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

CAN update

This commit is contained in:
Andrei 2021-12-01 11:13:36 -05:00 committed by rusefillc
parent 63a24ceda8
commit c6fa50d196
13 changed files with 337 additions and 111 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

229
firmware/console/binary/serial_can.cpp
View File

@ -12,44 +12,47 @@
#include "pch.h"
#include "os_access.h"
#include "crc.h"
#if HAL_USE_CAN
#include "serial_can.h"
#include "can.h"
#include "can_msg_tx.h"
static CanStreamer streamer;
static CanStreamerState state(&streamer);
static CanTsListener listener;
static CanStreamerState state;
int CanStreamerState::sendFrame(CANDriver *canp, const IsoTpFrameHeader & header, const uint8_t *data, int num) {
CANTxFrame txmsg;
memset(&txmsg, 0, sizeof(txmsg));
txmsg.IDE = CAN_IDE_STD;
txmsg.EID = CAN_TX_ID;
txmsg.RTR = CAN_RTR_DATA;
txmsg.DLC = 8; // 8 bytes
int CanStreamerState::sendFrame(const IsoTpFrameHeader & header, const uint8_t *data, int num, can_sysinterval_t timeout) {
int dlc = 8; // standard 8 bytes
CanTxMessage txmsg(CAN_SERIAL_TX_ID, dlc, false);
// fill the frame data according to the CAN-TP protocol (ISO 15765-2)
txmsg.data8[0] = (uint8_t)((header.frameType & 0xf) << 4);
txmsg[0] = (uint8_t)((header.frameType & 0xf) << 4);
int offset, maxNumBytes;
switch (header.frameType) {
case ISO_TP_FRAME_SINGLE:
offset = 1;
maxNumBytes = minI(header.numBytes, txmsg.DLC - offset);
txmsg.data8[0] |= maxNumBytes;
maxNumBytes = minI(header.numBytes, dlc - offset);
txmsg[0] |= maxNumBytes;
break;
case ISO_TP_FRAME_FIRST:
txmsg.data8[0] |= (header.numBytes >> 8) & 0xf;
txmsg.data8[1] = (uint8_t)(header.numBytes & 0xff);
txmsg[0] |= (header.numBytes >> 8) & 0xf;
txmsg[1] = (uint8_t)(header.numBytes & 0xff);
offset = 2;
maxNumBytes = minI(header.numBytes, txmsg.DLC - offset);
maxNumBytes = minI(header.numBytes, dlc - offset);
break;
case ISO_TP_FRAME_CONSECUTIVE:
txmsg.data8[0] |= header.index & 0xf;
txmsg[0] |= header.index & 0xf;
offset = 1;
maxNumBytes = txmsg.DLC - offset;
// todo: is it correct?
maxNumBytes = dlc - offset;
break;
case ISO_TP_FRAME_FLOW_CONTROL:
txmsg.data8[0] |= header.fcFlag & 0xf;
txmsg.data8[1] = (uint8_t)(header.blockSize);
txmsg.data8[2] = (uint8_t)(header.separationTime);
txmsg[0] |= header.fcFlag & 0xf;
txmsg[1] = (uint8_t)(header.blockSize);
txmsg[2] = (uint8_t)(header.separationTime);
offset = 3;
maxNumBytes = 0; // no data is sent with 'flow control' frame
break;
@ -59,18 +62,18 @@ int CanStreamerState::sendFrame(CANDriver *canp, const IsoTpFrameHeader & header
// copy the contents
if (data != nullptr) {
for (int i = 0; i < numBytes; i++) {
txmsg.data8[i + offset] = data[i];
txmsg[i + offset] = data[i];
}
}
// send the frame!
if (canTransmit(&CAND1, CAN_ANY_MAILBOX, &txmsg, TIME_MS2I(100)) == MSG_OK)
if (streamer->transmit(CAN_ANY_MAILBOX, &txmsg, timeout) == CAN_MSG_OK)
return numBytes;
return 0;
}
// returns the number of copied bytes
int CanStreamerState::receiveFrame(CANDriver *canp, CANRxFrame *rxmsg, uint8_t *buf, int num) {
int CanStreamerState::receiveFrame(CANRxFrame *rxmsg, uint8_t *buf, int num, can_sysinterval_t timeout) {
if (rxmsg == nullptr || rxmsg->DLC < 1)
return 0;
int frameType = (rxmsg->data8[0] >> 4) & 0xf;
@ -105,21 +108,24 @@ int CanStreamerState::receiveFrame(CANDriver *canp, CANRxFrame *rxmsg, uint8_t *
#if defined(TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME)
if (frameType == ISO_TP_FRAME_SINGLE) {
srcBuf = state.tmpRxBuf;
// restore the CRC on the whole packet
uint32_t crc = crc32((void *) (rxmsg->data + 1), numBytesAvailable);
uint32_t crc = crc32((void *) srcBuf, numBytesAvailable);
// we need a separate buffer for crc because srcBuf may not be word-aligned for direct copy
uint8_t crcBuffer[sizeof(uint32_t)];
*(uint32_t *) (crcBuffer) = SWAP_UINT32(crc);
// now set the packet size (including the command byte)
*(uint16_t *) srcBuf = SWAP_UINT16(numBytesAvailable);
// now set the packet size
*(uint16_t *) tmpRxBuf = SWAP_UINT16(numBytesAvailable);
// copy the data
if (numBytesAvailable > 0)
memcpy(srcBuf + 2, rxmsg->data8 + 1, numBytesAvailable);
// copy the crc
memcpy(srcBuf + 2 + numBytesAvailable, crcBuffer, sizeof(crcBuffer));
numBytesAvailable += 1 + sizeof(crcBuffer); // added command & crc bytes
memcpy(tmpRxBuf + sizeof(uint16_t), srcBuf, numBytesAvailable);
// copy the crc to the end
memcpy(tmpRxBuf + sizeof(uint16_t) + numBytesAvailable, crcBuffer, sizeof(crcBuffer));
// use the reconstructed tmp buffer as a source buffer
srcBuf = tmpRxBuf;
// we added the 16-bit size & 32-bit crc bytes
numBytesAvailable += sizeof(uint16_t) + sizeof(crcBuffer);
}
#endif /* TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME */
@ -142,39 +148,71 @@ int CanStreamerState::receiveFrame(CANDriver *canp, CANRxFrame *rxmsg, uint8_t *
header.fcFlag = 0; // = "continue to send"
header.blockSize = 0; // = the remaining "frames" to be sent without flow control or delay
header.separationTime = 0; // = wait 0 milliseconds, send immediately
sendFrame(canp, header, nullptr, 0);
sendFrame(header, nullptr, 0, timeout);
}
return numBytesToCopy;
}
int CanStreamerState::sendDataTimeout(CANDriver *canp, const uint8_t *txbuf, int numBytes, sysinterval_t timeout) {
int CanStreamerState::sendDataTimeout(const uint8_t *txbuf, int numBytes, can_sysinterval_t timeout) {
int offset = 0;
msg_t ret;
if (numBytes < 1)
return 0;
// 1 frame
if (numBytes <= 7) {
IsoTpFrameHeader header;
header.frameType = ISO_TP_FRAME_SINGLE;
header.numBytes = numBytes;
return state.sendFrame(canp, header, txbuf, numBytes);
return sendFrame(header, txbuf, numBytes, timeout);
}
// multiple frames
// send the first header frame
// send the first header frame (FF)
IsoTpFrameHeader header;
header.frameType = ISO_TP_FRAME_FIRST;
header.numBytes = numBytes;
int numSent = state.sendFrame(canp, header, txbuf + offset, numBytes);
int numSent = sendFrame(header, txbuf + offset, numBytes, timeout);
offset += numSent;
numBytes -= numSent;
int totalNumSent = numSent;
// get a flow control frame
// get a flow control (FC) frame
CANRxFrame rxmsg;
if (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, timeout) == MSG_OK) {
state.receiveFrame(canp, &rxmsg, nullptr, 0);
for (int numFcReceived = 0; ; numFcReceived++) {
if (streamer->receive(CAN_ANY_MAILBOX, &rxmsg, timeout) != CAN_MSG_OK) {
#ifdef SERIAL_CAN_DEBUG
efiPrintf("*** ERROR: CAN Flow Control frame not received");
#endif /* SERIAL_CAN_DEBUG */
//warning(CUSTOM_ERR_CAN_COMMUNICATION, "CAN Flow Control frame not received");
return 0;
}
receiveFrame(&rxmsg, nullptr, 0, timeout);
int flowStatus = rxmsg.data8[0] & 0xf;
// if something is not ok
if (flowStatus != CAN_FLOW_STATUS_OK) {
// if the receiver is not ready yet and asks to wait for the next FC frame (give it 3 attempts)
if (flowStatus == CAN_FLOW_STATUS_WAIT_MORE && numFcReceived < 3) {
continue;
}
#ifdef SERIAL_CAN_DEBUG
efiPrintf("*** ERROR: CAN Flow Control mode not supported");
#endif /* SERIAL_CAN_DEBUG */
//warning(CUSTOM_ERR_CAN_COMMUNICATION, "CAN Flow Control mode not supported");
return 0;
}
int blockSize = rxmsg.data8[1];
int minSeparationTime = rxmsg.data8[2];
if (blockSize != 0 || minSeparationTime != 0) {
// todo: process other Flow Control fields (see ISO 15765-2)
#ifdef SERIAL_CAN_DEBUG
efiPrintf("*** ERROR: CAN Flow Control fields not supported");
#endif /* SERIAL_CAN_DEBUG */
//warning(CUSTOM_ERR_CAN_COMMUNICATION, "CAN Flow Control fields not supported");
}
break;
}
// send the rest of the data
@ -185,8 +223,8 @@ int CanStreamerState::sendDataTimeout(CANDriver *canp, const uint8_t *txbuf, int
IsoTpFrameHeader header;
header.frameType = ISO_TP_FRAME_CONSECUTIVE;
header.index = ((idx++) & 0x0f);
header.numBytes = numBytes;
int numSent = state.sendFrame(canp, header, txbuf + offset, numBytes);
header.numBytes = len;
int numSent = sendFrame(header, txbuf + offset, len, timeout);
if (numSent < 1)
break;
totalNumSent += numSent;
@ -209,60 +247,111 @@ int CanStreamerState::getDataFromFifo(uint8_t *rxbuf, size_t &numBytes) {
return i;
}
void canInit(CANDriver *canp) {
chEvtRegister(&CAND1.rxfull_event, &state.el, 0);
}
msg_t canAddToTxStreamTimeout(CANDriver *canp, size_t *np,
const uint8_t *txbuf, sysinterval_t timeout) {
can_msg_t CanStreamerState::streamAddToTxTimeout(size_t *np, const uint8_t *txbuf, can_sysinterval_t timeout) {
int numBytes = *np;
int offset = 0;
int minNumBytesRequiredToSend = 7 - state.txFifoBuf.getCount();
int minNumBytesRequiredToSend = 7 - txFifoBuf.getCount();
while (numBytes >= minNumBytesRequiredToSend) {
state.txFifoBuf.put(txbuf + offset, minNumBytesRequiredToSend);
int numSent = state.sendDataTimeout(canp, (const uint8_t *)state.txFifoBuf.elements, state.txFifoBuf.getCount(), timeout);
txFifoBuf.put(txbuf + offset, numBytes);
int numSent = sendDataTimeout((const uint8_t *)txFifoBuf.getElements(), txFifoBuf.getCount(), timeout);
if (numSent < 1)
break;
state.txFifoBuf.clear();
txFifoBuf.clear();
offset += numSent;
numBytes -= numSent;
minNumBytesRequiredToSend = 7;
}
// now we put the rest on hold
state.txFifoBuf.put(txbuf + offset, numBytes);
txFifoBuf.put(txbuf + offset, numBytes);
return MSG_OK;
return CAN_MSG_OK;
}
msg_t canFlushTxStream(CANDriver *canp, sysinterval_t timeout) {
int numSent = state.sendDataTimeout(canp, (const uint8_t *)state.txFifoBuf.elements, state.txFifoBuf.getCount(), timeout);
state.txFifoBuf.clear();
can_msg_t CanStreamerState::streamFlushTx(can_sysinterval_t timeout) {
int numSent = sendDataTimeout((const uint8_t *)txFifoBuf.getElements(), txFifoBuf.getCount(), timeout);
if (numSent != txFifoBuf.getCount()) {
//warning(CUSTOM_ERR_CAN_COMMUNICATION, "CAN sendDataTimeout() problems");
}
txFifoBuf.clear();
return MSG_OK;
return CAN_MSG_OK;
}
msg_t canStreamReceiveTimeout(CANDriver *canp, size_t *np,
uint8_t *rxbuf, sysinterval_t timeout) {
can_msg_t CanStreamerState::streamReceiveTimeout(size_t *np, uint8_t *rxbuf, can_sysinterval_t timeout) {
int i = 0;
size_t numBytes = *np;
// first, fill the data from the stored buffer (saved from the previous CAN frame)
i = state.getDataFromFifo(rxbuf, numBytes);
i = getDataFromFifo(rxbuf, numBytes);
// if even more data is needed, then we receive more CAN frames
while (numBytes > 0) {
if (chEvtWaitAnyTimeout(ALL_EVENTS, timeout) == 0)
return MSG_TIMEOUT;
CANRxFrame rxmsg;
if (canReceive(&CAND1, CAN_ANY_MAILBOX, &rxmsg, TIME_IMMEDIATE) == MSG_OK) {
int numReceived = state.receiveFrame(canp, &rxmsg, rxbuf + i, numBytes);
if (streamer->receive(CAN_ANY_MAILBOX, &rxmsg, timeout) == CAN_MSG_OK) {
int numReceived = receiveFrame(&rxmsg, rxbuf + i, numBytes, timeout);
if (numReceived < 1)
break;
numBytes -= numReceived;
i += numReceived;
} else {
break;
}
}
//*np -= numBytes;
return MSG_OK;
*np -= numBytes;
#ifdef SERIAL_CAN_DEBUG
efiPrintf("* ret: %d %d (%d)", i, *np, numBytes);
for (int j = 0; j < i; j++) {
efiPrintf("* [%d]: %02x", j, rxbuf[j]);
}
#endif /* SERIAL_CAN_DEBUG */
return CAN_MSG_OK;
}
void CanTsListener::decodeFrame(const CANRxFrame& frame, efitick_t /*nowNt*/) {
// todo: what if the FIFO is full?
CanRxMessage msg(frame);
if (!rxFifo.put(msg)) {
//warning(CUSTOM_ERR_CAN_COMMUNICATION, "CAN sendDataTimeout() problems");
}
}
void CanStreamer::init() {
registerCanListener(listener);
}
can_msg_t CanStreamer::transmit(canmbx_t /*mailbox*/, const CanTxMessage */*ctfp*/, can_sysinterval_t /*timeout*/) {
// we do nothing here - see CanTxMessage::~CanTxMessage()
return CAN_MSG_OK;
}
can_msg_t CanStreamer::receive(canmbx_t /*mailbox*/, CANRxFrame *crfp, can_sysinterval_t timeout) {
// see CanTsListener and processCanRxMessage()
CanRxMessage msg;
if (listener.get(msg, timeout)) {
*crfp = msg.frame;
return CAN_MSG_OK;
}
return CAN_MSG_TIMEOUT;
}
void canStreamInit(void) {
streamer.init();
}
msg_t canStreamAddToTxTimeout(size_t *np, const uint8_t *txbuf, sysinterval_t timeout) {
return state.streamAddToTxTimeout(np, txbuf, timeout);
}
msg_t canStreamFlushTx(sysinterval_t timeout) {
return state.streamFlushTx(timeout);
}
msg_t canStreamReceiveTimeout(size_t *np, uint8_t *rxbuf, sysinterval_t timeout) {
return state.streamReceiveTimeout(np, rxbuf, timeout);
}
#endif /* HAL_USE_CAN */

104
firmware/console/binary/serial_can.h
View File

@ -9,8 +9,32 @@
#pragma once
#include "fifo_buffer.h"
#include "can_listener.h"
#include "can_msg_tx.h"
#if !EFI_UNIT_TEST
#define can_msg_t msg_t
#define can_sysinterval_t sysinterval_t
#define CAN_MSG_OK MSG_OK
#define CAN_MSG_TIMEOUT MSG_TIMEOUT
#else
#include "can_mocks.h"
#endif /* EFI_UNIT_TEST */
#define CAN_TIME_IMMEDIATE ((can_sysinterval_t)0)
#define CAN_FIFO_BUF_SIZE 64
#define CAN_FIFO_FRAME_SIZE 8
// todo: find a better place for these defs
#define CAN_SERIAL_RX_ID 0x100
#define CAN_SERIAL_TX_ID 0x102
#define CAN_FLOW_STATUS_OK 0
#define CAN_FLOW_STATUS_WAIT_MORE 1
#define CAN_FLOW_STATUS_ABORT 2
#define CAN_TX_ID 0x102
enum IsoTpFrameType {
ISO_TP_FRAME_SINGLE = 0,
@ -33,10 +57,17 @@ public:
int separationTime;
};
// We need an abstraction layer for unit-testing
class ICanStreamer {
public:
virtual can_msg_t transmit(canmbx_t mailbox, const CanTxMessage *ctfp, can_sysinterval_t timeout) = 0;
virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) = 0;
};
class CanStreamerState {
public:
fifo_buffer<uint8_t, 64> rxFifoBuf;
fifo_buffer<uint8_t, 64> txFifoBuf;
fifo_buffer<uint8_t, CAN_FIFO_BUF_SIZE> rxFifoBuf;
fifo_buffer<uint8_t, CAN_FIFO_BUF_SIZE> txFifoBuf;
#if defined(TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME)
// used to restore the original packet with CRC
@ -47,21 +78,70 @@ public:
int waitingForNumBytes = 0;
int waitingForFrameIndex = 0;
event_listener_t el;
ICanStreamer *streamer;
public:
int sendFrame(CANDriver *canp, const IsoTpFrameHeader & header, const uint8_t *data, int num);
int receiveFrame(CANDriver *canp, CANRxFrame *rxmsg, uint8_t *buf, int num);
CanStreamerState(ICanStreamer *s) : streamer(s) {}
int sendFrame(const IsoTpFrameHeader & header, const uint8_t *data, int num, can_sysinterval_t timeout);
int receiveFrame(CANRxFrame *rxmsg, uint8_t *buf, int num, can_sysinterval_t timeout);
int getDataFromFifo(uint8_t *rxbuf, size_t &numBytes);
// returns the number of bytes sent
int sendDataTimeout(CANDriver *canp, const uint8_t *txbuf, int numBytes, sysinterval_t timeout);
int sendDataTimeout(const uint8_t *txbuf, int numBytes, can_sysinterval_t timeout);
// streaming support for TS I/O (see tunerstudio_io.cpp)
can_msg_t streamAddToTxTimeout(size_t *np, const uint8_t *txbuf, can_sysinterval_t timeout);
can_msg_t streamFlushTx(can_sysinterval_t timeout);
can_msg_t streamReceiveTimeout(size_t *np, uint8_t *rxbuf, can_sysinterval_t timeout);
};
void canInit(CANDriver *canp);
class CanRxMessage {
public:
CanRxMessage() {}
CanRxMessage(const CANRxFrame &f) {
frame = f;
}
CanRxMessage(const CanRxMessage& msg) : frame(msg.frame) {}
CanRxMessage& operator=(const CanRxMessage& msg) {
frame = msg.frame;
return *this;
}
public:
CANRxFrame frame;
};
class CanTsListener : public CanListener {
public:
CanTsListener()
: CanListener(CAN_SERIAL_RX_ID)
{
}
virtual void decodeFrame(const CANRxFrame& frame, efitick_t nowNt);
bool get(CanRxMessage &item, int timeout) {
return rxFifo.get(item, timeout);
}
protected:
fifo_buffer_sync<CanRxMessage, CAN_FIFO_FRAME_SIZE> rxFifo;
};
#if HAL_USE_CAN
class CanStreamer : public ICanStreamer {
public:
void init();
virtual can_msg_t transmit(canmbx_t mailbox, const CanTxMessage *ctfp, can_sysinterval_t timeout) override;
virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) override;
};
void canStreamInit(void);
// we don't have canStreamSendTimeout() because we need to "bufferize" the stream and send it in fixed-length packets
msg_t canAddToTxStreamTimeout(CANDriver *canp, size_t *np, const uint8_t *txbuf, sysinterval_t timeout);
msg_t canFlushTxStream(CANDriver *canp, sysinterval_t timeout);
msg_t canStreamReceiveTimeout(CANDriver *canp, size_t *np, uint8_t *rxbuf, sysinterval_t timeout);
msg_t canStreamAddToTxTimeout(size_t *np, const uint8_t *txbuf, sysinterval_t timeout);
msg_t canStreamFlushTx(sysinterval_t timeout);
msg_t canStreamReceiveTimeout(size_t *np, uint8_t *rxbuf, sysinterval_t timeout);
#endif /* HAL_USE_CAN */

68
firmware/console/binary/ts_can_channel.cpp
View File

@ -1,41 +1,57 @@
// TODO: @andreika-git finish this implementation
/**
* @file This file implements CAN-to-TS bridge.
*
* @date Apr 24, 2021
* @author andreika <prometheus.pcb@gmail.com>
* @author Andrey Belomutskiy, (c) 2012-2021
*/
#include "pch.h"
#include "tunerstudio.h"
#include "tunerstudio_io.h"
#ifdef TS_CAN_DEVICE
#ifdef EFI_CAN_SERIAL
#include "serial_can.h"
#include "can_hw.h"
#if !EFI_CAN_SUPPORT
#error "EFI_CAN_SERIAL requires EFI_CAN_SUPPORT"
#endif
class CanTsChannel : public TsChannelBase {
public:
void start();
// TsChannelBase implementation
void write(const uint8_t* buffer, size_t size) override;
size_t readTimeout(uint8_t* buffer, size_t size, int timeout) override;
void flush() override;
bool isReady() override;
bool isReady() const override;
void stop() override;
// Special override for writeCrcPacket for small packets
void writeCrcPacket(uint8_t responseCode, const uint8_t* buf, size_t size) override;
};
static CANConfig tsCanConfig = { CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP, CAN_BTR_500 };
void CanTsChannel::start() {
efiSetPadMode("ts can rx", GPIOG_13/*engineConfiguration->canRxPin*/, PAL_MODE_ALTERNATE(TS_CAN_AF)); // CAN2_RX2_0
efiSetPadMode("ts can tx", GPIOG_14/*engineConfiguration->canTxPin*/, PAL_MODE_ALTERNATE(TS_CAN_AF)); // CAN2_TX2_0
if (!getIsCanEnabled()) {
warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN not enabled");
return;
}
canStart(&TS_CAN_DEVICE, &tsCanConfig);
canInit(&TS_CAN_DEVICE);
if (!CONFIG(canReadEnabled) || !CONFIG(canWriteEnabled)) {
warning(CUSTOM_ERR_CAN_CONFIGURATION, "CAN read or write not enabled");
}
}
void CanTsChannel::stop() {
canStop(&TS_CAN_DEVICE);
}
void CanTsChannel::writeCrcPacket(uint8_t responseCode, const uint8_t* buf, size_t size) {
#ifdef TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME
// a special case for short packets: we can sent them in 1 frame, without CRC & size,
// a special case for short packets: we can send them in 1 frame, without CRC & size,
// because the CAN protocol is already protected by its own checksum.
if ((size + 1) <= 7) {
write(&responseCode, 1); // header without size
@ -45,28 +61,48 @@ void CanTsChannel::writeCrcPacket(uint8_t responseCode, const uint8_t* buf, size
flush();
return;
}
#endif /* TS_CAN_DEVICE */
#endif /* TS_CAN_DEVICE_SHORT_PACKETS_IN_ONE_FRAME */
// Packet too large, use default implementation
TsChannelBase::writeCrcPacket(responseCode, buf, size);
}
void CanTsChannel::write(const uint8_t* buffer, size_t size) {
canAddToTxStreamTimeout(&TS_CAN_DEVICE, &size, buffer, BINARY_IO_TIMEOUT);
canStreamAddToTxTimeout(&size, buffer, BINARY_IO_TIMEOUT);
}
size_t CanTsChannel::readTimeout(uint8_t* buffer, size_t size, int timeout) {
canStreamReceiveTimeout(&TS_CAN_DEVICE, &size, buffer, timeout);
canStreamReceiveTimeout(&size, buffer, timeout);
//!!!!!!!!!!!!!
efiPrintf("--RT: %d %02x", size, (size > 0 ? buffer[0] : 0));
return size;
}
void CanTsChannel::flush() {
canFlushTxStream(&TS_CAN_DEVICE);
canStreamFlushTx(BINARY_IO_TIMEOUT);
}
bool CanTsChannel::isReady() {
bool CanTsChannel::isReady() const {
// this channel is always ready
return true;
}
#endif // def TS_CAN_DEVICE
static CanTsChannel canChannel;
struct CanTsThread : public TunerstudioThread {
CanTsThread() : TunerstudioThread("CAN TS Channel") { }
TsChannelBase* setupChannel() override {
canChannel.start();
return &canChannel;
}
};
static CanTsThread canTsThread;
void startCanConsole() {
canTsThread.Start();
canStreamInit();
}
#endif // def EFI_CAN_SERIAL

1
firmware/console/binary/tunerstudio.mk
View File

@ -3,6 +3,7 @@ TUNERSTUDIO_SRC_CPP = $(PROJECT_DIR)/console/binary/tunerstudio_io.cpp \
$(PROJECT_DIR)/console/binary/tunerstudio_io_serial.cpp \
$(PROJECT_DIR)/console/binary/tunerstudio_io_serial_ports.cpp \
$(PROJECT_DIR)/console/binary/ts_can_channel.cpp \
$(PROJECT_DIR)/console/binary/serial_can.cpp \
$(PROJECT_DIR)/console/binary/tunerstudio.cpp \
$(PROJECT_DIR)/console/binary/tunerstudio_commands.cpp \
$(PROJECT_DIR)/console/binary/bluetooth.cpp \

4
firmware/console/binary/tunerstudio_io.h
View File

@ -50,7 +50,7 @@ public:
// Base functions that use the above virtual implementation
size_t read(uint8_t* buffer, size_t size);
#ifdef TS_CAN_DEVICE
#ifdef EFI_CAN_SERIAL
virtual // CAN device needs this function to be virtual for small-packet optimization
#endif
void writeCrcPacket(uint8_t responseCode, const uint8_t* buf, size_t size);
@ -123,4 +123,6 @@ protected:
void startSerialChannels();
SerialTsChannelBase* getBluetoothChannel();
void startCanConsole();
void sendOkResponse(TsChannelBase *tsChannel, ts_response_format_e mode);

12
firmware/controllers/can/can_listener.h
View File

@ -11,21 +11,21 @@
class CanListener {
public:
CanListener(uint32_t eid)
: m_eid(eid)
CanListener(uint32_t id)
: m_id(id)
{
}
CanListener* processFrame(const CANRxFrame& frame, efitick_t nowNt) {
if (CAN_EID(frame) == m_eid) {
if (CAN_ID(frame) == m_id) {
decodeFrame(frame, nowNt);
}
return m_next;
}
uint32_t getEid() {
return m_eid;
uint32_t getId() {
return m_id;
}
void setNext(CanListener* next) {
@ -41,5 +41,5 @@ protected:
CanListener* m_next = nullptr;
private:
const uint32_t m_eid;
const uint32_t m_id;
};

6
firmware/controllers/can/can_rx.cpp
View File

@ -70,10 +70,8 @@ static void printPacket(const CANRxFrame &rx) {
// only print info if we're in can debug mode
// internet people use both hex and decimal to discuss packed IDs, for usability it's better to print both right here
efiPrintf("CAN_rx %x %d %x %x %x %x %x %x %x %x %x",
CAN_SID(rx),
CAN_SID(rx), rx.DLC,
rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
efiPrintf("CAN_rx %x(%d) %d: %02x %02x %02x %02x %02x %02x %02x %02x", CAN_SID(rx),
CAN_SID(rx), rx.DLC, rx.data8[0], rx.data8[1], rx.data8[2], rx.data8[3],
rx.data8[4], rx.data8[5], rx.data8[6], rx.data8[7]);
}

2
firmware/controllers/can/can_tx.cpp
View File

@ -52,7 +52,9 @@ void CanWrite::PeriodicTask(efitime_t nowNt) {
cycleCount = 0;
}
#ifndef DISABLE_CAN_UPDATE_DASH
updateDash(cycle);
#endif /* DISABLE_CAN_UPDATE_DASH */
if (engineConfiguration->enableAemXSeries && cycle.isInterval(CI::_50ms)) {
sendWidebandInfo();

12
firmware/hw_layer/drivers/can/can_hw.cpp
View File

@ -234,13 +234,15 @@ void startCanPins() {
void initCan(void) {
addConsoleAction("caninfo", canInfo);
isCanEnabled =
isCanEnabled = false;
bool isCanConfigGood =
(isBrainPinValid(engineConfiguration->canTxPin)) && // both pins are set...
(isBrainPinValid(engineConfiguration->canRxPin)) &&
(engineConfiguration->canWriteEnabled || engineConfiguration->canReadEnabled) ; // ...and either read or write is enabled
// nothing to do if we aren't enabled...
if (!isCanEnabled) {
if (!isCanConfigGood) {
return;
}
@ -284,6 +286,12 @@ void initCan(void) {
if (engineConfiguration->canReadEnabled) {
canRead.Start();
}
isCanEnabled = true;
}
bool getIsCanEnabled(void) {
return isCanEnabled;
}
#endif /* EFI_CAN_SUPPORT */

1
firmware/hw_layer/drivers/can/can_hw.h
View File

@ -17,6 +17,7 @@ void setCanVss(int type);
void stopCanPins();
void startCanPins();
void enableFrankensoCan();
bool getIsCanEnabled(void);
#if EFI_TUNER_STUDIO
void postCanState(TunerStudioOutputChannels *tsOutputChannels);
#endif /* EFI_TUNER_STUDIO */

5
firmware/rusefi.cpp
View File

@ -243,6 +243,11 @@ void runRusEfiWithConfig() {
initMmcCard();
#endif /* EFI_FILE_LOGGING */
#if EFI_CAN_SERIAL
// needs to be called after initCan() inside initHardware()
startCanConsole();
#endif /* EFI_CAN_SERIAL */
#if HW_CHECK_ALWAYS_STIMULATE
// we need a special binary for final assembly check. We cannot afford to require too much software or too many steps
// to be executed at the place of assembly

3
unit_tests/tests/test_can_serial.cpp Normal file
View File

@ -0,0 +1,3 @@

1
unit_tests/tests/tests.mk
View File

@ -91,6 +91,7 @@ TESTS_SRC_CPP = \
tests/test_gpio.cpp \
tests/test_limp.cpp \
tests/trigger/test_all_triggers.cpp \
tests/test_can_serial.cpp \
tests/test_stepper.cpp \
tests/sensor/test_frequency_sensor.cpp \
tests/sensor/test_turbocharger_speed_converter.cpp \