mirror of https://github.com/rusefi/wideband.git
107 lines
2.5 KiB
C++
107 lines
2.5 KiB
C++
#include "can.h"
|
|
#include "hal.h"
|
|
|
|
#include "can_helper.h"
|
|
#include "heater_control.h"
|
|
#include "lambda_conversion.h"
|
|
#include "sampling.h"
|
|
|
|
static const CANConfig canConfig500 =
|
|
{
|
|
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP | CAN_MCR_NART,
|
|
CAN_BTR_SJW(0) | CAN_BTR_BRP(5) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
|
|
};
|
|
|
|
static const CANConfig canConfig1000 =
|
|
{
|
|
CAN_MCR_ABOM | CAN_MCR_AWUM | CAN_MCR_TXFP | CAN_MCR_NART,
|
|
CAN_BTR_SJW(0) | CAN_BTR_BRP(2) | CAN_BTR_TS1(12) | CAN_BTR_TS2(1),
|
|
};
|
|
|
|
static THD_WORKING_AREA(waCanTxThread, 256);
|
|
void CanTxThread(void*)
|
|
{
|
|
while(1)
|
|
{
|
|
float esr = GetSensorInternalResistance();
|
|
float lambda = GetLambda();
|
|
|
|
//SendCanData(lambda, esr);
|
|
SendEmulatedAemXseries(lambda, 1);
|
|
|
|
chThdSleepMilliseconds(10);
|
|
}
|
|
}
|
|
|
|
static THD_WORKING_AREA(waCanRxThread, 256);
|
|
void CanRxThread(void*)
|
|
{
|
|
while(1)
|
|
{
|
|
CANRxFrame frame;
|
|
msg_t msg = canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_INFINITE);
|
|
|
|
// Ignore non-ok results...
|
|
if (msg != MSG_OK)
|
|
{
|
|
continue;
|
|
}
|
|
|
|
// If it's a bootloader entry request, reboot to the bootloader!
|
|
if (frame.EID == 0xEF0'0000)
|
|
{
|
|
{
|
|
// ascii "rus"
|
|
CanTxMessage m(0x727573, 0, true);
|
|
}
|
|
|
|
// Let the message get out before we reset the chip
|
|
chThdSleep(50);
|
|
|
|
NVIC_SystemReset();
|
|
}
|
|
}
|
|
}
|
|
|
|
void InitCan()
|
|
{
|
|
canStart(&CAND1, &canConfig1000);
|
|
chThdCreateStatic(waCanTxThread, sizeof(waCanTxThread), NORMALPRIO, CanTxThread, nullptr);
|
|
chThdCreateStatic(waCanRxThread, sizeof(waCanRxThread), NORMALPRIO - 4, CanRxThread, nullptr);
|
|
|
|
}
|
|
|
|
struct StandardDataFrame
|
|
{
|
|
uint16_t lambda;
|
|
uint16_t measuredResistance;
|
|
uint8_t pad[4];
|
|
};
|
|
|
|
#define SWAP_UINT16(x) (((x) << 8) | ((x) >> 8))
|
|
|
|
void SendEmulatedAemXseries(float lambda, uint8_t idx) {
|
|
CanTxMessage frame(0x180 + idx);
|
|
|
|
bool isValid = IsRunningClosedLoop();
|
|
|
|
uint16_t intLambda = lambda * 10000;
|
|
|
|
// swap endian
|
|
intLambda = SWAP_UINT16(intLambda);
|
|
|
|
*reinterpret_cast<uint16_t*>(&frame[0]) = intLambda;
|
|
|
|
// bit 1 = LSU 4.9 detected
|
|
// bit 7 = reading valid
|
|
frame[6] = 0x02 | (isValid ? 0x80 : 0x00);
|
|
}
|
|
|
|
void SendCanData(float lambda, uint16_t measuredResistance)
|
|
{
|
|
CanTxTyped<StandardDataFrame> frame(0x130);
|
|
|
|
frame.get().lambda = lambda * 10000;
|
|
frame.get().measuredResistance = measuredResistance;
|
|
}
|