diff --git a/firmware/config/efifeatures.h b/firmware/config/efifeatures.h index bbb4ae8c22..e7a627952d 100644 --- a/firmware/config/efifeatures.h +++ b/firmware/config/efifeatures.h @@ -81,7 +81,7 @@ #define EFI_DENSO_ADC FALSE -#define EFI_CAN_SUPPORT FALSE +#define EFI_CAN_SUPPORT TRUE #define EFI_HD44780_LCD TRUE diff --git a/firmware/controllers/algo/engine_configuration.h b/firmware/controllers/algo/engine_configuration.h index 8ac5432374..d60dbe0052 100644 --- a/firmware/controllers/algo/engine_configuration.h +++ b/firmware/controllers/algo/engine_configuration.h @@ -480,6 +480,7 @@ typedef struct { bool_t hasAfrSensor : 1; // bit 2 bool_t useConstantDwellDuringCranking : 1; // bit 3 bool_t isDigitalChartEnabled : 1; // bit 4 + bool_t isCanEnabled : 1; // bit 5 // that's the next 32 bit field int hasCltSensor; diff --git a/firmware/hw_layer/can_hw.cpp b/firmware/hw_layer/can_hw.cpp index a1ebd005d4..a70a7c836d 100644 --- a/firmware/hw_layer/can_hw.cpp +++ b/firmware/hw_layer/can_hw.cpp @@ -19,7 +19,8 @@ #if EFI_CAN_SUPPORT || defined(__DOXYGEN__) -EXTERN_ENGINE; +EXTERN_ENGINE +; static int canReadCounter = 0; static Logging logger; @@ -42,8 +43,7 @@ extern board_configuration_s *board_configuration; */ static const CANConfig canConfig = { CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP, -CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | -CAN_BTR_TS1(8) | CAN_BTR_BRP(6) }; +CAN_BTR_SJW(0) | CAN_BTR_TS2(1) | CAN_BTR_TS1(8) | CAN_BTR_BRP(6) }; static CANRxFrame rxBuffer; static CANTxFrame txmsg; @@ -59,13 +59,12 @@ static float engine_clt = 0; static void printPacket(CANRxFrame *rx) { // scheduleMsg(&logger, "CAN FMI %x", rx->FMI); // scheduleMsg(&logger, "TIME %x", rx->TIME); - scheduleMsg(&logger, "SID %x/%x %x %x %x %x %x %x %x %x", rx->SID, rx->DLC, - rx->data8[0], rx->data8[1], rx->data8[2], rx->data8[3], - rx->data8[4], rx->data8[5], rx->data8[6], rx->data8[7]); + scheduleMsg(&logger, "SID %x/%x %x %x %x %x %x %x %x %x", rx->SID, rx->DLC, rx->data8[0], rx->data8[1], + rx->data8[2], rx->data8[3], rx->data8[4], rx->data8[5], rx->data8[6], rx->data8[7]); if (rx->SID == CAN_BMW_E46_CLUSTER_STATUS) { int odometerKm = 10 * (rx->data8[1] << 8) + rx->data8[0]; - int odometerMi = (int)(odometerKm * 0.621371); + int odometerMi = (int) (odometerKm * 0.621371); scheduleMsg(&logger, "GOT odometerKm %d", odometerKm); scheduleMsg(&logger, "GOT odometerMi %d", odometerMi); int timeValue = (rx->data8[4] << 8) + rx->data8[3]; @@ -90,34 +89,34 @@ static void canDashboardBMW(void) { //BMW Dashboard commonTxInit(CAN_BMW_E46_SPEED); setShortValue(&txmsg, 10 * 8, 1); - canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE ); + canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE); commonTxInit(CAN_BMW_E46_RPM); - setShortValue(&txmsg, (int)(engine_rpm * 6.4), 2); - canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE ); + setShortValue(&txmsg, (int) (engine_rpm * 6.4), 2); + canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE); commonTxInit(CAN_BMW_E46_DME2); - setShortValue(&txmsg, (int)((engine_clt + 48.373) / 0.75), 1); - canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE ); + setShortValue(&txmsg, (int) ((engine_clt + 48.373) / 0.75), 1); + canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE); } static void canDashboardFiat(void) { //Fiat Dashboard commonTxInit(CAN_FIAT_MOTOR_INFO); - setShortValue(&txmsg, (int)(engine_clt - 40), 3); //Coolant Temp + setShortValue(&txmsg, (int) (engine_clt - 40), 3); //Coolant Temp setShortValue(&txmsg, engine_rpm / 32, 6); //RPM - canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE ); + canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE); } static void canDashboardVAG(void) { //VAG Dashboard commonTxInit(CAN_VAG_RPM); setShortValue(&txmsg, engine_rpm * 4, 2); //RPM - canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE ); + canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE); commonTxInit(CAN_VAG_CLT); - setShortValue(&txmsg, (int)((engine_clt + 48.373) / 0.75), 1); //Coolant Temp - canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE ); + setShortValue(&txmsg, (int) ((engine_clt + 48.373) / 0.75), 1); //Coolant Temp + canTransmit(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &txmsg, TIME_INFINITE); } static void canInfoNBCBroadcast(can_nbc_e typeOfNBC) { @@ -142,7 +141,7 @@ static void enableCanRead(int value) { static void canRead(void) { scheduleMsg(&logger, "waiting for CAN"); - canReceive(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &rxBuffer, TIME_INFINITE ); + canReceive(&EFI_CAN_DEVICE, CAN_ANY_MAILBOX, &rxBuffer, TIME_INFINITE); canReadCounter++; printPacket(&rxBuffer); @@ -158,13 +157,12 @@ static void writeStateToCan(void) { static msg_t canThread(void *arg) { chRegSetThreadName("CAN"); while (true) { - if(engineConfiguration->canWriteEnabled) + if (engineConfiguration->canWriteEnabled) writeStateToCan(); - if(engineConfiguration->canReadEnabled) + if (engineConfiguration->canReadEnabled) canRead(); // todo: since this is a blocking operation, do we need a separate thread for 'write'? - chThdSleepMilliseconds(engineConfiguration->can_sleep_period); } #if defined __GNUC__ @@ -175,12 +173,15 @@ static msg_t canThread(void *arg) { static void canInfo(void) { scheduleMsg(&logger, "CAN TX %s", hwPortname(boardConfiguration->canTxPin)); scheduleMsg(&logger, "CAN RX %s", hwPortname(boardConfiguration->canRxPin)); - scheduleMsg(&logger, "canReadEnabled=%d canWriteEnabled=%d", engineConfiguration->canReadEnabled, engineConfiguration->canWriteEnabled); + scheduleMsg(&logger, "canReadEnabled=%d canWriteEnabled=%d", engineConfiguration->canReadEnabled, + engineConfiguration->canWriteEnabled); scheduleMsg(&logger, "CAN rx count %d", canReadCounter); } void initCan(void) { + if (!engineConfiguration->isCanEnabled) + return; initLogging(&logger, "CAN driver"); #if STM32_CAN_USE_CAN2 @@ -192,7 +193,7 @@ void initCan(void) { #endif canStart(&EFI_CAN_DEVICE, &canConfig); - chThdCreateStatic(canTreadStack, sizeof(canTreadStack), NORMALPRIO, (tfunc_t) canThread, NULL ); + chThdCreateStatic(canTreadStack, sizeof(canTreadStack), NORMALPRIO, (tfunc_t) canThread, NULL); mySetPadMode2("CAN TX", boardConfiguration->canTxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF)); mySetPadMode2("CAN RX", boardConfiguration->canRxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF)); diff --git a/firmware/rusefi.cpp b/firmware/rusefi.cpp index 44306c879c..d5db0d9f3a 100644 --- a/firmware/rusefi.cpp +++ b/firmware/rusefi.cpp @@ -256,7 +256,7 @@ void firmwareError(const char *fmt, ...) { } } -static char UNUSED_RAM_SIZE[3000]; +static char UNUSED_RAM_SIZE[2000]; static char UNUSED_CCM_SIZE[9000] CCM_OPTIONAL;