split out can rx logic (#1196)

* move to can folder

* split out can rx

* only print in debug mode

* guard on feature flag

* headers

Co-authored-by: Matthew Kennedy <makenne@microsoft.com>

firmware/controllers/can/can.h

@@ -0,0 +1,13 @@
+/**
+ * @file	can.h
+ *
+ * @date Mar 19, 2020
+ * @author Matthew Kennedy, (c) 2020
+ */
+
+#pragma once
+
+#include "hal.h"
+
+class Logging;
+void processCanRxMessage(const CANRxFrame& msg, Logging* logger);

firmware/controllers/can/can_rx.cpp

@@ -0,0 +1,43 @@
+/**
+ * @file	can_rx.cpp
+ *
+ * CAN reception handling.  This file handles multiplexing incoming CAN frames as appropriate
+ * to the subsystems that consume them.
+ *
+ * @date Mar 19, 2020
+ * @author Matthew Kennedy, (c) 2020
+ */
+
+#include "global.h"
+#if EFI_CAN_SUPPORT
+
+#include "can.h"
+#include "obd2.h"
+#include "engine.h"
+
+EXTERN_ENGINE;
+
+static void printPacket(const CANRxFrame& rx, Logging* logger) {
+	// only print info if we're in can debug mode
+	if (CONFIG(debugMode) == DBG_CAN) {
+		scheduleMsg(logger, "Got CAN message: 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]);
+	}
+}
+
+volatile float aemXSeriesLambda = 0;
+
+void processCanRxMessage(const CANRxFrame& frame, Logging* logger) {
+	// TODO: if/when we support multiple lambda sensors, sensor N
+	// has address 0x0180 + N where N = [0, 15]
+	if (frame.SID == 0x0180) {
+		// AEM x-series lambda sensor reports in 0.0001 lambda per bit
+		uint16_t lambdaInt = SWAP_UINT16(frame.data16[0]);
+		aemXSeriesLambda = 0.0001f * lambdaInt;
+	} else {
+		printPacket(frame, logger);
+		obdOnCanPacketRx(frame);
+	}
+}
+
+#endif // EFI_CAN_SUPPORT

firmware/controllers/can/obd2.cpp

@@ -107,8 +107,8 @@ static void obdWriteSupportedPids(int PID, int bitOffset, const int16_t *support
 	obdSendPacket(1, PID, 4, value);
 }
 
-static void handleGetDataRequest(CANRxFrame *rx) {
-	int pid = rx->data8[2];
+static void handleGetDataRequest(const CANRxFrame& rx) {
+	int pid = rx.data8[2];
 	switch (pid) {
 	case PID_SUPPORTED_PIDS_REQUEST_01_20:
 		scheduleMsg(&logger, "Got lookup request 01-20");
@@ -193,17 +193,17 @@ static void handleDtcRequest(int numCodes, int *dtcCode) {
 }
 
 #if HAL_USE_CAN
-void obdOnCanPacketRx(CANRxFrame *rx) {
-	if (rx->SID != OBD_TEST_REQUEST) {
+void obdOnCanPacketRx(const CANRxFrame& rx) {
+	if (rx.SID != OBD_TEST_REQUEST) {
 		return;
 	}
-	if (rx->data8[0] == 2 && rx->data8[1] == OBD_CURRENT_DATA) {
+	if (rx.data8[0] == 2 && rx.data8[1] == OBD_CURRENT_DATA) {
 		handleGetDataRequest(rx);
-	} else if (rx->data8[0] == 1 && rx->data8[1] == OBD_STORED_DIAGNOSTIC_TROUBLE_CODES) {
+	} else if (rx.data8[0] == 1 && rx.data8[1] == OBD_STORED_DIAGNOSTIC_TROUBLE_CODES) {
 		scheduleMsg(&logger, "Got stored DTC request");
 		// todo: implement stored/pending difference?
 		handleDtcRequest(1, &engine->engineState.warnings.lastErrorCode);
-	} else if (rx->data8[0] == 1 && rx->data8[1] == OBD_PENDING_DIAGNOSTIC_TROUBLE_CODES) {
+	} else if (rx.data8[0] == 1 && rx.data8[1] == OBD_PENDING_DIAGNOSTIC_TROUBLE_CODES) {
 		scheduleMsg(&logger, "Got pending DTC request");
 		// todo: implement stored/pending difference?
 		handleDtcRequest(1, &engine->engineState.warnings.lastErrorCode);

firmware/controllers/can/obd2.h

@@ -37,6 +37,6 @@
 #define PID_FUEL_RATE 0x5E
 
 #if HAL_USE_CAN
-void obdOnCanPacketRx(CANRxFrame *rx);
+void obdOnCanPacketRx(const CANRxFrame& rx);
 #endif /* HAL_USE_CAN */
 

firmware/controllers/controllers.mk

@@ -35,6 +35,7 @@ CONTROLLERS_SRC_CPP = \
 	$(CONTROLLERS_DIR)/flash_main.cpp \
 	$(CONTROLLERS_DIR)/injector_central.cpp \
 	$(CONTROLLERS_DIR)/can/obd2.cpp \
+	$(CONTROLLERS_DIR)/can/can_rx.cpp \
  	$(CONTROLLERS_DIR)/engine_controller.cpp \
 	$(CONTROLLERS_DIR)/persistent_store.cpp \
 	

firmware/hw_layer/drivers/can/can_hw.cpp

@@ -13,13 +13,13 @@
 
 #if EFI_CAN_SUPPORT
 
+#include "can.h"
 #include "engine_configuration.h"
 #include "periodic_thread_controller.h"
 #include "pin_repository.h"
 #include "can_hw.h"
 #include "can_msg_tx.h"
 #include "string.h"
-#include "obd2.h"
 #include "mpu_util.h"
 #include "allsensors.h"
 #include "vehicle_speed.h"
@@ -74,22 +74,6 @@ CAN_BTR_1k0 };
 
 CANTxFrame txmsg;
 
-static void printPacket(CANRxFrame *rx) {
-//	scheduleMsg(&logger, "CAN FMI %x", rx->FMI);
-//	scheduleMsg(&logger, "TIME %x", rx->TIME);
-	scheduleMsg(&logger, "Got CAN message: 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);
-		scheduleMsg(&logger, "GOT odometerKm %d", odometerKm);
-		scheduleMsg(&logger, "GOT odometerMi %d", odometerMi);
-		int timeValue = (rx->data8[4] << 8) + rx->data8[3];
-		scheduleMsg(&logger, "GOT time %d", timeValue);
-	}
-}
-
 static void setShortValue(CANTxFrame *txmsg, int value, int offset) {
 	txmsg->data8[offset] = value;
 	txmsg->data8[offset + 1] = value >> 8;
@@ -244,8 +228,6 @@ public:
 	}
 };
 
-volatile float aemXSeriesLambda = 0;
-
 class CanRead final : public ThreadController<256> {
 public:
 	CanRead()
@@ -272,16 +254,7 @@ public:
 			// Process the message
 			canReadCounter++;
 
-			// TODO: if/when we support multiple lambda sensors, sensor N
-			// has address 0x0180 + N where N = [0, 15]
-			if (m_buffer.SID == 0x0180) {
-				// AEM x-series lambda sensor reports in 0.0001 lambda per bit
-				uint16_t lambdaInt = SWAP_UINT16(m_buffer.data16[0]);
-				aemXSeriesLambda = 0.0001f * lambdaInt;
-			} else {
-				printPacket(&m_buffer);
-				obdOnCanPacketRx(&m_buffer);
-			}
+			processCanRxMessage(m_buffer, &logger);
 		}
 	}