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That error is because it's sending a command to the ELM that is not understood by it. Which means it's communicating with the ELM and recieving data back, but the data it recieved back is a question mark ? which usually means an undefined command was sent to the ELM. I'm going to add another debug statement to that function to output exactly what is sent and recieved when that error occurs. I'll run your code in an hour or two when I get home. Did you try ignoring the error?
Which version of the ELM are you using BTW?
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