mirror of https://github.com/rusefi/rusefi-1.git
103 lines
2.3 KiB
C++
103 lines
2.3 KiB
C++
/**
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* @file can_msg_tx.cpp
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*
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* CAN message transmission
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*
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* @date Mar 13, 2020
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* @author Matthew Kennedy, (c) 2012-2020
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*/
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#include "pch.h"
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#include "can_msg_tx.h"
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#include "can.h"
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#if EFI_CAN_SUPPORT
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/*static*/ CANDriver* CanTxMessage::s_devices[2] = {nullptr, nullptr};
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/*static*/ void CanTxMessage::setDevice(CANDriver* device1, CANDriver* device2) {
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s_devices[0] = device1;
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s_devices[1] = device2;
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}
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#endif // EFI_CAN_SUPPORT
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CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
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#if HAL_USE_CAN || EFI_UNIT_TEST
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#ifndef STM32H7XX
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// ST bxCAN device
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m_frame.IDE = isExtended ? CAN_IDE_EXT : CAN_IDE_STD;
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m_frame.RTR = CAN_RTR_DATA;
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#else /* if STM32H7XX */
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// Bosch M_CAN FDCAN device
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m_frame.common.XTD = isExtended;
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m_frame.common.RTR = 0;
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#endif
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if (isExtended) {
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CAN_EID(m_frame) = eid;
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} else {
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CAN_SID(m_frame) = eid;
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}
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setDlc(dlc);
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memset(m_frame.data8, 0, sizeof(m_frame.data8));
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#endif // HAL_USE_CAN || EFI_UNIT_TEST
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}
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CanTxMessage::~CanTxMessage() {
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#if EFI_CAN_SUPPORT
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auto device = s_devices[busIndex];
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if (!device) {
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warning(CUSTOM_ERR_CAN_CONFIGURATION, "Send: CAN configuration issue %d", busIndex);
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return;
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}
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if (!engine->allowCanTx) {
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return;
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}
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if (engineConfiguration->verboseCan) {
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efiPrintf("Sending CAN bus%d message: SID %x/%x %x %x %x %x %x %x %x %x",
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busIndex,
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CAN_SID(m_frame), m_frame.DLC,
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m_frame.data8[0], m_frame.data8[1],
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m_frame.data8[2], m_frame.data8[3],
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m_frame.data8[4], m_frame.data8[5],
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m_frame.data8[6], m_frame.data8[7]);
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}
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// 100 ms timeout
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msg_t msg = canTransmit(device, CAN_ANY_MAILBOX, &m_frame, TIME_MS2I(100));
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#if EFI_TUNER_STUDIO
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if (msg == MSG_OK) {
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engine->outputChannels.canWriteOk++;
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} else {
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engine->outputChannels.canWriteNotOk++;
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}
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#endif // EFI_TUNER_STUDIO
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#endif /* EFI_CAN_SUPPORT */
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}
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#if HAL_USE_CAN || EFI_UNIT_TEST
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void CanTxMessage::setDlc(uint8_t dlc) {
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m_frame.DLC = dlc;
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}
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void CanTxMessage::setShortValue(uint16_t value, size_t offset) {
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m_frame.data8[offset] = value & 0xFF;
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m_frame.data8[offset + 1] = value >> 8;
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}
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void CanTxMessage::setBit(size_t byteIdx, size_t bitIdx) {
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m_frame.data8[byteIdx] |= 1 << bitIdx;
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}
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uint8_t& CanTxMessage::operator[](size_t index) {
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return m_frame.data8[index];
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}
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#endif // HAL_USE_CAN || EFI_UNIT_TEST
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