset(CAN_TxMsg.data, 0x00, 8);
		CAN_TxMsg.data[0] = 0x30;
		CAN_TxMsg.len = 8;
		CAN_TxMsg.format = STANDARD_FORMAT;
		CAN_TxMsg.type = DATA_FRAME;
		//CAN_writeMsg(1, &CAN_TxMsg);
		CAN_wrMsg(&CAN_TxMsg);
	}
	else if (p->data[0] >= 2 &&
			 p->data[0] <= 7 ) {
		if (p->data[1] != (0x40+(can_pid>>8))) {
			DBG("ERROR: incorrect Mode in answer (wait %02x, receive %02x)!\r\n", can_pid, p->data[1]);
			return;
		}
		if (p->data[2] != (can_pid&0xFF)) {
			DBG("ERROR: incorrect PID in answer (wait %02x, receive %02x)!\r\n", (can_pid&0xFF), p->data[2]);
			return;
		}
		// Êîïèðóåì:
		can_len = p->data[0];
		can_offset = p->data[0];
		
		memset(can_buffer, 0, sizeof(can_buffer));
		memcpy(can_buffer, &p->data[1], can_len);
obd_loopback_recv:
		// Çàâåðøèëèñü, ôëàã ãîòîâíîñòè äàííûõ:
		can_done = 1;
	}
	else {
		DBG("ERROR: incorrect lenght in answer!\r\n");
		return;
	}
}

void obd_getpid(uint16_t addr, uint16_t pid) {
	//DBG("get_pid(%04x, %04x);\r\n", addr, pid);
#if !defined( NO_FILTER )
	// Íàñòðîéêà ïðèåìà:
	CAN_wrFilter(addr+0x08, STANDARD_FORMAT);
#endif
	// Èíèöèàëèçàöèÿ îáðàáîò÷èêà:
	can_len = 0;
	can_id = addr+0x08;
	can_pid = pid;
	can_offset = 0;
	can_cnt = 0;
	can_done = 0;
	// Ñîáèðàåì çàïðîñ:
	CAN_TxMsg.id = addr;
	memset(CAN_TxMsg.data, 0x00, 8);
	CAN_TxMsg.data[0] = 0x02;
	CAN_TxMsg.data[1] = pid>>8;
	CAN_TxMsg.data[2] = pid&0xFF;
	CAN_TxMsg.len = 8;
	CAN_TxMsg.format = STANDARD_FORMAT;
	CAN_TxMsg.type = DATA_FRAME;
	// Îòïðàâêà çàïðîñà:
	//CAN_writeMsg(1, &CAN_TxMsg);
	CAN_wrMsg(&CAN_TxMsg);
}

static void obd_manage(void) {
	if (can_done == 1) {
		// Çàïðîñ îáðàáîòàí!
		bcomp_proc(can_pid, can_buffer, can_len);
		//Ñâîáîäíû, îáðàáîòêà ñëåä. çàïðîñà:
		can_pid = can_id = can_done = 0;
		//Çàäåðæêà ïåðåä ñëåäóþùåé îáðàáîòêîé:
		event_set(obd_manage, 200);
	} else 
	if (can_pid == 0) {
		//  ñëó÷àå óñòàíîâëåííîãî ñåðâèñíîãî ôëàãà, çàïðîñû â ÝÁÓ íå îòïðàâëÿþòñÿ.
		// Ïàññèâíîå ïðîñëóøèâàíèå øèíû ïðè ýòîì îñòàåòñÿ àêòèâíûì.
		if (bcomp.service == 0) {
			// Çàïðîñ ê ÝÁÓ.
			obd_getpid(pids_list[count%PIDS_SIZE].addr, pids_list[count%PIDS_SIZE].pid);
		}
		// Ïîçèöèÿ äëÿ ñëåäóþùåãî çàïðîñà:
		do {
			count++;
		} while (pids_list[count%PIDS_SIZE].act == 0); 
		// Çàïðîñ îòïðàâëåí, îæèäàåì äî 100ìñ:
		event_set(obd_manage, 100);
		return;
	} else {
		// Òàéìàóò!
		can_pid = 0;
		event_set(obd_manage, 10);
	}
}

void obd_init(void) {
	// Îáíóëÿåì ïåðåìåííûå:
	can_pid = 0;
	can_len = 0;
	can_offset = 0;
	can_cnt = 0;
	can_done = 0;
	count = 0;
	memset(can_buffer, 0, sizeof(can_buffer));
	// Èíèöèàëèçèðóåì CAN-èíòåðôåéñ:
	CAN_setup(bconfig.can_speed);                  /* setup CAN Controller, 500kbit/s */
	CAN_start();                                   /* start CAN Controller    */
	CAN_waitReady();                               /* wait til tx mbx is empty */
#if defined( NO_FILTER )
	CAN_noFilter(STANDARD_FORMAT);
#endif
	// 5000ms îáðàáîòêà, çàäåðæêà 5 ñåêóíä ïåðåä íà÷àëîì îïðîñà ECU:
	event_set(obd_manage, 5000);
}

int obd_act_set(uint16_t pid, int flag) {
	int i;
	for (i=0; i<PIDS_SIZE; i++) {
		if (pids_list[i].pid == pid) {
			pids_list[i].act = flag;
		}
	}
	return 1;
}