ChibiOS Free Embedded RTOS

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/*
 * Port B setup.
 * Everything input with pull-up except:
 * PB8 - Digital input with PullUp (CAN_RX)
 * PB9 - Alternate Push Pull output 50MHz(CAN_TX) 
 */
#define VAL_GPIOBCRL            0x88888888      /*  PB7...PB0 */
#define VAL_GPIOBCRH            0x888888B8      /* PB15...PB8 */
#define VAL_GPIOBODR            0xFFFFFFFF

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int main(void) {

  chThdSleepMilliseconds(500);

  halInit();
  chSysInit();

  // wait to not send errors
  chThdSleepMilliseconds(500);
  chThdSleepMilliseconds(500);


  /*
   * OBD + CAN init
   */
  canStart(&CAND1, &cancfg);
  // wait for start CAN
  chThdSleepSeconds(3);
  chThdCreateStatic(can_tx_wa, sizeof(can_tx_wa), NORMALPRIO + 7, can_tx, NULL);

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static const CANConfig cancfg = {
  CAN_MCR_TXFP,
  CAN_BTR_SJW(0) | CAN_BTR_TS2(1) |
  CAN_BTR_TS1(8) | CAN_BTR_BRP(6)
};

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/*
 * Transmitter thread.
 */
static WORKING_AREA(can_tx_wa, 256);
static msg_t can_tx(void * p) {
  CANTxFrame *txmsg;
  systime_t time;
  CANRxFrame rxmsg;
  int i;
  (void)p;
  chRegSetThreadName("transmitter");

  time = chTimeNow();
  while (!chThdShouldTerminate()) {
    time += MS2ST(100);
    for(i=0;i<4;i++)
    {
      txmsg = getTxFrame(PIDtable[i]);
      canTransmit(&CAND1, CAN_ANY_MAILBOX, txmsg, MS2ST(100));
      chThdSleepMilliseconds(300);
      // Id ramki z odpowiedzia od ECU || 0x7DF dla nadawania || 0x7E8 dla odbierania
      getFrame(0x7E8, &rxmsg);
      decode(&parData, &rxmsg);
    }
    chThdSleepUntil(time);
  }
  return 0;
}

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const uint8_t PIDtable[4] = {
 RPM_PID,
 ENGINE_LOAD_PID,
 VEHICLE_SPEED_PID,
 THROTTLE_POSITION_PID,
};

CANTxFrame* getTxFrame(uint8_t PID) {
  static CANTxFrame txmsg;

  txmsg.IDE = CAN_IDE_STD;
  txmsg.SID = 0x7DF;
  txmsg.RTR = CAN_RTR_DATA;
  txmsg.DLC = 8;
  txmsg.data8[0] = 0x02;
  txmsg.data8[1] = 0x01;
  txmsg.data8[2] = PID;
  txmsg.data8[3] = 0x00;
  txmsg.data8[4] = 0x00;
  txmsg.data8[5] = 0x00;
  txmsg.data8[6] = 0x00;
  txmsg.data8[7] = 0x00;

  return &txmsg;
}

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uint8_t getFrame(uint16_t ID, CANRxFrame *frame)
{
  EventListener el;
  static CANRxFrame rxmsg;
  uint16_t curID = 0xFFFF;

  chRegSetThreadName("receiver");
  chEvtRegister(&CAND1.rxfull_event, &el, 0);
    while(curID != ID) {
      if (chEvtWaitAnyTimeout(ALL_EVENTS, MS2ST(100)) == 0)
           canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE);
           curID = rxmsg.SID;
    }
    if(curID == 0){
      chEvtUnregister(&CAND1.rxfull_event, &el);
      return 0;
    }
    *frame = rxmsg;
    chEvtUnregister(&CAND1.rxfull_event, &el);
    return 0;
}