can_dash_haltech.cpp

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// file can_dash_haltech.cpp
//
// Haltech CAN bus operates at 1 MBit/s and uses 11-bit IDs
// https://support.haltech.com/portal/en/kb/articles/haltech-can-ecu-broadcast-protocol
// https://support.haltech.com/portal/en/kb/articles/haltech-can-protocol-specification
 
#include "pch.h"
 
#if EFI_CAN_SUPPORT
#include "can.h"
#include "can_msg_tx.h"
#include "fuel_math.h"
 
void canDashboardHaltech(CanCycle cycle) {
  criticalAssertVoid(engineConfiguration->canBaudRate == B1MBPS, "Haltech requires 1Mbps baud rate");
 
    if (cycle.isInterval(CI::_20ms)) {
        /* 0x360 - 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x360, 8);
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Rpm), 0);
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Map) * 10, 2);
            /* TPS  y = x/10 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Tps1) * 10, 4);
            /* Coolant pressure */
            msg[6] = 0;
            msg[7] = 0;
        }
 
        /* 0x361 - 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x361, 8);
            /* Fuel pressure */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::FuelPressureLow) + STD_ATMOSPHERE) * 10, 0);
            /* Oil pressure */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::OilPressure) + STD_ATMOSPHERE) * 10, 2);
            /* Engine Demand */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Map), 4);
            /* Wastegate Pressure */
            msg[6] = 0;
            msg[7] = 0;
        }
 
#if EFI_ENGINE_CONTROL
        /* 0x362 - 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x362, 6);
            /* Injection Stage 1 Duty Cycle - y = x/10 */
            uint16_t rpm = Sensor::getOrZero(SensorType::Rpm);
            msg.setShortValueMsb(getInjectorDutyCycle(rpm) * 10, 0);
            /* Injection Stage 2 Duty Cycle */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Ignition Angle (Leading) - y = x/10 */
            float timing = engine->engineState.timingAdvance[0];
            int16_t ignAngle = ((timing > 360 ? timing - 720 : timing) * 10);
            msg.setShortValueMsb(ignAngle, 4);
        }
#endif // EFI_ENGINE_CONTROL
 
        /* todo: 0x3E5 = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E5, 8);
            msg[0] = 0x00;              //Ignition Switch
            msg[1] = 0x00;              //Turbo Timer - Time Remaining
            msg[2] = 0x00;              //Turbo Timer - Engine Time Remaining
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Steering Wheel Angle
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Driveshaft RPM
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EA = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EA, 8);
            msg[0] = 0x00;              //0-1 Gearbox Line Pressure
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Injection Stage 3 Duty Cycle
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Injection Stage 4 Duty Cycle
            msg[5] = 0x00;
            msg[6] = 0x00;              //Crank Case Pressure
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EB = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EB, 8);
            msg[0] = 0x00;              //0-3 Race Timer
            msg[1] = 0x00;
            msg[2] = 0x00;
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Ignition Angle Bank 1
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Ignition Angle Bank 2
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EC = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EC, 8);
            msg[0] = 0x00;              //0-1 Torque Management Driveshaft RPM Target
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Torque Management Driveshaft RPM Target Error
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Torque Management Driveshaft RPM Target Error Ignition Correction
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Torque Management Driveshaft RPM Timed Ignition Correction
            msg[7] = 0x00;
        }
 
        /* todo: 0x3ED = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3ED, 2);
            msg[0] = 0x00;              //0-1 Torque Management Combined Ignition Correction
            msg[1] = 0x00;
        }
 
        /* todo: 0x471 = 50Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x471, 6);
            msg[0] = 0x00;              //0-1 Injector Pressure Differential
            msg[1] = 0x00;
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::AcceleratorPedal) * 10, 2);
            msg[4] = 0x00;              //4-5 Exhaust Manifold Pressure
            msg[5] = 0x00;
        }
    }
 
    if (cycle.isInterval(CI::_50ms)) {
 
        /* 0x363 - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x363, 4);
            /* Wheel Slip */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Wheel Diff */
            msg[2] = 0x00;
            msg[3] = 0x00 ;
        }
 
        /* 0x368 - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x368, 8);
            /* Wideband Sensor 1 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Lambda1) * 1000, 0);
            /* Wideband Sensor 2 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::Lambda2) * 1000, 2);
            /* Wideband Sensor 3 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Wideband Sensor 4 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
#if EFI_SHAFT_POSITION_INPUT
        /* 0x369 - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x369, 8);
            /* Trigger System Error Count */
            msg.setShortValueMsb(engine->triggerCentral.triggerState.totalTriggerErrorCounter, 0);
            /* Trigger Counter ?? */
            msg.setShortValueMsb(engine->triggerCentral.getHwEventCounter((int)SHAFT_PRIMARY_FALLING), 2);
            /* unused */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Trigger Sync Level ?? */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
#endif // EFI_SHAFT_POSITION_INPUT
 
        /* 0x36A - 20Hz rate */
        /* todo: one day we should split this */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36A, 4);
            /* Knock Level 1 */
            int knock100 = engine->module<KnockController>()->m_knockLevel * 100;
            msg.setShortValueMsb(knock100, 0);
            /* Knock Level 2 */
            msg.setShortValueMsb(knock100, 2);
        }
 
        /* 0x36B - 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36B, 8);
            /* Break Pressure */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* NOS pressure Sensor 1 */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Turbo Speed Sensor 1 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Lateral G */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x36C = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36C, 8);
            /* Wheel Speed Front Left */
            auto vehicleSpeed10 = Sensor::getOrZero(SensorType::VehicleSpeed) * 10;
            msg.setShortValueMsb(vehicleSpeed10, 0);
            /* Wheel Speed Front Right */
            msg.setShortValueMsb(vehicleSpeed10, 2);
            /* Wheel Speed Read Left */
            msg.setShortValueMsb(vehicleSpeed10, 4);
            /* Wheel Speed Read Right */
            msg.setShortValueMsb(vehicleSpeed10, 6);
        }
 
        /* 0x36D = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36D, 8);
            /* Unused */
            msg[0] = 0x00;
            msg[1] = 0x00;
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Exhaust Cam Angle 1 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Exhaust Cam Angle 2 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x36E = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36E, 8);
            /* Engine Limiting Active 0 = off/1=on*/
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Launch Control Ignition Retard */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Launch Control Fuel Enrich */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Longitudinal G */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x36F = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x36F, 4);
            /* Generic Output 1 Duty Cycle */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Boost Control Output */
            msg[2] = 0x00;
            msg[3] = 0x00;
        }
 
        /* 0x370 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x370, 8);
            /* Vehicle Speed */
            auto vehicleSpeed10 = Sensor::getOrZero(SensorType::VehicleSpeed) * 10;
            msg.setShortValueMsb(vehicleSpeed10, 0);
            /* unused */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Intake Cam Angle 1 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Intake Cam Angle 2 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E6 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E6, 8);
            msg[0] = 0x00;              //0-1 NOS Pressure Sensor 2
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 NOS Pressure Sensor 3
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 NOS Pressure Sensor 4
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Turbo Speed Sensor 2
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E7 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E7, 8);
            msg[0] = 0x00;              //0-1 Generic Sensor 1
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Generic Sensor 2
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Generic Sensor 3
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Generic Sensor 4
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E8 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E8, 8);
            msg[0] = 0x00;              //0-1 Generic Sensor 5
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Generic Sensor 6
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Generic Sensor 7
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Generic Sensor 8
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E9 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E9, 8);
            msg[0] = 0x00;              //0-1 Generic Sensor 9
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Generic Sensor 10
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Target Lambda
            msg[5] = 0x00;
            msg[6] = 0x00;              //Nitous Stage Output
            msg[7] = 0x00;              //Torque Management Knob
        }
 
        /* todo: 0x3EE = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EE, 8);
            msg[0] = 0x00;              //0-1 Wideband Sensor 5
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Wideband Sensor 6
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Wideband Sensor 7
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Wideband Sensor 8
            msg[7] = 0x00;
        }
 
        /* todo: 0x3EF = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3EF, 8);
            msg[0] = 0x00;              //0-1 Wideband Sensor 9
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Wideband Sensor 10
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Wideband Sensor 11
            msg[5] = 0x00;
            msg[6] = 0x00;              //6-7 Wideband Sensor 12
            msg[7] = 0x00;
        }
 
        /* todo: 0x470 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x470, 8);
            msg[0] = 0x00;              //0-1 Wideband Overall
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Wideband Bank 1
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Wideband Bank 2
            msg[5] = 0x00;
            // todo: open question what are Haltech Special Values for gear encoding
            msg[6] = 0x00;              //Gear Selector Position
            msg[7] = Sensor::getOrZero(SensorType::DetectedGear);
        }
 
        /* todo: 0x472 = 20Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x472, 8);
            msg[0] = 0x00;              //0-1 Cruise Control Target Speed
            msg[1] = 0x00;
            msg[2] = 0x00;              //2-3 Cruise Control Last Target Speed
            msg[3] = 0x00;
            msg[4] = 0x00;              //4-5 Cruise Control Speed Error
            msg[5] = 0x00;
            msg[6] = 0x00;              //Cruise Control Controller state (enum)
            msg[7] = 0x00;              //Cruise Control Input State (bit-field)
        }
    }
 
    if (cycle.isInterval(CI::_100ms)) {
 
        /* 0x371 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x371, 4);
            /* Fuel Flow */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Fuel Flow Return */
            msg[2] = 0x00;
            msg[3] = 0x00;
        }
 
        /* 0x372 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x372, 8);
            /* Battery Voltage */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::BatteryVoltage) * 10, 0);
            /* unused */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Target Boost Level todo */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Barometric pressure */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::BarometricPressure) * 10, 6);
        }
 
        /* 0x373 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x373, 8);
            /* EGT1 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT1) * 10, 0);
            /* EGT2 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT2) * 10, 2);
            /* EGT3 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT3) * 10, 4);
            /* EGT4 */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::EGT4) * 10, 6);
        }
 
        /* 0x374 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x374, 8);
            /* EGT5 */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* EGT6 */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* EGT7 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* EGT8 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x375 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x375, 8);
            /* EGT9 */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* EGT10 */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* EGT11 */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* EGT12 */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x376 = 10Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x376, 8);
            /* Ambient Air Temperature */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Relative Humidity */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Specific Humidity */
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Absolute Humidity */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
    }
 
    if (cycle.isInterval(CI::_200ms)) {
        /* 0x3E0 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E0, 8);
            /* Coolant temperature in K y = x/10 */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::Clt) + C_K_OFFSET) * 10, 0);
            /* Air Temperature */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::Iat) + C_K_OFFSET) * 10, 2);
            /* Fuel Temperature */
            msg.setShortValueMsb((Sensor::getOrZero(SensorType::FuelTemperature) + C_K_OFFSET) * 10, 4);
            /* Oil Temperature */
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* 0x3E1 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E1, 6);
            /* Gearbox Oil Temperature */
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Diff oil Temperature */
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Fuel Composition */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::FuelEthanolPercent) * 10, 4);
        }
 
        /* 0x3E2 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E2, 2);
            /* Fuel Level in Liters */
            msg.setShortValueMsb(Sensor::getOrZero(SensorType::FuelLevel) * 10, 0);
        }
 
        /* 0x3E3 = 5Hz rate */
        {
            CanTxMessage msg(CanCategory::NBC, 0x3E3, 8);
            /* Fuel Trim Short Term Bank 1*/
            msg[0] = 0x00;
            msg[1] = 0x00;
            /* Fuel Trim Short Term Bank 2*/
            msg[2] = 0x00;
            msg[3] = 0x00;
            /* Fuel Trim Long Term Bank 1*/
            msg[4] = 0x00;
            msg[5] = 0x00;
            /* Fuel Trim Long Term Bank 2*/
            msg[6] = 0x00;
            msg[7] = 0x00;
        }
 
        /* todo: 0x3E4 = 5Hz rate */
        {
                CanTxMessage msg(CanCategory::NBC, 0x3E4, 8);
                msg[0] = 0x00; //unused
                if (engine->engineState.brakePedalState) {
                    msg.setBit(1, 2); // Brake active
                }
                if (engine->engineState.clutchDownState) {
                    msg.setBit(1, 1); // Clutch active
                }
#if EFI_LAUNCH_CONTROL
                if (engine->launchController.isLaunchCondition) {
                    msg.setBit(2, 7); // Launch active
                }
                if (engine->launchController.isSwitchActivated) {
                    msg.setBit(2, 6); // Launch Switch active
                }
#endif
                if (engine->module<AcController>()->acButtonState){
                    msg.setBit(3, 5); // AC Request
                }
                if (engine->module<AcController>()->m_acEnabled){
                    msg.setBit(3, 4); // AC Output
                }
                if (enginePins.fanRelay2.getLogicValue()) {
                    msg.setBit(3, 1); // Fan2 active
                }
                if (enginePins.fanRelay.getLogicValue()) {
                    msg.setBit(3, 0); // Fan active
                }
                /* Switch status */
                msg[4] = 0x00;
                msg[5] = 0x00;
                msg[6] = 0x00;
                if ((Sensor::getOrZero(SensorType::Rpm)>0) && (Sensor::get(SensorType::BatteryVoltage).value_or(VBAT_FALLBACK_VALUE)<13)) {
                    msg.setBit(7, 6); // battery light
                }
    }
 
    }
}
 
#endif