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custom-board-bundle-sample-fork-of-rusefi
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Split CAN in to separate threads for rx/tx (#1078) 

* rewrite can

* default parameters
This commit is contained in:
Matthew Kennedy 2019-12-22 09:17:53 -08:00 committed by rusefi
parent 253f68cb61
commit 868a2bb8ef
2 changed files with 91 additions and 78 deletions
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167
firmware/hw_layer/can_hw.cpp
View File

@ -14,6 +14,7 @@
#if EFI_CAN_SUPPORT
#include "engine_configuration.h"
#include "periodic_thread_controller.h"
#include "pin_repository.h"
#include "can_hw.h"
#include "string.h"
@ -30,7 +31,6 @@ static int canWriteOk = 0;
static int canWriteNotOk = 0;
static bool isCanEnabled = false;
static LoggingWithStorage logger("CAN driver");
static THD_WORKING_AREA(canTreadStack, UTILITY_THREAD_STACK_SIZE);
// Values below calculated with http://www.bittiming.can-wiki.info/
// Pick ST micro bxCAN
@ -71,8 +71,6 @@ static const CANConfig canConfig1000 = {
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
CAN_BTR_1k0 };
static CANRxFrame rxBuffer;
CANTxFrame txmsg;
static void printPacket(CANRxFrame *rx) {
@ -111,7 +109,7 @@ void commonTxInit(int eid) {
/**
* send CAN message from txmsg buffer
*/
static void sendCanMessage2(int size) {
void sendCanMessage(int size) {
CANDriver *device = detectCanDevice(CONFIG(canRxPin),
CONFIG(canTxPin));
if (device == NULL) {
@ -119,8 +117,9 @@ static void sendCanMessage2(int size) {
return;
}
txmsg.DLC = size;
// 1 second timeout
msg_t result = canTransmit(device, CAN_ANY_MAILBOX, &txmsg, TIME_MS2I(1000));
// 100 ms timeout
msg_t result = canTransmit(device, CAN_ANY_MAILBOX, &txmsg, TIME_MS2I(100));
if (result == MSG_OK) {
canWriteOk++;
} else {
@ -128,13 +127,6 @@ static void sendCanMessage2(int size) {
}
}
/**
* send CAN message from txmsg buffer, using default packet size
*/
void sendCanMessage() {
sendCanMessage2(8);
}
static void canDashboardBMW(void) {
//BMW Dashboard
commonTxInit(CAN_BMW_E46_SPEED);
@ -222,68 +214,70 @@ static void canDashboardVAG(void) {
sendCanMessage();
}
static void canInfoNBCBroadcast(can_nbc_e typeOfNBC) {
switch (typeOfNBC) {
case CAN_BUS_NBC_BMW:
canDashboardBMW();
break;
case CAN_BUS_NBC_FIAT:
canDashboardFiat();
break;
case CAN_BUS_NBC_VAG:
canDashboardVAG();
break;
case CAN_BUS_MAZDA_RX8:
canMazdaRX8();
break;
default:
break;
}
}
static void canRead(void) {
CANDriver *device = detectCanDevice(CONFIG(canRxPin),
CONFIG(canTxPin));
if (device == NULL) {
warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN configuration issue");
return;
}
// scheduleMsg(&logger, "Waiting for CAN");
msg_t result = canReceive(device, CAN_ANY_MAILBOX, &rxBuffer, TIME_MS2I(1000));
if (result == MSG_TIMEOUT) {
return;
class CanWrite final : public PeriodicController<256> {
public:
CanWrite()
: PeriodicController("CAN TX", NORMALPRIO, 50)
{
}
canReadCounter++;
printPacket(&rxBuffer);
obdOnCanPacketRx(&rxBuffer);
}
void PeriodicTask(efitime_t nowNt) {
switch (engineConfiguration->canNbcType) {
case CAN_BUS_NBC_BMW:
canDashboardBMW();
break;
case CAN_BUS_NBC_FIAT:
canDashboardFiat();
break;
case CAN_BUS_NBC_VAG:
canDashboardVAG();
break;
case CAN_BUS_MAZDA_RX8:
canMazdaRX8();
break;
default:
break;
}
}
};
static void writeStateToCan(void) {
canInfoNBCBroadcast(engineConfiguration->canNbcType);
}
class CanRead final : public ThreadController<256> {
public:
CanRead()
: ThreadController("CAN RX", NORMALPRIO)
{
}
static msg_t canThread(void *arg) {
(void)arg;
chRegSetThreadName("CAN");
while (true) {
if (engineConfiguration->canWriteEnabled)
writeStateToCan();
void ThreadTask() override {
CANDriver* device = detectCanDevice(CONFIG(canRxPin), CONFIG(canTxPin));
if (engineConfiguration->canReadEnabled)
canRead(); // todo: since this is a blocking operation, do we need a separate thread for 'write'?
if (engineConfiguration->canSleepPeriodMs < 10) {
warning(CUSTOM_OBD_LOW_CAN_PERIOD, "%d too low CAN", engineConfiguration->canSleepPeriodMs);
engineConfiguration->canSleepPeriodMs = 50;
if (!device) {
warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN configuration issue");
return;
}
chThdSleepMilliseconds(engineConfiguration->canSleepPeriodMs);
while (true) {
// Block until we get a message
msg_t result = canReceiveTimeout(device, CAN_ANY_MAILBOX, &m_buffer, TIME_INFINITE);
if (result != MSG_OK) {
continue;
}
// Process the message
canReadCounter++;
printPacket(&m_buffer);
obdOnCanPacketRx(&m_buffer);
}
}
#if defined __GNUC__
return -1;
#endif
}
private:
CANRxFrame m_buffer;
};
static CanRead canRead;
static CanWrite canWrite;
static void canInfo(void) {
if (!isCanEnabled) {
@ -330,18 +324,30 @@ void startCanPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
}
void initCan(void) {
isCanEnabled = (CONFIG(canTxPin) != GPIO_UNASSIGNED) && (CONFIG(canRxPin) != GPIO_UNASSIGNED);
if (isCanEnabled) {
if (!isValidCanTxPin(CONFIG(canTxPin)))
firmwareError(CUSTOM_OBD_70, "invalid CAN TX %s", hwPortname(CONFIG(canTxPin)));
if (!isValidCanRxPin(CONFIG(canRxPin)))
firmwareError(CUSTOM_OBD_70, "invalid CAN RX %s", hwPortname(CONFIG(canRxPin)));
addConsoleAction("caninfo", canInfo);
isCanEnabled =
(CONFIG(canTxPin) != GPIO_UNASSIGNED) && // both pins are set...
(CONFIG(canRxPin) != GPIO_UNASSIGNED) &&
(CONFIG(canWriteEnabled) || CONFIG(canReadEnabled)) ; // ...and either read or write is enabled
// nothing to do if we aren't enabled...
if (!isCanEnabled) {
return;
}
addConsoleAction("caninfo", canInfo);
if (!isCanEnabled)
// Validate pins
if (!isValidCanTxPin(CONFIG(canTxPin))) {
firmwareError(CUSTOM_OBD_70, "invalid CAN TX %s", hwPortname(CONFIG(canTxPin)));
return;
}
if (!isValidCanRxPin(CONFIG(canRxPin))) {
firmwareError(CUSTOM_OBD_70, "invalid CAN RX %s", hwPortname(CONFIG(canRxPin)));
return;
}
// Initialize hardware
#if STM32_CAN_USE_CAN2
// CAN1 is required for CAN2
canStart(&CAND1, &canConfig500);
@ -350,10 +356,17 @@ void initCan(void) {
canStart(&CAND1, &canConfig500);
#endif /* STM32_CAN_USE_CAN2 */
chThdCreateStatic(canTreadStack, sizeof(canTreadStack), NORMALPRIO, (tfunc_t)(void*) canThread, NULL);
// fire up threads, as necessary
if (CONFIG(canWriteEnabled)) {
canWrite.setPeriod(CONFIG(canSleepPeriodMs));
canWrite.Start();
}
if (CONFIG(canReadEnabled)) {
canRead.Start();
}
startCanPins();
}
#endif /* EFI_CAN_SUPPORT */

2
firmware/hw_layer/can_hw.h
View File

@ -39,7 +39,7 @@
void initCan(void);
void commonTxInit(int eid);
void sendCanMessage();
void sendCanMessage(int size = 8);
void setCanType(int type);
void setTxBit(int offset, int index);