mirror of https://github.com/rusefi/rusefi-1.git
Split CAN in to separate threads for rx/tx (#1078)
* rewrite can * default parameters
This commit is contained in:
Matthew Kennedy
rusefi
parent
253f68cb61
commit
868a2bb8ef
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@ -14,6 +14,7 @@
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#if EFI_CAN_SUPPORT
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#include "engine_configuration.h"
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#include "periodic_thread_controller.h"
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#include "pin_repository.h"
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#include "can_hw.h"
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#include "string.h"
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@ -30,7 +31,6 @@ static int canWriteOk = 0;
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static int canWriteNotOk = 0;
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static bool isCanEnabled = false;
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static LoggingWithStorage logger("CAN driver");
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static THD_WORKING_AREA(canTreadStack, UTILITY_THREAD_STACK_SIZE);
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// Values below calculated with http://www.bittiming.can-wiki.info/
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// Pick ST micro bxCAN
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@ -71,8 +71,6 @@ static const CANConfig canConfig1000 = {
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CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP,
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CAN_BTR_1k0 };
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static CANRxFrame rxBuffer;
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CANTxFrame txmsg;
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static void printPacket(CANRxFrame *rx) {
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@ -111,7 +109,7 @@ void commonTxInit(int eid) {
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/**
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* send CAN message from txmsg buffer
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*/
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static void sendCanMessage2(int size) {
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void sendCanMessage(int size) {
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CANDriver *device = detectCanDevice(CONFIG(canRxPin),
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CONFIG(canTxPin));
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if (device == NULL) {
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@ -119,8 +117,9 @@ static void sendCanMessage2(int size) {
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return;
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}
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txmsg.DLC = size;
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// 1 second timeout
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msg_t result = canTransmit(device, CAN_ANY_MAILBOX, &txmsg, TIME_MS2I(1000));
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// 100 ms timeout
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msg_t result = canTransmit(device, CAN_ANY_MAILBOX, &txmsg, TIME_MS2I(100));
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if (result == MSG_OK) {
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canWriteOk++;
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} else {
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@ -128,13 +127,6 @@ static void sendCanMessage2(int size) {
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}
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}
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/**
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* send CAN message from txmsg buffer, using default packet size
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*/
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void sendCanMessage() {
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sendCanMessage2(8);
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}
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static void canDashboardBMW(void) {
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//BMW Dashboard
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commonTxInit(CAN_BMW_E46_SPEED);
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@ -222,68 +214,70 @@ static void canDashboardVAG(void) {
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sendCanMessage();
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}
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static void canInfoNBCBroadcast(can_nbc_e typeOfNBC) {
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switch (typeOfNBC) {
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case CAN_BUS_NBC_BMW:
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canDashboardBMW();
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break;
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case CAN_BUS_NBC_FIAT:
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canDashboardFiat();
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break;
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case CAN_BUS_NBC_VAG:
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canDashboardVAG();
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break;
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case CAN_BUS_MAZDA_RX8:
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canMazdaRX8();
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break;
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default:
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break;
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}
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}
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static void canRead(void) {
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CANDriver *device = detectCanDevice(CONFIG(canRxPin),
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CONFIG(canTxPin));
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if (device == NULL) {
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warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN configuration issue");
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return;
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}
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// scheduleMsg(&logger, "Waiting for CAN");
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msg_t result = canReceive(device, CAN_ANY_MAILBOX, &rxBuffer, TIME_MS2I(1000));
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if (result == MSG_TIMEOUT) {
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return;
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class CanWrite final : public PeriodicController<256> {
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public:
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CanWrite()
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: PeriodicController("CAN TX", NORMALPRIO, 50)
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{
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}
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canReadCounter++;
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printPacket(&rxBuffer);
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obdOnCanPacketRx(&rxBuffer);
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}
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void PeriodicTask(efitime_t nowNt) {
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switch (engineConfiguration->canNbcType) {
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case CAN_BUS_NBC_BMW:
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canDashboardBMW();
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break;
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case CAN_BUS_NBC_FIAT:
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canDashboardFiat();
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break;
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case CAN_BUS_NBC_VAG:
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canDashboardVAG();
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break;
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case CAN_BUS_MAZDA_RX8:
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canMazdaRX8();
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break;
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default:
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break;
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}
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}
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};
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static void writeStateToCan(void) {
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canInfoNBCBroadcast(engineConfiguration->canNbcType);
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}
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class CanRead final : public ThreadController<256> {
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public:
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CanRead()
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: ThreadController("CAN RX", NORMALPRIO)
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{
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}
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static msg_t canThread(void *arg) {
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(void)arg;
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chRegSetThreadName("CAN");
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while (true) {
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if (engineConfiguration->canWriteEnabled)
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writeStateToCan();
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void ThreadTask() override {
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CANDriver* device = detectCanDevice(CONFIG(canRxPin), CONFIG(canTxPin));
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if (engineConfiguration->canReadEnabled)
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canRead(); // todo: since this is a blocking operation, do we need a separate thread for 'write'?
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if (engineConfiguration->canSleepPeriodMs < 10) {
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warning(CUSTOM_OBD_LOW_CAN_PERIOD, "%d too low CAN", engineConfiguration->canSleepPeriodMs);
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engineConfiguration->canSleepPeriodMs = 50;
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if (!device) {
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warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN configuration issue");
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return;
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}
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chThdSleepMilliseconds(engineConfiguration->canSleepPeriodMs);
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while (true) {
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// Block until we get a message
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msg_t result = canReceiveTimeout(device, CAN_ANY_MAILBOX, &m_buffer, TIME_INFINITE);
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if (result != MSG_OK) {
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continue;
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}
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// Process the message
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canReadCounter++;
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printPacket(&m_buffer);
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obdOnCanPacketRx(&m_buffer);
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}
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}
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#if defined __GNUC__
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return -1;
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#endif
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}
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private:
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CANRxFrame m_buffer;
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};
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static CanRead canRead;
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static CanWrite canWrite;
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static void canInfo(void) {
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if (!isCanEnabled) {
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@ -330,18 +324,30 @@ void startCanPins(DECLARE_ENGINE_PARAMETER_SIGNATURE) {
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}
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void initCan(void) {
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isCanEnabled = (CONFIG(canTxPin) != GPIO_UNASSIGNED) && (CONFIG(canRxPin) != GPIO_UNASSIGNED);
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if (isCanEnabled) {
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if (!isValidCanTxPin(CONFIG(canTxPin)))
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firmwareError(CUSTOM_OBD_70, "invalid CAN TX %s", hwPortname(CONFIG(canTxPin)));
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if (!isValidCanRxPin(CONFIG(canRxPin)))
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firmwareError(CUSTOM_OBD_70, "invalid CAN RX %s", hwPortname(CONFIG(canRxPin)));
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addConsoleAction("caninfo", canInfo);
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isCanEnabled =
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(CONFIG(canTxPin) != GPIO_UNASSIGNED) && // both pins are set...
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(CONFIG(canRxPin) != GPIO_UNASSIGNED) &&
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(CONFIG(canWriteEnabled) || CONFIG(canReadEnabled)) ; // ...and either read or write is enabled
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// nothing to do if we aren't enabled...
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if (!isCanEnabled) {
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return;
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}
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addConsoleAction("caninfo", canInfo);
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if (!isCanEnabled)
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// Validate pins
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if (!isValidCanTxPin(CONFIG(canTxPin))) {
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firmwareError(CUSTOM_OBD_70, "invalid CAN TX %s", hwPortname(CONFIG(canTxPin)));
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return;
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}
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if (!isValidCanRxPin(CONFIG(canRxPin))) {
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firmwareError(CUSTOM_OBD_70, "invalid CAN RX %s", hwPortname(CONFIG(canRxPin)));
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return;
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}
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// Initialize hardware
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#if STM32_CAN_USE_CAN2
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// CAN1 is required for CAN2
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canStart(&CAND1, &canConfig500);
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@ -350,10 +356,17 @@ void initCan(void) {
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canStart(&CAND1, &canConfig500);
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#endif /* STM32_CAN_USE_CAN2 */
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chThdCreateStatic(canTreadStack, sizeof(canTreadStack), NORMALPRIO, (tfunc_t)(void*) canThread, NULL);
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// fire up threads, as necessary
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if (CONFIG(canWriteEnabled)) {
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canWrite.setPeriod(CONFIG(canSleepPeriodMs));
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canWrite.Start();
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}
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if (CONFIG(canReadEnabled)) {
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canRead.Start();
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}
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startCanPins();
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}
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#endif /* EFI_CAN_SUPPORT */
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@ -39,7 +39,7 @@
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void initCan(void);
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void commonTxInit(int eid);
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void sendCanMessage();
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void sendCanMessage(int size = 8);
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void setCanType(int type);
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void setTxBit(int offset, int index);
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