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ELM: Can read CAN packets from Panda (debug print only).

This commit is contained in:
Jessy Diamond Exum 2017-08-03 04:03:26 -07:00
parent d0576d5878
commit 6d7329f652
1 changed files with 37 additions and 4 deletions
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41
boardesp/elm327.c
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@ -27,7 +27,7 @@ typedef struct _elm_tcp_conn {
struct _elm_tcp_conn *next;
} elm_tcp_conn_t;
typedef __attribute__((packed)) struct {
typedef struct __attribute__((packed)) {
uint8_t len;
uint8_t dat[7]; //mode and data
} elm_obd_msg;
@ -102,6 +102,21 @@ static int ICACHE_FLASH_ATTR panda_usbemu_ctrl_write(uint8_t request_type, uint8
#define panda_set_can0_kbaud(kbps) panda_usbemu_ctrl_write(0x40, 0xde, 0, kbps*10, 0)
#define panda_set_safety_mode(mode) panda_usbemu_ctrl_write(0x40, 0xdc, mode, 0, 0)
typedef struct __attribute__((packed)) {
bool tx : 1;
bool : 1;
bool ext : 1;
uint32_t addr : 29;
uint8_t len : 4;
uint8_t bus : 8;
uint8_t : 4; //unused
uint16_t ts : 16;
uint8_t data[8];
} panda_can_msg_t;
#define panda_get_can_addr(recv) ((recv->ext) ? (recv->addr) : (recv->addr >> 18))
#define PANDA_CAN_FLAG_TRANSMIT 1
#define PANDA_CAN_FLAG_EXTENDED 4
@ -109,7 +124,6 @@ static int ICACHE_FLASH_ATTR panda_usbemu_ctrl_write(uint8_t request_type, uint8
static int ICACHE_FLASH_ATTR panda_usbemu_can_write(bool ext, uint32_t addr,
char *candata, uint8_t canlen) {
//self.sock.send(struct.pack("HHBBHHH", 0, 0, request_type, request, value, index, length));
uint32_t rir;
if(canlen > 8) return 0;
@ -131,10 +145,28 @@ static int ICACHE_FLASH_ATTR panda_usbemu_can_write(bool ext, uint32_t addr,
for(int i = 12+canlen; i < 20; i++) sendData[i] = 0; //Zero the rest
int returned_count = spi_comm(sendData, 0x14, recvData, 0x40);
os_printf("Got %d bytes from Panda\n", returned_count);
if(returned_count)
os_printf("ELM Can send expected 0 bytes back from panda. Got %d bytes instead\n", returned_count);
return returned_count;
}
static int ICACHE_FLASH_ATTR panda_usbemu_can_read() {
int returned_count = spi_comm((uint8_t *)((const uint16 []){1,0}), 4, recvData, 0x40);
os_printf("Reading CAN. Got %d (%x) bytes from panda\n", returned_count, returned_count);
panda_can_msg_t *can_msgs = (panda_can_msg_t*)(recvData+1);
for(int i = 0; i < returned_count/sizeof(panda_can_msg_t); i++){
panda_can_msg_t *recv = &can_msgs[i];
os_printf(" RECV: Bus: %d; Addr: %08x; ext: %d; tx: %d; Len: %d; ",
recv->bus, panda_get_can_addr(recv), recv->ext, recv->tx, recv->len);
for(int j = 0; j < recv->len; j++) os_printf("%02x ", recv->data[j]);
os_printf("Ts: %d\n", recv->ts);
}
return returned_count/sizeof(panda_can_msg_t);
}
static int8_t ICACHE_FLASH_ATTR elm_decode_hex_char(char b){
if(b >= '0' && b <= '9') return b - '0';
if(b >= 'A' && b <= 'F') return (b - 'A') + 10;
@ -386,6 +418,7 @@ static void ICACHE_FLASH_ATTR elm_process_at_cmd(char *cmd, uint16_t len) {
panda_set_safety_mode(0x1337);
break;
default:
panda_usbemu_can_read();
elm_append_rsp("?\r\r", 3);
return;
}
@ -412,7 +445,7 @@ static void ICACHE_FLASH_ATTR elm_process_obd_cmd(char *cmd, uint16_t len) {
msg.dat[i] = elm_decode_hex_byte(&cmd[i*2]);
}
os_printf("Got data: %d bytes.\r\n ", msg.len);
os_printf("ELM CAN data for tx: %d bytes.\r\n ", msg.len);
for(int i = 0; i < 7; i++){
os_printf("%02x ", msg.dat[i]);
}