mirror of https://github.com/rusefi/rusefi.git
111 lines
2.5 KiB
C++
111 lines
2.5 KiB
C++
/**
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* @file can.h
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*
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* @date Mar 19, 2020
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* @author Matthew Kennedy, (c) 2020
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*/
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#pragma once
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#define HAS_CAN_FRAME (EFI_SIMULATOR || HAL_USE_CAN || EFI_UNIT_TEST)
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#if EFI_UNIT_TEST || !EFI_CAN_SUPPORT
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#include "can_mocks.h"
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#endif // EFI_PROD_CODE
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#if !EFI_UNIT_TEST
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#include "hal.h"
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#endif // EFI_UNIT_TEST
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#include "periodic_thread_controller.h"
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#define CAN_PEDAL_TPS_OFFSET 2
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#define CAN_SENSOR_1_OFFSET 3
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#define CAN_TIMEOUT MS2NT(100)
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//can tx periodic task cycle time in frequency, 200hz -> 5ms period
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#define CAN_CYCLE_FREQ (200.0f)
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//can tx periodic task cycle time in ms
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#define CAN_CYCLE_PERIOD (CH_CFG_ST_FREQUENCY / CAN_CYCLE_FREQ)
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enum class CanInterval : uint16_t {
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None = 0,
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_5ms = 1 << 0,
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_10ms = 1 << 1,
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_20ms = 1 << 2,
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_50ms = 1 << 3,
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_100ms = 1 << 4,
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_200ms = 1 << 5,
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_250ms = 1 << 6,
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_500ms = 1 << 7,
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_1000ms = 1 << 8,
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_MAX_Cycle = _1000ms,
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};
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class CanListener;
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class CanSensorBase;
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#if EFI_CAN_SUPPORT
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void processCanRxMessage(const size_t busIndex, const CANRxFrame& msg, efitick_t nowNt);
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#endif // EFI_CAN_SUPPORT
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void registerCanListener(CanListener& listener);
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void registerCanSensor(CanSensorBase& sensor);
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class CanWrite final : public PeriodicController<512> {
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public:
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CanWrite();
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void PeriodicTask(efitick_t nowNt) override;
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};
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// allow using shorthand CI
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using CI = CanInterval;
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// logical and/or operators so we can use our enum like an int
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constexpr CI operator |(CI lhs, CI rhs) {
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using T = std::underlying_type_t<CI>;
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return static_cast<CI>(static_cast<T>(lhs) | static_cast<T>(rhs));
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}
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constexpr CI operator &(CI lhs, CI rhs) {
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using T = std::underlying_type_t<CI>;
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return static_cast<CI>(static_cast<T>(lhs) & static_cast<T>(rhs));
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}
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constexpr CI& operator |=(CI& lhs, CI rhs) {
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lhs = lhs | rhs;
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return lhs;
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}
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class CanCycle {
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public:
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explicit CanCycle(uint32_t cycleCounter200hz)
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: m_cycleFlags(computeFlags(cycleCounter200hz))
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{
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}
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bool isInterval(CanInterval interval) {
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return CanInterval::None != (m_cycleFlags & interval);
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}
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private:
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static CanInterval computeFlags(uint32_t cycleCount);
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const CanInterval m_cycleFlags;
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};
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// We need these helpers because the frame layout is different on STM32H7
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#ifdef STM32H7XX
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#define CAN_SID(f) ((f).std.SID)
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#define CAN_EID(f) ((f).ext.EID)
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#define CAN_ISX(f) ((f).common.XTD)
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#else
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#define CAN_SID(f) ((f).SID)
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#define CAN_EID(f) ((f).EID)
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#define CAN_ISX(f) ((f).IDE)
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#endif
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#define CAN_ID(f) (CAN_ISX(f) ? CAN_EID(f) : CAN_SID(f))
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