Second CAN #3687

firmware/console/status_loop.cpp

@@ -777,7 +777,7 @@ void updateTunerStudioState() {
 
 	tsOutputChannels->revolutionCounterSinceStart = engine->rpmCalculator.getRevolutionCounterSinceStart();
 #if EFI_CAN_SUPPORT
-		postCanState(tsOutputChannels);
+		postCanState();
 #endif /* EFI_CAN_SUPPORT */
 
 #if EFI_CLOCK_LOCKS

firmware/controllers/can/can.h

@@ -46,7 +46,7 @@ class CanListener;
 class CanSensorBase;
 
 #if EFI_CAN_SUPPORT
-void processCanRxMessage(const CANRxFrame& msg, efitick_t nowNt);
+void processCanRxMessage(const size_t busIndex, const CANRxFrame& msg, efitick_t nowNt);
 #endif // EFI_CAN_SUPPORT
 
 void registerCanListener(CanListener& listener);

firmware/controllers/can/can_rx.cpp

@@ -158,7 +158,7 @@ static void processCanRxImu(const CANRxFrame& frame, efitick_t nowNt) {
 	}
 }
 
-void processCanRxMessage(const CANRxFrame &frame, efitick_t nowNt) {
+void processCanRxMessage(const size_t busIndex, const CANRxFrame &frame, efitick_t nowNt) {
 	if (engineConfiguration->verboseCan) {
 		printPacket(frame);
 	}

firmware/hw_layer/drivers/can/can_hw.cpp

@@ -22,9 +22,6 @@
 #include "string.h"
 #include "mpu_util.h"
 
-static int canReadCounter = 0;
-int canWriteOk = 0;
-int canWriteNotOk = 0;
 static bool isCanEnabled = false;
 
 // Values below calculated with http://www.bittiming.can-wiki.info/
@@ -150,9 +147,9 @@ public:
 			}
 
 			// Process the message
-			canReadCounter++;
+			engine->outputChannels.canReadCounter++;
 
-			processCanRxMessage(m_buffer, getTimeNowNt());
+			processCanRxMessage(m_index, m_buffer, getTimeNowNt());
 		}
 	}
 
@@ -177,7 +174,10 @@ static void canInfo() {
 			boolToString(engineConfiguration->canReadEnabled), boolToString(engineConfiguration->canWriteEnabled),
 			engineConfiguration->canSleepPeriodMs);
 
-	efiPrintf("CAN rx_cnt=%d/tx_ok=%d/tx_not_ok=%d", canReadCounter, canWriteOk, canWriteNotOk);
+	efiPrintf("CAN rx_cnt=%d/tx_ok=%d/tx_not_ok=%d",
+			engine->outputChannels.canReadCounter,
+			engine->outputChannels.canWriteOk,
+			engine->outputChannels.canWriteNotOk);
 }
 
 void setCanType(int type) {
@@ -186,10 +186,12 @@ void setCanType(int type) {
 }
 
 #if EFI_TUNER_STUDIO
-void postCanState(TunerStudioOutputChannels *tsOutputChannels) {
+void postCanState() {
-	tsOutputChannels->canReadCounter = isCanEnabled ? canReadCounter : -1;
+	if (!isCanEnabled) {
-	tsOutputChannels->canWriteOk = isCanEnabled ? canWriteOk : -1;
+		engine->outputChannels.canReadCounter = -1;
-	tsOutputChannels->canWriteNotOk = isCanEnabled ? canWriteNotOk : -1;
+		engine->outputChannels.canWriteOk = -1;
+		engine->outputChannels.canWriteNotOk = -1;
+	}
 }
 #endif /* EFI_TUNER_STUDIO */
 
@@ -202,6 +204,8 @@ void enableFrankensoCan() {
 void stopCanPins() {
 	efiSetPadUnusedIfConfigurationChanged(canTxPin);
 	efiSetPadUnusedIfConfigurationChanged(canRxPin);
+	efiSetPadUnusedIfConfigurationChanged(can2TxPin);
+	efiSetPadUnusedIfConfigurationChanged(can2RxPin);
 }
 
 // at the moment we support only very limited runtime configuration change, still not supporting online CAN toggle
@@ -232,6 +236,9 @@ void startCanPins() {
 
 	efiSetPadModeIfConfigurationChanged("CAN TX", canTxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
 	efiSetPadModeIfConfigurationChanged("CAN RX", canRxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
+
+	efiSetPadModeIfConfigurationChanged("CAN2 TX", can2TxPin, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
+	efiSetPadModeIfConfigurationChanged("CAN2 RX", can2RxPin, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
 }
 
 void initCan(void) {
@@ -281,7 +288,7 @@ void initCan(void) {
 	}
 
 	// Plumb CAN device to tx system
-	CanTxMessage::setDevice(detectCanDevice(0));
+	CanTxMessage::setDevice(detectCanDevice(0), detectCanDevice(1));
 
 	// fire up threads, as necessary
 	if (engineConfiguration->canWriteEnabled) {

firmware/hw_layer/drivers/can/can_hw.h

@@ -21,6 +21,6 @@ void startCanPins();
 void enableFrankensoCan();
 bool getIsCanEnabled(void);
 #if EFI_TUNER_STUDIO
-void postCanState(TunerStudioOutputChannels *tsOutputChannels);
+void postCanState();
 #endif /* EFI_TUNER_STUDIO */
 #endif /* EFI_CAN_SUPPORT */

firmware/hw_layer/drivers/can/can_msg_tx.cpp

@@ -13,14 +13,12 @@
 
 #include "can.h"
 
-extern int canWriteOk;
-extern int canWriteNotOk;
-
 #if EFI_CAN_SUPPORT
-/*static*/ CANDriver* CanTxMessage::s_device = nullptr;
+/*static*/ CANDriver* CanTxMessage::s_devices[2] = {nullptr, nullptr};
 
-/*static*/ void CanTxMessage::setDevice(CANDriver* device) {
+/*static*/ void CanTxMessage::setDevice(CANDriver* device1, CANDriver* device2) {
-	s_device = device;
+	s_devices[0] = device1;
+	s_devices[1] = device2;
 }
 #endif // EFI_CAN_SUPPORT
 
@@ -50,7 +48,7 @@ CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
 
 CanTxMessage::~CanTxMessage() {
 #if EFI_CAN_SUPPORT
-	auto device = s_device;
+	auto device = s_devices[0];
 
 	if (!device) {
 		warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN configuration issue");
@@ -71,11 +69,13 @@ CanTxMessage::~CanTxMessage() {
 
 	// 100 ms timeout
 	msg_t msg = canTransmit(device, CAN_ANY_MAILBOX, &m_frame, TIME_MS2I(100));
+#if EFI_TUNER_STUDIO
 	if (msg == MSG_OK) {
-		canWriteOk++;
+		engine->outputChannels.canWriteOk++;
 	} else {
-		canWriteNotOk++;
+		engine->outputChannels.canWriteNotOk++;
 	}
+#endif // EFI_TUNER_STUDIO
 #endif /* EFI_CAN_SUPPORT */
 }
 

firmware/hw_layer/drivers/can/can_msg_tx.h

@@ -40,7 +40,7 @@ public:
 	/**
 	 * Configures the device for all messages to transmit from.
 	 */
-	static void setDevice(CANDriver* device);
+	static void setDevice(CANDriver* device1, CANDriver* device2);
 #endif // EFI_CAN_SUPPORT
 	/**
 	 * @brief Read & write the raw underlying 8-byte buffer.
@@ -72,7 +72,7 @@ protected:
 
 private:
 #if EFI_CAN_SUPPORT
-	static CANDriver* s_device;
+	static CANDriver* s_devices[2];
 #endif // EFI_CAN_SUPPORT
 };