rusefi
/
bldc
mirror of https://github.com/rusefi/bldc.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Multiple CAN RX buffers

This commit is contained in:
Benjamin Vedder 2023-01-02 13:09:10 +01:00
parent 9486b4d736
commit 0dec878d1d
1 changed files with 66 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

89
comm/comm_can.c
View File

@ -47,6 +47,7 @@
// Settings
#define RX_FRAMES_SIZE 50
#define RX_BUFFER_NUM 3
#define RX_BUFFER_SIZE PACKET_MAX_PL_LEN
#if CAN_ENABLE
@ -74,7 +75,8 @@ static THD_WORKING_AREA(cancom_status_internal_thread_wa, 512);
static mutex_t can_mtx;
static mutex_t can_rx_mtx;
uint8_t rx_buffer[RX_BUFFER_SIZE];
uint8_t rx_buffer[RX_BUFFER_NUM][RX_BUFFER_SIZE];
int rx_buffer_offset[RX_BUFFER_NUM];
unsigned int rx_buffer_last_id;
static rx_state m_rx_state;
#ifdef HW_CAN2_DEV
@ -1497,8 +1499,6 @@ static void send_packet_wrapper(unsigned char *data, unsigned int len) {
static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced) {
int32_t ind = 0;
unsigned int rxbuf_len;
unsigned int rxbuf_ind;
uint8_t crc_low;
uint8_t crc_high;
uint8_t commands_send;
@ -1559,17 +1559,42 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
timeout_reset();
break;
case CAN_PACKET_FILL_RX_BUFFER:
memcpy(rx_buffer + data8[0], data8 + 1, len - 1);
break;
case CAN_PACKET_FILL_RX_BUFFER: {
int buf_ind = 0;
int offset = data8[0];
data8++;
len--;
case CAN_PACKET_FILL_RX_BUFFER_LONG:
rxbuf_ind = (unsigned int)data8[0] << 8;
rxbuf_ind |= data8[1];
if (rxbuf_ind < RX_BUFFER_SIZE) {
memcpy(rx_buffer + rxbuf_ind, data8 + 2, len - 2);
for (int i = 0; i < RX_BUFFER_NUM;i++) {
if ((rx_buffer_offset[i]) == offset ) {
buf_ind = i;
break;
}
}
break;
memcpy(rx_buffer[buf_ind] + offset, data8, len);
rx_buffer_offset[buf_ind] += len;
} break;
case CAN_PACKET_FILL_RX_BUFFER_LONG: {
int buf_ind = 0;
int offset = (int)data8[0] << 8;
offset |= data8[1];
data8 += 2;
len -= 2;
for (int i = 0; i < RX_BUFFER_NUM;i++) {
if ((rx_buffer_offset[i]) == offset ) {
buf_ind = i;
break;
}
}
if ((offset + len) <= RX_BUFFER_SIZE) {
memcpy(rx_buffer[buf_ind] + offset, data8, len);
rx_buffer_offset[buf_ind] += len;
}
} break;
case CAN_PACKET_PROCESS_RX_BUFFER: {
ind = 0;
@ -1580,39 +1605,57 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
rx_buffer_last_id = last_id;
}
rxbuf_len = (unsigned int)data8[ind++] << 8;
rxbuf_len |= (unsigned int)data8[ind++];
int rxbuf_len = (int)data8[ind++] << 8;
rxbuf_len |= (int)data8[ind++];
if (rxbuf_len > RX_BUFFER_SIZE) {
break;
}
int buf_ind = -1;
for (int i = 0; i < RX_BUFFER_NUM;i++) {
if ((rx_buffer_offset[i]) == rxbuf_len ) {
buf_ind = i;
break;
}
}
// Something is wrong, reset all buffers
if (buf_ind < 0) {
for (int i = 0; i < RX_BUFFER_NUM;i++) {
rx_buffer_offset[i] = 0;
}
break;
}
rx_buffer_offset[buf_ind] = 0;
crc_high = data8[ind++];
crc_low = data8[ind++];
if (crc16(rx_buffer, rxbuf_len)
if (crc16(rx_buffer[buf_ind], rxbuf_len)
== ((unsigned short) crc_high << 8
| (unsigned short) crc_low)) {
if (is_replaced) {
if (rx_buffer[0] == COMM_JUMP_TO_BOOTLOADER ||
rx_buffer[0] == COMM_ERASE_NEW_APP ||
rx_buffer[0] == COMM_WRITE_NEW_APP_DATA ||
rx_buffer[0] == COMM_WRITE_NEW_APP_DATA_LZO ||
rx_buffer[0] == COMM_ERASE_BOOTLOADER) {
if (rx_buffer[buf_ind][0] == COMM_JUMP_TO_BOOTLOADER ||
rx_buffer[buf_ind][0] == COMM_ERASE_NEW_APP ||
rx_buffer[buf_ind][0] == COMM_WRITE_NEW_APP_DATA ||
rx_buffer[buf_ind][0] == COMM_WRITE_NEW_APP_DATA_LZO ||
rx_buffer[buf_ind][0] == COMM_ERASE_BOOTLOADER) {
break;
}
}
switch (commands_send) {
case 0:
commands_process_packet(rx_buffer, rxbuf_len, send_packet_wrapper);
commands_process_packet(rx_buffer[buf_ind], rxbuf_len, send_packet_wrapper);
break;
case 1:
commands_send_packet_can_last(rx_buffer, rxbuf_len);
commands_send_packet_can_last(rx_buffer[buf_ind], rxbuf_len);
break;
case 2:
commands_process_packet(rx_buffer, rxbuf_len, 0);
commands_process_packet(rx_buffer[buf_ind], rxbuf_len, 0);
break;
default:
break;