rusefi/firmware/console/binary/serial_can.h

/**
 * @file	serial_can.h
 *
 * @date Aug 1, 2020
 * @author andreika <prometheus.pcb@gmail.com>
 * @author Andrey Belomutskiy, (c) 2012-2020
 */

#pragma once

#include "fifo_buffer.h"
#include "can_listener.h"
#include "can_msg_tx.h"

#if EFI_PROD_CODE | EFI_SIMULATOR
#define can_msg_t msg_t
#define can_sysinterval_t sysinterval_t
#define CAN_MSG_OK MSG_OK
#define CAN_MSG_TIMEOUT MSG_TIMEOUT
#else
#include "can_mocks.h"
#endif /* EFI_UNIT_TEST */


#define CAN_TIME_IMMEDIATE ((can_sysinterval_t)0)

// most efficient sizes are 6 + x * 7 that way whole buffer is transmitted as (x+1) full packets
#define CAN_FIFO_BUF_SIZE 76
#define CAN_FIFO_FRAME_SIZE 8

#define CAN_FLOW_STATUS_OK 0
#define CAN_FLOW_STATUS_WAIT_MORE 1
#define CAN_FLOW_STATUS_ABORT 2


enum IsoTpFrameType {
	ISO_TP_FRAME_SINGLE = 0,
	ISO_TP_FRAME_FIRST = 1,
	ISO_TP_FRAME_CONSECUTIVE = 2,
	ISO_TP_FRAME_FLOW_CONTROL = 3,
};

class IsoTpFrameHeader {
public:
	IsoTpFrameType frameType;

	// used for 'single' or 'first' frames
	int numBytes;
	// used for 'consecutive' frames
	int index;
	// used for 'flow control' frames
	int fcFlag;
	int blockSize;
	int separationTime;
};

// We need an abstraction layer for unit-testing
class ICanStreamer {
public:
	virtual can_msg_t transmit(canmbx_t mailbox, const CanTxMessage *ctfp, can_sysinterval_t timeout) = 0;
	virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) = 0;
};

class CanStreamerState {
public:
	fifo_buffer<uint8_t, CAN_FIFO_BUF_SIZE> rxFifoBuf;
	fifo_buffer<uint8_t, CAN_FIFO_BUF_SIZE> txFifoBuf;

#if defined(TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME)
	// used to restore the original packet with CRC
    uint8_t tmpRxBuf[13];
#endif

	// used for multi-frame ISO-TP packets
	int waitingForNumBytes = 0;
	int waitingForFrameIndex = 0;

	ICanStreamer *streamer;
	
public:
	CanStreamerState(ICanStreamer *s) : streamer(s) {}

	int sendFrame(const IsoTpFrameHeader & header, const uint8_t *data, int num, can_sysinterval_t timeout);
	int receiveFrame(CANRxFrame *rxmsg, uint8_t *buf, int num, can_sysinterval_t timeout);
	int getDataFromFifo(uint8_t *rxbuf, size_t &numBytes);
	// returns the number of bytes sent
	int sendDataTimeout(const uint8_t *txbuf, int numBytes, can_sysinterval_t timeout);

	// streaming support for TS I/O (see tunerstudio_io.cpp)
	can_msg_t streamAddToTxTimeout(size_t *np, const uint8_t *txbuf, can_sysinterval_t timeout);
	can_msg_t streamFlushTx(can_sysinterval_t timeout);
	can_msg_t streamReceiveTimeout(size_t *np, uint8_t *rxbuf, can_sysinterval_t timeout);
};

class CanRxMessage {
public:
	CanRxMessage() {}
	CanRxMessage(const CANRxFrame &f) {
		frame = f;
	}
	CanRxMessage(const CanRxMessage& msg) : frame(msg.frame) {}
	CanRxMessage& operator=(const CanRxMessage& msg) {
		frame = msg.frame;
		return *this;
	}

public:
	CANRxFrame frame;
};

class CanTsListener : public CanListener {
public:
	CanTsListener()
		: CanListener(CAN_ECU_SERIAL_RX_ID)
	{
	}

	virtual void decodeFrame(const CANRxFrame& frame, efitick_t nowNt);

	bool get(CanRxMessage &item, int timeout) {
		return rxFifo.get(item, timeout);
	}

protected:
	fifo_buffer_sync<CanRxMessage, CAN_FIFO_FRAME_SIZE> rxFifo;
};

#if HAL_USE_CAN
class CanStreamer : public ICanStreamer {
public:
	void init();

	virtual can_msg_t transmit(canmbx_t mailbox, const CanTxMessage *ctfp, can_sysinterval_t timeout) override;
	virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) override;
};

void canStreamInit(void);

// we don't have canStreamSendTimeout() because we need to "bufferize" the stream and send it in fixed-length packets
msg_t canStreamAddToTxTimeout(size_t *np, const uint8_t *txbuf, sysinterval_t timeout);
msg_t canStreamFlushTx(sysinterval_t timeout);

msg_t canStreamReceiveTimeout(size_t *np, uint8_t *rxbuf, sysinterval_t timeout);
#endif /* HAL_USE_CAN */