AemXSeriesLambda.cpp

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#include "pch.h"
#include "ego.h"
 
#if EFI_CAN_SUPPORT || EFI_UNIT_TEST
#include "AemXSeriesLambda.h"
#include "wideband_firmware/for_rusefi/wideband_can.h"
#include "rusefi_wideband.h"
 
static constexpr uint32_t aem_base    = 0x180;
static constexpr uint32_t rusefi_base = WB_DATA_BASE_ADDR;
// sensor transmits at 100hz, allow a frame to be missed
static constexpr efidur_t sensor_timeout = MS2NT(3 * WBO_TX_PERIOD_MS);
 
AemXSeriesWideband::AemXSeriesWideband(uint8_t sensorIndex, SensorType type)
    : CanSensorBase(
        0,  // ID passed here doesn't matter since we override acceptFrame
        type,
        sensor_timeout
    )
    , m_sensorIndex(sensorIndex)
{
    faultCode = m_faultCode = static_cast<uint8_t>(wbo::Fault::CanSilent);// silent, initial state is "no one has spoken to us so far"
    isValid = m_isFault = m_afrIsValid = false;
    // wait for first rusEFI WBO standard frame with protocol version field
    fwUnsupported = true;
    // Do not light "FW: need update" indicator until we get some data from WBO
    fwOutdated = false;
}
 
can_wbo_type_e AemXSeriesWideband::sensorType() const {
    return engineConfiguration->canWbo[m_sensorIndex].type;
}
 
uint32_t AemXSeriesWideband::getReCanId() const {
    // 0th sensor is 0x190 and 0x191, 1st sensor is 0x192 and 0x193
    return rusefi_base + 2 * engineConfiguration->canWbo[m_sensorIndex].reId;
}
 
uint32_t AemXSeriesWideband::getAemCanId() const {
    // 0th sensor is 0x00000180, 1st sensor is 0x00000181, etc
    return aem_base + engineConfiguration->canWbo[m_sensorIndex].aemId;
}
 
bool AemXSeriesWideband::acceptFrame(const size_t busIndex, const CANRxFrame& frame) const {
#if !EFI_UNIT_TEST
    if (busIndex != getWidebandBus()) {
        return false;
    }
#endif
 
    if (frame.DLC != 8) {
        return false;
    }
 
    can_wbo_type_e type = sensorType();
 
    if (type == DISABLED) {
        return false;
    }
 
    // RusEFI wideband uses standard CAN IDs
    if ((!CAN_ISX(frame)) && (type == RUSEFI)) {
        // 0th sensor is 0x190 and 0x191, 1st sensor is 0x192 and 0x193
        uint32_t rusefiBaseId = getReCanId();
        return ((CAN_SID(frame) == rusefiBaseId) || (CAN_SID(frame) == rusefiBaseId + 1));
    }
 
    // AEM uses extended CAN ID
    if ((CAN_ISX(frame)) && (type == AEM)) {
        // 0th sensor is 0x00000180, 1st sensor is 0x00000181, etc
        uint32_t aemXSeriesId = getAemCanId();
        return (CAN_EID(frame) == aemXSeriesId);
    }
 
    return false;
}
 
bool AemXSeriesWideband::isHeaterAllowed() {
    return ((sensorType() == AEM) || (engine->engineState.heaterControlEnabled));
}
 
void AemXSeriesWideband::refreshState() {
    can_wbo_type_e type = sensorType();
 
    if (getTimeNowNt() - sensor_timeout > m_lastUpdate) {
        faultCode = static_cast<uint8_t>(wbo::Fault::CanSilent);
        isValid = false;
        return;
    }
 
    if (type == RUSEFI) {
        // This is RE WBO
        if (!isHeaterAllowed()) {
            faultCode = static_cast<uint8_t>(wbo::Fault::NotAllowed);
            isValid = false;
            // Do not check for any errors while heater is not allowed
            return;
        }
 
        isValid = m_afrIsValid;
        if (m_faultCode != static_cast<uint8_t>(wbo::Fault::None)) {
            // Report error code from WBO
            faultCode = m_faultCode;
            isValid = false;
            return;
        }
    } else if (type == AEM) {
        // This is AEM with two flags only and no debug fields
        heaterDuty = 0;
        pumpDuty = 0;
        tempC = 0;
        nernstVoltage = 0;
 
        isValid = m_afrIsValid;
        if (m_isFault) {
            faultCode = HACK_INVALID_AEM;
            isValid = false;
            return;
        }
    } else {
        // disabled or analog
        // clear all livedata
        heaterDuty = 0;
        pumpDuty = 0;
        tempC = 0;
        nernstVoltage = 0;
        isValid = false;
        return;
    }
 
    faultCode = static_cast<uint8_t>(wbo::Fault::None);
}
 
void AemXSeriesWideband::decodeFrame(const CANRxFrame& frame, efitick_t nowNt) {
    bool accepted = false;
    // accept frame has already guaranteed that this message belongs to us
    // We just have to check if it's AEM or rusEFI
    if (sensorType() == RUSEFI){
        uint32_t id = CAN_ID(frame);
 
        // rusEFI custom format
        if ((id & 0x1) != 0) {
            // low bit is set, this is the "diag" frame
            decodeRusefiDiag(frame);
        } else {
            // low bit not set, this is standard frame
            accepted = decodeRusefiStandard(frame, nowNt);
        }
    } else /* if (sensorType() == AEM) */ {
        accepted = decodeAemXSeries(frame, nowNt);
    }
 
    if (accepted) {
        m_lastUpdate = nowNt;
    }
 
    // Do refresh on each CAN packet
    refreshState();
}
 
/**
 * @return true if valid, false if invalid
 */
bool AemXSeriesWideband::decodeAemXSeries(const CANRxFrame& frame, efitick_t nowNt) {
    // we don't care
    fwUnsupported = false;
    fwOutdated = false;
 
    // reports in 0.0001 lambda per LSB
    uint16_t lambdaInt = SWAP_UINT16(frame.data16[0]);
    float lambdaFloat = 0.0001f * lambdaInt;
 
    // bit 6 indicates sensor fault
    m_isFault = frame.data8[7] & 0x40;
    // bit 7 indicates valid
    m_afrIsValid = frame.data8[6] & 0x80;
 
    if ((m_isFault) || (!m_afrIsValid)) {
        invalidate();
        return false;
    }
 
    setValidValue(lambdaFloat, nowNt);
    refreshSmoothedLambda(lambdaFloat);
    return true;
}
 
bool AemXSeriesWideband::decodeRusefiStandard(const CANRxFrame& frame, efitick_t nowNt) {
    auto data = reinterpret_cast<const wbo::StandardData*>(&frame.data8[0]);
 
    if (data->Version > RUSEFI_WIDEBAND_VERSION) {
        firmwareError(ObdCode::OBD_WB_FW_Mismatch, "Wideband controller index %d has newer protocol version (0x%02x while 0x%02x supported), please update ECU FW!",
            m_sensorIndex, data->Version, RUSEFI_WIDEBAND_VERSION);
        fwUnsupported = true;
        return false;
    }
 
    if (data->Version < RUSEFI_WIDEBAND_VERSION_MIN) {
        firmwareError(ObdCode::OBD_WB_FW_Mismatch, "Wideband controller index %d has outdated protocol version (0x%02x while minimum 0x%02x expected), please update WBO!",
            m_sensorIndex, data->Version, RUSEFI_WIDEBAND_VERSION_MIN);
        fwUnsupported = true;
        return false;
    }
 
    fwUnsupported = false;
    // compatible, but not latest
    fwOutdated = (data->Version != RUSEFI_WIDEBAND_VERSION);
    // TODO: request and check builddate
 
    tempC = data->TemperatureC;
    float lambda = 0.0001f * data->Lambda;
    m_afrIsValid = data->Valid & 0x01;
 
    if (!m_afrIsValid) {
        invalidate();
    } else {
        setValidValue(lambda, nowNt);
        refreshSmoothedLambda(lambda);
    }
 
    return true;
}
 
void AemXSeriesWideband::refreshSmoothedLambda(float lambda) {
    switch (type()) {
    case SensorType::Lambda1: {
            expAverageLambda1.setSmoothingFactor(engineConfiguration->afrExpAverageAlpha);
            smoothedLambda1Sensor.setValidValue(expAverageLambda1.initOrAverage(lambda), getTimeNowNt());
            break;
    }
    case SensorType::Lambda2: {
            expAverageLambda2.setSmoothingFactor(engineConfiguration->afrExpAverageAlpha);
            smoothedLambda2Sensor.setValidValue(expAverageLambda2.initOrAverage(lambda), getTimeNowNt());
            break;
    }
    default:
        break;
    }
}
 
void AemXSeriesWideband::decodeRusefiDiag(const CANRxFrame& frame) {
    if (fwUnsupported) {
        return;
    }
 
    auto data = reinterpret_cast<const wbo::DiagData*>(&frame.data8[0]);
 
    // convert to percent
    heaterDuty = data->HeaterDuty / 2.55f;
    pumpDuty = data->PumpDuty / 2.55f;
 
    // convert to volts
    nernstVoltage = data->NernstDc * 0.001f;
 
    // no conversion, just ohms
    esr = data->Esr;
 
    // This state is handle in refreshState()
    //if (!isHeaterAllowed()) {
    //    m_faultCode = HACK_CRANKING_VALUE;
    //    return;
    //}
 
    m_faultCode = static_cast<uint8_t>(data->Status);
 
    if ((data->Status != wbo::Fault::None) && isHeaterAllowed()) {
        auto code = m_sensorIndex == 0 ? ObdCode::Wideband_1_Fault : ObdCode::Wideband_2_Fault;
        warning(code, "Wideband #%d fault: %s", (m_sensorIndex + 1), wbo::describeFault(data->Status));
    }
}
 
#endif